+ python -m lidar_slam --no-model /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 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 0.020714057 Adjusted end_distance from 9.223372036854776e+18 to 934.510714057 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020714057 meters 0.16364851234301833 Centerline is valid? [0, False] SLAMing on 0.080714057 meters 0.17376927962480498 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999907e-01 7.79250953e-05 -4.23732053e-04 2.33808243e-03] [-7.80250499e-05 9.99999969e-01 -2.35879623e-04 3.45554184e-03] [ 4.23713659e-04 2.35912662e-04 9.99999882e-01 -1.96324702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.140714057 meters 0.17516819658873475 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999812e-01 -1.44889128e-04 -5.95310498e-04 3.35462140e-03] [ 1.44487455e-04 9.99999762e-01 -6.74717392e-04 6.29431779e-03] [ 5.95408115e-04 6.74631251e-04 9.99999595e-01 -2.87136778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20071405700000003 meters 0.17967642878461468 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999688e-01 -3.76199167e-04 -6.95087490e-04 3.85752512e-03] [ 3.75410827e-04 9.99999287e-01 -1.13394207e-03 8.51045850e-03] [ 6.95513582e-04 1.13368078e-03 9.99999116e-01 -3.25831806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.260714057 meters 0.18248016387691726 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99999400e-01 -6.00888469e-04 -9.15513307e-04 5.16172449e-03] [ 5.99367138e-04 9.99998441e-01 -1.66109366e-03 1.20936200e-02] [ 9.16510012e-04 1.66054394e-03 9.99998201e-01 -4.33866354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32071405700000005 meters 0.18833755218292755 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99999217e-01 -8.27042922e-04 -9.39309107e-04 5.61890417e-03] [ 8.25151436e-04 9.99997635e-01 -2.01230410e-03 1.38606951e-02] [ 9.40971147e-04 2.01152745e-03 9.99997534e-01 -4.86890618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38071405700000005 meters 0.19306128720266924 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99999241e-01 -1.00612740e-03 -7.11418531e-04 5.82354563e-03] [ 1.00468513e-03 9.99997445e-01 -2.02477530e-03 1.45842011e-02] [ 7.13453896e-04 2.02405901e-03 9.99997697e-01 -5.78352109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44071405700000005 meters 0.2026796744184121 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99999078e-01 -1.11556652e-03 -7.74248005e-04 6.32229505e-03] [ 1.11388405e-03 9.99997025e-01 -2.17007894e-03 1.59188100e-02] [ 7.76666569e-04 2.16921451e-03 9.99997346e-01 -6.29326415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.500714057 meters 0.20660154792465513 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99999152e-01 -8.59584109e-04 -9.78228088e-04 7.40781236e-03] [ 8.57683151e-04 9.99997746e-01 -1.94202989e-03 1.63497109e-02] [ 9.79895222e-04 1.94118923e-03 9.99997636e-01 -7.20807736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.560714057 meters 0.20293745074195144 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99999269e-01 -3.12347193e-04 -1.16847562e-03 8.61284133e-03] [ 3.10988312e-04 9.99999275e-01 -1.16295282e-03 1.45910522e-02] [ 1.16883802e-03 1.16258859e-03 9.99998641e-01 -8.26550565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.620714057 meters 0.20179080260288856 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99998850e-01 -1.04886115e-04 -1.51295232e-03 9.50736185e-03] [ 1.02953473e-04 9.99999179e-01 -1.27741945e-03 1.61060290e-02] [ 1.51308506e-03 1.27726221e-03 9.99998040e-01 -8.48262976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.680714057 meters 0.20234669904979694 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99997821e-01 2.85827035e-04 -2.06805380e-03 1.09894712e-02] [-2.88366848e-04 9.99999205e-01 -1.22792378e-03 1.81773969e-02] [ 2.06770118e-03 1.22851746e-03 9.99997108e-01 -8.95750287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.740714057 meters 0.20316278430494303 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99996894e-01 6.92812697e-04 -2.39432458e-03 1.21371133e-02] [-6.94935350e-04 9.99999366e-01 -8.85817277e-04 1.84789507e-02] [ 2.39370936e-03 8.87478426e-04 9.99996741e-01 -9.61593140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.800714057 meters 0.20157257343983315 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99995763e-01 1.35005172e-03 -2.57883320e-03 1.35173314e-02] [-1.35180217e-03 9.99998857e-01 -6.77153825e-04 2.08807166e-02] [ 2.57791606e-03 6.80637028e-04 9.99996446e-01 -1.07781264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.860714057 meters 0.19701329947680846 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99993801e-01 1.98539610e-03 -2.90791735e-03 1.47315240e-02] [-1.98772739e-03 9.99997705e-01 -7.99033416e-04 2.44709769e-02] [ 2.90632428e-03 8.04808610e-04 9.99995453e-01 -1.12521165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.920714057 meters 0.19848819294771375 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99992284e-01 2.12572734e-03 -3.30365082e-03 1.58718318e-02] [-2.12866831e-03 9.99997341e-01 -8.86957114e-04 2.56016840e-02] [ 3.30175661e-03 8.93982646e-04 9.99994150e-01 -1.16887236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.980714057 meters 0.1895072559200018 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999138 0.00223483 -0.00349973 0.01657833] [-0.00223979 0.99999649 -0.00141547 0.02940427] [ 0.00349656 0.0014233 0.99999287 -0.01200725] [ 0. 0. 0. 1. ]] SLAMing on 1.040714057 meters 0.18742147856832483 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.9999878 0.00307335 -0.00386599 0.01831328] [-0.00307772 0.99999463 -0.00112573 0.03320669] [ 0.00386251 0.00113761 0.99999189 -0.01316441] [ 0. 0. 0. 1. ]] SLAMing on 1.100714057 meters 0.17920585881540724 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 0.99998717 0.00276137 -0.00424604 0.01888023] [-0.00276987 0.99999417 -0.00199522 0.03645128] [ 0.00424051 0.00200696 0.999989 -0.01299432] [ 0. 0. 0. 1. ]] SLAMing on 1.160714057 meters 0.17700504024086897 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 0.99998417 0.00315227 -0.00466156 0.02054223] [-0.00316208 0.9999928 -0.00209843 0.04042943] [ 0.00465491 0.00211314 0.99998693 -0.01419241] [ 0. 0. 0. 1. ]] SLAMing on 1.2207140570000001 meters 0.16561117193763028 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 0.99996199 0.00719679 -0.00492212 0.02124058] [-0.00719012 0.99997321 0.00137143 0.04287936] [ 0.00493186 -0.00133599 0.99998695 -0.01445118] [ 0. 0. 0. 1. ]] SLAMing on 1.280714057 meters 0.1564155677126353 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 9.99961179e-01 7.00306049e-03 -5.34763571e-03 2.19424489e-02] [-7.00040326e-03 9.99975364e-01 5.15453747e-04 4.60668279e-02] [ 5.35111372e-03 -4.77998130e-04 9.99985568e-01 -1.44228601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.340714057 meters 0.15151762921920628 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 9.99962784e-01 6.64239784e-03 -5.50532374e-03 2.22374249e-02] [-6.64294794e-03 9.99977932e-01 -8.16415543e-05 4.75269691e-02] [ 5.50465996e-03 1.18210095e-04 9.99984842e-01 -1.45116082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.400714057 meters 0.1435272590259661 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 9.99960628e-01 6.54340009e-03 -5.99392781e-03 2.28050255e-02] [-6.54786595e-03 9.99978299e-01 -7.25743504e-04 4.93609596e-02] [ 5.98904891e-03 7.64962366e-04 9.99981773e-01 -1.40923302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4607140570000001 meters 0.1390436342871548 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 0.99996142 0.00635194 -0.00606672 0.02284527] [-0.00635822 0.99997927 -0.0010158 0.04953594] [ 0.00606014 0.00105434 0.99998108 -0.013934 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5207140570000002 meters 0.1325214712694067 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 9.99962407e-01 6.25563920e-03 -6.00432472e-03 2.27996368e-02] [-6.26166285e-03 9.99979911e-01 -9.84943325e-04 4.89123689e-02] [ 5.99804264e-03 1.02250335e-03 9.99981489e-01 -1.40735286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.580714057 meters 0.12588498463671688 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 0.99995707 0.00635059 -0.00674693 0.02356207] [-0.00636036 0.99997875 -0.00142832 0.04953721] [ 0.00673771 0.00147117 0.99997622 -0.01322392] [ 0. 0. 0. 1. ]] SLAMing on 1.640714057 meters 0.1170679959679812 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 0.99994661 0.0068645 -0.00772397 0.02441477] [-0.00687868 0.9999747 -0.00181072 0.05046597] [ 0.00771134 0.00186376 0.99996853 -0.01177745] [ 0. 0. 0. 1. ]] SLAMing on 1.7007140570000001 meters 0.10970977813844562 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.01 [[ 0.99994013 0.00740735 -0.00805414 0.02543119] [-0.00741814 0.99997163 -0.00130975 0.04926335] [ 0.00804421 0.00136941 0.99996671 -0.01237274] [ 0. 0. 0. 1. ]] SLAMing on 1.7607140570000002 meters 0.10374569090872687 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.01 [[ 0.99994048 0.00724477 -0.00815745 0.02520159] [-0.00725587 0.99997279 -0.00133117 0.04826531] [ 0.00814758 0.00139028 0.99996584 -0.01179332] [ 0. 0. 0. 1. ]] SLAMing on 1.820714057 meters 0.09954877971167929 Centerline is valid? [False, True] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 0.99995625 0.00504737 -0.00787571 0.022792 ] [-0.00507099 0.9999827 -0.00298228 0.04616488] [ 0.00786053 0.00302209 0.99996454 -0.00936738] [ 0. 0. 0. 1. ]] SLAMing on 1.880714057 meters 0.09316539023321765 Centerline is valid? [True, True] Translation: X:0.08, Y:0.04, Z:-0.01 [[ 9.99971362e-01 -1.43929371e-03 -7.42996943e-03 8.32522439e-02] [ 1.44278271e-03 9.99998851e-01 4.64246612e-04 4.10182069e-02] [ 7.42929271e-03 -4.74953148e-04 9.99972290e-01 -6.61580748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.940714057 meters 0.09358091618833778 Centerline is valid? [True, True] Translation: X:0.14, Y:0.02, Z:-0.01 [[ 9.99890528e-01 -1.22517359e-02 -8.29620611e-03 1.41012363e-01] [ 1.22564847e-02 9.99924750e-01 5.21808926e-04 2.20481891e-02] [ 8.28918876e-03 -6.23434126e-04 9.99965450e-01 -1.29249351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.000714057 meters 0.10070499007172667 Centerline is valid? [True, False] Translation: X:0.13, Y:0.02, Z:-0.02 [[ 9.99959858e-01 -8.95998730e-03 4.32951616e-05 1.30320485e-01] [ 8.96008876e-03 9.99951883e-01 -3.99351701e-03 1.73457247e-02] [-7.51121672e-06 3.99374462e-03 9.99992025e-01 -1.68607119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.060714057 meters 0.08699183978812682 Centerline is valid? [False, True] Translation: X:0.13, Y:0.02, Z:-0.02 [[ 9.99955301e-01 -9.42935645e-03 6.95774458e-04 1.29323935e-01] [ 9.43184695e-03 9.99948794e-01 -3.66748095e-03 1.56574641e-02] [-6.61156845e-04 3.67387946e-03 9.99993033e-01 -1.70679168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1207140570000003 meters 0.08340066167669016 Centerline is valid? [True, True] Translation: X:0.19, Y:0.01, Z:-0.02 [[ 9.99878194e-01 -1.50788981e-02 4.02796693e-03 1.89155430e-01] [ 1.50804140e-02 9.99886224e-01 -3.46218210e-04 8.15009175e-03] [-4.02228806e-03 4.06919447e-04 9.99991828e-01 -1.79250875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1807140570000003 meters 0.08016608388065335 Centerline is valid? [True, True] Translation: X:0.25, Y:0.01, Z:-0.02 [[ 9.99921722e-01 -1.11486977e-02 5.67942302e-03 2.50504513e-01] [ 1.11516353e-02 9.99937701e-01 -4.85828429e-04 5.07356234e-03] [-5.67365284e-03 5.49125254e-04 9.99983754e-01 -1.83280527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2407140570000004 meters 0.07758581270330168 Centerline is valid? [True, True] Translation: X:0.31, Y:0.00, Z:-0.02 [[ 9.99944044e-01 -7.91132268e-03 7.02287470e-03 3.10997627e-01] [ 7.91574485e-03 9.99968489e-01 -6.02107516e-04 2.68898734e-03] [-7.01788993e-03 6.57665108e-04 9.99975158e-01 -2.02605531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3007140570000004 meters 0.07022511496878918 Centerline is valid? [True, True] Translation: X:0.37, Y:0.01, Z:-0.02 [[ 9.99941377e-01 -1.97089836e-03 1.06469599e-02 3.71791835e-01] [ 1.98072894e-03 9.99997622e-01 -9.12856637e-04 5.42200240e-03] [-1.06451354e-02 9.33891865e-04 9.99942903e-01 -2.18496916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3607140570000005 meters 0.06831406167548215 Centerline is valid? [True, True] Translation: X:0.43, Y:0.00, Z:-0.02 [[ 9.99932887e-01 9.71177516e-04 1.15445900e-02 4.32704442e-01] [-9.59816782e-04 9.99999050e-01 -9.89574064e-04 2.89024181e-03] [-1.15455401e-02 9.78426960e-04 9.99932869e-01 -2.42143112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4207140570000005 meters 0.06514202122352979 Centerline is valid? [True, True] Translation: X:0.49, Y:0.00, Z:-0.02 [[ 0.99984676 0.00547603 0.01662724 0.49295713] [-0.00545308 0.99998412 -0.00142538 0.00237503] [-0.01663478 0.00133449 0.99986074 -0.0245307 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4807140570000006 meters 0.06368260282801784 Centerline is valid? [True, True] Translation: X:0.56, Y:0.00, Z:-0.02 [[ 9.99825159e-01 5.93480752e-03 1.77321419e-02 5.55114910e-01] [-5.90884065e-03 9.99981393e-01 -1.51642969e-03 8.97988351e-04] [-1.77408116e-02 1.41138816e-03 9.99841623e-01 -2.49793276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.540714057 meters 0.06304149610120345 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.00, Z:-0.03 [[ 0.99979406 0.0056839 0.01948169 0.6159539 ] [-0.00565243 0.99998263 -0.00166989 -0.00154348] [-0.01949084 0.00155942 0.99980882 -0.02597202] [ 0. 0. 0. 1. ]] SLAMing on 2.6007140570000002 meters 0.06496968131607245 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99979544 0.00434981 0.01975224 0.67624098] [-0.00431726 0.99998925 -0.00169004 -0.00642865] [-0.01975938 0.00160442 0.99980348 -0.0295606 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6607140570000003 meters 0.06798826948808102 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.01, Z:-0.03 [[ 0.99975302 0.0024098 0.02209287 0.73676526] [-0.00236845 0.9999954 -0.00189742 -0.01211347] [-0.02209734 0.00184463 0.99975412 -0.03077224] [ 0. 0. 0. 1. ]] SLAMing on 2.7207140570000004 meters 0.06914618422583596 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.01, Z:-0.03 [[ 9.99712382e-01 -7.02512498e-04 2.39720805e-02 7.97989714e-01] [ 7.52104390e-04 9.99997596e-01 -2.05978207e-03 -1.45892677e-02] [-2.39705759e-02 2.07721915e-03 9.99710506e-01 -3.08105553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7807140570000004 meters 0.07074825916330343 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.02, Z:-0.04 [[ 0.99975532 -0.00272487 0.02195175 0.85871251] [ 0.00276697 0.99999439 -0.00188807 -0.01657927] [-0.02194648 0.00194835 0.99975725 -0.03677257] [ 0. 0. 0. 1. ]] SLAMing on 2.8407140570000005 meters 0.07256055533746347 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.02, Z:-0.04 [[ 0.9997603 -0.00364704 0.02158817 0.92048818] [ 0.00368792 0.99999148 -0.00185424 -0.02294005] [-0.02158122 0.00193342 0.99976523 -0.0422517 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9007140570000005 meters 0.07391346220071754 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.03, Z:-0.05 [[ 0.99976404 -0.00333249 0.02146506 0.98260532] [ 0.00337286 0.99999261 -0.00184502 -0.02531443] [-0.02145875 0.00191699 0.9997679 -0.04586605] [ 0. 0. 0. 1. ]] SLAMing on 2.9607140570000006 meters 0.07204971400925977 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.02, Z:-0.05 [[ 9.99760121e-01 4.21681925e-04 2.18979853e-02 1.04252769e+00] [-3.80447554e-04 9.99998147e-01 -1.88715310e-03 -2.37207330e-02] [-2.18987405e-02 1.87836938e-03 9.99758429e-01 -4.83357370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0207140570000006 meters 0.0718066616816159 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.03, Z:-0.05 [[ 0.99972885 0.00133431 0.02324731 1.10328842] [-0.00128814 0.99999717 -0.00200098 -0.02878229] [-0.02324992 0.00197049 0.99972774 -0.05277132] [ 0. 0. 0. 1. ]] SLAMing on 3.0807140570000002 meters 0.05759956669025868 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.01, Z:-0.05 [[ 0.99969672 0.00262505 0.0244861 1.16561054] [-0.00257415 0.99999446 -0.00210972 -0.01470304] [-0.02449151 0.00204605 0.99969794 -0.04516296] [ 0. 0. 0. 1. ]] SLAMing on 3.1407140570000003 meters 0.058380459465780535 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.02, Z:-0.05 [[ 0.99967783 0.00324251 0.02517376 1.2273552 ] [-0.00318914 0.99999258 -0.00215966 -0.02351436] [-0.02518058 0.00207868 0.99968076 -0.04958051] [ 0. 0. 0. 1. ]] SLAMing on 3.2007140570000003 meters 0.05944882903847971 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.03, Z:-0.05 [[ 0.99966172 0.00331426 0.02579668 1.28878474] [-0.00325807 0.99999223 -0.00221974 -0.03464183] [-0.02580384 0.00213494 0.99966475 -0.05496201] [ 0. 0. 0. 1. ]] SLAMing on 3.2607140570000004 meters 0.06179493017067441 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.05, Z:-0.06 [[ 0.99969966 0.00234585 0.02439424 1.34769368] [-0.00229505 0.99999514 -0.00211021 -0.04751036] [-0.02439907 0.00205359 0.99970019 -0.06280375] [ 0. 0. 0. 1. ]] SLAMing on 3.3207140570000004 meters 0.06865218477078924 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.07, Z:-0.07 [[ 0.99968087 0.00335177 0.02503846 1.40667654] [-0.00329847 0.99999221 -0.00216977 -0.06753448] [-0.02504553 0.00208649 0.99968413 -0.06882679] [ 0. 0. 0. 1. ]] SLAMing on 3.3807140570000005 meters 0.06332815308496689 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.07, Z:-0.07 [[ 0.99967218 0.0037083 0.02533336 1.46853782] [-0.00365402 0.99999093 -0.00218871 -0.0715997 ] [-0.02534124 0.00209543 0.99967666 -0.06944581] [ 0. 0. 0. 1. ]] SLAMing on 3.4407140570000005 meters 0.06466194015425641 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.09, Z:-0.08 [[ 0.99967963 0.00425637 0.02495033 1.52893351] [-0.00420373 0.99998883 -0.00216174 -0.0854072 ] [-0.02495926 0.00205616 0.99968635 -0.07594624] [ 0. 0. 0. 1. ]] SLAMing on 3.5007140570000006 meters 0.06621222162837981 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.10, Z:-0.08 [[ 0.9996593 0.00486945 0.02564329 1.58962256] [-0.00481392 0.99998593 -0.00222692 -0.09901495] [-0.02565377 0.00210271 0.99966868 -0.07947962] [ 0. 0. 0. 1. ]] SLAMing on 3.5607140570000007 meters 0.06648720446568976 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.11, Z:-0.08 [[ 0.99961291 0.00504783 0.02735964 1.65011029] [-0.0049843 0.99998472 -0.00238967 -0.10898512] [-0.02737129 0.00225237 0.9996228 -0.08115877] [ 0. 0. 0. 1. ]] SLAMing on 3.6207140570000003 meters 0.06697838853387347 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.12, Z:-0.08 [[ 0.99954943 0.00507769 0.02958311 1.71130634] [-0.00500341 0.99998414 -0.00258443 -0.12092612] [-0.02959577 0.00243525 0.99955898 -0.08263186] [ 0. 0. 0. 1. ]] SLAMing on 3.6807140570000003 meters 0.049113559376639526 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.11, Z:-0.08 [[ 0.99952055 0.00543381 0.03048198 1.77542156] [-0.00535527 0.99998213 -0.00265769 -0.10706085] [-0.03049587 0.00249317 0.99953178 -0.07589921] [ 0. 0. 0. 1. ]] SLAMing on 3.7407140570000004 meters 0.04998029141291006 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.12, Z:-0.08 [[ 0.99953006 0.00565635 0.03012763 1.8372264 ] [-0.00557951 0.99998097 -0.00263406 -0.11648102] [-0.03014196 0.00246473 0.99954259 -0.08033772] [ 0. 0. 0. 1. ]] SLAMing on 3.8007140570000004 meters 0.04300639151974769 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.12, Z:-0.08 [[ 0.99950771 0.0069986 0.03058348 1.89966465] [-0.00691963 0.99997245 -0.00268707 -0.1160591 ] [-0.03060145 0.00247412 0.9995286 -0.07949661] [ 0. 0. 0. 1. ]] SLAMing on 3.8607140570000005 meters 0.04417811510284331 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.13, Z:-0.08 [[ 0.99947466 0.0072123 0.0315974 1.96080368] [-0.0071282 0.99997075 -0.00277327 -0.128473 ] [-0.03161647 0.00254658 0.99949683 -0.08268824] [ 0. 0. 0. 1. ]] SLAMing on 3.9207140570000005 meters 0.04522825863501907 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.14, Z:-0.08 [[ 0.99945246 0.00630414 0.03248147 2.02253964] [-0.00621452 0.9999766 -0.00285938 -0.13936026] [-0.03249873 0.00265595 0.99946825 -0.08489745] [ 0. 0. 0. 1. ]] SLAMing on 3.9807140570000006 meters 0.04203119582395784 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.14, Z:-0.09 [[ 0.99942238 0.00646406 0.03336358 2.08522111] [-0.00636932 0.99997538 -0.00294535 -0.14282574] [-0.0333818 0.00273115 0.99943894 -0.08557197] [ 0. 0. 0. 1. ]] SLAMing on 4.040714057000001 meters 0.04312183983123156 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.15, Z:-0.09 [[ 0.99935265 0.0046481 0.03567445 2.14637087] [-0.00453806 0.99998469 -0.00316486 -0.15455495] [-0.03568862 0.00300092 0.99935845 -0.08794664] [ 0. 0. 0. 1. ]] SLAMing on 4.100714057 meters 0.049797116885060375 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.17, Z:-0.09 [[ 0.99932443 0.0037185 0.03656306 2.20626633] [-0.00360235 0.99998826 -0.00324206 -0.17365281] [-0.03657468 0.00310816 0.99932609 -0.09457051] [ 0. 0. 0. 1. ]] SLAMing on 4.160714057000001 meters 0.04401294001052433 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.17, Z:-0.09 [[ 0.99926651 0.00418871 0.03806432 2.26941015] [-0.00406265 0.99998601 -0.00338835 -0.17340207] [-0.03807798 0.00323122 0.99926955 -0.09371894] [ 0. 0. 0. 1. ]] SLAMing on 4.220714057 meters 0.0418462073138269 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.18, Z:-0.09 [[ 0.9992407 0.00499287 0.03864057 2.33199375] [-0.00486343 0.99998225 -0.00344317 -0.17677138] [-0.03865708 0.00325263 0.99924724 -0.09463044] [ 0. 0. 0. 1. ]] SLAMing on 4.280714057000001 meters 0.041569346058443604 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.18, Z:-0.10 [[ 0.99915956 0.00601783 0.04054565 2.39310299] [-0.00587592 0.99997619 -0.00361825 -0.18377055] [-0.04056646 0.00337696 0.99917114 -0.09737364] [ 0. 0. 0. 1. ]] SLAMing on 4.3407140570000005 meters 0.041362994714098295 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.19, Z:-0.10 [[ 0.99910363 0.00716583 0.04172045 2.45452443] [-0.00701651 0.99996845 -0.00372428 -0.19039364] [-0.04174583 0.00342821 0.99912238 -0.10106455] [ 0. 0. 0. 1. ]] SLAMing on 4.400714057000001 meters 0.04066566444741202 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.19, Z:-0.10 [[ 0.99908968 0.0100297 0.04146332 2.51496327] [-0.00988454 0.99994429 -0.00370442 -0.19462432] [-0.04149816 0.0032912 0.99913316 -0.10443994] [ 0. 0. 0. 1. ]] SLAMing on 4.460714057000001 meters 0.03778870692601637 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.19, Z:-0.11 [[ 0.99904538 0.0150432 0.0410126 2.57622349] [-0.01490534 0.99988219 -0.00366513 -0.193328 ] [-0.0410629 0.00305032 0.99915191 -0.10760808] [ 0. 0. 0. 1. ]] SLAMing on 4.520714057 meters 0.03563168610264206 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.19, Z:-0.11 [[ 0.99892403 0.01889179 0.04235415 2.63716457] [-0.01874818 0.99981707 -0.0037854 -0.19400978] [-0.04241792 0.00298726 0.99909549 -0.1079869 ] [ 0. 0. 0. 1. ]] SLAMing on 4.580714057000001 meters 0.036925481982884055 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.20, Z:-0.11 [[ 0.99890644 0.01768316 0.04328091 2.69641573] [-0.01753201 0.99983882 -0.00386936 -0.20017059] [-0.04334236 0.00310633 0.99905545 -0.11131308] [ 0. 0. 0. 1. ]] SLAMing on 4.640714057 meters 0.03726071258967788 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.20, Z:-0.12 [[ 0.9988876 0.01745484 0.0438051 2.75699383] [-0.01729989 0.99984269 -0.00391386 -0.2041519 ] [-0.04386652 0.00315168 0.99903243 -0.11562373] [ 0. 0. 0. 1. ]] SLAMing on 4.700714057000001 meters 0.038410981921880874 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.21, Z:-0.12 [[ 0.99884518 0.01844057 0.04436492 2.81609685] [-0.01828258 0.999825 -0.00396423 -0.20788807] [-0.04443026 0.00314855 0.99900753 -0.11849996] [ 0. 0. 0. 1. ]] SLAMing on 4.760714057 meters 0.0360441006213855 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.21, Z:-0.12 [[ 0.99885211 0.01850592 0.04418148 2.87585418] [-0.01834932 0.99982384 -0.00394744 -0.20811409] [-0.04424675 0.0031322 0.99901572 -0.12070011] [ 0. 0. 0. 1. ]] SLAMing on 4.820714057000001 meters 0.03892801676155409 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.22, Z:-0.12 [[ 0.99884578 0.01776581 0.044626 2.93429071] [-0.01760538 0.99983707 -0.00398548 -0.2152542 ] [-0.04468953 0.00319523 0.99899581 -0.12481489] [ 0. 0. 0. 1. ]] SLAMing on 4.8807140570000005 meters 0.038265828950139996 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.22, Z:-0.13 [[ 0.99881543 0.0185912 0.04496787 2.99487116] [-0.01842924 0.99982211 -0.00401369 -0.217523 ] [-0.04503449 0.00318021 0.99898037 -0.12954731] [ 0. 0. 0. 1. ]] SLAMing on 4.940714057000001 meters 0.0356366876956428 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.22, Z:-0.13 [[ 0.99873617 0.01968286 0.04624546 3.05500165] [-0.01951269 0.99980109 -0.00412839 -0.21591072] [-0.04631752 0.0032208 0.99892158 -0.13152274] [ 0. 0. 0. 1. ]] SLAMing on 5.000714057000001 meters 0.03462988125349488 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.22, Z:-0.13 [[ 0.99866955 0.02057212 0.04728558 3.11526698] [-0.02039529 0.99978309 -0.00421916 -0.21610251] [-0.04736212 0.00324914 0.9988725 -0.13371122] [ 0. 0. 0. 1. ]] SLAMing on 5.060714057 meters 0.03737230775074815 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.22, Z:-0.14 [[ 0.99870109 0.01893914 0.0473016 3.17356814] [-0.01876038 0.9998151 -0.00422032 -0.22258832] [-0.04737279 0.00332744 0.99887174 -0.13932102] [ 0. 0. 0. 1. ]] SLAMing on 5.120714057000001 meters 0.03661839798101701 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.22, Z:-0.14 [[ 0.99886041 0.01607963 0.04493694 3.23387151] [-0.01591557 0.99986531 -0.00400624 -0.22387014] [-0.0449953 0.00328648 0.99898179 -0.14428882] [ 0. 0. 0. 1. ]] SLAMing on 5.180714057 meters 0.037297910545619595 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.23, Z:-0.15 [[ 0.99885414 0.01488718 0.04548382 3.29428925] [-0.0147179 0.99988347 -0.00405443 -0.22838376] [-0.04553888 0.00338035 0.99895685 -0.14676094] [ 0. 0. 0. 1. ]] SLAMing on 5.240714057000001 meters 0.03913182726816738 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.23, Z:-0.15 [[ 0.99874482 0.01357825 0.04821223 3.35571767] [-0.01338654 0.99990116 -0.00429704 -0.23340803] [-0.04826581 0.00364625 0.99882787 -0.14928874] [ 0. 0. 0. 1. ]] SLAMing on 5.300714057 meters 0.04120268120432665 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.24, Z:-0.15 [[ 0.99861217 0.01393281 0.05078988 3.41636481] [-0.01372046 0.99989562 -0.00452729 -0.23981983] [-0.05084766 0.00382415 0.9986991 -0.15427779] [ 0. 0. 0. 1. ]] SLAMing on 5.360714057000001 meters 0.03952522742798131 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.24, Z:-0.16 [[ 0.99851197 0.0148475 0.05247284 3.47846545] [-0.0146216 0.99988212 -0.00468638 -0.23985853] [-0.05253623 0.00391217 0.99861136 -0.15615875] [ 0. 0. 0. 1. ]] SLAMing on 5.4207140570000005 meters 0.0404550165361851 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.24, Z:-0.16 [[ 0.99848971 0.01551452 0.05270286 3.53909127] [-0.01528751 0.99987206 -0.00470773 -0.24434174] [-0.05276916 0.00389493 0.99859914 -0.1596735 ] [ 0. 0. 0. 1. ]] SLAMing on 5.480714057000001 meters 0.03822247274291451 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.24, Z:-0.16 [[ 0.99845518 0.01570912 0.05329609 3.6010103 ] [-0.01547644 0.99986883 -0.00477578 -0.24304951] [-0.05336412 0.00394357 0.99856733 -0.1645331 ] [ 0. 0. 0. 1. ]] SLAMing on 5.540714057000001 meters 0.04946587956608197 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.26, Z:-0.17 [[ 0.99837734 0.01605988 0.05463311 3.66075716] [-0.01581587 0.99986294 -0.00489571 -0.26200538] [-0.05470425 0.00402369 0.99849449 -0.1734156 ] [ 0. 0. 0. 1. ]] SLAMing on 5.600714057 meters 0.04164912345286257 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.25, Z:-0.17 [[ 0.99838217 0.01585096 0.05460578 3.72320988] [-0.01560606 0.99986617 -0.0049084 -0.2533036 ] [-0.05467628 0.00404828 0.99849593 -0.17474643] [ 0. 0. 0. 1. ]] SLAMing on 5.660714057000001 meters 0.04243761524025572 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.26, Z:-0.18 [[ 0.99834874 0.01397188 0.05571869 3.78476067] [-0.01371386 0.99989341 -0.00501051 -0.25648193] [-0.05578276 0.00423811 0.99843393 -0.17658343] [ 0. 0. 0. 1. ]] SLAMing on 5.720714057 meters 0.0416597638033388 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.26, Z:-0.18 [[ 0.99834198 0.01135695 0.05642968 3.84601935] [-0.01108802 0.99992564 -0.00507652 -0.25847548] [-0.05648314 0.00444241 0.99839367 -0.18171375] [ 0. 0. 0. 1. ]] SLAMing on 5.780714057000001 meters 0.04770439747271196 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.27, Z:-0.19 [[ 0.99839123 0.00957827 0.05588565 3.90512697] [-0.00931162 0.999944 -0.0050298 -0.27049553] [-0.0559307 0.00450132 0.99842451 -0.19044374] [ 0. 0. 0. 1. ]] SLAMing on 5.8407140570000005 meters 0.041746782215685056 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.26, Z:-0.19 [[ 0.99838474 0.01093906 0.0557516 3.96793061] [-0.01067586 0.99993043 -0.00501662 -0.26451438] [-0.0558026 0.00441332 0.99843207 -0.19314419] [ 0. 0. 0. 1. ]] SLAMing on 5.900714057000001 meters 0.042095880342280186 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.27, Z:-0.20 [[ 0.9983002 0.01373085 0.05664083 4.02861384] [-0.01346266 0.9998963 -0.00511386 -0.26860893] [-0.05670518 0.00434263 0.99838152 -0.19712622] [ 0. 0. 0. 1. ]] SLAMing on 5.960714057000001 meters 0.03930369409325228 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.27, Z:-0.20 [[ 9.98182644e-01 1.94470416e-02 5.70370197e-02 4.08972107e+00] [-1.91842852e-02 9.99802697e-01 -5.15076262e-03 -2.67572054e-01] [-5.71259332e-02 4.04718740e-03 9.98358777e-01 -2.03809119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.020714057000001 meters 0.03651408214158685 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.27, Z:-0.21 [[ 9.98097559e-01 2.43192151e-02 5.66554318e-02 4.15052798e+00] [-2.40677320e-02 9.99697234e-01 -5.11702950e-03 -2.66550952e-01] [-5.67627207e-02 3.74372691e-03 9.98380678e-01 -2.09935990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.080714057000001 meters 0.03626387855891932 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.27, Z:-0.21 [[ 9.97960682e-01 2.73284984e-02 5.76856238e-02 4.20921880e+00] [-2.70727614e-02 9.99619887e-01 -5.21029423e-03 -2.68984267e-01] [-5.78060863e-02 3.63795965e-03 9.98321202e-01 -2.13834705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.140714057 meters 0.03608380686906853 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.27, Z:-0.22 [[ 9.97941105e-01 2.84063307e-02 5.75033083e-02 4.26797195e+00] [-2.81541054e-02 9.99590112e-01 -5.19184385e-03 -2.73213612e-01] [-5.76272196e-02 3.56220018e-03 9.98331816e-01 -2.21053488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.200714057000001 meters 0.036169781995519186 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.28, Z:-0.23 [[ 9.97909181e-01 2.96526036e-02 5.74281292e-02 4.32675245e+00] [-2.94032730e-02 9.99554198e-01 -5.18192553e-03 -2.78452658e-01] [-5.75561852e-02 3.48251610e-03 9.98336195e-01 -2.26606316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.260714057 meters 0.03322047012653644 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.28, Z:-0.23 [[ 9.97838405e-01 3.19701925e-02 5.74144909e-02 4.38698779e+00] [-3.17249931e-02 9.99483226e-01 -5.17734503e-03 -2.77305263e-01] [-5.75503413e-02 3.34467938e-03 9.98337003e-01 -2.30565991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.320714057000001 meters 0.03362425748121549 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.28, Z:-0.24 [[ 9.97713344e-01 3.45976010e-02 5.80610767e-02 4.44563169e+00] [-3.43513268e-02 9.99396110e-01 -5.23467190e-03 -2.82112935e-01] [-5.82071212e-02 3.22822699e-03 9.98299309e-01 -2.35583232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3807140570000005 meters 0.03275343070558189 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.29, Z:-0.24 [[ 9.97720257e-01 3.53652641e-02 5.74768429e-02 4.50405825e+00] [-3.51253036e-02 9.99369491e-01 -5.18015747e-03 -2.86312239e-01] [-5.76238009e-02 3.14945649e-03 9.98333400e-01 -2.41604090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.440714057000001 meters 0.031119972231378763 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.29, Z:-0.25 [[ 9.97696120e-01 3.74737121e-02 5.65523907e-02 4.56326942e+00] [-3.72450028e-02 9.99293185e-01 -5.09315885e-03 -2.88932387e-01] [-5.67032781e-02 2.97513087e-03 9.98386642e-01 -2.46972069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.500714057000001 meters 0.030578611022716085 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.29, Z:-0.25 [[ 9.97590259e-01 3.97908528e-02 5.68362877e-02 4.62301852e+00] [-3.95640046e-02 9.99203965e-01 -5.11138750e-03 -2.92843240e-01] [-5.69944305e-02 2.85039923e-03 9.98370427e-01 -2.52243332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.560714057000001 meters 0.03345781269927107 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.30, Z:-0.26 [[ 9.97594464e-01 3.97368726e-02 5.68002369e-02 4.67904238e+00] [-3.95102191e-02 9.99206109e-01 -5.10825446e-03 -3.03087266e-01] [-5.69581298e-02 2.85177656e-03 9.98372495e-01 -2.57503509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.620714057000001 meters 0.031719695986020695 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.31, Z:-0.26 [[ 9.97602918e-01 3.80154471e-02 5.78207866e-02 4.73708939e+00] [-3.77782819e-02 9.99272670e-01 -5.18970974e-03 -3.07287346e-01] [-5.79760209e-02 2.99289961e-03 9.98313490e-01 -2.62035972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.680714057 meters 0.032186488707069014 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.31, Z:-0.27 [[ 9.97646324e-01 3.72587733e-02 5.75638467e-02 4.79485319e+00] [-3.70227452e-02 9.99301092e-01 -5.16169705e-03 -3.13240262e-01] [-5.77159334e-02 3.01837646e-03 9.98328483e-01 -2.66255223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.740714057000001 meters 0.03479836834790716 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.32, Z:-0.27 [[ 9.97792679e-01 3.41318251e-02 5.69630421e-02 4.85403460e+00] [-3.38960565e-02 9.99412349e-01 -5.10033270e-03 -3.23808303e-01] [-5.71036514e-02 3.15825213e-03 9.98363260e-01 -2.71811201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.800714057 meters 0.034457186267733274 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.33, Z:-0.27 [[ 9.97923717e-01 2.89033289e-02 5.75573928e-02 4.91393671e+00] [-2.86540114e-02 9.99576110e-01 -5.15241425e-03 -3.30985867e-01] [-5.76819168e-02 3.49246619e-03 9.98328903e-01 -2.74888826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.860714057000001 meters 0.040138241040598995 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.35, Z:-0.28 [[ 9.97876455e-01 2.37528573e-02 6.06496718e-02 4.97193204e+00] [-2.34665195e-02 9.99709881e-01 -5.42919380e-03 -3.48295626e-01] [-6.07610351e-02 3.99442796e-03 9.98144349e-01 -2.79165115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9207140570000005 meters 0.042182731251184304 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.36, Z:-0.28 [[ 9.97879280e-01 2.18912973e-02 6.13001987e-02 5.03143851e+00] [-2.15953563e-02 9.99751740e-01 -5.48618104e-03 -3.58839227e-01] [-6.14050799e-02 4.15074675e-03 9.98104297e-01 -2.83898837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.980714057000001 meters 0.03767676158990212 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.36, Z:-0.29 [[ 9.97938243e-01 2.04652848e-02 6.08312099e-02 5.09301158e+00] [-2.01712363e-02 9.99781718e-01 -5.44407308e-03 -3.60181231e-01] [-6.09293461e-02 4.20580801e-03 9.98133221e-01 -2.87867657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.040714057000001 meters 0.04004816121899998 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.37, Z:-0.29 [[ 9.97981440e-01 1.96692679e-02 6.03834815e-02 5.15307562e+00] [-1.93780037e-02 9.99797617e-01 -5.40543730e-03 -3.72481140e-01] [-6.04775819e-02 4.22441478e-03 9.98160617e-01 -2.94362495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.100714057000001 meters 0.037444348083661254 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.38, Z:-0.30 [[ 9.97964265e-01 2.08106134e-02 6.02846923e-02 5.21467131e+00] [-2.05214672e-02 9.99774767e-01 -5.41157669e-03 -3.76799880e-01] [-6.03837324e-02 4.16342982e-03 9.98166555e-01 -2.99712352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.160714057000001 meters 0.039259466721288584 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.39, Z:-0.30 [[ 9.97801989e-01 2.39052495e-02 6.18039682e-02 5.27415219e+00] [-2.36069067e-02 9.99705896e-01 -5.55304738e-03 -3.85007755e-01] [-6.19185383e-02 4.08184121e-03 9.98072860e-01 -3.01084712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.220714057 meters 0.03720211595491764 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.39, Z:-0.30 [[ 9.97649937e-01 2.64020640e-02 6.32260542e-02 5.33423969e+00] [-2.60947944e-02 9.99643331e-01 -5.68084267e-03 -3.87680912e-01] [-6.33534894e-02 4.01762145e-03 9.97983063e-01 -3.03830655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.280714057000001 meters 0.03708765669043258 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.39, Z:-0.31 [[ 9.97488534e-01 2.82744605e-02 6.49398071e-02 5.39412854e+00] [-2.79543019e-02 9.99592180e-01 -5.83361727e-03 -3.93243693e-01] [-6.50782658e-02 4.00361936e-03 9.97872131e-01 -3.07419745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3407140570000005 meters 0.03795500073838467 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.40, Z:-0.31 [[ 9.97490416e-01 2.85586727e-02 6.47863621e-02 5.45358043e+00] [-2.82407001e-02 9.99584216e-01 -5.81867628e-03 -4.00848373e-01] [-6.49255987e-02 3.97446160e-03 9.97882193e-01 -3.11997006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.400714057000001 meters 0.038099967225372136 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.41, Z:-0.32 [[ 9.97519609e-01 2.91832256e-02 6.40544192e-02 5.51281042e+00] [-2.88738342e-02 9.99566521e-01 -5.75072628e-03 -4.06533301e-01] [-6.41944777e-02 3.88696555e-03 9.97929837e-01 -3.16405214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.460714057000001 meters 0.03277157570842103 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.40, Z:-0.32 [[ 9.97610903e-01 2.89213293e-02 6.27378855e-02 5.57242895e+00] [-2.86241665e-02 9.99574387e-01 -5.63040083e-03 -4.04345945e-01] [-6.28740221e-02 3.82112958e-03 9.98014156e-01 -3.21254820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.520714057000001 meters 0.03362323448329052 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.41, Z:-0.32 [[ 9.97518102e-01 2.89667382e-02 6.41760442e-02 5.63109515e+00] [-2.86560193e-02 9.99572753e-01 -5.75704207e-03 -4.12247871e-01] [-6.43153879e-02 3.90372372e-03 9.97921987e-01 -3.24914308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.580714057000001 meters 0.03254020392054526 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.42, Z:-0.33 [[ 9.97341854e-01 3.34163416e-02 6.47500865e-02 5.69063286e+00] [-3.31098700e-02 9.99434884e-01 -5.80073909e-03 -4.16024093e-01] [-6.49073346e-02 3.64145294e-03 9.97884652e-01 -3.27683074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.640714057000001 meters 0.028803669703421853 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.42, Z:-0.33 [[ 9.97305143e-01 3.63464544e-02 6.37290049e-02 5.75034512e+00] [-3.60556342e-02 9.99333483e-01 -5.70791033e-03 -4.15804814e-01] [-6.38939907e-02 3.39473864e-03 9.97950917e-01 -3.32435597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.700714057000001 meters 0.028271734304270116 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.42, Z:-0.34 [[ 9.97279032e-01 3.79185037e-02 6.32196085e-02 5.80889919e+00] [-3.76356143e-02 9.99275500e-01 -5.65999571e-03 -4.21804240e-01] [-6.33884244e-02 3.26528625e-03 9.97983590e-01 -3.36858620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.760714057 meters 0.030130614744631603 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.43, Z:-0.34 [[ 9.97278324e-01 3.84688797e-02 6.28974598e-02 5.86609783e+00] [-3.81902520e-02 9.99254645e-01 -5.62655889e-03 -4.30926875e-01] [-6.30670263e-02 3.20917538e-03 9.98004134e-01 -3.41159124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.820714057000001 meters 0.0303385788435745 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.44, Z:-0.35 [[ 9.97315346e-01 3.85261620e-02 6.22722695e-02 5.92427950e+00] [-3.82535353e-02 9.99252571e-01 -5.56473500e-03 -4.37888501e-01] [-6.24401132e-02 3.16766116e-03 9.98043686e-01 -3.45747546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8807140570000005 meters 0.030066573721885922 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.45, Z:-0.35 [[ 9.97453087e-01 3.56534610e-02 6.17751629e-02 5.98267687e+00] [-3.53799549e-02 9.99358711e-01 -5.51599780e-03 -4.45147305e-01] [-6.19322116e-02 3.31634655e-03 9.98074848e-01 -3.49818672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.940714057000001 meters 0.030742817580695084 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.45, Z:-0.35 [[ 9.97592354e-01 3.28968371e-02 6.10515619e-02 6.04122174e+00] [-3.26248447e-02 9.99452826e-01 -5.44689118e-03 -4.53249221e-01] [-6.11973415e-02 3.44197927e-03 9.98119751e-01 -3.53633804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.000714057 meters 0.03212456700994692 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.46, Z:-0.36 [[ 9.97832723e-01 2.78817203e-02 5.96025742e-02 6.10070285e+00] [-2.76138026e-02 9.99604541e-01 -5.31417305e-03 -4.62986606e-01] [-5.97271720e-02 3.65680205e-03 9.98208041e-01 -3.58059088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.060714057 meters 0.03636773857395462 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.48, Z:-0.36 [[ 9.98056402e-01 2.31647150e-02 5.78516672e-02 6.15930578e+00] [-2.29044419e-02 9.99724352e-01 -5.15810199e-03 -4.75862634e-01] [-5.79552065e-02 3.82301656e-03 9.98311864e-01 -3.63262614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.120714057 meters 0.037580918116227914 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.48, Z:-0.37 [[ 9.98127740e-01 1.99849104e-02 5.78067322e-02 6.21980551e+00] [-1.97198162e-02 9.99792267e-01 -5.15274432e-03 -4.84308993e-01] [-5.78977010e-02 4.00315891e-03 9.98314495e-01 -3.66729454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.180714057 meters 0.03666679793844188 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.49, Z:-0.37 [[ 9.98157465e-01 1.80716606e-02 5.79231316e-02 6.28079330e+00] [-1.78022196e-02 9.99828190e-01 -5.16438416e-03 -4.89023001e-01] [-5.80065089e-02 4.12370829e-03 9.98307688e-01 -3.69158178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.240714057 meters 0.03646011536648054 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.49, Z:-0.37 [[ 9.98204246e-01 1.81534714e-02 5.70853316e-02 6.34246886e+00] [-1.78918874e-02 9.99826970e-01 -5.09014082e-03 -4.93481169e-01] [-5.71678579e-02 4.05963585e-03 9.98356327e-01 -3.72524219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.300714057 meters 0.03863346919729591 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.50, Z:-0.38 [[ 9.98294635e-01 1.79261891e-02 5.55560461e-02 6.40236476e+00] [-1.76772625e-02 9.99831398e-01 -4.96886216e-03 -5.03656635e-01] [-5.56357520e-02 3.97830962e-03 9.98443206e-01 -3.79725630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.360714057 meters 0.03707517198357622 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.51, Z:-0.38 [[ 9.98368634e-01 1.76667346e-02 5.42950916e-02 6.46495520e+00] [-1.74282863e-02 9.99836294e-01 -4.86209817e-03 -5.07273851e-01] [-5.43721006e-02 3.90789591e-03 9.98513096e-01 -3.82860784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.420714057 meters 0.04018271798408923 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.52, Z:-0.39 [[ 9.98356155e-01 1.76064115e-02 5.45435769e-02 6.52577463e+00] [-1.73648820e-02 9.99837217e-01 -4.89899327e-03 -5.17912059e-01] [-5.46209518e-02 3.94379731e-03 9.98499373e-01 -3.87091485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.480714057 meters 0.0417149227219315 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.53, Z:-0.39 [[ 9.98321133e-01 1.80516624e-02 5.50368326e-02 6.58635064e+00] [-1.78056674e-02 9.99829180e-01 -4.95676819e-03 -5.26714224e-01] [-5.51169091e-02 3.96847890e-03 9.98472021e-01 -3.90600790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.540714057 meters 0.0424183670087701 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.53, Z:-0.39 [[ 9.98343803e-01 1.80732509e-02 5.46169177e-02 6.64773917e+00] [-1.78303402e-02 9.99828865e-01 -4.93159045e-03 -5.33282502e-01] [-5.46967007e-02 3.94958454e-03 9.98495204e-01 -3.93924955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.600714057 meters 0.037999638993461725 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.53, Z:-0.40 [[ 9.98426270e-01 1.78706872e-02 5.31565851e-02 6.71041028e+00] [-1.76397152e-02 9.99832833e-01 -4.81115808e-03 -5.31218515e-01] [-5.32336778e-02 3.86591959e-03 9.98574599e-01 -3.97480691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.660714057 meters 0.04388150437251625 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.55, Z:-0.40 [[ 9.98512384e-01 1.65882055e-02 5.19408419e-02 6.77019021e+00] [-1.63652709e-02 9.99854965e-01 -4.71447731e-03 -5.46080708e-01] [-5.20115134e-02 3.85743803e-03 9.98639035e-01 -4.03552177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.720714057 meters 0.03947881002866878 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.54, Z:-0.41 [[ 9.98533945e-01 1.61496004e-02 5.16638293e-02 6.83242419e+00] [-1.59278348e-02 9.99862091e-01 -4.70134547e-03 -5.44602289e-01] [-5.17326292e-02 3.87156011e-03 9.98653466e-01 -4.06096251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.780714057 meters 0.043535820759398165 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.56, Z:-0.41 [[ 9.98578387e-01 1.25110450e-02 5.18138803e-02 6.89122756e+00] [-1.22823281e-02 9.99913381e-01 -4.73027386e-03 -5.57375562e-01] [-5.18685729e-02 4.08715416e-03 9.98645556e-01 -4.08728353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.840714057 meters 0.04204641171745261 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.56, Z:-0.41 [[ 9.98533125e-01 1.18816729e-02 5.28244721e-02 6.95347656e+00] [-1.16431614e-02 9.99920596e-01 -4.82062696e-03 -5.63056223e-01] [-5.28775547e-02 4.19851184e-03 9.98592177e-01 -4.11809236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.900714057 meters 0.044935219140882804 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.57, Z:-0.42 [[ 9.98594343e-01 1.12347646e-02 5.17988330e-02 7.01323991e+00] [-1.10037440e-02 9.99928208e-01 -4.74299403e-03 -5.73723187e-01] [-5.18484007e-02 4.16634591e-03 9.98646276e-01 -4.17287584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.960714057 meters 0.04196865586055837 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.58, Z:-0.42 [[ 9.98633481e-01 1.16627389e-02 5.09426344e-02 7.07625321e+00] [-1.14399383e-02 9.99923689e-01 -4.66295996e-03 -5.76272114e-01] [-5.09931298e-02 4.07380734e-03 9.98690695e-01 -4.20559952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.020714057 meters 0.04448517993330171 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.59, Z:-0.42 [[ 9.98655365e-01 9.89252886e-03 5.08881048e-02 7.13526151e+00] [-9.66701245e-03 9.99942341e-01 -4.67583954e-03 -5.86799493e-01] [-5.09314266e-02 4.17761630e-03 9.98693415e-01 -4.24860650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.080714057 meters 0.0476509817154707 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.60, Z:-0.43 [[ 9.98621904e-01 6.08621020e-03 5.21272644e-02 7.19521873e+00] [-5.84411955e-03 9.99971425e-01 -4.79538872e-03 -6.00505154e-01] [-5.21549606e-02 4.48414225e-03 9.98628936e-01 -4.27412720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.140714057 meters 0.046636776696614396 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.61, Z:-0.43 [[ 9.98622755e-01 4.92057251e-03 5.22339112e-02 7.25713151e+00] [-4.67594300e-03 9.99977526e-01 -4.80451937e-03 -6.06475105e-01] [-5.22563783e-02 4.55365958e-03 9.98623320e-01 -4.31320094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.200714057 meters 0.04429908944176024 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.61, Z:-0.43 [[ 9.98600278e-01 4.79151840e-03 5.26737646e-02 7.31899202e+00] [-4.54247873e-03 9.99977938e-01 -4.84666630e-03 -6.10570967e-01] [-5.26958254e-02 4.60061286e-03 9.98600012e-01 -4.34240307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.260714057 meters 0.04431259749309531 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.62, Z:-0.44 [[ 9.98581475e-01 7.20639420e-03 5.27551549e-02 7.38013477e+00] [-6.95904492e-03 9.99963923e-01 -4.87082027e-03 -6.15179441e-01] [-5.27883526e-02 4.49678540e-03 9.98595598e-01 -4.35269916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.320714057 meters 0.04273942151205686 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.62, Z:-0.44 [[ 9.98545966e-01 8.28654429e-03 5.32661840e-02 7.44171292e+00] [-8.03587990e-03 9.99955616e-01 -4.91833702e-03 -6.19071579e-01] [-5.33045759e-02 4.48314493e-03 9.98568237e-01 -4.39306240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.380714057 meters 0.04459186896237332 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.63, Z:-0.44 [[ 9.98589916e-01 9.53862366e-03 5.22225404e-02 7.50099621e+00] [-9.29915296e-03 9.99945113e-01 -4.82664653e-03 -6.28323859e-01] [-5.22657137e-02 4.33421516e-03 9.98623808e-01 -4.44379576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.440714057 meters 0.04415953148055852 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.63, Z:-0.45 [[ 9.98542360e-01 1.28325843e-02 5.24259406e-02 7.56127897e+00] [-1.25956882e-02 9.99908925e-01 -4.84659653e-03 -6.32864483e-01] [-5.24833603e-02 4.17919114e-03 9.98613054e-01 -4.47393440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.500714057 meters 0.04108687199943486 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.63, Z:-0.45 [[ 9.98391323e-01 1.70502707e-02 5.40745317e-02 7.62171767e+00] [-1.68043512e-02 9.99846299e-01 -4.99924042e-03 -6.33585120e-01] [-5.41514588e-02 4.08251083e-03 9.98524388e-01 -4.50080869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.560714057 meters 0.03759561290998022 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.63, Z:-0.45 [[ 9.98310947e-01 1.99085159e-02 5.45793454e-02 7.68247300e+00] [-1.96622348e-02 9.99793948e-01 -5.04567077e-03 -6.34055819e-01] [-5.46685510e-02 3.96399646e-03 9.98496688e-01 -4.53974380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.620714057 meters 0.036215846860444316 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.64, Z:-0.46 [[ 9.98243483e-01 2.40544284e-02 5.41417808e-02 7.74282485e+00] [-2.38180854e-02 9.99703774e-01 -5.00637909e-03 -6.36672026e-01] [-5.42461682e-02 3.70803174e-03 9.98520708e-01 -4.58177435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.680714057 meters 0.040265266585794886 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.65, Z:-0.46 [[ 9.98237461e-01 2.63046728e-02 5.31980765e-02 7.80119229e+00] [-2.60796561e-02 9.99647762e-01 -4.91968221e-03 -6.47243569e-01] [-5.33087487e-02 3.52362355e-03 9.98571861e-01 -4.64170474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.740714057 meters 0.03640383098577915 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.65, Z:-0.47 [[ 9.98235309e-01 2.73902866e-02 5.26881443e-02 7.86142783e+00] [-2.71711736e-02 9.99618930e-01 -4.87062372e-03 -6.45526007e-01] [-5.28014741e-02 3.43042986e-03 9.98599137e-01 -4.68575178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.800714057 meters 0.03780780086586303 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.65, Z:-0.47 [[ 9.98212763e-01 2.77165738e-02 5.29440407e-02 7.91957588e+00] [-2.74958610e-02 9.99609943e-01 -4.89277668e-03 -6.53034324e-01] [-5.30590006e-02 3.42829014e-03 9.98585494e-01 -4.72027808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.860714057000001 meters 0.03419824032271972 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.65, Z:-0.47 [[ 9.98263521e-01 2.58169506e-02 5.29474135e-02 7.97980923e+00] [-2.55937674e-02 9.99660471e-01 -4.88901554e-03 -6.53219644e-01] [-5.30556558e-02 3.52540208e-03 9.98585334e-01 -4.73085880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.920714057 meters 0.036534798547156126 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.66, Z:-0.48 [[ 9.98303085e-01 2.50562606e-02 5.25655294e-02 8.03812063e+00] [-2.48353360e-02 9.99679781e-01 -4.85193575e-03 -6.62434838e-01] [-5.26702683e-02 3.53821984e-03 9.98605690e-01 -4.77179433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.980714057 meters 0.035913423749651646 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.67, Z:-0.48 [[ 9.98352474e-01 2.40744478e-02 5.20841510e-02 8.09717923e+00] [-2.38563474e-02 9.99703849e-01 -4.80519811e-03 -6.65712400e-01] [-5.21844087e-02 3.55474383e-03 9.98631139e-01 -4.81284784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.040714057 meters 0.03703394763180891 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.67, Z:-0.49 [[ 9.98409352e-01 2.23659673e-02 5.17545081e-02 8.15704645e+00] [-2.21485233e-02 9.99743306e-01 -4.77124045e-03 -6.73105673e-01] [-5.18479365e-02 3.61736515e-03 9.98648440e-01 -4.86380319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.100714057 meters 0.0381236469580323 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.68, Z:-0.49 [[ 9.98430848e-01 2.11624719e-02 5.18458422e-02 8.21665229e+00] [-2.09426462e-02 9.99769254e-01 -4.77964599e-03 -6.79081143e-01] [-5.19350281e-02 3.68635687e-03 9.98643662e-01 -4.89403477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.160714057 meters 0.03860724131397865 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.68, Z:-0.49 [[ 9.98446663e-01 2.03817294e-02 5.18540928e-02 8.27727893e+00] [-2.01607949e-02 9.99785323e-01 -4.78025014e-03 -6.83080973e-01] [-5.19403907e-02 3.72740507e-03 9.98643231e-01 -4.93815423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.220714057 meters 0.04178067000444755 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.69, Z:-0.50 [[ 9.98516004e-01 1.89281009e-02 5.10638537e-02 8.33690168e+00] [-1.87119202e-02 9.99813831e-01 -4.70832600e-03 -6.92925822e-01] [-5.11434668e-02 3.74583611e-03 9.98684292e-01 -4.99706897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.280714057 meters 0.04379283365035373 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.70, Z:-0.50 [[ 9.98502218e-01 1.63258712e-02 5.22186513e-02 8.39740056e+00] [-1.60962019e-02 9.99858850e-01 -4.81578020e-03 -7.01171487e-01] [-5.22899025e-02 3.96804526e-03 9.98624064e-01 -5.04263303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.340714057 meters 0.042250962451853544 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.70, Z:-0.51 [[ 9.98498392e-01 1.42916512e-02 5.28839270e-02 8.45857997e+00] [-1.40532115e-02 9.99889351e-01 -4.87786642e-03 -7.03853986e-01] [-5.29477882e-02 4.12735277e-03 9.98588753e-01 -5.08577071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.400714057 meters 0.04348670845726089 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.71, Z:-0.51 [[ 9.98529895e-01 1.31599630e-02 5.25819811e-02 8.52056303e+00] [-1.29226062e-02 9.99904730e-01 -4.85148341e-03 -7.10643038e-01] [-5.26408170e-02 4.16485498e-03 9.98604826e-01 -5.11640802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.460714057 meters 0.0502084852200112 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.73, Z:-0.52 [[ 9.98529581e-01 1.35242494e-02 5.24954360e-02 8.58063857e+00] [-1.32880742e-02 9.99899970e-01 -4.84540065e-03 -7.25501249e-01] [-5.25557153e-02 4.14071263e-03 9.98609409e-01 -5.16490064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.520714057 meters 0.05004178900312214 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.73, Z:-0.52 [[ 9.98467556e-01 1.65912768e-02 5.27945930e-02 8.64014051e+00] [-1.63558556e-02 9.99854285e-01 -4.88815198e-03 -7.28906563e-01] [-5.28680007e-02 4.01716042e-03 9.98593429e-01 -5.21400176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.580714057 meters 0.039358496381725706 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.72, Z:-0.52 [[ 9.98383282e-01 2.09451709e-02 5.28405313e-02 8.70193241e+00] [-2.07154402e-02 9.99773446e-01 -4.89163373e-03 -7.16046461e-01] [-5.29310162e-02 3.78911047e-03 9.98590982e-01 -5.24204357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.640714057 meters 0.038032638259320455 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.72, Z:-0.53 [[ 9.98208356e-01 2.65645294e-02 5.36134740e-02 8.76157536e+00] [-2.63360689e-02 9.99640824e-01 -4.96337978e-03 -7.17287552e-01] [-5.37260672e-02 3.54251902e-03 9.98549428e-01 -5.25776246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.700714057 meters 0.03735893657748886 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.72, Z:-0.53 [[ 9.98117217e-01 2.87167435e-02 5.41975036e-02 8.82155003e+00] [-2.84864869e-02 9.99581590e-01 -5.01637576e-03 -7.20341055e-01] [-5.43188808e-02 3.46303453e-03 9.98517635e-01 -5.28622965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.760714057 meters 0.031996057603631625 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.72, Z:-0.53 [[ 9.97957796e-01 3.35571796e-02 5.43521256e-02 8.88247666e+00] [-3.33328112e-02 9.99431652e-01 -5.02958571e-03 -7.17306310e-01] [-5.44900134e-02 3.20760513e-03 9.98509164e-01 -5.33813434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.820714057 meters 0.03170273613248389 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.72, Z:-0.54 [[ 9.97709796e-01 3.88964811e-02 5.53373944e-02 8.94221007e+00] [-3.86720843e-02 9.99238835e-01 -5.12053653e-03 -7.21129439e-01] [-5.54944444e-02 2.96879708e-03 9.98454582e-01 -5.37589084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.880714057 meters 0.030581143957895678 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.72, Z:-0.54 [[ 9.97541085e-01 4.28012285e-02 5.54963005e-02 9.00226326e+00] [-4.25815624e-02 9.99079797e-01 -5.13520197e-03 -7.23620469e-01] [-5.56650255e-02 2.75945576e-03 9.98445687e-01 -5.41577588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.940714057000001 meters 0.02832567402838272 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.72, Z:-0.55 [[ 9.97341677e-01 4.72967448e-02 5.54310148e-02 9.06190091e+00] [-4.70845707e-02 9.98877743e-01 -5.12819349e-03 -7.24953599e-01] [-5.56113538e-02 2.50461557e-03 9.98449350e-01 -5.46686385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.000714057 meters 0.02708646187465069 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.73, Z:-0.55 [[ 9.97085469e-01 5.17405686e-02 5.60667559e-02 9.12136545e+00] [-5.15305473e-02 9.98657953e-01 -5.18614692e-03 -7.27625990e-01] [-5.62598459e-02 2.28188111e-03 9.98413553e-01 -5.51183585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.060714057 meters 0.024773747448166433 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.73, Z:-0.55 [[ 9.96888869e-01 5.50857752e-02 5.63750000e-02 9.18105173e+00] [-5.48788837e-02 9.98479412e-01 -5.21266702e-03 -7.28756552e-01] [-5.65764207e-02 2.10265266e-03 9.98396057e-01 -5.54805873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.120714057 meters 0.023278955758256024 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.73, Z:-0.56 [[ 9.96497568e-01 6.08038712e-02 5.74063296e-02 9.24071163e+00] [-6.05989188e-02 9.98148094e-01 -5.30591276e-03 -7.32603142e-01] [-5.76226385e-02 1.80856766e-03 9.98336797e-01 -5.58650190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.180714057 meters 0.023186255631674695 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.74, Z:-0.56 [[ 9.96425652e-01 6.23854889e-02 5.69558680e-02 9.29830251e+00] [-6.21863558e-02 9.98050675e-01 -5.26370998e-03 -7.39778355e-01] [-5.71732216e-02 1.70301778e-03 9.98362821e-01 -5.62536048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.240714057 meters 0.023328866072082913 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.75, Z:-0.57 [[ 9.96344426e-01 6.44938929e-02 5.60207301e-02 9.35566627e+00] [-6.43054315e-02 9.97916912e-01 -5.16216556e-03 -7.48486414e-01] [-5.62369621e-02 1.54085766e-03 9.98416261e-01 -5.67554791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.300714057 meters 0.022423567792168288 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.76, Z:-0.57 [[ 9.96250671e-01 6.61540398e-02 5.57516166e-02 9.41360691e+00] [-6.59701747e-02 9.97808388e-01 -5.13393170e-03 -7.55726958e-01] [-5.59690610e-02 1.43673902e-03 9.98431470e-01 -5.71388110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.360714057000001 meters 0.023045283745419993 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.77, Z:-0.58 [[ 9.96237140e-01 6.61713892e-02 5.59723858e-02 9.47045525e+00] [-6.59868762e-02 9.97807251e-01 -5.14030494e-03 -7.66751299e-01] [-5.61897935e-02 1.42751980e-03 9.98419085e-01 -5.76099317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.420714057 meters 0.02333430993191637 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.78, Z:-0.58 [[ 9.96216722e-01 6.66899426e-02 5.57197904e-02 9.52742169e+00] [-6.65088844e-02 9.97772801e-01 -5.09959004e-03 -7.76280358e-01] [-5.59357827e-02 1.37443578e-03 9.98433422e-01 -5.81149552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.480714057 meters 0.023486733731713883 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.79, Z:-0.59 [[ 9.96117415e-01 6.81580065e-02 5.57187694e-02 9.58439043e+00] [-6.79795217e-02 9.97673709e-01 -5.09461625e-03 -7.86467890e-01] [-5.59363902e-02 1.28710068e-03 9.98433505e-01 -5.85405041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.540714057 meters 0.023547132451583862 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.80, Z:-0.59 [[ 9.96069775e-01 6.88112137e-02 5.57675466e-02 9.64204864e+00] [-6.86336338e-02 9.97628919e-01 -5.09558857e-03 -7.97020026e-01] [-5.59859509e-02 1.24803239e-03 9.98430777e-01 -5.89639112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.600714057 meters 0.02438406143618899 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.81, Z:-0.59 [[ 9.96165062e-01 6.80578904e-02 5.49844721e-02 9.69832352e+00] [-6.78849013e-02 9.97680581e-01 -5.00993655e-03 -8.08940087e-01] [-5.51979057e-02 1.25810829e-03 9.98474641e-01 -5.94011803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.660714057 meters 0.025922793903920664 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.82, Z:-0.60 [[ 9.96474676e-01 6.47074658e-02 5.33962867e-02 9.75571338e+00] [-6.45398374e-02 9.97903299e-01 -4.85951467e-03 -8.23134957e-01] [-5.35987776e-02 1.39619565e-03 9.98561576e-01 -5.99838412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.720714057 meters 0.027626148648529678 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.84, Z:-0.60 [[ 9.96713230e-01 6.09709718e-02 5.33411417e-02 9.81260451e+00] [-6.07984769e-02 9.98138268e-01 -4.85205171e-03 -8.36425448e-01] [-5.35376692e-02 1.59304396e-03 9.98564560e-01 -6.04402374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.780714057 meters 0.030939901973370234 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.85, Z:-0.61 [[ 9.97070081e-01 5.47794266e-02 5.33897672e-02 9.86977662e+00] [-5.45979577e-02 9.98496627e-01 -4.85266349e-03 -8.54027568e-01] [-5.35753286e-02 1.92347333e-03 9.98561958e-01 -6.09126796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.840714057 meters 0.029831030589876545 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.86, Z:-0.61 [[ 9.97403274e-01 5.01198801e-02 5.17175683e-02 9.92916518e+00] [-4.99434523e-02 9.98740993e-01 -4.69890548e-03 -8.61344091e-01] [-5.18879641e-02 2.10374980e-03 9.98650696e-01 -6.12695678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.900714057 meters 0.02940002396668915 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.87, Z:-0.62 [[ 9.97653332e-01 4.50791323e-02 5.15334982e-02 9.98837133e+00] [-4.48972952e-02 9.98980640e-01 -4.68131029e-03 -8.71274337e-01] [-5.16919964e-02 2.35661012e-03 9.98660295e-01 -6.16243158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.960714057 meters 0.03109372719025518 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.89, Z:-0.62 [[ 9.97963642e-01 3.83987733e-02 5.09323332e-02 1.00475172e+01] [-3.82125419e-02 9.99258928e-01 -4.62554001e-03 -8.85143423e-01] [-5.10722038e-02 2.66986684e-03 9.98691395e-01 -6.20082863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.020714057000001 meters 0.031840223210554755 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.89, Z:-0.62 [[ 9.98157720e-01 3.41026460e-02 5.01814313e-02 1.01066107e+01] [-3.39164409e-02 9.99414279e-01 -4.55774315e-03 -8.94930340e-01] [-5.03074701e-02 2.84737096e-03 9.98729719e-01 -6.23484858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.080714057 meters 0.033997842817002966 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.91, Z:-0.63 [[ 9.98414505e-01 2.85508739e-02 4.85110764e-02 1.01655885e+01] [-2.83704177e-02 9.99587775e-01 -4.40452008e-03 -9.09214445e-01] [-4.86168318e-02 3.02125723e-03 9.98812933e-01 -6.29998552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.140714057 meters 0.034290777934066693 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.92, Z:-0.63 [[ 9.98515504e-01 2.41274303e-02 4.88329327e-02 1.02250841e+01] [-2.39393217e-02 9.99703583e-01 -4.43337415e-03 -9.17954965e-01] [-4.89254237e-02 3.25776554e-03 9.98797121e-01 -6.32974503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.200714057 meters 0.0346959248961893 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.93, Z:-0.64 [[ 9.98521437e-01 2.27684823e-02 4.93612878e-02 1.02855774e+01] [-2.25746505e-02 9.99735119e-01 -4.48081609e-03 -9.25279467e-01] [-4.94502343e-02 3.35987709e-03 9.98770937e-01 -6.36182442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.260714057 meters 0.036749324317893545 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.93, Z:-0.64 [[ 9.98465664e-01 2.33908818e-02 5.01914706e-02 1.03453598e+01] [-2.31912017e-02 9.99720661e-01 -4.55713464e-03 -9.34304823e-01] [-5.02840456e-02 3.38614195e-03 9.98729217e-01 -6.41319128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.320714057 meters 0.03592267055459384 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.94, Z:-0.65 [[ 9.98470802e-01 2.41415662e-02 4.97316982e-02 1.04061916e+01] [-2.39464133e-02 9.99703042e-01 -4.51628953e-03 -9.38182076e-01] [-4.98259603e-02 3.31848743e-03 9.98752402e-01 -6.45345819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.380714057 meters 0.03457799784157149 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.94, Z:-0.65 [[ 9.98371367e-01 2.81015565e-02 4.96479196e-02 1.04666301e+01] [-2.79118816e-02 9.99600215e-01 -4.50972572e-03 -9.39333662e-01] [-4.97548014e-02 3.11661418e-03 9.98756600e-01 -6.50045088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.440714057000001 meters 0.03134199958953692 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.94, Z:-0.65 [[ 9.98184734e-01 3.38131665e-02 4.98387986e-02 1.05273533e+01] [-3.36290848e-02 9.99424126e-01 -4.52770355e-03 -9.36600369e-01] [-4.99631938e-02 2.84345138e-03 9.98747012e-01 -6.53386502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.500714057 meters 0.02996142410647174 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.94, Z:-0.66 [[ 9.97969764e-01 3.94880603e-02 4.99704276e-02 1.05874889e+01] [-3.93100990e-02 9.99216748e-01 -4.53950335e-03 -9.35889435e-01] [-5.01105443e-02 2.56594463e-03 9.98740381e-01 -6.57752922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.560714057 meters 0.02925655974504147 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.94, Z:-0.66 [[ 9.97806699e-01 4.25181881e-02 5.07345506e-02 1.06470286e+01] [-4.23386260e-02 9.99092686e-01 -4.60920935e-03 -9.37925531e-01] [-5.08844937e-02 2.45106881e-03 9.98701537e-01 -6.62065686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.620714057 meters 0.028627813964816704 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.94, Z:-0.67 [[ 9.97734690e-01 4.42728754e-02 5.06497930e-02 1.07063073e+01] [-4.40962486e-02 9.99016697e-01 -4.59991636e-03 -9.38871766e-01] [-5.08036404e-02 2.35603026e-03 9.98705882e-01 -6.66922983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.680714057 meters 0.02866161710705784 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.94, Z:-0.67 [[ 9.97763549e-01 4.28243527e-02 5.13222681e-02 1.07652467e+01] [-4.26412237e-02 9.99079589e-01 -4.65836691e-03 -9.42503596e-01] [-5.14745221e-02 2.45950438e-03 9.98671279e-01 -6.70876227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.740714057 meters 0.030613115208908873 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.95, Z:-0.67 [[ 9.97865684e-01 3.87367051e-02 5.25694331e-02 1.08235786e+01] [-3.85391351e-02 9.99245720e-01 -4.76714980e-03 -9.50080500e-01] [-5.27144447e-02 2.73099471e-03 9.98605893e-01 -6.74456190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.800714057 meters 0.032900759712105904 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.96, Z:-0.68 [[ 9.98026159e-01 3.49998322e-02 5.21420888e-02 1.08816194e+01] [-3.48004808e-02 9.99383103e-01 -4.72652102e-03 -9.57643080e-01] [-5.22753499e-02 2.90262186e-03 9.98628491e-01 -6.79632644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.860714057000001 meters 0.03272564613890832 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.96, Z:-0.68 [[ 9.98111040e-01 3.23209299e-02 5.22466178e-02 1.09412230e+01] [-3.21172187e-02 9.99472897e-01 -4.73414138e-03 -9.61416832e-01] [-5.23720903e-02 3.04718273e-03 9.98622991e-01 -6.84314577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.920714057 meters 0.03310234578893192 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.96, Z:-0.69 [[ 9.98240498e-01 2.80075494e-02 5.22636220e-02 1.10017627e+01] [-2.77979362e-02 9.99602356e-01 -4.73343996e-03 -9.64691145e-01] [-5.23754117e-02 3.27229063e-03 9.98622105e-01 -6.87969054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.980714057 meters 0.034651003713358684 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.97, Z:-0.69 [[ 9.98254321e-01 2.33423803e-02 5.42535087e-02 1.10621469e+01] [-2.31096501e-02 9.99720863e-01 -4.91316754e-03 -9.70719774e-01] [-5.43530496e-02 3.65081112e-03 9.98515106e-01 -6.90843532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.040714057 meters 0.03841809982496203 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.98, Z:-0.70 [[ 9.98354097e-01 1.72308909e-02 5.47009436e-02 1.11212494e+01] [-1.69852283e-02 9.99843474e-01 -4.95277720e-03 -9.81010132e-01] [-5.47777222e-02 4.01551740e-03 9.98490499e-01 -6.96518249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.100714057000001 meters 0.039771007471988994 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.99, Z:-0.70 [[ 9.98504494e-01 1.28590801e-02 5.31358553e-02 1.11815413e+01] [-1.26209149e-02 9.99908758e-01 -4.81532935e-03 -9.87390209e-01] [-5.31929278e-02 4.13750489e-03 9.98575682e-01 -7.01659650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.160714057 meters 0.04111100057254981 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.99, Z:-0.71 [[ 9.98629552e-01 7.32155374e-03 5.18209708e-02 1.12412257e+01] [-7.08755526e-03 9.99963848e-01 -4.69784570e-03 -9.92614017e-01] [-5.18534929e-02 4.32412355e-03 9.98645341e-01 -7.06681219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.220714057 meters 0.0431017628865831 Centerline is valid? [True, True] Translation: X:11.30, Y:-1.00, Z:-0.71 [[ 9.98601398e-01 3.14517835e-03 5.27764654e-02 1.13014852e+01] [-2.89668425e-03 9.99984360e-01 -4.78425790e-03 -9.98886362e-01] [-5.27906873e-02 4.62468987e-03 9.98594891e-01 -7.10564757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.280714057 meters 0.04389553079106766 Centerline is valid? [True, True] Translation: X:11.36, Y:-1.00, Z:-0.71 [[ 9.98573428e-01 1.36395838e-03 5.33783434e-02 1.13625124e+01] [-1.10723373e-03 9.99987680e-01 -4.83880496e-03 -1.00164394e+00] [-5.33842857e-02 4.77279976e-03 9.98562636e-01 -7.14065901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.340714057 meters 0.045757687056573466 Centerline is valid? [True, True] Translation: X:11.42, Y:-1.01, Z:-0.72 [[ 9.98551711e-01 2.01492783e-03 5.37626398e-02 1.14236266e+01] [-1.75549498e-03 9.99986589e-01 -4.87231092e-03 -1.00636420e+00] [-5.37717362e-02 4.77087435e-03 9.98541856e-01 -7.18737575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.400714057 meters 0.04355516094874606 Centerline is valid? [True, True] Translation: X:11.49, Y:-1.00, Z:-0.72 [[ 9.98508708e-01 2.72790191e-03 5.45244766e-02 1.14863739e+01] [-2.46139792e-03 9.99984698e-01 -4.95434199e-03 -1.00463716e+00] [-5.45371573e-02 4.81274718e-03 9.98500143e-01 -7.20711642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.460714057 meters 0.044897688550033996 Centerline is valid? [True, True] Translation: X:11.55, Y:-1.01, Z:-0.73 [[ 9.98522489e-01 2.74075826e-03 5.42708669e-02 1.15481047e+01] [-2.47597643e-03 9.99984706e-01 -4.94552987e-03 -1.00924738e+00] [-5.42835913e-02 4.80384941e-03 9.98514003e-01 -7.25899570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.520714057000001 meters 0.04530906485829004 Centerline is valid? [True, True] Translation: X:11.61, Y:-1.01, Z:-0.73 [[ 9.98563794e-01 2.51049546e-03 5.35167913e-02 1.16094987e+01] [-2.25195388e-03 9.99985504e-01 -4.89079132e-03 -1.01446727e+00] [-5.35282938e-02 4.76324979e-03 9.98554973e-01 -7.31448739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.580714057 meters 0.04699265016949884 Centerline is valid? [True, True] Translation: X:11.67, Y:-1.02, Z:-0.74 [[ 9.98573733e-01 1.64748729e-03 5.33646420e-02 1.16713335e+01] [-1.38840166e-03 9.99987072e-01 -4.89171395e-03 -1.01987358e+00] [-5.33720111e-02 4.81064550e-03 9.98563111e-01 -7.35132000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.640714057 meters 0.04852209003520122 Centerline is valid? [True, True] Translation: X:11.73, Y:-1.03, Z:-0.74 [[ 9.98566068e-01 -1.50256060e-04 5.35330328e-02 1.17318506e+01] [ 4.13790064e-04 9.99987852e-01 -4.91178004e-03 -1.02569906e+00] [-5.35316445e-02 4.92688831e-03 9.98553999e-01 -7.38175542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.700714057 meters 0.047604103658041644 Centerline is valid? [True, True] Translation: X:11.79, Y:-1.03, Z:-0.74 [[ 9.98552909e-01 -2.10390859e-04 5.37777176e-02 1.17942892e+01] [ 4.76343065e-04 9.99987721e-01 -4.93262803e-03 -1.02869024e+00] [-5.37760195e-02 4.95110671e-03 9.98540748e-01 -7.43649873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.760714057 meters 0.047686047726334765 Centerline is valid? [True, True] Translation: X:11.86, Y:-1.03, Z:-0.75 [[ 9.98598071e-01 4.41914529e-04 5.29310663e-02 1.18567802e+01] [-1.84461926e-04 9.99988131e-01 -4.86870904e-03 -1.03221635e+00] [-5.29325896e-02 4.85211969e-03 9.98586300e-01 -7.48731945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.820714057 meters 0.04771471726104094 Centerline is valid? [True, True] Translation: X:11.92, Y:-1.04, Z:-0.75 [[ 9.98592241e-01 -3.88665747e-04 5.30413572e-02 1.19183628e+01] [ 6.49178703e-04 9.99987812e-01 -4.89436582e-03 -1.03614376e+00] [-5.30388085e-02 4.92190905e-03 9.98580322e-01 -7.51717124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.880714057 meters 0.05039464900491204 Centerline is valid? [True, True] Translation: X:11.98, Y:-1.04, Z:-0.76 [[ 9.98544336e-01 -1.17273225e-03 5.39243354e-02 1.19787651e+01] [ 1.44345413e-03 9.99986549e-01 -4.98172979e-03 -1.04461988e+00] [-5.39177679e-02 5.05231537e-03 9.98532598e-01 -7.55010409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.940714057000001 meters 0.047038921222072844 Centerline is valid? [True, True] Translation: X:12.04, Y:-1.04, Z:-0.76 [[ 9.98558949e-01 -1.37301938e-04 5.36656900e-02 1.20414889e+01] [ 4.04630958e-04 9.99987565e-01 -4.97054327e-03 -1.04374289e+00] [-5.36643402e-02 4.98509526e-03 9.98546588e-01 -7.60110277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.000714057 meters 0.04739055897863266 Centerline is valid? [True, True] Translation: X:12.10, Y:-1.05, Z:-0.76 [[ 9.98585990e-01 2.91040816e-03 5.30805963e-02 1.21020412e+01] [-2.65224801e-03 9.99984314e-01 -4.93334330e-03 -1.04813574e+00] [-5.30941217e-02 4.78558460e-03 9.98578045e-01 -7.64990476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.060714057 meters 0.042652296783571755 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.04, Z:-0.77 [[ 9.98568454e-01 1.08679422e-02 5.23730011e-02 1.21630598e+01] [-1.06274647e-02 9.99931678e-01 -4.86794171e-03 -1.04202448e+00] [-5.24223274e-02 4.30438081e-03 9.98615728e-01 -7.66696882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.120714057 meters 0.04010279702521047 Centerline is valid? [True, True] Translation: X:12.22, Y:-1.04, Z:-0.77 [[ 9.98535623e-01 1.51176378e-02 5.19429109e-02 1.22240904e+01] [-1.48868135e-02 9.99877530e-01 -4.82785378e-03 -1.04150029e+00] [-5.20095352e-02 4.04751956e-03 9.98638386e-01 -7.70080149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.180714057000001 meters 0.037581934387725176 Centerline is valid? [True, True] Translation: X:12.29, Y:-1.04, Z:-0.78 [[ 9.98411101e-01 2.20194225e-02 5.18692451e-02 1.22852480e+01] [-2.17985189e-02 9.99750761e-01 -4.82079939e-03 -1.04058710e+00] [-5.19624685e-02 3.68246691e-03 9.98642249e-01 -7.75079510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.240714057 meters 0.03653879047591884 Centerline is valid? [True, True] Translation: X:12.35, Y:-1.04, Z:-0.78 [[ 9.98367648e-01 2.42498439e-02 5.17105906e-02 1.23459897e+01] [-2.40332203e-02 9.99699604e-01 -4.80694159e-03 -1.04378715e+00] [-5.18116246e-02 3.55632295e-03 9.98650544e-01 -7.78994384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.300714057 meters 0.033778715405012066 Centerline is valid? [True, True] Translation: X:12.41, Y:-1.04, Z:-0.78 [[ 9.98145400e-01 3.18284182e-02 5.18913550e-02 1.24069139e+01] [-3.16203982e-02 9.99488304e-01 -4.82501632e-03 -1.04075465e+00] [-5.20183751e-02 3.17524253e-03 9.98641080e-01 -7.81418507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.360714057000001 meters 0.03390304658342949 Centerline is valid? [True, True] Translation: X:12.47, Y:-1.04, Z:-0.79 [[ 9.97978440e-01 3.71199783e-02 5.15862399e-02 1.24659374e+01] [-3.69214474e-02 9.99306660e-01 -4.79649157e-03 -1.04399671e+00] [-5.17285188e-02 2.88215653e-03 9.98657025e-01 -7.87062034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.420714057 meters 0.030159684453448528 Centerline is valid? [True, True] Translation: X:12.53, Y:-1.04, Z:-0.79 [[ 9.97895396e-01 3.89852804e-02 5.18162682e-02 1.25255114e+01] [-3.87875141e-02 9.99235870e-01 -4.81718842e-03 -1.04217677e+00] [-5.19644733e-02 2.79722591e-03 9.98645017e-01 -7.90920281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.480714057 meters 0.030038838394624352 Centerline is valid? [True, True] Translation: X:12.58, Y:-1.05, Z:-0.79 [[ 9.97852879e-01 3.83288913e-02 5.31086489e-02 1.25837576e+01] [-3.81203476e-02 9.99260972e-01 -4.93453726e-03 -1.04647720e+00] [-5.32585354e-02 2.89942205e-03 9.98576548e-01 -7.93496422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.540714057 meters 0.031628437465106074 Centerline is valid? [True, True] Translation: X:12.64, Y:-1.05, Z:-0.80 [[ 9.97876834e-01 3.49742673e-02 5.49420209e-02 1.26430317e+01] [-3.47462514e-02 9.99383153e-01 -5.10017922e-03 -1.05448292e+00] [-5.50865051e-02 3.18032142e-03 9.98476521e-01 -7.97852400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.600714057000001 meters 0.03364699241784788 Centerline is valid? [True, True] Translation: X:12.70, Y:-1.06, Z:-0.80 [[ 9.97950730e-01 3.14064374e-02 5.57492190e-02 1.27029384e+01] [-3.11661861e-02 9.99500825e-01 -5.17391870e-03 -1.06363854e+00] [-5.58838847e-02 3.42582541e-03 9.98431397e-01 -8.02303993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.660714057 meters 0.03847703497029616 Centerline is valid? [True, True] Translation: X:12.76, Y:-1.08, Z:-0.81 [[ 9.98241315e-01 2.48516710e-02 5.38207308e-02 1.27612644e+01] [-2.46182839e-02 9.99684445e-01 -4.99511710e-03 -1.07749036e+00] [-5.39278844e-02 3.66135824e-03 9.98538120e-01 -8.09376514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.720714057 meters 0.03841394753217196 Centerline is valid? [True, True] Translation: X:12.82, Y:-1.08, Z:-0.81 [[ 9.98368080e-01 1.93134101e-02 5.37416955e-02 1.28212307e+01] [-1.90727892e-02 9.99805662e-01 -4.98668293e-03 -1.08402845e+00] [-5.38275613e-02 3.95354103e-03 9.98542419e-01 -8.13214233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.780714057 meters 0.04000572287647884 Centerline is valid? [True, True] Translation: X:12.88, Y:-1.09, Z:-0.82 [[ 9.98310278e-01 1.56362594e-02 5.59651419e-02 1.28812123e+01] [-1.53695360e-02 9.99868396e-01 -5.19315784e-03 -1.09258222e+00] [-5.60389782e-02 4.32422458e-03 9.98419218e-01 -8.16280768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.840714057 meters 0.04245564246961684 Centerline is valid? [True, True] Translation: X:12.94, Y:-1.10, Z:-0.82 [[ 9.98265497e-01 1.27949809e-02 5.74655254e-02 1.29412768e+01] [-1.25090563e-02 9.99907539e-01 -5.33256395e-03 -1.10272891e+00] [-5.75284422e-02 4.60447511e-03 9.98333250e-01 -8.20013965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.900714057 meters 0.04783367343781822 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.12, Z:-0.82 [[ 9.98312094e-01 1.08207043e-02 5.70602827e-02 1.30003957e+01] [-1.05355547e-02 9.99930476e-01 -5.29580868e-03 -1.11639856e+00] [-5.71136201e-02 4.68570812e-03 9.98356689e-01 -8.24780443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.960714057 meters 0.0474735379873264 Centerline is valid? [True, True] Translation: X:13.06, Y:-1.12, Z:-0.83 [[ 9.98432553e-01 7.96072230e-03 5.53991316e-02 1.30603883e+01] [-7.68742623e-03 9.99957217e-01 -5.14457745e-03 -1.12222935e+00] [-5.54377161e-02 4.71063686e-03 9.98451035e-01 -8.28989834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.020714057000001 meters 0.04960844330117976 Centerline is valid? [True, True] Translation: X:13.12, Y:-1.13, Z:-0.84 [[ 9.98490599e-01 5.52397366e-03 5.46443935e-02 1.31201497e+01] [-5.25446009e-03 9.99973319e-01 -5.07457875e-03 -1.13241734e+00] [-5.46709674e-02 4.77979239e-03 9.98492984e-01 -8.35776533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.080714057 meters 0.05284532678525363 Centerline is valid? [True, True] Translation: X:13.18, Y:-1.14, Z:-0.84 [[ 9.98468768e-01 3.18785884e-03 5.52264109e-02 1.31799984e+01] [-2.90896546e-03 9.99982612e-01 -5.12965172e-03 -1.14392211e+00] [-5.52418033e-02 4.96114531e-03 9.98460680e-01 -8.38635212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.140714057 meters 0.05116036274254808 Centerline is valid? [True, True] Translation: X:13.24, Y:-1.15, Z:-0.84 [[ 9.98511494e-01 7.19013851e-04 5.45369562e-02 1.32406650e+01] [-4.43348642e-04 9.99987067e-01 -5.06657973e-03 -1.14778173e+00] [-5.45398937e-02 5.03485921e-03 9.98498898e-01 -8.41364949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.200714057 meters 0.04924980756377753 Centerline is valid? [True, True] Translation: X:13.30, Y:-1.15, Z:-0.84 [[ 9.98505141e-01 7.90714536e-04 5.46521482e-02 1.33023721e+01] [-5.14065367e-04 9.99986986e-01 -5.07587245e-03 -1.15180830e+00] [-5.46554505e-02 5.04018997e-03 9.98492553e-01 -8.44468787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.260714057000001 meters 0.048161563895295294 Centerline is valid? [True, True] Translation: X:13.36, Y:-1.16, Z:-0.85 [[ 9.98526894e-01 2.95590927e-03 5.41784536e-02 1.33632455e+01] [-2.68629671e-03 9.99983648e-01 -5.04852785e-03 -1.15515802e+00] [-5.41924907e-02 4.89555143e-03 9.98518506e-01 -8.47176099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.320714057 meters 0.04600430826042882 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.16, Z:-0.85 [[ 9.98547144e-01 5.21461875e-03 5.36321566e-02 1.34243469e+01] [-4.95358992e-03 9.99975237e-01 -4.99880240e-03 -1.15768675e+00] [-5.36568954e-02 4.72586815e-03 9.98548248e-01 -8.51882275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.380714057 meters 0.04833396035069049 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.17, Z:-0.86 [[ 9.98467666e-01 1.10151696e-02 5.42308644e-02 1.34830912e+01] [-1.07566804e-02 9.99929363e-01 -5.05605016e-03 -1.16594531e+00] [-5.42827269e-02 4.46495853e-03 9.98515623e-01 -8.56474028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.440714057000001 meters 0.03905937130214456 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.16, Z:-0.86 [[ 9.98323589e-01 1.93665858e-02 5.45430756e-02 1.35446647e+01] [-1.91175579e-02 9.99804318e-01 -5.08381808e-03 -1.15583869e+00] [-5.46308587e-02 4.03256510e-03 9.98498477e-01 -8.57357788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.500714057 meters 0.03575204047490201 Centerline is valid? [True, True] Translation: X:13.60, Y:-1.16, Z:-0.86 [[ 9.98057397e-01 2.81168056e-02 5.55956669e-02 1.36044720e+01] [-2.78715595e-02 9.99598081e-01 -5.18185825e-03 -1.15583918e+00] [-5.57190193e-02 3.62225402e-03 9.98439918e-01 -8.60658139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.560714057 meters 0.03216221546878064 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.15, Z:-0.86 [[ 9.97882378e-01 3.37575354e-02 5.55984547e-02 1.36651936e+01] [-3.35209826e-02 9.99424580e-01 -5.18202871e-03 -1.15371876e+00] [-5.57413948e-02 3.30734030e-03 9.98439762e-01 -8.62770757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.620714057 meters 0.031891457393771104 Centerline is valid? [True, True] Translation: X:13.72, Y:-1.16, Z:-0.87 [[ 9.97762764e-01 3.67018361e-02 5.58788090e-02 1.37238034e+01] [-3.64674794e-02 9.99321268e-01 -5.20827662e-03 -1.15793226e+00] [-5.60320356e-02 3.15886515e-03 9.98423974e-01 -8.65729815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.680714057000001 meters 0.03096478460091997 Centerline is valid? [True, True] Translation: X:13.78, Y:-1.16, Z:-0.87 [[ 9.97716026e-01 3.70530916e-02 5.64783134e-02 1.37822826e+01] [-3.68143330e-02 9.99308267e-01 -5.26238557e-03 -1.16174570e+00] [-5.66342331e-02 3.17115497e-03 9.98389958e-01 -8.68512788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.740714057 meters 0.030373502357589476 Centerline is valid? [True, True] Translation: X:13.84, Y:-1.17, Z:-0.87 [[ 9.97751753e-01 3.70379369e-02 5.58536463e-02 1.38404502e+01] [-3.68046217e-02 9.99308949e-01 -5.20048347e-03 -1.16590526e+00] [-5.60076637e-02 3.13311918e-03 9.98425423e-01 -8.72056030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.800714057 meters 0.030163483777236766 Centerline is valid? [True, True] Translation: X:13.90, Y:-1.17, Z:-0.88 [[ 9.97668333e-01 3.85988153e-02 5.62852437e-02 1.38993572e+01] [-3.83647027e-02 9.99250094e-01 -5.23442323e-03 -1.17131814e+00] [-5.64450776e-02 3.06285165e-03 9.98401008e-01 -8.75279687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.860714057000001 meters 0.027677503352517525 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.17, Z:-0.88 [[ 9.97454191e-01 4.32518864e-02 5.66957796e-02 1.39596741e+01] [-4.30222368e-02 9.99060239e-01 -5.26546470e-03 -1.17228373e+00] [-5.68702404e-02 2.81288057e-03 9.98377616e-01 -8.78353633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.920714057000001 meters 0.026412724043781546 Centerline is valid? [True, True] Translation: X:14.02, Y:-1.18, Z:-0.88 [[ 9.97153885e-01 4.87780073e-02 5.74876915e-02 1.40194891e+01] [-4.85510615e-02 9.98806434e-01 -5.33867120e-03 -1.17523731e+00] [-5.76794859e-02 2.53238829e-03 9.98331941e-01 -8.82771953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.980714057 meters 0.025085023489958284 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.18, Z:-0.89 [[ 9.97042711e-01 5.15259231e-02 5.70167706e-02 1.40779601e+01] [-5.13071477e-02 9.98668882e-01 -5.29525669e-03 -1.17865667e+00] [-5.72137176e-02 2.35422921e-03 9.98359178e-01 -8.87380283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.040714057 meters 0.023742880770570705 Centerline is valid? [True, True] Translation: X:14.14, Y:-1.18, Z:-0.89 [[ 9.96825173e-01 5.66545557e-02 5.59449311e-02 1.41377132e+01] [-5.64522330e-02 9.98391804e-01 -5.19148258e-03 -1.18263231e+00] [-5.61490818e-02 2.01678424e-03 9.98420359e-01 -8.91388319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.100714057 meters 0.022026987806125133 Centerline is valid? [True, True] Translation: X:14.20, Y:-1.18, Z:-0.90 [[ 9.96374332e-01 6.50415338e-02 5.48433130e-02 1.41974656e+01] [-6.48599143e-02 9.97881413e-01 -5.08692653e-03 -1.18484349e+00] [-5.50579842e-02 1.51135044e-03 9.98482015e-01 -8.96474707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.160714057 meters 0.021485396341286735 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.19, Z:-0.90 [[ 9.96181443e-01 6.81050912e-02 5.46281017e-02 1.42559275e+01] [-6.79295355e-02 9.97677258e-01 -5.06622008e-03 -1.18905507e+00] [-5.48462501e-02 1.33601286e-03 9.98493918e-01 -9.00948835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.220714057000002 meters 0.019901727706092172 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.19, Z:-0.90 [[ 9.95344914e-01 7.92255915e-02 5.48799353e-02 1.43158364e+01] [-7.90655192e-02 9.96856451e-01 -5.08527433e-03 -1.19173627e+00] [-5.51103014e-02 7.22491364e-04 9.98480011e-01 -9.04458245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.280714057 meters 0.01979725821634032 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.20, Z:-0.91 [[ 9.94419213e-01 9.02048838e-02 5.47129625e-02 1.43742690e+01] [-9.00624638e-02 9.95923223e-01 -5.06816234e-03 -1.19532588e+00] [-5.49470829e-02 1.12293800e-04 9.98489262e-01 -9.08098084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.340714057 meters 0.02035461014538618 Centerline is valid? [True, True] Translation: X:14.43, Y:-1.20, Z:-0.91 [[ 9.93800957e-01 9.66885431e-02 5.48724261e-02 1.44326479e+01] [-9.65552873e-02 9.95314656e-01 -5.08063963e-03 -1.20377858e+00] [-5.51065695e-02 -2.49078341e-04 9.98480447e-01 -9.13324883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.400714057000002 meters 0.02079181338237139 Centerline is valid? [True, True] Translation: X:14.49, Y:-1.21, Z:-0.92 [[ 9.93649234e-01 9.81684250e-02 5.49923587e-02 1.44899940e+01] [-9.80377133e-02 9.95169754e-01 -5.07613400e-03 -1.21285713e+00] [-5.52250481e-02 -3.47428434e-04 9.98473872e-01 -9.17643915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.460714057 meters 0.021139825670388523 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.23, Z:-0.92 [[ 9.94068248e-01 9.45681012e-02 5.37139827e-02 1.45460699e+01] [-9.44382840e-02 9.95518384e-01 -4.95557533e-03 -1.22842525e+00] [-5.39418966e-02 -1.46476264e-04 9.98544065e-01 -9.23616723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.520714057 meters 0.021923017685028034 Centerline is valid? [True, True] Translation: X:14.60, Y:-1.25, Z:-0.93 [[ 9.95028659e-01 8.43250475e-02 5.29835351e-02 1.46026845e+01] [-8.41850290e-02 9.96438225e-01 -4.87291382e-03 -1.24832173e+00] [-5.32057283e-02 3.88268462e-04 9.98583497e-01 -9.29102819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.580714057 meters 0.024021067074694216 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.27, Z:-0.93 [[ 9.96118489e-01 7.01382581e-02 5.31844035e-02 1.46604332e+01] [-6.99778126e-02 9.97536635e-01 -4.87528223e-03 -1.27254568e+00] [-5.33953347e-02 1.13463055e-03 9.98572807e-01 -9.34797915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.640714057 meters 0.02707948508804158 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.30, Z:-0.94 [[ 9.97028596e-01 5.54281295e-02 5.34948757e-02 1.47184023e+01] [-5.52447142e-02 9.98460809e-01 -4.90243564e-03 -1.29698696e+00] [-5.36842697e-02 1.93255940e-03 9.98556090e-01 -9.40421123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.700714057 meters 0.030202868100130485 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.32, Z:-0.95 [[ 9.97516244e-01 4.42841312e-02 5.47746237e-02 1.47767027e+01] [-4.40751085e-02 9.99015614e-01 -5.01878029e-03 -1.31839191e+00] [-5.49429566e-02 2.59211738e-03 9.98486130e-01 -9.46038287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.760714057 meters 0.03161506421221417 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.33, Z:-0.95 [[ 9.97701031e-01 3.87143319e-02 5.56224119e-02 1.48357102e+01] [-3.84902090e-02 9.99245986e-01 -5.09541927e-03 -1.33267857e+00] [-5.57777376e-02 2.94278680e-03 9.98438873e-01 -9.50987079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.820714057 meters 0.03355668862442519 Centerline is valid? [True, True] Translation: X:14.90, Y:-1.35, Z:-0.96 [[ 9.97905689e-01 3.30838579e-02 5.55850104e-02 1.48950707e+01] [-3.28513488e-02 9.99447279e-01 -5.09172906e-03 -1.34808800e+00] [-5.57227414e-02 3.25502283e-03 9.98440975e-01 -9.56769174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.880714057000002 meters 0.03410316374548102 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.36, Z:-0.96 [[ 9.97929140e-01 3.09213533e-02 5.64030288e-02 1.49548610e+01] [-3.06785021e-02 9.99515950e-01 -5.16664719e-03 -1.35813954e+00] [-5.65354866e-02 3.42558734e-03 9.98394714e-01 -9.61398839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.940714057 meters 0.03448429305167031 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.37, Z:-0.97 [[ 9.97940851e-01 3.07727318e-02 5.62769686e-02 1.50148267e+01] [-3.05307313e-02 9.99520535e-01 -5.15509979e-03 -1.36650966e+00] [-5.64086223e-02 3.42630766e-03 9.98401887e-01 -9.67341483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.000714057 meters 0.03472567741347562 Centerline is valid? [True, True] Translation: X:15.08, Y:-1.37, Z:-0.97 [[ 9.98039267e-01 2.96914608e-02 5.51002573e-02 1.50753682e+01] [-2.94578479e-02 9.99553280e-01 -5.04731032e-03 -1.37116099e+00] [-5.52255050e-02 3.41427889e-03 9.98468070e-01 -9.71947939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.060714057000002 meters 0.03475472870608247 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.38, Z:-0.98 [[ 9.98014807e-01 2.81474458e-02 5.63397320e-02 1.51356937e+01] [-2.79007405e-02 9.99597376e-01 -5.16084905e-03 -1.37612263e+00] [-5.64623130e-02 3.57868353e-03 9.98398317e-01 -9.75644003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.120714057 meters 0.036322197930904535 Centerline is valid? [True, True] Translation: X:15.20, Y:-1.38, Z:-0.98 [[ 9.97918135e-01 2.70106412e-02 5.85646718e-02 1.51961270e+01] [-2.67421675e-02 9.99627977e-01 -5.36327926e-03 -1.38341936e+00] [-5.86877500e-02 3.78596737e-03 9.98269209e-01 -9.79636613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.180714057 meters 0.03767929272354884 Centerline is valid? [True, True] Translation: X:15.26, Y:-1.39, Z:-0.98 [[ 9.97970233e-01 2.38311103e-02 5.90549863e-02 1.52564040e+01] [-2.35516755e-02 9.99707910e-01 -5.42339205e-03 -1.38935915e+00] [-5.91669824e-02 4.02153996e-03 9.98239999e-01 -9.84242906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.240714057 meters 0.03846409714919567 Centerline is valid? [True, True] Translation: X:15.32, Y:-1.40, Z:-0.99 [[ 9.98097168e-01 1.95998601e-02 5.84627111e-02 1.53165765e+01] [-1.93187277e-02 9.99798954e-01 -5.37012771e-03 -1.39585646e+00] [-5.85562112e-02 4.23048406e-03 9.98275149e-01 -9.90814841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.300714057 meters 0.03897825063386092 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.40, Z:-0.99 [[ 9.98164852e-01 1.61368388e-02 5.83654883e-02 1.53771689e+01] [-1.58507490e-02 9.99859995e-01 -5.36137054e-03 -1.39969471e+00] [-5.84438324e-02 4.42639492e-03 9.98280885e-01 -9.94799953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.360714057 meters 0.04489231088616899 Centerline is valid? [True, True] Translation: X:15.44, Y:-1.41, Z:-1.00 [[ 9.98189124e-01 1.45468887e-02 5.83683143e-02 1.54359242e+01] [-1.42580560e-02 9.99883972e-01 -5.36188904e-03 -1.41175787e+00] [-5.84395408e-02 4.51996062e-03 9.98280717e-01 -1.00013123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.420714057 meters 0.03942500112735854 Centerline is valid? [True, True] Translation: X:15.50, Y:-1.41, Z:-1.00 [[ 9.98215215e-01 1.43608820e-02 5.79668054e-02 1.54987903e+01] [-1.40758010e-02 9.99886761e-01 -5.32334153e-03 -1.40681991e+00] [-5.80366892e-02 4.49791129e-03 9.98304318e-01 -1.00445313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.480714057 meters 0.044803650612962785 Centerline is valid? [True, True] Translation: X:15.56, Y:-1.42, Z:-1.01 [[ 9.98175582e-01 1.60808600e-02 5.81971974e-02 1.55588408e+01] [-1.57954478e-02 9.99860872e-01 -5.36095341e-03 -1.41578136e+00] [-5.82753093e-02 4.43192200e-03 9.98290712e-01 -1.00860299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.540714057000002 meters 0.03757372676593081 Centerline is valid? [True, True] Translation: X:15.62, Y:-1.41, Z:-1.01 [[ 9.98110496e-01 1.90049213e-02 5.84315913e-02 1.56209404e+01] [-1.87220495e-02 9.99810227e-01 -5.38476788e-03 -1.40644140e+00] [-5.85228396e-02 4.28063420e-03 9.98276892e-01 -1.01271869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.600714057 meters 0.035683759042975986 Centerline is valid? [True, True] Translation: X:15.68, Y:-1.40, Z:-1.02 [[ 9.98010319e-01 2.27397541e-02 5.88073658e-02 1.56817436e+01] [-2.24595799e-02 9.99733055e-01 -5.42094186e-03 -1.40427067e+00] [-5.89149384e-02 4.08936718e-03 9.98254630e-01 -1.01651991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.660714057 meters 0.03431097369077464 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.40, Z:-1.02 [[ 9.97915433e-01 2.80361311e-02 5.81271415e-02 1.57426254e+01] [-2.77713264e-02 9.99599939e-01 -5.35859561e-03 -1.40258416e+00] [-5.82541214e-02 3.73315744e-03 9.98294807e-01 -1.02149885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.720714057000002 meters 0.0337378141170337 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.40, Z:-1.03 [[ 9.97798152e-01 3.31151809e-02 5.74650612e-02 1.58018395e+01] [-3.28647621e-02 9.99445768e-01 -5.29762780e-03 -1.40365854e+00] [-5.76086441e-02 3.39738766e-03 9.98333462e-01 -1.02616745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.780714057 meters 0.03004484010295101 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.40, Z:-1.03 [[ 9.97453624e-01 4.17667849e-02 5.78083381e-02 1.58636493e+01] [-4.15278961e-02 9.99123138e-01 -5.32813706e-03 -1.39649669e+00] [-5.79801873e-02 2.91391097e-03 9.98313481e-01 -1.02929779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.840714057 meters 0.02767089661018785 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.39, Z:-1.03 [[ 9.97166247e-01 4.69576019e-02 5.87746546e-02 1.59240095e+01] [-4.67196342e-02 9.98893353e-01 -5.41720096e-03 -1.39370885e+00] [-5.89639906e-02 2.65591959e-03 9.98256577e-01 -1.03337072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.900714057000002 meters 0.02772475611398359 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.40, Z:-1.04 [[ 9.97072166e-01 4.78182862e-02 5.96699844e-02 1.59820520e+01] [-4.75745290e-02 9.98852549e-01 -5.49988985e-03 -1.39632421e+00] [-5.98645113e-02 2.64501568e-03 9.98203007e-01 -1.03653463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.960714057 meters 0.028948904189983814 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.40, Z:-1.04 [[ 9.97229966e-01 4.46384478e-02 5.94962579e-02 1.60409548e+01] [-4.43907930e-02 9.98999221e-01 -5.47842066e-03 -1.40197088e+00] [-5.96812635e-02 2.82215917e-03 9.98213495e-01 -1.04121509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.020714057 meters 0.03191321145385963 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.41, Z:-1.05 [[ 9.97477778e-01 3.90952146e-02 5.92422716e-02 1.60995568e+01] [-3.88402046e-02 9.99230570e-01 -5.45037564e-03 -1.41253236e+00] [-5.94097724e-02 3.13564663e-03 9.98228755e-01 -1.04649536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.080714057 meters 0.03137547947835444 Centerline is valid? [True, True] Translation: X:16.16, Y:-1.42, Z:-1.05 [[ 9.97555799e-01 3.72637653e-02 5.91087069e-02 1.61584358e+01] [-3.70067608e-02 9.99300224e-01 -5.43710263e-03 -1.41633423e+00] [-5.92699510e-02 3.23639148e-03 9.98236745e-01 -1.05014831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.140714057 meters 0.032436201840633117 Centerline is valid? [True, True] Translation: X:16.22, Y:-1.42, Z:-1.05 [[ 9.97705350e-01 3.30785974e-02 5.90748726e-02 1.62183405e+01] [-3.28147802e-02 9.99446696e-01 -5.43061879e-03 -1.42198998e+00] [-5.92218235e-02 3.47962846e-03 9.98238783e-01 -1.05476438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.200714057 meters 0.03414439761928601 Centerline is valid? [True, True] Translation: X:16.28, Y:-1.43, Z:-1.06 [[ 9.97791003e-01 2.98642498e-02 5.93400473e-02 1.62778844e+01] [-2.95924586e-02 9.99547168e-01 -5.45394404e-03 -1.42914282e+00] [-5.94760541e-02 3.68587840e-03 9.98222928e-01 -1.05928531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.260714057 meters 0.03470880830895705 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.43, Z:-1.06 [[ 9.97898252e-01 2.65578023e-02 5.91080516e-02 1.63381611e+01] [-2.62824373e-02 9.99639802e-01 -5.43137433e-03 -1.43411126e+00] [-5.92310064e-02 3.86645529e-03 9.98236815e-01 -1.06413461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.320714057 meters 0.03530334718449195 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.44, Z:-1.07 [[ 9.97956837e-01 2.49463971e-02 5.88203090e-02 1.63994799e+01] [-2.46708996e-02 9.99681013e-01 -5.40538916e-03 -1.43997138e+00] [-5.89363911e-02 3.94319514e-03 9.98253952e-01 -1.06820862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.380714057000002 meters 0.03652531009710917 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.45, Z:-1.07 [[ 9.98022534e-01 2.25152503e-02 5.86863300e-02 1.64597815e+01] [-2.22363493e-02 9.99738152e-01 -5.40120837e-03 -1.44620537e+00] [-5.87925726e-02 4.08555793e-03 9.98261860e-01 -1.07341834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.440714057 meters 0.04320655967154567 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.46, Z:-1.08 [[ 9.98016629e-01 2.14778647e-02 5.91735575e-02 1.65192098e+01] [-2.11924334e-02 9.99760577e-01 -5.44705119e-03 -1.45986525e+00] [-5.92763810e-02 4.18221599e-03 9.98232848e-01 -1.07808138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.500714057 meters 0.040005099473152395 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.46, Z:-1.08 [[ 9.97986103e-01 2.08544845e-02 5.99068363e-02 1.65812136e+01] [-2.05607005e-02 9.99773388e-01 -5.51631942e-03 -1.45863980e+00] [-6.00083007e-02 4.27348360e-03 9.98188730e-01 -1.08097358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.560714057000002 meters 0.0416985863728099 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.47, Z:-1.09 [[ 9.98038536e-01 1.95489971e-02 5.94719885e-02 1.66425311e+01] [-1.92567243e-02 9.99799534e-01 -5.48367889e-03 -1.46548288e+00] [-5.95672668e-02 4.32768716e-03 9.98214913e-01 -1.08554252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.620714057 meters 0.043695875343150004 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.47, Z:-1.09 [[ 9.98116901e-01 1.86965295e-02 5.84216744e-02 1.67032194e+01] [-1.84122378e-02 9.99815894e-01 -5.40076277e-03 -1.47348744e+00] [-5.85118941e-02 4.31491884e-03 9.98277386e-01 -1.09109406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.680714057 meters 0.04288869723486962 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.48, Z:-1.10 [[ 9.98187755e-01 1.65552621e-02 5.78543856e-02 1.67641566e+01] [-1.62724426e-02 9.99853249e-01 -5.35620077e-03 -1.47699716e+00] [-5.79345687e-02 4.40506185e-03 9.98310664e-01 -1.09521359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.740714057 meters 0.040504877947770516 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.48, Z:-1.10 [[ 9.98161479e-01 1.73759334e-02 5.80666781e-02 1.68260945e+01] [-1.70924385e-02 9.99839464e-01 -5.37537694e-03 -1.47786243e+00] [-5.81507585e-02 4.37299307e-03 9.98298235e-01 -1.09913122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.800714057 meters 0.03850333087037492 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.48, Z:-1.10 [[ 9.98070743e-01 1.94290431e-02 5.89686757e-02 1.68875134e+01] [-1.91392351e-02 9.99801835e-01 -5.47548897e-03 -1.48032795e+00] [-5.90633737e-02 4.33630999e-03 9.98244817e-01 -1.10304424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.860714057 meters 0.03789571612050011 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.48, Z:-1.11 [[ 9.98018959e-01 2.16508718e-02 5.90711279e-02 1.69494098e+01] [-2.13637960e-02 9.99756710e-01 -5.48712919e-03 -1.48443939e+00] [-5.91755577e-02 4.21427544e-03 9.98238696e-01 -1.10633098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.920714057 meters 0.03760434578120828 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.49, Z:-1.11 [[ 9.97951829e-01 2.28869893e-02 5.97355215e-02 1.70117154e+01] [-2.25954190e-02 9.99729274e-01 -5.55203184e-03 -1.49013335e+00] [-5.98464188e-02 4.19091119e-03 9.98198799e-01 -1.10960591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.980714057 meters 0.036963092097664144 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.49, Z:-1.11 [[ 9.97900839e-01 2.40416989e-02 6.01324616e-02 1.70740167e+01] [-2.37480285e-02 9.99702326e-01 -5.59373063e-03 -1.49497075e+00] [-6.02490445e-02 4.15396108e-03 9.98174733e-01 -1.11352494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.040714057000002 meters 0.03761219441260643 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.50, Z:-1.12 [[ 9.97885446e-01 2.52457434e-02 5.98939753e-02 1.71345961e+01] [-2.49556214e-02 9.99672947e-01 -5.58712881e-03 -1.50176994e+00] [-6.00154380e-02 4.08062316e-03 9.98189108e-01 -1.11795505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.100714057 meters 0.03463640167726113 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.50, Z:-1.12 [[ 9.97862760e-01 2.74114501e-02 5.93171447e-02 1.71962789e+01] [-2.71298127e-02 9.99616521e-01 -5.54828932e-03 -1.50214784e+00] [-5.94464845e-02 3.92716827e-03 9.98223769e-01 -1.12155098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.160714057 meters 0.034613843423777116 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.51, Z:-1.13 [[ 9.97830454e-01 3.02817912e-02 5.84585217e-02 1.72555201e+01] [-3.00130152e-02 9.99534538e-01 -5.47047138e-03 -1.50641932e+00] [-5.85969671e-02 3.70408644e-03 9.98274850e-01 -1.12657117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.220714057000002 meters 0.036664780612904214 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.51, Z:-1.13 [[ 9.97836958e-01 3.21773798e-02 5.73238297e-02 1.73144323e+01] [-3.19221243e-02 9.99475969e-01 -5.36325670e-03 -1.51434615e+00] [-5.74663658e-02 3.52175733e-03 9.98341231e-01 -1.13175386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.280714057 meters 0.030849425546311773 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.51, Z:-1.13 [[ 9.97688330e-01 3.63818547e-02 5.73964914e-02 1.73751138e+01] [-3.61329422e-02 9.99332570e-01 -5.36892717e-03 -1.50934880e+00] [-5.75535148e-02 3.28261187e-03 9.98337026e-01 -1.13459098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.340714057 meters 0.0290795160497211 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.51, Z:-1.14 [[ 9.97414202e-01 4.22305522e-02 5.81505834e-02 1.74358533e+01] [-4.19849655e-02 9.99103437e-01 -5.43913727e-03 -1.50985437e+00] [-5.83281455e-02 2.98362252e-03 9.98293006e-01 -1.13818746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.400714057000002 meters 0.027133839412329202 Centerline is valid? [True, True] Translation: X:17.50, Y:-1.51, Z:-1.14 [[ 9.97132439e-01 4.95101770e-02 5.72332176e-02 1.74961874e+01] [-4.92842394e-02 9.98770447e-01 -5.35331980e-03 -1.51023735e+00] [-5.74278901e-02 2.51727323e-03 9.98346483e-01 -1.14292339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.460714057 meters 0.02526408915249757 Centerline is valid? [True, True] Translation: X:17.56, Y:-1.51, Z:-1.15 [[ 9.96864043e-01 5.57959273e-02 5.61150080e-02 1.75561866e+01] [-5.55886828e-02 9.98439958e-01 -5.24858281e-03 -1.51106093e+00] [-5.63203158e-02 2.11276410e-03 9.98410516e-01 -1.14707364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.520714057 meters 0.02293338506953358 Centerline is valid? [True, True] Translation: X:17.62, Y:-1.51, Z:-1.15 [[ 9.96584142e-01 6.05271535e-02 5.61828456e-02 1.76164611e+01] [-6.03269009e-02 9.98164841e-01 -5.25505130e-03 -1.51147434e+00] [-5.63978145e-02 1.84776383e-03 9.98406667e-01 -1.15029484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.580714057 meters 0.02256370030266896 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.52, Z:-1.15 [[ 9.96454339e-01 6.30415090e-02 5.57182103e-02 1.76754259e+01] [-6.28485764e-02 9.98009476e-01 -5.20990733e-03 -1.51560157e+00] [-5.59357422e-02 1.68962457e-03 9.98432941e-01 -1.15413159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.640714057 meters 0.02329580023320446 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.52, Z:-1.16 [[ 9.96402876e-01 6.45329393e-02 5.49254865e-02 1.77328153e+01] [-6.43481018e-02 9.97914333e-01 -5.12897411e-03 -1.52399110e+00] [-5.51419180e-02 1.57617375e-03 9.98477283e-01 -1.15843517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.700714057000003 meters 0.024011469043045505 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.53, Z:-1.16 [[ 9.96592797e-01 6.21765215e-02 5.41929576e-02 1.77907469e+01] [-6.19934292e-02 9.98063758e-01 -5.05467184e-03 -1.53455213e+00] [-5.44023088e-02 1.67784226e-03 9.98517688e-01 -1.16195534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.760714057 meters 0.02643285313677195 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.55, Z:-1.17 [[ 9.96902910e-01 5.69998119e-02 5.41812696e-02 1.78483463e+01] [-5.68100159e-02 9.98372296e-01 -5.03795830e-03 -1.54957848e+00] [-5.43802412e-02 1.94431650e-03 9.98518407e-01 -1.16748357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.820714057 meters 0.026340109686222694 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.56, Z:-1.17 [[ 9.97265055e-01 5.06183580e-02 5.38534270e-02 1.79081699e+01] [-5.04215948e-02 9.98715471e-01 -5.00697417e-03 -1.55932115e+00] [-5.40376955e-02 2.27790470e-03 9.98536298e-01 -1.17094864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.880714057000002 meters 0.02819946806818144 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.57, Z:-1.18 [[ 9.97473096e-01 4.70139614e-02 5.32645297e-02 1.79666357e+01] [-4.68163594e-02 9.98891238e-01 -4.95217236e-03 -1.57118361e+00] [-5.34382932e-02 2.44600733e-03 9.98568158e-01 -1.17553957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.940714057 meters 0.02861832384216804 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.58, Z:-1.18 [[ 9.97685856e-01 4.33016953e-02 5.24203856e-02 1.80260345e+01] [-4.31053696e-02 9.99058659e-01 -4.87055021e-03 -1.57972010e+00] [-5.25819433e-02 2.59967895e-03 9.98613229e-01 -1.17920770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.000714057 meters 0.031136613577669302 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.59, Z:-1.18 [[ 9.97806828e-01 4.01111777e-02 5.26557398e-02 1.80834466e+01] [-3.99086838e-02 9.99191356e-01 -4.89186739e-03 -1.59251864e+00] [-5.28093786e-02 2.77971742e-03 9.98600742e-01 -1.18342907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.060714057000002 meters 0.031337634741146134 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.60, Z:-1.19 [[ 9.97973637e-01 3.69258406e-02 5.18179673e-02 1.81431546e+01] [-3.67256343e-02 9.99313806e-01 -4.81083077e-03 -1.60099492e+00] [-5.19600541e-02 2.89803457e-03 9.98644959e-01 -1.18715350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.120714057 meters 0.03922831402397896 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.62, Z:-1.19 [[ 9.98069579e-01 3.54818959e-02 5.09720589e-02 1.81995503e+01] [-3.52863263e-02 9.99366041e-01 -4.73186728e-03 -1.62085630e+00] [-5.11076404e-02 2.92411609e-03 9.98688870e-01 -1.19488335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.180714057 meters 0.033697384610149365 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.62, Z:-1.20 [[ 9.98131440e-01 3.49608597e-02 5.01135377e-02 1.82587536e+01] [-3.47712964e-02 9.99384479e-01 -4.64976954e-03 -1.61762380e+00] [-5.02452517e-02 2.89856849e-03 9.98732703e-01 -1.19771604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.240714057 meters 0.033545305192874464 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.62, Z:-1.20 [[ 9.98096005e-01 3.54418277e-02 5.04801027e-02 1.83174741e+01] [-3.52502742e-02 9.99367557e-01 -4.68015926e-03 -1.62288016e+00] [-5.06140503e-02 2.89181080e-03 9.98714101e-01 -1.20131962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.300714057 meters 0.031611348460711924 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.62, Z:-1.20 [[ 9.98067573e-01 3.66854169e-02 5.01527752e-02 1.83763253e+01] [-3.64980824e-02 9.99322922e-01 -4.64631457e-03 -1.62451578e+00] [-5.02892699e-02 2.80685579e-03 9.98730750e-01 -1.20490188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.360714057 meters 0.02947400169394007 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.62, Z:-1.21 [[ 9.97885341e-01 4.22195660e-02 4.94201836e-02 1.84368364e+01] [-4.20446578e-02 9.99105263e-01 -4.57389938e-03 -1.62473494e+00] [-4.95690735e-02 2.48637243e-03 9.98767603e-01 -1.20829748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.420714057 meters 0.02725195996575556 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.62, Z:-1.21 [[ 9.97425416e-01 5.14291401e-02 4.99758151e-02 1.84972946e+01] [-5.12617816e-02 9.98674538e-01 -4.62561352e-03 -1.62468599e+00] [-5.01474654e-02 2.05185517e-03 9.98739717e-01 -1.21246367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.480714057 meters 0.025521379364910945 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.63, Z:-1.22 [[ 9.96909225e-01 5.91313727e-02 5.17250295e-02 1.85579638e+01] [-5.89625465e-02 9.98248727e-01 -4.78512916e-03 -1.62503885e+00] [-5.19173961e-02 1.72049994e-03 9.98649901e-01 -1.21542450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.540714057000002 meters 0.02490555275660767 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.63, Z:-1.22 [[ 9.96691627e-01 6.18081799e-02 5.27782985e-02 1.86165722e+01] [-6.16361133e-02 9.98086742e-01 -4.88319513e-03 -1.62808796e+00] [-5.29791413e-02 1.61399052e-03 9.98594315e-01 -1.21803227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.600714057 meters 0.02480556059069105 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.63, Z:-1.22 [[ 9.96656834e-01 6.11245587e-02 5.42120178e-02 1.86742188e+01] [-6.09421941e-02 9.98128712e-01 -5.01222489e-03 -1.63491470e+00] [-5.44169415e-02 1.69166889e-03 9.98516868e-01 -1.22049084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.660714057 meters 0.026685548880500783 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.65, Z:-1.22 [[ 9.96891804e-01 5.67020620e-02 5.46955959e-02 1.87323112e+01] [-5.65101329e-02 9.98389251e-01 -5.05051606e-03 -1.64547733e+00] [-5.48938697e-02 1.94396267e-03 9.98490302e-01 -1.22379269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.720714057000002 meters 0.026747681884135663 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.65, Z:-1.23 [[ 9.97198573e-01 5.16784601e-02 5.40771959e-02 1.87912741e+01] [-5.14836476e-02 9.98661369e-01 -4.99030704e-03 -1.65425039e+00] [-5.42626979e-02 2.19223576e-03 9.98524288e-01 -1.22899931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.780714057 meters 0.02842514215596182 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.66, Z:-1.23 [[ 9.97257904e-01 5.21842488e-02 5.24735807e-02 1.88481306e+01] [-5.20015502e-02 9.98635266e-01 -4.84194485e-03 -1.66423970e+00] [-5.26546415e-02 2.09996023e-03 9.98610574e-01 -1.23399430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.840714057 meters 0.027059155178267204 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.67, Z:-1.24 [[ 9.97090472e-01 5.50009007e-02 5.27777601e-02 1.89068282e+01] [-5.48202754e-02 9.98484386e-01 -4.86504542e-03 -1.66806002e+00] [-5.29653513e-02 1.95759908e-03 9.98594432e-01 -1.23698970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.900714057000002 meters 0.024104788961141793 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.67, Z:-1.24 [[ 9.96339665e-01 6.56083249e-02 5.47979952e-02 1.89669468e+01] [-6.54298384e-02 9.97844410e-01 -5.04684533e-03 -1.66900534e+00] [-5.50109882e-02 1.44294821e-03 9.98484706e-01 -1.23809953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.960714057 meters 0.024308907818430904 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.68, Z:-1.24 [[ 9.95919026e-01 7.11747300e-02 5.54928033e-02 1.90257173e+01] [-7.10003896e-02 9.97463202e-01 -5.10940524e-03 -1.67600271e+00] [-5.57156898e-02 1.14854324e-03 9.98446014e-01 -1.24266592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.020714057 meters 0.023692082507196115 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.68, Z:-1.25 [[ 9.95516043e-01 7.68157541e-02 5.52009716e-02 1.90828980e+01] [-7.66519879e-02 9.97044962e-01 -5.08101466e-03 -1.68247275e+00] [-5.54281526e-02 8.26967406e-04 9.98462336e-01 -1.24793268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.080714057 meters 0.023011384661230257 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.69, Z:-1.25 [[ 9.95252625e-01 8.02968913e-02 5.49965536e-02 1.91411503e+01] [-8.01398119e-02 9.96770794e-01 -5.05918796e-03 -1.69027134e+00] [-5.52251954e-02 6.27756637e-04 9.98473727e-01 -1.25210852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.140714057 meters 0.023150620242014162 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.70, Z:-1.26 [[ 9.95066559e-01 8.19177687e-02 5.59644793e-02 1.91989643e+01] [-8.17584906e-02 9.96638949e-01 -5.13359698e-03 -1.69982163e+00] [-5.61969127e-02 5.32699319e-04 9.98419563e-01 -1.25590042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.200714057000003 meters 0.023515204348272666 Centerline is valid? [True, True] Translation: X:19.26, Y:-1.71, Z:-1.26 [[ 9.95149442e-01 8.03949362e-02 5.66942948e-02 1.92554564e+01] [-8.02298131e-02 9.96762900e-01 -5.18634308e-03 -1.71438435e+00] [-5.69277255e-02 6.12613740e-04 9.98378114e-01 -1.26060817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.260714057 meters 0.024304784885737608 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.74, Z:-1.27 [[ 9.95615850e-01 7.40832878e-02 5.71029422e-02 1.93108229e+01] [-7.39064610e-02 9.97251594e-01 -5.20521063e-03 -1.73506209e+00] [-5.73316192e-02 9.62113834e-04 9.98354726e-01 -1.26605962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.320714057 meters 0.025438057961291675 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.76, Z:-1.27 [[ 9.96176499e-01 6.46367109e-02 5.87748139e-02 1.93687440e+01] [-6.44333593e-02 9.97907669e-01 -5.35044043e-03 -1.75664268e+00] [-5.89976723e-02 1.54292432e-03 9.98256928e-01 -1.26982960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.380714057000002 meters 0.027378762814696873 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.78, Z:-1.27 [[ 9.96673829e-01 5.52266152e-02 5.99274579e-02 1.94269366e+01] [-5.49982826e-02 9.98471552e-01 -5.45418335e-03 -1.77782814e+00] [-6.01370780e-02 2.14013454e-03 9.98187834e-01 -1.27274620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.440714057 meters 0.02898528216616673 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.80, Z:-1.28 [[ 9.97033770e-01 4.84736466e-02 5.97826708e-02 1.94859662e+01] [-4.82342962e-02 9.98821229e-01 -5.44112756e-03 -1.79530533e+00] [-5.99759520e-02 2.54141288e-03 9.98196587e-01 -1.27784086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.500714057 meters 0.029842899966995556 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.81, Z:-1.28 [[ 9.97154939e-01 4.58428320e-02 5.98369597e-02 1.95440960e+01] [-4.55983380e-02 9.98945011e-01 -5.44580378e-03 -1.80832199e+00] [-6.00234834e-02 2.70184422e-03 9.98193309e-01 -1.28216855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.560714057000002 meters 0.030179600088833365 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.82, Z:-1.29 [[ 9.97256136e-01 4.39777094e-02 5.95496522e-02 1.96026189e+01] [-4.37324422e-02 9.99028596e-01 -5.41637125e-03 -1.82060818e+00] [-5.97300050e-02 2.79725774e-03 9.98210650e-01 -1.28711856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.620714057 meters 0.030940123356785976 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.83, Z:-1.29 [[ 9.97286343e-01 4.28312538e-02 5.98784891e-02 1.96608099e+01] [-4.25813371e-02 9.99078171e-01 -5.44410529e-03 -1.83328746e+00] [-6.00564692e-02 2.87962573e-03 9.98190828e-01 -1.29272114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.680714057 meters 0.031016985740849264 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.84, Z:-1.30 [[ 9.97359647e-01 4.08406756e-02 6.00480985e-02 1.97202664e+01] [-4.05858823e-02 9.99161151e-01 -5.45721303e-03 -1.84319263e+00] [-6.02206034e-02 3.00569901e-03 9.98180567e-01 -1.29734937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.740714057 meters 0.030761503500582602 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.85, Z:-1.30 [[ 9.97325288e-01 4.37694899e-02 5.85363238e-02 1.97808016e+01] [-4.35324173e-02 9.99037852e-01 -5.31971575e-03 -1.85112398e+00] [-5.87128444e-02 2.75725937e-03 9.98271105e-01 -1.30253212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.800714057 meters 0.02872204413275555 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.85, Z:-1.31 [[ 9.97169450e-01 4.89998716e-02 5.70271844e-02 1.98410469e+01] [-4.87833365e-02 9.98795932e-01 -5.18383562e-03 -1.85295324e+00] [-5.72125271e-02 2.38718618e-03 9.98359168e-01 -1.30720221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.860714057000003 meters 0.03126690918584187 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.87, Z:-1.31 [[ 9.96219985e-01 6.45738225e-02 5.81030323e-02 1.98997465e+01] [-6.43755021e-02 9.97911775e-01 -5.28055152e-03 -1.86520796e+00] [-5.83226855e-02 1.52017907e-03 9.98296626e-01 -1.31375968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.920714057 meters 0.026435105554756852 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.86, Z:-1.32 [[ 9.95962089e-01 6.88007978e-02 5.76712095e-02 1.99602147e+01] [-6.86125508e-02 9.97629619e-01 -5.24029809e-03 -1.85635663e+00] [-5.78950435e-02 1.26216945e-03 9.98321877e-01 -1.31506226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.980714057 meters 0.025611582780028 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.86, Z:-1.32 [[ 9.95268433e-01 7.73588689e-02 5.87907510e-02 2.00188426e+01] [-7.71783396e-02 9.97003011e-01 -5.33859619e-03 -1.85980402e+00] [-5.90275435e-02 7.75963721e-04 9.98256053e-01 -1.31891274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.040714057000002 meters 0.025518147893759998 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.87, Z:-1.32 [[ 9.94433875e-01 8.64813699e-02 6.01850514e-02 2.00771224e+01] [-8.63089703e-02 9.96253440e-01 -5.46312415e-03 -1.86505671e+00] [-6.04320230e-02 2.38205902e-04 9.98172287e-01 -1.32220399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.100714057 meters 0.025870876214617058 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.87, Z:-1.33 [[ 9.94103697e-01 8.92268386e-02 6.16150174e-02 2.01343115e+01] [-8.90516870e-02 9.96011329e-01 -5.58842299e-03 -1.87337050e+00] [-6.18678927e-02 6.85507082e-05 9.98084345e-01 -1.32617999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.160714057 meters 0.02617122489473355 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.89, Z:-1.33 [[ 9.94023143e-01 9.00609057e-02 6.17010889e-02 2.01910937e+01] [-8.98872048e-02 9.95936260e-01 -5.59082058e-03 -1.88638866e+00] [-6.19538661e-02 1.12666334e-05 9.98079014e-01 -1.33107136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.220714057000002 meters 0.02593163107863141 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.90, Z:-1.34 [[ 9.94131636e-01 9.00191444e-02 5.99903584e-02 2.02475238e+01] [-8.98552682e-02 9.95940035e-01 -5.42928914e-03 -1.90104699e+00] [-6.02355396e-02 6.97834772e-06 9.98184191e-01 -1.33798433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.280714057 meters 0.026429618754837278 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.91, Z:-1.34 [[ 9.93582962e-01 9.53538289e-02 6.08320971e-02 2.03042516e+01] [-9.51956345e-02 9.95443389e-01 -5.50002484e-03 -1.90982066e+00] [-6.10793573e-02 -3.26219110e-04 9.98132860e-01 -1.34469069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.340714057 meters 0.02616677228012759 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.93, Z:-1.35 [[ 9.93833674e-01 9.36373141e-02 5.93858653e-02 2.03610809e+01] [-9.34839631e-02 9.95606350e-01 -5.36144341e-03 -1.92899791e+00] [-5.96269757e-02 -2.23243026e-04 9.98220704e-01 -1.34840643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.400714057000002 meters 0.026071987625207054 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.95, Z:-1.35 [[ 9.93534503e-01 9.60248090e-02 6.05675425e-02 2.04183343e+01] [-9.58701374e-02 9.95378868e-01 -5.46128159e-03 -1.94598066e+00] [-6.08120704e-02 -3.80646930e-04 9.98149161e-01 -1.35288462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.460714057 meters 0.02561592896336931 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.97, Z:-1.36 [[ 9.93347643e-01 9.74840503e-02 6.12969836e-02 2.04753041e+01] [-9.73286767e-02 9.95236972e-01 -5.52261259e-03 -1.96537898e+00] [-6.15433909e-02 -4.80080092e-04 9.98104293e-01 -1.35736544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.520714057 meters 0.026276707646782402 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.99, Z:-1.36 [[ 9.93362114e-01 9.85174524e-02 5.93803199e-02 2.05312379e+01] [-9.83737378e-02 9.95135182e-01 -5.34585707e-03 -1.98534745e+00] [-5.96181056e-02 -5.31092133e-04 9.98221118e-01 -1.36345453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.580714057 meters 0.026157958462618848 Centerline is valid? [True, True] Translation: X:20.59, Y:-2.01, Z:-1.37 [[ 9.93238610e-01 9.90776530e-02 6.05035686e-02 2.05876512e+01] [-9.89298141e-02 9.95079535e-01 -5.44155998e-03 -2.00584202e+00] [-6.07449999e-02 -5.80839327e-04 9.98153148e-01 -1.36702529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.640714057 meters 0.025793265604270955 Centerline is valid? [True, True] Translation: X:20.64, Y:-2.02, Z:-1.37 [[ 9.93244084e-01 9.94673886e-02 5.97697891e-02 2.06446537e+01] [-9.93241985e-02 9.95040640e-01 -5.36929234e-03 -2.02189538e+00] [-6.00074387e-02 -6.03568540e-04 9.98197747e-01 -1.37034682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.700714057000003 meters 0.025746476612664864 Centerline is valid? [True, True] Translation: X:20.70, Y:-2.04, Z:-1.38 [[ 9.93318543e-01 9.95607030e-02 5.83604224e-02 2.07011854e+01] [-9.94248206e-02 9.95031308e-01 -5.23468845e-03 -2.04127315e+00] [-5.85916166e-02 -6.02761415e-04 9.98281854e-01 -1.37535865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.760714057 meters 0.025534506298686692 Centerline is valid? [True, True] Translation: X:20.76, Y:-2.06, Z:-1.38 [[ 9.93412087e-01 9.86146170e-02 5.83745052e-02 2.07589033e+01] [-9.84773347e-02 9.95125546e-01 -5.23088032e-03 -2.06103642e+00] [-5.86058026e-02 -5.52145949e-04 9.98281050e-01 -1.37805945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.820714057 meters 0.02524996581599555 Centerline is valid? [True, True] Translation: X:20.82, Y:-2.08, Z:-1.38 [[ 9.93716457e-01 9.52508459e-02 5.87782161e-02 2.08162889e+01] [-9.51062927e-02 9.95453235e-01 -5.25831631e-03 -2.08233306e+00] [-5.90118245e-02 -3.64902776e-04 9.98257217e-01 -1.37999058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.880714057000002 meters 0.025205788221940414 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.10, Z:-1.38 [[ 9.94126100e-01 9.07113450e-02 5.90317590e-02 2.08724023e+01] [-9.05577925e-02 9.95877222e-01 -5.27677311e-03 -2.09910666e+00] [-5.92670473e-02 -1.00007902e-04 9.98242159e-01 -1.38280395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.940714057 meters 0.02561273707693112 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.12, Z:-1.39 [[ 9.95040439e-01 8.07542047e-02 5.80799767e-02 2.09297376e+01] [-8.05889215e-02 9.96733930e-01 -5.18629776e-03 -2.12220273e+00] [-5.83090988e-02 4.79973318e-04 9.98298462e-01 -1.38566977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.000714057 meters 0.02648675488614794 Centerline is valid? [True, True] Translation: X:20.99, Y:-2.14, Z:-1.39 [[ 9.95959132e-01 6.98053353e-02 5.65033031e-02 2.09888688e+01] [-6.96314618e-02 9.97560039e-01 -5.04258663e-03 -2.14370429e+00] [-5.67174367e-02 1.08780261e-03 9.98389678e-01 -1.38846054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.060714057000002 meters 0.028036416628160678 Centerline is valid? [True, True] Translation: X:21.05, Y:-2.16, Z:-1.39 [[ 9.96535817e-01 6.27246384e-02 5.46075518e-02 2.10481375e+01] [-6.25515744e-02 9.98029830e-01 -4.87434097e-03 -2.16228879e+00] [-5.48057069e-02 1.44166702e-03 9.98495997e-01 -1.39216880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.120714057 meters 0.028402236523428177 Centerline is valid? [True, True] Translation: X:21.11, Y:-2.17, Z:-1.40 [[ 9.96816727e-01 6.05342056e-02 5.18846994e-02 2.11089115e+01] [-6.03751172e-02 9.98165023e-01 -4.62949581e-03 -2.17442160e+00] [-5.20697350e-02 1.48221406e-03 9.98642351e-01 -1.39656503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.180714057 meters 0.02917968894711477 Centerline is valid? [True, True] Translation: X:21.17, Y:-2.18, Z:-1.40 [[ 9.96773176e-01 6.17040497e-02 5.13404987e-02 2.11709894e+01] [-6.15492526e-02 9.98093483e-01 -4.59220079e-03 -2.18012012e+00] [-5.15259746e-02 1.41741324e-03 9.98670649e-01 -1.39710599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.240714057 meters 0.027785709553060645 Centerline is valid? [True, True] Translation: X:21.23, Y:-2.19, Z:-1.40 [[ 9.96797437e-01 6.06317404e-02 5.21407787e-02 2.12327506e+01] [-6.04698932e-02 9.98159062e-01 -4.67746184e-03 -2.18658314e+00] [-5.23283934e-02 1.50953466e-03 9.98628790e-01 -1.40144798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.300714057 meters 0.028026403834105672 Centerline is valid? [True, True] Translation: X:21.29, Y:-2.19, Z:-1.41 [[ 9.96867511e-01 5.96156456e-02 5.19724966e-02 2.12940540e+01] [-5.94526809e-02 9.98220167e-01 -4.67735143e-03 -2.19265574e+00] [-5.21588375e-02 1.57279542e-03 9.98637563e-01 -1.40554065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.360714057000003 meters 0.030572579014466993 Centerline is valid? [True, True] Translation: X:21.35, Y:-2.20, Z:-1.41 [[ 9.96764078e-01 6.14952800e-02 5.17658437e-02 2.13547357e+01] [-6.13358272e-02 9.98106285e-01 -4.66477757e-03 -2.19924725e+00] [-5.19546757e-02 1.47458188e-03 9.98648355e-01 -1.40895755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.420714057 meters 0.028390866841979664 Centerline is valid? [True, True] Translation: X:21.42, Y:-2.20, Z:-1.42 [[ 9.96756123e-01 6.11930890e-02 5.22746364e-02 2.14174265e+01] [-6.10294371e-02 9.98124794e-01 -4.72263959e-03 -2.20236313e+00] [-5.24656036e-02 1.51702829e-03 9.98621580e-01 -1.41538059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.480714057 meters 0.027548931544990263 Centerline is valid? [True, True] Translation: X:21.48, Y:-2.20, Z:-1.42 [[ 9.96711638e-01 6.13997966e-02 5.28769938e-02 2.14804799e+01] [-6.12318217e-02 9.98112066e-01 -4.79241653e-03 -2.20408069e+00] [-5.30714190e-02 1.53890267e-03 9.98589533e-01 -1.41863911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.540714057000002 meters 0.02896745000645472 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.21, Z:-1.42 [[ 9.96653746e-01 6.11873612e-02 5.41979516e-02 2.15418675e+01] [-6.10096470e-02 9.98125006e-01 -4.92900718e-03 -2.20964405e+00] [-5.43979237e-02 1.60591558e-03 9.98518045e-01 -1.42130667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.600714057 meters 0.028051859715612987 Centerline is valid? [True, True] Translation: X:21.60, Y:-2.22, Z:-1.43 [[ 9.96787409e-01 5.83922645e-02 5.48197392e-02 2.16033367e+01] [-5.82052751e-02 9.98292101e-01 -5.00277827e-03 -2.21560636e+00] [-5.50182362e-02 1.79590839e-03 9.98483735e-01 -1.42620150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.660714057 meters 0.02680191215216617 Centerline is valid? [True, True] Translation: X:21.67, Y:-2.22, Z:-1.43 [[ 9.96651332e-01 6.07151629e-02 5.47703519e-02 2.16656499e+01] [-6.05318947e-02 9.98153739e-01 -5.00039426e-03 -2.21569478e+00] [-5.49728313e-02 1.66829642e-03 9.98486457e-01 -1.43076039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.720714057000002 meters 0.026355798820191033 Centerline is valid? [True, True] Translation: X:21.73, Y:-2.22, Z:-1.43 [[ 9.96243601e-01 6.58792205e-02 5.62015603e-02 2.17267737e+01] [-6.56934799e-02 9.97826570e-01 -5.14803670e-03 -2.21744623e+00] [-5.64185588e-02 1.43662255e-03 9.98406171e-01 -1.43428199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.780714057 meters 0.026097243531457984 Centerline is valid? [True, True] Translation: X:21.79, Y:-2.22, Z:-1.44 [[ 9.95643194e-01 7.38734871e-02 5.68976166e-02 2.17863455e+01] [-7.36960010e-02 9.97267121e-01 -5.21424468e-03 -2.21999347e+00] [-5.71273168e-02 9.98400413e-04 9.98366402e-01 -1.43873338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.840714057 meters 0.02646840691665979 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.22, Z:-1.44 [[ 9.94336251e-01 8.95934771e-02 5.71701720e-02 2.18468817e+01] [-8.94402014e-02 9.95978413e-01 -5.23935185e-03 -2.21546195e+00] [-5.74096690e-02 9.63657771e-05 9.98350700e-01 -1.44244340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.900714057000002 meters 0.024877470326610137 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.22, Z:-1.45 [[ 9.93465003e-01 9.80147351e-02 5.84841853e-02 2.19059822e+01] [-9.78689368e-02 9.95184883e-01 -5.35904164e-03 -2.21634138e+00] [-5.87278422e-02 -3.99764711e-04 9.98273951e-01 -1.44787231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.960714057 meters 0.02491688192207262 Centerline is valid? [True, True] Translation: X:21.96, Y:-2.22, Z:-1.45 [[ 9.92132454e-01 1.10640724e-01 5.85817748e-02 2.19649875e+01] [-1.10516674e-01 9.93859799e-01 -5.36325607e-03 -2.22010478e+00] [-5.88154655e-02 -1.15320249e-03 9.98268206e-01 -1.45366294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.020714057000003 meters 0.025588703837041496 Centerline is valid? [True, True] Translation: X:22.02, Y:-2.23, Z:-1.46 [[ 9.91095642e-01 1.19270726e-01 5.91939403e-02 2.20248458e+01] [-1.19159494e-01 9.92860342e-01 -5.41810625e-03 -2.22947541e+00] [-5.94175373e-02 -1.68365847e-03 9.98231798e-01 -1.45836590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.080714057 meters 0.026549598174899068 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.24, Z:-1.46 [[ 9.89831496e-01 1.28016923e-01 6.20103020e-02 2.20845369e+01] [-1.27911962e-01 9.91769285e-01 -5.67589712e-03 -2.24264593e+00] [-6.22265237e-02 -2.31367764e-03 9.98059370e-01 -1.46091566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.140714057 meters 0.02735814283603106 Centerline is valid? [True, True] Translation: X:22.14, Y:-2.26, Z:-1.46 [[ 9.88986222e-01 1.33023370e-01 6.48924973e-02 2.21434395e+01] [-1.32919180e-01 9.91109082e-01 -5.93955356e-03 -2.25569173e+00] [-6.51056429e-02 -2.75132089e-03 9.97874584e-01 -1.46299299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.200714057000003 meters 0.027921893182627312 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.28, Z:-1.47 [[ 9.87932266e-01 1.39341976e-01 6.76287786e-02 2.22017134e+01] [-1.39243646e-01 9.90238812e-01 -6.18881079e-03 -2.27741629e+00] [-6.78310026e-02 -3.30275188e-03 9.97691359e-01 -1.46592130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.260714057 meters 0.02754989028625096 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.30, Z:-1.47 [[ 9.87723398e-01 1.40595289e-01 6.80841656e-02 2.22584077e+01] [-1.40498620e-01 9.90061272e-01 -6.23017683e-03 -2.30086611e+00] [-6.82834291e-02 -3.41203986e-03 9.97660128e-01 -1.46959271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.320714057 meters 0.024186204601718837 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.33, Z:-1.47 [[ 9.87953599e-01 1.39287882e-01 6.74282685e-02 2.23158340e+01] [-1.39190330e-01 9.90246452e-01 -6.16570733e-03 -2.33223438e+00] [-6.76294119e-02 -3.29393020e-03 9.97705073e-01 -1.47346286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.380714057000002 meters 0.023884260104141932 Centerline is valid? [True, True] Translation: X:22.37, Y:-2.36, Z:-1.48 [[ 9.88200446e-01 1.36860175e-01 6.87689694e-02 2.23747383e+01] [-1.36752841e-01 9.90585239e-01 -6.28846053e-03 -2.35855431e+00] [-6.89821658e-02 -3.19009242e-03 9.97612793e-01 -1.47527085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.440714057 meters 0.023921970112954723 Centerline is valid? [True, True] Translation: X:22.43, Y:-2.38, Z:-1.48 [[ 9.88328369e-01 1.34926301e-01 7.07243059e-02 2.24341514e+01] [-1.34807571e-01 9.90850666e-01 -6.47116157e-03 -2.38264857e+00] [-7.09503555e-02 -3.13853934e-03 9.97474910e-01 -1.47705853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.500714057 meters 0.02120408544413671 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.41, Z:-1.48 [[ 9.88862252e-01 1.30518009e-01 7.15296833e-02 2.24927581e+01] [-1.30383942e-01 9.91441874e-01 -6.56036896e-03 -2.41100534e+00] [-7.17737695e-02 -2.83902085e-03 9.97416897e-01 -1.48073400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.560714057000002 meters 0.02276333491064691 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.43, Z:-1.49 [[ 9.89508858e-01 1.25377590e-01 7.17821709e-02 2.25519497e+01] [-1.25228982e-01 9.92106013e-01 -6.58484663e-03 -2.43106989e+00] [-7.20411156e-02 -2.47344410e-03 9.97398596e-01 -1.48541259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.620714057 meters 0.02079041063905661 Centerline is valid? [True, True] Translation: X:22.61, Y:-2.46, Z:-1.49 [[ 9.91066183e-01 1.12725069e-01 7.12802968e-02 2.26094628e+01] [-1.12545737e-01 9.93625022e-01 -6.54001969e-03 -2.45849535e+00] [-7.15631107e-02 -1.54070123e-03 9.97434884e-01 -1.49052077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.680714057000003 meters 0.018145178746428996 Centerline is valid? [True, True] Translation: X:22.67, Y:-2.49, Z:-1.50 [[ 9.92911959e-01 9.54334863e-02 7.08398991e-02 2.26679442e+01] [-9.52123014e-02 9.95435766e-01 -6.50019020e-03 -2.48864619e+00] [-7.11369050e-02 -2.90713242e-04 9.97466519e-01 -1.49553980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.740714057 meters 0.0174326486918031 Centerline is valid? [True, True] Translation: X:22.73, Y:-2.51, Z:-1.50 [[ 9.93894461e-01 8.39744954e-02 7.15687438e-02 2.27284364e+01] [-8.37188198e-02 9.96467759e-01 -6.56999080e-03 -2.50853293e+00] [-7.18676574e-02 5.38226698e-04 9.97414031e-01 -1.49946919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.800714057 meters 0.020284473229245755 Centerline is valid? [True, True] Translation: X:22.79, Y:-2.53, Z:-1.50 [[ 9.95056618e-01 6.92063672e-02 7.12236274e-02 2.27866558e+01] [-6.89141677e-02 9.97601060e-01 -6.55465949e-03 -2.53171759e+00] [-7.15063904e-02 1.61394031e-03 9.97438836e-01 -1.50250559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.860714057000003 meters 0.01712153829127813 Centerline is valid? [True, True] Translation: X:22.85, Y:-2.54, Z:-1.50 [[ 9.95455265e-01 6.13966861e-02 7.27960386e-02 2.28465875e+01] [-6.10702809e-02 9.98110959e-01 -6.70328577e-03 -2.54312494e+00] [-7.30700834e-02 2.22714659e-03 9.97324322e-01 -1.50423475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.920714057 meters 0.03076896866952282 Centerline is valid? [True, True] Translation: X:22.91, Y:-2.56, Z:-1.50 [[ 9.95479489e-01 5.98736589e-02 7.37274146e-02 2.29063247e+01] [-5.95343579e-02 9.98203142e-01 -6.79316290e-03 -2.56428783e+00] [-7.40016684e-02 2.37314005e-03 9.97255294e-01 -1.50482181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.980714057 meters 0.021294769697041006 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.55, Z:-1.51 [[ 9.95292938e-01 6.30009840e-02 7.36399575e-02 2.29697409e+01] [-6.26693052e-02 9.98011125e-01 -6.80834185e-03 -2.54893057e+00] [-7.39224290e-02 2.16132959e-03 9.97261652e-01 -1.51413303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.040714057000002 meters 0.02081648890882242 Centerline is valid? [True, True] Translation: X:23.03, Y:-2.55, Z:-1.52 [[ 9.95202190e-01 6.70056246e-02 7.12940850e-02 2.30299390e+01] [-6.67035384e-02 9.97750929e-01 -6.61228344e-03 -2.54919166e+00] [-7.15767997e-02 1.82499122e-03 9.97433422e-01 -1.51839915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.100714057 meters 0.015702572880222938 Centerline is valid? [True, True] Translation: X:23.09, Y:-2.55, Z:-1.52 [[ 9.95052403e-01 6.96427914e-02 7.08561739e-02 2.30928976e+01] [-6.93508825e-02 9.97570665e-01 -6.57449330e-03 -2.54668588e+00] [-7.11419066e-02 1.62802717e-03 9.97464876e-01 -1.52151972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.160714057 meters 0.01930185114332785 Centerline is valid? [True, True] Translation: X:23.15, Y:-2.54, Z:-1.53 [[ 9.94872757e-01 7.34011277e-02 6.95735049e-02 2.31541558e+01] [-7.31276743e-02 9.97301583e-01 -6.47272195e-03 -2.54276369e+00] [-6.98608717e-02 1.35178612e-03 9.97555829e-01 -1.52857052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.220714057000002 meters 0.015039910803873714 Centerline is valid? [True, True] Translation: X:23.22, Y:-2.54, Z:-1.53 [[ 9.94826650e-01 7.55187246e-02 6.79474729e-02 2.32175680e+01] [-7.52618400e-02 9.97143674e-01 -6.33628151e-03 -2.53701209e+00] [-6.82319007e-02 1.18964987e-03 9.97668779e-01 -1.53222331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.280714057 meters 0.015128240655425491 Centerline is valid? [True, True] Translation: X:23.28, Y:-2.53, Z:-1.54 [[ 9.94906505e-01 7.57845747e-02 6.64661084e-02 2.32808049e+01] [-7.55389546e-02 9.97123548e-01 -6.20446600e-03 -2.53251110e+00] [-6.67451246e-02 1.15208325e-03 9.97769393e-01 -1.53734624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.340714057 meters 0.01575245070742862 Centerline is valid? [True, True] Translation: X:23.34, Y:-2.53, Z:-1.54 [[ 9.95124702e-01 7.31269168e-02 6.61761419e-02 2.33435512e+01] [-7.28762925e-02 9.97321738e-01 -6.19656598e-03 -2.53032628e+00] [-6.64520406e-02 1.34368400e-03 9.97788716e-01 -1.54128271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.400714057000002 meters 0.016596051779793012 Centerline is valid? [True, True] Translation: X:23.41, Y:-2.53, Z:-1.55 [[ 9.95353088e-01 6.99315623e-02 6.61952109e-02 2.34060369e+01] [-6.96726056e-02 9.97550549e-01 -6.21533220e-03 -2.53175901e+00] [-6.64677169e-02 1.57445728e-03 9.97787334e-01 -1.54535758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.460714057 meters 0.022074851953643858 Centerline is valid? [True, True] Translation: X:23.47, Y:-2.53, Z:-1.55 [[ 9.95934115e-01 6.28634126e-02 6.45246422e-02 2.34674561e+01] [-6.26015598e-02 9.98020116e-01 -6.07397813e-03 -2.53193315e+00] [-6.47787219e-02 2.00993878e-03 9.97897629e-01 -1.55233183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.520714057000003 meters 0.021886838616914144 Centerline is valid? [True, True] Translation: X:23.53, Y:-2.53, Z:-1.55 [[ 9.96467489e-01 5.34840525e-02 6.47456478e-02 2.35281850e+01] [-5.32004851e-02 9.98565238e-01 -6.09711604e-03 -2.53314821e+00] [-6.49788517e-02 2.63107803e-03 9.97883173e-01 -1.55380398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.580714057 meters 0.0233956840812712 Centerline is valid? [True, True] Translation: X:23.59, Y:-2.53, Z:-1.56 [[ 9.96871532e-01 4.61819189e-02 6.41434222e-02 2.35889926e+01] [-4.58885139e-02 9.98928303e-01 -6.04072375e-03 -2.52865860e+00] [-6.43536521e-02 3.07837921e-03 9.97922407e-01 -1.55747161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.640714057 meters 0.02741704772194777 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.52, Z:-1.56 [[ 9.97097101e-01 4.22262104e-02 6.33586503e-02 2.36505877e+01] [-4.19319805e-02 9.99102649e-01 -5.96702110e-03 -2.52205822e+00] [-6.35537601e-02 3.29294575e-03 9.97972984e-01 -1.56311283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.700714057000003 meters 0.028131543027057074 Centerline is valid? [True, True] Translation: X:23.71, Y:-2.52, Z:-1.57 [[ 9.97138014e-01 4.16423392e-02 6.31006809e-02 2.37122917e+01] [-4.13492828e-02 9.99127074e-01 -5.94362555e-03 -2.52335231e+00] [-6.32931051e-02 3.31744708e-03 9.97989468e-01 -1.56738331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.760714057 meters 0.02965265566402956 Centerline is valid? [True, True] Translation: X:23.77, Y:-2.52, Z:-1.57 [[ 9.97155726e-01 4.05798667e-02 6.35116656e-02 2.37744232e+01] [-4.02798052e-02 9.99170435e-01 -5.99834172e-03 -2.51598818e+00] [-6.37023904e-02 3.42304328e-03 9.97963070e-01 -1.57131511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.820714057 meters 0.027801316826038366 Centerline is valid? [True, True] Translation: X:23.84, Y:-2.50, Z:-1.58 [[ 9.97120932e-01 4.13418232e-02 6.35665103e-02 2.38380509e+01] [-4.10422379e-02 9.99139324e-01 -6.01207835e-03 -2.50473127e+00] [-6.37603504e-02 3.38585733e-03 9.97959495e-01 -1.57699982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.880714057000002 meters 0.029885966553158522 Centerline is valid? [True, True] Translation: X:23.90, Y:-2.50, Z:-1.58 [[ 9.97148565e-01 4.25256357e-02 6.23402724e-02 2.39012407e+01] [-4.22388021e-02 9.99090050e-01 -5.91236773e-03 -2.49987270e+00] [-6.25349731e-02 3.26233056e-03 9.98037441e-01 -1.58267048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.940714057 meters 0.030963953112613265 Centerline is valid? [True, True] Translation: X:23.96, Y:-2.49, Z:-1.59 [[ 9.97267489e-01 3.94938570e-02 6.24322826e-02 2.39634310e+01] [-3.91998795e-02 9.99213810e-01 -5.92709225e-03 -2.49159146e+00] [-6.26172827e-02 3.46355845e-03 9.98031603e-01 -1.58871075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.000714057 meters 0.035049670147212955 Centerline is valid? [True, True] Translation: X:24.02, Y:-2.49, Z:-1.60 [[ 9.97581657e-01 3.41981690e-02 6.05088589e-02 2.40241496e+01] [-3.39122136e-02 9.99408293e-01 -5.74678544e-03 -2.48556957e+00] [-6.06695849e-02 3.68089839e-03 9.98151117e-01 -1.59522659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.060714057000002 meters 0.03910498858304435 Centerline is valid? [True, True] Translation: X:24.09, Y:-2.48, Z:-1.60 [[ 9.97893251e-01 2.80892590e-02 5.84812168e-02 2.40850721e+01] [-2.78117276e-02 9.99597748e-01 -5.55434332e-03 -2.48132587e+00] [-5.86137100e-02 3.91617804e-03 9.98273057e-01 -1.60329252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.120714057 meters 0.04169912537797762 Centerline is valid? [True, True] Translation: X:24.15, Y:-2.48, Z:-1.61 [[ 9.98003365e-01 2.58054420e-02 5.76486190e-02 2.41466189e+01] [-2.55319435e-02 9.99659009e-01 -5.47588309e-03 -2.47891646e+00] [-5.77702689e-02 3.99306847e-03 9.98321918e-01 -1.60744131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.180714057000003 meters 0.04020943849265539 Centerline is valid? [True, True] Translation: X:24.21, Y:-2.47, Z:-1.61 [[ 9.98077636e-01 2.18890223e-02 5.79819264e-02 2.42083322e+01] [-2.16057114e-02 9.99751393e-01 -5.50866752e-03 -2.46560240e+00] [-5.80880910e-02 4.24533708e-03 9.98302435e-01 -1.61237902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.240714057 meters 0.04111104005659757 Centerline is valid? [True, True] Translation: X:24.27, Y:-2.46, Z:-1.62 [[ 9.97948236e-01 2.25778406e-02 5.99129267e-02 2.42701159e+01] [-2.22765581e-02 9.99735644e-01 -5.69192976e-03 -2.45847975e+00] [-6.00255998e-02 4.34559748e-03 9.98187379e-01 -1.61577417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.300714057 meters 0.040921594860037824 Centerline is valid? [True, True] Translation: X:24.33, Y:-2.45, Z:-1.62 [[ 9.97782367e-01 2.53116065e-02 6.15603041e-02 2.43320407e+01] [-2.49980712e-02 9.99670335e-01 -5.85811804e-03 -2.44912879e+00] [-6.16882882e-02 4.30623801e-03 9.98086174e-01 -1.61920263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.360714057000003 meters 0.03659998447722975 Centerline is valid? [True, True] Translation: X:24.39, Y:-2.43, Z:-1.62 [[ 9.97594426e-01 3.11051192e-02 6.19502454e-02 2.43939414e+01] [-3.07986291e-02 9.99508218e-01 -5.89637088e-03 -2.43238495e+00] [-6.21031867e-02 3.97420410e-03 9.98061822e-01 -1.62460985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.420714057 meters 0.03304303145275957 Centerline is valid? [True, True] Translation: X:24.46, Y:-2.42, Z:-1.63 [[ 9.97473573e-01 3.65836693e-02 6.08942203e-02 2.44554602e+01] [-3.62976820e-02 9.99324212e-01 -5.79641112e-03 -2.42332285e+00] [-6.10651227e-02 3.57144787e-03 9.98127394e-01 -1.62917779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.480714057 meters 0.035547854561519855 Centerline is valid? [True, True] Translation: X:24.52, Y:-2.42, Z:-1.63 [[ 9.97110689e-01 4.45752171e-02 6.15087353e-02 2.45156110e+01] [-4.42985353e-02 9.99001179e-01 -5.85528851e-03 -2.42085356e+00] [-6.17082998e-02 3.11362388e-03 9.98089370e-01 -1.63375190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.540714057000002 meters 0.033247990172307444 Centerline is valid? [True, True] Translation: X:24.58, Y:-2.41, Z:-1.64 [[ 9.96707855e-01 5.30641058e-02 6.12996996e-02 2.45766590e+01] [-5.28053085e-02 9.98587777e-01 -5.83529259e-03 -2.41191627e+00] [-6.15227753e-02 2.57913240e-03 9.98102348e-01 -1.63773547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.600714057 meters 0.027805087936959846 Centerline is valid? [True, True] Translation: X:24.64, Y:-2.40, Z:-1.64 [[ 9.96444436e-01 5.82450772e-02 6.08769081e-02 2.46383845e+01] [-5.79994949e-02 9.98299794e-01 -5.79488403e-03 -2.40172332e+00] [-6.11109283e-02 2.24345003e-03 9.98128459e-01 -1.64171243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.660714057 meters 0.027273040329895085 Centerline is valid? [True, True] Translation: X:24.70, Y:-2.40, Z:-1.65 [[ 9.96113505e-01 6.30022892e-02 6.15515771e-02 2.46996107e+01] [-6.27602141e-02 9.98011429e-01 -5.86025392e-03 -2.39937905e+00] [-6.17983868e-02 1.97448791e-03 9.98086700e-01 -1.64612050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.720714057000002 meters 0.03361538036979365 Centerline is valid? [True, True] Translation: X:24.76, Y:-2.41, Z:-1.65 [[ 9.95747650e-01 6.79836407e-02 6.21678558e-02 2.47578313e+01] [-6.77462971e-02 9.97685016e-01 -5.92015857e-03 -2.41490758e+00] [-6.24264121e-02 1.68334196e-03 9.98048150e-01 -1.65140132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.780714057 meters 0.028187031230414925 Centerline is valid? [True, True] Translation: X:24.82, Y:-2.41, Z:-1.66 [[ 9.96058871e-01 6.28979635e-02 6.25345606e-02 2.48187635e+01] [-6.26478714e-02 9.98017933e-01 -5.95394769e-03 -2.40635472e+00] [-6.27851041e-02 2.01282531e-03 9.98025039e-01 -1.65532415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.840714057000003 meters 0.030161349430657722 Centerline is valid? [True, True] Translation: X:24.88, Y:-2.41, Z:-1.66 [[ 9.96310011e-01 5.84685980e-02 6.28314079e-02 2.48784403e+01] [-5.82074057e-02 9.98286595e-01 -5.98103071e-03 -2.41443927e+00] [-6.30734547e-02 2.30170752e-03 9.98006233e-01 -1.65991795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.900714057000002 meters 0.032341191673453756 Centerline is valid? [True, True] Translation: X:24.94, Y:-2.42, Z:-1.66 [[ 9.96519290e-01 5.33265883e-02 6.40747944e-02 2.49392318e+01] [-5.30442607e-02 9.98573528e-01 -6.10053318e-03 -2.42398380e+00] [-6.43087141e-02 2.68049890e-03 9.97926452e-01 -1.66303554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.960714057 meters 0.030736463869558764 Centerline is valid? [True, True] Translation: X:25.00, Y:-2.43, Z:-1.67 [[ 9.96787519e-01 4.72787807e-02 6.46479645e-02 2.49994394e+01] [-4.69785407e-02 9.98876921e-01 -6.15734584e-03 -2.42669173e+00] [-6.48664716e-02 3.10049845e-03 9.97889136e-01 -1.66785014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.020714057000003 meters 0.0354124404712826 Centerline is valid? [True, True] Translation: X:25.06, Y:-2.44, Z:-1.67 [[ 9.97093094e-01 4.03253760e-02 6.46469381e-02 2.50577609e+01] [-4.00105642e-02 9.99180284e-01 -6.15749806e-03 -2.44069789e+00] [-6.48422494e-02 3.55303832e-03 9.97889202e-01 -1.67257653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.080714057 meters 0.03254066257029535 Centerline is valid? [True, True] Translation: X:25.12, Y:-2.44, Z:-1.68 [[ 9.97212975e-01 3.67082940e-02 6.49521615e-02 2.51186089e+01] [-3.63825069e-02 9.99318755e-01 -6.19192155e-03 -2.44109333e+00] [-6.51352080e-02 3.81154205e-03 9.97869168e-01 -1.67674888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.140714057 meters 0.03359530151377755 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.45, Z:-1.68 [[ 9.97227590e-01 3.66833126e-02 6.47415444e-02 2.51807026e+01] [-3.63595006e-02 9.99319708e-01 -6.17316158e-03 -2.44735096e+00] [-6.49239533e-02 3.80207683e-03 9.97882971e-01 -1.68185704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.200714057000003 meters 0.03204631225238562 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.45, Z:-1.69 [[ 9.97027416e-01 3.96761110e-02 6.60464906e-02 2.52429057e+01] [-3.93444691e-02 9.99205751e-01 -6.31500571e-03 -2.44683487e+00] [-6.62445882e-02 3.69766971e-03 9.97796563e-01 -1.68597198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.260714057 meters 0.031774212900252445 Centerline is valid? [True, True] Translation: X:25.30, Y:-2.45, Z:-1.69 [[ 9.96809168e-01 4.39796255e-02 6.66128691e-02 2.53023411e+01] [-4.36515839e-02 9.99026489e-01 -6.37281922e-03 -2.44843360e+00] [-6.68282950e-02 3.44472738e-03 9.97758544e-01 -1.69029371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.320714057 meters 0.030633264268941876 Centerline is valid? [True, True] Translation: X:25.36, Y:-2.45, Z:-1.70 [[ 9.96716596e-01 4.59428448e-02 6.66729450e-02 2.53641331e+01] [-4.56186545e-02 9.98938569e-01 -6.37754344e-03 -2.45012791e+00] [-6.68951788e-02 3.31507335e-03 9.97754502e-01 -1.69582147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.380714057000002 meters 0.031677041169536124 Centerline is valid? [True, True] Translation: X:25.42, Y:-2.45, Z:-1.70 [[ 9.96637314e-01 4.79995618e-02 6.64086361e-02 2.54238453e+01] [-4.76821512e-02 9.98842328e-01 -6.35735017e-03 -2.45457626e+00] [-6.66369067e-02 3.16946577e-03 9.97772257e-01 -1.70073083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.440714057 meters 0.031517025103870916 Centerline is valid? [True, True] Translation: X:25.49, Y:-2.46, Z:-1.71 [[ 9.96665710e-01 4.81409598e-02 6.58779915e-02 2.54868584e+01] [-4.78288114e-02 9.98835628e-01 -6.30816885e-03 -2.45834959e+00] [-6.61049663e-02 3.13626956e-03 9.97807746e-01 -1.70670006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.500714057 meters 0.030541357196931504 Centerline is valid? [True, True] Translation: X:25.55, Y:-2.46, Z:-1.71 [[ 9.96668852e-01 4.81283760e-02 6.58396514e-02 2.55495328e+01] [-4.78152880e-02 9.98836177e-01 -6.32377174e-03 -2.45888934e+00] [-6.60673785e-02 3.15456443e-03 9.97810177e-01 -1.70935485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.560714057000002 meters 0.030680027041601384 Centerline is valid? [True, True] Translation: X:25.61, Y:-2.46, Z:-1.71 [[ 9.96607175e-01 4.95499452e-02 6.57186537e-02 2.56119054e+01] [-4.92399624e-02 9.98766923e-01 -6.32919983e-03 -2.46273408e+00] [-6.59512291e-02 3.07174193e-03 9.97818120e-01 -1.71352780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.620714057 meters 0.029821760236512746 Centerline is valid? [True, True] Translation: X:25.67, Y:-2.47, Z:-1.72 [[ 9.96566299e-01 5.03421684e-02 6.57364225e-02 2.56739228e+01] [-5.00333148e-02 9.98727443e-01 -6.33727514e-03 -2.46638413e+00] [-6.59718014e-02 3.02650372e-03 9.97816898e-01 -1.71780555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.680714057000003 meters 0.02995000218337457 Centerline is valid? [True, True] Translation: X:25.74, Y:-2.47, Z:-1.72 [[ 9.96525454e-01 5.21168275e-02 6.49681136e-02 2.57360523e+01] [-5.18178132e-02 9.98636808e-01 -6.28019345e-03 -2.46979577e+00] [-6.52068534e-02 2.89186705e-03 9.97867578e-01 -1.72231164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.740714057 meters 0.03159077509454205 Centerline is valid? [True, True] Translation: X:25.80, Y:-2.48, Z:-1.72 [[ 9.96552822e-01 5.12095555e-02 6.52690936e-02 2.57971147e+01] [-5.09046949e-02 9.98683478e-01 -6.32641884e-03 -2.47805500e+00] [-6.55071384e-02 2.98210725e-03 9.97847645e-01 -1.72491713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.800714057 meters 0.03314228053334944 Centerline is valid? [True, True] Translation: X:25.86, Y:-2.49, Z:-1.73 [[ 9.96685430e-01 4.87646665e-02 6.51165121e-02 2.58580660e+01] [-4.84550242e-02 9.98805326e-01 -6.32699645e-03 -2.48565876e+00] [-6.53472529e-02 3.15080301e-03 9.97857610e-01 -1.72863251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.860714057000003 meters 0.03608714546414526 Centerline is valid? [True, True] Translation: X:25.92, Y:-2.50, Z:-1.73 [[ 9.97087804e-01 4.16259598e-02 6.38998488e-02 2.59182641e+01] [-4.13130478e-02 9.99126947e-01 -6.21099964e-03 -2.49604518e+00] [-6.41025997e-02 3.55301448e-03 9.97936988e-01 -1.73374776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.920714057 meters 0.03416395845386846 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.50, Z:-1.74 [[ 9.97449305e-01 3.48598547e-02 6.22870321e-02 2.59791904e+01] [-3.45493065e-02 9.99384645e-01 -6.05618508e-03 -2.49625647e+00] [-6.24598212e-02 3.88876384e-03 9.98039903e-01 -1.73964405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.980714057 meters 0.043269592928253824 Centerline is valid? [True, True] Translation: X:26.04, Y:-2.52, Z:-1.75 [[ 9.97648062e-01 3.16698051e-02 6.07895303e-02 2.60368401e+01] [-3.13680972e-02 9.99490420e-01 -5.91130508e-03 -2.51526185e+00] [-6.09457631e-02 3.99055016e-03 9.98133102e-01 -1.74641289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.040714057000002 meters 0.03734170194830907 Centerline is valid? [True, True] Translation: X:26.10, Y:-2.51, Z:-1.75 [[ 9.97781298e-01 2.71804112e-02 6.07758659e-02 2.60979631e+01] [-2.68705566e-02 9.99621451e-01 -5.90996514e-03 -2.50781574e+00] [-6.09134946e-02 4.26377135e-03 9.98133942e-01 -1.74929594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.100714057 meters 0.03922734169439862 Centerline is valid? [True, True] Translation: X:26.16, Y:-2.51, Z:-1.75 [[ 9.97877354e-01 2.23877172e-02 6.11520791e-02 2.61585769e+01] [-2.20650515e-02 9.99738851e-01 -5.94673934e-03 -2.51199388e+00] [-6.12692432e-02 4.58479274e-03 9.98110745e-01 -1.75313322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.160714057 meters 0.04134613620290563 Centerline is valid? [True, True] Translation: X:26.22, Y:-2.52, Z:-1.76 [[ 9.97880710e-01 1.93095597e-02 6.21387911e-02 2.62193931e+01] [-1.89704417e-02 9.99801784e-01 -6.04283277e-03 -2.51804784e+00] [-6.22431586e-02 4.85122594e-03 9.98049225e-01 -1.75632135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.220714057000002 meters 0.042971699860906994 Centerline is valid? [True, True] Translation: X:26.28, Y:-2.52, Z:-1.76 [[ 9.97875242e-01 1.70185263e-02 6.28917486e-02 2.62808673e+01] [-1.66664916e-02 9.99842387e-01 -6.11788808e-03 -2.52028721e+00] [-6.29859535e-02 5.05670425e-03 9.98001603e-01 -1.75960335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.280714057 meters 0.045534747698006146 Centerline is valid? [True, True] Translation: X:26.34, Y:-2.52, Z:-1.77 [[ 9.97994528e-01 1.50675343e-02 6.14808244e-02 2.63403129e+01] [-1.47273310e-02 9.99873647e-01 -5.98291928e-03 -2.52408514e+00] [-6.15632039e-02 5.06547226e-03 9.98090333e-01 -1.76514061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.340714057000003 meters 0.04156457647263852 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.52, Z:-1.77 [[ 9.98115453e-01 1.33412003e-02 5.98962040e-02 2.64025576e+01] [-1.30152637e-02 9.99898310e-01 -5.82854743e-03 -2.51811819e+00] [-5.99678730e-02 5.03799836e-03 9.98187594e-01 -1.77071832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.400714057000002 meters 0.04358295190165008 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.52, Z:-1.78 [[ 9.98149469e-01 1.35114302e-02 5.92881027e-02 2.64640654e+01] [-1.31923298e-02 9.99896327e-01 -5.77033888e-03 -2.52115860e+00] [-5.93599217e-02 4.97751248e-03 9.98224235e-01 -1.77662206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.460714057 meters 0.04347520297542287 Centerline is valid? [True, True] Translation: X:26.53, Y:-2.52, Z:-1.78 [[ 9.98196928e-01 1.42984118e-02 5.82962174e-02 2.65267220e+01] [-1.39902623e-02 9.99885938e-01 -5.69066184e-03 -2.52232974e+00] [-5.83709354e-02 4.86482180e-03 9.98283110e-01 -1.78149717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.520714057000003 meters 0.042280725735894226 Centerline is valid? [True, True] Translation: X:26.59, Y:-2.52, Z:-1.78 [[ 9.98183726e-01 1.58963798e-02 5.81081226e-02 2.65890035e+01] [-1.55925843e-02 9.99862307e-01 -5.67781341e-03 -2.51974146e+00] [-5.81903783e-02 4.76144515e-03 9.98294149e-01 -1.78463597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.580714057 meters 0.04010413116691129 Centerline is valid? [True, True] Translation: X:26.65, Y:-2.52, Z:-1.79 [[ 9.98255508e-01 1.71525852e-02 5.64953958e-02 2.66519802e+01] [-1.68673621e-02 9.99842489e-01 -5.52162467e-03 -2.51586508e+00] [-5.65812073e-02 4.55906395e-03 9.98387591e-01 -1.78978911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.640714057 meters 0.04278851769531944 Centerline is valid? [True, True] Translation: X:26.71, Y:-2.52, Z:-1.80 [[ 9.98282221e-01 1.69474142e-02 5.60838001e-02 2.67125859e+01] [-1.66651909e-02 9.99846020e-01 -5.49607578e-03 -2.52072430e+00] [-5.61683086e-02 4.55198749e-03 9.98410938e-01 -1.79564507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.700714057000003 meters 0.04331535394124494 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.52, Z:-1.80 [[ 9.98270479e-01 1.72903716e-02 5.61880212e-02 2.67754169e+01] [-1.70069053e-02 9.99840139e-01 -5.51925446e-03 -2.52379400e+00] [-5.62744689e-02 4.55412443e-03 9.98404950e-01 -1.79943970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.760714057 meters 0.040878182520929236 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.52, Z:-1.80 [[ 9.98244724e-01 1.87148546e-02 5.61891948e-02 2.68379314e+01] [-1.84325934e-02 9.99814771e-01 -5.53752125e-03 -2.51855323e+00] [-5.62824208e-02 4.49208879e-03 9.98404783e-01 -1.80308210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.820714057 meters 0.046829003502733065 Centerline is valid? [True, True] Translation: X:26.90, Y:-2.53, Z:-1.81 [[ 9.98231450e-01 1.94117232e-02 5.61885891e-02 2.68987362e+01] [-1.91304802e-02 9.99801653e-01 -5.53895310e-03 -2.52928179e+00] [-5.62849649e-02 4.45424249e-03 9.98404809e-01 -1.80836133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.880714057000002 meters 0.03813267711143254 Centerline is valid? [True, True] Translation: X:26.96, Y:-2.51, Z:-1.81 [[ 9.98111588e-01 2.33002259e-02 5.68362273e-02 2.69615832e+01] [-2.30177757e-02 9.99719264e-01 -5.61923301e-03 -2.51320882e+00] [-5.69512007e-02 4.30037805e-03 9.98367702e-01 -1.81061922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.940714057 meters 0.03920903176917554 Centerline is valid? [True, True] Translation: X:27.02, Y:-2.52, Z:-1.81 [[ 9.97992424e-01 2.63795519e-02 5.75781203e-02 2.70211495e+01] [-2.60947647e-02 9.99643266e-01 -5.69250860e-03 -2.51603713e+00] [-5.77077461e-02 4.17859295e-03 9.98324775e-01 -1.81404742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.000714057000003 meters 0.037237686739053304 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.51, Z:-1.82 [[ 9.97889674e-01 2.93958550e-02 5.78971688e-02 2.70824104e+01] [-2.91129514e-02 9.99559739e-01 -5.72393323e-03 -2.51332237e+00] [-5.80399388e-02 4.02629640e-03 9.98306143e-01 -1.81849813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.060714057000002 meters 0.03573311150772846 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.51, Z:-1.82 [[ 9.97881636e-01 3.17250469e-02 5.67957940e-02 2.71441267e+01] [-3.14565299e-02 9.99489344e-01 -5.61578166e-03 -2.51366521e+00] [-5.69449519e-02 3.81728680e-03 9.98370022e-01 -1.82344694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.120714057 meters 0.033630551264532973 Centerline is valid? [True, True] Translation: X:27.21, Y:-2.51, Z:-1.83 [[ 9.97752652e-01 3.84558805e-02 5.48706652e-02 2.72053499e+01] [-3.82152283e-02 9.99254785e-01 -5.42871447e-03 -2.50918159e+00] [-5.50385407e-02 3.31961927e-03 9.98478712e-01 -1.82897013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.180714057000003 meters 0.030747148906124566 Centerline is valid? [True, True] Translation: X:27.27, Y:-2.50, Z:-1.83 [[ 9.97298857e-01 4.90021730e-02 5.47154141e-02 2.72661464e+01] [-4.87786313e-02 9.98794939e-01 -5.41436375e-03 -2.50389285e+00] [-5.49147943e-02 2.73079577e-03 9.98487310e-01 -1.83352833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.240714057 meters 0.027113756547957182 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.50, Z:-1.84 [[ 9.96649981e-01 6.04596388e-02 5.50767479e-02 2.73271415e+01] [-6.02505407e-02 9.98168404e-01 -5.45059408e-03 -2.49746528e+00] [-5.53054105e-02 2.11393064e-03 9.98467247e-01 -1.83700607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.300714057 meters 0.025575056843060773 Centerline is valid? [True, True] Translation: X:27.39, Y:-2.50, Z:-1.84 [[ 9.96193200e-01 6.70473478e-02 5.57114144e-02 2.73873864e+01] [-6.68436773e-02 9.97748228e-01 -5.51333461e-03 -2.49821389e+00] [-5.59556195e-02 1.76839064e-03 9.98431691e-01 -1.84033937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.360714057000003 meters 0.025684004453564 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.50, Z:-1.84 [[ 9.96076287e-01 6.83295179e-02 5.62415135e-02 2.74456795e+01] [-6.81239772e-02 9.97661337e-01 -5.56599390e-03 -2.50428878e+00] [-5.64903052e-02 1.71275895e-03 9.98401679e-01 -1.84470237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.420714057 meters 0.02561792949143748 Centerline is valid? [True, True] Translation: X:27.50, Y:-2.51, Z:-1.85 [[ 9.96143455e-01 6.81602651e-02 5.52484896e-02 2.75039051e+01] [-6.79618786e-02 9.97672957e-01 -5.46390788e-03 -2.51188328e+00] [-5.54923454e-02 1.68804493e-03 9.98457686e-01 -1.84970276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.480714057 meters 0.024990869487530227 Centerline is valid? [True, True] Translation: X:27.56, Y:-2.52, Z:-1.85 [[ 9.96169598e-01 6.77689647e-02 5.52584827e-02 2.75621269e+01] [-6.75701222e-02 9.97699582e-01 -5.46099472e-03 -2.51818816e+00] [-5.55014511e-02 1.70625449e-03 9.98457149e-01 -1.85316874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.540714057000002 meters 0.027691575712035264 Centerline is valid? [True, True] Translation: X:27.62, Y:-2.53, Z:-1.86 [[ 9.96192048e-01 6.68820103e-02 5.59303236e-02 2.76183049e+01] [-6.66771288e-02 9.97759316e-01 -5.52336237e-03 -2.53270594e+00] [-5.61744150e-02 1.77305627e-03 9.98419397e-01 -1.85810286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.600714057 meters 0.027905170694968773 Centerline is valid? [True, True] Translation: X:27.68, Y:-2.55, Z:-1.86 [[ 9.96652422e-01 5.93941182e-02 5.61808580e-02 2.76771921e+01] [-5.91758460e-02 9.98232189e-01 -5.54228548e-03 -2.54831462e+00] [-5.64107200e-02 2.19918244e-03 9.98405225e-01 -1.86169175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.660714057 meters 0.029930862068465944 Centerline is valid? [True, True] Translation: X:27.74, Y:-2.56, Z:-1.87 [[ 9.96982828e-01 5.36482537e-02 5.60990676e-02 2.77356532e+01] [-5.34215550e-02 9.98556715e-01 -5.53397752e-03 -2.56387003e+00] [-5.63149889e-02 2.52038113e-03 9.98409871e-01 -1.86661746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.720714057000002 meters 0.03232125863101102 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.58, Z:-1.87 [[ 9.97510429e-01 4.41803880e-02 5.49639655e-02 2.77944885e+01] [-4.39484948e-02 9.99019089e-01 -5.42117154e-03 -2.58152592e+00] [-5.51495602e-02 2.99209160e-03 9.98473622e-01 -1.87137888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.780714057 meters 0.03772827685549622 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.60, Z:-1.88 [[ 9.97825252e-01 3.57780846e-02 5.53596928e-02 2.78521579e+01] [-3.55300255e-02 9.99353700e-01 -5.45892718e-03 -2.60383116e+00] [-5.55192238e-02 3.48012409e-03 9.98451553e-01 -1.87601617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.840714057000003 meters 0.04200900948639091 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.62, Z:-1.88 [[ 9.97996433e-01 2.90833557e-02 5.61896648e-02 2.79102959e+01] [-2.88171413e-02 9.99569334e-01 -5.54241211e-03 -2.62197270e+00] [-5.63266578e-02 3.91208201e-03 9.98404729e-01 -1.87929959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.900714057000002 meters 0.037072537410617674 Centerline is valid? [True, True] Translation: X:27.97, Y:-2.63, Z:-1.88 [[ 9.98055837e-01 2.51885923e-02 5.70094843e-02 2.79709968e+01] [-2.49082094e-02 9.99673925e-01 -5.62354037e-03 -2.62607423e+00] [-5.71325440e-02 4.19260312e-03 9.98357799e-01 -1.88178108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.960714057 meters 0.03905047257984412 Centerline is valid? [True, True] Translation: X:28.03, Y:-2.64, Z:-1.89 [[ 9.98080740e-01 2.37667436e-02 5.71837187e-02 2.80318428e+01] [-2.34824080e-02 9.99708345e-01 -5.63924106e-03 -2.63853785e+00] [-5.73010672e-02 4.28560648e-03 9.98347746e-01 -1.88656840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.020714057000003 meters 0.04041434804783631 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.65, Z:-1.89 [[ 9.98166833e-01 2.14759162e-02 5.65840901e-02 2.80920902e+01] [-2.11930203e-02 9.99759747e-01 -5.59497570e-03 -2.65029385e+00] [-5.66906528e-02 4.38553140e-03 9.98382160e-01 -1.89063187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.080714057 meters 0.04844540614376249 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.67, Z:-1.90 [[ 9.98268279e-01 1.89715078e-02 5.56823558e-02 2.81499052e+01] [-1.86935720e-02 9.99810087e-01 -5.50811805e-03 -2.67093230e+00] [-5.57762783e-02 4.45767740e-03 9.98433341e-01 -1.89816551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.140714057 meters 0.04304759419833746 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.67, Z:-1.90 [[ 9.98375957e-01 1.66317745e-02 5.44870026e-02 2.82112015e+01] [-1.63622111e-02 9.99851604e-01 -5.38969447e-03 -2.67169203e+00] [-5.45685571e-02 4.48941354e-03 9.98499934e-01 -1.90256560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.200714057000003 meters 0.04548374289657368 Centerline is valid? [True, True] Translation: X:28.27, Y:-2.68, Z:-1.91 [[ 9.98473438e-01 1.35985736e-02 5.35338396e-02 2.82709216e+01] [-1.33339861e-02 9.99897071e-01 -5.29651936e-03 -2.68331507e+00] [-5.36003545e-02 4.57461443e-03 9.98551989e-01 -1.90733387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.260714057 meters 0.04728063510217361 Centerline is valid? [True, True] Translation: X:28.33, Y:-2.69, Z:-1.91 [[ 9.98424949e-01 1.16273521e-02 5.48855702e-02 2.83309595e+01] [-1.13462579e-02 9.99920884e-01 -5.43030133e-03 -2.69275694e+00] [-5.49443679e-02 4.79900249e-03 9.98477885e-01 -1.91005829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.320714057 meters 0.05027799036597854 Centerline is valid? [True, True] Translation: X:28.39, Y:-2.70, Z:-1.91 [[ 9.98392778e-01 9.26761407e-03 5.59103911e-02 2.83905749e+01] [-8.97218306e-03 9.99944443e-01 -5.53271783e-03 -2.70358966e+00] [-5.59585600e-02 5.02218726e-03 9.98420461e-01 -1.91409270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.380714057000002 meters 0.050225067692654606 Centerline is valid? [True, True] Translation: X:28.45, Y:-2.71, Z:-1.92 [[ 9.98439626e-01 5.64784501e-03 5.55555156e-02 2.84503414e+01] [-5.35054551e-03 9.99970568e-01 -5.49868216e-03 -2.71044267e+00] [-5.55849362e-02 5.19284984e-03 9.98440459e-01 -1.91967938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.440714057 meters 0.04967280250034673 Centerline is valid? [True, True] Translation: X:28.51, Y:-2.72, Z:-1.92 [[ 9.98493197e-01 1.20379222e-04 5.48755023e-02 2.85106395e+01] [ 1.77953218e-04 9.99985233e-01 -5.43161357e-03 -2.71507813e+00] [-5.48753458e-02 5.43319447e-03 9.98478431e-01 -1.92376009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.500714057000003 meters 0.044593118391532675 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.71, Z:-1.93 [[ 9.98432891e-01 -2.78663824e-03 5.58927191e-02 2.85718725e+01] [ 3.10067884e-03 9.99979887e-01 -5.53269824e-03 -2.71327993e+00] [-5.58761774e-02 5.69733328e-03 9.98421451e-01 -1.92661880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.560714057000002 meters 0.04783917488058134 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.72, Z:-1.93 [[ 9.98446682e-01 -5.85113469e-03 5.54074732e-02 2.86314938e+01] [ 6.16441522e-03 9.99965957e-01 -5.48489956e-03 -2.72176248e+00] [-5.53734941e-02 5.81793444e-03 9.98448761e-01 -1.93024488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.620714057 meters 0.05029639099491749 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.73, Z:-1.93 [[ 9.98426496e-01 -4.05363140e-03 5.59294254e-02 2.86912237e+01] [ 4.37007850e-03 9.99975123e-01 -5.53682795e-03 -2.72651254e+00] [-5.59055898e-02 5.77253170e-03 9.98419372e-01 -1.93380587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.680714057000003 meters 0.0480670241116202 Centerline is valid? [True, True] Translation: X:28.75, Y:-2.73, Z:-1.94 [[ 9.98395333e-01 -5.91614556e-04 5.66251713e-02 2.87516131e+01] [ 9.10490337e-04 9.99983873e-01 -5.60570996e-03 -2.72713065e+00] [-5.66209417e-02 5.64827133e-03 9.98379770e-01 -1.93776810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.740714057 meters 0.047091264256154064 Centerline is valid? [True, True] Translation: X:28.81, Y:-2.73, Z:-1.94 [[ 9.98377739e-01 3.83671113e-03 5.68081874e-02 2.88123895e+01] [-3.52287201e-03 9.99977982e-01 -5.62365524e-03 -2.72869289e+00] [-5.68285129e-02 5.41440423e-03 9.98369273e-01 -1.94142656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.800714057 meters 0.04363353589106572 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.72, Z:-1.94 [[ 9.98361302e-01 1.23969353e-02 5.58661522e-02 2.88738382e+01] [-1.21066617e-02 9.99911413e-01 -5.53133701e-03 -2.72360516e+00] [-5.59297748e-02 4.84592022e-03 9.98422945e-01 -1.94386829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.860714057000003 meters 0.04056397209052778 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.72, Z:-1.95 [[ 9.98299899e-01 2.18001650e-02 5.40561254e-02 2.89347800e+01] [-2.15420505e-02 9.99753612e-01 -5.35308088e-03 -2.71917913e+00] [-5.41595047e-02 4.17950031e-03 9.98523550e-01 -1.94899106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.920714057 meters 0.03727249935229827 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.72, Z:-1.95 [[ 9.98189864e-01 2.94519957e-02 5.24363988e-02 2.89957795e+01] [-2.92196416e-02 9.99559529e-01 -5.19243989e-03 -2.71510805e+00] [-5.25662298e-02 3.65086809e-03 9.98610766e-01 -1.95371272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.980714057 meters 0.03641181831425112 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.72, Z:-1.96 [[ 9.97948453e-01 3.55628718e-02 5.32368971e-02 2.90559770e+01] [-3.53320007e-02 9.99361725e-01 -5.27186068e-03 -2.71520016e+00] [-5.33903999e-02 3.38007912e-03 9.98567995e-01 -1.95712496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.040714057000002 meters 0.03661676097588564 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.72, Z:-1.96 [[ 9.97766102e-01 3.84373099e-02 5.46386236e-02 2.91158182e+01] [-3.81983557e-02 9.99255524e-01 -5.41136833e-03 -2.71934399e+00] [-5.48059449e-02 3.31217430e-03 9.98491531e-01 -1.96170567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.100714057 meters 0.03725879440271283 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.73, Z:-1.97 [[ 9.97721530e-01 3.94488755e-02 5.47314874e-02 2.91775026e+01] [-3.92107506e-02 9.99216273e-01 -5.41823826e-03 -2.72550546e+00] [-5.49023363e-02 3.25983026e-03 9.98486408e-01 -1.96622273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.160714057000003 meters 0.03645534870787242 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.73, Z:-1.97 [[ 9.97693529e-01 3.92137606e-02 5.54067110e-02 2.92386642e+01] [-3.89684967e-02 9.99225300e-01 -5.50050222e-03 -2.72821607e+00] [-5.55794828e-02 3.32869924e-03 9.98448717e-01 -1.96983367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.220714057000002 meters 0.03364202483779659 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.73, Z:-1.97 [[ 9.97598507e-01 3.88008439e-02 5.73734561e-02 2.92995397e+01] [-3.85370338e-02 9.99240928e-01 -5.69782443e-03 -2.73024174e+00] [-5.75509859e-02 3.47313833e-03 9.98336527e-01 -1.97387786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.280714057 meters 0.033472528467748196 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.74, Z:-1.98 [[ 9.97625016e-01 3.82077046e-02 5.73105551e-02 2.93611016e+01] [-3.79434683e-02 9.99263675e-01 -5.69211260e-03 -2.73658982e+00] [-5.74858385e-02 3.50403269e-03 9.98340173e-01 -1.97809911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.340714057000003 meters 0.03555784451097482 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.75, Z:-1.98 [[ 9.97667712e-01 3.74718980e-02 5.70525429e-02 2.94211498e+01] [-3.72079949e-02 9.99291393e-01 -5.68125344e-03 -2.74640999e+00] [-5.72250024e-02 3.54519240e-03 9.98355012e-01 -1.98370204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.400714057000002 meters 0.03409697783190013 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.75, Z:-1.99 [[ 9.97647588e-01 3.71397850e-02 5.76188123e-02 2.94830443e+01] [-3.68692735e-02 9.99303548e-01 -5.75119712e-03 -2.75054202e+00] [-5.77922818e-02 3.61330418e-03 9.98322090e-01 -1.98755922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.460714057 meters 0.0360970248506261 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.76, Z:-1.99 [[ 9.97752277e-01 3.38829561e-02 5.78129619e-02 2.95430128e+01] [-3.36042185e-02 9.99418464e-01 -5.78704892e-03 -2.76048077e+00] [-5.79754239e-02 3.83128184e-03 9.98310659e-01 -1.99122106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.520714057000003 meters 0.03905218778858791 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.77, Z:-1.99 [[ 9.97843410e-01 2.95448189e-02 5.86142677e-02 2.96029986e+01] [-2.92507762e-02 9.99554878e-01 -5.86842626e-03 -2.77220467e+00] [-5.87615588e-02 4.14125764e-03 9.98263457e-01 -1.99461502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.580714057 meters 0.04145979581353172 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.78, Z:-2.00 [[ 9.97901631e-01 2.54157264e-02 5.95514545e-02 2.96621770e+01] [-2.51048735e-02 9.99667042e-01 -5.96240335e-03 -2.78335417e+00] [-5.96831652e-02 4.45486030e-03 9.98207430e-01 -1.99875943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.640714057 meters 0.04434035111428474 Centerline is valid? [True, True] Translation: X:29.72, Y:-2.79, Z:-2.00 [[ 9.97994035e-01 2.34106279e-02 5.88204822e-02 2.97218329e+01] [-2.31038764e-02 9.99715720e-01 -5.88981726e-03 -2.79376398e+00] [-5.89416451e-02 4.51902134e-03 9.98251201e-01 -2.00273463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.700714057000003 meters 0.04174425296675962 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.80, Z:-2.01 [[ 9.98030878e-01 1.98425673e-02 5.95032722e-02 2.97823360e+01] [-1.95222768e-02 9.99791662e-01 -5.95930744e-03 -2.79752290e+00] [-5.96091234e-02 4.78593348e-03 9.98210322e-01 -2.00616155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.760714057 meters 0.04451617843876419 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.81, Z:-2.01 [[ 9.98087429e-01 1.65089254e-02 5.95729804e-02 2.98410461e+01] [-1.61819808e-02 9.99851262e-01 -5.96643497e-03 -2.81051906e+00] [-5.96626190e-02 4.99101492e-03 9.98206122e-01 -2.01120810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.820714057000004 meters 0.04397471398227231 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.82, Z:-2.02 [[ 9.98126896e-01 1.51589620e-02 5.92697603e-02 2.99021681e+01] [-1.48329271e-02 9.99872360e-01 -5.93698427e-03 -2.81732014e+00] [-5.93521936e-02 5.04671966e-03 9.98224347e-01 -2.01567062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.880714057000002 meters 0.04642734450316539 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.83, Z:-2.02 [[ 9.98159375e-01 1.53969630e-02 5.86582972e-02 2.99635961e+01] [-1.50779934e-02 9.99869052e-01 -5.87651420e-03 -2.82931824e+00] [-5.87410965e-02 4.98124832e-03 9.98260823e-01 -2.02024112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.940714057 meters 0.04525187421110432 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.84, Z:-2.02 [[ 9.98071108e-01 1.66466897e-02 5.98076111e-02 3.00250837e+01] [-1.63162583e-02 9.99848824e-01 -6.00905377e-03 -2.83602789e+00] [-5.98986005e-02 5.02162653e-03 9.98191836e-01 -2.02464331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.000714057 meters 0.047804585156897235 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.85, Z:-2.03 [[ 9.98028061e-01 1.92823073e-02 5.97342697e-02 3.00841049e+01] [-1.89571636e-02 9.99802263e-01 -6.00514965e-03 -2.84716401e+00] [-5.98382511e-02 4.86091553e-03 9.98196251e-01 -2.02917589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.060714057 meters 0.04799142534738686 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.85, Z:-2.03 [[ 9.98052041e-01 2.21684876e-02 5.83153637e-02 3.01438100e+01] [-2.18635225e-02 9.99743776e-01 -5.86250685e-03 -2.85457105e+00] [-5.84303848e-02 4.57610766e-03 9.98280997e-01 -2.03436107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.120714057 meters 0.049328706464583795 Centerline is valid? [True, True] Translation: X:30.21, Y:-2.86, Z:-2.04 [[ 9.98053379e-01 2.23423051e-02 5.82260663e-02 3.02066506e+01] [-2.20386660e-02 9.99739993e-01 -5.85186115e-03 -2.86366692e+00] [-5.83416712e-02 4.55724496e-03 9.98286272e-01 -2.03887691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.180714057 meters 0.0417324624028201 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.86, Z:-2.04 [[ 9.97866352e-01 2.18991809e-02 6.15074724e-02 3.02693954e+01] [-2.15583680e-02 9.99748371e-01 -6.19925271e-03 -2.86072061e+00] [-6.16277539e-02 4.86002496e-03 9.98087371e-01 -2.03856835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.240714057000005 meters 0.04370420433782695 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.87, Z:-2.04 [[ 9.97761446e-01 2.20988263e-02 6.31168663e-02 3.03304655e+01] [-2.17392658e-02 9.99743330e-01 -6.37789748e-03 -2.87108351e+00] [-6.32416101e-02 4.99150588e-03 9.97985763e-01 -2.04184966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.300714057 meters 0.03939175906506788 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.87, Z:-2.05 [[ 9.97825019e-01 2.31827939e-02 6.17072950e-02 3.03929246e+01] [-2.28401995e-02 9.99719582e-01 -6.25161820e-03 -2.87174553e+00] [-6.18349212e-02 4.82861412e-03 9.98074710e-01 -2.04797005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.360714057 meters 0.038224274107900455 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.88, Z:-2.05 [[ 9.97872082e-01 2.44479730e-02 6.04450573e-02 3.04544712e+01] [-2.41206054e-02 9.99690202e-01 -6.13979674e-03 -2.87512010e+00] [-6.05764371e-02 4.66876038e-03 9.98152643e-01 -2.05225366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.420714057000005 meters 0.03999650156429693 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.88, Z:-2.06 [[ 9.97898313e-01 2.53109555e-02 5.96515948e-02 3.05151110e+01] [-2.49934566e-02 9.99669230e-01 -6.06279247e-03 -2.88389912e+00] [-5.97853189e-02 4.55915083e-03 9.98200846e-01 -2.05688880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.480714057 meters 0.03954960994027005 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.89, Z:-2.06 [[ 9.97953130e-01 2.58043992e-02 5.85122509e-02 3.05764987e+01] [-2.54989742e-02 9.99657078e-01 -5.96061934e-03 -2.88911791e+00] [-5.86459959e-02 4.45641635e-03 9.98268895e-01 -2.06247532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.540714057 meters 0.04366841606705591 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.90, Z:-2.07 [[ 9.98027945e-01 2.53967712e-02 5.74040573e-02 3.06364759e+01] [-2.51013163e-02 9.99667724e-01 -5.86225775e-03 -2.89987165e+00] [-5.75338657e-02 4.40977966e-03 9.98333816e-01 -2.06773923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.600714057000005 meters 0.03818869998895287 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.90, Z:-2.07 [[ 9.98148347e-01 2.44984936e-02 5.56749534e-02 3.06990026e+01] [-2.42184274e-02 9.99690443e-01 -5.69963009e-03 -2.89648468e+00] [-5.57973512e-02 4.34071653e-03 9.98432679e-01 -2.07181654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.660714057 meters 0.03901340225573418 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.90, Z:-2.08 [[ 9.98215322e-01 2.30026826e-02 5.51094111e-02 3.07596683e+01] [-2.27257851e-02 9.99725793e-01 -5.64600735e-03 -2.90203684e+00] [-5.52241730e-02 4.38352641e-03 9.98464359e-01 -2.07520567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.720714057 meters 0.04075068125039778 Centerline is valid? [True, True] Translation: X:30.82, Y:-2.91, Z:-2.08 [[ 9.98277004e-01 2.10453555e-02 5.47733115e-02 3.08206803e+01] [-2.07687337e-02 9.99768541e-01 -5.61468868e-03 -2.90911865e+00] [-5.48787968e-02 4.46744227e-03 9.98483029e-01 -2.07940147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.780714057000004 meters 0.04361720210104559 Centerline is valid? [True, True] Translation: X:30.88, Y:-2.92, Z:-2.08 [[ 9.98340121e-01 2.01016170e-02 5.39715509e-02 3.08813637e+01] [-1.98316824e-02 9.99788026e-01 -5.53239182e-03 -2.91727758e+00] [-5.40713204e-02 4.45286207e-03 9.98527148e-01 -2.08425329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.840714057 meters 0.044560971133725445 Centerline is valid? [True, True] Translation: X:30.94, Y:-2.92, Z:-2.09 [[ 9.98316467e-01 2.06473767e-02 5.42025683e-02 3.09431805e+01] [-2.03752324e-02 9.99776895e-01 -5.56874323e-03 -2.92224135e+00] [-5.43054553e-02 4.45497814e-03 9.98514432e-01 -2.08800563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.900714057 meters 0.04057293849346567 Centerline is valid? [True, True] Translation: X:31.01, Y:-2.92, Z:-2.09 [[ 9.98291967e-01 2.12064256e-02 5.44374530e-02 3.10062266e+01] [-2.09319989e-02 9.99765182e-01 -5.60642778e-03 -2.91945896e+00] [-5.45435624e-02 4.45736711e-03 9.98501443e-01 -2.09005741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.960714057000004 meters 0.042564696828616036 Centerline is valid? [True, True] Translation: X:31.07, Y:-2.93, Z:-2.09 [[ 9.98280809e-01 2.30583222e-02 5.38863675e-02 3.10659055e+01] [-2.27912208e-02 9.99724751e-01 -5.56610348e-03 -2.92560257e+00] [-5.39998803e-02 4.32839818e-03 9.98531561e-01 -2.09471383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.020714057 meters 0.04231796651556355 Centerline is valid? [True, True] Translation: X:31.13, Y:-2.93, Z:-2.10 [[ 9.98324109e-01 2.33576132e-02 5.29470989e-02 3.11290250e+01] [-2.31002850e-02 9.99718205e-01 -5.46696000e-03 -2.92903605e+00] [-5.30598738e-02 4.23470489e-03 9.98582354e-01 -2.09985989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.080714057 meters 0.04370714632649516 Centerline is valid? [True, True] Translation: X:31.19, Y:-2.94, Z:-2.10 [[ 9.98308078e-01 2.34824923e-02 5.31935606e-02 3.11918536e+01] [-2.32221043e-02 9.99715157e-01 -5.50798350e-03 -2.93704956e+00] [-5.33077500e-02 4.26339801e-03 9.98569030e-01 -2.10489488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.140714057000004 meters 0.04513903540299645 Centerline is valid? [True, True] Translation: X:31.25, Y:-2.94, Z:-2.11 [[ 9.98256329e-01 2.36840484e-02 5.40681827e-02 3.12546438e+01] [-2.34144530e-02 9.99710079e-01 -5.61431960e-03 -2.94360143e+00] [-5.41854770e-02 4.33855315e-03 9.98521462e-01 -2.10863128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.200714057 meters 0.040594839092029614 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.94, Z:-2.11 [[ 9.98262536e-01 2.39671494e-02 5.38282958e-02 3.13187133e+01] [-2.36995463e-02 9.99703417e-01 -5.60433890e-03 -2.94145333e+00] [-5.39466513e-02 4.31889537e-03 9.98534479e-01 -2.11235636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.260714057 meters 0.048031577260655905 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.96, Z:-2.12 [[ 9.98300005e-01 2.39647899e-02 5.31299312e-02 3.13784553e+01] [-2.37032317e-02 9.99703646e-01 -5.54774906e-03 -2.95784962e+00] [-5.32471366e-02 4.27896684e-03 9.98572197e-01 -2.11778956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.320714057 meters 0.048900886910556864 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.97, Z:-2.12 [[ 9.98298214e-01 2.38516749e-02 5.32144081e-02 3.14403202e+01] [-2.35884518e-02 9.99706242e-01 -5.56914874e-03 -2.96535417e+00] [-5.33316095e-02 4.30442574e-03 9.98567580e-01 -2.12194826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.380714057 meters 0.04244346599146357 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.96, Z:-2.13 [[ 9.98338254e-01 2.46924380e-02 5.20674020e-02 3.15031981e+01] [-2.44409688e-02 9.99686359e-01 -5.46098570e-03 -2.96323159e+00] [-5.21859166e-02 4.17933318e-03 9.98628641e-01 -2.12638992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.440714057 meters 0.0440890620337762 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.97, Z:-2.13 [[ 9.98332066e-01 2.60574396e-02 5.15179271e-02 3.15631293e+01] [-2.58122393e-02 9.99652120e-01 -5.41924959e-03 -2.97158821e+00] [-5.16412168e-02 4.08041758e-03 9.98657366e-01 -2.13049230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.500714057 meters 0.03827716887479412 Centerline is valid? [True, True] Translation: X:31.62, Y:-2.97, Z:-2.13 [[ 9.98270055e-01 2.80867320e-02 5.16530063e-02 3.16247950e+01] [-2.78429054e-02 9.99597540e-01 -5.43413730e-03 -2.96956444e+00] [-5.17848452e-02 3.98656677e-03 9.98650308e-01 -2.13263015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.560714057 meters 0.04525132310975174 Centerline is valid? [True, True] Translation: X:31.68, Y:-2.99, Z:-2.14 [[ 9.98160375e-01 3.14614250e-02 5.18270597e-02 3.16824819e+01] [-3.12203248e-02 9.99497640e-01 -5.45523743e-03 -2.98521485e+00] [-5.19726534e-02 3.82714420e-03 9.98641175e-01 -2.13705057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.620714057 meters 0.03970207044994595 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.98, Z:-2.14 [[ 9.98034636e-01 3.41875548e-02 5.25173862e-02 3.17433038e+01] [-3.39438349e-02 9.99408465e-01 -5.52595615e-03 -2.98354495e+00] [-5.26752392e-02 3.73245415e-03 9.98604721e-01 -2.13940527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.680714057 meters 0.0369530299966918 Centerline is valid? [True, True] Translation: X:31.80, Y:-2.99, Z:-2.14 [[ 9.97974890e-01 3.76000109e-02 5.13065086e-02 3.18044645e+01] [-3.73719146e-02 9.99286845e-01 -5.39822219e-03 -2.98536401e+00] [-5.14728924e-02 3.46986774e-03 9.98668364e-01 -2.14365006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.740714057000005 meters 0.0374029507431298 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.99, Z:-2.15 [[ 9.97920922e-01 4.01930480e-02 5.03820638e-02 3.18647183e+01] [-3.99763396e-02 9.99186559e-01 -5.30203817e-03 -2.99248563e+00] [-5.05541861e-02 3.27692433e-03 9.98715944e-01 -2.14826522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.800714057 meters 0.034462081628296316 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.99, Z:-2.15 [[ 9.97789328e-01 4.16781134e-02 5.17628437e-02 3.19252028e+01] [-4.14512179e-02 9.99125667e-01 -5.44966173e-03 -2.99441320e+00] [-5.19447174e-02 3.29198140e-03 9.98644536e-01 -2.15042930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.860714057 meters 0.03536462627559068 Centerline is valid? [True, True] Translation: X:31.98, Y:-3.00, Z:-2.15 [[ 9.97723028e-01 4.25020384e-02 5.23673104e-02 3.19837336e+01] [-4.22709566e-02 9.99090974e-01 -5.51290681e-03 -3.00309143e+00] [-5.25540169e-02 3.28673777e-03 9.98612674e-01 -2.15446826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.920714057000005 meters 0.03606189588992179 Centerline is valid? [True, True] Translation: X:32.04, Y:-3.01, Z:-2.16 [[ 9.97842713e-01 4.01754727e-02 5.19215946e-02 3.20434925e+01] [-3.99450679e-02 9.99186915e-01 -5.46808539e-03 -3.01298995e+00] [-5.20990608e-02 3.38227754e-03 9.98636194e-01 -2.15983332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.980714057 meters 0.040311314981874506 Centerline is valid? [True, True] Translation: X:32.10, Y:-3.03, Z:-2.17 [[ 9.98069526e-01 3.65588600e-02 5.02062917e-02 3.21014007e+01] [-3.63388806e-02 9.99325536e-01 -5.28764518e-03 -3.02696261e+00] [-5.03657396e-02 3.45299708e-03 9.98724872e-01 -2.16674323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.040714057 meters 0.04155366680375302 Centerline is valid? [True, True] Translation: X:32.16, Y:-3.04, Z:-2.17 [[ 9.98208383e-01 3.39887240e-02 4.92421670e-02 3.21613777e+01] [-3.37740694e-02 9.99416044e-01 -5.18492300e-03 -3.03567399e+00] [-4.93896407e-02 3.51252524e-03 9.98773411e-01 -2.17139651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.100714057000005 meters 0.04095256752404163 Centerline is valid? [True, True] Translation: X:32.22, Y:-3.04, Z:-2.17 [[ 9.98372969e-01 2.90447200e-02 4.90695244e-02 3.22223825e+01] [-2.88255992e-02 9.99571099e-01 -5.16743645e-03 -3.04193807e+00] [-4.91985652e-02 3.74457043e-03 9.98781998e-01 -2.17441268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.160714057 meters 0.07175275942044856 Centerline is valid? [True, True] Translation: X:32.28, Y:-3.09, Z:-2.18 [[ 9.98178900e-01 2.90167911e-02 5.28858079e-02 3.22784831e+01] [-2.87622140e-02 9.99570771e-01 -5.56862172e-03 -3.09212837e+00] [-5.30246913e-02 4.03736778e-03 9.98585040e-01 -2.18333781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.220714057 meters 0.04400021129733409 Centerline is valid? [True, True] Translation: X:32.34, Y:-3.06, Z:-2.18 [[ 9.98408152e-01 2.31167282e-02 5.14468526e-02 3.23427035e+01] [-2.28673122e-02 9.99723754e-01 -5.43145802e-03 -3.06059171e+00] [-5.15581982e-02 4.24636073e-03 9.98660964e-01 -2.18124896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.280714057000004 meters 0.04480950558968347 Centerline is valid? [True, True] Translation: X:32.40, Y:-3.07, Z:-2.18 [[ 9.98433590e-01 1.88764568e-02 5.26692154e-02 3.24024747e+01] [-1.86091574e-02 9.99811370e-01 -5.56090154e-03 -3.06979219e+00] [-5.27642505e-02 4.57206117e-03 9.98596530e-01 -2.18458686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.340714057 meters 0.04521910728264027 Centerline is valid? [True, True] Translation: X:32.46, Y:-3.08, Z:-2.19 [[ 9.98485304e-01 1.57764333e-02 5.27086450e-02 3.24626324e+01] [-1.55044433e-02 9.99864311e-01 -5.56519454e-03 -3.07752691e+00] [-5.27892919e-02 4.73954677e-03 9.98594426e-01 -2.18808651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.400714057 meters 0.05786135509037423 Centerline is valid? [True, True] Translation: X:32.52, Y:-3.10, Z:-2.20 [[ 9.98597706e-01 1.09559018e-02 5.17937153e-02 3.25191855e+01] [-1.06868632e-02 9.99927940e-01 -5.46852489e-03 -3.10308654e+00] [-5.18498957e-02 4.90734407e-03 9.98642832e-01 -2.19502023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.460714057000004 meters 0.051079659991883936 Centerline is valid? [True, True] Translation: X:32.58, Y:-3.10, Z:-2.20 [[ 9.98677647e-01 6.49728215e-03 5.09974775e-02 3.25804070e+01] [-6.23059151e-03 9.99966081e-01 -5.38672334e-03 -3.10264272e+00] [-5.10307468e-02 5.06185574e-03 9.98684255e-01 -2.19876514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.520714057 meters 0.05061210358481544 Centerline is valid? [True, True] Translation: X:32.64, Y:-3.11, Z:-2.20 [[ 9.98713835e-01 4.06637832e-03 5.05384998e-02 3.26407480e+01] [-3.80133036e-03 9.99978520e-01 -5.33948857e-03 -3.11048292e+00] [-5.05591266e-02 5.14050757e-03 9.98707840e-01 -2.20273756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.580714057 meters 0.059376250410073696 Centerline is valid? [True, True] Translation: X:32.70, Y:-3.13, Z:-2.21 [[ 9.98634750e-01 5.25862975e-03 5.19709892e-02 3.26998505e+01] [-4.97992618e-03 9.99972526e-01 -5.49071601e-03 -3.12898457e+00] [-5.19984350e-02 5.22440811e-03 9.98633500e-01 -2.20651821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.640714057000004 meters 0.05137839803586502 Centerline is valid? [True, True] Translation: X:32.76, Y:-3.12, Z:-2.21 [[ 9.98600624e-01 6.60280805e-03 5.24709204e-02 3.27620198e+01] [-6.32044361e-03 9.99964649e-01 -5.54546586e-03 -3.12361196e+00] [-5.25056812e-02 5.20606617e-03 9.98607055e-01 -2.20794176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.700714057 meters 0.05106818860843313 Centerline is valid? [True, True] Translation: X:32.82, Y:-3.13, Z:-2.21 [[ 9.98575426e-01 1.00865273e-02 5.23963741e-02 3.28222218e+01] [-9.80958871e-03 9.99936538e-01 -5.53994295e-03 -3.12849727e+00] [-5.24489277e-02 5.01806401e-03 9.98611000e-01 -2.21221606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.760714057 meters 0.04288470853205379 Centerline is valid? [True, True] Translation: X:32.88, Y:-3.12, Z:-2.22 [[ 9.98574333e-01 1.43399486e-02 5.14166139e-02 3.28839148e+01] [-1.40788822e-02 9.99886111e-01 -5.43608390e-03 -3.12262030e+00] [-5.14887113e-02 4.70444540e-03 9.98662496e-01 -2.21611353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.820714057 meters 0.049280202316598756 Centerline is valid? [True, True] Translation: X:32.94, Y:-3.14, Z:-2.22 [[ 9.98586535e-01 1.70835453e-02 5.03297537e-02 3.29423871e+01] [-1.68368100e-02 9.99844085e-01 -5.32229872e-03 -3.13703939e+00] [-5.04128303e-02 4.46738334e-03 9.98718473e-01 -2.22304727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.880714057 meters 0.043190839555782005 Centerline is valid? [True, True] Translation: X:33.00, Y:-3.13, Z:-2.23 [[ 9.98494881e-01 2.18710100e-02 5.02954419e-02 3.30031912e+01] [-2.16306341e-02 9.99751883e-01 -5.31869325e-03 -3.13365323e+00] [-5.03992879e-02 4.22276569e-03 9.98720221e-01 -2.22594725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.940714057 meters 0.04049767120796532 Centerline is valid? [True, True] Translation: X:33.06, Y:-3.13, Z:-2.23 [[ 9.98403990e-01 2.60035668e-02 5.01327045e-02 3.30640643e+01] [-2.57699220e-02 9.99653843e-01 -5.30138209e-03 -3.13375563e+00] [-5.02532056e-02 4.00100515e-03 9.98728495e-01 -2.22811920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.000714057 meters 0.04205155911779892 Centerline is valid? [True, True] Translation: X:33.13, Y:-3.14, Z:-2.23 [[ 9.98337218e-01 2.70289374e-02 5.09139961e-02 3.31250264e+01] [-2.67894440e-02 9.99626618e-01 -5.38056935e-03 -3.14224596e+00] [-5.10404168e-02 4.00766500e-03 9.98688547e-01 -2.23253190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.060714057000006 meters 0.0427263542934718 Centerline is valid? [True, True] Translation: X:33.19, Y:-3.15, Z:-2.24 [[ 9.98358477e-01 2.66943614e-02 5.06731037e-02 3.31867274e+01] [-2.64560492e-02 9.99635565e-01 -5.36797742e-03 -3.15055409e+00] [-5.07979314e-02 4.01855563e-03 9.98700867e-01 -2.23748839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.120714057 meters 0.04673167758914759 Centerline is valid? [True, True] Translation: X:33.25, Y:-3.16, Z:-2.24 [[ 9.98430130e-01 2.47716707e-02 5.02358457e-02 3.32453567e+01] [-2.45342290e-02 9.99684740e-01 -5.33777680e-03 -3.16323486e+00] [-5.03522340e-02 4.09689944e-03 9.98723119e-01 -2.24233752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.180714057 meters 0.04399834631494818 Centerline is valid? [True, True] Translation: X:33.31, Y:-3.17, Z:-2.24 [[ 9.98467964e-01 2.25353226e-02 5.05359750e-02 3.33061036e+01] [-2.22922014e-02 9.99737079e-01 -5.36941630e-03 -3.16680104e+00] [-5.06436895e-02 4.23463203e-03 9.98707807e-01 -2.24470081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.240714057000005 meters 0.0457232012327354 Centerline is valid? [True, True] Translation: X:33.37, Y:-3.18, Z:-2.25 [[ 9.98468769e-01 2.14226293e-02 5.10018557e-02 3.33668818e+01] [-2.11735819e-02 9.99761131e-01 -5.41846759e-03 -3.17722501e+00] [-5.11057507e-02 4.33027870e-03 9.98683859e-01 -2.24909153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.300714057 meters 0.044207250791657667 Centerline is valid? [True, True] Translation: X:33.43, Y:-3.18, Z:-2.25 [[ 9.98458766e-01 2.09689783e-02 5.13847728e-02 3.34292850e+01] [-2.07153400e-02 9.99770485e-01 -5.46373545e-03 -3.18277891e+00] [-5.14875482e-02 4.39086151e-03 9.98663984e-01 -2.25177248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.360714057 meters 0.04834237298970554 Centerline is valid? [True, True] Translation: X:33.49, Y:-3.20, Z:-2.26 [[ 9.98423666e-01 2.07890637e-02 5.21344145e-02 3.34891913e+01] [-2.05269874e-02 9.99773853e-01 -5.55740961e-03 -3.19758335e+00] [-5.22381578e-02 4.47848680e-03 9.98624613e-01 -2.25652689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.420714057000005 meters 0.04644113333099622 Centerline is valid? [True, True] Translation: X:33.55, Y:-3.21, Z:-2.26 [[ 9.98413325e-01 1.97541271e-02 5.27314683e-02 3.35509917e+01] [-1.94838112e-02 9.99794290e-01 -5.63547310e-03 -3.20511581e+00] [-5.28319447e-02 4.59912146e-03 9.98592827e-01 -2.26089207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.480714057 meters 0.044955319939278135 Centerline is valid? [True, True] Translation: X:33.61, Y:-3.21, Z:-2.26 [[ 9.98480950e-01 1.97450415e-02 5.14385561e-02 3.36124973e+01] [-1.94877470e-02 9.99794975e-01 -5.49877645e-03 -3.21046458e+00] [-5.15365835e-02 4.48800197e-03 9.98661023e-01 -2.26432329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.540714057 meters 0.049464929234582546 Centerline is valid? [True, True] Translation: X:33.67, Y:-3.22, Z:-2.27 [[ 9.98493788e-01 1.98486112e-02 5.11486937e-02 3.36719844e+01] [-1.95937255e-02 9.99793007e-01 -5.47989664e-03 -3.22414893e+00] [-5.12468747e-02 4.46944929e-03 9.98676014e-01 -2.27001125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.600714057000005 meters 0.05149350671441572 Centerline is valid? [True, True] Translation: X:33.73, Y:-3.24, Z:-2.27 [[ 9.98495696e-01 1.92360952e-02 5.13450763e-02 3.37322751e+01] [-1.89778173e-02 9.99804705e-01 -5.51308176e-03 -3.23506322e+00] [-5.14410991e-02 4.53037093e-03 9.98665754e-01 -2.27456017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.660714057 meters 0.04542598150711556 Centerline is valid? [True, True] Translation: X:33.79, Y:-3.23, Z:-2.28 [[ 9.98525079e-01 1.76390820e-02 5.13471463e-02 3.37940052e+01] [-1.73779688e-02 9.99833714e-01 -5.52730197e-03 -3.23447038e+00] [-5.14361045e-02 4.62684053e-03 9.98665569e-01 -2.27755711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.720714057 meters 0.04515661414974257 Centerline is valid? [True, True] Translation: X:33.86, Y:-3.24, Z:-2.28 [[ 9.98522369e-01 1.65117057e-02 5.17729905e-02 3.38551653e+01] [-1.62446925e-02 9.99852509e-01 -5.57397952e-03 -3.24311482e+00] [-5.18573904e-02 4.72470693e-03 9.98643324e-01 -2.28207420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.780714057000004 meters 0.04573185370871551 Centerline is valid? [True, True] Translation: X:33.92, Y:-3.25, Z:-2.29 [[ 9.98568051e-01 1.56437332e-02 5.11578026e-02 3.39164604e+01] [-1.53816691e-02 9.99866500e-01 -5.51238233e-03 -3.25081424e+00] [-5.12372073e-02 4.71759649e-03 9.98675369e-01 -2.28533990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.840714057 meters 0.04903435515751397 Centerline is valid? [True, True] Translation: X:33.98, Y:-3.26, Z:-2.29 [[ 9.98569878e-01 1.58519438e-02 5.10579578e-02 3.39773581e+01] [-1.55905716e-02 9.99863259e-01 -5.51336358e-03 -3.26229972e+00] [-5.11383736e-02 4.70945605e-03 9.98680473e-01 -2.28937463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.900714057 meters 0.045728456816797894 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.27, Z:-2.29 [[ 9.98539118e-01 1.59984679e-02 5.16108331e-02 3.40402943e+01] [-1.57308712e-02 9.99860653e-01 -5.58697315e-03 -3.26515330e+00] [-5.16930243e-02 4.76692788e-03 9.98651645e-01 -2.29292055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.960714057000004 meters 0.04319283454041074 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.27, Z:-2.30 [[ 9.98561029e-01 1.69091838e-02 5.08915648e-02 3.41028064e+01] [-1.66492809e-02 9.99846117e-01 -5.52662651e-03 -3.26956055e+00] [-5.09771842e-02 4.67136589e-03 9.98688893e-01 -2.29787886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.020714057 meters 0.04563766402860174 Centerline is valid? [True, True] Translation: X:34.16, Y:-3.28, Z:-2.30 [[ 9.98521501e-01 1.98954435e-02 5.05863864e-02 3.41621418e+01] [-1.96421358e-02 9.99791948e-01 -5.49968601e-03 -3.27794045e+00] [-5.06852805e-02 4.49793006e-03 9.98704546e-01 -2.30250911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.080714057 meters 0.043713942543770465 Centerline is valid? [True, True] Translation: X:34.22, Y:-3.28, Z:-2.31 [[ 9.98454585e-01 2.21306159e-02 5.09772211e-02 3.42227220e+01] [-2.18763225e-02 9.99745329e-01 -5.54101066e-03 -3.28161212e+00] [-5.10868646e-02 4.41725337e-03 9.98684445e-01 -2.30618762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.140714057000004 meters 0.04491739764921196 Centerline is valid? [True, True] Translation: X:34.28, Y:-3.29, Z:-2.31 [[ 9.98392182e-01 2.40667538e-02 5.13209687e-02 3.42822395e+01] [-2.38114746e-02 9.99700895e-01 -5.57988765e-03 -3.28944042e+00] [-5.14399081e-02 4.34888827e-03 9.98666623e-01 -2.31114810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.200714057 meters 0.046191553560257274 Centerline is valid? [True, True] Translation: X:34.34, Y:-3.30, Z:-2.32 [[ 9.98249420e-01 2.66778902e-02 5.27862329e-02 3.43413512e+01] [-2.64114286e-02 9.99634682e-01 -5.73920497e-03 -3.29613995e+00] [-5.29200590e-02 4.33499821e-03 9.98589343e-01 -2.31501530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.260714057 meters 0.0443085247013918 Centerline is valid? [True, True] Translation: X:34.40, Y:-3.30, Z:-2.32 [[ 9.98200342e-01 2.86456995e-02 5.26830231e-02 3.44031922e+01] [-2.83830355e-02 9.99580713e-01 -5.72732851e-03 -3.29979015e+00] [-5.28249971e-02 4.22171717e-03 9.98594861e-01 -2.31937275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.320714057 meters 0.042445234364152616 Centerline is valid? [True, True] Translation: X:34.46, Y:-3.30, Z:-2.32 [[ 9.98089271e-01 3.21986990e-02 5.27356766e-02 3.44638738e+01] [-3.19402551e-02 9.99473318e-01 -5.73643146e-03 -3.30271586e+00] [-5.28926073e-02 4.04107973e-03 9.98592030e-01 -2.32374284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.380714057 meters 0.04330546702552518 Centerline is valid? [True, True] Translation: X:34.52, Y:-3.31, Z:-2.33 [[ 9.97925352e-01 3.50993007e-02 5.39724928e-02 3.45228679e+01] [-3.48327611e-02 9.99375907e-01 -5.87151018e-03 -3.30873763e+00] [-5.41448948e-02 3.97931792e-03 9.98525160e-01 -2.32662949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.440714057 meters 0.0383850951534473 Centerline is valid? [True, True] Translation: X:34.59, Y:-3.31, Z:-2.33 [[ 9.97822826e-01 3.65946676e-02 5.48674598e-02 3.45851200e+01] [-3.63215567e-02 9.99322340e-01 -5.96693410e-03 -3.30749889e+00] [-5.50486363e-02 3.96107150e-03 9.98475817e-01 -2.32964061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.500714057 meters 0.03745710318199872 Centerline is valid? [True, True] Translation: X:34.65, Y:-3.31, Z:-2.33 [[ 9.97761539e-01 3.80300747e-02 5.50056856e-02 3.46462058e+01] [-3.77574875e-02 9.99268998e-01 -5.98676014e-03 -3.31336545e+00] [-5.51931533e-02 3.89648252e-03 9.98468093e-01 -2.33372673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.560714057000006 meters 0.03752584805581773 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.32, Z:-2.34 [[ 9.97687298e-01 3.99052127e-02 5.50238975e-02 3.47071910e+01] [-3.96351678e-02 9.99196259e-01 -5.99077580e-03 -3.31969518e+00] [-5.52187357e-02 3.79603951e-03 9.98467066e-01 -2.33784205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.620714057 meters 0.03666343749074579 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.33, Z:-2.34 [[ 9.97603907e-01 4.14006711e-02 5.54295025e-02 3.47686275e+01] [-4.11289145e-02 9.99135622e-01 -6.03504480e-03 -3.32642919e+00] [-5.56314453e-02 3.74082900e-03 9.98444364e-01 -2.34152564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.680714057 meters 0.03741933631309105 Centerline is valid? [True, True] Translation: X:34.83, Y:-3.34, Z:-2.35 [[ 9.97509280e-01 4.37491036e-02 5.53285798e-02 3.48286586e+01] [-4.34810393e-02 9.99035994e-01 -6.04007837e-03 -3.33553616e+00] [-5.55394908e-02 3.61929008e-03 9.98449931e-01 -2.34620368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.740714057000005 meters 0.03816062709554916 Centerline is valid? [True, True] Translation: X:34.89, Y:-3.34, Z:-2.35 [[ 9.97442718e-01 4.58458763e-02 5.48286397e-02 3.48880432e+01] [-4.55857212e-02 9.98942491e-01 -5.98680211e-03 -3.34442770e+00] [-5.50451281e-02 3.47208908e-03 9.98477831e-01 -2.35095968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.800714057 meters 0.034568125038400836 Centerline is valid? [True, True] Translation: X:34.95, Y:-3.35, Z:-2.36 [[ 9.97354225e-01 4.82520412e-02 5.43717749e-02 3.49481560e+01] [-4.79993995e-02 9.98829680e-01 -5.94365285e-03 -3.34732344e+00] [-5.45949359e-02 3.31811473e-03 9.98503071e-01 -2.35573613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.860714057 meters 0.033800447462903345 Centerline is valid? [True, True] Translation: X:35.01, Y:-3.36, Z:-2.36 [[ 9.97290049e-01 5.04839135e-02 5.35157175e-02 3.50073112e+01] [-5.02423630e-02 9.98719920e-01 -5.85026849e-03 -3.35640767e+00] [-5.37425575e-02 3.14565845e-03 9.98549870e-01 -2.36142564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.920714057000005 meters 0.033836680501865946 Centerline is valid? [True, True] Translation: X:35.07, Y:-3.37, Z:-2.37 [[ 9.97275074e-01 5.15751036e-02 5.27488048e-02 3.50667132e+01] [-5.13419874e-02 9.98664486e-01 -5.76582058e-03 -3.36576724e+00] [-5.29757308e-02 3.04188068e-03 9.98591167e-01 -2.36523671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.980714057 meters 0.03482176806343664 Centerline is valid? [True, True] Translation: X:35.13, Y:-3.38, Z:-2.37 [[ 9.97381345e-01 5.01811854e-02 5.20797553e-02 3.51256678e+01] [-4.99521915e-02 9.98735401e-01 -5.69016251e-03 -3.37502494e+00] [-5.22994343e-02 3.07376402e-03 9.98626718e-01 -2.36988519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.040714057 meters 0.03717576386424858 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.39, Z:-2.37 [[ 9.97552262e-01 4.61850187e-02 5.25017089e-02 3.51845312e+01] [-4.59469017e-02 9.98927426e-01 -5.73402566e-03 -3.38955358e+00] [-5.27102230e-02 3.30769941e-03 9.98604372e-01 -2.37482952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.100714057000005 meters 0.037862434118616645 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.40, Z:-2.38 [[ 9.97768082e-01 3.98910646e-02 5.35495829e-02 3.52444235e+01] [-3.96343461e-02 9.99197138e-01 -5.84789125e-03 -3.40129175e+00] [-5.37398686e-02 3.71243654e-03 9.98548068e-01 -2.37783775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.160714057 meters 0.039176481960539314 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.41, Z:-2.38 [[ 9.97848052e-01 3.79553427e-02 5.34664095e-02 3.53049563e+01] [-3.76966381e-02 9.99272169e-01 -5.83919292e-03 -3.41115583e+00] [-5.36491236e-02 3.81112339e-03 9.98552576e-01 -2.38202179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.220714057 meters 0.0431640427695321 Centerline is valid? [True, True] Translation: X:35.36, Y:-3.43, Z:-2.39 [[ 9.98049797e-01 3.18011066e-02 5.37149197e-02 3.53636163e+01] [-3.15310027e-02 9.99485545e-01 -5.86867769e-03 -3.42686323e+00] [-5.38739163e-02 4.16354730e-03 9.98539066e-01 -2.38630963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.280714057000004 meters 0.04900485171405282 Centerline is valid? [True, True] Translation: X:35.42, Y:-3.44, Z:-2.39 [[ 9.98163473e-01 2.76954750e-02 5.38761729e-02 3.54217502e+01] [-2.74178078e-02 9.99606731e-01 -5.88625571e-03 -3.44302598e+00] [-5.40180077e-02 4.39827889e-03 9.98530275e-01 -2.39052071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.340714057 meters 0.04605316361087903 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.45, Z:-2.39 [[ 9.98224864e-01 2.55384518e-02 5.38043502e-02 3.54828998e+01] [-2.52584756e-02 9.99663677e-01 -5.87729990e-03 -3.44609089e+00] [-5.39363517e-02 4.50785103e-03 9.98534200e-01 -2.39359002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.400714057 meters 0.048808751420446765 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.46, Z:-2.40 [[ 9.98273428e-01 2.41189968e-02 5.35577833e-02 3.55417052e+01] [-2.38395461e-02 9.99698678e-01 -5.85057338e-03 -3.45693794e+00] [-5.36827552e-02 4.56367870e-03 9.98547613e-01 -2.39867808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.460714057000004 meters 0.04473390800476494 Centerline is valid? [True, True] Translation: X:35.60, Y:-3.46, Z:-2.40 [[ 9.98293823e-01 2.48207348e-02 5.28523847e-02 3.56042610e+01] [-2.45494449e-02 9.99681930e-01 -5.77610472e-03 -3.45695561e+00] [-5.29789411e-02 4.46875295e-03 9.98585631e-01 -2.40266690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.520714057 meters 0.04532822162388156 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.46, Z:-2.41 [[ 9.98377377e-01 2.62463524e-02 5.05345611e-02 3.56656564e+01] [-2.59994369e-02 9.99646621e-01 -5.53735701e-03 -3.46220661e+00] [-5.06620387e-02 4.21450183e-03 9.98706962e-01 -2.40839087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.580714057 meters 0.043703929360625726 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.46, Z:-2.41 [[ 9.98328519e-01 2.82208501e-02 5.04356194e-02 3.57259396e+01] [-2.79771743e-02 9.99593260e-01 -5.53102304e-03 -3.46450535e+00] [-5.05711953e-02 4.11073193e-03 9.98711999e-01 -2.41258007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.640714057000004 meters 0.04233502379826565 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.47, Z:-2.42 [[ 9.98230034e-01 2.95170653e-02 5.16288805e-02 3.57878367e+01] [-2.92634652e-02 9.99555702e-01 -5.66119222e-03 -3.46743633e+00] [-5.17730437e-02 4.14033216e-03 9.98650294e-01 -2.41500631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.700714057 meters 0.04283223086726927 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.47, Z:-2.42 [[ 9.98191771e-01 2.99666569e-02 5.21074659e-02 3.58496725e+01] [-2.97089113e-02 9.99542260e-01 -5.71413648e-03 -3.47300660e+00] [-5.22548478e-02 4.15574793e-03 9.98625135e-01 -2.41844184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.760714057 meters 0.040987818217009815 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.48, Z:-2.42 [[ 9.98256537e-01 2.90612805e-02 5.13743898e-02 3.59113833e+01] [-2.88088911e-02 9.99568989e-01 -5.64660439e-03 -3.47641376e+00] [-5.15163444e-02 4.15672054e-03 9.98663501e-01 -2.42353670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.820714057 meters 0.05102563402818263 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.50, Z:-2.43 [[ 9.98272079e-01 2.81595235e-02 5.15741937e-02 3.59699577e+01] [-2.79032542e-02 9.99594477e-01 -5.68238692e-03 -3.49662470e+00] [-5.17132925e-02 4.23348037e-03 9.98652999e-01 -2.42993143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.880714057 meters 0.04470384918457173 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.49, Z:-2.43 [[ 9.98350477e-01 2.54943827e-02 5.14428012e-02 3.60314678e+01] [-2.52354996e-02 9.99665421e-01 -5.67581417e-03 -3.49305989e+00] [-5.15702909e-02 4.36826700e-03 9.98659814e-01 -2.43232373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.940714057 meters 0.04767854951827434 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.50, Z:-2.44 [[ 9.98362683e-01 2.29814874e-02 5.23813458e-02 3.60901235e+01] [-2.27096080e-02 9.99725396e-01 -5.77975801e-03 -3.50350396e+00] [-5.24997891e-02 4.58073489e-03 9.98610429e-01 -2.43578925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.000714057 meters 0.04896965626006766 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.51, Z:-2.44 [[ 9.98311757e-01 2.20577724e-02 5.37316442e-02 3.61511473e+01] [-2.17701878e-02 9.99745404e-01 -5.93173875e-03 -3.51176770e+00] [-5.38488053e-02 4.75197655e-03 9.98537793e-01 -2.43845848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.060714057000006 meters 0.04524504035663244 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.51, Z:-2.44 [[ 9.98326770e-01 2.22649933e-02 5.33660113e-02 3.62139742e+01] [-2.19813657e-02 9.99740995e-01 -5.89590044e-03 -3.51310260e+00] [-5.34834615e-02 4.71297743e-03 9.98557613e-01 -2.44182285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.120714057 meters 0.04509421768695198 Centerline is valid? [True, True] Translation: X:36.28, Y:-3.52, Z:-2.45 [[ 9.98322701e-01 2.40861744e-02 5.26463800e-02 3.62752784e+01] [-2.38117346e-02 9.99699438e-01 -5.83401660e-03 -3.51882046e+00] [-5.27710756e-02 4.57062958e-03 9.98596176e-01 -2.44714743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.180714057 meters 0.04365897061975043 Centerline is valid? [True, True] Translation: X:36.34, Y:-3.52, Z:-2.45 [[ 9.98241230e-01 2.79131096e-02 5.23001415e-02 3.63361082e+01] [-2.76472289e-02 9.99600913e-01 -5.80048194e-03 -3.52197550e+00] [-5.24411787e-02 4.34432624e-03 9.98614565e-01 -2.45171495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.240714057000005 meters 0.05180032867197584 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.54, Z:-2.46 [[ 9.98153355e-01 3.20863118e-02 5.15785644e-02 3.63936053e+01] [-3.18331840e-02 9.99476817e-01 -5.72186148e-03 -3.53861543e+00] [-5.17351728e-02 4.06938531e-03 9.98652548e-01 -2.45839795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.300714057 meters 0.04051924586706021 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.53, Z:-2.46 [[ 9.97839824e-01 4.00048791e-02 5.21084899e-02 3.64557073e+01] [-3.97573088e-02 9.99192652e-01 -5.77938712e-03 -3.52679492e+00] [-5.22976239e-02 3.69520930e-03 9.98624706e-01 -2.45956514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.360714057 meters 0.03498207208922204 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.52, Z:-2.46 [[ 9.97454076e-01 4.76691065e-02 5.30379266e-02 3.65174518e+01] [-4.74233751e-02 9.98857556e-01 -5.88274250e-03 -3.52181249e+00] [-5.32577588e-02 3.35252800e-03 9.98575171e-01 -2.46146573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.420714057000005 meters 0.034100818644495594 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.53, Z:-2.47 [[ 9.97177403e-01 5.24155054e-02 5.37572431e-02 3.65775490e+01] [-5.21698909e-02 9.98620421e-01 -5.96305999e-03 -3.52550652e+00] [-5.39956376e-02 3.14171917e-03 9.98536229e-01 -2.46509380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.480714057 meters 0.030823188121079464 Centerline is valid? [True, True] Translation: X:36.64, Y:-3.53, Z:-2.47 [[ 9.97092984e-01 5.37907952e-02 5.39641718e-02 3.66377826e+01] [-5.35452907e-02 9.98547480e-01 -5.98599702e-03 -3.52661162e+00] [-5.42077793e-02 3.07906837e-03 9.98524930e-01 -2.46772220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.540714057 meters 0.03172899006607611 Centerline is valid? [True, True] Translation: X:36.70, Y:-3.54, Z:-2.47 [[ 9.97104286e-01 5.32354596e-02 5.43049530e-02 3.66960693e+01] [-5.29860465e-02 9.98577087e-01 -6.02331918e-03 -3.53536614e+00] [-5.45483359e-02 3.12847261e-03 9.98506230e-01 -2.47164153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.600714057000005 meters 0.033055213571798955 Centerline is valid? [True, True] Translation: X:36.75, Y:-3.55, Z:-2.47 [[ 9.97117521e-01 5.11812488e-02 5.60100801e-02 3.67547992e+01] [-5.09129407e-02 9.98683802e-01 -6.20779195e-03 -3.54550153e+00] [-5.62540823e-02 3.33826023e-03 9.98410905e-01 -2.47440355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.660714057 meters 0.03478272072765916 Centerline is valid? [True, True] Translation: X:36.81, Y:-3.56, Z:-2.48 [[ 9.97143902e-01 4.98190519e-02 5.67635453e-02 3.68141766e+01] [-4.95414061e-02 9.98752271e-01 -6.28889951e-03 -3.55658047e+00] [-5.70060267e-02 3.45879195e-03 9.98367843e-01 -2.47843980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.720714057 meters 0.03464821824934291 Centerline is valid? [True, True] Translation: X:36.87, Y:-3.56, Z:-2.48 [[ 9.97173088e-01 4.92293013e-02 5.67653769e-02 3.68744330e+01] [-4.89506863e-02 9.98781396e-01 -6.28910243e-03 -3.56376981e+00] [-5.70058105e-02 3.49261954e-03 9.98367737e-01 -2.48262299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.780714057000004 meters 0.03501482385279725 Centerline is valid? [True, True] Translation: X:36.93, Y:-3.57, Z:-2.49 [[ 9.97103071e-01 5.07350973e-02 5.66693598e-02 3.69347172e+01] [-5.04598539e-02 9.98706356e-01 -6.27832773e-03 -3.57258140e+00] [-5.69145814e-02 3.40061224e-03 9.98373260e-01 -2.48772721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.840714057 meters 0.03582647813155588 Centerline is valid? [True, True] Translation: X:36.99, Y:-3.58, Z:-2.49 [[ 9.96967747e-01 5.34057459e-02 5.65962675e-02 3.69936696e+01] [-5.31354242e-02 9.98567622e-01 -6.27151836e-03 -3.57980085e+00] [-5.68501353e-02 3.24523485e-03 9.98377449e-01 -2.49157452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.900714057 meters 0.029832648088254844 Centerline is valid? [True, True] Translation: X:37.06, Y:-3.58, Z:-2.49 [[ 9.96592245e-01 5.98949094e-02 5.67141721e-02 3.70551871e+01] [-5.96339948e-02 9.98200534e-01 -6.28332936e-03 -3.57627497e+00] [-5.69884563e-02 2.87982467e-03 9.98370684e-01 -2.49435902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.960714057000004 meters 0.030420946247400753 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.59, Z:-2.50 [[ 9.96165921e-01 6.61989907e-02 5.71939866e-02 3.71137855e+01] [-6.59439241e-02 9.97803204e-01 -6.33764300e-03 -3.58513429e+00] [-5.74878886e-02 2.54174806e-03 9.98342968e-01 -2.49940401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.020714057 meters 0.029807771875646847 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.59, Z:-2.50 [[ 9.96045839e-01 6.82390843e-02 5.68868544e-02 3.71720534e+01] [-6.79901220e-02 9.97666086e-01 -6.30272262e-03 -3.59063064e+00] [-5.71841774e-02 2.41005646e-03 9.98360737e-01 -2.50313880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.080714057 meters 0.026782641830695775 Centerline is valid? [True, True] Translation: X:37.23, Y:-3.59, Z:-2.51 [[ 9.95639950e-01 7.39684889e-02 5.68309129e-02 3.72324185e+01] [-7.37295749e-02 9.97258421e-01 -6.29214305e-03 -3.59224373e+00] [-5.71405268e-02 2.07458994e-03 9.98363990e-01 -2.50677203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.140714057000004 meters 0.026569395379062097 Centerline is valid? [True, True] Translation: X:37.29, Y:-3.60, Z:-2.51 [[ 9.95478026e-01 7.54850330e-02 5.76672398e-02 3.72907793e+01] [-7.52416056e-02 9.97144897e-01 -6.38404794e-03 -3.60008816e+00] [-5.79844940e-02 2.01620373e-03 9.98315448e-01 -2.51029595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.200714057 meters 0.026257609478764533 Centerline is valid? [True, True] Translation: X:37.35, Y:-3.61, Z:-2.51 [[ 9.95357132e-01 7.67606239e-02 5.80687999e-02 3.73493830e+01] [-7.65162114e-02 9.97047642e-01 -6.42414236e-03 -3.60826720e+00] [-5.83904812e-02 1.95111135e-03 9.98291914e-01 -2.51450900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.260714057 meters 0.025432375847678795 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.62, Z:-2.52 [[ 9.95354873e-01 7.65657545e-02 5.83640392e-02 3.74069550e+01] [-7.63186808e-02 9.97062589e-01 -6.45394982e-03 -3.61548776e+00] [-5.86867515e-02 1.96970393e-03 9.98274504e-01 -2.51846082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.320714057 meters 0.026923024065889915 Centerline is valid? [True, True] Translation: X:37.46, Y:-3.63, Z:-2.52 [[ 9.95655436e-01 7.31760268e-02 5.75805687e-02 3.74638882e+01] [-7.29302794e-02 9.97316758e-01 -6.36062981e-03 -3.63062679e+00] [-5.78915118e-02 2.13362868e-03 9.98320600e-01 -2.52381309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.380714057000006 meters 0.031542670881789296 Centerline is valid? [True, True] Translation: X:37.52, Y:-3.65, Z:-2.53 [[ 9.96063022e-01 6.68817149e-02 5.81832630e-02 3.75210779e+01] [-6.66202804e-02 9.97757723e-01 -6.42366487e-03 -3.65024296e+00] [-5.84824258e-02 2.52218975e-03 9.98285252e-01 -2.52775133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.440714057 meters 0.02952115399758647 Centerline is valid? [True, True] Translation: X:37.58, Y:-3.66, Z:-2.53 [[ 9.96325439e-01 6.20110679e-02 5.90783146e-02 3.75813024e+01] [-6.17329840e-02 9.98071389e-01 -6.52236391e-03 -3.65680615e+00] [-5.93688343e-02 2.85131643e-03 9.98232043e-01 -2.53008822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.500714057 meters 0.03136464106325941 Centerline is valid? [True, True] Translation: X:37.64, Y:-3.67, Z:-2.54 [[ 9.96641278e-01 5.63629706e-02 5.94085686e-02 3.76395843e+01] [-5.60717604e-02 9.98405198e-01 -6.55884845e-03 -3.67418883e+00] [-5.96834999e-02 3.20567608e-03 9.98212204e-01 -2.53531615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.560714057000006 meters 0.031434656763928065 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.68, Z:-2.54 [[ 9.96838491e-01 5.31112544e-02 5.90949791e-02 3.76996374e+01] [-5.28174469e-02 9.98582874e-01 -6.52381936e-03 -3.68386711e+00] [-5.93577223e-02 3.38194833e-03 9.98231047e-01 -2.53848067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.620714057 meters 0.031979197529489765 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.69, Z:-2.54 [[ 9.96815409e-01 5.24872574e-02 6.00343860e-02 3.77597792e+01] [-5.21828251e-02 9.98615549e-01 -6.62865386e-03 -3.69311867e+00] [-6.02991912e-02 3.47478045e-03 9.98174300e-01 -2.54140653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.680714057 meters 0.03314334916852215 Centerline is valid? [True, True] Translation: X:37.82, Y:-3.71, Z:-2.55 [[ 9.96689087e-01 5.40212538e-02 6.07664966e-02 3.78203862e+01] [-5.37121598e-02 9.98533917e-01 -6.70979270e-03 -3.70602753e+00] [-6.10398793e-02 3.42367738e-03 9.98129456e-01 -2.54616682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.740714057000005 meters 0.03331144568626648 Centerline is valid? [True, True] Translation: X:37.88, Y:-3.71, Z:-2.55 [[ 9.96622901e-01 5.64590965e-02 5.96251871e-02 3.78811456e+01] [-5.61649139e-02 9.98399693e-01 -6.59964623e-03 -3.71402890e+00] [-5.99023786e-02 3.22851507e-03 9.98199019e-01 -2.55118884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.800714057 meters 0.029790072594364475 Centerline is valid? [True, True] Translation: X:37.94, Y:-3.72, Z:-2.56 [[ 9.96531203e-01 5.86080982e-02 5.90817462e-02 3.79413587e+01] [-5.83228880e-02 9.98276337e-01 -6.54178079e-03 -3.71759018e+00] [-5.93633105e-02 3.07327061e-03 9.98231713e-01 -2.55615179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.860714057 meters 0.030177560780485668 Centerline is valid? [True, True] Translation: X:38.00, Y:-3.73, Z:-2.56 [[ 9.96392457e-01 6.04840836e-02 5.95293734e-02 3.80003105e+01] [-6.01978650e-02 9.98164701e-01 -6.59134397e-03 -3.72708646e+00] [-5.98187906e-02 2.98402423e-03 9.98204793e-01 -2.56061363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.920714057000005 meters 0.029633636890747765 Centerline is valid? [True, True] Translation: X:38.06, Y:-3.73, Z:-2.56 [[ 9.96198141e-01 6.34421827e-02 5.97022128e-02 3.80605609e+01] [-6.31595911e-02 9.97981547e-01 -6.61048148e-03 -3.73278586e+00] [-6.00010901e-02 2.81458200e-03 9.98194343e-01 -2.56425541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.980714057 meters 0.029253304302421762 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.74, Z:-2.57 [[ 9.96037304e-01 6.56427059e-02 6.00060292e-02 3.81194249e+01] [-6.53611979e-02 9.97839550e-01 -6.64427683e-03 -3.74138075e+00] [-6.03125374e-02 2.69588164e-03 9.98175901e-01 -2.56888249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.040714057 meters 0.029959287321639914 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.75, Z:-2.57 [[ 9.96069580e-01 6.51679247e-02 5.99877848e-02 3.81782927e+01] [-6.48858611e-02 9.97870600e-01 -6.64008037e-03 -3.75155616e+00] [-6.02927670e-02 2.72162299e-03 9.98177026e-01 -2.57395906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.100714057000005 meters 0.02905092048128671 Centerline is valid? [True, True] Translation: X:38.24, Y:-3.76, Z:-2.58 [[ 9.96177206e-01 6.37837838e-02 5.96875518e-02 3.82368907e+01] [-6.35021855e-02 9.97959843e-01 -6.60481384e-03 -3.75806517e+00] [-5.99870599e-02 2.78927501e-03 9.98195258e-01 -2.57733922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.160714057 meters 0.030467108058740845 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.77, Z:-2.58 [[ 9.96245645e-01 6.23347355e-02 6.00749222e-02 3.82948006e+01] [-6.20470461e-02 9.98051110e-01 -6.64424602e-03 -3.77004928e+00] [-6.03720101e-02 2.89182969e-03 9.98171758e-01 -2.58159606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.220714057 meters 0.03128980064233134 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.78, Z:-2.59 [[ 9.96256840e-01 6.20274711e-02 6.02071543e-02 3.83539187e+01] [-6.17380947e-02 9.98070187e-01 -6.65652717e-03 -3.78051533e+00] [-6.05038533e-02 2.91453573e-03 9.98163709e-01 -2.58662529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.280714057000004 meters 0.029027148654665644 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.78, Z:-2.59 [[ 9.96224970e-01 6.36672415e-02 5.90109411e-02 3.84142609e+01] [-6.33921332e-02 9.97967370e-01 -6.52427336e-03 -3.78390305e+00] [-5.93063762e-02 2.75881460e-03 9.98236016e-01 -2.59108674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.340714057 meters 0.029061517133448254 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.79, Z:-2.60 [[ 9.95998355e-01 6.69597603e-02 5.91917884e-02 3.84727877e+01] [-6.66887459e-02 9.97752365e-01 -6.54445475e-03 -3.79145482e+00] [-5.94969619e-02 2.57084003e-03 9.98225176e-01 -2.59551786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.400714057 meters 0.02781201167579963 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.80, Z:-2.60 [[ 9.95430521e-01 7.42598717e-02 6.00295714e-02 3.85320970e+01] [-7.39944933e-02 9.97236579e-01 -6.63478623e-03 -3.79730251e+00] [-6.03563828e-02 2.16261099e-03 9.98174549e-01 -2.59958052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.460714057000004 meters 0.02494080262393536 Centerline is valid? [True, True] Translation: X:38.59, Y:-3.80, Z:-2.60 [[ 9.94789728e-01 8.17295078e-02 6.09400058e-02 3.85928845e+01] [-8.14700700e-02 9.96653039e-01 -6.73405796e-03 -3.79939056e+00] [-6.12864132e-02 1.73418516e-03 9.98118714e-01 -2.60249261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.520714057 meters 0.02475955704016481 Centerline is valid? [True, True] Translation: X:38.65, Y:-3.81, Z:-2.61 [[ 9.94392227e-01 8.64514081e-02 6.09118385e-02 3.86509710e+01] [-8.62010673e-02 9.96255025e-01 -6.73068491e-03 -3.80773872e+00] [-6.12656023e-02 1.44227527e-03 9.98120457e-01 -2.60732781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.580714057 meters 0.02451129857666544 Centerline is valid? [True, True] Translation: X:38.71, Y:-3.82, Z:-2.61 [[ 9.94259006e-01 8.80828071e-02 6.07490533e-02 3.87096068e+01] [-8.78369871e-02 9.96112260e-01 -6.71037017e-03 -3.81533963e+00] [-6.11039450e-02 1.33583217e-03 9.98130514e-01 -2.61210375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.640714057000004 meters 0.024491637005038758 Centerline is valid? [True, True] Translation: X:38.77, Y:-3.83, Z:-2.62 [[ 9.94137419e-01 8.88242773e-02 6.16525705e-02 3.87668014e+01] [-8.85727190e-02 9.96046456e-01 -6.80672889e-03 -3.82680489e+00] [-6.20134271e-02 1.30608810e-03 9.98074461e-01 -2.61694255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.700714057 meters 0.025527822070814693 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.84, Z:-2.62 [[ 9.94294282e-01 8.60704794e-02 6.30139192e-02 3.88232657e+01] [-8.58024483e-02 9.96287913e-01 -6.95234527e-03 -3.84170408e+00] [-6.33783977e-02 1.50592860e-03 9.97988432e-01 -2.62022892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.760714057 meters 0.025968828939747855 Centerline is valid? [True, True] Translation: X:38.88, Y:-3.86, Z:-2.62 [[ 9.94662375e-01 8.14981354e-02 6.32836046e-02 3.88815817e+01] [-8.12189255e-02 9.96671870e-01 -6.97636770e-03 -3.85558018e+00] [-6.36415495e-02 1.79930410e-03 9.97971200e-01 -2.62467723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.820714057 meters 0.02786453596101139 Centerline is valid? [True, True] Translation: X:38.94, Y:-3.87, Z:-2.63 [[ 9.94871802e-01 7.93315122e-02 6.27423983e-02 3.89386800e+01] [-7.90529024e-02 9.96846442e-01 -6.91449776e-03 -3.87141331e+00] [-6.30930741e-02 1.91907015e-03 9.98005802e-01 -2.62958095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.880714057000006 meters 0.0274004615221144 Centerline is valid? [True, True] Translation: X:39.00, Y:-3.88, Z:-2.63 [[ 9.95070592e-01 7.69498874e-02 6.25558343e-02 3.89967773e+01] [-7.66684453e-02 9.97032832e-01 -6.89062650e-03 -3.88224315e+00] [-6.29004536e-02 2.06060123e-03 9.98017679e-01 -2.63446888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.940714057 meters 0.0271047219051589 Centerline is valid? [True, True] Translation: X:39.06, Y:-3.89, Z:-2.64 [[ 9.95086505e-01 7.62975573e-02 6.30993751e-02 3.90557774e+01] [-7.60101048e-02 9.97082846e-01 -6.94707639e-03 -3.89172924e+00] [-6.34453495e-02 2.11675185e-03 9.97983069e-01 -2.63858974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.000714057 meters 0.028955512464200743 Centerline is valid? [True, True] Translation: X:39.11, Y:-3.90, Z:-2.64 [[ 9.95143447e-01 7.54704710e-02 6.31959546e-02 3.91141888e+01] [-7.51806211e-02 9.97145675e-01 -6.95537077e-03 -3.90465367e+00] [-6.35404979e-02 2.17048052e-03 9.97976901e-01 -2.64312347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.060714057000006 meters 0.028166285848414522 Centerline is valid? [True, True] Translation: X:39.17, Y:-3.91, Z:-2.65 [[ 9.95288841e-01 7.32780019e-02 6.34858810e-02 3.91744766e+01] [-7.29809840e-02 9.97308851e-01 -6.98802450e-03 -3.91339436e+00] [-6.38270995e-02 2.32184074e-03 9.97958271e-01 -2.64714041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.120714057 meters 0.029471113346561356 Centerline is valid? [True, True] Translation: X:39.23, Y:-3.93, Z:-2.65 [[ 9.95448310e-01 7.03302503e-02 6.43142060e-02 3.92344103e+01] [-7.00189910e-02 9.97520507e-01 -7.08367199e-03 -3.92613356e+00] [-6.46529358e-02 2.54821350e-03 9.97904557e-01 -2.65181897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.180714057 meters 0.030747248000765507 Centerline is valid? [True, True] Translation: X:39.30, Y:-3.94, Z:-2.66 [[ 9.95587099e-01 6.82424666e-02 6.44150077e-02 3.92952406e+01] [-6.79257201e-02 9.97665138e-01 -7.09709186e-03 -3.93707566e+00] [-6.47489306e-02 2.69033732e-03 9.97897960e-01 -2.65589279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.240714057000005 meters 0.03277051427116504 Centerline is valid? [True, True] Translation: X:39.35, Y:-3.95, Z:-2.66 [[ 9.95836627e-01 6.44143269e-02 6.44996633e-02 3.93541958e+01] [-6.40877791e-02 9.97918857e-01 -7.12118011e-03 -3.94987550e+00] [-6.48241363e-02 2.95789181e-03 9.97892320e-01 -2.65911850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.300714057 meters 0.035130184973591556 Centerline is valid? [True, True] Translation: X:39.41, Y:-3.96, Z:-2.66 [[ 9.96224553e-01 5.83993613e-02 6.42351585e-02 3.94137417e+01] [-5.80627206e-02 9.98287713e-01 -7.09668922e-03 -3.96135920e+00] [-6.45396116e-02 3.34022798e-03 9.97909556e-01 -2.66482877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.360714057 meters 0.03378453282145386 Centerline is valid? [True, True] Translation: X:39.47, Y:-3.97, Z:-2.67 [[ 9.96416209e-01 5.45776641e-02 6.46221143e-02 3.94749846e+01] [-5.42289276e-02 9.98503004e-01 -7.13964670e-03 -3.96582392e+00] [-6.49150405e-02 3.60967173e-03 9.97884266e-01 -2.66920413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.420714057000005 meters 0.035192532440071846 Centerline is valid? [True, True] Translation: X:39.54, Y:-3.97, Z:-2.67 [[ 9.96500355e-01 5.22020808e-02 6.52838774e-02 3.95353311e+01] [-5.18409192e-02 9.98629291e-01 -7.21514301e-03 -3.97213342e+00] [-6.55710377e-02 3.80551636e-03 9.97840647e-01 -2.67225682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.480714057 meters 0.033675228249257144 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.97, Z:-2.68 [[ 9.96483830e-01 5.08520907e-02 6.65885919e-02 3.95975729e+01] [-5.04732289e-02 9.98698289e-01 -7.36071346e-03 -3.97487257e+00] [-6.68762205e-02 3.97389070e-03 9.97753366e-01 -2.67543074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.540714057 meters 0.03257768265805815 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.98, Z:-2.68 [[ 9.96226572e-01 5.42771684e-02 6.77244929e-02 3.96585016e+01] [-5.38927859e-02 9.98518627e-01 -7.49120914e-03 -3.97565078e+00] [-6.80307693e-02 3.81308000e-03 9.97675937e-01 -2.67865059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.600714057000005 meters 0.04590210732584416 Centerline is valid? [True, True] Translation: X:39.72, Y:-4.00, Z:-2.68 [[ 9.95761070e-01 6.08347573e-02 6.89856814e-02 3.97159073e+01] [-6.04514853e-02 9.98141960e-01 -7.63184687e-03 -4.00013391e+00] [-6.93217848e-02 3.42920909e-03 9.97588458e-01 -2.67904627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.660714057 meters 0.031758957873212215 Centerline is valid? [True, True] Translation: X:39.78, Y:-3.98, Z:-2.69 [[ 9.95807705e-01 6.05665960e-02 6.85470767e-02 3.97798140e+01] [-6.01875675e-02 9.98158280e-01 -7.58319418e-03 -3.98110540e+00] [-6.88801204e-02 3.42572139e-03 9.97619062e-01 -2.68715217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.720714057 meters 0.029590678889295424 Centerline is valid? [True, True] Translation: X:39.84, Y:-3.98, Z:-2.69 [[ 9.95780099e-01 6.24641998e-02 6.72325739e-02 3.98419947e+01] [-6.21027584e-02 9.98041920e-01 -7.45470671e-03 -3.98136306e+00] [-6.75665795e-02 3.24792029e-03 9.97709481e-01 -2.69379566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.780714057000004 meters 0.02975639024182772 Centerline is valid? [True, True] Translation: X:39.90, Y:-3.98, Z:-2.70 [[ 9.95988182e-01 6.15510791e-02 6.49538706e-02 3.99034847e+01] [-6.12107431e-02 9.98098761e-01 -7.21864590e-03 -3.98494302e+00] [-6.52746932e-02 3.21381132e-03 9.97862158e-01 -2.69947171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.840714057 meters 0.03075604197909609 Centerline is valid? [True, True] Translation: X:39.97, Y:-3.99, Z:-2.70 [[ 9.96115483e-01 6.02807585e-02 6.41885804e-02 3.99651794e+01] [-5.99447738e-02 9.98176093e-01 -7.14916525e-03 -3.99186665e+00] [-6.45024636e-02 3.27362427e-03 9.97912178e-01 -2.70456843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.900714057 meters 0.034234704315549515 Centerline is valid? [True, True] Translation: X:40.03, Y:-4.00, Z:-2.71 [[ 9.96294261e-01 5.86388054e-02 6.29224613e-02 4.00253538e+01] [-5.83117013e-02 9.98273715e-01 -7.02395933e-03 -4.00183356e+00] [-6.32257158e-02 3.32881460e-03 9.97993701e-01 -2.70912689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.960714057000004 meters 0.035161871846492915 Centerline is valid? [True, True] Translation: X:40.09, Y:-4.01, Z:-2.71 [[ 9.96560957e-01 5.40510271e-02 6.28072009e-02 4.00857006e+01] [-5.37150801e-02 9.98531582e-01 -7.02635990e-03 -4.00880574e+00] [-6.30947556e-02 3.62850213e-03 9.98000945e-01 -2.71432290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.020714057 meters 0.036414526680571206 Centerline is valid? [True, True] Translation: X:40.15, Y:-4.01, Z:-2.72 [[ 9.96802040e-01 5.04824139e-02 6.19452950e-02 4.01465074e+01] [-5.01487646e-02 9.98717715e-01 -6.93015060e-03 -4.01474250e+00] [-6.22157142e-02 3.80150824e-03 9.98055486e-01 -2.71817037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.080714057 meters 0.03624861614929129 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.02, Z:-2.72 [[ 9.97086210e-01 4.45860862e-02 6.18964441e-02 4.02073832e+01] [-4.42415904e-02 9.98996855e-01 -6.92576335e-03 -4.01764709e+00] [-6.21431457e-02 4.16718600e-03 9.98058547e-01 -2.72169913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.140714057000004 meters 0.037350929066881124 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.02, Z:-2.72 [[ 9.97314351e-01 3.79961408e-02 6.26129292e-02 4.02677205e+01] [-3.76305792e-02 9.99267147e-01 -7.00779476e-03 -4.02128130e+00] [-6.28333123e-02 4.63281349e-03 9.98013282e-01 -2.72452675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.200714057000006 meters 0.040188439527987146 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.02, Z:-2.73 [[ 9.97540741e-01 3.40559278e-02 6.12589894e-02 4.03273816e+01] [-3.36986528e-02 9.99408522e-01 -6.85622419e-03 -4.02475762e+00] [-6.14562511e-02 4.77501754e-03 9.98098356e-01 -2.72924716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.260714057 meters 0.041772992161482385 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.03, Z:-2.74 [[ 9.97689046e-01 3.42144428e-02 5.87021294e-02 4.03888691e+01] [-3.38867215e-02 9.99404088e-01 -6.56949196e-03 -4.02664208e+00] [-5.88919197e-02 4.56508745e-03 9.98253927e-01 -2.73534371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.320714057 meters 0.041333217174942496 Centerline is valid? [True, True] Translation: X:40.45, Y:-4.03, Z:-2.74 [[ 9.97595016e-01 3.66485736e-02 5.88308318e-02 4.04498353e+01] [-3.63227187e-02 9.99318324e-01 -6.59905646e-03 -4.02639733e+00] [-5.90325743e-02 4.44629008e-03 9.98246155e-01 -2.73778054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.380714057000006 meters 0.037527169922470856 Centerline is valid? [True, True] Translation: X:40.51, Y:-4.02, Z:-2.74 [[ 9.97251734e-01 4.27916748e-02 6.04801819e-02 4.05116107e+01] [-4.24584898e-02 9.99075199e-01 -6.78401407e-03 -4.01684005e+00] [-6.07145491e-02 4.19747260e-03 9.98146344e-01 -2.73848586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.440714057 meters 0.03334463826497815 Centerline is valid? [True, True] Translation: X:40.57, Y:-4.01, Z:-2.74 [[ 9.96959657e-01 4.91442577e-02 6.04672168e-02 4.05739118e+01] [-4.88227861e-02 9.98784422e-01 -6.78336112e-03 -4.00775836e+00] [-6.07270774e-02 3.81055939e-03 9.98147134e-01 -2.74219108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.500714057 meters 0.03267137942445633 Centerline is valid? [True, True] Translation: X:40.63, Y:-4.01, Z:-2.75 [[ 9.96881201e-01 5.32401190e-02 5.82525691e-02 4.06346954e+01] [-5.29487226e-02 9.98575846e-01 -6.53551856e-03 -4.00761451e+00] [-5.85175602e-02 3.43073647e-03 9.98280484e-01 -2.74825203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.560714057000006 meters 0.03406610354932927 Centerline is valid? [True, True] Translation: X:40.69, Y:-4.01, Z:-2.75 [[ 9.96751760e-01 5.88393905e-02 5.49895907e-02 4.06946144e+01] [-5.85881802e-02 9.98263165e-01 -6.17070392e-03 -4.00747412e+00] [-5.52571633e-02 2.92891994e-03 9.98467860e-01 -2.75489952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.620714057 meters 0.030967051237912324 Centerline is valid? [True, True] Translation: X:40.76, Y:-4.00, Z:-2.76 [[ 9.96524057e-01 6.24660507e-02 5.51162056e-02 4.07552767e+01] [-6.22192583e-02 9.98043347e-01 -6.18399992e-03 -4.00453782e+00] [-5.53946523e-02 2.73321526e-03 9.98460796e-01 -2.75784671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.680714057 meters 0.027621340343320488 Centerline is valid? [True, True] Translation: X:40.82, Y:-4.00, Z:-2.76 [[ 9.96193756e-01 6.73239207e-02 5.53668716e-02 4.08165449e+01] [-6.70824002e-02 9.97728105e-01 -6.21128890e-03 -3.99852186e+00] [-5.56592522e-02 2.47350458e-03 9.98446758e-01 -2.76096609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.740714057000005 meters 0.028019598540118085 Centerline is valid? [True, True] Translation: X:40.88, Y:-4.00, Z:-2.77 [[ 9.95737388e-01 7.31490269e-02 5.61807190e-02 4.08758746e+01] [-7.29097087e-02 9.97318644e-01 -6.30047773e-03 -4.00061177e+00] [-5.64909523e-02 2.17750139e-03 9.98400737e-01 -2.76550598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.800714057 meters 0.02674686068996569 Centerline is valid? [True, True] Translation: X:40.93, Y:-4.00, Z:-2.77 [[ 9.95585505e-01 7.48189856e-02 5.66711651e-02 4.09343168e+01] [-7.45782197e-02 9.97194920e-01 -6.35451628e-03 -4.00286813e+00] [-5.69876365e-02 2.10002970e-03 9.98372675e-01 -2.76881847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.860714057 meters 0.025882136608266593 Centerline is valid? [True, True] Translation: X:40.99, Y:-4.01, Z:-2.77 [[ 9.95178115e-01 7.96287438e-02 5.72693791e-02 4.09930701e+01] [-7.93910652e-02 9.96822893e-01 -6.41711316e-03 -4.00538241e+00] [-5.75984148e-02 1.83949357e-03 9.98338139e-01 -2.77257585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.920714057000005 meters 0.02584573255818839 Centerline is valid? [True, True] Translation: X:41.05, Y:-4.01, Z:-2.78 [[ 9.95132283e-01 8.06901949e-02 5.65759017e-02 4.10512025e+01] [-8.04600548e-02 9.96737685e-01 -6.33768141e-03 -4.01084244e+00] [-5.69027220e-02 1.75473122e-03 9.98378185e-01 -2.77748423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.980714057 meters 0.02785401159013449 Centerline is valid? [True, True] Translation: X:41.11, Y:-4.02, Z:-2.78 [[ 9.95233171e-01 7.98501425e-02 5.59900836e-02 4.11076881e+01] [-7.96236356e-02 9.96805290e-01 -6.26827158e-03 -4.02226163e+00] [-5.63117339e-02 1.78025778e-03 9.98411648e-01 -2.78406039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.040714057 meters 0.025599118395645687 Centerline is valid? [True, True] Translation: X:41.17, Y:-4.02, Z:-2.79 [[ 9.95197207e-01 7.98176424e-02 5.66715324e-02 4.11667737e+01] [-7.95858221e-02 9.96807859e-01 -6.33943302e-03 -4.02460419e+00] [-5.69966275e-02 1.79873554e-03 9.98372751e-01 -2.78646028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.100714057000005 meters 0.025560471708565787 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.03, Z:-2.79 [[ 9.95158827e-01 7.89963656e-02 5.84677924e-02 4.12251623e+01] [-7.87484411e-02 9.96873093e-01 -6.53599110e-03 -4.03185166e+00] [-5.88012886e-02 1.90010174e-03 9.98267899e-01 -2.78867023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.160714057 meters 0.02697537142813911 Centerline is valid? [True, True] Translation: X:41.28, Y:-4.04, Z:-2.79 [[ 9.95222826e-01 7.69175626e-02 6.01266609e-02 4.12813032e+01] [-7.66518308e-02 9.97035294e-01 -6.71703690e-03 -4.04465213e+00] [-6.04650611e-02 2.07612981e-03 9.98168155e-01 -2.79281357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.220714057 meters 0.026350042258381407 Centerline is valid? [True, True] Translation: X:41.34, Y:-4.05, Z:-2.80 [[ 9.95451361e-01 7.45283451e-02 5.93474064e-02 4.13405523e+01] [-7.42655929e-02 9.97216499e-01 -6.62387531e-03 -4.05207857e+00] [-5.96758793e-02 2.18627536e-03 9.98215412e-01 -2.79687310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.280714057000004 meters 0.02734001768931194 Centerline is valid? [True, True] Translation: X:41.40, Y:-4.06, Z:-2.80 [[ 9.95959269e-01 6.87152710e-02 5.78216830e-02 4.13999069e+01] [-6.84562278e-02 9.97633262e-01 -6.45130702e-03 -4.06454299e+00] [-5.81281375e-02 2.46698472e-03 9.98306082e-01 -2.80254906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.340714057 meters 0.029309778282038165 Centerline is valid? [True, True] Translation: X:41.46, Y:-4.08, Z:-2.81 [[ 9.96476936e-01 6.14857487e-02 5.70369904e-02 4.14587265e+01] [-6.12218836e-02 9.98103894e-01 -6.36376899e-03 -4.07873722e+00] [-5.73201233e-02 2.84943704e-03 9.98351784e-01 -2.80737720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.400714057 meters 0.03149477488698534 Centerline is valid? [True, True] Translation: X:41.52, Y:-4.09, Z:-2.81 [[ 9.96738193e-01 5.70717204e-02 5.70595635e-02 4.15169428e+01] [-5.68004199e-02 9.98365253e-01 -6.36658871e-03 -4.09118980e+00] [-5.73296377e-02 3.10481497e-03 9.98350476e-01 -2.81211638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.460714057000004 meters 0.03429169417197977 Centerline is valid? [True, True] Translation: X:41.58, Y:-4.10, Z:-2.82 [[ 9.97088395e-01 5.15528538e-02 5.61875063e-02 4.15767415e+01] [-5.12811915e-02 9.98664590e-01 -6.26702904e-03 -4.10390380e+00] [-5.64355562e-02 3.36741966e-03 9.98400565e-01 -2.81613547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.520714057 meters 0.032843542824487516 Centerline is valid? [True, True] Translation: X:41.64, Y:-4.11, Z:-2.82 [[ 9.97178886e-01 4.80413155e-02 5.76740955e-02 4.16370659e+01] [-4.77492153e-02 9.98838641e-01 -6.43292193e-03 -4.10926893e+00] [-5.79161612e-02 3.66088112e-03 9.98314738e-01 -2.81859939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.580714057 meters 0.03433547970560915 Centerline is valid? [True, True] Translation: X:41.70, Y:-4.12, Z:-2.82 [[ 9.97342941e-01 4.40670492e-02 5.80099464e-02 4.16970853e+01] [-4.37647742e-02 9.99020902e-01 -6.47155567e-03 -4.11845634e+00] [-5.82383313e-02 3.91556816e-03 9.98295029e-01 -2.82235998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.640714057000004 meters 0.03581277932768174 Centerline is valid? [True, True] Translation: X:41.76, Y:-4.13, Z:-2.83 [[ 9.97447974e-01 4.18772300e-02 5.78259140e-02 4.17578194e+01] [-4.15732103e-02 9.99114634e-01 -6.45106844e-03 -4.12696884e+00] [-5.80448698e-02 4.03059627e-03 9.98305839e-01 -2.82698537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.700714057000006 meters 0.040449050094593625 Centerline is valid? [True, True] Translation: X:41.82, Y:-4.14, Z:-2.83 [[ 9.97569974e-01 3.93072842e-02 5.75246423e-02 4.18165657e+01] [-3.90020445e-02 9.99218508e-01 -6.41981102e-03 -4.13857096e+00] [-5.77320325e-02 4.16063205e-03 9.98323445e-01 -2.83175224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.760714057 meters 0.0409148725287823 Centerline is valid? [True, True] Translation: X:41.88, Y:-4.14, Z:-2.84 [[ 9.97615953e-01 3.75544821e-02 5.78970796e-02 4.18777453e+01] [-3.72423507e-02 9.99285375e-01 -6.46114736e-03 -4.14334849e+00] [-5.80983500e-02 4.28952033e-03 9.98301649e-01 -2.83520364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.820714057 meters 0.04219835210341941 Centerline is valid? [True, True] Translation: X:41.94, Y:-4.15, Z:-2.84 [[ 9.97627140e-01 3.73989571e-02 5.78049050e-02 4.19398535e+01] [-3.70875207e-02 9.99291195e-01 -6.45155133e-03 -4.15024567e+00] [-5.80052139e-02 4.29240210e-03 9.98307052e-01 -2.83926135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.880714057000006 meters 0.0386449746656348 Centerline is valid? [True, True] Translation: X:42.00, Y:-4.15, Z:-2.84 [[ 9.97765864e-01 3.53038622e-02 5.67178735e-02 4.20013104e+01] [-3.49998032e-02 9.99367173e-01 -6.34565525e-03 -4.14830124e+00] [-5.69060070e-02 4.34636379e-03 9.98370079e-01 -2.84212482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.940714057 meters 0.04825069639566964 Centerline is valid? [True, True] Translation: X:42.06, Y:-4.17, Z:-2.85 [[ 9.97912759e-01 3.15353924e-02 5.63528508e-02 4.20585547e+01] [-3.12291909e-02 9.99492356e-01 -6.30625883e-03 -4.16554393e+00] [-5.65231139e-02 4.53324222e-03 9.98390999e-01 -2.84747275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.000714057 meters 0.044060157266342104 Centerline is valid? [True, True] Translation: X:42.12, Y:-4.16, Z:-2.85 [[ 9.97961177e-01 2.98636874e-02 5.64061159e-02 4.21199529e+01] [-2.95543853e-02 9.99543257e-01 -6.30992154e-03 -4.16226707e+00] [-5.65687903e-02 4.63000864e-03 9.98387968e-01 -2.85071237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.060714057000006 meters 0.04289141053492228 Centerline is valid? [True, True] Translation: X:42.18, Y:-4.16, Z:-2.86 [[ 9.97935217e-01 3.16417008e-02 5.58937034e-02 4.21820494e+01] [-3.13407307e-02 9.99489197e-01 -6.25328480e-03 -4.16277188e+00] [-5.60630173e-02 4.48862362e-03 9.98417142e-01 -2.85512559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.120714057 meters 0.04560435050256716 Centerline is valid? [True, True] Translation: X:42.24, Y:-4.17, Z:-2.86 [[ 9.97837025e-01 3.33982788e-02 5.66200259e-02 4.22419006e+01] [-3.30920385e-02 9.99432213e-01 -6.33794216e-03 -4.17001186e+00] [-5.67995541e-02 4.45056127e-03 9.98375682e-01 -2.85796805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.180714057 meters 0.04525082812583792 Centerline is valid? [True, True] Translation: X:42.30, Y:-4.17, Z:-2.86 [[ 9.97621611e-01 3.72140952e-02 5.80192480e-02 4.23027290e+01] [-3.68988479e-02 9.99297894e-01 -6.49575512e-03 -4.17122902e+00] [-5.82202459e-02 4.33946228e-03 9.98294331e-01 -2.85988197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.240714057000005 meters 0.03553113401205002 Centerline is valid? [True, True] Translation: X:42.37, Y:-4.16, Z:-2.86 [[ 9.97481556e-01 4.34736888e-02 5.60409116e-02 4.23656256e+01] [-4.31894277e-02 9.99047200e-01 -6.27415897e-03 -4.15783966e+00] [-5.62602766e-02 3.83798295e-03 9.98408760e-01 -2.86422444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.300714057 meters 0.03670110400199142 Centerline is valid? [True, True] Translation: X:42.42, Y:-4.16, Z:-2.87 [[ 9.97101986e-01 5.31249224e-02 5.44552287e-02 4.24248426e+01] [-5.28708030e-02 9.98582744e-01 -6.09763644e-03 -4.16058274e+00] [-5.47019881e-02 3.20087374e-03 9.98497595e-01 -2.87076257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.360714057 meters 0.03050500271695578 Centerline is valid? [True, True] Translation: X:42.49, Y:-4.15, Z:-2.87 [[ 9.96514229e-01 6.32138646e-02 5.44371047e-02 4.24863586e+01] [-6.29749667e-02 9.97996499e-01 -6.09446737e-03 -4.15123676e+00] [-5.47132947e-02 2.64504860e-03 9.98498602e-01 -2.87289130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.420714057000005 meters 0.027910927440107525 Centerline is valid? [True, True] Translation: X:42.55, Y:-4.15, Z:-2.88 [[ 9.96113322e-01 6.86267567e-02 5.52142951e-02 4.25473957e+01] [-6.83892791e-02 9.97639563e-01 -6.18129114e-03 -4.15072830e+00] [-5.55081672e-02 2.38120061e-03 9.98455394e-01 -2.87570402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.480714057 meters 0.02592024993514806 Centerline is valid? [True, True] Translation: X:42.61, Y:-4.15, Z:-2.88 [[ 9.95632378e-01 7.52861101e-02 5.52102222e-02 4.26078404e+01] [-7.50588898e-02 9.97159949e-01 -6.18060697e-03 -4.15007099e+00] [-5.55187362e-02 2.00959444e-03 9.98455623e-01 -2.87818404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.540714057 meters 0.024982842581710938 Centerline is valid? [True, True] Translation: X:42.67, Y:-4.15, Z:-2.88 [[ 9.95330203e-01 7.91023928e-02 5.53226804e-02 4.26671687e+01] [-7.88801220e-02 9.96864870e-01 -6.19327727e-03 -4.15352726e+00] [-5.56391397e-02 1.80049613e-03 9.98449320e-01 -2.88163205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.600714057000005 meters 0.02379521204298306 Centerline is valid? [True, True] Translation: X:42.73, Y:-4.16, Z:-2.88 [[ 9.94770447e-01 8.52302469e-02 5.62811013e-02 4.27266841e+01] [-8.50101055e-02 9.96360182e-01 -6.29844823e-03 -4.15743796e+00] [-5.66130666e-02 1.48104780e-03 9.98395096e-01 -2.88478194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.660714057 meters 0.022874213423039618 Centerline is valid? [True, True] Translation: X:42.79, Y:-4.16, Z:-2.89 [[ 9.94224775e-01 9.14975348e-02 5.60829571e-02 4.27860470e+01] [-9.12890109e-02 9.95804675e-01 -6.27421595e-03 -4.16300840e+00] [-5.64217461e-02 1.11822327e-03 9.98406398e-01 -2.88911525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.720714057 meters 0.02251843654257134 Centerline is valid? [True, True] Translation: X:42.84, Y:-4.17, Z:-2.90 [[ 9.93761751e-01 9.67768140e-02 5.54240971e-02 4.28433126e+01] [-9.65814302e-02 9.95305780e-01 -6.19931031e-03 -4.17104790e+00] [-5.57638737e-02 8.07698896e-04 9.98443658e-01 -2.89508049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.780714057000004 meters 0.0226275428181159 Centerline is valid? [True, True] Translation: X:42.90, Y:-4.18, Z:-2.90 [[ 9.93611448e-01 9.82173058e-02 5.55846339e-02 4.29020063e+01] [-9.80234518e-02 9.95164730e-01 -6.20989425e-03 -4.17792817e+00] [-5.59257863e-02 7.21624334e-04 9.98434668e-01 -2.89918877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.840714057 meters 0.022700705057566446 Centerline is valid? [True, True] Translation: X:42.96, Y:-4.19, Z:-2.90 [[ 9.93291490e-01 1.01026140e-01 5.62648735e-02 4.29590825e+01] [-1.00832230e-01 9.94883610e-01 -6.28197552e-03 -4.18848965e+00] [-5.66116443e-02 5.66520151e-04 9.98396114e-01 -2.90360380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.900714057 meters 0.02302852585168407 Centerline is valid? [True, True] Translation: X:43.02, Y:-4.20, Z:-2.91 [[ 9.93340394e-01 1.00196221e-01 5.68821529e-02 4.30162533e+01] [-9.99969648e-02 9.94967506e-01 -6.34574743e-03 -4.20242101e+00] [-5.72317137e-02 6.15444609e-04 9.98360732e-01 -2.90781840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.960714057000004 meters 0.02330870595408391 Centerline is valid? [True, True] Translation: X:43.07, Y:-4.22, Z:-2.91 [[ 9.93548800e-01 9.78950329e-02 5.72480939e-02 4.30733488e+01] [-9.76896201e-02 9.95196464e-01 -6.38249496e-03 -4.21646193e+00] [-5.75979151e-02 7.48775670e-04 9.98339581e-01 -2.91272075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.020714057 meters 0.0242975548111442 Centerline is valid? [True, True] Translation: X:43.13, Y:-4.24, Z:-2.92 [[ 9.94007591e-01 9.29063865e-02 5.75961104e-02 4.31292860e+01] [-9.26903253e-02 9.95674305e-01 -6.41735583e-03 -4.23523156e+00] [-5.79431805e-02 1.04029820e-03 9.98319340e-01 -2.91687154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.080714057 meters 0.025027209817327735 Centerline is valid? [True, True] Translation: X:43.19, Y:-4.26, Z:-2.92 [[ 9.94499786e-01 8.74571641e-02 5.76317697e-02 4.31867369e+01] [-8.72320003e-02 9.96167362e-01 -6.41602458e-03 -4.25543788e+00] [-5.79720153e-02 1.35340052e-03 9.98317291e-01 -2.92180484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.140714057000004 meters 0.026450088952470755 Centerline is valid? [True, True] Translation: X:43.24, Y:-4.27, Z:-2.93 [[ 9.94889994e-01 8.35408292e-02 5.66994614e-02 4.32438449e+01] [-8.33166471e-02 9.96503143e-01 -6.31047091e-03 -4.27284920e+00] [-5.70283734e-02 1.55421536e-03 9.98371348e-01 -2.92781104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.200714057000006 meters 0.02841425848275174 Centerline is valid? [True, True] Translation: X:43.30, Y:-4.29, Z:-2.93 [[ 9.95444866e-01 7.71390765e-02 5.60275007e-02 4.33023891e+01] [-7.69102346e-02 9.97018541e-01 -6.23249809e-03 -4.29237682e+00] [-5.63412262e-02 1.89502001e-03 9.98409773e-01 -2.93340804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.260714057 meters 0.03221524463945179 Centerline is valid? [True, True] Translation: X:43.36, Y:-4.31, Z:-2.94 [[ 9.95888360e-01 7.06128880e-02 5.67467567e-02 4.33599357e+01] [-7.03675398e-02 9.97501158e-01 -6.31267288e-03 -4.31357136e+00] [-5.70507116e-02 2.29358778e-03 9.98368647e-01 -2.93808644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.320714057 meters 0.028314695624309674 Centerline is valid? [True, True] Translation: X:43.42, Y:-4.32, Z:-2.94 [[ 9.96198198e-01 6.50282185e-02 5.79696498e-02 4.34196136e+01] [-6.47628116e-02 9.97879857e-01 -6.44739336e-03 -4.31962412e+00] [-5.82660084e-02 2.66860414e-03 9.98297526e-01 -2.93963344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.380714057000006 meters 0.029806738799944964 Centerline is valid? [True, True] Translation: X:43.48, Y:-4.33, Z:-2.94 [[ 9.96434984e-01 6.09567980e-02 5.83231711e-02 4.34783495e+01] [-6.06812511e-02 9.98136124e-01 -6.48559816e-03 -4.33348075e+00] [-5.86098052e-02 2.92335391e-03 9.98276687e-01 -2.94424531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.440714057 meters 0.03136932944620276 Centerline is valid? [True, True] Translation: X:43.54, Y:-4.35, Z:-2.95 [[ 9.96596299e-01 5.85614098e-02 5.80204916e-02 4.35384633e+01] [-5.82847372e-02 9.98279157e-01 -6.45084927e-03 -4.34631169e+00] [-5.82984183e-02 3.04718340e-03 9.98294550e-01 -2.95023237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.500714057 meters 0.030112225535527202 Centerline is valid? [True, True] Translation: X:43.60, Y:-4.35, Z:-2.95 [[ 9.96867066e-01 5.48649887e-02 5.69726739e-02 4.35989795e+01] [-5.45920944e-02 9.98488634e-01 -6.33648828e-03 -4.35326402e+00] [-5.72342187e-02 3.20637889e-03 9.98355630e-01 -2.95491192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.560714057000006 meters 0.031301921019287235 Centerline is valid? [True, True] Translation: X:43.66, Y:-4.36, Z:-2.96 [[ 9.96957107e-01 5.31211634e-02 5.70497123e-02 4.36603887e+01] [-5.28446472e-02 9.98582583e-01 -6.34572955e-03 -4.36207160e+00] [-5.73059416e-02 3.31164825e-03 9.98351172e-01 -2.95906857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.620714057 meters 0.03046907203221705 Centerline is valid? [True, True] Translation: X:43.72, Y:-4.37, Z:-2.96 [[ 9.96939943e-01 5.20190999e-02 5.83503577e-02 4.37218012e+01] [-5.17277303e-02 9.98640111e-01 -6.49386343e-03 -4.36808857e+00] [-5.86088126e-02 3.45566027e-03 9.98275045e-01 -2.96236511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.680714057 meters 0.03223052327802497 Centerline is valid? [True, True] Translation: X:43.78, Y:-4.38, Z:-2.97 [[ 9.96913853e-01 5.28630047e-02 5.80368138e-02 4.37824961e+01] [-5.25753534e-02 9.98595979e-01 -6.47323177e-03 -4.37641931e+00] [-5.82975234e-02 3.40194843e-03 9.98293457e-01 -2.96803974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.740714057000005 meters 0.03376130124189187 Centerline is valid? [True, True] Translation: X:43.84, Y:-4.38, Z:-2.97 [[ 9.96907999e-01 5.40836757e-02 5.70034953e-02 4.38427378e+01] [-5.38073971e-02 9.98531004e-01 -6.37158387e-03 -4.38487990e+00] [-5.72643561e-02 3.28467322e-03 9.98353647e-01 -2.97317327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.800714057 meters 0.03090248648969897 Centerline is valid? [True, True] Translation: X:43.90, Y:-4.38, Z:-2.98 [[ 9.96755720e-01 5.60850710e-02 5.77278019e-02 4.39041686e+01] [-5.58041809e-02 9.98420784e-01 -6.46766426e-03 -4.38463661e+00] [-5.79993766e-02 3.22522866e-03 9.98311409e-01 -2.97653951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.860714057 meters 0.03186516421417633 Centerline is valid? [True, True] Translation: X:43.97, Y:-4.39, Z:-2.98 [[ 9.96584038e-01 5.74424693e-02 5.93347929e-02 4.39653358e+01] [-5.71480187e-02 9.98343576e-01 -6.64899794e-03 -4.38962761e+00] [-5.96184441e-02 3.23541936e-03 9.98215995e-01 -2.97907267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.920714057000005 meters 0.030104560299635794 Centerline is valid? [True, True] Translation: X:44.03, Y:-4.39, Z:-2.98 [[ 9.96455945e-01 5.94860809e-02 5.94723088e-02 4.40274838e+01] [-5.91929929e-02 9.98224211e-01 -6.67935275e-03 -4.38950283e+00] [-5.97640270e-02 3.13533681e-03 9.98207609e-01 -2.98337610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.980714057 meters 0.029466594394492476 Centerline is valid? [True, True] Translation: X:44.09, Y:-4.39, Z:-2.99 [[ 9.96233678e-01 6.28364580e-02 5.97497975e-02 4.40876025e+01] [-6.25464130e-02 9.98019472e-01 -6.71409133e-03 -4.39310720e+00] [-6.00533511e-02 2.95166839e-03 9.98190805e-01 -2.98811215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.040714057 meters 0.026907939708769892 Centerline is valid? [True, True] Translation: X:44.15, Y:-4.39, Z:-2.99 [[ 9.95616046e-01 7.11308635e-02 6.07378697e-02 4.41480200e+01] [-7.08465054e-02 9.97463879e-01 -6.82522115e-03 -4.39071148e+00] [-6.10693149e-02 2.49223388e-03 9.98130416e-01 -2.99158258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.100714057000005 meters 0.024860593189265857 Centerline is valid? [True, True] Translation: X:44.21, Y:-4.39, Z:-2.99 [[ 9.94674496e-01 8.15999120e-02 6.29611038e-02 4.42075743e+01] [-8.13153463e-02 9.96663325e-01 -7.07323187e-03 -4.38865637e+00] [-6.33281982e-02 1.91585939e-03 9.97990916e-01 -2.99452737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.160714057 meters 0.022313728800471493 Centerline is valid? [True, True] Translation: X:44.27, Y:-4.39, Z:-3.00 [[ 9.93652465e-01 9.18512425e-02 6.49471210e-02 4.42687523e+01] [-9.15704573e-02 9.95771892e-01 -7.29324014e-03 -4.38662807e+00] [-6.53424107e-02 1.29970848e-03 9.97862055e-01 -2.99822928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.220714057 meters 0.02188370069670357 Centerline is valid? [True, True] Translation: X:44.33, Y:-4.39, Z:-3.00 [[ 9.92976470e-01 9.88478942e-02 6.50140281e-02 4.43272865e+01] [-9.85815165e-02 9.95102200e-01 -7.30043522e-03 -4.38964334e+00] [-6.54172350e-02 8.39978907e-04 9.97857645e-01 -3.00293060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.280714057000004 meters 0.02145174661046874 Centerline is valid? [True, True] Translation: X:44.39, Y:-4.39, Z:-3.01 [[ 9.91960469e-01 1.09333384e-01 6.37231467e-02 4.43855416e+01] [-1.09099375e-01 9.94005126e-01 -7.15088992e-03 -4.39276273e+00] [-6.41229655e-02 1.41244635e-04 9.97941995e-01 -3.00916260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.340714057 meters 0.02124224630820078 Centerline is valid? [True, True] Translation: X:44.44, Y:-4.40, Z:-3.02 [[ 9.90929055e-01 1.18956335e-01 6.25219907e-02 4.44436170e+01] [-1.18750447e-01 9.92899372e-01 -7.01196209e-03 -4.39906090e+00] [-6.29121626e-02 -4.76157392e-04 9.98018954e-01 -3.01508174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.400714057 meters 0.021255899993329264 Centerline is valid? [True, True] Translation: X:44.50, Y:-4.41, Z:-3.02 [[ 9.90169976e-01 1.25203863e-01 6.23491109e-02 4.45007247e+01] [-1.25012486e-01 9.92130640e-01 -6.97649686e-03 -4.41072015e+00] [-6.27319476e-02 -8.86499640e-04 9.98030018e-01 -3.01959885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.460714057000004 meters 0.0216534095213149 Centerline is valid? [True, True] Translation: X:44.56, Y:-4.42, Z:-3.02 [[ 9.89864537e-01 1.27246188e-01 6.30603377e-02 4.45570693e+01] [-1.27054926e-01 9.91870627e-01 -7.05024516e-03 -4.42195637e+00] [-6.34448135e-02 -1.03333884e-03 9.97984813e-01 -3.02352973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.520714057000006 meters 0.021081370917692133 Centerline is valid? [True, True] Translation: X:44.61, Y:-4.44, Z:-3.03 [[ 9.89751926e-01 1.27250827e-01 6.47946954e-02 4.46132927e+01] [-1.27049293e-01 9.91869995e-01 -7.23816547e-03 -4.44318146e+00] [-6.51889768e-02 -1.06813201e-03 9.97872365e-01 -3.02803621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.580714057 meters 0.020887839597074877 Centerline is valid? [True, True] Translation: X:44.67, Y:-4.47, Z:-3.03 [[ 9.90164698e-01 1.23104783e-01 6.64761896e-02 4.46699136e+01] [-1.22883812e-01 9.92393337e-01 -7.41850807e-03 -4.46673860e+00] [-6.68837814e-02 -8.23302756e-04 9.97760433e-01 -3.03212415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.640714057000004 meters 0.020701098006109166 Centerline is valid? [True, True] Translation: X:44.73, Y:-4.48, Z:-3.04 [[ 9.90456577e-01 1.20639627e-01 6.66472087e-02 4.47271690e+01] [-1.20412269e-01 9.92696147e-01 -7.43270622e-03 -4.48007104e+00] [-6.70571062e-02 -6.63368850e-04 9.97748919e-01 -3.03580136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.700714057000006 meters 0.020971856817890874 Centerline is valid? [True, True] Translation: X:44.78, Y:-4.51, Z:-3.04 [[ 9.91517700e-01 1.11684435e-01 6.64773509e-02 4.47833634e+01] [-1.11438438e-01 9.93743721e-01 -7.40887159e-03 -4.50794022e+00] [-6.68889057e-02 -6.21048306e-05 9.97760427e-01 -3.04036883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.760714057 meters 0.021316554988760256 Centerline is valid? [True, True] Translation: X:44.84, Y:-4.53, Z:-3.04 [[ 9.92228239e-01 1.05639638e-01 6.57524789e-02 4.48401242e+01] [-1.05386035e-01 9.94404421e-01 -7.32328295e-03 -4.52860186e+00] [-6.61581847e-02 3.36975133e-04 9.97809090e-01 -3.04498819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.820714057 meters 0.022122278753352972 Centerline is valid? [True, True] Translation: X:44.90, Y:-4.55, Z:-3.05 [[ 9.92940574e-01 9.88283634e-02 6.55894152e-02 4.48961737e+01] [-9.85614798e-02 9.95104185e-01 -7.30035064e-03 -4.55487995e+00] [-6.59897832e-02 7.84224538e-04 9.97819991e-01 -3.04889982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.880714057000006 meters 0.02306379108210743 Centerline is valid? [True, True] Translation: X:44.95, Y:-4.58, Z:-3.05 [[ 9.93265781e-01 9.56099746e-02 6.54356297e-02 4.49536380e+01] [-9.53376760e-02 9.95418380e-01 -7.27852403e-03 -4.57786820e+00] [-6.58317280e-02 9.91027991e-04 9.97830247e-01 -3.05286587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.940714057 meters 0.02478030211160037 Centerline is valid? [True, True] Translation: X:45.01, Y:-4.59, Z:-3.06 [[ 9.93296249e-01 9.57256918e-02 6.48008712e-02 4.50123350e+01] [-9.54590529e-02 9.95407278e-01 -7.20562993e-03 -4.59363742e+00] [-6.51930226e-02 9.71495392e-04 9.97872199e-01 -3.05622535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.000714057 meters 0.023931188785950516 Centerline is valid? [True, True] Translation: X:45.07, Y:-4.61, Z:-3.06 [[ 9.93321139e-01 9.47832726e-02 6.57970072e-02 4.50719442e+01] [-9.45062931e-02 9.95497378e-01 -7.31645231e-03 -4.61267510e+00] [-6.61942255e-02 1.04935549e-03 9.97806205e-01 -3.05997429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.060714057000006 meters 0.02424956022872599 Centerline is valid? [True, True] Translation: X:45.13, Y:-4.63, Z:-3.07 [[ 9.93383564e-01 9.52842244e-02 6.41093691e-02 4.51318606e+01] [-9.50221849e-02 9.95449613e-01 -7.13105697e-03 -4.63134179e+00] [-6.44971239e-02 9.92062462e-04 9.97917400e-01 -3.06502002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.120714057 meters 0.024552996271755594 Centerline is valid? [True, True] Translation: X:45.19, Y:-4.65, Z:-3.07 [[ 9.93240100e-01 9.68128412e-02 6.40419949e-02 4.51926188e+01] [-9.65534618e-02 9.95302190e-01 -7.14004529e-03 -4.64887934e+00] [-6.44323859e-02 9.08302983e-04 9.97921662e-01 -3.06843870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.180714057 meters 0.024404481497400717 Centerline is valid? [True, True] Translation: X:45.25, Y:-4.66, Z:-3.07 [[ 9.93255374e-01 9.78977770e-02 6.21271932e-02 4.52536915e+01] [-9.76548468e-02 9.95196131e-01 -6.94200956e-03 -4.66433283e+00] [-6.25083497e-02 8.28166761e-04 9.98044097e-01 -3.07324048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.240714057000005 meters 0.026608907324369484 Centerline is valid? [True, True] Translation: X:45.31, Y:-4.68, Z:-3.08 [[ 9.93332839e-01 9.86004806e-02 5.97312020e-02 4.53143456e+01] [-9.83763275e-02 9.95126803e-01 -6.68903957e-03 -4.67878365e+00] [-6.00996626e-02 7.68306379e-04 9.98192086e-01 -3.07646956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.300714057 meters 0.02628729604198422 Centerline is valid? [True, True] Translation: X:45.37, Y:-4.70, Z:-3.08 [[ 9.93636619e-01 9.57602681e-02 5.92979008e-02 4.53738431e+01] [-9.55333976e-02 9.95403974e-01 -6.65570305e-03 -4.69833269e+00] [-5.96627180e-02 9.48420343e-04 9.98218143e-01 -3.08039613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.360714057 meters 0.02551882300013295 Centerline is valid? [True, True] Translation: X:45.43, Y:-4.71, Z:-3.08 [[ 9.93966795e-01 9.15642862e-02 6.03820550e-02 4.54341190e+01] [-9.13204230e-02 9.95798399e-01 -6.79177701e-03 -4.71399691e+00] [-6.07502379e-02 1.23668602e-03 9.98152232e-01 -3.08301304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.420714057000005 meters 0.026750790156725733 Centerline is valid? [True, True] Translation: X:45.50, Y:-4.73, Z:-3.09 [[ 9.94374420e-01 8.77026824e-02 5.93948860e-02 4.54951250e+01] [-8.74589698e-02 9.96145621e-01 -6.69553781e-03 -4.72987116e+00] [-5.97531722e-02 1.46325598e-03 9.98212110e-01 -3.08590759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.480714057 meters 0.027860370870370615 Centerline is valid? [True, True] Translation: X:45.55, Y:-4.75, Z:-3.09 [[ 9.95233514e-01 7.81431486e-02 5.83429582e-02 4.55533766e+01] [-7.78913201e-02 9.96940131e-01 -6.58157529e-03 -4.75036279e+00] [-5.86787414e-02 2.00579427e-03 9.98274903e-01 -3.09030262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.540714057 meters 0.032132986073270364 Centerline is valid? [True, True] Translation: X:45.61, Y:-4.77, Z:-3.09 [[ 9.96024444e-01 6.87449137e-02 5.66519614e-02 4.56126503e+01] [-6.84923131e-02 9.97631175e-01 -6.39079394e-03 -4.77061668e+00] [-5.69570974e-02 2.48516310e-03 9.98373534e-01 -3.09263518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.600714057000005 meters 0.032797422932651206 Centerline is valid? [True, True] Translation: X:45.67, Y:-4.78, Z:-3.09 [[ 9.96768118e-01 5.77804773e-02 5.58098219e-02 4.56720683e+01] [-5.75180991e-02 9.98324601e-01 -6.29754036e-03 -4.78216150e+00] [-5.60801931e-02 3.06711258e-03 9.98421557e-01 -3.09392741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.660714057 meters 0.0339395165651765 Centerline is valid? [True, True] Translation: X:45.73, Y:-4.79, Z:-3.10 [[ 9.97073875e-01 5.22327033e-02 5.58160511e-02 4.57319915e+01] [-5.19615794e-02 9.98629221e-01 -6.29873367e-03 -4.79251819e+00] [-5.60685395e-02 3.38001262e-03 9.98421201e-01 -3.09718531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.720714057 meters 0.036443220147864476 Centerline is valid? [True, True] Translation: X:45.79, Y:-4.80, Z:-3.10 [[ 9.97315779e-01 4.69892720e-02 5.61537616e-02 4.57914082e+01] [-4.67065712e-02 9.98888552e-01 -6.33698220e-03 -4.80156597e+00] [-5.63891198e-02 3.69722267e-03 9.98402022e-01 -3.10056441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.780714057000004 meters 0.03637431654294409 Centerline is valid? [True, True] Translation: X:45.85, Y:-4.80, Z:-3.10 [[ 9.97401263e-01 4.31308677e-02 5.77100494e-02 4.58519270e+01] [-4.28257965e-02 9.99061324e-01 -6.51322175e-03 -4.80470735e+00] [-5.79367992e-02 4.02481677e-03 9.98312140e-01 -3.10420166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.840714057 meters 0.036450565907920264 Centerline is valid? [True, True] Translation: X:45.91, Y:-4.81, Z:-3.11 [[ 9.97441141e-01 4.03874738e-02 5.89917154e-02 4.59135706e+01] [-4.00638906e-02 9.99174936e-01 -6.65820240e-03 -4.80521937e+00] [-5.92119514e-02 4.27772737e-03 9.98236268e-01 -3.10795725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.900714057 meters 0.039460568015941035 Centerline is valid? [True, True] Translation: X:45.98, Y:-4.81, Z:-3.11 [[ 9.97448027e-01 4.02372891e-02 5.89779160e-02 4.59758286e+01] [-3.99135341e-02 9.99180957e-01 -6.65769748e-03 -4.80947359e+00] [-5.91974983e-02 4.28669015e-03 9.98237086e-01 -3.11145332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.960714057000004 meters 0.04080687957461968 Centerline is valid? [True, True] Translation: X:46.04, Y:-4.81, Z:-3.12 [[ 9.97592290e-01 3.63720466e-02 5.90482565e-02 4.60356409e+01] [-3.60397755e-02 9.99328012e-01 -6.68271669e-03 -4.81048687e+00] [-5.92516409e-02 4.53854074e-03 9.98232761e-01 -3.11871060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.020714057000006 meters 0.04369638491831908 Centerline is valid? [True, True] Translation: X:46.10, Y:-4.81, Z:-3.12 [[ 9.97763906e-01 3.32042030e-02 5.80057595e-02 4.60962219e+01] [-3.28783205e-02 9.99437809e-01 -6.56373352e-03 -4.81092353e+00] [-5.81910927e-02 4.64192444e-03 9.98294671e-01 -3.12479237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.080714057 meters 0.040083404897922836 Centerline is valid? [True, True] Translation: X:46.16, Y:-4.81, Z:-3.13 [[ 9.97856352e-01 3.08698094e-02 5.77040353e-02 4.61582007e+01] [-3.05434378e-02 9.99512112e-01 -6.52961217e-03 -4.80550165e+00] [-5.78774501e-02 4.75313537e-03 9.98312380e-01 -3.12901809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.140714057000004 meters 0.04850585741206234 Centerline is valid? [True, True] Translation: X:46.22, Y:-4.81, Z:-3.13 [[ 9.98013835e-01 2.81604654e-02 5.63504510e-02 4.62174841e+01] [-2.78447993e-02 9.99591902e-01 -6.37933231e-03 -4.81121070e+00] [-5.65070995e-02 4.79759490e-03 9.98390670e-01 -3.13470136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.200714057000006 meters 0.04625150957246517 Centerline is valid? [True, True] Translation: X:46.28, Y:-4.80, Z:-3.14 [[ 9.98116035e-01 2.55921927e-02 5.57621786e-02 4.62795267e+01] [-2.52791281e-02 9.99660501e-01 -6.31254157e-03 -4.80394721e+00] [-5.59047992e-02 4.89102970e-03 9.98424124e-01 -3.13807796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.260714057 meters 0.07000981878763432 Centerline is valid? [True, True] Translation: X:46.34, Y:-4.83, Z:-3.14 [[ 9.97924717e-01 3.02405409e-02 5.68486457e-02 4.63365262e+01] [-2.99225513e-02 9.99531495e-01 -6.43673186e-03 -4.83055366e+00] [-5.70166621e-02 4.72231731e-03 9.98362059e-01 -3.14381630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.320714057 meters 0.04442324305115138 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.79, Z:-3.14 [[ 9.97884438e-01 3.21908784e-02 5.64835853e-02 4.64033475e+01] [-3.18800884e-02 9.99471242e-01 -6.39500969e-03 -4.78790276e+00] [-5.66595801e-02 4.58077895e-03 9.98383047e-01 -3.14448478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.380714057000006 meters 0.03798750382681433 Centerline is valid? [True, True] Translation: X:46.47, Y:-4.78, Z:-3.15 [[ 9.97596441e-01 3.79120114e-02 5.80001725e-02 4.64660648e+01] [-3.75937460e-02 9.99271514e-01 -6.56904528e-03 -4.77728052e+00] [-5.82069659e-02 4.37281243e-03 9.98294960e-01 -3.14678631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.440714057 meters 0.034555728652474194 Centerline is valid? [True, True] Translation: X:46.53, Y:-4.77, Z:-3.15 [[ 9.97060580e-01 4.85719014e-02 5.92534328e-02 4.65288232e+01] [-4.82583608e-02 9.98812335e-01 -6.71193350e-03 -4.76601050e+00] [-5.95090709e-02 3.83273078e-03 9.98220407e-01 -3.14896289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.500714057 meters 0.03228419720502535 Centerline is valid? [True, True] Translation: X:46.59, Y:-4.75, Z:-3.15 [[ 9.96369618e-01 6.20730993e-02 5.82624624e-02 4.65915897e+01] [-6.17928885e-02 9.98067168e-01 -6.60057475e-03 -4.75452655e+00] [-5.85595690e-02 2.97640630e-03 9.98279479e-01 -3.15336328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.560714057000006 meters 0.029885183308090688 Centerline is valid? [True, True] Translation: X:46.65, Y:-4.76, Z:-3.16 [[ 9.96206770e-01 6.45498707e-02 5.83556840e-02 4.66529035e+01] [-6.42729399e-02 9.97910452e-01 -6.61208603e-03 -4.75576017e+00] [-5.86605562e-02 2.83631350e-03 9.98273958e-01 -3.15822209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.620714057 meters 0.027776990362228204 Centerline is valid? [True, True] Translation: X:46.71, Y:-4.75, Z:-3.16 [[ 9.95461450e-01 7.57184348e-02 5.76473743e-02 4.67133550e+01] [-7.54667180e-02 9.97126912e-01 -6.53421764e-03 -4.74966887e+00] [-5.79765091e-02 2.15410362e-03 9.98315624e-01 -3.16273769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.680714057 meters 0.025239563755518047 Centerline is valid? [True, True] Translation: X:46.77, Y:-4.75, Z:-3.17 [[ 9.94852976e-01 8.27742081e-02 5.84464417e-02 4.67745901e+01] [-8.25276065e-02 9.96566760e-01 -6.62468813e-03 -4.74651947e+00] [-5.87941344e-02 1.76714576e-03 9.98268565e-01 -3.16538386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.740714057000005 meters 0.023467605064398458 Centerline is valid? [True, True] Translation: X:46.83, Y:-4.74, Z:-3.17 [[ 9.94052355e-01 9.13809945e-02 5.92404422e-02 4.68347191e+01] [-9.11428966e-02 9.95815187e-01 -6.71452002e-03 -4.74273046e+00] [-5.96061115e-02 1.27523894e-03 9.98221160e-01 -3.16785442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.800714057 meters 0.02210716327896028 Centerline is valid? [True, True] Translation: X:46.89, Y:-4.74, Z:-3.17 [[ 9.93342501e-01 9.83879591e-02 5.99206638e-02 4.68945739e+01] [-9.81572089e-02 9.95147761e-01 -6.78947573e-03 -4.74399890e+00] [-6.02979171e-02 8.62629689e-04 9.98180052e-01 -3.17221780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.860714057 meters 0.021632894170014398 Centerline is valid? [True, True] Translation: X:46.95, Y:-4.75, Z:-3.18 [[ 9.92723943e-01 1.04643310e-01 5.95730628e-02 4.69527283e+01] [-1.04426598e-01 9.94509703e-01 -6.74807504e-03 -4.74818191e+00] [-5.99521299e-02 4.77963404e-04 9.98201139e-01 -3.17679603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.920714057000005 meters 0.02163224381947457 Centerline is valid? [True, True] Translation: X:47.01, Y:-4.75, Z:-3.18 [[ 9.92139469e-01 1.10369135e-01 5.89739632e-02 4.70096269e+01] [-1.10167110e-01 9.93890657e-01 -6.67607426e-03 -4.75477937e+00] [-5.93505035e-02 1.26605706e-04 9.98237197e-01 -3.18177026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.980714057 meters 0.02124726423206998 Centerline is valid? [True, True] Translation: X:47.07, Y:-4.76, Z:-3.19 [[ 9.91834630e-01 1.12965313e-01 5.91853456e-02 4.70669357e+01] [-1.12766762e-01 9.93598932e-01 -6.69481065e-03 -4.76388392e+00] [-5.95627775e-02 -3.39947096e-05 9.98224561e-01 -3.18583327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.040714057 meters 0.02137179904045257 Centerline is valid? [True, True] Translation: X:47.12, Y:-4.78, Z:-3.19 [[ 9.91563681e-01 1.15111864e-01 5.95879595e-02 4.71238747e+01] [-1.14914860e-01 9.93352520e-01 -6.73388068e-03 -4.77680943e+00] [-5.99669994e-02 -1.70470511e-04 9.98200346e-01 -3.18976822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.100714057000005 meters 0.021639936455768526 Centerline is valid? [True, True] Translation: X:47.18, Y:-4.79, Z:-3.19 [[ 9.91335785e-01 1.16573924e-01 6.05300126e-02 4.71801339e+01] [-1.16373781e-01 9.93181981e-01 -6.83342801e-03 -4.79107987e+00] [-6.09139174e-02 -2.69884691e-04 9.98142987e-01 -3.19425107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.160714057 meters 0.02195972472671746 Centerline is valid? [True, True] Translation: X:47.24, Y:-4.81, Z:-3.20 [[ 9.91290013e-01 1.16262704e-01 6.18635120e-02 4.72370236e+01] [-1.16053477e-01 9.93218463e-01 -6.97683811e-03 -4.80902260e+00] [-6.22551283e-02 -2.63405704e-04 9.98060233e-01 -3.19896425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.220714057 meters 0.022336527325410766 Centerline is valid? [True, True] Translation: X:47.29, Y:-4.82, Z:-3.20 [[ 9.91434497e-01 1.14865889e-01 6.21567837e-02 4.72943583e+01] [-1.14652215e-01 9.93380992e-01 -7.00534831e-03 -4.82365435e+00] [-6.25500430e-02 -1.81068945e-04 9.98041812e-01 -3.20266692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.280714057000004 meters 0.022452785942949017 Centerline is valid? [True, True] Translation: X:47.35, Y:-4.84, Z:-3.21 [[ 9.91769618e-01 1.11499803e-01 6.29350417e-02 4.73511508e+01] [-1.11274258e-01 9.93764456e-01 -7.08845909e-03 -4.84450609e+00] [-6.33329693e-02 2.70682620e-05 9.97992452e-01 -3.20631851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34071405700001 meters 0.023034818640325725 Centerline is valid? [True, True] Translation: X:47.41, Y:-4.87, Z:-3.21 [[ 9.92170722e-01 1.08165163e-01 6.24304094e-02 4.74063225e+01] [-1.07936916e-01 9.94132910e-01 -7.02704454e-03 -4.86549365e+00] [-6.28242060e-02 2.33482023e-04 9.98024581e-01 -3.21127241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.400714057 meters 0.023382126711439587 Centerline is valid? [True, True] Translation: X:47.46, Y:-4.88, Z:-3.22 [[ 9.92398886e-01 1.05748335e-01 6.29423600e-02 4.74630479e+01] [-1.05511838e-01 9.94392851e-01 -7.07883163e-03 -4.88347344e+00] [-6.33380074e-02 3.83860551e-04 9.97992059e-01 -3.21530583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.460714057000004 meters 0.023626484193635607 Centerline is valid? [True, True] Translation: X:47.52, Y:-4.90, Z:-3.22 [[ 9.92662058e-01 1.04110323e-01 6.15067356e-02 4.75213369e+01] [-1.03881642e-01 9.94565642e-01 -6.91283030e-03 -4.89796257e+00] [-6.18921830e-02 4.72683661e-04 9.98082729e-01 -3.21987396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.520714057000006 meters 0.024580474209753875 Centerline is valid? [True, True] Translation: X:47.58, Y:-4.92, Z:-3.22 [[ 9.93305372e-01 9.81921935e-02 6.08500781e-02 4.75799296e+01] [-9.79574225e-02 9.95167124e-01 -6.83661812e-03 -4.91892101e+00] [-6.12272997e-02 8.30132688e-04 9.98123504e-01 -3.22439924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.580714057 meters 0.025867854319375768 Centerline is valid? [True, True] Translation: X:47.64, Y:-4.94, Z:-3.23 [[ 9.94071177e-01 8.91359315e-02 6.22678181e-02 4.76388989e+01] [-8.88722490e-02 9.96018456e-01 -6.99706199e-03 -4.94031322e+00] [-6.26435857e-02 1.42169661e-03 9.98034949e-01 -3.22595944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.640714057000004 meters 0.026501078850813337 Centerline is valid? [True, True] Translation: X:47.70, Y:-4.96, Z:-3.23 [[ 9.94684901e-01 8.12622672e-02 6.32328340e-02 4.76983644e+01] [-8.09743709e-02 9.96690848e-01 -7.10665359e-03 -4.95512475e+00] [-6.36010897e-02 1.94864207e-03 9.97973499e-01 -3.22903600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.700714057000006 meters 0.029742998758557494 Centerline is valid? [True, True] Translation: X:47.76, Y:-4.98, Z:-3.23 [[ 9.95661786e-01 6.89687749e-02 6.24573204e-02 4.77564416e+01] [-6.86636820e-02 9.97615161e-01 -7.02065402e-03 -4.97647406e+00] [-6.27925757e-02 2.70164732e-03 9.98022942e-01 -3.23267618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.760714057 meters 0.03317856443593884 Centerline is valid? [True, True] Translation: X:47.82, Y:-5.00, Z:-3.24 [[ 9.96439426e-01 5.78921925e-02 6.12940782e-02 4.78154187e+01] [-5.75774226e-02 9.98317263e-01 -6.89073536e-03 -4.99564254e+00] [-6.15898562e-02 3.33704534e-03 9.98095964e-01 -3.23685286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.820714057 meters 0.03865114177860513 Centerline is valid? [True, True] Translation: X:47.87, Y:-5.01, Z:-3.24 [[ 9.96831934e-01 5.15537200e-02 6.05665775e-02 4.78735837e+01] [-5.12347311e-02 9.98663427e-01 -6.80901306e-03 -5.01090109e+00] [-6.08366557e-02 3.68432935e-03 9.98140935e-01 -3.23927737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.880714057000006 meters 0.03772318891068002 Centerline is valid? [True, True] Translation: X:47.93, Y:-5.02, Z:-3.24 [[ 9.97042782e-01 4.66514496e-02 6.10682716e-02 4.79339005e+01] [-4.63176669e-02 9.98903132e-01 -6.87073065e-03 -5.01557041e+00] [-6.13218173e-02 4.02187254e-03 9.98109943e-01 -3.24431769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.940714057 meters 0.0397006638936482 Centerline is valid? [True, True] Translation: X:47.99, Y:-5.02, Z:-3.25 [[ 9.97213464e-01 4.40171372e-02 6.02312165e-02 4.79939164e+01] [-4.36876691e-02 9.99022254e-01 -6.77668131e-03 -5.02228436e+00] [-6.04706158e-02 4.12643639e-03 9.98161448e-01 -3.24993793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.000714057 meters 0.041467376488187845 Centerline is valid? [True, True] Translation: X:48.05, Y:-5.03, Z:-3.25 [[ 9.97337042e-01 4.19145229e-02 5.96824692e-02 4.80546191e+01] [-4.15872327e-02 9.99112305e-01 -6.71600686e-03 -5.02750808e+00] [-5.99109876e-02 4.21609368e-03 9.98194820e-01 -3.25414185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.060714057000006 meters 0.03964080401092674 Centerline is valid? [True, True] Translation: X:48.12, Y:-5.02, Z:-3.26 [[ 9.97515314e-01 3.78320602e-02 5.94300645e-02 4.81160305e+01] [-3.75002672e-02 9.99274232e-01 -6.68873684e-03 -5.02383867e+00] [-5.96399808e-02 4.44347413e-03 9.98210062e-01 -3.25795647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.120714057 meters 0.04873790478345089 Centerline is valid? [True, True] Translation: X:48.17, Y:-5.04, Z:-3.26 [[ 9.97648587e-01 3.36460694e-02 5.97096246e-02 4.81740830e+01] [-3.33036994e-02 9.99422685e-01 -6.72013038e-03 -5.03583403e+00] [-5.99012594e-02 4.71577719e-03 9.98193168e-01 -3.26188233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.180714057 meters 0.044261519040326894 Centerline is valid? [True, True] Translation: X:48.24, Y:-5.03, Z:-3.26 [[ 9.97746879e-01 3.12188236e-02 5.93847744e-02 4.82367614e+01] [-3.08756886e-02 9.99500862e-01 -6.68722188e-03 -5.02794224e+00] [-5.95639004e-02 4.83860895e-03 9.98212768e-01 -3.26412634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.240714057000005 meters 0.044059909238538975 Centerline is valid? [True, True] Translation: X:48.30, Y:-5.02, Z:-3.27 [[ 9.97812063e-01 2.69693424e-02 6.03634126e-02 4.82977147e+01] [-2.66069243e-02 9.99622846e-01 -6.79982768e-03 -5.02462553e+00] [-6.05240331e-02 5.17886534e-03 9.98153305e-01 -3.26919858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.300714057 meters 0.04335612271221683 Centerline is valid? [True, True] Translation: X:48.36, Y:-5.02, Z:-3.27 [[ 9.97787447e-01 2.70139824e-02 6.07491198e-02 4.83610497e+01] [-2.66470212e-02 9.99621485e-01 -6.84279753e-03 -5.01925863e+00] [-6.09109765e-02 5.20887439e-03 9.98129611e-01 -3.27271453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.360714057 meters 0.04381858006473897 Centerline is valid? [True, True] Translation: X:48.42, Y:-5.01, Z:-3.28 [[ 9.97779324e-01 2.90628525e-02 5.99313819e-02 4.84231444e+01] [-2.87083913e-02 9.99564922e-01 -6.76721513e-03 -5.01330997e+00] [-6.01019817e-02 5.03165377e-03 9.98179560e-01 -3.27684814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.420714057000005 meters 0.044686094638436195 Centerline is valid? [True, True] Translation: X:48.48, Y:-5.01, Z:-3.28 [[ 9.97781444e-01 3.10080959e-02 5.89125474e-02 4.84836435e+01] [-3.06689044e-02 9.99507455e-01 -6.65323867e-03 -5.01218583e+00] [-5.90898346e-02 4.83169480e-03 9.98240976e-01 -3.28159825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.480714057 meters 0.04087217769747443 Centerline is valid? [True, True] Translation: X:48.55, Y:-5.01, Z:-3.29 [[ 9.97752188e-01 3.40946582e-02 5.76899142e-02 4.85455532e+01] [-3.37744821e-02 9.99408237e-01 -6.51619791e-03 -5.00533663e+00] [-5.78779430e-02 4.55310375e-03 9.98313284e-01 -3.28575608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.540714057 meters 0.04292513680447503 Centerline is valid? [True, True] Translation: X:48.61, Y:-5.00, Z:-3.29 [[ 9.97659251e-01 3.82393049e-02 5.66901633e-02 4.86053565e+01] [-3.79367166e-02 9.99259619e-01 -6.40458560e-03 -5.00274955e+00] [-5.68930979e-02 4.23895541e-03 9.98371277e-01 -3.28992855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.600714057000005 meters 0.03777568321429298 Centerline is valid? [True, True] Translation: X:48.67, Y:-4.99, Z:-3.29 [[ 9.97479944e-01 4.30001149e-02 5.64336040e-02 4.86678887e+01] [-4.27079036e-02 9.99067266e-01 -6.37439161e-03 -4.98881998e+00] [-5.66550660e-02 3.94816686e-03 9.98386005e-01 -3.29140975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.660714057 meters 0.035088893305312355 Centerline is valid? [True, True] Translation: X:48.73, Y:-4.98, Z:-3.29 [[ 9.97412430e-01 4.48267251e-02 5.62050566e-02 4.87302634e+01] [-4.45397579e-02 9.98987440e-01 -6.34866690e-03 -4.98383874e+00] [-5.64327355e-02 3.82887967e-03 9.98399062e-01 -3.29428126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.720714057 meters 0.03652625264261328 Centerline is valid? [True, True] Translation: X:48.79, Y:-4.98, Z:-3.30 [[ 9.97405709e-01 4.50904609e-02 5.61132979e-02 4.87932877e+01] [-4.48048456e-02 9.98975651e-01 -6.33831419e-03 -4.98292196e+00] [-5.63416159e-02 3.80772311e-03 9.98404289e-01 -3.29804868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.780714057000004 meters 0.03814479562265803 Centerline is valid? [True, True] Translation: X:48.86, Y:-4.98, Z:-3.30 [[ 9.97590125e-01 4.22224897e-02 5.50563622e-02 4.88550162e+01] [-4.19421977e-02 9.99100571e-01 -6.23708673e-03 -4.98223384e+00] [-5.52701882e-02 3.91287131e-03 9.98463768e-01 -3.30113069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84071405700001 meters 0.04001757634879904 Centerline is valid? [True, True] Translation: X:48.92, Y:-4.99, Z:-3.31 [[ 9.97743374e-01 4.00442384e-02 5.38945070e-02 4.89157819e+01] [-3.97723937e-02 9.99190099e-01 -6.10756472e-03 -4.98639168e+00] [-5.40954306e-02 3.95026868e-03 9.98527956e-01 -3.30567677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.900714057 meters 0.04259827929578265 Centerline is valid? [True, True] Translation: X:48.98, Y:-4.99, Z:-3.31 [[ 9.97893078e-01 3.69373614e-02 5.33388822e-02 4.89766399e+01] [-3.66666309e-02 9.99309265e-01 -6.04568908e-03 -4.98781597e+00] [-5.35253510e-02 4.07719418e-03 9.98558167e-01 -3.30750559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.960714057000004 meters 0.03926370725323455 Centerline is valid? [True, True] Translation: X:49.04, Y:-4.98, Z:-3.31 [[ 9.97906146e-01 3.72787756e-02 5.28546820e-02 4.90408266e+01] [-3.70135815e-02 9.99296823e-01 -5.98776747e-03 -4.97999091e+00] [-5.30407325e-02 4.01888888e-03 9.98584262e-01 -3.30919533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.020714057000006 meters 0.0388674997681434 Centerline is valid? [True, True] Translation: X:49.10, Y:-4.98, Z:-3.31 [[ 9.97875534e-01 3.93334353e-02 5.19355412e-02 4.91033096e+01] [-3.90792318e-02 9.99218688e-01 -5.90143711e-03 -4.97781279e+00] [-5.21270871e-02 3.85929865e-03 9.98633002e-01 -3.31394239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.080714057 meters 0.03760876132466355 Centerline is valid? [True, True] Translation: X:49.16, Y:-4.97, Z:-3.32 [[ 9.97731569e-01 4.18832505e-02 5.27020811e-02 4.91645367e+01] [-4.16248249e-02 9.99115343e-01 -5.99210294e-03 -4.97458754e+00] [-5.29064265e-02 3.78479537e-03 9.98592302e-01 -3.31730694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.140714057000004 meters 0.03786573362036103 Centerline is valid? [True, True] Translation: X:49.23, Y:-4.98, Z:-3.32 [[ 9.97663038e-01 4.35328390e-02 5.26626405e-02 4.92263874e+01] [-4.32771188e-02 9.99045168e-01 -5.98698897e-03 -4.97638157e+00] [-5.28729872e-02 3.69391026e-03 9.98594413e-01 -3.32132322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.200714057000006 meters 0.03903291139234228 Centerline is valid? [True, True] Translation: X:49.29, Y:-4.98, Z:-3.33 [[ 9.97640793e-01 4.49760394e-02 5.18652506e-02 4.92874808e+01] [-4.47299232e-02 9.98981712e-01 -5.89691110e-03 -4.97688180e+00] [-5.20776565e-02 3.56307038e-03 9.98636682e-01 -3.32581462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.260714057 meters 0.04048132039031038 Centerline is valid? [True, True] Translation: X:49.35, Y:-4.98, Z:-3.33 [[ 9.97675021e-01 4.51271764e-02 5.10694674e-02 4.93487880e+01] [-4.48881651e-02 9.98975076e-01 -5.81802529e-03 -4.97878222e+00] [-5.12796762e-02 3.51208382e-03 9.98678156e-01 -3.33090424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.320714057 meters 0.04235009232904605 Centerline is valid? [True, True] Translation: X:49.41, Y:-4.98, Z:-3.34 [[ 9.97783818e-01 4.37459649e-02 5.01372445e-02 4.94093411e+01] [-4.35131906e-02 9.99036447e-01 -5.72540236e-03 -4.98355012e+00] [-5.03393979e-02 3.53108235e-03 9.98725927e-01 -3.33801661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.380714057000006 meters 0.04321879774166358 Centerline is valid? [True, True] Translation: X:49.47, Y:-4.99, Z:-3.34 [[ 9.97811022e-01 4.29084359e-02 5.03192789e-02 4.94715621e+01] [-4.26728996e-02 9.99072572e-01 -5.74634362e-03 -4.98847821e+00] [-5.05191780e-02 3.58649546e-03 9.98716651e-01 -3.34250162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.440714057 meters 0.038023191800807654 Centerline is valid? [True, True] Translation: X:49.53, Y:-4.98, Z:-3.34 [[ 9.97888522e-01 4.06004159e-02 5.06961868e-02 4.95341328e+01] [-4.03576270e-02 9.99168442e-01 -5.80401614e-03 -4.98272020e+00] [-5.08896755e-02 3.74578329e-03 9.98697256e-01 -3.34409814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.500714057 meters 0.040799641206863524 Centerline is valid? [True, True] Translation: X:49.59, Y:-4.99, Z:-3.35 [[ 9.97971747e-01 3.83332388e-02 5.08227795e-02 4.95938815e+01] [-3.80862042e-02 9.99257505e-01 -5.82063504e-03 -4.98947439e+00] [-5.10081676e-02 3.87318256e-03 9.98690726e-01 -3.34915344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.560714057000006 meters 0.04176156579069047 Centerline is valid? [True, True] Translation: X:49.66, Y:-4.99, Z:-3.35 [[ 9.97964363e-01 3.69672438e-02 5.19668412e-02 4.96555057e+01] [-3.67071963e-02 9.99308351e-01 -5.94997847e-03 -4.99345958e+00] [-5.21508527e-02 4.03030944e-03 9.98631086e-01 -3.35290732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.620714057 meters 0.04125196707976547 Centerline is valid? [True, True] Translation: X:49.72, Y:-4.99, Z:-3.36 [[ 9.97892839e-01 3.81228852e-02 5.25026487e-02 4.97183139e+01] [-3.78583864e-02 9.99264960e-01 -6.02351880e-03 -4.99391902e+00] [-5.26936910e-02 4.02316072e-03 9.98602618e-01 -3.35579971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.680714057 meters 0.038775303212011655 Centerline is valid? [True, True] Translation: X:49.78, Y:-4.99, Z:-3.36 [[ 9.97778378e-01 3.97665055e-02 5.34502834e-02 4.97802246e+01] [-3.94938346e-02 9.99200898e-01 -6.14839942e-03 -4.99346123e+00] [-5.36520715e-02 4.02378335e-03 9.98551583e-01 -3.35864091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.740714057000005 meters 0.03782413731751578 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.99, Z:-3.36 [[ 9.97684849e-01 4.20071776e-02 5.34821351e-02 4.98422548e+01] [-4.17372840e-02 9.99109668e-01 -6.15385745e-03 -4.99449014e+00] [-5.36930245e-02 3.90741128e-03 9.98549844e-01 -3.36306997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.800714057 meters 0.03829485222697294 Centerline is valid? [True, True] Translation: X:49.90, Y:-5.00, Z:-3.37 [[ 9.97640769e-01 4.39633347e-02 5.27268503e-02 4.99039823e+01] [-4.37035833e-02 9.99026103e-01 -6.06981925e-03 -4.99752383e+00] [-5.29423492e-02 3.75114685e-03 9.98590525e-01 -3.36868323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.860714057 meters 0.03644557360421859 Centerline is valid? [True, True] Translation: X:49.97, Y:-5.00, Z:-3.37 [[ 9.97470501e-01 4.69244672e-02 5.33918976e-02 4.99652585e+01] [-4.66621509e-02 9.98891798e-01 -6.14974138e-03 -4.99695333e+00] [-5.36213020e-02 3.64280483e-03 9.98554699e-01 -3.37258061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.920714057000005 meters 0.03805896468958003 Centerline is valid? [True, True] Translation: X:50.03, Y:-5.00, Z:-3.38 [[ 9.97355589e-01 4.95922353e-02 5.31266326e-02 5.00251078e+01] [-4.93362245e-02 9.98763475e-01 -6.12035722e-03 -5.00222970e+00] [-5.33644624e-02 3.48310501e-03 9.98569027e-01 -3.37766205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.980714057 meters 0.03522651968794496 Centerline is valid? [True, True] Translation: X:50.08, Y:-5.00, Z:-3.38 [[ 9.97329912e-01 5.01165242e-02 5.31166686e-02 5.00848490e+01] [-4.98613276e-02 9.98737402e-01 -6.11961710e-03 -5.00084932e+00] [-5.33562975e-02 3.45480957e-03 9.98569562e-01 -3.38114300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.040714057 meters 0.036088964634247066 Centerline is valid? [True, True] Translation: X:50.14, Y:-5.01, Z:-3.39 [[ 9.97370280e-01 4.90739861e-02 5.33316817e-02 5.01440263e+01] [-4.88153391e-02 9.98788933e-01 -6.14242417e-03 -5.00700892e+00] [-5.35685267e-02 3.52286719e-03 9.98557961e-01 -3.38528663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.100714057000005 meters 0.035927256308687705 Centerline is valid? [True, True] Translation: X:50.20, Y:-5.01, Z:-3.39 [[ 9.97509151e-01 4.66831443e-02 5.28788889e-02 5.02037085e+01] [-4.64256454e-02 9.98903195e-01 -6.08817294e-03 -5.01033649e+00] [-5.31051062e-02 3.61807168e-03 9.98582374e-01 -3.38924152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.160714057 meters 0.04064815816672331 Centerline is valid? [True, True] Translation: X:50.26, Y:-5.02, Z:-3.40 [[ 9.97641851e-01 4.38206667e-02 5.28250601e-02 5.02623635e+01] [-4.35597641e-02 9.99032317e-01 -6.08079814e-03 -5.02228708e+00] [-5.30404068e-02 3.76541155e-03 9.98585268e-01 -3.39506065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.220714057 meters 0.03529786766745864 Centerline is valid? [True, True] Translation: X:50.32, Y:-5.02, Z:-3.40 [[ 9.97680168e-01 4.23331145e-02 5.33121871e-02 5.03245881e+01] [-4.20652825e-02 9.99096019e-01 -6.13645931e-03 -5.02028078e+00] [-5.35237693e-02 3.87963154e-03 9.98559039e-01 -3.39763390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.280714057000004 meters 0.03658667743749804 Centerline is valid? [True, True] Translation: X:50.39, Y:-5.03, Z:-3.40 [[ 9.97678524e-01 4.28324019e-02 5.29428796e-02 5.03853977e+01] [-4.25688653e-02 9.99074938e-01 -6.09593849e-03 -5.02583010e+00] [-5.31550078e-02 3.82806860e-03 9.98578936e-01 -3.40137578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34071405700001 meters 0.0381618498048752 Centerline is valid? [True, True] Translation: X:50.45, Y:-5.03, Z:-3.41 [[ 9.97606147e-01 4.40546263e-02 5.33025839e-02 5.04455544e+01] [-4.37891195e-02 9.99021932e-01 -6.13934901e-03 -5.03315442e+00] [-5.35209170e-02 3.79057910e-03 9.98559534e-01 -3.40606112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.400714057 meters 0.036880742590908455 Centerline is valid? [True, True] Translation: X:50.51, Y:-5.04, Z:-3.41 [[ 9.97546653e-01 4.48508103e-02 5.37501601e-02 5.05061956e+01] [-4.45818405e-02 9.98986538e-01 -6.19328224e-03 -5.03720233e+00] [-5.39734600e-02 3.78180690e-03 9.98535209e-01 -3.40954307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.460714057000004 meters 0.03477414496545254 Centerline is valid? [True, True] Translation: X:50.57, Y:-5.04, Z:-3.41 [[ 9.97229754e-01 4.86780548e-02 5.62429095e-02 5.05673303e+01] [-4.83895768e-02 9.98807515e-01 -6.48048187e-03 -5.03805243e+00] [-5.64912980e-02 3.74095875e-03 9.98396083e-01 -3.41140572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.520714057000006 meters 0.034334200315648794 Centerline is valid? [True, True] Translation: X:50.63, Y:-5.04, Z:-3.41 [[ 9.97015376e-01 5.19665338e-02 5.70948259e-02 5.06277015e+01] [-5.16745813e-02 9.98642306e-01 -6.57900199e-03 -5.04081455e+00] [-5.73591965e-02 3.60901491e-03 9.98347083e-01 -3.41474412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.580714057 meters 0.03365603266123421 Centerline is valid? [True, True] Translation: X:50.69, Y:-5.05, Z:-3.42 [[ 9.97085082e-01 5.29697644e-02 5.49139672e-02 5.06872647e+01] [-5.27012925e-02 9.98590280e-01 -6.32661079e-03 -5.04521763e+00] [-5.51716729e-02 3.41413220e-03 9.98471046e-01 -3.42095864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.640714057000004 meters 0.03471601219925498 Centerline is valid? [True, True] Translation: X:50.75, Y:-5.05, Z:-3.43 [[ 9.97287518e-01 5.23537438e-02 5.17367547e-02 5.07458987e+01] [-5.21147420e-02 9.98623326e-01 -5.95878247e-03 -5.05231632e+00] [-5.19774946e-02 3.24637175e-03 9.98642980e-01 -3.42805863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.700714057000006 meters 0.03484511755748284 Centerline is valid? [True, True] Translation: X:50.80, Y:-5.06, Z:-3.43 [[ 9.97371359e-01 5.15398996e-02 5.09314368e-02 5.08044692e+01] [-5.13073009e-02 9.98665693e-01 -5.86469092e-03 -5.05791971e+00] [-5.11657442e-02 3.23612020e-03 9.98684932e-01 -3.43301349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.760714057 meters 0.036053840705787606 Centerline is valid? [True, True] Translation: X:50.86, Y:-5.07, Z:-3.44 [[ 9.97318714e-01 4.98920316e-02 5.35366077e-02 5.08631765e+01] [-4.96328704e-02 9.98748531e-01 -6.16032380e-03 -5.06519103e+00] [-5.37769594e-02 3.48663069e-03 9.98546885e-01 -3.43549815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.820714057 meters 0.04086533744217194 Centerline is valid? [True, True] Translation: X:50.92, Y:-5.08, Z:-3.44 [[ 9.97370497e-01 4.67235053e-02 5.53985991e-02 5.09207726e+01] [-4.64412989e-02 9.98900702e-01 -6.37129666e-03 -5.07750360e+00] [-5.56353888e-02 3.78176042e-03 9.98443990e-01 -3.43868642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.880714057000006 meters 0.03771807215724645 Centerline is valid? [True, True] Translation: X:50.98, Y:-5.08, Z:-3.44 [[ 9.97607167e-01 4.22215811e-02 5.47474018e-02 5.09819624e+01] [-4.19393638e-02 9.99100332e-01 -6.29410344e-03 -5.07860975e+00] [-5.49638943e-02 3.98297150e-03 9.98480399e-01 -3.44164568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.940714057 meters 0.043914729977907796 Centerline is valid? [True, True] Translation: X:51.04, Y:-5.10, Z:-3.45 [[ 9.97731645e-01 4.22770730e-02 5.23852348e-02 5.10412501e+01] [-4.20188667e-02 9.99098675e-01 -6.02105885e-03 -5.09519151e+00] [-5.25925714e-02 3.80623276e-03 9.98608799e-01 -3.45058440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.000714057 meters 0.03784573867080309 Centerline is valid? [True, True] Translation: X:51.10, Y:-5.09, Z:-3.46 [[ 9.97708263e-01 4.43412765e-02 5.11084521e-02 5.11028288e+01] [-4.40977511e-02 9.99009898e-01 -5.88324306e-03 -5.09333560e+00] [-5.13187200e-02 3.61599241e-03 9.98675780e-01 -3.45514844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.060714057000006 meters 0.04342723974763622 Centerline is valid? [True, True] Translation: X:51.16, Y:-5.11, Z:-3.46 [[ 9.97478300e-01 4.80404018e-02 5.22413760e-02 5.11614076e+01] [-4.77909193e-02 9.98839250e-01 -6.01504066e-03 -5.10527796e+00] [-5.24697018e-02 3.50320914e-03 9.98616372e-01 -3.45795758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.120714057 meters 0.03479838296679117 Centerline is valid? [True, True] Translation: X:51.22, Y:-5.10, Z:-3.46 [[ 9.97112287e-01 5.30147392e-02 5.43739345e-02 5.12237271e+01] [-5.27518555e-02 9.98588033e-01 -6.25963351e-03 -5.09826538e+00] [-5.46290131e-02 3.37323155e-03 9.98501023e-01 -3.45654352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.180714057 meters 0.03285365461122602 Centerline is valid? [True, True] Translation: X:51.28, Y:-5.10, Z:-3.46 [[ 9.96856276e-01 5.64168355e-02 5.56300745e-02 5.12834576e+01] [-5.61469208e-02 9.98401977e-01 -6.40426499e-03 -5.10129022e+00] [-5.59024847e-02 3.26067436e-03 9.98430909e-01 -3.45843429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.240714057000005 meters 0.03459186387583412 Centerline is valid? [True, True] Translation: X:51.34, Y:-5.11, Z:-3.46 [[ 9.96722218e-01 5.93616643e-02 5.49637354e-02 5.13412943e+01] [-5.91027614e-02 9.98231863e-01 -6.32543002e-03 -5.11032368e+00] [-5.52420401e-02 3.05618811e-03 9.98468315e-01 -3.46408149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.300714057 meters 0.0314040061660406 Centerline is valid? [True, True] Translation: X:51.40, Y:-5.11, Z:-3.47 [[ 9.96681707e-01 6.17512620e-02 5.30316624e-02 5.14003058e+01] [-6.15136565e-02 9.98087585e-01 -6.10261542e-03 -5.11221273e+00] [-5.33070880e-02 2.82019369e-03 9.98574184e-01 -3.46912027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.360714057 meters 0.03529668549138576 Centerline is valid? [True, True] Translation: X:51.46, Y:-5.12, Z:-3.48 [[ 9.96435886e-01 6.66994853e-02 5.16401309e-02 5.14581041e+01] [-6.64810373e-02 9.97770018e-01 -5.93831261e-03 -5.12484450e+00] [-5.19210567e-02 2.48405832e-03 9.98648103e-01 -3.47565163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.420714057000005 meters 0.03044190216507346 Centerline is valid? [True, True] Translation: X:51.52, Y:-5.12, Z:-3.48 [[ 9.96030824e-01 7.16570487e-02 5.28002427e-02 5.15190015e+01] [-7.14356897e-02 9.97426737e-01 -6.07018702e-03 -5.12338668e+00] [-5.30993454e-02 2.27427162e-03 9.98586645e-01 -3.47590405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.480714057 meters 0.027597504994467094 Centerline is valid? [True, True] Translation: X:51.58, Y:-5.13, Z:-3.48 [[ 9.95566294e-01 7.53186180e-02 5.63459029e-02 5.15793862e+01] [-7.50723482e-02 9.97157050e-01 -6.47769178e-03 -5.12801582e+00] [-5.66736051e-02 2.21895235e-03 9.98390294e-01 -3.47682213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.540714057 meters 0.02767875735455422 Centerline is valid? [True, True] Translation: X:51.64, Y:-5.14, Z:-3.48 [[ 9.95370363e-01 7.71802123e-02 5.72805031e-02 5.16361921e+01] [-7.69288012e-02 9.97014846e-01 -6.58459221e-03 -5.13630627e+00] [-5.76177121e-02 2.14758751e-03 9.98336410e-01 -3.47991546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.600714057000005 meters 0.02588964716403204 Centerline is valid? [True, True] Translation: X:51.69, Y:-5.14, Z:-3.48 [[ 9.95396722e-01 7.74174614e-02 5.64969304e-02 5.16943561e+01] [-7.71735511e-02 9.96996554e-01 -6.48960075e-03 -5.14116322e+00] [-5.68296533e-02 2.09965857e-03 9.98381681e-01 -3.48406960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66071405700001 meters 0.02611391827117127 Centerline is valid? [True, True] Translation: X:51.75, Y:-5.15, Z:-3.49 [[ 9.95439102e-01 7.73027012e-02 5.59042678e-02 5.17517420e+01] [-7.70639310e-02 9.97005499e-01 -6.41754128e-03 -5.15221786e+00] [-5.62329558e-02 2.08006888e-03 9.98415509e-01 -3.48923696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.720714057 meters 0.025809114092952473 Centerline is valid? [True, True] Translation: X:51.81, Y:-5.16, Z:-3.49 [[ 9.95503213e-01 7.59556620e-02 5.66046883e-02 5.18095193e+01] [-7.57089262e-02 9.97108815e-01 -6.49382326e-03 -5.16343198e+00] [-5.69342763e-02 2.17914175e-03 9.98375550e-01 -3.49350499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.780714057000004 meters 0.026745069762714284 Centerline is valid? [True, True] Translation: X:51.87, Y:-5.18, Z:-3.50 [[ 9.95493653e-01 7.50418026e-02 5.79751136e-02 5.18657594e+01] [-7.47816621e-02 9.97177779e-01 -6.64678380e-03 -5.17698835e+00] [-5.83102817e-02 2.28135573e-03 9.98295901e-01 -3.49677070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84071405700001 meters 0.025936099975937852 Centerline is valid? [True, True] Translation: X:51.92, Y:-5.19, Z:-3.50 [[ 9.95402740e-01 7.53418244e-02 5.91353937e-02 5.19237265e+01] [-7.50720112e-02 9.97155104e-01 -6.77427042e-03 -5.18614880e+00] [-5.94775456e-02 2.30371440e-03 9.98226985e-01 -3.49933179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.900714057 meters 0.02644374058224182 Centerline is valid? [True, True] Translation: X:51.98, Y:-5.20, Z:-3.50 [[ 9.95455931e-01 7.51660110e-02 5.84599009e-02 5.19814693e+01] [-7.49022819e-02 9.97168419e-01 -6.69264970e-03 -5.19707998e+00] [-5.87974267e-02 2.28345786e-03 9.98267323e-01 -3.50394835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.960714057000004 meters 0.026795566159475537 Centerline is valid? [True, True] Translation: X:52.04, Y:-5.21, Z:-3.51 [[ 9.95549927e-01 7.49411025e-02 5.71329552e-02 5.20388124e+01] [-7.46890885e-02 9.97185445e-01 -6.53668362e-03 -5.21073265e+00] [-5.74620177e-02 2.24038655e-03 9.98345179e-01 -3.51023662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.020714057000006 meters 0.0276756318758285 Centerline is valid? [True, True] Translation: X:52.10, Y:-5.22, Z:-3.52 [[ 9.95682137e-01 7.40241179e-02 5.60134933e-02 5.20951028e+01] [-7.37806631e-02 9.97253926e-01 -6.40477671e-03 -5.22487571e+00] [-5.63337841e-02 2.24440908e-03 9.98409469e-01 -3.51586621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.080714057 meters 0.02734574386256599 Centerline is valid? [True, True] Translation: X:52.15, Y:-5.24, Z:-3.52 [[ 9.95792059e-01 7.31781987e-02 5.51645415e-02 5.21532901e+01] [-7.29410589e-02 9.97316338e-01 -6.30270649e-03 -5.23541335e+00] [-5.54777192e-02 2.25242501e-03 9.98457385e-01 -3.51998936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.140714057000004 meters 0.028112680072518357 Centerline is valid? [True, True] Translation: X:52.21, Y:-5.25, Z:-3.52 [[ 9.95766706e-01 7.27408062e-02 5.61911252e-02 5.22111011e+01] [-7.24942862e-02 9.97348192e-01 -6.41586882e-03 -5.24687006e+00] [-5.65088126e-02 2.31517304e-03 9.98399416e-01 -3.52270632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.200714057000006 meters 0.02925179127039453 Centerline is valid? [True, True] Translation: X:52.27, Y:-5.26, Z:-3.52 [[ 9.95761356e-01 7.07244900e-02 5.87993977e-02 5.22686746e+01] [-7.04512743e-02 9.97492658e-01 -6.70930697e-03 -5.26169330e+00] [-5.91264799e-02 2.53837611e-03 9.98247272e-01 -3.52468397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.260714057 meters 0.02794934729286465 Centerline is valid? [True, True] Translation: X:52.33, Y:-5.27, Z:-3.53 [[ 9.95832012e-01 6.97868067e-02 5.87231294e-02 5.23265623e+01] [-6.95129108e-02 9.97558575e-01 -6.69660697e-03 -5.26759180e+00] [-5.90470961e-02 2.58667994e-03 9.98251847e-01 -3.52838089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.320714057 meters 0.030425046013227795 Centerline is valid? [True, True] Translation: X:52.38, Y:-5.28, Z:-3.53 [[ 9.96035382e-01 6.73024699e-02 5.81712550e-02 5.23832620e+01] [-6.70297945e-02 9.97728957e-01 -6.62829334e-03 -5.28296288e+00] [-5.84852461e-02 2.70280743e-03 9.98284614e-01 -3.53417560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.380714057000006 meters 0.029488342840791278 Centerline is valid? [True, True] Translation: X:52.44, Y:-5.30, Z:-3.54 [[ 9.96427667e-01 6.27108626e-02 5.65619256e-02 5.24419938e+01] [-6.24459563e-02 9.98027566e-01 -6.44056814e-03 -5.29530102e+00] [-5.68542545e-02 2.88549675e-03 9.98378319e-01 -3.54051666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.440714057 meters 0.031111083850375088 Centerline is valid? [True, True] Translation: X:52.50, Y:-5.31, Z:-3.55 [[ 9.96755286e-01 5.92324840e-02 5.45014844e-02 5.25001704e+01] [-5.89814191e-02 9.98239796e-01 -6.20499528e-03 -5.30992350e+00] [-5.47730880e-02 2.97028695e-03 9.98494410e-01 -3.54624410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.500714057 meters 0.03245297591816513 Centerline is valid? [True, True] Translation: X:52.56, Y:-5.32, Z:-3.55 [[ 9.96892273e-01 5.69908772e-02 5.43859967e-02 5.25590885e+01] [-5.67376072e-02 9.98369930e-01 -6.19085765e-03 -5.32182786e+00] [-5.46501661e-02 3.08588683e-03 9.98500795e-01 -3.54942171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.560714057000006 meters 0.035292351375108236 Centerline is valid? [True, True] Translation: X:52.62, Y:-5.34, Z:-3.55 [[ 9.96890643e-01 5.45669294e-02 5.68462493e-02 5.26166635e+01] [-5.42863523e-02 9.98504451e-01 -6.46947297e-03 -5.33611319e+00] [-5.71142522e-02 3.36338156e-03 9.98361983e-01 -3.55222973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.620714057 meters 0.036273018723964726 Centerline is valid? [True, True] Translation: X:52.68, Y:-5.35, Z:-3.56 [[ 9.96889260e-01 5.31261415e-02 5.82186927e-02 5.26771800e+01] [-5.28292790e-02 9.98581566e-01 -6.62750602e-03 -5.34688870e+00] [-5.84882071e-02 3.53123802e-03 9.98281854e-01 -3.55552078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.680714057 meters 0.03376892729613234 Centerline is valid? [True, True] Translation: X:52.74, Y:-5.35, Z:-3.56 [[ 9.97079110e-01 5.00038281e-02 5.77309799e-02 5.27380745e+01] [-4.97066002e-02 9.98742227e-01 -6.57397443e-03 -5.35339965e+00] [-5.79870913e-02 3.68516184e-03 9.98310531e-01 -3.56007968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.740714057000005 meters 0.03426290641403502 Centerline is valid? [True, True] Translation: X:52.80, Y:-5.36, Z:-3.57 [[ 9.97237849e-01 4.84114182e-02 5.63294597e-02 5.27990980e+01] [-4.81259153e-02 9.98820678e-01 -6.41478275e-03 -5.36209724e+00] [-5.65735779e-02 3.68615734e-03 9.98391628e-01 -3.56601055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.800714057 meters 0.03610242115035921 Centerline is valid? [True, True] Translation: X:52.86, Y:-5.37, Z:-3.57 [[ 9.97291955e-01 4.82588574e-02 5.54963054e-02 5.28604122e+01] [-4.79807959e-02 9.98828183e-01 -6.33276472e-03 -5.37193348e+00] [-5.57368858e-02 3.65285841e-03 9.98438809e-01 -3.57061326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.860714057 meters 0.03717076877362861 Centerline is valid? [True, True] Translation: X:52.92, Y:-5.38, Z:-3.57 [[ 9.97320152e-01 4.72149661e-02 5.58861450e-02 5.29211919e+01] [-4.69305290e-02 9.98877705e-01 -6.39182808e-03 -5.38019763e+00] [-5.61252142e-02 3.75193260e-03 9.98416688e-01 -3.57453062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.920714057000005 meters 0.03679885161395457 Centerline is valid? [True, True] Translation: X:52.98, Y:-5.39, Z:-3.58 [[ 9.97329492e-01 4.66202776e-02 5.62177416e-02 5.29830481e+01] [-4.63307722e-02 9.98905376e-01 -6.44281234e-03 -5.38519426e+00] [-5.64565700e-02 3.82099537e-03 9.98397744e-01 -3.57848405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.980714057 meters 0.038133814031775924 Centerline is valid? [True, True] Translation: X:53.04, Y:-5.39, Z:-3.58 [[ 9.97415697e-01 4.41531362e-02 5.66782770e-02 5.30440127e+01] [-4.38539782e-02 9.99016729e-01 -6.51176134e-03 -5.39166459e+00] [-5.69100616e-02 4.00936506e-03 9.98371259e-01 -3.58222307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.040714057 meters 0.0380696798075822 Centerline is valid? [True, True] Translation: X:53.10, Y:-5.40, Z:-3.58 [[ 9.97477925e-01 4.19393256e-02 5.72615184e-02 5.31044974e+01] [-4.16302162e-02 9.99111413e-01 -6.58098480e-03 -5.39719835e+00] [-5.74866386e-02 4.18057767e-03 9.98337523e-01 -3.58499464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.100714057000005 meters 0.042542051729127894 Centerline is valid? [True, True] Translation: X:53.16, Y:-5.41, Z:-3.59 [[ 9.97686963e-01 3.73606693e-02 5.67882436e-02 5.31625211e+01] [-3.70492049e-02 9.99292120e-01 -6.52800063e-03 -5.40854215e+00] [-5.69919348e-02 4.40894185e-03 9.98364904e-01 -3.59018496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16071405700001 meters 0.04467122293392992 Centerline is valid? [True, True] Translation: X:53.22, Y:-5.42, Z:-3.60 [[ 9.97928854e-01 3.34439021e-02 5.49500408e-02 5.32217107e+01] [-3.31465217e-02 9.99430555e-01 -6.31459369e-03 -5.41653637e+00] [-5.51299345e-02 4.48011253e-03 9.98469138e-01 -3.59690946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.220714057 meters 0.04526320427376948 Centerline is valid? [True, True] Translation: X:53.28, Y:-5.42, Z:-3.60 [[ 9.98111495e-01 3.07568877e-02 5.31738348e-02 5.32823312e+01] [-3.04746472e-02 9.99516861e-01 -6.11075411e-03 -5.42148520e+00] [-5.33360922e-02 4.47876007e-03 9.98566574e-01 -3.60289311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.280714057000004 meters 0.0426329066759988 Centerline is valid? [True, True] Translation: X:53.35, Y:-5.42, Z:-3.61 [[ 9.98055971e-01 3.08450822e-02 5.41558758e-02 5.33460558e+01] [-3.05525793e-02 9.99513802e-01 -6.22095281e-03 -5.42300340e+00] [-5.43214311e-02 4.55425741e-03 9.98513115e-01 -3.60570831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34071405700001 meters 0.04231415807688643 Centerline is valid? [True, True] Translation: X:53.41, Y:-5.43, Z:-3.61 [[ 9.97933567e-01 3.24916331e-02 5.54336518e-02 5.34075050e+01] [-3.21866085e-02 9.99461471e-01 -6.38670467e-03 -5.42552287e+00] [-5.56113137e-02 4.58928572e-03 9.98441946e-01 -3.60789882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.400714057 meters 0.03915565913780531 Centerline is valid? [True, True] Translation: X:53.47, Y:-5.42, Z:-3.61 [[ 9.97818200e-01 3.52971470e-02 5.57938188e-02 5.34693457e+01] [-3.49923682e-02 9.99366891e-01 -6.43042946e-03 -5.42321558e+00] [-5.59854711e-02 4.46404170e-03 9.98421604e-01 -3.61159442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.460714057000004 meters 0.043297449531297987 Centerline is valid? [True, True] Translation: X:53.53, Y:-5.43, Z:-3.62 [[ 9.97855782e-01 3.74675848e-02 5.36658101e-02 5.35291099e+01] [-3.71887172e-02 9.99289114e-01 -6.18593408e-03 -5.43210742e+00] [-5.38594318e-02 4.17690745e-03 9.98539791e-01 -3.61807832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.520714057000006 meters 0.039165254165432276 Centerline is valid? [True, True] Translation: X:53.59, Y:-5.43, Z:-3.62 [[ 9.97876421e-01 3.86381795e-02 5.24379577e-02 5.35917363e+01] [-3.83735860e-02 9.99245186e-01 -6.04367947e-03 -5.42987099e+00] [-5.26318935e-02 4.01861277e-03 9.98605896e-01 -3.62174720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.580714057 meters 0.03680117056247411 Centerline is valid? [True, True] Translation: X:53.65, Y:-5.43, Z:-3.63 [[ 9.97842617e-01 4.06629397e-02 5.15425721e-02 5.36540900e+01] [-4.04091959e-02 9.99165463e-01 -5.95599165e-03 -5.42937733e+00] [-5.17417461e-02 3.86034840e-03 9.98653038e-01 -3.62520424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.640714057000004 meters 0.03870975409119509 Centerline is valid? [True, True] Translation: X:53.71, Y:-5.44, Z:-3.63 [[ 9.97750800e-01 4.16528539e-02 5.25202868e-02 5.37149010e+01] [-4.13906398e-02 9.99124596e-01 -6.07092747e-03 -5.43648498e+00] [-5.27271818e-02 3.88342447e-03 9.98601404e-01 -3.62846642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.700714057000006 meters 0.039092041343518666 Centerline is valid? [True, True] Translation: X:53.78, Y:-5.44, Z:-3.63 [[ 9.97700003e-01 4.14283247e-02 5.36507096e-02 5.37768591e+01] [-4.11539897e-02 9.99133526e-01 -6.20853826e-03 -5.44296152e+00] [-5.38614320e-02 3.98631789e-03 9.98540463e-01 -3.63102223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.760714057 meters 0.04221147904675221 Centerline is valid? [True, True] Translation: X:53.84, Y:-5.45, Z:-3.63 [[ 9.97824036e-01 3.62991285e-02 5.50415029e-02 5.38370630e+01] [-3.60016997e-02 9.99331325e-01 -6.38599823e-03 -5.45475017e+00] [-5.52365041e-02 4.39051487e-03 9.98463646e-01 -3.63445206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.820714057 meters 0.043513720524453854 Centerline is valid? [True, True] Translation: X:53.90, Y:-5.46, Z:-3.64 [[ 9.97952846e-01 3.33268710e-02 5.45842231e-02 5.38966914e+01] [-3.30298570e-02 9.99434290e-01 -6.33475856e-03 -5.46487462e+00] [-5.47644619e-02 4.51888124e-03 9.98489075e-01 -3.63925970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.880714057000006 meters 0.04651360296175593 Centerline is valid? [True, True] Translation: X:53.96, Y:-5.48, Z:-3.64 [[ 9.98140568e-01 2.97057893e-02 5.32256826e-02 5.39562132e+01] [-2.94182738e-02 9.99548101e-01 -6.17733232e-03 -5.47680079e+00] [-5.33851325e-02 4.60003828e-03 9.98563402e-01 -3.64403307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.940714057 meters 0.04579964264280758 Centerline is valid? [True, True] Translation: X:54.02, Y:-5.48, Z:-3.65 [[ 9.98162750e-01 2.79932314e-02 5.37355040e-02 5.40172143e+01] [-2.76977237e-02 9.99596891e-01 -6.23630472e-03 -5.48406430e+00] [-5.38884171e-02 4.73649593e-03 9.98535730e-01 -3.64743959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.000714057 meters 0.045853537873976224 Centerline is valid? [True, True] Translation: X:54.08, Y:-5.49, Z:-3.65 [[ 9.98085785e-01 2.83760097e-02 5.49505988e-02 5.40789791e+01] [-2.80675415e-02 9.99585685e-01 -6.37734447e-03 -5.49244894e+00] [-5.51087955e-02 4.82280865e-03 9.98468708e-01 -3.65132669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.060714057000006 meters 0.04454422805493276 Centerline is valid? [True, True] Translation: X:54.14, Y:-5.50, Z:-3.65 [[ 9.97868475e-01 3.06462006e-02 5.76135150e-02 5.41390821e+01] [-3.03098215e-02 9.99518072e-01 -6.70356470e-03 -5.49844072e+00] [-5.77911882e-02 4.94302053e-03 9.98316455e-01 -3.65332926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.120714057 meters 0.03860948184642381 Centerline is valid? [True, True] Translation: X:54.20, Y:-5.50, Z:-3.66 [[ 9.97723211e-01 3.50080337e-02 5.76440078e-02 5.42000438e+01] [-3.46785197e-02 9.99376013e-01 -6.70711672e-03 -5.49740083e+00] [-5.78428416e-02 4.69283718e-03 9.98314671e-01 -3.65611242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.180714057 meters 0.04237924765890663 Centerline is valid? [True, True] Translation: X:54.26, Y:-5.51, Z:-3.66 [[ 9.97699280e-01 3.64140436e-02 5.71853563e-02 5.42604221e+01] [-3.60921597e-02 9.99326327e-01 -6.65189183e-03 -5.51016505e+00] [-5.73890544e-02 4.57264467e-03 9.98341418e-01 -3.66121509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.240714057000005 meters 0.04288244955433715 Centerline is valid? [True, True] Translation: X:54.32, Y:-5.52, Z:-3.67 [[ 9.97621314e-01 3.99706501e-02 5.61610277e-02 5.43188262e+01] [-3.96648824e-02 9.99191576e-01 -6.54911064e-03 -5.51845152e+00] [-5.63773980e-02 4.30591181e-03 9.98400244e-01 -3.66650416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.300714057 meters 0.03699329275246713 Centerline is valid? [True, True] Translation: X:54.38, Y:-5.52, Z:-3.67 [[ 9.97446096e-01 4.47243995e-02 5.56867411e-02 5.43800483e+01] [-4.44312059e-02 9.98991348e-01 -6.49266390e-03 -5.51781297e+00] [-5.59209530e-02 4.00185321e-03 9.98427179e-01 -3.67086744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.360714057 meters 0.033716611123639585 Centerline is valid? [True, True] Translation: X:54.44, Y:-5.52, Z:-3.67 [[ 9.97097039e-01 5.16199864e-02 5.59720616e-02 5.44406772e+01] [-5.13345215e-02 9.98660185e-01 -6.52693275e-03 -5.51999554e+00] [-5.62339896e-02 3.63468632e-03 9.98411001e-01 -3.67450840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.420714057000005 meters 0.03050573691959032 Centerline is valid? [True, True] Translation: X:54.50, Y:-5.52, Z:-3.68 [[ 9.96815112e-01 5.64519887e-02 5.63276570e-02 5.45015443e+01] [-5.61704988e-02 9.98399578e-01 -6.56941324e-03 -5.52121751e+00] [-5.66083654e-02 3.38453781e-03 9.98390724e-01 -3.67749670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48071405700001 meters 0.03151893747038601 Centerline is valid? [True, True] Translation: X:54.56, Y:-5.53, Z:-3.68 [[ 9.96466220e-01 6.21766206e-02 5.64724726e-02 5.45603386e+01] [-6.19027945e-02 9.98060447e-01 -6.58696245e-03 -5.53029702e+00] [-5.67724964e-02 3.06788171e-03 9.98382428e-01 -3.68218602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.540714057 meters 0.029270328851504 Centerline is valid? [True, True] Translation: X:54.62, Y:-5.53, Z:-3.69 [[ 9.96296591e-01 6.52816170e-02 5.59590355e-02 5.46195331e+01] [-6.50176949e-02 9.97862772e-01 -6.52597898e-03 -5.53470506e+00] [-5.62654647e-02 2.86348312e-03 9.98411738e-01 -3.68657553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.600714057000005 meters 0.028881516319769724 Centerline is valid? [True, True] Translation: X:54.68, Y:-5.54, Z:-3.69 [[ 9.96190444e-01 6.69864841e-02 5.58337780e-02 5.46777205e+01] [-6.67265108e-02 9.97750068e-01 -6.50961894e-03 -5.54235630e+00] [-5.61442123e-02 2.75922699e-03 9.98418857e-01 -3.69117870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66071405700001 meters 0.02865371318179906 Centerline is valid? [True, True] Translation: X:54.74, Y:-5.55, Z:-3.69 [[ 9.96093384e-01 6.80742317e-02 5.62482759e-02 5.47362503e+01] [-6.78123433e-02 9.97676568e-01 -6.55378798e-03 -5.54935599e+00] [-5.65637310e-02 2.71385745e-03 9.98395302e-01 -3.69484687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.720714057 meters 0.02816263119023928 Centerline is valid? [True, True] Translation: X:54.79, Y:-5.56, Z:-3.70 [[ 9.96016172e-01 6.84400245e-02 5.71642175e-02 5.47941987e+01] [-6.81703721e-02 9.97651490e-01 -6.65624976e-03 -5.55677459e+00] [-5.74855206e-02 2.73282643e-03 9.98342600e-01 -3.69878864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.780714057000004 meters 0.028950703013384736 Centerline is valid? [True, True] Translation: X:54.85, Y:-5.57, Z:-3.70 [[ 9.96034533e-01 6.85101841e-02 5.67588274e-02 5.48516596e+01] [-6.82446983e-02 9.97646749e-01 -6.60489827e-03 -5.56674585e+00] [-5.70777624e-02 2.70521771e-03 9.98366071e-01 -3.70376464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84071405700001 meters 0.03082769325136108 Centerline is valid? [True, True] Translation: X:54.91, Y:-5.58, Z:-3.71 [[ 9.96057602e-01 6.87066450e-02 5.61128401e-02 5.49081269e+01] [-6.84477049e-02 9.97633362e-01 -6.52585771e-03 -5.57763054e+00] [-5.64284111e-02 2.65933505e-03 9.98403106e-01 -3.70914786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.900714057 meters 0.02772991449925563 Centerline is valid? [True, True] Translation: X:54.97, Y:-5.58, Z:-3.71 [[ 9.96031589e-01 6.91653506e-02 5.60109690e-02 5.49674318e+01] [-6.89083707e-02 9.97601761e-01 -6.50875291e-03 -5.57976847e+00] [-5.63268214e-02 2.62329889e-03 9.98408938e-01 -3.71272145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.960714057000004 meters 0.031034647681230803 Centerline is valid? [True, True] Translation: X:55.02, Y:-5.59, Z:-3.72 [[ 9.95849650e-01 7.08913033e-02 5.70779970e-02 5.50239909e+01] [-7.06274257e-02 9.97480733e-01 -6.62973489e-03 -5.59103687e+00] [-5.74041928e-02 2.57094718e-03 9.98347709e-01 -3.71677769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.020714057000006 meters 0.031060911862296193 Centerline is valid? [True, True] Translation: X:55.08, Y:-5.60, Z:-3.72 [[ 9.95630129e-01 7.26928941e-02 5.86207304e-02 5.50822855e+01] [-7.24179554e-02 9.97351166e-01 -6.80381323e-03 -5.59622932e+00] [-5.89600427e-02 2.52888801e-03 9.98257140e-01 -3.71921119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.080714057 meters 0.02827303205589899 Centerline is valid? [True, True] Translation: X:55.14, Y:-5.60, Z:-3.72 [[ 9.95439488e-01 7.43452684e-02 5.97746350e-02 5.51412619e+01] [-7.40626019e-02 9.97229490e-01 -6.93363745e-03 -5.59775126e+00] [-6.01245120e-02 2.47495152e-03 9.98187817e-01 -3.72251841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.140714057000004 meters 0.026827807682067814 Centerline is valid? [True, True] Translation: X:55.20, Y:-5.60, Z:-3.73 [[ 9.95373020e-01 7.58508011e-02 5.89848044e-02 5.52001984e+01] [-7.55784456e-02 9.97116413e-01 -6.83791563e-03 -5.60096150e+00] [-5.93333780e-02 2.34829690e-03 9.98235461e-01 -3.72711798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.200714057000006 meters 0.0258222038749406 Centerline is valid? [True, True] Translation: X:55.26, Y:-5.61, Z:-3.73 [[ 9.95391429e-01 7.65867044e-02 5.77094503e-02 5.52587269e+01] [-7.63274849e-02 9.97060386e-01 -6.68598896e-03 -5.60518791e+00] [-5.80518646e-02 2.25035891e-03 9.98311032e-01 -3.73072716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.260714057 meters 0.026338630276192706 Centerline is valid? [True, True] Translation: X:55.32, Y:-5.61, Z:-3.74 [[ 9.95265989e-01 7.82110420e-02 5.76944039e-02 5.53163719e+01] [-7.79549295e-02 9.96934505e-01 -6.67996149e-03 -5.61311388e+00] [-5.80399887e-02 2.15077529e-03 9.98311942e-01 -3.73519980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.320714057 meters 0.0269953501325844 Centerline is valid? [True, True] Translation: X:55.37, Y:-5.62, Z:-3.74 [[ 9.95118206e-01 8.03553282e-02 5.72955251e-02 5.53731041e+01] [-8.01065272e-02 9.96764260e-01 -6.62976213e-03 -5.62169537e+00] [-5.76428684e-02 2.00765145e-03 9.98335249e-01 -3.73947206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.380714057000006 meters 0.02472736574888505 Centerline is valid? [True, True] Translation: X:55.43, Y:-5.62, Z:-3.74 [[ 9.94728467e-01 8.48194367e-02 5.76275983e-02 5.54335465e+01] [-8.45755401e-02 9.96394795e-01 -6.66257101e-03 -5.62402157e+00] [-5.79849545e-02 1.75356380e-03 9.98315917e-01 -3.74194087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.440714057 meters 0.024270259202437004 Centerline is valid? [True, True] Translation: X:55.49, Y:-5.63, Z:-3.75 [[ 9.94387917e-01 8.83168135e-02 5.82478450e-02 5.54925345e+01] [-8.80736699e-02 9.96091205e-01 -6.73343466e-03 -5.63024835e+00] [-5.86148416e-02 1.56554460e-03 9.98279445e-01 -3.74527162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.500714057 meters 0.022826976051096758 Centerline is valid? [True, True] Translation: X:55.55, Y:-5.63, Z:-3.75 [[ 9.94123232e-01 9.12267184e-02 5.82810982e-02 5.55509537e+01] [-9.09884631e-02 9.95829176e-01 -6.73430709e-03 -5.63493064e+00] [-5.86523668e-02 1.39182357e-03 9.98277498e-01 -3.74814579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.560714057000006 meters 0.02293438442930195 Centerline is valid? [True, True] Translation: X:55.61, Y:-5.64, Z:-3.75 [[ 9.94256888e-01 9.10752419e-02 5.62008931e-02 5.56082833e+01] [-9.08536944e-02 9.95843104e-01 -6.48993386e-03 -5.64498221e+00] [-5.65583441e-02 1.34660267e-03 9.98398388e-01 -3.75468873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.620714057 meters 0.023006623655525776 Centerline is valid? [True, True] Translation: X:55.67, Y:-5.66, Z:-3.76 [[ 9.94465891e-01 8.93835861e-02 5.52102038e-02 5.56654097e+01] [-8.91673985e-02 9.95996273e-01 -6.37169079e-03 -5.65651187e+00] [-5.55586818e-02 1.41347891e-03 9.98454423e-01 -3.76011935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.680714057 meters 0.023829891257245623 Centerline is valid? [True, True] Translation: X:55.72, Y:-5.67, Z:-3.76 [[ 9.94620701e-01 8.77136616e-02 5.50996878e-02 5.57227313e+01] [-8.74960635e-02 9.96144602e-01 -6.35383765e-03 -5.66601330e+00] [-5.54445750e-02 1.49865266e-03 9.98460642e-01 -3.76413495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.740714057000005 meters 0.024390917025474825 Centerline is valid? [True, True] Translation: X:55.78, Y:-5.68, Z:-3.77 [[ 9.94940690e-01 8.41671194e-02 5.48536117e-02 5.57808489e+01] [-8.39463640e-02 9.96450230e-01 -6.32031689e-03 -5.67691462e+00] [-5.51908568e-02 1.68357920e-03 9.98474404e-01 -3.76709850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.800714057 meters 0.025894043779299217 Centerline is valid? [True, True] Translation: X:55.84, Y:-5.69, Z:-3.77 [[ 9.95489246e-01 7.77749872e-02 5.43342645e-02 5.58399308e+01] [-7.75491267e-02 9.96968903e-01 -6.25612673e-03 -5.69012742e+00] [-5.46561422e-02 2.01433212e-03 9.98503204e-01 -3.77184903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.860714057 meters 0.026952579437206386 Centerline is valid? [True, True] Translation: X:55.90, Y:-5.70, Z:-3.78 [[ 9.95973496e-01 7.19800462e-02 5.34384618e-02 5.58991927e+01] [-7.17533221e-02 9.97403437e-01 -6.15171951e-03 -5.70110143e+00] [-5.37425066e-02 2.29256242e-03 9.98552196e-01 -3.77605713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.920714057000005 meters 0.030835167349128452 Centerline is valid? [True, True] Translation: X:55.96, Y:-5.72, Z:-3.78 [[ 9.96651612e-01 6.19055569e-02 5.34159813e-02 5.59575593e+01] [-6.16646678e-02 9.98077990e-01 -6.14765979e-03 -5.71720215e+00] [-5.36938896e-02 2.83319629e-03 9.98553423e-01 -3.78113582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98071405700001 meters 0.037327563840242155 Centerline is valid? [True, True] Translation: X:56.01, Y:-5.74, Z:-3.79 [[ 9.97229858e-01 5.19218738e-02 5.32609643e-02 5.60148277e+01] [-5.16682818e-02 9.98645500e-01 -6.12817250e-03 -5.73512032e+00] [-5.35070085e-02 3.35929408e-03 9.98561823e-01 -3.78593515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.040714057 meters 0.0365307715127346 Centerline is valid? [True, True] Translation: X:56.08, Y:-5.74, Z:-3.79 [[ 9.97451856e-01 4.59946528e-02 5.45370247e-02 5.60755200e+01] [-4.57197431e-02 9.98934576e-01 -6.27842061e-03 -5.74085661e+00] [-5.47676934e-02 3.76900353e-03 9.98492010e-01 -3.78757136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.100714057000005 meters 0.040730519249182 Centerline is valid? [True, True] Translation: X:56.14, Y:-5.75, Z:-3.79 [[ 9.97506473e-01 4.46245970e-02 5.46761600e-02 5.61355062e+01] [-4.43462552e-02 9.98996394e-01 -6.29405720e-03 -5.75348285e+00] [-5.49021564e-02 3.85367985e-03 9.98484303e-01 -3.79200727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16071405700001 meters 0.036334284881808246 Centerline is valid? [True, True] Translation: X:56.20, Y:-5.75, Z:-3.80 [[ 9.97561870e-01 4.28855828e-02 5.50558085e-02 5.61973359e+01] [-4.25999046e-02 9.99072016e-01 -6.35255609e-03 -5.75285020e+00] [-5.52771507e-02 3.99169554e-03 9.98463070e-01 -3.79531481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.220714057 meters 0.03834440494673137 Centerline is valid? [True, True] Translation: X:56.26, Y:-5.76, Z:-3.80 [[ 9.97633586e-01 4.38783019e-02 5.29331952e-02 5.62580966e+01] [-4.36156640e-02 9.99029717e-01 -6.10724978e-03 -5.75955105e+00] [-5.31498107e-02 3.78408104e-03 9.98579380e-01 -3.80085966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.280714057000004 meters 0.03683042739241389 Centerline is valid? [True, True] Translation: X:56.32, Y:-5.76, Z:-3.81 [[ 9.97584537e-01 4.50452640e-02 5.28773582e-02 5.63203389e+01] [-4.47841550e-02 9.98977982e-01 -6.11313556e-03 -5.76206068e+00] [-5.30986844e-02 3.73030171e-03 9.98582302e-01 -3.80507880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34071405700001 meters 0.038147511806895726 Centerline is valid? [True, True] Translation: X:56.38, Y:-5.77, Z:-3.81 [[ 9.97475679e-01 4.65586499e-02 5.36149332e-02 5.63805489e+01] [-4.62914801e-02 9.98908641e-01 -6.21491412e-03 -5.76686535e+00] [-5.38457781e-02 3.71731107e-03 9.98542345e-01 -3.80834376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.400714057 meters 0.039082134130274816 Centerline is valid? [True, True] Translation: X:56.44, Y:-5.77, Z:-3.81 [[ 9.97412027e-01 4.80119011e-02 5.35173325e-02 5.64417967e+01] [-4.77477423e-02 9.98840157e-01 -6.20438896e-03 -5.77136765e+00] [-5.37531453e-02 3.63300037e-03 9.98547646e-01 -3.81261533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.460714057000004 meters 0.03941665735878512 Centerline is valid? [True, True] Translation: X:56.50, Y:-5.78, Z:-3.82 [[ 9.97331289e-01 4.96251329e-02 5.35504028e-02 5.65030917e+01] [-4.93628576e-02 9.98761604e-01 -6.21012954e-03 -5.77561090e+00] [-5.37922648e-02 3.55015559e-03 9.98545837e-01 -3.81748112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.520714057000006 meters 0.037247195352514056 Centerline is valid? [True, True] Translation: X:56.56, Y:-5.78, Z:-3.82 [[ 9.97206346e-01 5.15456494e-02 5.40606158e-02 5.65645547e+01] [-5.12810398e-02 9.98664571e-01 -6.27139527e-03 -5.77578049e+00] [-5.43116848e-02 3.48159057e-03 9.98517961e-01 -3.82129393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.580714057 meters 0.04013345281709797 Centerline is valid? [True, True] Translation: X:56.62, Y:-5.78, Z:-3.83 [[ 9.97106036e-01 5.29518684e-02 5.45495364e-02 5.66241746e+01] [-5.26844853e-02 9.98591151e-01 -6.32909055e-03 -5.78457437e+00] [-5.48078215e-02 3.43686014e-03 9.98491007e-01 -3.82509510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.640714057000004 meters 0.033381443634098694 Centerline is valid? [True, True] Translation: X:56.69, Y:-5.78, Z:-3.83 [[ 9.96991069e-01 5.50504085e-02 5.45734443e-02 5.66863840e+01] [-5.47858681e-02 9.98478044e-01 -6.33280499e-03 -5.77812909e+00] [-5.48390094e-02 3.32389649e-03 9.98489677e-01 -3.82769345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.700714057000006 meters 0.03194832117627338 Centerline is valid? [True, True] Translation: X:56.75, Y:-5.78, Z:-3.83 [[ 9.96890700e-01 5.70817680e-02 5.43194541e-02 5.67465629e+01] [-5.68226155e-02 9.98364383e-01 -6.30468590e-03 -5.78045050e+00] [-5.45904909e-02 3.19850929e-03 9.98503704e-01 -3.83246585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.760714057 meters 0.03094820525038352 Centerline is valid? [True, True] Translation: X:56.81, Y:-5.78, Z:-3.84 [[ 9.96742867e-01 6.02433963e-02 5.36133396e-02 5.68064666e+01] [-5.99955530e-02 9.98179254e-01 -6.22175174e-03 -5.78255545e+00] [-5.38905428e-02 2.98492471e-03 9.98542387e-01 -3.83738413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.820714057 meters 0.030769904530562126 Centerline is valid? [True, True] Translation: X:56.87, Y:-5.79, Z:-3.84 [[ 9.96555226e-01 6.32882347e-02 5.35936716e-02 5.68657921e+01] [-6.30450029e-02 9.97991310e-01 -6.21866798e-03 -5.78708132e+00] [-5.38795870e-02 2.81843289e-03 9.98543463e-01 -3.84125605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.880714057000006 meters 0.029539000577639626 Centerline is valid? [True, True] Translation: X:56.93, Y:-5.79, Z:-3.84 [[ 9.96125024e-01 6.87631803e-02 5.48321237e-02 5.69259258e+01] [-6.85169586e-02 9.97629679e-01 -6.36000356e-03 -5.78836336e+00] [-5.51394881e-02 2.57842834e-03 9.98475332e-01 -3.84429875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.940714057 meters 0.027020419007604324 Centerline is valid? [True, True] Translation: X:56.99, Y:-5.79, Z:-3.85 [[ 9.95606888e-01 7.50001903e-02 5.60526254e-02 5.69868452e+01] [-7.47527349e-02 9.97180907e-01 -6.50139142e-03 -5.78794386e+00] [-5.63822134e-02 2.28274303e-03 9.98406648e-01 -3.84698078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.000714057 meters 0.025804833021229066 Centerline is valid? [True, True] Translation: X:57.05, Y:-5.79, Z:-3.85 [[ 9.95102106e-01 8.09006257e-02 5.68057025e-02 5.70469024e+01] [-8.06560603e-02 9.96720216e-01 -6.58866370e-03 -5.79105193e+00] [-5.71524191e-02 1.97466896e-03 9.98363512e-01 -3.85076104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.060714057000006 meters 0.024930294612848777 Centerline is valid? [True, True] Translation: X:57.11, Y:-5.80, Z:-3.85 [[ 9.94634446e-01 8.59974479e-02 5.75044134e-02 5.71051236e+01] [-8.57553665e-02 9.96293904e-01 -6.66890814e-03 -5.79564186e+00] [-5.78648056e-02 1.70181371e-03 9.98322978e-01 -3.85393942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.120714057 meters 0.02458329083070752 Centerline is valid? [True, True] Translation: X:57.16, Y:-5.80, Z:-3.86 [[ 9.94506982e-01 8.79196368e-02 5.67978889e-02 5.71630664e+01] [-8.76867694e-02 9.96126338e-01 -6.58407233e-03 -5.80204647e+00] [-5.71567423e-02 1.56748252e-03 9.98363987e-01 -3.85888481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.180714057 meters 0.023994771067395733 Centerline is valid? [True, True] Translation: X:57.22, Y:-5.81, Z:-3.86 [[ 9.94636918e-01 8.75781083e-02 5.50225105e-02 5.72214671e+01] [-8.73592726e-02 9.96156475e-01 -6.37451965e-03 -5.80972345e+00] [-5.53692984e-02 1.53360609e-03 9.98464766e-01 -3.86393258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.240714057000005 meters 0.024747960321573916 Centerline is valid? [True, True] Translation: X:57.28, Y:-5.82, Z:-3.87 [[ 9.94883351e-01 8.53213786e-02 5.41052642e-02 5.72792228e+01] [-8.51066657e-02 9.96352153e-01 -6.26435470e-03 -5.82176951e+00] [-5.44423799e-02 1.62758357e-03 9.98515587e-01 -3.86860461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.300714057 meters 0.025048396061656143 Centerline is valid? [True, True] Translation: X:57.34, Y:-5.83, Z:-3.87 [[ 9.95146576e-01 8.17181276e-02 5.48218916e-02 5.73377503e+01] [-8.14924651e-02 9.96653774e-01 -6.34295120e-03 -5.83371195e+00] [-5.51567792e-02 1.84459509e-03 9.98476002e-01 -3.87224198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.360714057 meters 0.027529909103397286 Centerline is valid? [True, True] Translation: X:57.40, Y:-5.85, Z:-3.88 [[ 9.95513848e-01 7.67097473e-02 5.53876606e-02 5.73956348e+01] [-7.64717833e-02 9.97051166e-01 -6.40618697e-03 -5.84941380e+00] [-5.57157486e-02 2.14185466e-03 9.98444374e-01 -3.87669446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.420714057000005 meters 0.0278593965222595 Centerline is valid? [True, True] Translation: X:57.45, Y:-5.86, Z:-3.88 [[ 9.95783647e-01 7.28193782e-02 5.57876981e-02 5.74543921e+01] [-7.25719165e-02 9.97342315e-01 -6.45159372e-03 -5.85964100e+00] [-5.61092330e-02 2.37577135e-03 9.98421810e-01 -3.88015381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48071405700001 meters 0.029267251302876943 Centerline is valid? [True, True] Translation: X:57.51, Y:-5.87, Z:-3.88 [[ 9.96326994e-01 6.50991964e-02 5.56292654e-02 5.75136457e+01] [-6.48412658e-02 9.97874869e-01 -6.43094341e-03 -5.87248516e+00] [-5.59296951e-02 2.80025054e-03 9.98430783e-01 -3.88405175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.540714057 meters 0.034511795433261785 Centerline is valid? [True, True] Translation: X:57.57, Y:-5.89, Z:-3.89 [[ 9.96874761e-01 5.66437983e-02 5.50653359e-02 5.75711529e+01] [-5.63782079e-02 9.98389189e-01 -6.36595370e-03 -5.89169546e+00] [-5.53372278e-02 3.24157362e-03 9.98462460e-01 -3.88875478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.600714057000005 meters 0.03775941332675902 Centerline is valid? [True, True] Translation: X:57.63, Y:-5.91, Z:-3.89 [[ 9.97135738e-01 5.19076166e-02 5.50083484e-02 5.76308120e+01] [-5.16354614e-02 9.98645759e-01 -6.35825650e-03 -5.90533535e+00] [-5.52638957e-02 3.49966335e-03 9.98465650e-01 -3.89333692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66071405700001 meters 0.04108039432877675 Centerline is valid? [True, True] Translation: X:57.69, Y:-5.92, Z:-3.90 [[ 9.97312711e-01 4.76854249e-02 5.56188516e-02 5.76892892e+01] [-4.74006407e-02 9.98855268e-01 -6.42905050e-03 -5.91905067e+00] [-5.58617549e-02 3.77540459e-03 9.98431375e-01 -3.89743111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.720714057 meters 0.043812010838961524 Centerline is valid? [True, True] Translation: X:57.75, Y:-5.93, Z:-3.90 [[ 9.97448328e-01 4.48564950e-02 5.55403202e-02 5.77482484e+01] [-4.45681036e-02 9.98985714e-01 -6.42087051e-03 -5.93019326e+00] [-5.57720042e-02 3.92915981e-03 9.98435799e-01 -3.90148467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.780714057000004 meters 0.04654224155751909 Centerline is valid? [True, True] Translation: X:57.81, Y:-5.94, Z:-3.91 [[ 9.97638220e-01 4.21949347e-02 5.41993424e-02 5.78070031e+01] [-4.19164140e-02 9.99101473e-01 -6.26584545e-03 -5.94192917e+00] [-5.44150298e-02 3.97920483e-03 9.98510476e-01 -3.90750601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84071405700001 meters 0.04501365690535373 Centerline is valid? [True, True] Translation: X:57.87, Y:-5.95, Z:-3.91 [[ 9.97768089e-01 3.93591864e-02 5.39415981e-02 5.78676452e+01] [-3.90792127e-02 9.99216659e-01 -6.23569518e-03 -5.94666371e+00] [-5.41447753e-02 4.11378247e-03 9.98524622e-01 -3.91137188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.900714057 meters 0.040995748137215925 Centerline is valid? [True, True] Translation: X:57.93, Y:-5.95, Z:-3.91 [[ 9.97871389e-01 3.82127275e-02 5.28438990e-02 5.79295135e+01] [-3.79424134e-02 9.99261251e-01 -6.10948589e-03 -5.94714919e+00] [-5.30383207e-02 4.09145611e-03 9.98584096e-01 -3.91486412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.960714057000004 meters 0.04050485256671484 Centerline is valid? [True, True] Translation: X:57.99, Y:-5.95, Z:-3.92 [[ 9.97858492e-01 3.93825336e-02 5.22249561e-02 5.79913210e+01] [-3.91198665e-02 9.99216254e-01 -6.04264074e-03 -5.95243580e+00] [-5.24219995e-02 3.98666706e-03 9.98617064e-01 -3.91949958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.020714057000006 meters 0.04130967510874143 Centerline is valid? [True, True] Translation: X:58.05, Y:-5.96, Z:-3.92 [[ 9.97820906e-01 4.05627333e-02 5.20394397e-02 5.80527049e+01] [-4.03028350e-02 9.99169289e-01 -6.03438508e-03 -5.96016422e+00] [-5.22409812e-02 3.92389864e-03 9.98626799e-01 -3.92393370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.080714057 meters 0.0403788510687205 Centerline is valid? [True, True] Translation: X:58.11, Y:-5.96, Z:-3.93 [[ 9.97638487e-01 4.43691833e-02 5.24292286e-02 5.81128922e+01] [-4.41097378e-02 9.99008094e-01 -6.09585783e-03 -5.96265939e+00] [-5.26476919e-02 3.76882286e-03 9.98606037e-01 -3.92657842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.140714057000004 meters 0.040068805825810114 Centerline is valid? [True, True] Translation: X:58.17, Y:-5.97, Z:-3.93 [[ 9.97371801e-01 4.94935885e-02 5.29138438e-02 5.81729584e+01] [-4.92364836e-02 9.98768200e-01 -6.15230204e-03 -5.96557616e+00] [-5.31531641e-02 3.53084096e-03 9.98580129e-01 -3.93018730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.200714057000006 meters 0.0345493453801846 Centerline is valid? [True, True] Translation: X:58.23, Y:-5.96, Z:-3.93 [[ 9.97170695e-01 5.41762672e-02 5.21108112e-02 5.82339269e+01] [-5.39332828e-02 9.98526160e-01 -6.05883768e-03 -5.96156834e+00] [-5.23622534e-02 3.23118826e-03 9.98622929e-01 -3.93309604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.260714057 meters 0.03812656773497267 Centerline is valid? [True, True] Translation: X:58.29, Y:-5.97, Z:-3.94 [[ 9.96949815e-01 5.86858312e-02 5.14493927e-02 5.82925476e+01] [-5.84549413e-02 9.98272123e-01 -5.98231411e-03 -5.97022414e+00] [-5.17115716e-02 2.95659571e-03 9.98657685e-01 -3.93875570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.320714057 meters 0.037483581664375744 Centerline is valid? [True, True] Translation: X:58.35, Y:-5.97, Z:-3.94 [[ 9.96827953e-01 6.14172043e-02 5.06158035e-02 5.83522987e+01] [-6.11973090e-02 9.98108343e-01 -5.88424629e-03 -5.97401699e+00] [-5.08814497e-02 2.76803021e-03 9.98700864e-01 -3.94303150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.380714057000006 meters 0.031029838315918348 Centerline is valid? [True, True] Translation: X:58.41, Y:-5.97, Z:-3.95 [[ 9.96613465e-01 6.49408610e-02 5.04409142e-02 5.84132169e+01] [-6.47270223e-02 9.97885783e-01 -5.86309817e-03 -5.96886127e+00] [-5.07150258e-02 2.57835241e-03 9.98709837e-01 -3.94533106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.440714057 meters 0.030119862387919392 Centerline is valid? [True, True] Translation: X:58.47, Y:-5.97, Z:-3.95 [[ 9.96433845e-01 6.77410459e-02 5.03064855e-02 5.84733707e+01] [-6.75319493e-02 9.97699982e-01 -5.84656940e-03 -5.97219832e+00] [-5.05868324e-02 2.42842460e-03 9.98716714e-01 -3.94942595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.500714057 meters 0.029227256863670135 Centerline is valid? [True, True] Translation: X:58.53, Y:-5.98, Z:-3.95 [[ 9.96207961e-01 7.13604085e-02 4.97733985e-02 5.85327741e+01] [-7.11602593e-02 9.97448125e-01 -5.78399109e-03 -5.97513671e+00] [-5.00591310e-02 2.22017002e-03 9.98743788e-01 -3.95284209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.560714057000006 meters 0.02886348908480437 Centerline is valid? [True, True] Translation: X:58.59, Y:-5.98, Z:-3.96 [[ 9.96027436e-01 7.32374750e-02 5.06519398e-02 5.85915627e+01] [-7.30326814e-02 9.97312187e-01 -5.88470909e-03 -5.98013880e+00] [-5.09467781e-02 2.16208472e-03 9.98699029e-01 -3.95606939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.620714057 meters 0.027911472873557573 Centerline is valid? [True, True] Translation: X:58.65, Y:-5.98, Z:-3.96 [[ 9.95904647e-01 7.39332357e-02 5.20366378e-02 5.86504235e+01] [-7.37182277e-02 9.97260808e-01 -6.04176165e-03 -5.98474081e+00] [-5.23407865e-02 2.18096978e-03 9.98626900e-01 -3.95871166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.680714057 meters 0.02879211251565071 Centerline is valid? [True, True] Translation: X:58.71, Y:-5.99, Z:-3.96 [[ 9.96131510e-01 7.15557079e-02 5.10077953e-02 5.87094145e+01] [-7.13462275e-02 9.97434053e-01 -5.91820093e-03 -5.99380571e+00] [-5.13003931e-02 2.25609266e-03 9.98680720e-01 -3.96307120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.740714057000005 meters 0.030110320225861027 Centerline is valid? [True, True] Translation: X:58.77, Y:-6.01, Z:-3.97 [[ 9.96533863e-01 6.66933224e-02 4.97218284e-02 5.87686695e+01] [-6.64883456e-02 9.97770536e-01 -5.76696505e-03 -6.00514289e+00] [-4.99955934e-02 2.44105385e-03 9.98746455e-01 -3.96746528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80071405700001 meters 0.032061350339843676 Centerline is valid? [True, True] Translation: X:58.83, Y:-6.02, Z:-3.97 [[ 9.96850577e-01 6.16949092e-02 4.98263554e-02 5.88275612e+01] [-6.14828948e-02 9.98091412e-01 -5.77806535e-03 -6.01733021e+00] [-5.00877347e-02 2.69639921e-03 9.98741182e-01 -3.97114640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.860714057 meters 0.03813369205359565 Centerline is valid? [True, True] Translation: X:58.88, Y:-6.04, Z:-3.98 [[ 9.97046559e-01 5.85540943e-02 4.96948459e-02 5.88845575e+01] [-5.83393080e-02 9.98280178e-01 -5.76287948e-03 -6.03518043e+00] [-4.99468198e-02 2.84669624e-03 9.98747822e-01 -3.97714995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.920714057000005 meters 0.03484112648002954 Centerline is valid? [True, True] Translation: X:58.95, Y:-6.04, Z:-3.98 [[ 9.97316370e-01 5.41573115e-02 4.92650439e-02 5.89452392e+01] [-5.39409918e-02 9.98527794e-01 -5.71087849e-03 -6.03946413e+00] [-4.95018014e-02 3.03814727e-03 9.98769413e-01 -3.97871334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98071405700001 meters 0.03974486459525185 Centerline is valid? [True, True] Translation: X:59.00, Y:-6.05, Z:-3.98 [[ 9.97456918e-01 5.11150725e-02 4.96683546e-02 5.90025715e+01] [-5.08914331e-02 9.98687594e-01 -5.75772560e-03 -6.05474220e+00] [-4.98974761e-02 3.21538948e-03 9.98749169e-01 -3.98315567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.040714057 meters 0.03967433905609706 Centerline is valid? [True, True] Translation: X:59.06, Y:-6.06, Z:-3.99 [[ 9.97535131e-01 4.87431605e-02 5.04754136e-02 5.90620058e+01] [-4.85092699e-02 9.98805605e-01 -5.84920656e-03 -6.06306807e+00] [-5.07002349e-02 3.38626357e-03 9.98708175e-01 -3.98626810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.100714057000005 meters 0.04181530409359662 Centerline is valid? [True, True] Translation: X:59.12, Y:-6.07, Z:-3.99 [[ 9.97597046e-01 4.65205201e-02 5.13417495e-02 5.91224956e+01] [-4.62756760e-02 9.98910999e-01 -5.94801538e-03 -6.07447479e+00] [-5.15625430e-02 3.55784841e-03 9.98663430e-01 -3.98936975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16071405700001 meters 0.04067136920512723 Centerline is valid? [True, True] Translation: X:59.18, Y:-6.08, Z:-3.99 [[ 9.97646949e-01 4.56454832e-02 5.11571606e-02 5.91839215e+01] [-4.54012952e-02 9.98951253e-01 -5.92583780e-03 -6.08096569e+00] [-5.13739974e-02 3.58929265e-03 9.98673034e-01 -3.99322891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.220714057 meters 0.03852601180013474 Centerline is valid? [True, True] Translation: X:59.24, Y:-6.09, Z:-4.00 [[ 9.97789510e-01 4.36475251e-02 5.01097525e-02 5.92446567e+01] [-4.34100272e-02 9.99040396e-01 -5.81864798e-03 -6.08661966e+00] [-5.03156366e-02 3.63052019e-03 9.98726767e-01 -3.99734412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.280714057000004 meters 0.03860919174759857 Centerline is valid? [True, True] Translation: X:59.31, Y:-6.10, Z:-4.00 [[ 9.97809548e-01 4.33454522e-02 4.99727632e-02 5.93057612e+01] [-4.31089874e-02 9.99053537e-01 -5.80052082e-03 -6.09540652e+00] [-5.01768921e-02 3.63353984e-03 9.98733737e-01 -4.00141343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34071405700001 meters 0.04101841390118228 Centerline is valid? [True, True] Translation: X:59.37, Y:-6.11, Z:-4.01 [[ 9.97765086e-01 4.34281694e-02 5.07821533e-02 5.93671466e+01] [-4.31834749e-02 9.99049700e-01 -5.90632806e-03 -6.10731116e+00] [-5.09903960e-02 3.70017808e-03 9.98692289e-01 -4.00592410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.400714057 meters 0.04251742770827134 Centerline is valid? [True, True] Translation: X:59.43, Y:-6.12, Z:-4.01 [[ 9.97753409e-01 4.29473622e-02 5.14165168e-02 5.94283208e+01] [-4.26951317e-02 9.99070164e-01 -5.99447433e-03 -6.11732219e+00] [-5.16261547e-02 3.78577225e-03 9.98659305e-01 -4.00950045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.460714057000004 meters 0.045062062987217474 Centerline is valid? [True, True] Translation: X:59.49, Y:-6.13, Z:-4.01 [[ 9.97831542e-01 4.03388339e-02 5.20095326e-02 5.94871136e+01] [-4.00763847e-02 9.99178123e-01 -6.07964601e-03 -6.12941082e+00] [-5.22120330e-02 3.98210852e-03 9.98628082e-01 -4.01289935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.520714057000006 meters 0.04818187888052854 Centerline is valid? [True, True] Translation: X:59.55, Y:-6.14, Z:-4.02 [[ 9.97925095e-01 3.72813123e-02 5.24938999e-02 5.95464859e+01] [-3.70097464e-02 9.99296065e-01 -6.13621826e-03 -6.14152807e+00] [-5.26857139e-02 4.18070026e-03 9.98602392e-01 -4.01639524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.580714057 meters 0.04240928977743675 Centerline is valid? [True, True] Translation: X:59.61, Y:-6.14, Z:-4.02 [[ 9.98008682e-01 3.47436361e-02 5.26455111e-02 5.96083820e+01] [-3.44670004e-02 9.99386890e-01 -6.15377969e-03 -6.14146426e+00] [-5.28270384e-02 4.32699271e-03 9.98594303e-01 -4.01887067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.640714057000004 meters 0.04442021298671058 Centerline is valid? [True, True] Translation: X:59.67, Y:-6.15, Z:-4.02 [[ 9.98011313e-01 3.30872406e-02 5.36530794e-02 5.96679691e+01] [-3.27974065e-02 9.99442330e-01 -6.27375225e-03 -6.15346660e+00] [-5.38307398e-02 4.50159387e-03 9.98539928e-01 -4.02338717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.700714057000006 meters 0.044354259313378025 Centerline is valid? [True, True] Translation: X:59.73, Y:-6.16, Z:-4.03 [[ 9.97967416e-01 3.31541579e-02 5.44227750e-02 5.97300877e+01] [-3.28561267e-02 9.99439843e-01 -6.36208742e-03 -6.16150763e+00] [-5.46032194e-02 4.56103435e-03 9.98497714e-01 -4.02677362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.760714057 meters 0.04321612291329312 Centerline is valid? [True, True] Translation: X:59.79, Y:-6.17, Z:-4.03 [[ 9.97931223e-01 3.52532046e-02 5.37632291e-02 5.97916221e+01] [-3.49644408e-02 9.99368684e-01 -6.30247527e-03 -6.16733476e+00] [-5.39514700e-02 4.40963561e-03 9.98533822e-01 -4.03075836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.820714057 meters 0.043501235647049975 Centerline is valid? [True, True] Translation: X:59.85, Y:-6.17, Z:-4.03 [[ 9.97906855e-01 3.64796559e-02 5.33961078e-02 5.98522755e+01] [-3.61963181e-02 9.99325066e-01 -6.26413715e-03 -6.17475286e+00] [-5.35885825e-02 4.31828290e-03 9.98553762e-01 -4.03447618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.880714057000006 meters 0.04195861542672128 Centerline is valid? [True, True] Translation: X:59.91, Y:-6.18, Z:-4.04 [[ 9.97801630e-01 3.91997047e-02 5.34349141e-02 5.99130133e+01] [-3.89197130e-02 9.99222664e-01 -6.27081114e-03 -6.17977204e+00] [-5.36391911e-02 4.17735405e-03 9.98551645e-01 -4.03774715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.940714057 meters 0.04142647730105797 Centerline is valid? [True, True] Translation: X:59.97, Y:-6.19, Z:-4.04 [[ 9.97600532e-01 4.39851726e-02 5.34647815e-02 5.99730343e+01] [-4.37116314e-02 9.99024480e-01 -6.27548521e-03 -6.18608956e+00] [-5.36886539e-02 3.92339456e-03 9.98550016e-01 -4.04153345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.000714057 meters 0.039145429931073845 Centerline is valid? [True, True] Translation: X:60.03, Y:-6.19, Z:-4.05 [[ 9.97411075e-01 4.76385142e-02 5.38676149e-02 6.00340772e+01] [-4.73661323e-02 9.98857584e-01 -6.32265371e-03 -6.18892290e+00] [-5.41072775e-02 3.75478425e-03 9.98528069e-01 -4.04509042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.060714057000006 meters 0.035199597850178024 Centerline is valid? [True, True] Translation: X:60.10, Y:-6.19, Z:-4.05 [[ 9.97089363e-01 5.38704594e-02 5.39516036e-02 6.00950717e+01] [-5.36062954e-02 9.98542069e-01 -6.33258333e-03 -6.19009008e+00] [-5.42140851e-02 3.42200588e-03 9.98523471e-01 -4.04758927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.120714057 meters 0.034090536974450775 Centerline is valid? [True, True] Translation: X:60.16, Y:-6.20, Z:-4.05 [[ 9.96771926e-01 5.88916765e-02 5.45664549e-02 6.01554823e+01] [-5.86288765e-02 9.98259295e-01 -6.40586441e-03 -6.19638286e+00] [-5.48487228e-02 3.18601587e-03 9.98489593e-01 -4.05129188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.180714057 meters 0.032275372115509106 Centerline is valid? [True, True] Translation: X:60.22, Y:-6.20, Z:-4.05 [[ 9.96537933e-01 6.27942310e-02 5.44888344e-02 6.02156858e+01] [-6.25379895e-02 9.98022085e-01 -6.39673356e-03 -6.20034450e+00] [-5.47827380e-02 2.96696548e-03 9.98493890e-01 -4.05462192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.240714057000005 meters 0.029829551812345364 Centerline is valid? [True, True] Translation: X:60.28, Y:-6.21, Z:-4.06 [[ 9.96352852e-01 6.59046216e-02 5.41994084e-02 6.02754881e+01] [-6.56557222e-02 9.97822054e-01 -6.36203972e-03 -6.20556460e+00] [-5.45006528e-02 2.78033512e-03 9.98509864e-01 -4.05859114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30071405700001 meters 0.030434091484974064 Centerline is valid? [True, True] Translation: X:60.33, Y:-6.21, Z:-4.06 [[ 9.96231996e-01 6.74079210e-02 5.45709017e-02 6.03322848e+01] [-6.71579553e-02 9.97721807e-01 -6.40357609e-03 -6.21464874e+00] [-5.48782304e-02 2.71457721e-03 9.98489364e-01 -4.06229819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.360714057 meters 0.03059494534442394 Centerline is valid? [True, True] Translation: X:60.39, Y:-6.22, Z:-4.07 [[ 9.96151806e-01 6.73463908e-02 5.60896033e-02 6.03903338e+01] [-6.70825085e-02 9.97725758e-01 -6.57638432e-03 -6.22446979e+00] [-5.64049377e-02 2.78844583e-03 9.98404080e-01 -4.06521522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.420714057000005 meters 0.03126989305119111 Centerline is valid? [True, True] Translation: X:60.45, Y:-6.23, Z:-4.07 [[ 9.96177305e-01 6.74546572e-02 5.55035687e-02 6.04473499e+01] [-6.71966469e-02 9.97718553e-01 -6.50387693e-03 -6.23365764e+00] [-5.58156570e-02 2.74936089e-03 9.98437306e-01 -4.06907776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48071405700001 meters 0.03227975392359157 Centerline is valid? [True, True] Translation: X:60.50, Y:-6.24, Z:-4.07 [[ 9.96304956e-01 6.73812118e-02 5.32560565e-02 6.05038022e+01] [-6.71438336e-02 9.97723818e-01 -6.23601817e-03 -6.24302596e+00] [-5.35550265e-02 2.63716001e-03 9.98561418e-01 -4.07406075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.540714057 meters 0.029562373465890142 Centerline is valid? [True, True] Translation: X:60.56, Y:-6.25, Z:-4.08 [[ 9.96382529e-01 6.62297590e-02 5.32491835e-02 6.05621509e+01] [-6.59910584e-02 9.97800763e-01 -6.23044980e-03 -6.24788761e+00] [-5.35447171e-02 2.69394135e-03 9.98561819e-01 -4.07636926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.600714057000005 meters 0.03534717357695334 Centerline is valid? [True, True] Translation: X:60.62, Y:-6.27, Z:-4.08 [[ 9.96454405e-01 6.50863355e-02 5.33140392e-02 6.06188341e+01] [-6.48456433e-02 9.97875834e-01 -6.23390070e-03 -6.26510919e+00] [-5.36065331e-02 2.75461465e-03 9.98558337e-01 -4.08053672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66071405700001 meters 0.03103458683086069 Centerline is valid? [True, True] Translation: X:60.68, Y:-6.27, Z:-4.08 [[ 9.96551277e-01 6.40505810e-02 5.27548571e-02 6.06782166e+01] [-6.38136096e-02 9.97942786e-01 -6.16589941e-03 -6.26556479e+00] [-5.30412585e-02 2.77815708e-03 9.98588457e-01 -4.08264802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.720714057 meters 0.03145713179851069 Centerline is valid? [True, True] Translation: X:60.74, Y:-6.28, Z:-4.09 [[ 9.96638119e-01 6.32782883e-02 5.20415101e-02 6.07355549e+01] [-6.30468230e-02 9.97992056e-01 -6.07903127e-03 -6.27514516e+00] [-5.23216843e-02 2.77754241e-03 9.98626420e-01 -4.08757545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.780714057000004 meters 0.031246517185631872 Centerline is valid? [True, True] Translation: X:60.79, Y:-6.28, Z:-4.09 [[ 9.96819523e-01 6.08544785e-02 5.14545599e-02 6.07947438e+01] [-6.06252646e-02 9.98142532e-01 -6.00522040e-03 -6.28272373e+00] [-5.17244293e-02 2.86667462e-03 9.98657281e-01 -4.09074880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84071405700001 meters 0.033342304710892334 Centerline is valid? [True, True] Translation: X:60.85, Y:-6.29, Z:-4.09 [[ 9.97060175e-01 5.68612461e-02 5.13595840e-02 6.08535987e+01] [-5.66277098e-02 9.98377383e-01 -5.99202300e-03 -6.29405367e+00] [-5.16169610e-02 3.06603188e-03 9.98662250e-01 -4.09390545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.900714057 meters 0.03537132557879361 Centerline is valid? [True, True] Translation: X:60.91, Y:-6.31, Z:-4.10 [[ 9.97395005e-01 5.05779563e-02 5.14302798e-02 6.09129961e+01] [-5.03355197e-02 9.98714347e-01 -5.99908576e-03 -6.30611160e+00] [-5.16675798e-02 3.39468832e-03 9.98658569e-01 -4.09721938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.960714057000004 meters 0.03845118216144985 Centerline is valid? [True, True] Translation: X:60.97, Y:-6.32, Z:-4.10 [[ 9.97639596e-01 4.51722062e-02 5.17175788e-02 6.09731946e+01] [-4.49198370e-02 9.98972382e-01 -6.03234692e-03 -6.31848867e+00] [-5.19369273e-02 3.69496293e-03 9.98643531e-01 -4.10027330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.020714057000006 meters 0.03991862214158953 Centerline is valid? [True, True] Translation: X:61.03, Y:-6.33, Z:-4.10 [[ 9.97760246e-01 4.22934500e-02 5.18242724e-02 6.10330777e+01] [-4.20360943e-02 9.99097797e-01 -6.04637446e-03 -6.32712959e+00] [-5.20332384e-02 3.85434206e-03 9.98637915e-01 -4.10347238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.080714057 meters 0.04164259704093089 Centerline is valid? [True, True] Translation: X:61.09, Y:-6.34, Z:-4.11 [[ 9.97772009e-01 4.01572399e-02 5.32767774e-02 6.10933633e+01] [-3.98821685e-02 9.99185051e-01 -6.21663824e-03 -6.33766790e+00] [-5.34830026e-02 4.07799421e-03 9.98560433e-01 -4.10760308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.140714057000004 meters 0.0422064771365507 Centerline is valid? [True, True] Translation: X:61.15, Y:-6.35, Z:-4.11 [[ 9.97822912e-01 3.88172144e-02 5.33166005e-02 6.11542691e+01] [-3.85398439e-02 9.99237699e-01 -6.22103994e-03 -6.34591769e+00] [-5.35174406e-02 4.15268273e-03 9.98558280e-01 -4.11188476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.200714057000006 meters 0.044627647971291796 Centerline is valid? [True, True] Translation: X:61.21, Y:-6.36, Z:-4.12 [[ 9.97885000e-01 3.77022396e-02 5.29534491e-02 6.12144680e+01] [-3.74264282e-02 9.99280208e-01 -6.19091899e-03 -6.35508537e+00] [-5.31487452e-02 4.19596673e-03 9.98577791e-01 -4.11678082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.260714057 meters 0.04736342032786024 Centerline is valid? [True, True] Translation: X:61.28, Y:-6.37, Z:-4.12 [[ 9.97885070e-01 3.78228665e-02 5.28660407e-02 6.12759034e+01] [-3.75475104e-02 9.99275657e-01 -6.19243850e-03 -6.36540333e+00] [-5.30619633e-02 4.19435371e-03 9.98582413e-01 -4.12260289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.320714057 meters 0.040935682282897 Centerline is valid? [True, True] Translation: X:61.34, Y:-6.36, Z:-4.12 [[ 9.97719398e-01 3.84082897e-02 5.55050089e-02 6.13395508e+01] [-3.81046767e-02 9.99252493e-01 -6.51840384e-03 -6.36172127e+00] [-5.57138792e-02 4.38853753e-03 9.98437131e-01 -4.12383958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.380714057000006 meters 0.04239581938207913 Centerline is valid? [True, True] Translation: X:61.40, Y:-6.37, Z:-4.13 [[ 9.97592233e-01 4.08107647e-02 5.60733346e-02 6.13988648e+01] [-4.05043286e-02 9.99157624e-01 -6.59106646e-03 -6.36708146e+00] [-5.62950862e-02 4.30398393e-03 9.98404897e-01 -4.12740101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.440714057 meters 0.04066673225262361 Centerline is valid? [True, True] Translation: X:61.46, Y:-6.37, Z:-4.13 [[ 9.97552759e-01 4.16471409e-02 5.61605634e-02 6.14608793e+01] [-4.13411817e-02 9.99123294e-01 -6.59927090e-03 -6.36946155e+00] [-5.63861678e-02 4.26137684e-03 9.98399940e-01 -4.13236345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.500714057 meters 0.04161919213957068 Centerline is valid? [True, True] Translation: X:61.52, Y:-6.38, Z:-4.14 [[ 9.97611581e-01 4.05867673e-02 5.58913996e-02 6.15219603e+01] [-4.02812838e-02 9.99166701e-01 -6.58189362e-03 -6.37726520e+00] [-5.61119632e-02 4.31479597e-03 9.98415159e-01 -4.13774674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.560714057000006 meters 0.045345314263900406 Centerline is valid? [True, True] Translation: X:61.58, Y:-6.39, Z:-4.14 [[ 9.97747710e-01 3.64632161e-02 5.63022287e-02 6.15808172e+01] [-3.61458360e-02 9.99324430e-01 -6.64552056e-03 -6.38694405e+00] [-5.65065096e-02 4.59546180e-03 9.98391655e-01 -4.14259872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62071405700001 meters 0.04599983218309282 Centerline is valid? [True, True] Translation: X:61.64, Y:-6.39, Z:-4.15 [[ 9.97816630e-01 3.42024266e-02 5.64992569e-02 6.16412707e+01] [-3.38792835e-02 9.99403690e-01 -6.66767779e-03 -6.39264019e+00] [-5.66936166e-02 4.73896544e-03 9.98380376e-01 -4.14613098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.680714057 meters 0.052105086267955576 Centerline is valid? [True, True] Translation: X:61.70, Y:-6.40, Z:-4.15 [[ 9.97892725e-01 3.13840624e-02 5.67904061e-02 6.16995003e+01] [-3.10529930e-02 9.99495263e-01 -6.70299618e-03 -6.40458040e+00] [-5.69721092e-02 4.92535904e-03 9.98363621e-01 -4.15034243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.740714057000005 meters 0.04927767349140468 Centerline is valid? [True, True] Translation: X:61.76, Y:-6.40, Z:-4.15 [[ 9.97921622e-01 2.87685625e-02 5.76611277e-02 6.17606687e+01] [-2.84228299e-02 9.99572810e-01 -6.80729550e-03 -6.40464107e+00] [-5.78323316e-02 5.15425495e-03 9.98313005e-01 -4.15325714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80071405700001 meters 0.05061946880653099 Centerline is valid? [True, True] Translation: X:61.82, Y:-6.41, Z:-4.16 [[ 9.97918908e-01 2.85184327e-02 5.78321088e-02 6.18226186e+01] [-2.81702552e-02 9.99579826e-01 -6.82699822e-03 -6.41271609e+00] [-5.80025045e-02 5.18364535e-03 9.98302980e-01 -4.15716442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.860714057 meters 0.04610951881370358 Centerline is valid? [True, True] Translation: X:61.89, Y:-6.41, Z:-4.16 [[ 9.97969162e-01 2.73601956e-02 5.75236647e-02 6.18852693e+01] [-2.70129365e-02 9.99611915e-01 -6.80589391e-03 -6.41041553e+00] [-5.76875512e-02 5.23818914e-03 9.98320944e-01 -4.16117722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.920714057000005 meters 0.04717766247761487 Centerline is valid? [True, True] Translation: X:61.95, Y:-6.42, Z:-4.17 [[ 9.98002784e-01 2.73170615e-02 5.69580663e-02 6.19467113e+01] [-2.69763775e-02 9.99613337e-01 -6.74178684e-03 -6.41699808e+00] [-5.71202085e-02 5.19179974e-03 9.98353809e-01 -4.16697797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98071405700001 meters 0.05099275633739599 Centerline is valid? [True, True] Translation: X:62.01, Y:-6.43, Z:-4.17 [[ 9.97968383e-01 2.81152753e-02 5.71719949e-02 6.20074737e+01] [-2.77724717e-02 9.99591264e-01 -6.78190268e-03 -6.42728404e+00] [-5.73393017e-02 5.18031684e-03 9.98341309e-01 -4.17166813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04071405700002 meters 0.04950711738373162 Centerline is valid? [True, True] Translation: X:62.07, Y:-6.43, Z:-4.18 [[ 9.97933631e-01 2.83794315e-02 5.76461327e-02 6.20705338e+01] [-2.80305035e-02 9.99583579e-01 -6.85269831e-03 -6.43102409e+00] [-5.78166034e-02 5.22268798e-03 9.98313560e-01 -4.17571576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.100714057 meters 0.054690491935902155 Centerline is valid? [True, True] Translation: X:62.13, Y:-6.44, Z:-4.18 [[ 9.97951813e-01 2.80887716e-02 5.74734685e-02 6.21303762e+01] [-2.77404217e-02 9.99591689e-01 -6.85009181e-03 -6.44459007e+00] [-5.76424122e-02 5.24172329e-03 9.98323533e-01 -4.18094706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.160714057 meters 0.05075316547736257 Centerline is valid? [True, True] Translation: X:62.19, Y:-6.45, Z:-4.19 [[ 9.97947246e-01 2.86480835e-02 5.72763659e-02 6.21924611e+01] [-2.83026366e-02 9.99576042e-01 -6.83352842e-03 -6.44571525e+00] [-5.74478506e-02 5.19842869e-03 9.98334974e-01 -4.18564445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22071405700001 meters 0.04784504794789677 Centerline is valid? [True, True] Translation: X:62.25, Y:-6.45, Z:-4.19 [[ 9.97956958e-01 2.97218058e-02 5.65554917e-02 6.22538322e+01] [-2.93858248e-02 9.99545262e-01 -6.76330281e-03 -6.44792456e+00] [-5.67307914e-02 5.08755533e-03 9.98376549e-01 -4.18992821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28071405700001 meters 0.04566759329149817 Centerline is valid? [True, True] Translation: X:62.31, Y:-6.45, Z:-4.19 [[ 9.97868721e-01 3.17859304e-02 5.69883280e-02 6.23145884e+01] [-3.14479902e-02 9.99482140e-01 -6.81725591e-03 -6.45010635e+00] [-5.71755089e-02 5.01055806e-03 9.98351569e-01 -4.19258674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34071405700001 meters 0.04613029642371094 Centerline is valid? [True, True] Translation: X:62.37, Y:-6.46, Z:-4.20 [[ 9.97789353e-01 3.41778211e-02 5.69937077e-02 6.23735765e+01] [-3.38436011e-02 9.99403876e-01 -6.81938566e-03 -6.45588092e+00] [-5.71928041e-02 4.87543810e-03 9.98351247e-01 -4.19662187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40071405700002 meters 0.04610068033524036 Centerline is valid? [True, True] Translation: X:62.43, Y:-6.46, Z:-4.20 [[ 9.97669854e-01 3.77526515e-02 5.68295626e-02 6.24337863e+01] [-3.74261763e-02 9.99276268e-01 -6.79858939e-03 -6.46056134e+00] [-5.70450981e-02 4.65583446e-03 9.98360746e-01 -4.20150549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46071405700002 meters 0.04247855256361201 Centerline is valid? [True, True] Translation: X:62.49, Y:-6.46, Z:-4.20 [[ 9.97537501e-01 4.08755697e-02 5.69923006e-02 6.24947028e+01] [-4.05522799e-02 9.99154156e-01 -6.81803343e-03 -6.46070881e+00] [-5.72227850e-02 4.49007630e-03 9.98351337e-01 -4.20442721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.520714057 meters 0.04228221847255234 Centerline is valid? [True, True] Translation: X:62.56, Y:-6.46, Z:-4.21 [[ 9.97425204e-01 4.45221376e-02 5.62204681e-02 6.25553659e+01] [-4.42132811e-02 9.98999471e-01 -6.72621461e-03 -6.46450968e+00] [-5.64636834e-02 4.22320462e-03 9.98395722e-01 -4.20844008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58071405700001 meters 0.04191427507338076 Centerline is valid? [True, True] Translation: X:62.62, Y:-6.47, Z:-4.21 [[ 9.97406047e-01 4.56857563e-02 5.56236368e-02 6.26173185e+01] [-4.53853418e-02 9.98947401e-01 -6.65280523e-03 -6.46990703e+00] [-5.58690258e-02 4.11105040e-03 9.98429643e-01 -4.21321656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64071405700001 meters 0.046045459614893286 Centerline is valid? [True, True] Translation: X:62.68, Y:-6.48, Z:-4.22 [[ 9.97490187e-01 4.47093721e-02 5.49035487e-02 6.26765660e+01] [-4.44144187e-02 9.98991514e-01 -6.58129813e-03 -6.48315035e+00] [-5.51424250e-02 4.12627110e-03 9.98469973e-01 -4.21808652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70071405700001 meters 0.040128473527249166 Centerline is valid? [True, True] Translation: X:62.74, Y:-6.48, Z:-4.22 [[ 9.97568692e-01 4.28971659e-02 5.49230186e-02 6.27376694e+01] [-4.25988473e-02 9.99070514e-01 -6.59135583e-03 -6.48302148e+00] [-5.51547189e-02 4.23567293e-03 9.98468836e-01 -4.22073679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76071405700002 meters 0.046151624313481 Centerline is valid? [True, True] Translation: X:62.80, Y:-6.50, Z:-4.22 [[ 9.97584162e-01 4.19742768e-02 5.53534111e-02 6.27965690e+01] [-4.16698434e-02 9.99109350e-01 -6.64307173e-03 -6.50051178e+00] [-5.55829487e-02 4.32045517e-03 9.98444725e-01 -4.22488714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82071405700002 meters 0.04442959385397283 Centerline is valid? [True, True] Translation: X:62.86, Y:-6.51, Z:-4.23 [[ 9.97727744e-01 4.00134113e-02 5.42058559e-02 6.28571869e+01] [-3.97181991e-02 9.99189695e-01 -6.51293118e-03 -6.50846809e+00] [-5.44225372e-02 4.34517316e-03 9.98508541e-01 -4.22954919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.880714057 meters 0.05227566661003943 Centerline is valid? [True, True] Translation: X:62.91, Y:-6.53, Z:-4.24 [[ 9.97843605e-01 3.69842064e-02 5.42246191e-02 6.29142668e+01] [-3.66842170e-02 9.99305653e-01 -6.51761644e-03 -6.53095956e+00] [-5.44280173e-02 4.51437419e-03 9.98507492e-01 -4.23515745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94071405700001 meters 0.04645130255157658 Centerline is valid? [True, True] Translation: X:62.98, Y:-6.53, Z:-4.24 [[ 9.97931920e-01 3.48238441e-02 5.40294680e-02 6.29757408e+01] [-3.45229392e-02 9.99382814e-01 -6.49290768e-03 -6.53367703e+00] [-5.42222298e-02 4.61422379e-03 9.98518232e-01 -4.23769151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00071405700001 meters 0.04743552444815292 Centerline is valid? [True, True] Translation: X:63.03, Y:-6.55, Z:-4.24 [[ 9.98046914e-01 2.97406760e-02 5.49349555e-02 6.30344056e+01] [-2.94218288e-02 9.99545269e-01 -6.60393010e-03 -6.55187818e+00] [-5.51063802e-02 4.97474520e-03 9.98468096e-01 -4.24118947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06071405700001 meters 0.04631879174755254 Centerline is valid? [True, True] Translation: X:63.09, Y:-6.56, Z:-4.25 [[ 9.98157157e-01 2.66885144e-02 5.44978308e-02 6.30939483e+01] [-2.63701807e-02 9.99630774e-01 -6.55210912e-03 -6.56286052e+00] [-5.46525748e-02 5.10291697e-03 9.98492392e-01 -4.24593627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12071405700001 meters 0.04922369387385582 Centerline is valid? [True, True] Translation: X:63.15, Y:-6.58, Z:-4.25 [[ 9.98367920e-01 2.25573691e-02 5.24658062e-02 6.31532607e+01] [-2.22567203e-02 9.99732390e-01 -6.30766935e-03 -6.58214719e+00] [-5.25940502e-02 5.12965795e-03 9.98602800e-01 -4.25226873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18071405700002 meters 0.05334400690077213 Centerline is valid? [True, True] Translation: X:63.21, Y:-6.60, Z:-4.26 [[ 9.98413242e-01 1.95718472e-02 5.28009497e-02 6.32105990e+01] [-1.92630945e-02 9.99794283e-01 -6.35011871e-03 -6.60434770e+00] [-5.29143713e-02 5.32293293e-03 9.98584867e-01 -4.25737131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.240714057 meters 0.049741968688470736 Centerline is valid? [True, True] Translation: X:63.27, Y:-6.62, Z:-4.26 [[ 9.98389258e-01 1.92551044e-02 5.33678867e-02 6.32709922e+01] [-1.89393626e-02 9.99800049e-01 -6.41581037e-03 -6.61748843e+00] [-5.34807528e-02 5.39472240e-03 9.98554308e-01 -4.26187777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30071405700001 meters 0.05149701000586681 Centerline is valid? [True, True] Translation: X:63.33, Y:-6.64, Z:-4.27 [[ 9.98286536e-01 2.27092177e-02 5.39285034e-02 6.33290888e+01] [-2.23912958e-02 9.99728203e-01 -6.49223239e-03 -6.63517974e+00] [-5.40612794e-02 5.27357911e-03 9.98523694e-01 -4.26621860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36071405700001 meters 0.04899960173940834 Centerline is valid? [True, True] Translation: X:63.39, Y:-6.64, Z:-4.27 [[ 9.98182327e-01 2.65648834e-02 5.40957360e-02 6.33884911e+01] [-2.62505916e-02 9.99634181e-01 -6.51232045e-03 -6.64415346e+00] [-5.42489457e-02 5.08043811e-03 9.98514517e-01 -4.27003310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42071405700001 meters 0.04868646459088939 Centerline is valid? [True, True] Translation: X:63.45, Y:-6.66, Z:-4.28 [[ 9.98004399e-01 3.26929001e-02 5.40221606e-02 6.34468874e+01] [-3.23883647e-02 9.99454201e-01 -6.50336707e-03 -6.65934637e+00] [-5.42052893e-02 4.74069951e-03 9.98518559e-01 -4.27507958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48071405700001 meters 0.046489952386670974 Centerline is valid? [True, True] Translation: X:63.51, Y:-6.67, Z:-4.28 [[ 9.97706301e-01 4.02998647e-02 5.43880216e-02 6.35065516e+01] [-4.00023947e-02 9.99178132e-01 -6.54743973e-03 -6.67246344e+00] [-5.46071828e-02 4.35677077e-03 9.98498410e-01 -4.27973154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54071405700002 meters 0.0380878244654676 Centerline is valid? [True, True] Translation: X:63.57, Y:-6.68, Z:-4.28 [[ 9.97361160e-01 4.75927095e-02 5.48238147e-02 6.35667421e+01] [-4.73013621e-02 9.98858857e-01 -6.60038191e-03 -6.67556770e+00] [-5.50753829e-02 3.98972345e-03 9.98474228e-01 -4.28321132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.600714057 meters 0.03728275003926409 Centerline is valid? [True, True] Translation: X:63.63, Y:-6.69, Z:-4.29 [[ 9.96992597e-01 5.42076166e-02 5.53831664e-02 6.36252905e+01] [-5.39204192e-02 9.98522973e-01 -6.66794047e-03 -6.68945244e+00] [-5.56628171e-02 3.66160374e-03 9.98442909e-01 -4.28831479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.660714057 meters 0.037107941936703505 Centerline is valid? [True, True] Translation: X:63.69, Y:-6.70, Z:-4.29 [[ 9.96730092e-01 5.84394853e-02 5.58027776e-02 6.36850219e+01] [-5.81545197e-02 9.98284987e-01 -6.71832243e-03 -6.70088281e+00] [-5.60996904e-02 3.45117041e-03 9.98419208e-01 -4.29253749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72071405700001 meters 0.0356530496990199 Centerline is valid? [True, True] Translation: X:63.75, Y:-6.71, Z:-4.30 [[ 9.96591096e-01 5.99632884e-02 5.66620848e-02 6.37465127e+01] [-5.96720175e-02 9.98194739e-01 -6.82003939e-03 -6.71072652e+00] [-5.69687469e-02 3.41564961e-03 9.98370119e-01 -4.29653670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78071405700001 meters 0.03484848185438181 Centerline is valid? [True, True] Translation: X:63.81, Y:-6.72, Z:-4.30 [[ 9.96527892e-01 5.99792040e-02 5.77464700e-02 6.38085358e+01] [-5.96758441e-02 9.98193509e-01 -6.96508293e-03 -6.72459368e+00] [-5.80599116e-02 3.49483007e-03 9.98306983e-01 -4.30015529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84071405700001 meters 0.036965216577366615 Centerline is valid? [True, True] Translation: X:63.87, Y:-6.74, Z:-4.30 [[ 9.96618688e-01 5.82955335e-02 5.79035533e-02 6.38683775e+01] [-5.79866822e-02 9.98292806e-01 -7.00130728e-03 -6.74013234e+00] [-5.82128457e-02 3.61999873e-03 9.98297631e-01 -4.30467897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90071405700002 meters 0.037417477016055516 Centerline is valid? [True, True] Translation: X:63.93, Y:-6.75, Z:-4.31 [[ 9.96712701e-01 5.50531993e-02 5.94385145e-02 6.39279397e+01] [-5.47210819e-02 9.98475704e-01 -7.20214250e-03 -6.75433923e+00] [-5.97444136e-02 3.92592709e-03 9.98205987e-01 -4.30752095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96071405700002 meters 0.03594123612064337 Centerline is valid? [True, True] Translation: X:63.99, Y:-6.76, Z:-4.31 [[ 9.96832463e-01 5.18497699e-02 6.03045812e-02 6.39882998e+01] [-5.15019957e-02 9.98646152e-01 -7.30810089e-03 -6.76336691e+00] [-6.06018613e-02 4.17914593e-03 9.98153269e-01 -4.31069929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.020714057 meters 0.035915313541958524 Centerline is valid? [True, True] Translation: X:64.05, Y:-6.77, Z:-4.32 [[ 9.96948927e-01 4.87834954e-02 6.09344503e-02 6.40487747e+01] [-4.84225680e-02 9.98799625e-01 -7.38678576e-03 -6.77417691e+00] [-6.12216593e-02 4.41364557e-03 9.98114436e-01 -4.31508018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08071405700001 meters 0.04018562323401756 Centerline is valid? [True, True] Translation: X:64.11, Y:-6.79, Z:-4.32 [[ 9.97012505e-01 4.71366779e-02 6.11898488e-02 6.41071063e+01] [-4.67694810e-02 9.98878149e-01 -7.42018680e-03 -6.78963642e+00] [-6.14709659e-02 4.53620156e-03 9.98098564e-01 -4.31956307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14071405700001 meters 0.03800538139379361 Centerline is valid? [True, True] Translation: X:64.17, Y:-6.79, Z:-4.32 [[ 9.97080971e-01 4.60137937e-02 6.09283825e-02 6.41688115e+01] [-4.56476656e-02 9.98930280e-01 -7.38823270e-03 -6.79491672e+00] [-6.12031668e-02 4.58542780e-03 9.98114796e-01 -4.32412436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20071405700001 meters 0.03960668810963769 Centerline is valid? [True, True] Translation: X:64.23, Y:-6.80, Z:-4.33 [[ 9.97094851e-01 4.59793073e-02 6.07269445e-02 6.42299092e+01] [-4.56152975e-02 9.98931910e-01 -7.36771769e-03 -6.80438309e+00] [-6.10008453e-02 4.57623573e-03 9.98127224e-01 -4.32829402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26071405700002 meters 0.04187160233683457 Centerline is valid? [True, True] Translation: X:64.29, Y:-6.81, Z:-4.33 [[ 9.97024869e-01 4.83262199e-02 6.00498731e-02 6.42890712e+01] [-4.79735326e-02 9.98821917e-01 -7.30197352e-03 -6.81456509e+00] [-6.03320061e-02 4.39944465e-03 9.98168670e-01 -4.33198448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32071405700002 meters 0.04163621972137146 Centerline is valid? [True, True] Translation: X:64.35, Y:-6.82, Z:-4.34 [[ 9.97009750e-01 5.02137313e-02 5.87378895e-02 6.43503420e+01] [-4.98795827e-02 9.98729702e-01 -7.14214634e-03 -6.81998919e+00] [-5.90219086e-02 4.19096812e-03 9.98247890e-01 -4.33653704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.380714057 meters 0.036567887015926795 Centerline is valid? [True, True] Translation: X:64.41, Y:-6.82, Z:-4.34 [[ 9.96725018e-01 5.55812160e-02 5.87364181e-02 6.44118586e+01] [-5.52561524e-02 9.98446645e-01 -7.14529584e-03 -6.81762031e+00] [-5.90423238e-02 3.87634665e-03 9.98247954e-01 -4.33958494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44071405700001 meters 0.035791033574106526 Centerline is valid? [True, True] Translation: X:64.47, Y:-6.82, Z:-4.34 [[ 9.96296478e-01 6.13275847e-02 6.02681889e-02 6.44712119e+01] [-6.09957039e-02 9.98111093e-01 -7.33284897e-03 -6.82040301e+00] [-6.06040538e-02 3.62959100e-03 9.98155286e-01 -4.34173167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50071405700001 meters 0.033755935557759416 Centerline is valid? [True, True] Translation: X:64.53, Y:-6.82, Z:-4.35 [[ 9.95918657e-01 6.61161707e-02 6.14384271e-02 6.45318673e+01] [-6.57804041e-02 9.97806133e-01 -7.47396843e-03 -6.82212409e+00] [-6.17977895e-02 3.40202004e-03 9.98082892e-01 -4.34509794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56071405700001 meters 0.036354977832253194 Centerline is valid? [True, True] Translation: X:64.59, Y:-6.83, Z:-4.35 [[ 9.95895389e-01 6.70098458e-02 6.08445049e-02 6.45923856e+01] [-6.66822363e-02 9.97746812e-01 -7.40129825e-03 -6.83152180e+00] [-6.12033706e-02 3.31367115e-03 9.98119816e-01 -4.35042294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62071405700001 meters 0.03401587777609273 Centerline is valid? [True, True] Translation: X:64.65, Y:-6.84, Z:-4.35 [[ 9.96133304e-01 6.32631417e-02 6.09607640e-02 6.46528044e+01] [-6.29263880e-02 9.97990513e-01 -7.43009715e-03 -6.83537647e+00] [-6.13083154e-02 3.56532654e-03 9.98112508e-01 -4.35487212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68071405700002 meters 0.04207864951110606 Centerline is valid? [True, True] Translation: X:64.71, Y:-6.85, Z:-4.36 [[ 9.96401448e-01 5.83774665e-02 6.14510091e-02 6.47108308e+01] [-5.80259445e-02 9.98286970e-01 -7.49099310e-03 -6.85393958e+00] [-6.17830469e-02 3.89828353e-03 9.98081990e-01 -4.35923953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.740714057 meters 0.03520640694811728 Centerline is valid? [True, True] Translation: X:64.77, Y:-6.85, Z:-4.36 [[ 9.96707134e-01 5.20054498e-02 6.22119209e-02 6.47728846e+01] [-5.16327638e-02 9.98637339e-01 -7.58439900e-03 -6.85163335e+00] [-6.25215772e-02 4.34725118e-03 9.98034145e-01 -4.36184877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80071405700001 meters 0.038170872865806005 Centerline is valid? [True, True] Translation: X:64.83, Y:-6.86, Z:-4.37 [[ 9.96987391e-01 4.67909858e-02 6.18606993e-02 6.48314470e+01] [-4.64123990e-02 9.98893880e-01 -7.54360530e-03 -6.86360744e+00] [-6.21452466e-02 4.64977590e-03 9.98056285e-01 -4.36627199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86071405700001 meters 0.041230690201051724 Centerline is valid? [True, True] Translation: X:64.89, Y:-6.88, Z:-4.37 [[ 9.97161881e-01 4.34801416e-02 6.14626719e-02 6.48901631e+01] [-4.31002037e-02 9.99042644e-01 -7.49455587e-03 -6.87590904e+00] [-6.17296945e-02 4.82423175e-03 9.98081245e-01 -4.37060448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92071405700001 meters 0.044375278729644675 Centerline is valid? [True, True] Translation: X:64.95, Y:-6.89, Z:-4.37 [[ 9.97298890e-01 4.10717553e-02 6.08936316e-02 6.49490781e+01] [-4.06944448e-02 9.99144057e-01 -7.42402164e-03 -6.88568895e+00] [-6.11464277e-02 4.92593601e-03 9.98116651e-01 -4.37458039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98071405700001 meters 0.046294530681178996 Centerline is valid? [True, True] Translation: X:65.01, Y:-6.89, Z:-4.38 [[ 9.97316414e-01 4.05324413e-02 6.09679593e-02 6.50099242e+01] [-4.01529807e-02 9.99165868e-01 -7.43677736e-03 -6.89462984e+00] [-6.12185348e-02 4.96877484e-03 9.98112019e-01 -4.37919042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04071405700002 meters 0.0441968126185785 Centerline is valid? [True, True] Translation: X:65.07, Y:-6.90, Z:-4.38 [[ 9.97307832e-01 4.12536546e-02 6.06236267e-02 6.50719227e+01] [-4.08789551e-02 9.99136639e-01 -7.40859155e-03 -6.89746160e+00] [-6.08769181e-02 4.91041586e-03 9.98133202e-01 -4.38268876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.100714057 meters 0.044650343708097846 Centerline is valid? [True, True] Translation: X:65.13, Y:-6.90, Z:-4.39 [[ 9.97126237e-01 4.49891901e-02 6.09527649e-02 6.51313293e+01] [-4.46163309e-02 9.98976303e-01 -7.46513519e-03 -6.90211532e+00] [-6.12262181e-02 4.72419344e-03 9.98112735e-01 -4.38672048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.160714057 meters 0.03694194476533277 Centerline is valid? [True, True] Translation: X:65.19, Y:-6.90, Z:-4.39 [[ 9.96968085e-01 4.88499340e-02 6.05666742e-02 6.51934448e+01] [-4.84889341e-02 9.98796183e-01 -7.41675010e-03 -6.89505001e+00] [-6.08560708e-02 4.45744966e-03 9.98136599e-01 -4.39097593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22071405700001 meters 0.044305909227794475 Centerline is valid? [True, True] Translation: X:65.25, Y:-6.91, Z:-4.40 [[ 9.96903932e-01 5.09794047e-02 5.98636037e-02 6.52530267e+01] [-5.06305672e-02 9.98690546e-01 -7.33063176e-03 -6.90933981e+00] [-6.01589263e-02 4.27700742e-03 9.98179649e-01 -4.39537074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28071405700001 meters 0.03728603096970439 Centerline is valid? [True, True] Translation: X:65.32, Y:-6.90, Z:-4.40 [[ 9.96916185e-01 5.08045736e-02 5.98081487e-02 6.53165817e+01] [-5.04559958e-02 9.98699422e-01 -7.32508037e-03 -6.90358114e+00] [-6.01025111e-02 4.28481148e-03 9.98183014e-01 -4.39789324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34071405700001 meters 0.04040924944336125 Centerline is valid? [True, True] Translation: X:65.38, Y:-6.91, Z:-4.40 [[ 9.96823155e-01 5.06343046e-02 6.14797893e-02 6.53776306e+01] [-5.02645978e-02 9.98707427e-01 -7.54623686e-03 -6.91115149e+00] [-6.17824206e-02 4.43200676e-03 9.98079801e-01 -4.40026495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40071405700002 meters 0.03825890244627758 Centerline is valid? [True, True] Translation: X:65.44, Y:-6.91, Z:-4.40 [[ 9.96815805e-01 4.93497816e-02 6.26326621e-02 6.54402215e+01] [-4.89625681e-02 9.98770909e-01 -7.70308284e-03 -6.91144791e+00] [-6.29358263e-02 4.61189874e-03 9.98006920e-01 -4.40319263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46071405700002 meters 0.04062514992666199 Centerline is valid? [True, True] Translation: X:65.50, Y:-6.92, Z:-4.41 [[ 9.96987250e-01 4.74308500e-02 6.13737510e-02 6.54998591e+01] [-4.70551730e-02 9.98863737e-01 -7.55288000e-03 -6.91924024e+00] [-6.16622538e-02 4.64217260e-03 9.98086277e-01 -4.40865796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.520714057 meters 0.0401779090806137 Centerline is valid? [True, True] Translation: X:65.56, Y:-6.92, Z:-4.41 [[ 9.97218436e-01 4.51275775e-02 5.93202529e-02 6.55606758e+01] [-4.47725478e-02 9.98970526e-01 -7.30121210e-03 -6.92383516e+00] [-5.95886702e-02 4.62498446e-03 9.98212302e-01 -4.41481331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58071405700001 meters 0.04096977123018732 Centerline is valid? [True, True] Translation: X:65.62, Y:-6.93, Z:-4.42 [[ 9.97241249e-01 4.54208168e-02 5.87097982e-02 6.56235729e+01] [-4.50735983e-02 9.98957537e-01 -7.22563897e-03 -6.92986473e+00] [-5.89767898e-02 4.55944337e-03 9.98248942e-01 -4.41908815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64071405700001 meters 0.042500926452702925 Centerline is valid? [True, True] Translation: X:65.68, Y:-6.94, Z:-4.42 [[ 9.97164876e-01 4.73218594e-02 5.85051492e-02 6.56841046e+01] [-4.69792201e-02 9.98869781e-01 -7.21897486e-03 -6.93615404e+00] [-5.87806409e-02 4.44998188e-03 9.98261005e-01 -4.42290525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70071405700001 meters 0.04089229493335567 Centerline is valid? [True, True] Translation: X:65.75, Y:-6.94, Z:-4.43 [[ 9.96851929e-01 5.24123335e-02 5.94909934e-02 6.57451786e+01] [-5.20669004e-02 9.98616603e-01 -7.34289866e-03 -6.93655785e+00] [-5.97935522e-02 4.22227106e-03 9.98201835e-01 -4.42680812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76071405700002 meters 0.04089212832945841 Centerline is valid? [True, True] Translation: X:65.81, Y:-6.94, Z:-4.43 [[ 9.96693417e-01 5.51827660e-02 5.96413798e-02 6.58058320e+01] [-5.48404542e-02 9.98467986e-01 -7.36243062e-03 -6.94118156e+00] [-5.99562877e-02 4.06732577e-03 9.98192717e-01 -4.43138518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82071405700002 meters 0.04182940819778923 Centerline is valid? [True, True] Translation: X:65.87, Y:-6.95, Z:-4.43 [[ 9.96596122e-01 5.66040048e-02 5.99345996e-02 6.58663812e+01] [-5.62607916e-02 9.98388684e-01 -7.39991740e-03 -6.94544957e+00] [-6.02568910e-02 4.00276096e-03 9.98174877e-01 -4.43483654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.880714057 meters 0.04455302825842509 Centerline is valid? [True, True] Translation: X:65.93, Y:-6.95, Z:-4.44 [[ 9.96763994e-01 5.49421000e-02 5.86762727e-02 6.59256245e+01] [-5.46102031e-02 9.98481456e-01 -7.24626366e-03 -6.95226275e+00] [-5.89852951e-02 4.01849154e-03 9.98250763e-01 -4.44002753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94071405700001 meters 0.04171439020911331 Centerline is valid? [True, True] Translation: X:65.99, Y:-6.95, Z:-4.44 [[ 9.96977684e-01 5.21160360e-02 5.76143722e-02 6.59869794e+01] [-5.17910705e-02 9.98632559e-01 -7.12025109e-03 -6.95140097e+00] [-5.79066672e-02 4.11482143e-03 9.98313521e-01 -4.44433566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00071405700001 meters 0.0442258915215992 Centerline is valid? [True, True] Translation: X:66.05, Y:-6.96, Z:-4.45 [[ 9.97104321e-01 5.00693676e-02 5.72366250e-02 6.60462117e+01] [-4.97452714e-02 9.98736885e-01 -7.07412640e-03 -6.95945667e+00] [-5.75185256e-02 4.20639056e-03 9.98335578e-01 -4.44984068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06071405700001 meters 0.04698855792566513 Centerline is valid? [True, True] Translation: X:66.11, Y:-6.97, Z:-4.45 [[ 9.97218098e-01 4.76732055e-02 5.73003581e-02 6.61066957e+01] [-4.73441711e-02 9.98853495e-01 -7.08693102e-03 -6.96665976e+00] [-5.75725197e-02 4.35437791e-03 9.98331831e-01 -4.45328313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12071405700001 meters 0.0493982054417011 Centerline is valid? [True, True] Translation: X:66.17, Y:-6.97, Z:-4.46 [[ 9.97258638e-01 4.60236300e-02 5.79399256e-02 6.61671565e+01] [-4.56842978e-02 9.98930208e-01 -7.16834929e-03 -6.97385145e+00] [-5.82078553e-02 4.50175343e-03 9.98294335e-01 -4.45589293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18071405700002 meters 0.04754216452282462 Centerline is valid? [True, True] Translation: X:66.23, Y:-6.98, Z:-4.46 [[ 9.97395877e-01 4.26920894e-02 5.81278744e-02 6.62275525e+01] [-4.23448684e-02 9.99077163e-01 -7.19266661e-03 -6.97572808e+00] [-5.83813018e-02 4.71251883e-03 9.98283234e-01 -4.45889124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.240714057 meters 0.049194999444605494 Centerline is valid? [True, True] Translation: X:66.29, Y:-6.98, Z:-4.46 [[ 9.97597781e-01 3.91058013e-02 5.71786917e-02 6.62874837e+01] [-3.87639879e-02 9.99223344e-01 -7.07538528e-03 -6.98232499e+00] [-5.74109722e-02 4.84191454e-03 9.98338888e-01 -4.46441284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30071405700001 meters 0.05400215623008732 Centerline is valid? [True, True] Translation: X:66.35, Y:-6.99, Z:-4.47 [[ 9.97725308e-01 3.65485974e-02 5.66428324e-02 6.63467132e+01] [-3.62090734e-02 9.99319655e-01 -7.00923393e-03 -6.99209101e+00] [-5.68604734e-02 4.94230560e-03 9.98369901e-01 -4.46950658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36071405700001 meters 0.052655575361866366 Centerline is valid? [True, True] Translation: X:66.41, Y:-6.99, Z:-4.47 [[ 9.97797763e-01 3.54069810e-02 5.60889534e-02 6.64091528e+01] [-3.50722939e-02 9.99360677e-01 -6.94054791e-03 -6.99480333e+00] [-5.62988383e-02 4.95809491e-03 9.98401652e-01 -4.47432491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42071405700001 meters 0.05837668467791076 Centerline is valid? [True, True] Translation: X:66.47, Y:-7.01, Z:-4.48 [[ 9.97766069e-01 3.49202478e-02 5.69512724e-02 6.64691279e+01] [-3.45742250e-02 9.99377266e-01 -7.05011719e-03 -7.00713251e+00] [-5.71619987e-02 5.06532161e-03 9.98352066e-01 -4.47759166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48071405700001 meters 0.05001097789479281 Centerline is valid? [True, True] Translation: X:66.53, Y:-7.00, Z:-4.48 [[ 9.97714374e-01 3.50331638e-02 5.77815242e-02 6.65332035e+01] [-3.46764192e-02 9.99372904e-01 -7.16548552e-03 -7.00184598e+00] [-5.79963192e-02 5.14545154e-03 9.98303537e-01 -4.47998729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54071405700002 meters 0.060270565435421954 Centerline is valid? [True, True] Translation: X:66.59, Y:-7.02, Z:-4.49 [[ 9.97738515e-01 3.49444179e-02 5.74172678e-02 6.65926304e+01] [-3.45910635e-02 9.99376067e-01 -7.13685245e-03 -7.02081487e+00] [-5.76308364e-02 5.13458821e-03 9.98324758e-01 -4.48551887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.600714057 meters 0.053938628927407826 Centerline is valid? [True, True] Translation: X:66.66, Y:-7.02, Z:-4.49 [[ 9.97837834e-01 3.45505570e-02 5.59099008e-02 6.66558434e+01] [-3.42142399e-02 9.99390274e-01 -6.96169392e-03 -7.01785780e+00] [-5.61163416e-02 5.03372682e-03 9.98411547e-01 -4.49047464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.660714057 meters 0.05510386934478987 Centerline is valid? [True, True] Translation: X:66.72, Y:-7.02, Z:-4.50 [[ 9.97825781e-01 3.55853866e-02 5.54742343e-02 6.67175058e+01] [-3.52551447e-02 9.99354381e-01 -6.92068535e-03 -7.02499285e+00] [-5.56846944e-02 4.94988611e-03 9.98436134e-01 -4.49530629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72071405700001 meters 0.04306943167202364 Centerline is valid? [True, True] Translation: X:66.78, Y:-7.01, Z:-4.50 [[ 9.97699944e-01 3.77512081e-02 5.62998124e-02 6.67801505e+01] [-3.74136021e-02 9.99275075e-01 -7.03896899e-03 -7.01358668e+00] [-5.65247289e-02 4.91640019e-03 9.98389095e-01 -4.49702880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78071405700001 meters 0.043637988036075374 Centerline is valid? [True, True] Translation: X:66.84, Y:-7.02, Z:-4.50 [[ 9.97615409e-01 3.96819791e-02 5.64697809e-02 6.68403310e+01] [-3.93453281e-02 9.99200721e-01 -7.06141504e-03 -7.01936691e+00] [-5.67048567e-02 4.82275440e-03 9.98379337e-01 -4.50067192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84071405700001 meters 0.041473643894212354 Centerline is valid? [True, True] Translation: X:66.90, Y:-7.02, Z:-4.50 [[ 9.97323994e-01 4.35486822e-02 5.87227628e-02 6.69013191e+01] [-4.31912445e-02 9.99039837e-01 -7.34304596e-03 -7.02208215e+00] [-5.89861594e-02 4.78708672e-03 9.98247322e-01 -4.50359645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90071405700002 meters 0.04374119691579672 Centerline is valid? [True, True] Translation: X:66.96, Y:-7.03, Z:-4.51 [[ 9.97150044e-01 4.64763063e-02 5.94284623e-02 6.69603092e+01] [-4.61153023e-02 9.98908473e-01 -7.43247221e-03 -7.03149657e+00] [-5.97090284e-02 4.67072849e-03 9.98204897e-01 -4.50735427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96071405700002 meters 0.04212151189545064 Centerline is valid? [True, True] Translation: X:67.02, Y:-7.04, Z:-4.51 [[ 9.97194864e-01 4.71002171e-02 5.81719210e-02 6.70218759e+01] [-4.67554849e-02 9.98879881e-01 -7.27378146e-03 -7.03637480e+00] [-5.84493582e-02 4.53352114e-03 9.98280081e-01 -4.51376706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.020714057 meters 0.042097957906882914 Centerline is valid? [True, True] Translation: X:67.08, Y:-7.04, Z:-4.52 [[ 9.97228953e-01 4.73367317e-02 5.73903229e-02 6.70844689e+01] [-4.70007944e-02 9.98868975e-01 -7.19005806e-03 -7.04474182e+00] [-5.76657669e-02 4.47274330e-03 9.98325926e-01 -4.51898219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08071405700001 meters 0.042480101914318086 Centerline is valid? [True, True] Translation: X:67.15, Y:-7.05, Z:-4.52 [[ 9.97192148e-01 4.78871665e-02 5.75729049e-02 6.71461997e+01] [-4.75490130e-02 9.98842740e-01 -7.22989712e-03 -7.05282884e+00] [-5.78524974e-02 4.47206184e-03 9.98315125e-01 -4.52275569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14071405700001 meters 0.0440174708507982 Centerline is valid? [True, True] Translation: X:67.21, Y:-7.06, Z:-4.53 [[ 9.97135965e-01 4.96330696e-02 5.70651084e-02 6.72064081e+01] [-4.93028002e-02 9.98758056e-01 -7.18184583e-03 -7.06122950e+00] [-5.73506938e-02 4.34780713e-03 9.98344627e-01 -4.52712203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20071405700001 meters 0.04467904234029323 Centerline is valid? [True, True] Translation: X:67.27, Y:-7.07, Z:-4.53 [[ 9.97105513e-01 5.06354644e-02 5.67154756e-02 6.72680891e+01] [-5.03108204e-02 9.98708099e-01 -7.13829792e-03 -7.07005589e+00] [-5.70036558e-02 4.26423410e-03 9.98364863e-01 -4.53221075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26071405700002 meters 0.040379669564236845 Centerline is valid? [True, True] Translation: X:67.33, Y:-7.07, Z:-4.54 [[ 9.97026830e-01 5.24789424e-02 5.64221683e-02 6.73295871e+01] [-5.21597231e-02 9.98613398e-01 -7.11655724e-03 -7.07092150e+00] [-5.67174026e-02 4.15243383e-03 9.98381637e-01 -4.53623032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32071405700002 meters 0.04136983572575287 Centerline is valid? [True, True] Translation: X:67.39, Y:-7.08, Z:-4.54 [[ 9.96955419e-01 5.38790023e-02 5.63643936e-02 6.73898862e+01] [-5.35625451e-02 9.98539174e-01 -7.11131267e-03 -7.07927337e+00] [-5.66652054e-02 4.07064133e-03 9.98384938e-01 -4.54027567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.380714057 meters 0.038212013915081854 Centerline is valid? [True, True] Translation: X:67.45, Y:-7.08, Z:-4.54 [[ 9.96947311e-01 5.41923362e-02 5.62071993e-02 6.74514397e+01] [-5.38780261e-02 9.98522329e-01 -7.09347718e-03 -7.08297140e+00] [-5.65085556e-02 4.04349005e-03 9.98393927e-01 -4.54406829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44071405700001 meters 0.03910990069918459 Centerline is valid? [True, True] Translation: X:67.51, Y:-7.09, Z:-4.55 [[ 9.97030634e-01 5.36545372e-02 5.52368114e-02 6.75119987e+01] [-5.33500702e-02 9.98551525e-01 -6.97298821e-03 -7.09153155e+00] [-5.55309347e-02 4.00539509e-03 9.98448933e-01 -4.54905249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50071405700001 meters 0.03946621997278643 Centerline is valid? [True, True] Translation: X:67.57, Y:-7.10, Z:-4.55 [[ 9.97009968e-01 5.37051584e-02 5.55596907e-02 6.75725598e+01] [-5.33970820e-02 9.98548712e-01 -7.01576404e-03 -7.10024298e+00] [-5.58558403e-02 4.02806132e-03 9.98430719e-01 -4.55301128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56071405700001 meters 0.03930120101410028 Centerline is valid? [True, True] Translation: X:67.63, Y:-7.11, Z:-4.56 [[ 9.97124015e-01 5.17425332e-02 5.53751646e-02 6.76332879e+01] [-5.14333841e-02 9.98651934e-01 -6.99444169e-03 -7.10907449e+00] [-5.56624253e-02 4.12619367e-03 9.98441119e-01 -4.55748076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62071405700001 meters 0.04119404009293043 Centerline is valid? [True, True] Translation: X:67.69, Y:-7.12, Z:-4.56 [[ 9.97295076e-01 4.85553782e-02 5.51806811e-02 6.76924312e+01] [-4.82434252e-02 9.98811274e-01 -6.97216438e-03 -7.12104946e+00] [-5.54536225e-02 4.29120014e-03 9.98452043e-01 -4.56233635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68071405700002 meters 0.042917999690909425 Centerline is valid? [True, True] Translation: X:67.75, Y:-7.13, Z:-4.57 [[ 9.97527100e-01 4.48848349e-02 5.40836032e-02 6.77515287e+01] [-4.45798063e-02 9.98982452e-01 -6.83381850e-03 -7.13255011e+00] [-5.43353053e-02 4.40588259e-03 9.98513026e-01 -4.56739391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.740714057 meters 0.0439538350851331 Centerline is valid? [True, True] Translation: X:67.81, Y:-7.14, Z:-4.57 [[ 9.97675335e-01 4.18665636e-02 5.37691081e-02 6.78115522e+01] [-4.15607301e-02 9.99112880e-01 -6.79400573e-03 -7.14373735e+00] [-5.40058501e-02 4.54352856e-03 9.98530282e-01 -4.57164228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80071405700001 meters 0.04392288708072299 Centerline is valid? [True, True] Translation: X:67.87, Y:-7.15, Z:-4.58 [[ 9.97750194e-01 4.21160686e-02 5.21611679e-02 6.78734462e+01] [-4.18287021e-02 9.99103069e-01 -6.58915013e-03 -7.15167205e+00] [-5.23918920e-02 4.39249186e-03 9.98616941e-01 -4.57611425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86071405700001 meters 0.0396109781910219 Centerline is valid? [True, True] Translation: X:67.94, Y:-7.15, Z:-4.58 [[ 9.97719849e-01 4.38428578e-02 5.13118614e-02 6.79355456e+01] [-4.35662767e-02 9.99029414e-01 -6.49685132e-03 -7.15355156e+00] [-5.15468994e-02 4.24657076e-03 9.98661546e-01 -4.57984634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92071405700001 meters 0.039664282898542284 Centerline is valid? [True, True] Translation: X:68.00, Y:-7.16, Z:-4.58 [[ 9.97569843e-01 4.70133098e-02 5.14213615e-02 6.79955369e+01] [-4.67394572e-02 9.98885862e-01 -6.51592206e-03 -7.16020946e+00] [-5.16704061e-02 4.09668083e-03 9.98655790e-01 -4.58261191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98071405700001 meters 0.038940084886709025 Centerline is valid? [True, True] Translation: X:68.06, Y:-7.17, Z:-4.59 [[ 9.97347142e-01 5.10152419e-02 5.19242157e-02 6.80555866e+01] [-5.07413528e-02 9.98690150e-01 -6.58029016e-03 -7.16539086e+00] [-5.21918978e-02 3.92812863e-03 9.98629348e-01 -4.58542758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04071405700002 meters 0.03750735542733756 Centerline is valid? [True, True] Translation: X:68.12, Y:-7.17, Z:-4.59 [[ 9.97171217e-01 5.42222263e-02 5.20529969e-02 6.81164809e+01] [-5.39513275e-02 9.98521778e-01 -6.59640985e-03 -7.17051323e+00] [-5.23337230e-02 3.76942175e-03 9.98622538e-01 -4.59024239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10071405700002 meters 0.03703659596206108 Centerline is valid? [True, True] Translation: X:68.18, Y:-7.18, Z:-4.59 [[ 9.97004361e-01 5.62600079e-02 5.30765097e-02 6.81768782e+01] [-5.59811542e-02 9.98409163e-01 -6.72712925e-03 -7.17737112e+00] [-5.33705420e-02 3.73569292e-03 9.98567789e-01 -4.59417285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.160714057 meters 0.04033735730012274 Centerline is valid? [True, True] Translation: X:68.24, Y:-7.19, Z:-4.60 [[ 9.97003729e-01 5.65722023e-02 5.27555678e-02 6.82351718e+01] [-5.62970759e-02 9.98391663e-01 -6.68783383e-03 -7.18919615e+00] [-5.30490645e-02 3.69781107e-03 9.98585060e-01 -4.59849736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22071405700001 meters 0.03891276529823061 Centerline is valid? [True, True] Translation: X:68.30, Y:-7.19, Z:-4.60 [[ 9.97066392e-01 5.65227842e-02 5.16118625e-02 6.82952058e+01] [-5.62594642e-02 9.98394751e-01 -6.54171394e-03 -7.19431770e+00] [-5.18987685e-02 3.61886738e-03 9.98645794e-01 -4.60235858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28071405700001 meters 0.03743814804769063 Centerline is valid? [True, True] Translation: X:68.35, Y:-7.20, Z:-4.61 [[ 9.97119047e-01 5.58056150e-02 5.13745021e-02 6.83547142e+01] [-5.55437555e-02 9.98435019e-01 -6.51186229e-03 -7.20028387e+00] [-5.16575005e-02 3.63956914e-03 9.98658228e-01 -4.60738357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34071405700001 meters 0.03943057952323597 Centerline is valid? [True, True] Translation: X:68.41, Y:-7.21, Z:-4.61 [[ 9.97209325e-01 5.45274244e-02 5.09933598e-02 6.84128819e+01] [-5.42678682e-02 9.98505505e-01 -6.46180744e-03 -7.21066376e+00] [-5.12694961e-02 3.67647370e-03 9.98678087e-01 -4.61251204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40071405700002 meters 0.04062627666288424 Centerline is valid? [True, True] Translation: X:68.47, Y:-7.22, Z:-4.62 [[ 9.97220769e-01 5.38235215e-02 5.15147294e-02 6.84723963e+01] [-5.35575422e-02 9.98543409e-01 -6.53073946e-03 -7.22104926e+00] [-5.17912009e-02 3.75358673e-03 9.98650881e-01 -4.61692426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46071405700002 meters 0.04223818884384644 Centerline is valid? [True, True] Translation: X:68.53, Y:-7.23, Z:-4.62 [[ 9.97295435e-01 5.24065329e-02 5.15302970e-02 6.85321911e+01] [-5.21385239e-02 9.98618496e-01 -6.53249116e-03 -7.23157626e+00] [-5.18014529e-02 3.82810999e-03 9.98650066e-01 -4.62148728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.520714057 meters 0.045874827904469125 Centerline is valid? [True, True] Translation: X:68.59, Y:-7.24, Z:-4.62 [[ 9.97278851e-01 5.14092460e-02 5.28392071e-02 6.85912376e+01] [-5.11260196e-02 9.98669743e-01 -6.69882058e-03 -7.24389014e+00] [-5.31132987e-02 3.97913376e-03 9.98580565e-01 -4.62455963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58071405700001 meters 0.047469208342335874 Centerline is valid? [True, True] Translation: X:68.65, Y:-7.26, Z:-4.63 [[ 9.97325550e-01 5.02842959e-02 5.30399544e-02 6.86518117e+01] [-4.99972323e-02 9.98726708e-01 -6.72610090e-03 -7.25511720e+00] [-5.33106363e-02 4.05626136e-03 9.98569739e-01 -4.62919991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64071405700001 meters 0.043998510548094456 Centerline is valid? [True, True] Translation: X:68.71, Y:-7.26, Z:-4.63 [[ 9.97380422e-01 4.93631124e-02 5.28732223e-02 6.87141037e+01] [-4.90758557e-02 9.98772459e-01 -6.71832553e-03 -7.25935058e+00] [-5.31399557e-02 4.10592773e-03 9.98578633e-01 -4.63353042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70071405700001 meters 0.04086585266376102 Centerline is valid? [True, True] Translation: X:68.78, Y:-7.26, Z:-4.64 [[ 9.97515197e-01 4.76575040e-02 5.18863591e-02 6.87752184e+01] [-4.73783664e-02 9.98855228e-01 -6.59723557e-03 -7.26254100e+00] [-5.21413689e-02 4.12255180e-03 9.98631204e-01 -4.63657528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76071405700002 meters 0.04156018338251283 Centerline is valid? [True, True] Translation: X:68.84, Y:-7.27, Z:-4.64 [[ 9.97632298e-01 4.48002298e-02 5.21798513e-02 6.88351837e+01] [-4.45139894e-02 9.98986724e-01 -6.63553481e-03 -7.27303960e+00] [-5.24242522e-02 4.29709049e-03 9.98615658e-01 -4.64043586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82071405700002 meters 0.044138326874494656 Centerline is valid? [True, True] Translation: X:68.89, Y:-7.29, Z:-4.64 [[ 9.97709005e-01 4.29922558e-02 5.22341611e-02 6.88941385e+01] [-4.27029106e-02 9.99065727e-01 -6.64337032e-03 -7.28542584e+00] [-5.24709736e-02 4.39759969e-03 9.98612767e-01 -4.64444952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.880714057 meters 0.04171010875528325 Centerline is valid? [True, True] Translation: X:68.96, Y:-7.29, Z:-4.65 [[ 9.97746488e-01 4.26494879e-02 5.17973648e-02 6.89560624e+01] [-4.23646163e-02 9.99080511e-01 -6.58575995e-03 -7.28960816e+00] [-5.20306170e-02 4.37654337e-03 9.98635900e-01 -4.64752066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94071405700001 meters 0.04296836434727603 Centerline is valid? [True, True] Translation: X:69.02, Y:-7.30, Z:-4.65 [[ 9.97760719e-01 4.26846196e-02 5.14934112e-02 6.90171107e+01] [-4.24024440e-02 9.99079073e-01 -6.56039540e-03 -7.29990146e+00] [-5.17260175e-02 4.36225835e-03 9.98651786e-01 -4.65276622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00071405700001 meters 0.04316435342635112 Centerline is valid? [True, True] Translation: X:69.08, Y:-7.31, Z:-4.66 [[ 9.97743934e-01 4.26004756e-02 5.18868212e-02 6.90789813e+01] [-4.23131517e-02 9.99082439e-01 -6.62396846e-03 -7.30902804e+00] [-5.21213961e-02 4.41352941e-03 9.98631003e-01 -4.65642835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06071405700001 meters 0.04401869432431924 Centerline is valid? [True, True] Translation: X:69.14, Y:-7.32, Z:-4.66 [[ 9.97720638e-01 4.31155211e-02 5.19093436e-02 6.91407291e+01] [-4.28279425e-02 9.99060396e-01 -6.64018118e-03 -7.31825866e+00] [-5.21468642e-02 4.40187542e-03 9.98629725e-01 -4.66012340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12071405700001 meters 0.043924172273820894 Centerline is valid? [True, True] Translation: X:69.20, Y:-7.33, Z:-4.66 [[ 9.97663192e-01 4.51915892e-02 5.12432989e-02 6.92018069e+01] [-4.49132742e-02 9.98969283e-01 -6.57039839e-03 -7.32585566e+00] [-5.14874082e-02 4.25354029e-03 9.98664585e-01 -4.66393736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18071405700002 meters 0.04412886783530475 Centerline is valid? [True, True] Translation: X:69.26, Y:-7.33, Z:-4.67 [[ 9.97616016e-01 4.68152984e-02 5.07012115e-02 6.92624748e+01] [-4.65447795e-02 9.98895031e-01 -6.50381913e-03 -7.33446208e+00] [-5.09496665e-02 4.12843742e-03 9.98692689e-01 -4.66846588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.240714057 meters 0.04017499971046404 Centerline is valid? [True, True] Translation: X:69.32, Y:-7.34, Z:-4.67 [[ 9.97562161e-01 4.83721814e-02 5.02977903e-02 6.93243993e+01] [-4.81078603e-02 9.98821300e-01 -6.45324641e-03 -7.33755439e+00] [-5.05506619e-02 4.01779536e-03 9.98713416e-01 -4.67227267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30071405700001 meters 0.03995931890144459 Centerline is valid? [True, True] Translation: X:69.38, Y:-7.34, Z:-4.68 [[ 9.97483838e-01 4.98214119e-02 5.04362918e-02 6.93849450e+01] [-4.95572355e-02 9.98750292e-01 -6.47565939e-03 -7.34491099e+00] [-5.06958877e-02 3.95988239e-03 9.98706286e-01 -4.67578423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36071405700001 meters 0.04062841787840789 Centerline is valid? [True, True] Translation: X:69.44, Y:-7.35, Z:-4.68 [[ 9.97393477e-01 5.25443665e-02 4.94503996e-02 6.94439749e+01] [-5.22936368e-02 9.98611554e-01 -6.35139946e-03 -7.35240545e+00] [-4.97154707e-02 3.74890315e-03 9.98756386e-01 -4.67975226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42071405700001 meters 0.038091681803570775 Centerline is valid? [True, True] Translation: X:69.50, Y:-7.36, Z:-4.68 [[ 9.97353066e-01 5.35851536e-02 4.91476721e-02 6.95048899e+01] [-5.33387570e-02 9.98556525e-01 -6.31223985e-03 -7.35597663e+00] [-4.94149710e-02 3.67405602e-03 9.98771576e-01 -4.68325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48071405700001 meters 0.038679854203720665 Centerline is valid? [True, True] Translation: X:69.56, Y:-7.36, Z:-4.69 [[ 9.97175203e-01 5.73436673e-02 4.85110129e-02 6.95637375e+01] [-5.71079727e-02 9.98348558e-01 -6.23184865e-03 -7.36253584e+00] [-4.87882568e-02 3.44387935e-03 9.98803207e-01 -4.68726035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54071405700002 meters 0.035783607338487254 Centerline is valid? [True, True] Translation: X:69.62, Y:-7.36, Z:-4.69 [[ 9.96866989e-01 6.16487445e-02 4.95544009e-02 6.96244244e+01] [-6.14081216e-02 9.98092445e-01 -6.36506202e-03 -7.36371423e+00] [-4.98522712e-02 3.30207754e-03 9.98751144e-01 -4.68961589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60071405700002 meters 0.03591036926879752 Centerline is valid? [True, True] Translation: X:69.68, Y:-7.37, Z:-4.69 [[ 9.96592726e-01 6.45781419e-02 5.13088946e-02 6.96827685e+01] [-6.43239968e-02 9.97907302e-01 -6.59090441e-03 -7.36980270e+00] [-5.16271489e-02 3.26805421e-03 9.98661082e-01 -4.69124844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.660714057 meters 0.03789672880409934 Centerline is valid? [True, True] Translation: X:69.74, Y:-7.38, Z:-4.70 [[ 9.96643504e-01 6.37235744e-02 5.13909648e-02 6.97392948e+01] [-6.34676048e-02 9.97962081e-01 -6.59911517e-03 -7.38018188e+00] [-5.17067534e-02 3.31530383e-03 9.98656808e-01 -4.69529702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72071405700001 meters 0.03841543782588695 Centerline is valid? [True, True] Translation: X:69.80, Y:-7.39, Z:-4.70 [[ 9.96978400e-01 5.94642914e-02 4.99806755e-02 6.97984242e+01] [-5.92171394e-02 9.98224528e-01 -6.41258497e-03 -7.38980487e+00] [-5.02732560e-02 3.43349608e-03 9.98729598e-01 -4.70137932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78071405700001 meters 0.04295216955435164 Centerline is valid? [True, True] Translation: X:69.86, Y:-7.40, Z:-4.71 [[ 9.97213720e-01 5.51489492e-02 5.02333543e-02 6.98566271e+01] [-5.48938665e-02 9.98471397e-01 -6.44455377e-03 -7.40491096e+00] [-5.05119778e-02 3.66909439e-03 9.98716716e-01 -4.70653854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84071405700001 meters 0.04936741452036368 Centerline is valid? [True, True] Translation: X:69.92, Y:-7.42, Z:-4.71 [[ 9.97458273e-01 5.00141514e-02 5.07501491e-02 6.99150450e+01] [-4.97471627e-02 9.98740619e-01 -6.51122385e-03 -7.42223868e+00] [-5.10118887e-02 3.96999817e-03 9.98690155e-01 -4.71180292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90071405700002 meters 0.04277060526228784 Centerline is valid? [True, True] Translation: X:69.98, Y:-7.42, Z:-4.71 [[ 9.97554329e-01 4.69189700e-02 5.18070458e-02 6.99764071e+01] [-4.66365536e-02 9.98889805e-01 -6.64745294e-03 -7.42182847e+00] [-5.20614216e-02 4.21509339e-03 9.98634989e-01 -4.71404022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96071405700002 meters 0.04650726317879846 Centerline is valid? [True, True] Translation: X:70.04, Y:-7.44, Z:-4.72 [[ 9.97662676e-01 4.23192850e-02 5.36494549e-02 7.00364915e+01] [-4.20097811e-02 9.99093482e-01 -6.88415582e-03 -7.43580859e+00] [-5.38921533e-02 4.61426345e-03 9.98536101e-01 -4.71788507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.020714057 meters 0.046456271332185745 Centerline is valid? [True, True] Translation: X:70.10, Y:-7.44, Z:-4.72 [[ 9.97692940e-01 4.05737354e-02 5.44294862e-02 7.00972403e+01] [-4.02524986e-02 9.99165120e-01 -6.98569061e-03 -7.44418340e+00] [-5.46674797e-02 4.77865139e-03 9.98493180e-01 -4.72159288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08071405700001 meters 0.04398801580766887 Centerline is valid? [True, True] Translation: X:70.16, Y:-7.45, Z:-4.73 [[ 9.97676341e-01 3.96134503e-02 5.54318817e-02 7.01592454e+01] [-3.92786902e-02 9.99202955e-01 -7.11606102e-03 -7.44980254e+00] [-5.56695918e-02 4.92223401e-03 9.98437113e-01 -4.72636299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14071405700001 meters 0.04425289293088078 Centerline is valid? [True, True] Translation: X:70.22, Y:-7.46, Z:-4.73 [[ 9.97657108e-01 4.07892282e-02 5.49229832e-02 7.02200803e+01] [-4.04621180e-02 9.99156165e-01 -7.05513851e-03 -7.45777789e+00] [-5.51644109e-02 4.81630885e-03 9.98465668e-01 -4.73168837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20071405700001 meters 0.04671533361083436 Centerline is valid? [True, True] Translation: X:70.28, Y:-7.47, Z:-4.74 [[ 9.97691159e-01 4.10241057e-02 5.41236832e-02 7.02815785e+01] [-4.07068341e-02 9.99146949e-01 -6.95188281e-03 -7.46888520e+00] [-5.43627077e-02 4.73262822e-03 9.98510039e-01 -4.73751207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26071405700002 meters 0.047435598329035454 Centerline is valid? [True, True] Translation: X:70.34, Y:-7.48, Z:-4.74 [[ 9.97771731e-01 3.99452791e-02 5.34410622e-02 7.03424558e+01] [-3.96335765e-02 9.99190594e-01 -6.88019464e-03 -7.47775934e+00] [-5.36726380e-02 4.74680328e-03 9.98547303e-01 -4.74332187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32071405700002 meters 0.049169119812353536 Centerline is valid? [True, True] Translation: X:70.40, Y:-7.49, Z:-4.75 [[ 9.97781785e-01 3.82235026e-02 5.45020550e-02 7.04024667e+01] [-3.78959118e-02 9.99256950e-01 -7.03184875e-03 -7.48757981e+00] [-5.47303392e-02 4.95084553e-03 9.98488898e-01 -4.74720422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.380714057 meters 0.05063809864923072 Centerline is valid? [True, True] Translation: X:70.46, Y:-7.50, Z:-4.75 [[ 9.97762171e-01 3.79628982e-02 5.50406134e-02 7.04636110e+01] [-3.76283549e-02 9.99266564e-01 -7.10213333e-03 -7.49647158e+00] [-5.52698622e-02 5.01515224e-03 9.98458858e-01 -4.75133974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44071405700001 meters 0.05156102494308986 Centerline is valid? [True, True] Translation: X:70.53, Y:-7.50, Z:-4.76 [[ 9.97749766e-01 3.82864993e-02 5.50413353e-02 7.05261712e+01] [-3.79516942e-02 9.99254240e-01 -7.11561217e-03 -7.50436826e+00] [-5.52727196e-02 5.01068845e-03 9.98458722e-01 -4.75584594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50071405700001 meters 0.05211350979990735 Centerline is valid? [True, True] Translation: X:70.59, Y:-7.51, Z:-4.76 [[ 9.97680869e-01 3.92159953e-02 5.56326290e-02 7.05878410e+01] [-3.88744721e-02 9.99218102e-01 -7.20827464e-03 -7.51201695e+00] [-5.58718096e-02 5.02886862e-03 9.98425286e-01 -4.75979023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56071405700001 meters 0.054293351248079054 Centerline is valid? [True, True] Translation: X:70.65, Y:-7.52, Z:-4.76 [[ 9.97448857e-01 4.08451789e-02 5.85444160e-02 7.06473804e+01] [-4.04687108e-02 9.99151885e-01 -7.60223096e-03 -7.51995540e+00] [-5.88052781e-02 5.21361954e-03 9.98255858e-01 -4.76300398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62071405700001 meters 0.05409137608750174 Centerline is valid? [True, True] Translation: X:70.71, Y:-7.53, Z:-4.77 [[ 9.97397315e-01 4.17593403e-02 5.87771581e-02 7.07092895e+01] [-4.13815180e-02 9.99114275e-01 -7.63116229e-03 -7.52705123e+00] [-5.90437700e-02 5.17901275e-03 9.98241960e-01 -4.76683120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68071405700002 meters 0.04383404757593485 Centerline is valid? [True, True] Translation: X:70.77, Y:-7.52, Z:-4.77 [[ 9.97359851e-01 4.36200636e-02 5.80570167e-02 7.07726559e+01] [-4.32537126e-02 9.99035573e-01 -7.55255545e-03 -7.51901908e+00] [-5.83304679e-02 5.02143407e-03 9.98284700e-01 -4.77105383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.740714057 meters 0.043706381683693105 Centerline is valid? [True, True] Translation: X:70.83, Y:-7.52, Z:-4.78 [[ 9.97384473e-01 4.52654095e-02 5.63494129e-02 7.08333376e+01] [-4.49227472e-02 9.98963546e-01 -7.33358790e-03 -7.52389258e+00] [-5.66229672e-02 4.78303627e-03 9.98384176e-01 -4.77675430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80071405700001 meters 0.044256518988028404 Centerline is valid? [True, True] Translation: X:70.89, Y:-7.53, Z:-4.78 [[ 9.97296263e-01 4.69503078e-02 5.65317001e-02 7.08947576e+01] [-4.66079958e-02 9.98886148e-01 -7.35927090e-03 -7.53125251e+00] [-5.68142521e-02 4.70454412e-03 9.98373682e-01 -4.78128679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86071405700001 meters 0.04337145432237036 Centerline is valid? [True, True] Translation: X:70.96, Y:-7.53, Z:-4.78 [[ 9.97083991e-01 4.98831324e-02 5.77510871e-02 7.09553690e+01] [-4.95305520e-02 9.98744288e-01 -7.52146974e-03 -7.53463587e+00] [-5.80537628e-02 4.63909384e-03 9.98302679e-01 -4.78445617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92071405700001 meters 0.04122736480626465 Centerline is valid? [True, True] Translation: X:71.02, Y:-7.54, Z:-4.79 [[ 9.96823739e-01 5.41612210e-02 5.83866032e-02 7.10165127e+01] [-5.38080481e-02 9.98522335e-01 -7.60532514e-03 -7.53638828e+00] [-5.87122410e-02 4.43949948e-03 9.98265077e-01 -4.78800084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98071405700001 meters 0.038793686840648045 Centerline is valid? [True, True] Translation: X:71.08, Y:-7.54, Z:-4.79 [[ 9.96550182e-01 5.79696444e-02 5.93907046e-02 7.10772588e+01] [-5.76109059e-02 9.98309137e-01 -7.73634356e-03 -7.53959167e+00] [-5.97387561e-02 4.28810228e-03 9.98204835e-01 -4.79132051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04071405700002 meters 0.036095205556702016 Centerline is valid? [True, True] Translation: X:71.14, Y:-7.54, Z:-4.79 [[ 9.96164223e-01 6.50920868e-02 5.84795835e-02 7.11386200e+01] [-6.47564836e-02 9.97872020e-01 -7.61770242e-03 -7.54172130e+00] [-5.88509923e-02 3.80155042e-03 9.98259540e-01 -4.79449477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10071405700002 meters 0.03471455606314827 Centerline is valid? [True, True] Translation: X:71.20, Y:-7.55, Z:-4.80 [[ 9.95644331e-01 7.34114701e-02 5.74727873e-02 7.11977999e+01] [-7.31010611e-02 9.97296430e-01 -7.48771557e-03 -7.54684199e+00] [-5.78670898e-02 3.25377982e-03 9.98318994e-01 -4.79965007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.160714057 meters 0.02867471111816855 Centerline is valid? [True, True] Translation: X:71.26, Y:-7.54, Z:-4.80 [[ 9.95128901e-01 8.03964172e-02 5.70516050e-02 7.12589952e+01] [-8.01020349e-02 9.96758964e-01 -7.43185780e-03 -7.54395827e+00] [-5.74641934e-02 2.82570683e-03 9.98343569e-01 -4.80219892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22071405700001 meters 0.027662697918340137 Centerline is valid? [True, True] Translation: X:71.32, Y:-7.55, Z:-4.81 [[ 9.94717487e-01 8.53932303e-02 5.69659283e-02 7.13185299e+01] [-8.51080383e-02 9.96344113e-01 -7.41826441e-03 -7.55015742e+00] [-5.73911368e-02 2.53081893e-03 9.98348563e-01 -4.80624573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28071405700001 meters 0.027786885072581844 Centerline is valid? [True, True] Translation: X:71.38, Y:-7.56, Z:-4.81 [[ 9.94584972e-01 8.69428013e-02 5.69357718e-02 7.13759494e+01] [-8.66605380e-02 9.96210321e-01 -7.41268941e-03 -7.55991637e+00] [-5.73644835e-02 2.43846488e-03 9.98350324e-01 -4.81022074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34071405700001 meters 0.028679767122387685 Centerline is valid? [True, True] Translation: X:71.43, Y:-7.57, Z:-4.81 [[ 9.94695413e-01 8.52173911e-02 5.76110409e-02 7.14334110e+01] [-8.49257382e-02 9.96359083e-01 -7.49646941e-03 -7.57016297e+00] [-5.80401134e-02 2.56404356e-03 9.98310959e-01 -4.81300840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40071405700002 meters 0.02966862871498019 Centerline is valid? [True, True] Translation: X:71.49, Y:-7.58, Z:-4.82 [[ 9.95001901e-01 8.16780155e-02 5.74449281e-02 7.14926750e+01] [-8.13824905e-02 9.96654956e-01 -7.46917519e-03 -7.58169914e+00] [-5.78628397e-02 2.75683220e-03 9.98320736e-01 -4.81591182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46071405700002 meters 0.032155432961426166 Centerline is valid? [True, True] Translation: X:71.55, Y:-7.60, Z:-4.82 [[ 9.95675717e-01 7.36775266e-02 5.65817026e-02 7.15509540e+01] [-7.33780067e-02 9.97277072e-01 -7.35588720e-03 -7.59797260e+00] [-5.69695982e-02 3.17222571e-03 9.98370874e-01 -4.82094094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.520714057 meters 0.03849937006363711 Centerline is valid? [True, True] Translation: X:71.61, Y:-7.62, Z:-4.83 [[ 9.96363881e-01 6.42965140e-02 5.59014839e-02 7.16074226e+01] [-6.39894989e-02 9.97924115e-01 -7.26664790e-03 -7.62142561e+00] [-5.62526590e-02 3.66311756e-03 9.98409846e-01 -4.82575060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58071405700001 meters 0.043949435368453825 Centerline is valid? [True, True] Translation: X:71.66, Y:-7.64, Z:-4.83 [[ 9.96896956e-01 5.74020025e-02 5.38652959e-02 7.16642120e+01] [-5.71069713e-02 9.98343513e-01 -7.00174307e-03 -7.64171618e+00] [-5.41779828e-02 3.90393244e-03 9.98523663e-01 -4.83104432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64071405700001 meters 0.04681473857768508 Centerline is valid? [True, True] Translation: X:71.72, Y:-7.66, Z:-4.84 [[ 9.97147139e-01 5.42688057e-02 5.24640814e-02 7.17234077e+01] [-5.39845625e-02 9.98518474e-01 -6.82091267e-03 -7.65692107e+00] [-5.27565173e-02 3.96920308e-03 9.98599517e-01 -4.83574868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70071405700001 meters 0.047820903575887155 Centerline is valid? [True, True] Translation: X:71.78, Y:-7.67, Z:-4.84 [[ 9.97106302e-01 5.48389308e-02 5.26470653e-02 7.17835910e+01] [-5.45534860e-02 9.98487389e-01 -6.84475262e-03 -7.66838227e+00] [-5.29427897e-02 3.95286503e-03 9.98589724e-01 -4.83886920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76071405700002 meters 0.038204688906761784 Centerline is valid? [True, True] Translation: X:71.85, Y:-7.66, Z:-4.84 [[ 9.97031008e-01 5.65409531e-02 5.22713041e-02 7.18454606e+01] [-5.62617972e-02 9.98392909e-01 -6.79780701e-03 -7.66391832e+00] [-5.25716538e-02 3.83674686e-03 9.98609784e-01 -4.84088160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82071405700002 meters 0.038336925523497066 Centerline is valid? [True, True] Translation: X:71.91, Y:-7.67, Z:-4.85 [[ 9.96975786e-01 5.79709812e-02 5.17556436e-02 7.19055344e+01] [-5.76991788e-02 9.98311319e-01 -6.73168147e-03 -7.67331698e+00] [-5.20584870e-02 3.72506529e-03 9.98637090e-01 -4.84515195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.880714057 meters 0.04170106170103503 Centerline is valid? [True, True] Translation: X:71.96, Y:-7.69, Z:-4.85 [[ 9.97025717e-01 5.85319534e-02 5.01371036e-02 7.19637507e+01] [-5.82775393e-02 9.98279112e-01 -6.52253576e-03 -7.68673689e+00] [-5.04326000e-02 3.58126887e-03 9.98721046e-01 -4.85091531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94071405700001 meters 0.03810994423193171 Centerline is valid? [True, True] Translation: X:72.02, Y:-7.69, Z:-4.85 [[ 9.96942916e-01 5.90261479e-02 5.11931217e-02 7.20237395e+01] [-5.87615751e-02 9.98249834e-01 -6.65922210e-03 -7.68986437e+00] [-5.14965935e-02 3.63067584e-03 9.98666571e-01 -4.85217931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00071405700001 meters 0.037119498333003965 Centerline is valid? [True, True] Translation: X:72.08, Y:-7.70, Z:-4.85 [[ 9.96847475e-01 6.05240701e-02 5.13025129e-02 7.20831888e+01] [-6.02604327e-02 9.98160393e-01 -6.67159093e-03 -7.69615214e+00] [-5.16119282e-02 3.55904695e-03 9.98660874e-01 -4.85490433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06071405700001 meters 0.040983510211999995 Centerline is valid? [True, True] Translation: X:72.14, Y:-7.71, Z:-4.86 [[ 9.96789700e-01 6.22740171e-02 5.03213670e-02 7.21409115e+01] [-6.20226993e-02 9.98053299e-01 -6.54195918e-03 -7.70929319e+00] [-5.06308005e-02 3.39989052e-03 9.98711651e-01 -4.86148587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12071405700001 meters 0.03556435705534026 Centerline is valid? [True, True] Translation: X:72.20, Y:-7.71, Z:-4.86 [[ 9.96671630e-01 6.46074706e-02 4.97145553e-02 7.22014370e+01] [-6.43651152e-02 9.97905492e-01 -6.46220291e-03 -7.70844381e+00] [-5.00279344e-02 3.24081123e-03 9.98742561e-01 -4.86354838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18071405700002 meters 0.03362872579942369 Centerline is valid? [True, True] Translation: X:72.26, Y:-7.71, Z:-4.87 [[ 9.96471551e-01 6.79468162e-02 4.92714769e-02 7.22616653e+01] [-6.77128721e-02 9.97684298e-01 -6.40372536e-03 -7.71110714e+00] [-4.95924916e-02 3.04481694e-03 9.98764894e-01 -4.86665447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.240714057 meters 0.03356363957359482 Centerline is valid? [True, True] Translation: X:72.32, Y:-7.72, Z:-4.87 [[ 9.96333195e-01 7.05325932e-02 4.84284841e-02 7.23209584e+01] [-7.03096632e-02 9.97505359e-01 -6.29357614e-03 -7.71735705e+00] [-4.87515746e-02 2.86550842e-03 9.98806825e-01 -4.87136232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30071405700001 meters 0.03184145767050172 Centerline is valid? [True, True] Translation: X:72.38, Y:-7.72, Z:-4.87 [[ 9.96089794e-01 7.45645143e-02 4.73841208e-02 7.23814278e+01] [-7.43557413e-02 9.97212780e-01 -6.15589218e-03 -7.71955107e+00] [-4.77110620e-02 2.60853995e-03 9.98857773e-01 -4.87396352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36071405700001 meters 0.0320834962388055 Centerline is valid? [True, True] Translation: X:72.44, Y:-7.73, Z:-4.88 [[ 9.95943933e-01 7.61659295e-02 4.79002536e-02 7.24398016e+01] [-7.59544255e-02 9.97091872e-01 -6.22293106e-03 -7.72646248e+00] [-4.82349289e-02 2.55945418e-03 9.98832739e-01 -4.87696048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42071405700001 meters 0.030159045457103913 Centerline is valid? [True, True] Translation: X:72.50, Y:-7.73, Z:-4.88 [[ 9.95764969e-01 7.79261291e-02 4.87816110e-02 7.24991262e+01] [-7.77090086e-02 9.96955959e-01 -6.33456452e-03 -7.72961539e+00] [-4.91267458e-02 2.51696682e-03 9.98789381e-01 -4.87938187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48071405700001 meters 0.034811170493883846 Centerline is valid? [True, True] Translation: X:72.56, Y:-7.75, Z:-4.89 [[ 9.95801024e-01 7.69181812e-02 4.96378303e-02 7.25553131e+01] [-7.66924365e-02 9.97034004e-01 -6.43934916e-03 -7.74573399e+00] [-4.99859077e-02 2.60546434e-03 9.98746525e-01 -4.88510669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54071405700002 meters 0.03291740080616884 Centerline is valid? [True, True] Translation: X:72.62, Y:-7.75, Z:-4.89 [[ 9.96107921e-01 7.32942982e-02 4.89587033e-02 7.26152629e+01] [-7.30705974e-02 9.97306582e-01 -6.34586232e-03 -7.75263484e+00] [-4.92919526e-02 2.74372203e-03 9.98780644e-01 -4.88800107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60071405700002 meters 0.034605692800642324 Centerline is valid? [True, True] Translation: X:72.67, Y:-7.77, Z:-4.89 [[ 9.96587866e-01 6.69253717e-02 4.83075635e-02 7.26745911e+01] [-6.67002056e-02 9.97753424e-01 -6.25995714e-03 -7.76534929e+00] [-4.86179868e-02 3.01647291e-03 9.98812892e-01 -4.89254366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.660714057 meters 0.04131556568236276 Centerline is valid? [True, True] Translation: X:72.73, Y:-7.78, Z:-4.90 [[ 9.97012611e-01 6.18378367e-02 4.62810444e-02 7.27312249e+01] [-6.16257438e-02 9.98081311e-01 -5.99695703e-03 -7.78497029e+00] [-4.65630843e-02 3.12693801e-03 9.98910457e-01 -4.90074236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72071405700001 meters 0.0399608570774528 Centerline is valid? [True, True] Translation: X:72.79, Y:-7.79, Z:-4.91 [[ 9.97226337e-01 5.92422293e-02 4.50554266e-02 7.27906946e+01] [-5.90385044e-02 9.98238623e-01 -5.84013893e-03 -7.79079417e+00] [-4.53220499e-02 3.16393535e-03 9.98967418e-01 -4.90533469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78071405700001 meters 0.037784168393775956 Centerline is valid? [True, True] Translation: X:72.85, Y:-7.80, Z:-4.91 [[ 9.97125907e-01 5.94488148e-02 4.69655561e-02 7.28489956e+01] [-5.92276581e-02 9.98225938e-01 -6.08779372e-03 -7.79554931e+00] [-4.72441484e-02 3.28863694e-03 9.98877958e-01 -4.90832169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84071405700001 meters 0.038085481670098134 Centerline is valid? [True, True] Translation: X:72.91, Y:-7.80, Z:-4.91 [[ 9.96927396e-01 6.10035638e-02 4.91358504e-02 7.29081284e+01] [-6.07635676e-02 9.98131894e-01 -6.36475078e-03 -7.80330249e+00] [-4.94323320e-02 3.35952485e-03 9.98771825e-01 -4.91120964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90071405700002 meters 0.03835906667408669 Centerline is valid? [True, True] Translation: X:72.97, Y:-7.81, Z:-4.91 [[ 9.96644679e-01 6.34922904e-02 5.16537709e-02 7.29674328e+01] [-6.32304664e-02 9.97976536e-01 -6.68892162e-03 -7.80917023e+00] [-5.19739463e-02 3.40038612e-03 9.98642652e-01 -4.91397695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96071405700002 meters 0.03566257412363199 Centerline is valid? [True, True] Translation: X:73.03, Y:-7.81, Z:-4.92 [[ 9.96498729e-01 6.45100657e-02 5.31858563e-02 7.30266950e+01] [-6.42340081e-02 9.97911110e-01 -6.88536208e-03 -7.81244128e+00] [-5.35189321e-02 3.44491384e-03 9.98560893e-01 -4.91761612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.020714057 meters 0.03563952465811178 Centerline is valid? [True, True] Translation: X:73.09, Y:-7.82, Z:-4.92 [[ 9.96580822e-01 6.34000165e-02 5.29820999e-02 7.30854568e+01] [-6.31246040e-02 9.97982095e-01 -6.85725015e-03 -7.81850220e+00] [-5.33099368e-02 3.48932992e-03 9.98571918e-01 -4.92226413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08071405700001 meters 0.03587315068004294 Centerline is valid? [True, True] Translation: X:73.14, Y:-7.83, Z:-4.93 [[ 9.96726492e-01 6.09845665e-02 5.30771344e-02 7.31449683e+01] [-6.07049428e-02 9.98132139e-01 -6.86606676e-03 -7.82556884e+00] [-5.33967178e-02 3.62154623e-03 9.98566810e-01 -4.92726819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14071405700001 meters 0.03701442062786724 Centerline is valid? [True, True] Translation: X:73.20, Y:-7.83, Z:-4.93 [[ 9.96907097e-01 5.84826913e-02 5.24977669e-02 7.32046591e+01] [-5.82057003e-02 9.98281513e-01 -6.79102995e-03 -7.83328468e+00] [-5.28047079e-02 3.71435666e-03 9.98597950e-01 -4.93199383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20071405700001 meters 0.037669148048704984 Centerline is valid? [True, True] Translation: X:73.26, Y:-7.84, Z:-4.94 [[ 9.96893630e-01 5.79486836e-02 5.33389240e-02 7.32643262e+01] [-5.76620388e-02 9.98312325e-01 -6.89863751e-03 -7.84048201e+00] [-5.36486722e-02 3.80157668e-03 9.98552637e-01 -4.93578315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26071405700002 meters 0.03897694830688091 Centerline is valid? [True, True] Translation: X:73.32, Y:-7.85, Z:-4.94 [[ 9.96823897e-01 5.80281777e-02 5.45421815e-02 7.33245626e+01] [-5.77285559e-02 9.98307393e-01 -7.05426189e-03 -7.84859958e+00] [-5.48592090e-02 3.88321546e-03 9.98486549e-01 -4.93951428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32071405700002 meters 0.039601888505416884 Centerline is valid? [True, True] Translation: X:73.38, Y:-7.85, Z:-4.94 [[ 9.96654858e-01 5.88425882e-02 5.67154578e-02 7.33848428e+01] [-5.85198904e-02 9.98259293e-01 -7.33534454e-03 -7.85432168e+00] [-5.70483635e-02 3.99182440e-03 9.98363436e-01 -4.94307693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.380714057 meters 0.040769417049186685 Centerline is valid? [True, True] Translation: X:73.44, Y:-7.86, Z:-4.95 [[ 9.96605205e-01 5.78125589e-02 5.86154628e-02 7.34447725e+01] [-5.74660741e-02 9.98318675e-01 -7.58108338e-03 -7.86099201e+00] [-5.89551930e-02 4.18694664e-03 9.98251849e-01 -4.94659599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44071405700001 meters 0.04286500224303952 Centerline is valid? [True, True] Translation: X:73.50, Y:-7.87, Z:-4.95 [[ 9.96813974e-01 5.40527981e-02 5.86531917e-02 7.35040257e+01] [-5.36993981e-02 9.98528331e-01 -7.58594501e-03 -7.87110056e+00] [-5.89769152e-02 4.41213490e-03 9.98249596e-01 -4.95166869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50071405700001 meters 0.043344104800423285 Centerline is valid? [True, True] Translation: X:73.56, Y:-7.88, Z:-4.96 [[ 9.97098480e-01 5.02348810e-02 5.71933358e-02 7.35632655e+01] [-4.98926322e-02 9.98727193e-01 -7.39725925e-03 -7.87996526e+00] [-5.74921401e-02 4.52226989e-03 9.98335717e-01 -4.95717547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56071405700001 meters 0.04984384182419352 Centerline is valid? [True, True] Translation: X:73.62, Y:-7.90, Z:-4.96 [[ 9.97398943e-01 4.57354950e-02 5.57100740e-02 7.36218548e+01] [-4.54038023e-02 9.98942727e-01 -7.20580058e-03 -7.89650521e+00] [-5.59807341e-02 4.65760870e-03 9.98420985e-01 -4.96289476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62071405700001 meters 0.047506785257337265 Centerline is valid? [True, True] Translation: X:73.68, Y:-7.90, Z:-4.97 [[ 9.97458927e-01 4.40547587e-02 5.59898900e-02 7.36827459e+01] [-4.37169577e-02 9.99017691e-01 -7.24440744e-03 -7.90011658e+00] [-5.62540412e-02 4.77829122e-03 9.98405053e-01 -4.96665287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68071405700002 meters 0.046353567345006785 Centerline is valid? [True, True] Translation: X:73.74, Y:-7.91, Z:-4.97 [[ 9.97270907e-01 4.68137354e-02 5.70895127e-02 7.37436137e+01] [-4.64669396e-02 9.98892509e-01 -7.38774245e-03 -7.90541410e+00] [-5.73721344e-02 4.71480568e-03 9.98341729e-01 -4.96941886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.740714057 meters 0.04776696527066058 Centerline is valid? [True, True] Translation: X:73.80, Y:-7.91, Z:-4.97 [[ 9.96833751e-01 5.29183659e-02 5.93474500e-02 7.38029664e+01] [-5.25542244e-02 9.98588532e-01 -7.68101522e-03 -7.91238809e+00] [-5.96701497e-02 4.53773601e-03 9.98207835e-01 -4.97282726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80071405700001 meters 0.039941196079162494 Centerline is valid? [True, True] Translation: X:73.86, Y:-7.91, Z:-4.98 [[ 9.96359973e-01 5.90314094e-02 6.14987568e-02 7.38642132e+01] [-5.86519546e-02 9.98246766e-01 -7.95875622e-03 -7.90803543e+00] [-6.18607517e-02 4.32276384e-03 9.98075429e-01 -4.97586661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86071405700001 meters 0.03980115662769846 Centerline is valid? [True, True] Translation: X:73.92, Y:-7.92, Z:-4.98 [[ 9.96141156e-01 6.26252936e-02 6.14887723e-02 7.39231094e+01] [-6.22527746e-02 9.98028693e-01 -7.95737224e-03 -7.91555397e+00] [-6.18658919e-02 4.09881930e-03 9.98076055e-01 -4.98093182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92071405700001 meters 0.04284521689545534 Centerline is valid? [True, True] Translation: X:73.98, Y:-7.93, Z:-4.99 [[ 9.96167460e-01 6.33404817e-02 6.03189403e-02 7.39817039e+01] [-6.29833704e-02 9.97984054e-01 -7.80528731e-03 -7.92805557e+00] [-6.06917313e-02 3.97628307e-03 9.98148638e-01 -4.98651264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98071405700001 meters 0.04105176220261126 Centerline is valid? [True, True] Translation: X:74.04, Y:-7.93, Z:-4.99 [[ 9.96165031e-01 6.49501360e-02 5.86234716e-02 7.40419184e+01] [-6.46155561e-02 9.97881390e-01 -7.58696954e-03 -7.93438592e+00] [-5.89920460e-02 3.76988552e-03 9.98251334e-01 -4.99177360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04071405700002 meters 0.033756109604331 Centerline is valid? [True, True] Translation: X:74.10, Y:-7.93, Z:-4.99 [[ 9.96016524e-01 6.61349240e-02 5.98101634e-02 7.41030350e+01] [-6.57887614e-02 9.97803549e-01 -7.74062982e-03 -7.93175690e+00] [-6.01907192e-02 3.77495864e-03 9.98179757e-01 -4.99380973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10071405700002 meters 0.04149795714080851 Centerline is valid? [True, True] Translation: X:74.16, Y:-7.95, Z:-5.00 [[ 9.95791108e-01 6.76844950e-02 6.17970818e-02 7.41607927e+01] [-6.73179592e-02 9.97699528e-01 -7.99655184e-03 -7.95321366e+00] [-6.21961619e-02 3.80284178e-03 9.98056700e-01 -4.99630804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.160714057 meters 0.042491130078311734 Centerline is valid? [True, True] Translation: X:74.22, Y:-7.96, Z:-5.00 [[ 9.95746035e-01 6.79155098e-02 6.22681075e-02 7.42196611e+01] [-6.75438017e-02 9.97683773e-01 -8.05756444e-03 -7.96298584e+00] [-6.26711140e-02 3.81746314e-03 9.98026933e-01 -5.00018360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22071405700001 meters 0.03295386535162547 Centerline is valid? [True, True] Translation: X:74.28, Y:-7.96, Z:-5.00 [[ 9.95815477e-01 6.77470000e-02 6.13341622e-02 7.42809563e+01] [-6.73861859e-02 9.97695416e-01 -7.93463970e-03 -7.95754623e+00] [-6.17303605e-02 3.76836176e-03 9.98085749e-01 -5.00477796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28071405700001 meters 0.03323222650250798 Centerline is valid? [True, True] Translation: X:74.34, Y:-7.97, Z:-5.01 [[ 9.95873445e-01 6.81265218e-02 5.99571422e-02 7.43394437e+01] [-6.77824265e-02 9.97669974e-01 -7.75665215e-03 -7.96689451e+00] [-6.03458742e-02 3.66060332e-03 9.98170815e-01 -5.00969266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34071405700001 meters 0.03472128948594765 Centerline is valid? [True, True] Translation: X:74.40, Y:-7.98, Z:-5.01 [[ 9.95821125e-01 6.93191400e-02 5.94570760e-02 7.43969030e+01] [-6.89830095e-02 9.97588197e-01 -7.68987938e-03 -7.97754731e+00] [-5.98467330e-02 3.55621629e-03 9.98201243e-01 -5.01387767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40071405700002 meters 0.031883417460190765 Centerline is valid? [True, True] Translation: X:74.46, Y:-7.98, Z:-5.02 [[ 9.95735933e-01 7.07021126e-02 5.92550615e-02 7.44563520e+01] [-7.03708995e-02 9.97491481e-01 -7.66047210e-03 -7.98098865e+00] [-5.96480306e-02 3.45797536e-03 9.98213482e-01 -5.01714163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46071405700002 meters 0.030772695851814174 Centerline is valid? [True, True] Translation: X:74.52, Y:-7.99, Z:-5.02 [[ 9.95521762e-01 7.30190462e-02 6.00386549e-02 7.45154987e+01] [-7.26833339e-02 9.97324883e-01 -7.75951895e-03 -7.98729265e+00] [-6.04446372e-02 3.36096037e-03 9.98165893e-01 -5.02066851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.520714057 meters 0.030984158531084334 Centerline is valid? [True, True] Translation: X:74.57, Y:-8.00, Z:-5.02 [[ 9.95446128e-01 7.35687628e-02 6.06188435e-02 7.45737051e+01] [-7.32276664e-02 9.97284494e-01 -7.83237418e-03 -7.99558797e+00] [-6.10304508e-02 3.35773010e-03 9.98130257e-01 -5.02404713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58071405700001 meters 0.03181146819139238 Centerline is valid? [True, True] Translation: X:74.63, Y:-8.01, Z:-5.03 [[ 9.95638778e-01 7.15232883e-02 5.98986095e-02 7.46320302e+01] [-7.11868408e-02 9.97433008e-01 -7.73489420e-03 -8.00527035e+00] [-6.02980754e-02 3.43716783e-03 9.98174498e-01 -5.02726689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64071405700001 meters 0.0325015261718038 Centerline is valid? [True, True] Translation: X:74.69, Y:-8.02, Z:-5.03 [[ 9.95982143e-01 6.76109561e-02 5.87224766e-02 7.46912115e+01] [-6.72810371e-02 9.97705273e-01 -7.57965193e-03 -8.01629636e+00] [-5.91001920e-02 3.59828884e-03 9.98245571e-01 -5.03210543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70071405700001 meters 0.0353042102613619 Centerline is valid? [True, True] Translation: X:74.75, Y:-8.03, Z:-5.04 [[ 9.96373955e-01 6.29787383e-02 5.72068237e-02 7.47502878e+01] [-6.26581201e-02 9.98007742e-01 -7.38285002e-03 -8.03145630e+00] [-5.75578155e-02 3.77160744e-03 9.98335050e-01 -5.03761041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76071405700002 meters 0.038556984608130444 Centerline is valid? [True, True] Translation: X:74.81, Y:-8.05, Z:-5.04 [[ 9.96654468e-01 5.99454822e-02 5.55554682e-02 7.48090526e+01] [-5.96384728e-02 9.98194297e-01 -7.16919737e-03 -8.04528679e+00] [-5.58849125e-02 3.83196932e-03 9.98429864e-01 -5.04334220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82071405700002 meters 0.03969000060918353 Centerline is valid? [True, True] Translation: X:74.87, Y:-8.06, Z:-5.05 [[ 9.96714608e-01 5.89964449e-02 5.54924222e-02 7.48689427e+01] [-5.86884388e-02 9.98250633e-01 -7.16519879e-03 -8.05543926e+00] [-5.58180669e-02 3.88489468e-03 9.98433398e-01 -5.04640876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.880714057 meters 0.040320934218336775 Centerline is valid? [True, True] Translation: X:74.93, Y:-8.06, Z:-5.05 [[ 9.96701477e-01 5.89844155e-02 5.57405129e-02 7.49301007e+01] [-5.86735795e-02 9.98251270e-01 -7.19807408e-03 -8.06394198e+00] [-5.60676120e-02 3.90383565e-03 9.98419342e-01 -5.05001964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94071405700001 meters 0.04260093599219895 Centerline is valid? [True, True] Translation: X:74.99, Y:-8.07, Z:-5.05 [[ 9.96657046e-01 5.91889886e-02 5.63151552e-02 7.49893825e+01] [-5.88719046e-02 9.98239040e-01 -7.27442967e-03 -8.07326297e+00] [-5.66465526e-02 3.93473114e-03 9.98386541e-01 -5.05272027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00071405700001 meters 0.04389440730156679 Centerline is valid? [True, True] Translation: X:75.05, Y:-8.08, Z:-5.06 [[ 9.96687111e-01 5.84617352e-02 5.65422778e-02 7.50494505e+01] [-5.81408720e-02 9.98281664e-01 -7.30463173e-03 -8.08315886e+00] [-5.68721606e-02 3.99301495e-03 9.98373484e-01 -5.05700464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06071405700001 meters 0.03751265668297157 Centerline is valid? [True, True] Translation: X:75.11, Y:-8.08, Z:-5.06 [[ 9.96807533e-01 5.63680207e-02 5.65454622e-02 7.51110887e+01] [-5.60436559e-02 9.98401580e-01 -7.30708487e-03 -8.08215375e+00] [-5.68669647e-02 4.11474282e-03 9.98373286e-01 -5.06081243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12071405700001 meters 0.03755123320665666 Centerline is valid? [True, True] Translation: X:75.17, Y:-8.09, Z:-5.07 [[ 9.96945697e-01 5.50740302e-02 5.53726238e-02 7.51730032e+01] [-5.47609875e-02 9.98473848e-01 -7.15602658e-03 -8.08917758e+00] [-5.56822280e-02 4.10191034e-03 9.98440115e-01 -5.06511504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18071405700002 meters 0.040942707078967036 Centerline is valid? [True, True] Translation: X:75.23, Y:-8.10, Z:-5.07 [[ 9.97147719e-01 5.35461315e-02 5.31905812e-02 7.52317694e+01] [-5.32548993e-02 9.98557260e-01 -6.87860461e-03 -8.09921156e+00] [-5.34821637e-02 4.02632586e-03 9.98560688e-01 -5.07001120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24071405700002 meters 0.04081519531365856 Centerline is valid? [True, True] Translation: X:75.29, Y:-8.11, Z:-5.07 [[ 9.97227866e-01 5.26518505e-02 5.25772341e-02 7.52938166e+01] [-5.23661136e-02 9.98604812e-01 -6.79844617e-03 -8.10557704e+00] [-5.28618298e-02 4.02633455e-03 9.98593719e-01 -5.07435977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30071405700001 meters 0.03930102924584821 Centerline is valid? [True, True] Translation: X:75.35, Y:-8.11, Z:-5.08 [[ 9.97288724e-01 5.06087221e-02 5.34224493e-02 7.53547519e+01] [-5.03105571e-02 9.98709702e-01 -6.91227075e-03 -8.10766257e+00] [-5.37033396e-02 4.20581649e-03 9.98548077e-01 -5.07672723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36071405700001 meters 0.040315970444898486 Centerline is valid? [True, True] Translation: X:75.42, Y:-8.11, Z:-5.08 [[ 9.97314186e-01 5.01187727e-02 5.34090203e-02 7.54160484e+01] [-4.98201349e-02 9.98734308e-01 -6.90914128e-03 -8.11419862e+00] [-5.36876986e-02 4.22974001e-03 9.98548817e-01 -5.08068106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42071405700001 meters 0.043559885439655235 Centerline is valid? [True, True] Translation: X:75.48, Y:-8.12, Z:-5.08 [[ 9.97257391e-01 4.97760195e-02 5.47726625e-02 7.54759706e+01] [-4.94605987e-02 9.98750838e-01 -7.10014101e-03 -8.12369522e+00] [-5.50576593e-02 4.37157942e-03 9.98473607e-01 -5.08436795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48071405700001 meters 0.04297486094846594 Centerline is valid? [True, True] Translation: X:75.54, Y:-8.13, Z:-5.09 [[ 9.97277376e-01 4.79163254e-02 5.60523047e-02 7.55363725e+01] [-4.75825923e-02 9.98840819e-01 -7.27425720e-03 -8.12874483e+00] [-5.63358856e-02 4.58733817e-03 9.98401334e-01 -5.08822400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54071405700002 meters 0.04558726087631653 Centerline is valid? [True, True] Translation: X:75.60, Y:-8.14, Z:-5.09 [[ 9.97438850e-01 4.54572245e-02 5.52211980e-02 7.55959556e+01] [-4.51295332e-02 9.98955431e-01 -7.16738508e-03 -8.13875568e+00] [-5.54893251e-02 4.65692144e-03 9.98448420e-01 -5.09340078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60071405700002 meters 0.045587075725926074 Centerline is valid? [True, True] Translation: X:75.66, Y:-8.15, Z:-5.10 [[ 9.97624389e-01 4.21865836e-02 5.44598086e-02 7.56555427e+01] [-4.18629836e-02 9.99098349e-01 -7.06966354e-03 -8.14584812e+00] [-5.47089498e-02 4.77301870e-03 9.98490936e-01 -5.09890719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.660714057 meters 0.050759041478993044 Centerline is valid? [True, True] Translation: X:75.71, Y:-8.16, Z:-5.10 [[ 9.97761485e-01 3.96894387e-02 5.38216282e-02 7.57140841e+01] [-3.93697997e-02 9.99200284e-01 -6.98657003e-03 -8.15996084e+00] [-5.40558792e-02 4.85198376e-03 9.98526124e-01 -5.10426449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72071405700001 meters 0.047179426707403625 Centerline is valid? [True, True] Translation: X:75.78, Y:-8.16, Z:-5.11 [[ 9.97820838e-01 3.89079122e-02 5.32893049e-02 7.57764798e+01] [-3.85933659e-02 9.99231041e-01 -6.91937984e-03 -8.16181982e+00] [-5.35175463e-02 4.84768775e-03 9.98555142e-01 -5.10706242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78071405700001 meters 0.04668763745619825 Centerline is valid? [True, True] Translation: X:75.84, Y:-8.17, Z:-5.11 [[ 9.97723377e-01 4.02658404e-02 5.40992192e-02 7.58375964e+01] [-3.99433933e-02 9.99177222e-01 -7.02881304e-03 -8.16892335e+00] [-5.43377286e-02 4.85190469e-03 9.98510826e-01 -5.11125056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84071405700001 meters 0.0462880621762066 Centerline is valid? [True, True] Translation: X:75.90, Y:-8.17, Z:-5.11 [[ 9.97544169e-01 4.30902102e-02 5.52165228e-02 7.58973974e+01] [-4.27583694e-02 9.99059659e-01 -7.17771838e-03 -8.17458009e+00] [-5.54738899e-02 4.79912264e-03 9.98448605e-01 -5.11449152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90071405700002 meters 0.045508573848463005 Centerline is valid? [True, True] Translation: X:75.96, Y:-8.18, Z:-5.12 [[ 9.97409303e-01 4.61109867e-02 5.52128590e-02 7.59577949e+01] [-4.57838295e-02 9.98925593e-01 -7.17635811e-03 -8.18033264e+00] [-5.54844469e-02 4.62991021e-03 9.98448817e-01 -5.11883130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96071405700002 meters 0.04746701109561343 Centerline is valid? [True, True] Translation: X:76.02, Y:-8.19, Z:-5.12 [[ 9.97485696e-01 4.61262661e-02 5.38019876e-02 7.60180427e+01] [-4.58157666e-02 9.98925443e-01 -6.99098702e-03 -8.19086717e+00] [-5.40666425e-02 4.50843025e-03 9.98527151e-01 -5.12490807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.020714057 meters 0.04956529918818081 Centerline is valid? [True, True] Translation: X:76.08, Y:-8.20, Z:-5.13 [[ 9.97546324e-01 4.59080919e-02 5.28562121e-02 7.60789908e+01] [-4.56075026e-02 9.98935746e-01 -6.87974919e-03 -8.20165811e+00] [-5.31157958e-02 4.45222868e-03 9.98578435e-01 -5.13034558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08071405700001 meters 0.0455231957497608 Centerline is valid? [True, True] Translation: X:76.14, Y:-8.20, Z:-5.13 [[ 9.97445878e-01 4.68191740e-02 5.39415062e-02 7.61417740e+01] [-4.65066365e-02 9.98893205e-01 -7.03543389e-03 -8.20407580e+00] [-5.42111972e-02 4.50882651e-03 9.98519312e-01 -5.13304874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14071405700001 meters 0.043322565409709614 Centerline is valid? [True, True] Translation: X:76.20, Y:-8.21, Z:-5.14 [[ 9.97293709e-01 4.95075896e-02 5.43530758e-02 7.62024699e+01] [-4.91937332e-02 9.98764034e-01 -7.09802041e-03 -8.20708423e+00] [-5.46373031e-02 4.40498039e-03 9.98496550e-01 -5.13628869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20071405700001 meters 0.04185406135860477 Centerline is valid? [True, True] Translation: X:76.26, Y:-8.21, Z:-5.14 [[ 9.96934916e-01 5.55694232e-02 5.50709723e-02 7.62624915e+01] [-5.52563259e-02 9.98446293e-01 -7.19297142e-03 -8.21052407e+00] [-5.53851174e-02 4.12790476e-03 9.98456533e-01 -5.14018217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26071405700002 meters 0.03932082106458777 Centerline is valid? [True, True] Translation: X:76.32, Y:-8.21, Z:-5.14 [[ 9.96506426e-01 6.23687450e-02 5.55435280e-02 7.63232000e+01] [-6.20607527e-02 9.98046009e-01 -7.25445808e-03 -8.21238599e+00] [-5.58874478e-02 3.78204094e-03 9.98429912e-01 -5.14379651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32071405700002 meters 0.037697567940221395 Centerline is valid? [True, True] Translation: X:76.38, Y:-8.21, Z:-5.15 [[ 9.96066107e-01 6.86330440e-02 5.60519110e-02 7.63832766e+01] [-6.83291861e-02 9.97635962e-01 -7.32189992e-03 -8.21497873e+00] [-5.64219264e-02 3.46311489e-03 9.98401008e-01 -5.14650828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.380714057 meters 0.035344154910018584 Centerline is valid? [True, True] Translation: X:76.44, Y:-8.22, Z:-5.15 [[ 9.95803653e-01 7.29914950e-02 5.52025957e-02 7.64439565e+01] [-7.27035674e-02 9.97327540e-01 -7.20890351e-03 -8.21792765e+00] [-5.55812577e-02 3.16522681e-03 9.98449150e-01 -5.15189653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44071405700001 meters 0.033194649820155464 Centerline is valid? [True, True] Translation: X:76.50, Y:-8.22, Z:-5.16 [[ 9.95634248e-01 7.61980833e-02 5.39100733e-02 7.65033167e+01] [-7.59281849e-02 9.97088436e-01 -7.03999071e-03 -8.22090750e+00] [-5.42895445e-02 2.91596184e-03 9.98520978e-01 -5.15638937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50071405700001 meters 0.0334331162803027 Centerline is valid? [True, True] Translation: X:76.56, Y:-8.23, Z:-5.16 [[ 9.95415397e-01 7.87974792e-02 5.42138871e-02 7.65615490e+01] [-7.85284644e-02 9.96886746e-01 -7.07789295e-03 -8.22732082e+00] [-5.46028256e-02 2.78811031e-03 9.98504260e-01 -5.15990063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56071405700001 meters 0.02958883845034131 Centerline is valid? [True, True] Translation: X:76.62, Y:-8.23, Z:-5.16 [[ 9.95178899e-01 8.14926293e-02 5.45702255e-02 7.66219848e+01] [-8.12242779e-02 9.96670410e-01 -7.12118610e-03 -8.22768626e+00] [-5.49688532e-02 2.65442699e-03 9.98484541e-01 -5.16233436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62071405700001 meters 0.029191130588877123 Centerline is valid? [True, True] Translation: X:76.68, Y:-8.23, Z:-5.17 [[ 9.94945010e-01 8.37530422e-02 5.54062663e-02 7.66804426e+01] [-8.34799201e-02 9.96483233e-01 -7.22972853e-03 -8.23214229e+00] [-5.58169272e-02 2.56787163e-03 9.98437718e-01 -5.16530774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68071405700002 meters 0.02823308179650105 Centerline is valid? [True, True] Translation: X:76.74, Y:-8.24, Z:-5.17 [[ 9.94701314e-01 8.52882070e-02 5.74039797e-02 7.67390060e+01] [-8.49978048e-02 9.96353015e-01 -7.48613660e-03 -8.23835472e+00] [-5.78331074e-02 2.56725765e-03 9.98322964e-01 -5.16776269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74071405700002 meters 0.028635748284006234 Centerline is valid? [True, True] Translation: X:76.80, Y:-8.25, Z:-5.17 [[ 9.94690500e-01 8.50503734e-02 5.79417207e-02 7.67965504e+01] [-8.47543315e-02 9.96373257e-01 -7.55222946e-03 -8.24698576e+00] [-5.83739009e-02 2.60131909e-03 9.98291401e-01 -5.17147067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80071405700001 meters 0.031686822821524886 Centerline is valid? [True, True] Translation: X:76.85, Y:-8.26, Z:-5.18 [[ 9.94916690e-01 8.26451959e-02 5.75373917e-02 7.68535235e+01] [-8.23496454e-02 9.96575331e-01 -7.49298532e-03 -8.26070341e+00] [-5.79596045e-02 2.71671234e-03 9.98315233e-01 -5.17630356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86071405700001 meters 0.030059372718425858 Centerline is valid? [True, True] Translation: X:76.91, Y:-8.27, Z:-5.18 [[ 9.95259707e-01 7.94864337e-02 5.60359054e-02 7.69134888e+01] [-7.92013220e-02 9.96831955e-01 -7.29411956e-03 -8.26806018e+00] [-5.64381647e-02 2.82142551e-03 9.98402110e-01 -5.18079489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92071405700001 meters 0.03113067691803717 Centerline is valid? [True, True] Translation: X:76.97, Y:-8.28, Z:-5.19 [[ 9.95466383e-01 7.74824555e-02 5.51647525e-02 7.69722111e+01] [-7.72030652e-02 9.96989528e-01 -7.18104747e-03 -8.28026162e+00] [-5.55550858e-02 2.88960336e-03 9.98451442e-01 -5.18541194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98071405700001 meters 0.03244370138528991 Centerline is valid? [True, True] Translation: X:77.03, Y:-8.29, Z:-5.19 [[ 9.95541241e-01 7.66004624e-02 5.50454903e-02 7.70288899e+01] [-7.63210205e-02 9.97057560e-01 -7.16401402e-03 -8.29105264e+00] [-5.54322890e-02 2.93094342e-03 9.98458147e-01 -5.18911315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04071405700002 meters 0.03339951578418911 Centerline is valid? [True, True] Translation: X:77.09, Y:-8.30, Z:-5.19 [[ 9.95588524e-01 7.65189544e-02 5.42986299e-02 7.70855511e+01] [-7.62471921e-02 9.97063936e-01 -7.06206480e-03 -8.30028435e+00] [-5.46795874e-02 2.89079261e-03 9.98499768e-01 -5.19348278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10071405700002 meters 0.029891794368862246 Centerline is valid? [True, True] Translation: X:77.14, Y:-8.30, Z:-5.20 [[ 9.95614155e-01 7.68621014e-02 5.33354680e-02 7.71438602e+01] [-7.66006482e-02 9.97037756e-01 -6.93211270e-03 -8.30384553e+00] [-5.37102921e-02 2.81617811e-03 9.98552589e-01 -5.19681600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.160714057 meters 0.03103065686529533 Centerline is valid? [True, True] Translation: X:77.20, Y:-8.32, Z:-5.20 [[ 9.95575738e-01 7.69812892e-02 5.38779343e-02 7.72001286e+01] [-7.67148578e-02 9.97028508e-01 -6.99894748e-03 -8.31602527e+00] [-5.42566245e-02 2.83474423e-03 9.98523001e-01 -5.20114300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22071405700001 meters 0.03534369590227894 Centerline is valid? [True, True] Translation: X:77.26, Y:-8.33, Z:-5.21 [[ 9.95618733e-01 7.62599934e-02 5.41087010e-02 7.72557844e+01] [-7.59905270e-02 9.97083806e-01 -7.02312616e-03 -8.33145068e+00] [-5.44864931e-02 2.88060727e-03 9.98510353e-01 -5.20562315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28071405700001 meters 0.03242186451222163 Centerline is valid? [True, True] Translation: X:77.32, Y:-8.34, Z:-5.21 [[ 9.95760536e-01 7.39386283e-02 5.47177604e-02 7.73152547e+01] [-7.36599246e-02 9.97258175e-01 -7.09560263e-03 -8.33710223e+00] [-5.50923730e-02 3.03501497e-03 9.98476649e-01 -5.20796253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34071405700001 meters 0.03637107627119054 Centerline is valid? [True, True] Translation: X:77.37, Y:-8.35, Z:-5.21 [[ 9.95967449e-01 7.06818272e-02 5.52532402e-02 7.73723504e+01] [-7.03927675e-02 9.97493635e-01 -7.16279630e-03 -8.35323793e+00] [-5.56210349e-02 3.24448347e-03 9.98446681e-01 -5.21230631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40071405700002 meters 0.0342666713348469 Centerline is valid? [True, True] Translation: X:77.43, Y:-8.36, Z:-5.22 [[ 9.96321319e-01 6.62473834e-02 5.43609516e-02 7.74318887e+01] [-6.59610493e-02 9.97797317e-01 -7.04663394e-03 -8.36046239e+00] [-5.47080327e-02 3.43500621e-03 9.98496486e-01 -5.21699859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46071405700002 meters 0.03709119185815011 Centerline is valid? [True, True] Translation: X:77.49, Y:-8.37, Z:-5.22 [[ 9.96597569e-01 6.30324645e-02 5.31054937e-02 7.74892338e+01] [-6.27546725e-02 9.98005242e-01 -6.88395646e-03 -8.37381020e+00] [-5.34334738e-02 3.52791640e-03 9.98565179e-01 -5.22190362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.520714057 meters 0.03610173533597095 Centerline is valid? [True, True] Translation: X:77.55, Y:-8.38, Z:-5.23 [[ 9.96709407e-01 6.15686380e-02 5.27224800e-02 7.75483886e+01] [-6.12929063e-02 9.98096437e-01 -6.83241526e-03 -8.38033422e+00] [-5.30427819e-02 3.57841854e-03 9.98585829e-01 -5.22505944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58071405700001 meters 0.03935564822280301 Centerline is valid? [True, True] Translation: X:77.61, Y:-8.39, Z:-5.23 [[ 9.96698645e-01 6.15167277e-02 5.29858747e-02 7.76061461e+01] [-6.12382517e-02 9.98099570e-01 -6.86479109e-03 -8.39216055e+00] [-5.33074783e-02 3.59736564e-03 9.98571666e-01 -5.22870922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64071405700001 meters 0.037732187193154666 Centerline is valid? [True, True] Translation: X:77.67, Y:-8.40, Z:-5.23 [[ 9.96707972e-01 6.21851149e-02 5.20214337e-02 7.76656265e+01] [-6.19177562e-02 9.98058518e-01 -6.73688377e-03 -8.39733440e+00] [-5.23393689e-02 3.49365531e-03 9.98623245e-01 -5.23350702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70071405700001 meters 0.03662811203784729 Centerline is valid? [True, True] Translation: X:77.73, Y:-8.40, Z:-5.24 [[ 9.96710795e-01 6.17580220e-02 5.24741700e-02 7.77252001e+01] [-6.14854949e-02 9.98084856e-01 -6.79362845e-03 -8.40430770e+00] [-5.27932355e-02 3.54488249e-03 9.98599173e-01 -5.23692226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76071405700002 meters 0.037255299075015076 Centerline is valid? [True, True] Translation: X:77.78, Y:-8.41, Z:-5.24 [[ 9.96694654e-01 6.10945997e-02 5.35463943e-02 7.77837599e+01] [-6.08099525e-02 9.98125301e-01 -6.93064452e-03 -8.41271747e+00] [-5.38694359e-02 3.65158265e-03 9.98541311e-01 -5.23899517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82071405700002 meters 0.039115040155566196 Centerline is valid? [True, True] Translation: X:77.84, Y:-8.42, Z:-5.24 [[ 9.96668177e-01 6.05395565e-02 5.46580958e-02 7.78426714e+01] [-6.02423234e-02 9.98158737e-01 -7.07087641e-03 -8.42327841e+00] [-5.49855236e-02 3.75458682e-03 9.98480093e-01 -5.24220419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.880714057 meters 0.041691440421042406 Centerline is valid? [True, True] Translation: X:77.90, Y:-8.44, Z:-5.25 [[ 9.96752413e-01 5.89154612e-02 5.48962319e-02 7.79012205e+01] [-5.86131291e-02 9.98255505e-01 -7.10259417e-03 -8.43628164e+00] [-5.52189183e-02 3.86188795e-03 9.98466803e-01 -5.24615465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94071405700001 meters 0.0423380496187351 Centerline is valid? [True, True] Translation: X:77.96, Y:-8.45, Z:-5.25 [[ 9.96764391e-01 5.94129313e-02 5.41373397e-02 7.79602472e+01] [-5.91196911e-02 9.98226334e-01 -7.00347743e-03 -8.44547660e+00] [-5.44574153e-02 3.78023411e-03 9.98508938e-01 -5.25066322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00071405700001 meters 0.0360848018485829 Centerline is valid? [True, True] Translation: X:78.02, Y:-8.45, Z:-5.25 [[ 9.96773737e-01 5.98307973e-02 5.35013267e-02 7.80215615e+01] [-5.95450728e-02 9.98201631e-01 -6.92010359e-03 -8.44518889e+00] [-5.38191469e-02 3.71203712e-03 9.98543800e-01 -5.25408965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06071405700001 meters 0.035343837816820815 Centerline is valid? [True, True] Translation: X:78.08, Y:-8.45, Z:-5.26 [[ 9.96588808e-01 6.20993932e-02 5.43545091e-02 7.80811335e+01] [-6.18078270e-02 9.98063307e-01 -7.03045805e-03 -8.45348978e+00] [-5.46858283e-02 3.64694172e-03 9.98496950e-01 -5.25856731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12071405700001 meters 0.03351040247948746 Centerline is valid? [True, True] Translation: X:78.14, Y:-8.46, Z:-5.26 [[ 9.96269305e-01 6.58222860e-02 5.58112683e-02 7.81409485e+01] [-6.55206697e-02 9.97825099e-01 -7.21891791e-03 -8.45841601e+00] [-5.61650500e-02 3.53519466e-03 9.98415239e-01 -5.26153378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18071405700002 meters 0.03227354377443782 Centerline is valid? [True, True] Translation: X:78.20, Y:-8.47, Z:-5.26 [[ 9.96042327e-01 6.77672125e-02 5.75090231e-02 7.82001462e+01] [-6.74501696e-02 9.97694915e-01 -7.43847503e-03 -8.46516904e+00] [-5.78805446e-02 3.53004261e-03 9.98317275e-01 -5.26447296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24071405700002 meters 0.033479981931532725 Centerline is valid? [True, True] Translation: X:78.26, Y:-8.48, Z:-5.27 [[ 9.96196202e-01 6.64761707e-02 5.63386735e-02 7.82585700e+01] [-6.61699783e-02 9.97781771e-01 -7.28505305e-03 -8.47540931e+00] [-5.66979839e-02 3.52941337e-03 9.98385137e-01 -5.26995536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30071405700001 meters 0.03545307005281561 Centerline is valid? [True, True] Translation: X:78.32, Y:-8.49, Z:-5.28 [[ 9.96443860e-01 6.40586219e-02 5.47368854e-02 7.83175414e+01] [-6.37661004e-02 9.97939786e-01 -7.07581691e-03 -8.48739163e+00] [-5.50773828e-02 3.56029658e-03 9.98475741e-01 -5.27568492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36071405700001 meters 0.03925040134232607 Centerline is valid? [True, True] Translation: X:78.38, Y:-8.50, Z:-5.28 [[ 9.96777484e-01 5.99181432e-02 5.33335071e-02 7.83754002e+01] [-5.96346200e-02 9.98196472e-01 -6.89309058e-03 -8.50222843e+00] [-5.36503398e-02 3.69035405e-03 9.98552964e-01 -5.28170045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42071405700001 meters 0.038228185190218915 Centerline is valid? [True, True] Translation: X:78.44, Y:-8.51, Z:-5.29 [[ 9.96805037e-01 5.90466297e-02 5.37885997e-02 7.84351793e+01] [-5.87569211e-02 9.98248106e-01 -6.95298665e-03 -8.50917102e+00] [-5.41049182e-02 3.77031961e-03 9.98528138e-01 -5.28534198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48071405700001 meters 0.04022814282986089 Centerline is valid? [True, True] Translation: X:78.49, Y:-8.52, Z:-5.29 [[ 9.96816687e-01 5.79342474e-02 5.47733057e-02 7.84946471e+01] [-5.76321507e-02 9.98312779e-01 -7.08027473e-03 -8.52050893e+00] [-5.50910814e-02 3.90103259e-03 9.98473713e-01 -5.28893161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54071405700002 meters 0.03909799526892253 Centerline is valid? [True, True] Translation: X:78.56, Y:-8.53, Z:-5.29 [[ 9.96943430e-01 5.59369564e-02 5.45422310e-02 7.85555278e+01] [-5.56344540e-02 9.98426314e-01 -7.05005615e-03 -8.52762502e+00] [-5.48507573e-02 3.99407991e-03 9.98486576e-01 -5.29253364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60071405700002 meters 0.04044302842160231 Centerline is valid? [True, True] Translation: X:78.62, Y:-8.54, Z:-5.30 [[ 9.97124995e-01 5.33959292e-02 5.37644868e-02 7.86156301e+01] [-5.30982179e-02 9.98565098e-01 -6.95163277e-03 -8.53887367e+00] [-5.40585289e-02 4.07684835e-03 9.98529446e-01 -5.29713351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.660714057 meters 0.05027742629596894 Centerline is valid? [True, True] Translation: X:78.67, Y:-8.56, Z:-5.30 [[ 9.97371968e-01 4.94371249e-02 5.29634598e-02 7.86725641e+01] [-4.91426147e-02 9.98768286e-01 -6.84936779e-03 -8.56223281e+00] [-5.32368370e-02 4.22860454e-03 9.98572961e-01 -5.30281030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72071405700001 meters 0.04437396342953156 Centerline is valid? [True, True] Translation: X:78.73, Y:-8.56, Z:-5.31 [[ 9.97586911e-01 4.66860755e-02 5.13883746e-02 7.87334293e+01] [-4.64052682e-02 9.98900595e-01 -6.64470176e-03 -8.56378927e+00] [-5.16420931e-02 4.24397620e-03 9.98656639e-01 -5.30631216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78071405700001 meters 0.04621148090216392 Centerline is valid? [True, True] Translation: X:78.79, Y:-8.58, Z:-5.31 [[ 9.97659476e-01 4.65225415e-02 5.01120971e-02 7.87940329e+01] [-4.62553992e-02 9.98908641e-01 -6.47810357e-03 -8.57518869e+00] [-5.03587847e-02 4.14498636e-03 9.98722590e-01 -5.31100456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84071405700001 meters 0.043284028810290795 Centerline is valid? [True, True] Translation: X:78.86, Y:-8.58, Z:-5.31 [[ 9.97737596e-01 4.57012899e-02 4.93060028e-02 7.88558900e+01] [-4.54413218e-02 9.98946628e-01 -6.38125619e-03 -8.57993594e+00] [-4.95456969e-02 4.12628927e-03 9.98763334e-01 -5.31402658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90071405700002 meters 0.043687441926156666 Centerline is valid? [True, True] Translation: X:78.92, Y:-8.59, Z:-5.32 [[ 9.97655482e-01 4.67683844e-02 4.99625525e-02 7.89175641e+01] [-4.65027082e-02 9.98897227e-01 -6.46739869e-03 -8.58930411e+00] [-5.02099249e-02 4.12884176e-03 9.98730152e-01 -5.31772541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96071405700002 meters 0.042363495711635044 Centerline is valid? [True, True] Translation: X:78.98, Y:-8.60, Z:-5.32 [[ 9.97552310e-01 4.78814532e-02 5.09583700e-02 7.89781885e+01] [-4.76056807e-02 9.98844319e-01 -6.61247088e-03 -8.59581359e+00] [-5.12160931e-02 4.17037771e-03 9.98678887e-01 -5.32054731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.020714057 meters 0.04203645119587285 Centerline is valid? [True, True] Translation: X:79.04, Y:-8.60, Z:-5.32 [[ 9.97504008e-01 4.91844903e-02 5.06620118e-02 7.90399342e+01] [-4.89136436e-02 9.98781384e-01 -6.57292623e-03 -8.60413999e+00] [-5.09235603e-02 4.07845667e-03 9.98694226e-01 -5.32467010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08071405700001 meters 0.040291043825813895 Centerline is valid? [True, True] Translation: X:79.10, Y:-8.61, Z:-5.33 [[ 9.97618275e-01 4.91095768e-02 4.84358066e-02 7.91012017e+01] [-4.88613714e-02 9.98785727e-01 -6.29590772e-03 -8.61028815e+00] [-4.86861817e-02 3.91427267e-03 9.98806455e-01 -5.33017520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14071405700001 meters 0.04735926835039367 Centerline is valid? [True, True] Translation: X:79.16, Y:-8.63, Z:-5.34 [[ 9.97723702e-01 4.83939660e-02 4.69620873e-02 7.91604743e+01] [-4.81593485e-02 9.98820946e-01 -6.11521783e-03 -8.62773204e+00] [-4.72026561e-02 3.83963424e-03 9.98877954e-01 -5.33726778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20071405700001 meters 0.043643837952233026 Centerline is valid? [True, True] Translation: X:79.22, Y:-8.63, Z:-5.34 [[ 9.97749671e-01 4.78093067e-02 4.70091956e-02 7.92231216e+01] [-4.75730607e-02 9.98848938e-01 -6.13219422e-03 -8.63005947e+00] [-4.72482610e-02 3.88202345e-03 9.98875634e-01 -5.33995267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26071405700002 meters 0.04079133882577986 Centerline is valid? [True, True] Translation: X:79.29, Y:-8.63, Z:-5.34 [[ 9.97662195e-01 4.90383379e-02 4.75960750e-02 7.92850220e+01] [-4.87967809e-02 9.98789332e-01 -6.22457324e-03 -8.63209817e+00] [-4.78436946e-02 3.88748616e-03 9.98847270e-01 -5.34097824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32071405700002 meters 0.04070302638067423 Centerline is valid? [True, True] Translation: X:79.35, Y:-8.64, Z:-5.34 [[ 9.97488805e-01 5.09979236e-02 4.91456680e-02 7.93458135e+01] [-5.07426194e-02 9.98691068e-01 -6.42937583e-03 -8.63760242e+00] [-4.94092245e-02 3.91945049e-03 9.98770928e-01 -5.34258178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.380714057 meters 0.041420270405724824 Centerline is valid? [True, True] Translation: X:79.41, Y:-8.65, Z:-5.35 [[ 9.97429725e-01 5.12491604e-02 5.00746139e-02 7.94072442e+01] [-5.09845283e-02 9.98677972e-01 -6.54869847e-03 -8.64645372e+00] [-5.03440292e-02 3.97883594e-03 9.98724010e-01 -5.34570638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44071405700001 meters 0.04360078637682718 Centerline is valid? [True, True] Translation: X:79.47, Y:-8.66, Z:-5.35 [[ 9.97516359e-01 5.00539319e-02 4.95551923e-02 7.94680667e+01] [-4.97926631e-02 9.98738466e-01 -6.49359018e-03 -8.65798491e+00] [-4.98177065e-02 4.00997744e-03 9.98750277e-01 -5.34992597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50071405700001 meters 0.0451914907890423 Centerline is valid? [True, True] Translation: X:79.53, Y:-8.67, Z:-5.36 [[ 9.97699744e-01 4.90472525e-02 4.67930249e-02 7.95275908e+01] [-4.88125781e-02 9.98789050e-01 -6.14540392e-03 -8.66856729e+00] [-4.70377761e-02 3.84717974e-03 9.98885703e-01 -5.35600591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56071405700001 meters 0.04219211490223983 Centerline is valid? [True, True] Translation: X:79.59, Y:-8.67, Z:-5.36 [[ 9.97756564e-01 5.05498908e-02 4.38924555e-02 7.95899682e+01] [-5.03450570e-02 9.98715271e-01 -5.76036943e-03 -8.67281686e+00] [-4.41272516e-02 3.53767823e-03 9.99019655e-01 -5.36109682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62071405700001 meters 0.04093863103490696 Centerline is valid? [True, True] Translation: X:79.65, Y:-8.68, Z:-5.36 [[ 9.97518840e-01 5.51915371e-02 4.37042173e-02 7.96501555e+01] [-5.49921642e-02 9.98470218e-01 -5.75199070e-03 -8.67763124e+00] [-4.39548205e-02 3.33432959e-03 9.99027956e-01 -5.36383004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68071405700002 meters 0.03908189858521652 Centerline is valid? [True, True] Translation: X:79.71, Y:-8.68, Z:-5.37 [[ 9.97048537e-01 6.27750450e-02 4.41985152e-02 7.97095177e+01] [-6.25785214e-02 9.98023089e-01 -5.81741509e-03 -8.67912040e+00] [-4.44763272e-02 3.03436747e-03 9.99005830e-01 -5.36560588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74071405700002 meters 0.03480423613443089 Centerline is valid? [True, True] Translation: X:79.77, Y:-8.68, Z:-5.37 [[ 9.96576779e-01 6.88007097e-02 4.58387005e-02 7.97700495e+01] [-6.85957140e-02 9.97626304e-01 -6.03206633e-03 -8.67914855e+00] [-4.61449038e-02 2.86707884e-03 9.98930642e-01 -5.36691690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80071405700001 meters 0.03863677462750859 Centerline is valid? [True, True] Translation: X:79.83, Y:-8.69, Z:-5.37 [[ 9.96460048e-01 7.05376023e-02 4.57364022e-02 7.98269373e+01] [-7.03353215e-02 9.97505245e-01 -6.01906600e-03 -8.69171454e+00] [-4.60468716e-02 2.78087425e-03 9.98935410e-01 -5.37193520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86071405700001 meters 0.037932128322771305 Centerline is valid? [True, True] Translation: X:79.89, Y:-8.70, Z:-5.38 [[ 9.96653068e-01 6.83181322e-02 4.48920420e-02 7.98853640e+01] [-6.81211703e-02 9.97659583e-01 -5.90451937e-03 -8.69896061e+00] [-4.51903616e-02 2.82665891e-03 9.98974395e-01 -5.37578298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92071405700001 meters 0.041372336656876806 Centerline is valid? [True, True] Translation: X:79.94, Y:-8.71, Z:-5.38 [[ 9.96985060e-01 6.37668248e-02 4.42106553e-02 7.99440179e+01] [-6.35714872e-02 9.97960365e-01 -5.81173828e-03 -8.71371428e+00] [-4.44910778e-02 2.98367913e-03 9.99005326e-01 -5.38141498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98071405700001 meters 0.03354921224238082 Centerline is valid? [True, True] Translation: X:80.01, Y:-8.71, Z:-5.38 [[ 9.97178269e-01 6.02943503e-02 4.47223863e-02 8.00053079e+01] [-6.00909848e-02 9.98175591e-01 -5.87903678e-03 -8.71113581e+00] [-4.49952671e-02 3.17503548e-03 9.98982155e-01 -5.38086522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04071405700002 meters 0.037617449871127334 Centerline is valid? [True, True] Translation: X:80.06, Y:-8.72, Z:-5.38 [[ 9.97296021e-01 5.70254984e-02 4.63544834e-02 8.00628239e+01] [-5.68035469e-02 9.98366786e-01 -6.09244622e-03 -8.72443422e+00] [-4.66262014e-02 3.44287331e-03 9.98906474e-01 -5.38422112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10071405700002 meters 0.05105135513379521 Centerline is valid? [True, True] Translation: X:80.12, Y:-8.75, Z:-5.39 [[ 9.97320230e-01 5.47860173e-02 4.84855685e-02 8.01190151e+01] [-5.45405540e-02 9.98491223e-01 -6.37219445e-03 -8.75068877e+00] [-4.87615218e-02 3.71068867e-03 9.98803557e-01 -5.39107290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.160714057 meters 0.04121677858771783 Centerline is valid? [True, True] Translation: X:80.18, Y:-8.75, Z:-5.39 [[ 9.97379244e-01 5.26265969e-02 4.96496218e-02 8.01800165e+01] [-5.23665430e-02 9.98606614e-01 -6.52501678e-03 -8.74598825e+00] [-4.99238301e-02 3.90793725e-03 9.98745383e-01 -5.39248849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22071405700001 meters 0.04462393593807701 Centerline is valid? [True, True] Translation: X:80.24, Y:-8.76, Z:-5.40 [[ 9.97563747e-01 4.96550872e-02 4.89994219e-02 8.02392902e+01] [-4.93983065e-02 9.98758407e-01 -6.43836379e-03 -8.75731482e+00] [-4.92582820e-02 4.00218984e-03 9.98778055e-01 -5.39787821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28071405700001 meters 0.04805157371574379 Centerline is valid? [True, True] Translation: X:80.30, Y:-8.77, Z:-5.40 [[ 9.97702718e-01 4.70288187e-02 4.87603947e-02 8.02982073e+01] [-4.67714366e-02 9.98885072e-01 -6.40674553e-03 -8.77047612e+00] [-4.90073320e-02 4.11143373e-03 9.98789957e-01 -5.40348092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34071405700001 meters 0.05084676731055377 Centerline is valid? [True, True] Translation: X:80.36, Y:-8.78, Z:-5.41 [[ 9.97810670e-01 4.43385396e-02 4.90709866e-02 8.03576657e+01] [-4.40745438e-02 9.99007427e-01 -6.44943866e-03 -8.78207814e+00] [-4.93082387e-02 4.27253736e-03 9.98774471e-01 -5.40825624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40071405700002 meters 0.052088529973633606 Centerline is valid? [True, True] Translation: X:80.42, Y:-8.79, Z:-5.41 [[ 9.97802818e-01 4.41035447e-02 4.94410055e-02 8.04194320e+01] [-4.38354203e-02 9.99017654e-01 -6.49488761e-03 -8.79137302e+00] [-4.96788849e-02 4.31334990e-03 9.98755928e-01 -5.41309059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46071405700002 meters 0.04329936543813105 Centerline is valid? [True, True] Translation: X:80.48, Y:-8.79, Z:-5.41 [[ 9.97688636e-01 4.59182540e-02 5.00889132e-02 8.04828045e+01] [-4.56445709e-02 9.98935975e-01 -6.59479450e-03 -8.78579034e+00] [-5.03384388e-02 4.29326458e-03 9.98722989e-01 -5.41438647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.520714057 meters 0.04717416098897085 Centerline is valid? [True, True] Translation: X:80.54, Y:-8.80, Z:-5.42 [[ 9.97578745e-01 4.72542360e-02 5.10263188e-02 8.05423687e+01] [-4.69717758e-02 9.98873604e-01 -6.72131383e-03 -8.79713558e+00] [-5.12864535e-02 4.30824301e-03 9.98674691e-01 -5.41789691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58071405700001 meters 0.03997279722937506 Centerline is valid? [True, True] Translation: X:80.61, Y:-8.80, Z:-5.42 [[ 9.97477842e-01 4.77803753e-02 5.24880057e-02 8.06059155e+01] [-4.74821346e-02 9.98848150e-01 -6.91514864e-03 -8.79568127e+00] [-5.27579558e-02 4.40546499e-03 9.98597612e-01 -5.41945920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64071405700001 meters 0.04183893234093351 Centerline is valid? [True, True] Translation: X:80.67, Y:-8.81, Z:-5.42 [[ 9.97502378e-01 4.71215643e-02 5.26171384e-02 8.06673354e+01] [-4.68207793e-02 9.98879230e-01 -6.93525398e-03 -8.80682771e+00] [-5.28849667e-02 4.45435692e-03 9.98590676e-01 -5.42420438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70071405700001 meters 0.0434344480049859 Centerline is valid? [True, True] Translation: X:80.73, Y:-8.82, Z:-5.43 [[ 9.97580859e-01 4.64389867e-02 5.17286195e-02 8.07278237e+01] [-4.61466228e-02 9.98911310e-01 -6.83260935e-03 -8.81793463e+00] [-5.19896025e-02 4.42897921e-03 9.98637805e-01 -5.42956516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76071405700002 meters 0.04484221071328187 Centerline is valid? [True, True] Translation: X:80.79, Y:-8.83, Z:-5.43 [[ 9.97584765e-01 4.61489290e-02 5.19125456e-02 8.07890744e+01] [-4.58538072e-02 9.98924590e-01 -6.86232056e-03 -8.82902514e+00] [-5.21734071e-02 4.46535859e-03 9.98628057e-01 -5.43376999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82071405700002 meters 0.046588388898790994 Centerline is valid? [True, True] Translation: X:80.85, Y:-8.84, Z:-5.44 [[ 9.97512510e-01 4.58393903e-02 5.35494467e-02 8.08505383e+01] [-4.55241352e-02 9.98938059e-01 -7.09283204e-03 -8.84147155e+00] [-5.38177114e-02 4.63739644e-03 9.98540008e-01 -5.43702101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.880714057 meters 0.047845282102245576 Centerline is valid? [True, True] Translation: X:80.91, Y:-8.85, Z:-5.44 [[ 9.97549490e-01 4.49237202e-02 5.36364945e-02 8.09120405e+01] [-4.46052994e-02 9.98979318e-01 -7.11966188e-03 -8.85241629e+00] [-5.39015904e-02 4.70974318e-03 9.98535146e-01 -5.44121339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94071405700001 meters 0.05188427231821188 Centerline is valid? [True, True] Translation: X:80.97, Y:-8.87, Z:-5.45 [[ 9.97703948e-01 4.13805663e-02 5.36141781e-02 8.09709177e+01] [-4.10570944e-02 9.99131424e-01 -7.12123071e-03 -8.86856928e+00] [-5.38622907e-02 4.90363763e-03 9.98536333e-01 -5.44594404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00071405700001 meters 0.04646685675948971 Centerline is valid? [True, True] Translation: X:81.03, Y:-8.87, Z:-5.45 [[ 9.97842451e-01 3.76445310e-02 5.37897017e-02 8.10311368e+01] [-3.73135481e-02 9.99278066e-01 -7.14471058e-03 -8.87300399e+00] [-5.40198284e-02 5.12221090e-03 9.98526725e-01 -5.44927459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06071405700001 meters 0.04970318767290076 Centerline is valid? [True, True] Translation: X:81.09, Y:-8.89, Z:-5.45 [[ 9.97881708e-01 3.65553235e-02 5.38126924e-02 8.10903717e+01] [-3.62225443e-02 9.99318193e-01 -7.14674253e-03 -8.88898014e+00] [-5.40372540e-02 5.18237100e-03 9.98525472e-01 -5.45395626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12071405700001 meters 0.05025607832218588 Centerline is valid? [True, True] Translation: X:81.15, Y:-8.90, Z:-5.46 [[ 9.97727180e-01 3.82548494e-02 5.54710894e-02 8.11498313e+01] [-3.79033761e-02 9.99254195e-01 -7.37483591e-03 -8.89909457e+00] [-5.57118420e-02 5.25553267e-03 9.98433057e-01 -5.45627873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18071405700002 meters 0.05272545055312378 Centerline is valid? [True, True] Translation: X:81.21, Y:-8.91, Z:-5.46 [[ 9.97509177e-01 4.28568794e-02 5.60243637e-02 8.12090111e+01] [-4.25055382e-02 9.99068466e-01 -7.44840785e-03 -8.90964146e+00] [-5.62913906e-02 5.04850945e-03 9.98401619e-01 -5.45871855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24071405700002 meters 0.04964719234886512 Centerline is valid? [True, True] Translation: X:81.27, Y:-8.91, Z:-5.46 [[ 9.97213338e-01 4.94481002e-02 5.58609260e-02 8.12686156e+01] [-4.91090593e-02 9.98765811e-01 -7.42670985e-03 -8.91319761e+00] [-5.61592197e-02 4.66273659e-03 9.98410938e-01 -5.46270238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30071405700001 meters 0.04913161604798871 Centerline is valid? [True, True] Translation: X:81.33, Y:-8.92, Z:-5.47 [[ 9.97006928e-01 5.46372626e-02 5.46987606e-02 8.13274150e+01] [-5.43200030e-02 9.98497104e-01 -7.27126398e-03 -8.91993203e+00] [-5.50138360e-02 4.27826373e-03 9.98476427e-01 -5.46770231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36071405700001 meters 0.0471871014531266 Centerline is valid? [True, True] Translation: X:81.39, Y:-8.93, Z:-5.47 [[ 9.96950125e-01 5.77659519e-02 5.24742159e-02 8.13883873e+01] [-5.74783829e-02 9.98322391e-01 -6.97413439e-03 -8.92500958e+00] [-5.27890522e-02 3.93673108e-03 9.98597926e-01 -5.47256865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42071405700001 meters 0.05018867123890728 Centerline is valid? [True, True] Translation: X:81.45, Y:-8.94, Z:-5.48 [[ 9.97033910e-01 5.76730036e-02 5.09627924e-02 8.14483490e+01] [-5.74017290e-02 9.98328194e-01 -6.77190397e-03 -8.93912349e+00] [-5.12681485e-02 3.82646550e-03 9.98677593e-01 -5.47908077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48071405700001 meters 0.04130487602656204 Centerline is valid? [True, True] Translation: X:81.51, Y:-8.94, Z:-5.48 [[ 9.97143407e-01 5.57658783e-02 5.09430275e-02 8.15100772e+01] [-5.54916425e-02 9.98436112e-01 -6.78289615e-03 -8.93761011e+00] [-5.12416125e-02 3.93660791e-03 9.98678527e-01 -5.47997703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54071405700002 meters 0.04372287595567698 Centerline is valid? [True, True] Translation: X:81.57, Y:-8.95, Z:-5.48 [[ 9.97380369e-01 5.15819928e-02 5.07118985e-02 8.15690862e+01] [-5.13048140e-02 9.98660207e-01 -6.75323290e-03 -8.95216364e+00] [-5.09923003e-02 4.13377741e-03 9.98690491e-01 -5.48373665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60071405700002 meters 0.045537722891116635 Centerline is valid? [True, True] Translation: X:81.63, Y:-8.97, Z:-5.49 [[ 9.97694485e-01 4.59706526e-02 4.99240864e-02 8.16278913e+01] [-4.56950509e-02 9.98933312e-01 -6.64841423e-03 -8.96723426e+00] [-5.01764649e-02 4.35180254e-03 9.98730887e-01 -5.48816346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.660714057 meters 0.048868405576845624 Centerline is valid? [True, True] Translation: X:81.69, Y:-8.98, Z:-5.49 [[ 9.97931844e-01 4.09734231e-02 4.95299181e-02 8.16867312e+01] [-4.06960471e-02 9.99149800e-01 -6.59613751e-03 -8.98497113e+00] [-4.97580740e-02 4.56682379e-03 9.98750859e-01 -5.49278574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72071405700001 meters 0.04887509750547754 Centerline is valid? [True, True] Translation: X:81.75, Y:-9.00, Z:-5.50 [[ 9.98054754e-01 3.81621162e-02 4.92986955e-02 8.17462896e+01] [-3.78838821e-02 9.99260574e-01 -6.56628952e-03 -8.99634877e+00] [-4.95128262e-02 4.68589050e-03 9.98762496e-01 -5.49647891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78071405700001 meters 0.05016947418967645 Centerline is valid? [True, True] Translation: X:81.81, Y:-9.01, Z:-5.50 [[ 9.98155116e-01 3.56677638e-02 4.91342650e-02 8.18056973e+01] [-3.53883842e-02 9.99352206e-01 -6.54455133e-03 -9.01086747e+00] [-4.93358656e-02 4.79369514e-03 9.98770741e-01 -5.50135583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84071405700001 meters 0.04968373424112907 Centerline is valid? [True, True] Translation: X:81.87, Y:-9.02, Z:-5.50 [[ 9.98146728e-01 3.54572310e-02 4.94559892e-02 8.18663401e+01] [-3.51740778e-02 9.99359511e-01 -6.58424630e-03 -9.02276588e+00] [-4.96577724e-02 4.83247509e-03 9.98754601e-01 -5.50469701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90071405700002 meters 0.04442100394021315 Centerline is valid? [True, True] Translation: X:81.93, Y:-9.03, Z:-5.51 [[ 9.98085365e-01 3.66054497e-02 4.98562423e-02 8.19279254e+01] [-3.63183628e-02 9.99318129e-01 -6.65238721e-03 -9.02596419e+00] [-5.00657604e-02 4.82895322e-03 9.98734249e-01 -5.50724523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96071405700002 meters 0.04601442762764677 Centerline is valid? [True, True] Translation: X:81.99, Y:-9.04, Z:-5.51 [[ 9.97984413e-01 4.03172611e-02 4.90064337e-02 8.19858392e+01] [-4.00441869e-02 9.99176496e-01 -6.54169835e-03 -9.03768211e+00] [-4.92298200e-02 4.56609020e-03 9.98777040e-01 -5.51208502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.020714057 meters 0.04276662110468085 Centerline is valid? [True, True] Translation: X:82.05, Y:-9.04, Z:-5.52 [[ 9.97955222e-01 4.20526545e-02 4.81347076e-02 8.20475300e+01] [-4.17913218e-02 9.99105714e-01 -6.42321470e-03 -9.04342065e+00] [-4.83617747e-02 4.39846759e-03 9.98820200e-01 -5.51643826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08071405700001 meters 0.045560733673681485 Centerline is valid? [True, True] Translation: X:82.11, Y:-9.06, Z:-5.52 [[ 9.97869147e-01 4.48090265e-02 4.74269550e-02 8.21053433e+01] [-4.45582441e-02 9.98986719e-01 -6.33237548e-03 -9.05879862e+00] [-4.76626457e-02 4.20562028e-03 9.98854637e-01 -5.52276181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14071405700001 meters 0.04192069011772047 Centerline is valid? [True, True] Translation: X:82.17, Y:-9.06, Z:-5.53 [[ 9.97767360e-01 4.79543576e-02 4.64830561e-02 8.21660335e+01] [-4.77168614e-02 9.98841621e-01 -6.20616486e-03 -9.06318170e+00] [-4.67268237e-02 3.97428319e-03 9.98899799e-01 -5.52536990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20071405700001 meters 0.042240328906481744 Centerline is valid? [True, True] Translation: X:82.22, Y:-9.07, Z:-5.53 [[ 9.97472692e-01 5.34942379e-02 4.67610373e-02 8.22243867e+01] [-5.32598825e-02 9.98561162e-01 -6.24430093e-03 -9.07316248e+00] [-4.70277898e-02 3.73803231e-03 9.98886587e-01 -5.52913504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26071405700002 meters 0.04064886029388218 Centerline is valid? [True, True] Translation: X:82.28, Y:-9.08, Z:-5.53 [[ 9.97121783e-01 5.87925027e-02 4.78705709e-02 8.22842036e+01] [-5.85530096e-02 9.98263842e-01 -6.39115525e-03 -9.08049039e+00] [-4.81632121e-02 3.56979412e-03 9.98833100e-01 -5.53146004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32071405700002 meters 0.037714035607849763 Centerline is valid? [True, True] Translation: X:82.34, Y:-9.08, Z:-5.53 [[ 9.96824448e-01 6.35366708e-02 4.80011592e-02 8.23446855e+01] [-6.33013398e-02 9.97973883e-01 -6.40849120e-03 -9.08412822e+00] [-4.83110775e-02 3.34960301e-03 9.98826722e-01 -5.53373763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38071405700002 meters 0.0410273589671152 Centerline is valid? [True, True] Translation: X:82.40, Y:-9.10, Z:-5.54 [[ 9.96854502e-01 6.35091433e-02 4.74098225e-02 8.24021756e+01] [-6.32795369e-02 9.97975768e-01 -6.32980263e-03 -9.09925763e+00] [-4.77158544e-02 3.30982063e-03 9.98855466e-01 -5.54029857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44071405700001 meters 0.04058036416367093 Centerline is valid? [True, True] Translation: X:82.46, Y:-9.11, Z:-5.54 [[ 9.97147224e-01 5.99541848e-02 4.58574866e-02 8.24618125e+01] [-5.97356963e-02 9.98195459e-01 -6.12138483e-03 -9.10968507e+00] [-4.61417375e-02 3.36459300e-03 9.98929237e-01 -5.54485298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50071405700001 meters 0.036784373560774374 Centerline is valid? [True, True] Translation: X:82.52, Y:-9.11, Z:-5.55 [[ 9.97405991e-01 5.59040487e-02 4.53434177e-02 8.25227085e+01] [-5.56862692e-02 9.98429968e-01 -6.05289783e-03 -9.11363828e+00] [-4.56106086e-02 3.51219080e-03 9.98953120e-01 -5.54645106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56071405700001 meters 0.04813907330862722 Centerline is valid? [True, True] Translation: X:82.58, Y:-9.14, Z:-5.55 [[ 9.97476223e-01 5.32229114e-02 4.69947449e-02 8.25795453e+01] [-5.29859983e-02 9.98575549e-01 -6.27356223e-03 -9.13897058e+00] [-4.72617004e-02 3.76766569e-03 9.98875436e-01 -5.55180563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62071405700001 meters 0.03798539610293231 Centerline is valid? [True, True] Translation: X:82.64, Y:-9.13, Z:-5.55 [[ 9.97386366e-01 5.32517586e-02 4.88332684e-02 8.26439965e+01] [-5.29961880e-02 9.98573466e-01 -6.51436635e-03 -9.13407715e+00] [-4.91105075e-02 3.90936310e-03 9.98785700e-01 -5.55155220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68071405700002 meters 0.04128483236144295 Centerline is valid? [True, True] Translation: X:82.70, Y:-9.15, Z:-5.56 [[ 9.97344793e-01 5.37576974e-02 4.91271239e-02 8.27042797e+01] [-5.34988608e-02 9.98546300e-01 -6.56947852e-03 -9.14668923e+00] [-4.94088679e-02 3.92379003e-03 9.98770929e-01 -5.55574977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74071405700002 meters 0.04213024173227072 Centerline is valid? [True, True] Translation: X:82.77, Y:-9.16, Z:-5.56 [[ 9.97358249e-01 5.36816018e-02 4.89367912e-02 8.27660375e+01] [-5.34241050e-02 9.98550394e-01 -6.55565510e-03 -9.15673386e+00] [-4.92177702e-02 3.92393242e-03 9.98780363e-01 -5.55995859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80071405700001 meters 0.041857992568820744 Centerline is valid? [True, True] Translation: X:82.83, Y:-9.17, Z:-5.56 [[ 9.97492422e-01 5.18629202e-02 4.81571016e-02 8.28264556e+01] [-5.16107197e-02 9.98646342e-01 -6.46662194e-03 -9.16523033e+00] [-4.84272913e-02 3.96498370e-03 9.98818841e-01 -5.56489361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86071405700001 meters 0.042834703095678245 Centerline is valid? [True, True] Translation: X:82.89, Y:-9.18, Z:-5.57 [[ 9.97563168e-01 5.07828225e-02 4.78417252e-02 8.28878540e+01] [-5.05326300e-02 9.98701741e-01 -6.42541283e-03 -9.17516294e+00] [-4.81059149e-02 3.99218699e-03 9.98834262e-01 -5.56910587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92071405700001 meters 0.04568635340576703 Centerline is valid? [True, True] Translation: X:82.95, Y:-9.19, Z:-5.57 [[ 9.97579407e-01 5.08890266e-02 4.73881207e-02 8.29479105e+01] [-5.06436439e-02 9.98696503e-01 -6.36523643e-03 -9.18682511e+00] [-4.76502711e-02 3.94992167e-03 9.98856271e-01 -5.57375108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98071405700001 meters 0.04359555490733614 Centerline is valid? [True, True] Translation: X:83.01, Y:-9.19, Z:-5.58 [[ 9.97329567e-01 5.47492627e-02 4.83347946e-02 8.30090104e+01] [-5.44977368e-02 9.98492689e-01 -6.50740814e-03 -9.18943208e+00] [-4.86182148e-02 3.85589363e-03 9.98809993e-01 -5.57645180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04071405700002 meters 0.04524089177437892 Centerline is valid? [True, True] Translation: X:83.07, Y:-9.20, Z:-5.58 [[ 9.97100219e-01 5.78947841e-02 4.93897444e-02 8.30675489e+01] [-5.76359123e-02 9.98315516e-01 -6.65078211e-03 -9.19818720e+00] [-4.96915937e-02 3.78487332e-03 9.98757438e-01 -5.58032985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10071405700002 meters 0.03871440326356467 Centerline is valid? [True, True] Translation: X:83.13, Y:-9.19, Z:-5.58 [[ 9.96818503e-01 6.07012404e-02 5.16549334e-02 8.31290795e+01] [-6.04218439e-02 9.98148702e-01 -6.95485155e-03 -9.19459139e+00] [-5.19814728e-02 3.81163839e-03 9.98640775e-01 -5.58160448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.160714057 meters 0.04022374107168969 Centerline is valid? [True, True] Translation: X:83.19, Y:-9.21, Z:-5.59 [[ 9.96877966e-01 5.91984068e-02 5.22481516e-02 8.31897402e+01] [-5.89106436e-02 9.98238492e-01 -7.03193998e-03 -9.20533353e+00] [-5.25723957e-02 3.93201379e-03 9.98609374e-01 -5.58584737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22071405700001 meters 0.045222051071925375 Centerline is valid? [True, True] Translation: X:83.25, Y:-9.22, Z:-5.59 [[ 9.97366382e-01 5.11547966e-02 5.14148521e-02 8.32485740e+01] [-5.08647683e-02 9.98681475e-01 -6.93452831e-03 -9.22202639e+00] [-5.17017947e-02 4.30106087e-03 9.98653306e-01 -5.59196174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28071405700001 meters 0.04370232509244034 Centerline is valid? [True, True] Translation: X:83.31, Y:-9.23, Z:-5.60 [[ 9.97592819e-01 4.70547267e-02 5.09354572e-02 8.33094087e+01] [-4.67647886e-02 9.98882306e-01 -6.86980420e-03 -9.22843893e+00] [-5.12017837e-02 4.47128144e-03 9.98678319e-01 -5.59600700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34071405700001 meters 0.04811447488947868 Centerline is valid? [True, True] Translation: X:83.37, Y:-9.24, Z:-5.60 [[ 9.97650385e-01 4.40581306e-02 5.24651284e-02 8.33679796e+01] [-4.37463065e-02 9.99017601e-01 -7.07762298e-03 -9.24228562e+00] [-5.27254136e-02 4.76583771e-03 9.98597676e-01 -5.59968875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40071405700002 meters 0.04554481824461969 Centerline is valid? [True, True] Translation: X:83.43, Y:-9.25, Z:-5.60 [[ 9.97570301e-01 4.42875789e-02 5.37782894e-02 8.34299868e+01] [-4.39603173e-02 9.99006944e-01 -7.25370456e-03 -9.24657653e+00] [-5.40461335e-02 4.87196958e-03 9.98526554e-01 -5.60243796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46071405700002 meters 0.04412411240407263 Centerline is valid? [True, True] Translation: X:83.49, Y:-9.25, Z:-5.61 [[ 9.97444952e-01 4.55044966e-02 5.50718485e-02 8.34916882e+01] [-4.51622068e-02 9.98951927e-01 -7.44462711e-03 -9.25213614e+00] [-5.53528932e-02 4.93843952e-03 9.98454640e-01 -5.60592695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.520714057 meters 0.05227715743969402 Centerline is valid? [True, True] Translation: X:83.55, Y:-9.27, Z:-5.61 [[ 9.97484346e-01 4.56401916e-02 5.42397749e-02 8.35505982e+01] [-4.53083143e-02 9.98946134e-01 -7.33333952e-03 -9.27101223e+00] [-5.45173085e-02 4.85737860e-03 9.98501011e-01 -5.61220674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58071405700001 meters 0.05278166971797489 Centerline is valid? [True, True] Translation: X:83.61, Y:-9.28, Z:-5.62 [[ 9.97536815e-01 4.47815146e-02 5.39899820e-02 8.36119732e+01] [-4.44506577e-02 9.98984807e-01 -7.31404624e-03 -9.28035668e+00] [-5.42627058e-02 4.89614018e-03 9.98514690e-01 -5.61671426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64071405700001 meters 0.04843631229687162 Centerline is valid? [True, True] Translation: X:83.67, Y:-9.28, Z:-5.62 [[ 9.97700073e-01 4.20235821e-02 5.31844230e-02 8.36722760e+01] [-4.16984208e-02 9.99104233e-01 -7.20927771e-03 -9.28220430e+00] [-5.34397418e-02 4.97499045e-03 9.98558683e-01 -5.62094114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70071405700001 meters 0.045832112802285684 Centerline is valid? [True, True] Translation: X:83.73, Y:-9.29, Z:-5.63 [[ 9.97718737e-01 4.16167799e-02 5.31541730e-02 8.37347130e+01] [-4.12915586e-02 9.99121179e-01 -7.20252973e-03 -9.28675616e+00] [-5.34072061e-02 4.99128021e-03 9.98560342e-01 -5.62533380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76071405700002 meters 0.04483434364825567 Centerline is valid? [True, True] Translation: X:83.80, Y:-9.29, Z:-5.63 [[ 9.97655479e-01 4.20812419e-02 5.39695659e-02 8.37970091e+01] [-4.17458464e-02 9.99101393e-01 -7.32737156e-03 -9.29257042e+00] [-5.42294134e-02 5.05718718e-03 9.98515696e-01 -5.62876752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82071405700002 meters 0.04691173958951387 Centerline is valid? [True, True] Translation: X:83.86, Y:-9.30, Z:-5.63 [[ 9.97519131e-01 4.35209875e-02 5.53308915e-02 8.38564851e+01] [-4.31696742e-02 9.99039383e-01 -7.52933206e-03 -9.30241214e+00] [-5.56054237e-02 5.12203621e-03 9.98439684e-01 -5.63229898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88071405700002 meters 0.04627844234998911 Centerline is valid? [True, True] Translation: X:83.92, Y:-9.31, Z:-5.64 [[ 9.97465196e-01 4.47402914e-02 5.53307241e-02 8.39185110e+01] [-4.43908974e-02 9.98985873e-01 -7.52825534e-03 -9.30836312e+00] [-5.56114280e-02 5.05299219e-03 9.98439701e-01 -5.63631412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94071405700001 meters 0.04394567563158195 Centerline is valid? [True, True] Translation: X:83.98, Y:-9.31, Z:-5.64 [[ 9.97477770e-01 4.48254193e-02 5.50343471e-02 8.39808539e+01] [-4.44791154e-02 9.98982147e-01 -7.50194640e-03 -9.31302099e+00] [-5.53146081e-02 5.03514569e-03 9.98456279e-01 -5.64124838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00071405700001 meters 0.04618916974498194 Centerline is valid? [True, True] Translation: X:84.04, Y:-9.32, Z:-5.65 [[ 9.97545826e-01 4.43223205e-02 5.42019996e-02 8.40417525e+01] [-4.39849230e-02 9.99004769e-01 -7.40255318e-03 -9.32434487e+00] [-5.44761544e-02 5.00031524e-03 9.98502552e-01 -5.64643387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06071405700001 meters 0.047455718035133515 Centerline is valid? [True, True] Translation: X:84.10, Y:-9.33, Z:-5.65 [[ 9.97506047e-01 4.46266648e-02 5.46822341e-02 8.41038521e+01] [-4.42829475e-02 9.98991012e-01 -7.48193864e-03 -9.33261233e+00] [-5.49609544e-02 5.04178854e-03 9.98475775e-01 -5.64932829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12071405700001 meters 0.047965889370822606 Centerline is valid? [True, True] Translation: X:84.16, Y:-9.34, Z:-5.65 [[ 9.97283587e-01 4.70107587e-02 5.67048076e-02 8.41645351e+01] [-4.66439602e-02 9.98881315e-01 -7.77557464e-03 -9.34090376e+00] [-5.70069085e-02 5.10951618e-03 9.98360709e-01 -5.65139232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18071405700002 meters 0.047909563986489205 Centerline is valid? [True, True] Translation: X:84.23, Y:-9.35, Z:-5.66 [[ 9.97108508e-01 5.01936445e-02 5.70545400e-02 8.42250685e+01] [-4.98273981e-02 9.98727192e-01 -7.82470546e-03 -9.34746143e+00] [-5.73746710e-02 4.95920111e-03 9.98340400e-01 -5.65562959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24071405700002 meters 0.04660783046594854 Centerline is valid? [True, True] Translation: X:84.29, Y:-9.35, Z:-5.66 [[ 9.96936583e-01 5.32181234e-02 5.73173692e-02 8.42856514e+01] [-5.28534550e-02 9.98571341e-01 -7.86061956e-03 -9.35276322e+00] [-5.76538097e-02 4.80711821e-03 9.98325062e-01 -5.65974165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30071405700001 meters 0.0474221060988293 Centerline is valid? [True, True] Translation: X:84.35, Y:-9.36, Z:-5.66 [[ 9.96900775e-01 5.39105757e-02 5.72930567e-02 8.43474800e+01] [-5.35473689e-02 9.98534400e-01 -7.85698653e-03 -9.36270743e+00] [-5.76326627e-02 4.76474352e-03 9.98326486e-01 -5.66425314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36071405700001 meters 0.05040718343680639 Centerline is valid? [True, True] Translation: X:84.41, Y:-9.38, Z:-5.67 [[ 9.96981406e-01 5.39793593e-02 5.58059489e-02 8.44071684e+01] [-5.36346909e-02 9.98531269e-01 -7.65668519e-03 -9.37509881e+00] [-5.61372880e-02 4.64043795e-03 9.98412275e-01 -5.67089336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42071405700001 meters 0.05205054859896779 Centerline is valid? [True, True] Translation: X:84.47, Y:-9.38, Z:-5.68 [[ 9.96981756e-01 5.40053970e-02 5.57744999e-02 8.44684435e+01] [-5.36604601e-02 9.98529822e-01 -7.66478872e-03 -9.38475413e+00] [-5.61064414e-02 4.64876919e-03 9.98413970e-01 -5.67542017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48071405700001 meters 0.05416480078890762 Centerline is valid? [True, True] Translation: X:84.53, Y:-9.39, Z:-5.68 [[ 9.96851837e-01 5.51839451e-02 5.69310812e-02 8.45277724e+01] [-5.48255934e-02 9.98465178e-01 -7.83849702e-03 -9.39447495e+00] [-5.72762613e-02 4.69253984e-03 9.98347339e-01 -5.67885083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54071405700002 meters 0.0443460730524128 Centerline is valid? [True, True] Translation: X:84.59, Y:-9.39, Z:-5.68 [[ 9.96794994e-01 5.62892656e-02 5.68441566e-02 8.45918998e+01] [-5.59335306e-02 9.98403783e-01 -7.83110235e-03 -9.38677889e+00] [-5.71942280e-02 4.62650925e-03 9.98352350e-01 -5.68088113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60071405700002 meters 0.04692358600183845 Centerline is valid? [True, True] Translation: X:84.65, Y:-9.40, Z:-5.69 [[ 9.96884513e-01 5.56570376e-02 5.58888372e-02 8.46524874e+01] [-5.53114005e-02 9.98439358e-01 -7.71349718e-03 -9.39626104e+00] [-5.62309251e-02 4.59817602e-03 9.98407201e-01 -5.68533599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.660714057 meters 0.043285507967866704 Centerline is valid? [True, True] Translation: X:84.71, Y:-9.40, Z:-5.69 [[ 9.97004852e-01 5.42350386e-02 5.51351640e-02 8.47137566e+01] [-5.38957244e-02 9.98517466e-01 -7.62371173e-03 -9.39851426e+00] [-5.54668965e-02 4.62932798e-03 9.98449795e-01 -5.68925737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72071405700001 meters 0.04543553878592967 Centerline is valid? [True, True] Translation: X:84.77, Y:-9.41, Z:-5.69 [[ 9.97129761e-01 5.22508858e-02 5.47912851e-02 8.47743722e+01] [-5.19127143e-02 9.98622873e-01 -7.57816360e-03 -9.40687574e+00] [-5.51117963e-02 4.71204812e-03 9.98469071e-01 -5.69270582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78071405700001 meters 0.04434045222810145 Centerline is valid? [True, True] Translation: X:84.84, Y:-9.41, Z:-5.70 [[ 9.97089466e-01 5.34347576e-02 5.43812784e-02 8.48358098e+01] [-5.31032745e-02 9.98560684e-01 -7.52340799e-03 -9.40981797e+00] [-5.47050181e-02 4.61368690e-03 9.98491900e-01 -5.69638307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84071405700001 meters 0.03906835408414678 Centerline is valid? [True, True] Translation: X:84.90, Y:-9.41, Z:-5.70 [[ 9.96878040e-01 5.69754980e-02 5.46622832e-02 8.48970232e+01] [-5.66457272e-02 9.98365683e-01 -7.56463972e-03 -9.40668942e+00] [-5.50039468e-02 4.44463844e-03 9.98476245e-01 -5.69873439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90071405700002 meters 0.040437907361249935 Centerline is valid? [True, True] Translation: X:84.96, Y:-9.41, Z:-5.70 [[ 9.96808556e-01 5.88099810e-02 5.39823004e-02 8.49571439e+01] [-5.84910576e-02 9.98259982e-01 -7.47029853e-03 -9.41467916e+00] [-5.43276983e-02 4.28897565e-03 9.98513949e-01 -5.70332096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96071405700002 meters 0.04261276515688844 Centerline is valid? [True, True] Translation: X:85.02, Y:-9.42, Z:-5.71 [[ 9.96757060e-01 5.92254837e-02 5.44766429e-02 8.50189739e+01] [-5.89013024e-02 9.98235345e-01 -7.53868339e-03 -9.42376752e+00] [-5.48269926e-02 4.30549069e-03 9.98486587e-01 -5.70826567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.020714057 meters 0.039570901624318464 Centerline is valid? [True, True] Translation: X:85.08, Y:-9.43, Z:-5.71 [[ 9.96825233e-01 5.79600586e-02 5.45901682e-02 8.50808236e+01] [-5.76318647e-02 9.98309214e-01 -7.56845975e-03 -9.42703904e+00] [-5.49365363e-02 4.39829847e-03 9.98480161e-01 -5.71197075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08071405700001 meters 0.04386230472667421 Centerline is valid? [True, True] Translation: X:85.14, Y:-9.44, Z:-5.72 [[ 9.96966358e-01 5.59955368e-02 5.40608970e-02 8.51395843e+01] [-5.56699765e-02 9.98420976e-01 -7.51050690e-03 -9.44101004e+00] [-5.43960884e-02 4.47815385e-03 9.98509395e-01 -5.71702607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14071405700001 meters 0.048370541737085875 Centerline is valid? [True, True] Translation: X:85.20, Y:-9.45, Z:-5.72 [[ 9.97258120e-01 5.24515331e-02 5.22022847e-02 8.51974549e+01] [-5.21431254e-02 9.98613280e-01 -7.25336738e-03 -9.45409364e+00] [-5.25103450e-02 4.51148924e-03 9.98610189e-01 -5.72367246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20071405700001 meters 0.04230327709857385 Centerline is valid? [True, True] Translation: X:85.26, Y:-9.45, Z:-5.73 [[ 9.97294097e-01 5.14916128e-02 5.24699770e-02 8.52598075e+01] [-5.11788404e-02 9.98662911e-01 -7.28813953e-03 -9.45319140e+00] [-5.27750980e-02 4.58306595e-03 9.98595907e-01 -5.72628996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26071405700002 meters 0.04465032994354632 Centerline is valid? [True, True] Translation: X:85.32, Y:-9.46, Z:-5.73 [[ 9.97213375e-01 5.21217081e-02 5.33742696e-02 8.53201744e+01] [-5.17982270e-02 9.98629953e-01 -7.42706378e-03 -9.46209459e+00] [-5.36882556e-02 4.64167481e-03 9.98546957e-01 -5.72870949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32071405700002 meters 0.041677996031220514 Centerline is valid? [True, True] Translation: X:85.38, Y:-9.46, Z:-5.73 [[ 9.96817283e-01 5.71786417e-02 5.55509403e-02 8.53816983e+01] [-5.68351013e-02 9.98353531e-01 -7.74581951e-03 -9.46327239e+00] [-5.59023729e-02 4.56392344e-03 9.98425809e-01 -5.73142895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38071405700002 meters 0.041098332060324955 Centerline is valid? [True, True] Translation: X:85.44, Y:-9.47, Z:-5.73 [[ 9.96549268e-01 6.07870455e-02 5.65198372e-02 8.54419964e+01] [-6.04371054e-02 9.98140888e-01 -7.88187877e-03 -9.46898442e+00] [-5.68938767e-02 4.43878516e-03 9.98370364e-01 -5.73464916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44071405700001 meters 0.04145856513009099 Centerline is valid? [True, True] Translation: X:85.50, Y:-9.48, Z:-5.74 [[ 9.96250691e-01 6.61024903e-02 5.58123826e-02 8.55010803e+01] [-6.57695387e-02 9.97804483e-01 -7.78344737e-03 -9.47614780e+00] [-5.62043508e-02 4.08351016e-03 9.98410935e-01 -5.73913544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50071405700001 meters 0.037623070309799125 Centerline is valid? [True, True] Translation: X:85.56, Y:-9.48, Z:-5.74 [[ 9.95876471e-01 7.21981124e-02 5.49316632e-02 8.55615561e+01] [-7.18848780e-02 9.97383525e-01 -7.65950500e-03 -9.47791835e+00] [-5.53409376e-02 3.67916491e-03 9.98460738e-01 -5.74456224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56071405700001 meters 0.034835569963184244 Centerline is valid? [True, True] Translation: X:85.62, Y:-9.48, Z:-5.75 [[ 9.95333365e-01 7.94142469e-02 5.48166953e-02 8.56220807e+01] [-7.91132559e-02 9.96836337e-01 -7.64263168e-03 -9.48083748e+00] [-5.52502076e-02 3.27023907e-03 9.98467185e-01 -5.74846798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62071405700001 meters 0.03254288978343638 Centerline is valid? [True, True] Translation: X:85.68, Y:-9.48, Z:-5.75 [[ 9.94745143e-01 8.66181156e-02 5.45839035e-02 8.56823040e+01] [-8.63304387e-02 9.96237487e-01 -7.61083872e-03 -9.48493741e+00] [-5.50377674e-02 2.85859251e-03 9.98480181e-01 -5.75298148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68071405700002 meters 0.028324069588846097 Centerline is valid? [True, True] Translation: X:85.74, Y:-9.49, Z:-5.76 [[ 9.94269036e-01 9.17496857e-02 5.48733061e-02 8.57429252e+01] [-9.14668648e-02 9.95778745e-01 -7.64880885e-03 -9.48759272e+00] [-5.53434477e-02 2.58588453e-03 9.98464028e-01 -5.75673963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74071405700002 meters 0.02829733456665605 Centerline is valid? [True, True] Translation: X:85.80, Y:-9.50, Z:-5.76 [[ 9.94104829e-01 9.28150909e-02 5.60441626e-02 8.58005289e+01] [-9.25217282e-02 9.95680018e-01 -7.81231372e-03 -9.49744668e+00] [-5.65271534e-02 2.58095602e-03 9.98397726e-01 -5.75950176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80071405700001 meters 0.02930676408655931 Centerline is valid? [True, True] Translation: X:85.86, Y:-9.51, Z:-5.76 [[ 9.94271820e-01 9.01374325e-02 5.74351116e-02 8.58583713e+01] [-8.98251128e-02 9.95925409e-01 -8.00174201e-03 -9.51094505e+00] [-5.79223435e-02 2.79679120e-03 9.98317174e-01 -5.76209776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86071405700001 meters 0.03143610156179601 Centerline is valid? [True, True] Translation: X:85.92, Y:-9.53, Z:-5.77 [[ 9.94731151e-01 8.48194265e-02 5.75812716e-02 8.59167125e+01] [-8.44968339e-02 9.96391483e-01 -8.01860232e-03 -9.52749427e+00] [-5.80536218e-02 3.11091837e-03 9.98308619e-01 -5.76563769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92071405700001 meters 0.03410476973122247 Centerline is valid? [True, True] Translation: X:85.98, Y:-9.54, Z:-5.77 [[ 9.95277819e-01 7.87206560e-02 5.67901473e-02 8.59754981e+01] [-7.83969948e-02 9.96890852e-01 -7.90827052e-03 -9.54275675e+00] [-5.72361225e-02 3.41874936e-03 9.98354816e-01 -5.77084281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98071405700001 meters 0.03393503254513747 Centerline is valid? [True, True] Translation: X:86.03, Y:-9.55, Z:-5.77 [[ 9.95755061e-01 7.28039867e-02 5.63155156e-02 8.60347911e+01] [-7.24763239e-02 9.97339305e-01 -7.84173164e-03 -9.55341668e+00] [-5.67365866e-02 3.72690242e-03 9.98382226e-01 -5.77463831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04071405700002 meters 0.0407390184201712 Centerline is valid? [True, True] Translation: X:86.09, Y:-9.57, Z:-5.78 [[ 9.96313539e-01 6.54067529e-02 5.55093546e-02 8.60920395e+01] [-6.50770005e-02 9.97850310e-01 -7.72936183e-03 -9.57303023e+00] [-5.58955791e-02 4.08848554e-03 9.98428249e-01 -5.77957931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10071405700002 meters 0.042849162171660536 Centerline is valid? [True, True] Translation: X:86.15, Y:-9.59, Z:-5.78 [[ 9.96535193e-01 6.23191769e-02 5.50811138e-02 8.61513018e+01] [-6.19897439e-02 9.98047307e-01 -7.67096489e-03 -9.58522062e+00] [-5.54516056e-02 4.22992233e-03 9.98452416e-01 -5.78331014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.160714057 meters 0.04510474042788311 Centerline is valid? [True, True] Translation: X:86.21, Y:-9.60, Z:-5.79 [[ 9.96765546e-01 5.88837477e-02 5.46914058e-02 8.62109267e+01] [-5.85538120e-02 9.98255194e-01 -7.61700301e-03 -9.59649411e+00] [-5.50444975e-02 4.38997587e-03 9.98474252e-01 -5.78823722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22071405700001 meters 0.04008935908917375 Centerline is valid? [True, True] Translation: X:86.27, Y:-9.60, Z:-5.79 [[ 9.96965265e-01 5.63020907e-02 5.37618382e-02 8.62726664e+01] [-5.59795623e-02 9.98403839e-01 -7.48754776e-03 -9.59695986e+00] [-5.40975902e-02 4.45526087e-03 9.98525714e-01 -5.79120993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28071405700001 meters 0.04281827956427983 Centerline is valid? [True, True] Translation: X:86.33, Y:-9.61, Z:-5.80 [[ 9.97145990e-01 5.42037941e-02 5.25530548e-02 8.63318861e+01] [-5.38927143e-02 9.98519905e-01 -7.31952542e-03 -9.60688638e+00] [-5.28720173e-02 4.46640865e-03 9.98591308e-01 -5.79538306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34071405700001 meters 0.0429696165753359 Centerline is valid? [True, True] Translation: X:86.39, Y:-9.61, Z:-5.80 [[ 9.97271300e-01 5.31219005e-02 5.12641951e-02 8.63932325e+01] [-5.28244122e-02 9.98578279e-01 -7.14154802e-03 -9.61387310e+00] [-5.15706843e-02 4.41405991e-03 9.98659592e-01 -5.80018545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40071405700002 meters 0.0453127641045606 Centerline is valid? [True, True] Translation: X:86.45, Y:-9.62, Z:-5.80 [[ 9.97319230e-01 5.23986128e-02 5.10758138e-02 8.64531580e+01] [-5.21016645e-02 9.98616340e-01 -7.12899014e-03 -9.62285678e+00] [-5.13786914e-02 4.44874405e-03 9.98669334e-01 -5.80379605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46071405700002 meters 0.04503619171201401 Centerline is valid? [True, True] Translation: X:86.51, Y:-9.63, Z:-5.81 [[ 9.97339932e-01 5.23938682e-02 5.06748662e-02 8.65148355e+01] [-5.21013226e-02 9.98616722e-01 -7.07773663e-03 -9.62855184e+00] [-5.09755987e-02 4.41868182e-03 9.98690124e-01 -5.80775273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.520714057 meters 0.047105675432551286 Centerline is valid? [True, True] Translation: X:86.58, Y:-9.64, Z:-5.81 [[ 9.97271312e-01 5.31401453e-02 5.12450418e-02 8.65763909e+01] [-5.28412587e-02 9.98577179e-01 -7.17074285e-03 -9.63746027e+00] [-5.15531836e-02 4.44332363e-03 9.98660366e-01 -5.81085636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58071405700001 meters 0.047635892347873604 Centerline is valid? [True, True] Translation: X:86.64, Y:-9.65, Z:-5.81 [[ 9.97232158e-01 5.34869051e-02 5.16446972e-02 8.66377228e+01] [-5.31831084e-02 9.98558532e-01 -7.23984322e-03 -9.64626886e+00] [-5.19574899e-02 4.47317894e-03 9.98639279e-01 -5.81462449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64071405700001 meters 0.045726964602010776 Centerline is valid? [True, True] Translation: X:86.70, Y:-9.65, Z:-5.82 [[ 9.97159034e-01 5.41880598e-02 5.23212646e-02 8.67003168e+01] [-5.38764262e-02 9.98520565e-01 -7.34934471e-03 -9.65037316e+00] [-5.26421054e-02 4.50958273e-03 9.98603261e-01 -5.81797029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70071405700001 meters 0.051636568710892825 Centerline is valid? [True, True] Translation: X:86.76, Y:-9.66, Z:-5.82 [[ 9.97108866e-01 5.53575139e-02 5.20524310e-02 8.67586351e+01] [-5.50501995e-02 9.98456753e-01 -7.32034191e-03 -9.66472412e+00] [-5.23773372e-02 4.43368111e-03 9.98617523e-01 -5.82374103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76071405700002 meters 0.04316875932530745 Centerline is valid? [True, True] Translation: X:86.82, Y:-9.66, Z:-5.83 [[ 9.97153428e-01 5.53524456e-02 5.11971546e-02 8.68212716e+01] [-5.50551188e-02 9.98457352e-01 -7.20071084e-03 -9.65932786e+00] [-5.15167524e-02 4.36154807e-03 9.98662606e-01 -5.82609290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82071405700002 meters 0.041734274231189916 Centerline is valid? [True, True] Translation: X:86.88, Y:-9.66, Z:-5.83 [[ 9.97226544e-01 5.46875638e-02 5.04825789e-02 8.68829227e+01] [-5.43976939e-02 9.98494112e-01 -7.09920533e-03 -9.66438830e+00] [-5.07947960e-02 4.33338012e-03 9.98699710e-01 -5.83100972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88071405700002 meters 0.044165107761922624 Centerline is valid? [True, True] Translation: X:86.94, Y:-9.67, Z:-5.84 [[ 9.97265111e-01 5.36101107e-02 5.08748896e-02 8.69426722e+01] [-5.33135212e-02 9.98552082e-01 -7.16999939e-03 -9.67390070e+00] [-5.11856114e-02 4.43807073e-03 9.98679296e-01 -5.83550249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94071405700001 meters 0.04511554470018841 Centerline is valid? [True, True] Translation: X:87.00, Y:-9.68, Z:-5.84 [[ 9.97222897e-01 5.34516507e-02 5.18595729e-02 8.70034498e+01] [-5.31432023e-02 9.98560149e-01 -7.30954863e-03 -9.68041241e+00] [-5.21756103e-02 4.53326548e-03 9.98627636e-01 -5.83804649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00071405700001 meters 0.046052214329662174 Centerline is valid? [True, True] Translation: X:87.06, Y:-9.69, Z:-5.84 [[ 9.97188017e-01 5.43603502e-02 5.15849921e-02 8.70646740e+01] [-5.40564122e-02 9.98511418e-01 -7.27001986e-03 -9.68829222e+00] [-5.19034044e-02 4.46107709e-03 9.98642146e-01 -5.84307647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06071405700001 meters 0.047988581016169575 Centerline is valid? [True, True] Translation: X:87.13, Y:-9.70, Z:-5.85 [[ 9.97138587e-01 5.54531745e-02 5.13768808e-02 8.71253960e+01] [-5.51524370e-02 9.98451595e-01 -7.25399044e-03 -9.69645501e+00] [-5.16995854e-02 4.39967360e-03 9.98652991e-01 -5.84768660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12071405700001 meters 0.047948139838661905 Centerline is valid? [True, True] Translation: X:87.19, Y:-9.70, Z:-5.85 [[ 9.96975551e-01 5.80926458e-02 5.16235828e-02 8.71862023e+01] [-5.77917543e-02 9.98301944e-01 -7.30354286e-03 -9.70148167e+00] [-5.19602052e-02 4.29803626e-03 9.98639907e-01 -5.85174117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18071405700002 meters 0.047481966002018976 Centerline is valid? [True, True] Translation: X:87.25, Y:-9.71, Z:-5.86 [[ 9.96743020e-01 6.24719468e-02 5.09961508e-02 8.72464732e+01] [-6.21839630e-02 9.98038619e-01 -7.21592503e-03 -9.70533185e+00] [-5.13469208e-02 4.02128016e-03 9.98672781e-01 -5.85622609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24071405700002 meters 0.04651668307920026 Centerline is valid? [True, True] Translation: X:87.31, Y:-9.71, Z:-5.86 [[ 9.96272478e-01 6.93712210e-02 5.12716645e-02 8.73063509e+01] [-6.90891910e-02 9.97584107e-01 -7.25484609e-03 -9.70801370e+00] [-5.16510752e-02 3.68548567e-03 9.98658392e-01 -5.86032486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30071405700001 meters 0.03447709444212507 Centerline is valid? [True, True] Translation: X:87.37, Y:-9.70, Z:-5.86 [[ 9.95591657e-01 7.78689159e-02 5.22846518e-02 8.73693441e+01] [-7.75872947e-02 9.96958117e-01 -7.39766734e-03 -9.69572157e+00] [-5.27016564e-02 3.30843119e-03 9.98604822e-01 -5.86170072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36071405700001 meters 0.036300951361101896 Centerline is valid? [True, True] Translation: X:87.43, Y:-9.70, Z:-5.87 [[ 9.94985575e-01 8.52310540e-02 5.23390289e-02 8.74284636e+01] [-8.49589846e-02 9.96356930e-01 -7.40531929e-03 -9.70290130e+00] [-5.27795173e-02 2.92151512e-03 9.98601916e-01 -5.86743511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42071405700001 meters 0.03167409594178996 Centerline is valid? [True, True] Translation: X:87.49, Y:-9.70, Z:-5.87 [[ 9.94461083e-01 9.13380867e-02 5.20048787e-02 8.74899329e+01] [-9.10778599e-02 9.95816599e-01 -7.35691944e-03 -9.70042723e+00] [-5.24592884e-02 2.57967702e-03 9.98619732e-01 -5.87044024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48071405700001 meters 0.02868589055380087 Centerline is valid? [True, True] Translation: X:87.55, Y:-9.70, Z:-5.87 [[ 9.93998081e-01 9.60121937e-02 5.24354291e-02 8.75506005e+01] [-9.57541173e-02 9.95377378e-01 -7.41782485e-03 -9.70197630e+00] [-5.29052416e-02 2.35239544e-03 9.98596766e-01 -5.87349709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54071405700002 meters 0.027919160898942117 Centerline is valid? [True, True] Translation: X:87.61, Y:-9.71, Z:-5.88 [[ 9.93700047e-01 9.91519531e-02 5.22408540e-02 8.76103217e+01] [-9.89001644e-02 9.95069924e-01 -7.38939738e-03 -9.70733476e+00] [-5.27159759e-02 2.17621547e-03 9.98607175e-01 -5.87667603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60071405700002 meters 0.02492975925755035 Centerline is valid? [True, True] Translation: X:87.67, Y:-9.71, Z:-5.88 [[ 9.92847657e-01 1.06717567e-01 5.35246692e-02 8.76710704e+01] [-1.06464261e-01 9.94287714e-01 -7.56985624e-03 -9.70888357e+00] [-5.40267577e-02 1.81724968e-03 9.98537835e-01 -5.87929083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.660714057 meters 0.02510401032206245 Centerline is valid? [True, True] Translation: X:87.73, Y:-9.72, Z:-5.88 [[ 9.92494715e-01 1.09613201e-01 5.42142780e-02 8.77279964e+01] [-1.09357576e-01 9.93972895e-01 -7.66834886e-03 -9.71765383e+00] [-5.47280751e-02 1.68205368e-03 9.98499879e-01 -5.88345422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72071405700001 meters 0.026748573373201735 Centerline is valid? [True, True] Translation: X:87.78, Y:-9.73, Z:-5.89 [[ 9.92194180e-01 1.11746508e-01 5.53482410e-02 8.77844048e+01] [-1.11483803e-01 9.93735473e-01 -7.82117361e-03 -9.73093130e+00] [-5.58754993e-02 1.58969054e-03 9.98436478e-01 -5.88727254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78071405700001 meters 0.025426619923209097 Centerline is valid? [True, True] Translation: X:87.84, Y:-9.74, Z:-5.89 [[ 9.92474293e-01 1.08859097e-01 5.60756183e-02 8.78419085e+01] [-1.08585044e-01 9.94055611e-01 -7.92021056e-03 -9.74110138e+00] [-5.66044700e-02 1.77163187e-03 9.98395110e-01 -5.88974217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84071405700001 meters 0.0270231576322183 Centerline is valid? [True, True] Translation: X:87.90, Y:-9.76, Z:-5.89 [[ 9.93150929e-01 1.02526897e-01 5.60309495e-02 8.78997255e+01] [-1.02244099e-01 9.94727983e-01 -7.89834447e-03 -9.75817358e+00] [-5.65453462e-02 2.11541419e-03 9.98397791e-01 -5.89354071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90071405700002 meters 0.02984094717423591 Centerline is valid? [True, True] Translation: X:87.96, Y:-9.78, Z:-5.90 [[ 9.93836712e-01 9.52501832e-02 5.67097299e-02 8.79580907e+01] [-9.49487240e-02 9.95450076e-01 -7.99288728e-03 -9.77850808e+00] [-5.72130289e-02 2.55910832e-03 9.98358713e-01 -5.89780829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96071405700002 meters 0.03338658231926308 Centerline is valid? [True, True] Translation: X:88.01, Y:-9.80, Z:-5.90 [[ 9.94488915e-01 8.86774727e-02 5.59294532e-02 8.80149300e+01] [-8.83738935e-02 9.96056180e-01 -7.88291835e-03 -9.80012316e+00] [-5.64079149e-02 2.89677138e-03 9.98403604e-01 -5.90315481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.020714057 meters 0.031196439020862433 Centerline is valid? [True, True] Translation: X:88.07, Y:-9.81, Z:-5.91 [[ 9.94949259e-01 8.32325324e-02 5.61098747e-02 8.80743483e+01] [-8.29183699e-02 9.96524965e-01 -7.90815638e-03 -9.81214752e+00] [-5.65731068e-02 3.21567498e-03 9.98393281e-01 -5.90604748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08071405700001 meters 0.031616013369549355 Centerline is valid? [True, True] Translation: X:88.13, Y:-9.83, Z:-5.91 [[ 9.95158082e-01 8.01952029e-02 5.68253533e-02 8.81331879e+01] [-7.98680336e-02 9.96773270e-01 -8.00902233e-03 -9.82543900e+00] [-5.72842785e-02 3.43171407e-03 9.98352009e-01 -5.90932129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14071405700001 meters 0.03461546945352049 Centerline is valid? [True, True] Translation: X:88.19, Y:-9.84, Z:-5.91 [[ 9.95573973e-01 7.46056477e-02 5.71529633e-02 8.81910278e+01] [-7.42655822e-02 9.97205974e-01 -8.05411993e-03 -9.84498397e+00] [-5.75941593e-02 3.77397408e-03 9.98332945e-01 -5.91294953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20071405700001 meters 0.037681424812499774 Centerline is valid? [True, True] Translation: X:88.25, Y:-9.86, Z:-5.92 [[ 9.95880612e-01 7.09594525e-02 5.64496468e-02 8.82485415e+01] [-7.06219397e-02 9.97471440e-01 -7.95410926e-03 -9.86189839e+00] [-5.68713298e-02 3.93475964e-03 9.98373762e-01 -5.91778379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26071405700002 meters 0.039732395683057295 Centerline is valid? [True, True] Translation: X:88.31, Y:-9.88, Z:-5.92 [[ 9.96051943e-01 6.89561636e-02 5.59068288e-02 8.83073863e+01] [-6.86220741e-02 9.97611638e-01 -7.87597917e-03 -9.87508713e+00] [-5.63164004e-02 4.00844181e-03 9.98404926e-01 -5.92230867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32071405700002 meters 0.041888677819212176 Centerline is valid? [True, True] Translation: X:88.37, Y:-9.89, Z:-5.93 [[ 9.96215627e-01 6.66003986e-02 5.58463245e-02 8.83664946e+01] [-6.62634175e-02 9.97771156e-01 -7.86631291e-03 -9.88842453e+00] [-5.62457513e-02 4.13597553e-03 9.98408388e-01 -5.92640766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38071405700002 meters 0.0372044429340301 Centerline is valid? [True, True] Translation: X:88.43, Y:-9.89, Z:-5.93 [[ 9.96400756e-01 6.48191464e-02 5.46261103e-02 8.84266171e+01] [-6.44940789e-02 9.97888424e-01 -7.69461346e-03 -9.89110826e+00] [-5.50095214e-02 4.14385800e-03 9.98477231e-01 -5.92950596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44071405700001 meters 0.04635540431929086 Centerline is valid? [True, True] Translation: X:88.48, Y:-9.91, Z:-5.94 [[ 9.96488450e-01 6.38389203e-02 5.41789761e-02 8.84842316e+01] [-6.35177945e-02 9.97951536e-01 -7.63026632e-03 -9.91254278e+00] [-5.45551004e-02 4.16214319e-03 9.98502087e-01 -5.93566111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50071405700001 meters 0.046986283617505675 Centerline is valid? [True, True] Translation: X:88.54, Y:-9.92, Z:-5.94 [[ 9.96499488e-01 6.38110299e-02 5.40085470e-02 8.85435551e+01] [-6.34918193e-02 9.97953364e-01 -7.60743483e-03 -9.92145639e+00] [-5.43834494e-02 4.15170401e-03 9.98511494e-01 -5.93934446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56071405700001 meters 0.04174061031748964 Centerline is valid? [True, True] Translation: X:88.61, Y:-9.92, Z:-5.94 [[ 9.96530162e-01 6.32787614e-02 5.40687944e-02 8.86050123e+01] [-6.29580591e-02 9.97987114e-01 -7.61592105e-03 -9.92150684e+00] [-5.44418862e-02 4.18542868e-03 9.98508169e-01 -5.94180511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62071405700001 meters 0.04119282225704737 Centerline is valid? [True, True] Translation: X:88.67, Y:-9.93, Z:-5.94 [[ 9.96551092e-01 6.31579644e-02 5.38237241e-02 8.86650821e+01] [-6.28399914e-02 9.97994819e-01 -7.58140139e-03 -9.92819240e+00] [-5.41946236e-02 4.17297147e-03 9.98521672e-01 -5.94498373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68071405700002 meters 0.051213583291688576 Centerline is valid? [True, True] Translation: X:88.72, Y:-9.95, Z:-5.95 [[ 9.96446817e-01 6.41005929e-02 5.46338194e-02 8.87230790e+01] [-6.37744241e-02 9.97934676e-01 -7.69454587e-03 -9.94910097e+00] [-5.50142078e-02 4.18296537e-03 9.98476810e-01 -5.95008312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74071405700002 meters 0.038623384606128006 Centerline is valid? [True, True] Translation: X:88.79, Y:-9.94, Z:-5.95 [[ 9.96336722e-01 6.62373158e-02 5.40902466e-02 8.87857944e+01] [-6.59203879e-02 9.97795756e-01 -7.62446906e-03 -9.93809984e+00] [-5.44760428e-02 4.03088848e-03 9.98506942e-01 -5.95191997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80071405700001 meters 0.04357165167121601 Centerline is valid? [True, True] Translation: X:88.84, Y:-9.95, Z:-5.96 [[ 9.96201206e-01 6.83630260e-02 5.39412121e-02 8.88431249e+01] [-6.80509212e-02 9.97652872e-01 -7.60382463e-03 -9.95226599e+00] [-5.43344257e-02 3.90419009e-03 9.98515161e-01 -5.95736200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86071405700001 meters 0.03959182986403445 Centerline is valid? [True, True] Translation: X:88.90, Y:-9.95, Z:-5.96 [[ 9.96082533e-01 6.99735175e-02 5.40674899e-02 8.89030796e+01] [-6.96624127e-02 9.97541522e-01 -7.61967285e-03 -9.95389199e+00] [-5.44677415e-02 3.82335124e-03 9.98508211e-01 -5.96135958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92071405700001 meters 0.037393650114725244 Centerline is valid? [True, True] Translation: X:88.96, Y:-9.96, Z:-5.97 [[ 9.96057705e-01 7.04370840e-02 5.39227785e-02 8.89617858e+01] [-7.01284030e-02 9.97509038e-01 -7.59774874e-03 -9.95780344e+00] [-5.43236222e-02 3.78627783e-03 9.98516203e-01 -5.96520892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98071405700001 meters 0.04102047594989903 Centerline is valid? [True, True] Translation: X:89.02, Y:-9.97, Z:-5.97 [[ 9.95919542e-01 7.18417109e-02 5.46171589e-02 8.90196482e+01] [-7.15273592e-02 9.97408984e-01 -7.69122828e-03 -9.97065161e+00] [-5.50281960e-02 3.75322341e-03 9.98477747e-01 -5.96885323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04071405700002 meters 0.035493323573562274 Centerline is valid? [True, True] Translation: X:89.08, Y:-9.97, Z:-5.97 [[ 9.95881354e-01 7.26243038e-02 5.42774360e-02 8.90794994e+01] [-7.23150962e-02 9.97352560e-01 -7.64183961e-03 -9.96931596e+00] [-5.46887230e-02 3.68528757e-03 9.98496651e-01 -5.97120117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10071405700002 meters 0.03679830785500935 Centerline is valid? [True, True] Translation: X:89.14, Y:-9.98, Z:-5.98 [[ 9.95814180e-01 7.33683169e-02 5.45087908e-02 8.91360007e+01] [-7.30577855e-02 9.97298211e-01 -7.67054895e-03 -9.97927434e+00] [-5.49242948e-02 3.65614987e-03 9.98483828e-01 -5.97557713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.160714057 meters 0.03686135662008396 Centerline is valid? [True, True] Translation: X:89.19, Y:-9.99, Z:-5.98 [[ 9.95837605e-01 7.35734780e-02 5.37996988e-02 8.91938706e+01] [-7.32715515e-02 9.97283329e-01 -7.56578032e-03 -9.98655088e+00] [-5.42101835e-02 3.59230115e-03 9.98523085e-01 -5.97924567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22071405700001 meters 0.0340887964683608 Centerline is valid? [True, True] Translation: X:89.25, Y:-9.99, Z:-5.98 [[ 9.95736845e-01 7.55228475e-02 5.29569180e-02 8.92524112e+01] [-7.52332587e-02 9.97138180e-01 -7.44354408e-03 -9.98993730e+00] [-5.33675225e-02 3.42768959e-03 9.98569055e-01 -5.98311855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28071405700001 meters 0.03276397453182469 Centerline is valid? [True, True] Translation: X:89.31, Y:-10.00, Z:-5.99 [[ 9.95346511e-01 7.95585906e-02 5.43668370e-02 8.93119891e+01] [-7.92596100e-02 9.96824755e-01 -7.63693949e-03 -9.99659765e+00] [-5.48017931e-02 3.29230678e-03 9.98491825e-01 -5.98640690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34071405700001 meters 0.032690242579075414 Centerline is valid? [True, True] Translation: X:89.37, Y:-10.00, Z:-5.99 [[ 9.95139143e-01 8.19198171e-02 5.46555552e-02 8.93717673e+01] [-8.16211972e-02 9.96633853e-01 -7.67743949e-03 -1.00038220e+01] [-5.51005110e-02 3.17906870e-03 9.98475752e-01 -5.98951406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40071405700002 meters 0.030185249306731554 Centerline is valid? [True, True] Translation: X:89.43, Y:-10.01, Z:-5.99 [[ 9.94891390e-01 8.47349749e-02 5.48735414e-02 8.94318092e+01] [-8.44382846e-02 9.96398905e-01 -7.70706396e-03 -1.00086509e+01] [-5.53289945e-02 3.03426387e-03 9.98463567e-01 -5.99285574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46071405700002 meters 0.0308312120355647 Centerline is valid? [True, True] Translation: X:89.49, Y:-10.02, Z:-6.00 [[ 9.94940655e-01 8.50583035e-02 5.34619325e-02 8.94890706e+01] [-8.47771839e-02 9.96371644e-01 -7.50842381e-03 -1.00193452e+01] [-5.39066073e-02 2.93808402e-03 9.98541659e-01 -5.99878954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52071405700002 meters 0.030862847110339896 Centerline is valid? [True, True] Translation: X:89.55, Y:-10.03, Z:-6.00 [[ 9.95211501e-01 8.35763391e-02 5.06859336e-02 8.95477031e+01] [-8.33219717e-02 9.96497281e-01 -7.11460033e-03 -1.00285904e+01] [-5.11030073e-02 2.85728015e-03 9.98689300e-01 -6.00372684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58071405700001 meters 0.03183479426569096 Centerline is valid? [True, True] Translation: X:89.61, Y:-10.04, Z:-6.01 [[ 9.95264667e-01 8.27823120e-02 5.09443919e-02 8.96051053e+01] [-8.25243779e-02 9.96563401e-01 -7.14945862e-03 -1.00397875e+01] [-5.13611652e-02 2.91144930e-03 9.98675900e-01 -6.00704862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64071405700001 meters 0.030686657650892665 Centerline is valid? [True, True] Translation: X:89.66, Y:-10.05, Z:-6.01 [[ 9.95209819e-01 8.30806065e-02 5.15269789e-02 8.96631426e+01] [-8.28173290e-02 9.96538536e-01 -7.22741719e-03 -1.00474747e+01] [-5.19490783e-02 2.92546978e-03 9.98645450e-01 -6.00929708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70071405700001 meters 0.03175620214767361 Centerline is valid? [True, True] Translation: X:89.72, Y:-10.06, Z:-6.01 [[ 9.95145052e-01 8.35823019e-02 5.19646478e-02 8.97213375e+01] [-8.33154140e-02 9.96496599e-01 -7.28490581e-03 -1.00578991e+01] [-5.23914840e-02 2.92008183e-03 9.98622354e-01 -6.01275703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76071405700002 meters 0.030506099961762043 Centerline is valid? [True, True] Translation: X:89.78, Y:-10.07, Z:-6.02 [[ 9.95207884e-01 8.29257969e-02 5.18129401e-02 8.97797023e+01] [-8.26597759e-02 9.96551381e-01 -7.25990005e-03 -1.00662399e+01] [-5.22362900e-02 2.94226375e-03 9.98630419e-01 -6.01591239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82071405700002 meters 0.032597906412075064 Centerline is valid? [True, True] Translation: X:89.84, Y:-10.08, Z:-6.02 [[ 9.95327205e-01 8.21140720e-02 5.08038737e-02 8.98358503e+01] [-8.18574471e-02 9.96618651e-01 -7.11503902e-03 -1.00784611e+01] [-5.12163329e-02 2.92311649e-03 9.98683304e-01 -6.02058326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88071405700002 meters 0.03145547923210538 Centerline is valid? [True, True] Translation: X:89.89, Y:-10.09, Z:-6.02 [[ 9.95467257e-01 8.06986622e-02 5.03256086e-02 8.98936633e+01] [-8.04452944e-02 9.96734141e-01 -7.04323709e-03 -1.00868917e+01] [-5.07296321e-02 2.96285350e-03 9.98708028e-01 -6.02430813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94071405700001 meters 0.03261036503069533 Centerline is valid? [True, True] Translation: X:89.95, Y:-10.10, Z:-6.03 [[ 9.95506692e-01 8.03935724e-02 5.00329778e-02 8.99503631e+01] [-8.01429329e-02 9.96758810e-01 -6.99889400e-03 -1.00990136e+01] [-5.04334775e-02 2.95765623e-03 9.98723043e-01 -6.02920885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00071405700001 meters 0.03153934941659074 Centerline is valid? [True, True] Translation: X:90.01, Y:-10.11, Z:-6.03 [[ 9.95290942e-01 8.24305415e-02 5.10014291e-02 9.00094446e+01] [-8.21730400e-02 9.96592580e-01 -7.12888876e-03 -1.01070174e+01] [-5.14152839e-02 2.90437594e-03 9.98673136e-01 -6.03135904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06071405700001 meters 0.03054737823042126 Centerline is valid? [True, True] Translation: X:90.07, Y:-10.11, Z:-6.03 [[ 9.94936159e-01 8.56160380e-02 5.26491625e-02 9.00690203e+01] [-8.53461704e-02 9.96324197e-01 -7.35699143e-03 -1.01146772e+01] [-5.30855110e-02 2.82633240e-03 9.98585970e-01 -6.03346905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12071405700001 meters 0.028983313739425996 Centerline is valid? [True, True] Translation: X:90.13, Y:-10.12, Z:-6.04 [[ 9.94687616e-01 8.81597033e-02 5.31452178e-02 9.01284145e+01] [-8.78883904e-02 9.96102653e-01 -7.42533168e-03 -1.01229206e+01] [-5.35927075e-02 2.71503782e-03 9.98559187e-01 -6.03649033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18071405700002 meters 0.028208229833340183 Centerline is valid? [True, True] Translation: X:90.19, Y:-10.13, Z:-6.04 [[ 9.94650063e-01 8.85203180e-02 5.32485194e-02 9.01865696e+01] [-8.82484834e-02 9.96070711e-01 -7.43938952e-03 -1.01312284e+01] [-5.36978277e-02 2.70048817e-03 9.98553579e-01 -6.04102852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24071405700002 meters 0.02908209395226271 Centerline is valid? [True, True] Translation: X:90.24, Y:-10.15, Z:-6.05 [[ 9.94943259e-01 8.60645933e-02 5.17764118e-02 9.02447092e+01] [-8.58045001e-02 9.96285763e-01 -7.22954755e-03 -1.01454202e+01] [-5.22063100e-02 2.75034046e-03 9.98632533e-01 -6.04767003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30071405700001 meters 0.031249862841748646 Centerline is valid? [True, True] Translation: X:90.30, Y:-10.16, Z:-6.05 [[ 9.95186403e-01 8.32426295e-02 5.17173939e-02 9.03013572e+01] [-8.29794101e-02 9.96525108e-01 -7.21980969e-03 -1.01608386e+01] [-5.21386775e-02 2.89357759e-03 9.98635662e-01 -6.05213369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36071405700001 meters 0.03186411705037451 Centerline is valid? [True, True] Translation: X:90.36, Y:-10.17, Z:-6.06 [[ 9.95187359e-01 8.29109711e-02 5.22292201e-02 9.03587600e+01] [-8.26422395e-02 9.96552632e-01 -7.28776865e-03 -1.01703541e+01] [-5.26534027e-02 2.93635552e-03 9.98608530e-01 -6.05607242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42071405700001 meters 0.03201124903237051 Centerline is valid? [True, True] Translation: X:90.42, Y:-10.18, Z:-6.06 [[ 9.95047764e-01 8.40054093e-02 5.31322688e-02 9.04168901e+01] [-8.37291223e-02 9.96461011e-01 -7.40866422e-03 -1.01800566e+01] [-5.35666021e-02 2.92325655e-03 9.98560000e-01 -6.05851634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48071405700001 meters 0.032124352328780054 Centerline is valid? [True, True] Translation: X:90.48, Y:-10.19, Z:-6.06 [[ 9.94652506e-01 8.70116860e-02 5.56359458e-02 9.04750992e+01] [-8.67136514e-02 9.96203106e-01 -7.75328247e-03 -1.01903075e+01] [-5.60993282e-02 2.88742583e-03 9.98421017e-01 -6.06158518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54071405700002 meters 0.03191243719404791 Centerline is valid? [True, True] Translation: X:90.53, Y:-10.20, Z:-6.06 [[ 9.94391797e-01 8.91040908e-02 5.69685450e-02 9.05344831e+01] [-8.87951366e-02 9.96018288e-01 -7.93681092e-03 -1.01989168e+01] [-5.74489150e-02 2.83376993e-03 9.98344425e-01 -6.06452456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60071405700002 meters 0.03219852331091852 Centerline is valid? [True, True] Translation: X:90.59, Y:-10.21, Z:-6.07 [[ 9.94144549e-01 9.12722419e-02 5.78445719e-02 9.05927467e+01] [-9.09574114e-02 9.95822182e-01 -8.05794587e-03 -1.02088161e+01] [-5.83383746e-02 2.74937043e-03 9.98293081e-01 -6.06867581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.660714057 meters 0.033520850690171154 Centerline is valid? [True, True] Translation: X:90.65, Y:-10.22, Z:-6.08 [[ 9.94308362e-01 9.05572101e-02 5.61272965e-02 9.06486913e+01] [-9.02597597e-02 9.95887576e-01 -7.81734846e-03 -1.02213138e+01] [-5.66043946e-02 2.70681864e-03 9.98393017e-01 -6.07534011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72071405700001 meters 0.035063219491864875 Centerline is valid? [True, True] Translation: X:90.70, Y:-10.24, Z:-6.08 [[ 9.94503729e-01 8.93389807e-02 5.45974352e-02 9.07043143e+01] [-8.90559800e-02 9.95997631e-01 -7.59942212e-03 -1.02353962e+01] [-5.50578408e-02 2.69542554e-03 9.98479529e-01 -6.08070757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78071405700001 meters 0.035643150540398474 Centerline is valid? [True, True] Translation: X:90.76, Y:-10.25, Z:-6.08 [[ 9.94408934e-01 9.02944762e-02 5.47519851e-02 9.07613878e+01] [-9.00116217e-02 9.95911600e-01 -7.61534872e-03 -1.02459933e+01] [-5.52157610e-02 2.64445583e-03 9.98470944e-01 -6.08442245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84071405700001 meters 0.030040074451504157 Centerline is valid? [True, True] Translation: X:90.82, Y:-10.25, Z:-6.09 [[ 9.93884442e-01 9.59270774e-02 5.46965497e-02 9.08220588e+01] [-9.56535808e-02 9.95385651e-01 -7.60250299e-03 -1.02466990e+01] [-5.51734466e-02 2.32408861e-03 9.98474080e-01 -6.08619409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90071405700002 meters 0.02506021013462893 Centerline is valid? [True, True] Translation: X:90.88, Y:-10.25, Z:-6.09 [[ 9.93318832e-01 1.01435898e-01 5.50314170e-02 9.08823634e+01] [-1.01167462e-01 9.94840005e-01 -7.64916367e-03 -1.02469383e+01] [-5.55233550e-02 2.03066953e-03 9.98455324e-01 -6.08780857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96071405700002 meters 0.022098831518908228 Centerline is valid? [True, True] Translation: X:90.94, Y:-10.25, Z:-6.09 [[ 9.92188970e-01 1.10682965e-01 5.75354627e-02 9.09424776e+01] [-1.10405154e-01 9.93854509e-01 -7.99485771e-03 -1.02511734e+01] [-5.80667736e-02 1.58019803e-03 9.98311451e-01 -6.08784161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02071405700002 meters 0.02247561249221942 Centerline is valid? [True, True] Translation: X:91.00, Y:-10.26, Z:-6.09 [[ 9.91903381e-01 1.13384240e-01 5.71987505e-02 9.09991920e+01] [-1.13114133e-01 9.93550207e-01 -7.94850262e-03 -1.02618940e+01] [-5.77310654e-02 1.41415955e-03 9.98331170e-01 -6.09182151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08071405700001 meters 0.022830397202698402 Centerline is valid? [True, True] Translation: X:91.06, Y:-10.28, Z:-6.10 [[ 9.92022765e-01 1.12665365e-01 5.65451126e-02 9.10555393e+01] [-1.12400535e-01 9.93631953e-01 -7.85245044e-03 -1.02771292e+01] [-5.70697298e-02 1.43410870e-03 9.98369165e-01 -6.09664337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14071405700001 meters 0.023417383573309407 Centerline is valid? [True, True] Translation: X:91.11, Y:-10.29, Z:-6.10 [[ 9.92809876e-01 1.06500041e-01 5.46469758e-02 9.11143792e+01] [-1.06243681e-01 9.94311205e-01 -7.58335873e-03 -1.02925982e+01] [-5.51437284e-02 1.72293756e-03 9.98476941e-01 -6.10099283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20071405700001 meters 0.026126822812767566 Centerline is valid? [True, True] Translation: X:91.17, Y:-10.31, Z:-6.11 [[ 9.93768680e-01 9.76297011e-02 5.37796634e-02 9.11722711e+01] [-9.73684487e-02 9.95220422e-01 -7.46300083e-03 -1.03129742e+01] [-5.42512298e-02 2.18005410e-03 9.98524938e-01 -6.10641672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26071405700002 meters 0.029294504397866173 Centerline is valid? [True, True] Translation: X:91.23, Y:-10.33, Z:-6.11 [[ 9.94498559e-01 8.94176044e-02 5.45628880e-02 9.12304898e+01] [-8.91363393e-02 9.95990653e-01 -7.57176347e-03 -1.03336330e+01] [-5.50211755e-02 2.66657176e-03 9.98481627e-01 -6.11025715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32071405700002 meters 0.030770631774534735 Centerline is valid? [True, True] Translation: X:91.29, Y:-10.35, Z:-6.11 [[ 9.95136940e-01 8.14825480e-02 5.53449694e-02 9.12891060e+01] [-8.11809371e-02 9.96669792e-01 -7.67991842e-03 -1.03489554e+01] [-5.57864384e-02 3.14961404e-03 9.98437756e-01 -6.11360056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38071405700002 meters 0.032775130755947096 Centerline is valid? [True, True] Translation: X:91.35, Y:-10.36, Z:-6.12 [[ 9.95492361e-01 7.64723219e-02 5.60976216e-02 9.13479344e+01] [-7.61545555e-02 9.97065644e-01 -7.78369145e-03 -1.03624107e+01] [-5.65282482e-02 3.47651594e-03 9.98394947e-01 -6.11674833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44071405700001 meters 0.038234786736461274 Centerline is valid? [True, True] Translation: X:91.41, Y:-10.38, Z:-6.12 [[ 9.95999561e-01 6.97254196e-02 5.58859621e-02 9.14052684e+01] [-6.93994839e-02 9.97558812e-01 -7.75420615e-03 -1.03819800e+01] [-5.62901992e-02 3.84472900e-03 9.98407047e-01 -6.12217429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50071405700001 meters 0.04097146487082995 Centerline is valid? [True, True] Translation: X:91.46, Y:-10.40, Z:-6.13 [[ 9.96577246e-01 6.24574037e-02 5.41559401e-02 9.14639523e+01] [-6.21406951e-02 9.98039114e-01 -7.51402501e-03 -1.03966820e+01] [-5.45190530e-02 4.12301858e-03 9.98504218e-01 -6.12910300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56071405700001 meters 0.0414406544387516 Centerline is valid? [True, True] Translation: X:91.52, Y:-10.41, Z:-6.13 [[ 9.96912800e-01 5.66482906e-02 5.43676333e-02 9.15233565e+01] [-5.63205084e-02 9.98384242e-01 -7.54354913e-03 -1.04061643e+01] [-5.47071176e-02 4.45824794e-03 9.98492491e-01 -6.13322902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62071405700001 meters 0.04549548062137989 Centerline is valid? [True, True] Translation: X:91.58, Y:-10.42, Z:-6.14 [[ 9.97049783e-01 5.40123165e-02 5.45380657e-02 9.15823697e+01] [-5.36785396e-02 9.98529592e-01 -7.56756122e-03 -1.04196469e+01] [-5.48666140e-02 4.61771156e-03 9.98483015e-01 -6.13815724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68071405700002 meters 0.04620460760902359 Centerline is valid? [True, True] Translation: X:91.64, Y:-10.43, Z:-6.14 [[ 9.96984391e-01 5.43648498e-02 5.53767773e-02 9.16445611e+01] [-5.40213093e-02 9.98510226e-01 -7.68293838e-03 -1.04262344e+01] [-5.57119602e-02 4.66824363e-03 9.98435969e-01 -6.14214742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74071405700002 meters 0.046839172188406664 Centerline is valid? [True, True] Translation: X:91.70, Y:-10.43, Z:-6.15 [[ 9.96807511e-01 5.66787545e-02 5.62343735e-02 9.17039996e+01] [-5.63272062e-02 9.98381751e-01 -7.81820693e-03 -1.04310537e+01] [-5.65864985e-02 4.62572223e-03 9.98386985e-01 -6.14559764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80071405700001 meters 0.042083744393889344 Centerline is valid? [True, True] Translation: X:91.77, Y:-10.43, Z:-6.15 [[ 9.96669469e-01 5.91605314e-02 5.61248795e-02 9.17655230e+01] [-5.88142581e-02 9.98238447e-01 -7.80298408e-03 -1.04271024e+01] [-5.64876412e-02 4.47605285e-03 9.98393265e-01 -6.14914125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86071405700001 meters 0.03996290524980189 Centerline is valid? [True, True] Translation: X:91.83, Y:-10.43, Z:-6.15 [[ 9.96477723e-01 6.17051248e-02 5.67857813e-02 9.18270835e+01] [-6.13547469e-02 9.98084800e-01 -7.89473505e-03 -1.04289044e+01] [-5.71641708e-02 4.38285037e-03 9.98355171e-01 -6.15235537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92071405700001 meters 0.03788800925143317 Centerline is valid? [True, True] Translation: X:91.89, Y:-10.43, Z:-6.16 [[ 9.95984871e-01 6.77426834e-02 5.85240591e-02 9.18880914e+01] [-6.73807745e-02 9.97694147e-01 -8.13762206e-03 -1.04271077e+01] [-5.89403755e-02 4.16155203e-03 9.98252831e-01 -6.15635375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98071405700001 meters 0.035074210617853305 Centerline is valid? [True, True] Translation: X:91.95, Y:-10.42, Z:-6.16 [[ 9.95618549e-01 7.27659031e-02 5.87267336e-02 9.19489493e+01] [-7.24101728e-02 9.97341510e-01 -8.16569387e-03 -1.04248393e+01] [-5.91647932e-02 3.87750335e-03 9.98240699e-01 -6.16034348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04071405700002 meters 0.03501286998421725 Centerline is valid? [True, True] Translation: X:92.01, Y:-10.43, Z:-6.16 [[ 9.95357030e-01 7.56973546e-02 5.94499213e-02 9.20092523e+01] [-7.53380000e-02 9.97123792e-01 -8.26620528e-03 -1.04293912e+01] [-5.99046608e-02 3.74898737e-03 9.98197063e-01 -6.16422782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10071405700002 meters 0.03240511961424469 Centerline is valid? [True, True] Translation: X:92.07, Y:-10.43, Z:-6.17 [[ 9.95189802e-01 7.82248046e-02 5.89757374e-02 9.20703414e+01] [-7.78755842e-02 9.96929360e-01 -8.20027245e-03 -1.04263921e+01] [-5.94361088e-02 3.56805751e-03 9.98225735e-01 -6.16856488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.160714057 meters 0.033369247149083146 Centerline is valid? [True, True] Translation: X:92.13, Y:-10.43, Z:-6.17 [[ 9.95369061e-01 7.66733498e-02 5.79795563e-02 9.21297393e+01] [-7.63332166e-02 9.97049771e-01 -8.06187001e-03 -1.04336669e+01] [-5.84266339e-02 3.59876996e-03 9.98285218e-01 -6.17393489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22071405700001 meters 0.0348767153527276 Centerline is valid? [True, True] Translation: X:92.19, Y:-10.44, Z:-6.18 [[ 9.95658613e-01 7.29520481e-02 5.78093832e-02 9.21889915e+01] [-7.26077316e-02 9.97328192e-01 -8.03711841e-03 -1.04416444e+01] [-5.82412519e-02 3.80481799e-03 9.98295287e-01 -6.17848625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28071405700001 meters 0.03646046381599485 Centerline is valid? [True, True] Translation: X:92.25, Y:-10.45, Z:-6.18 [[ 9.95744826e-01 7.13609440e-02 5.83082944e-02 9.22490710e+01] [-7.10079905e-02 9.97442813e-01 -8.10556335e-03 -1.04512101e+01] [-5.87376099e-02 3.93071795e-03 9.98265717e-01 -6.18230966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34071405700001 meters 0.03943362941598485 Centerline is valid? [True, True] Translation: X:92.31, Y:-10.46, Z:-6.19 [[ 9.95932485e-01 6.72946227e-02 5.99159352e-02 9.23091668e+01] [-6.69145186e-02 9.97723937e-01 -8.33022257e-03 -1.04598939e+01] [-6.03401420e-02 4.28709330e-03 9.98168667e-01 -6.18566269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40071405700002 meters 0.03676610914872742 Centerline is valid? [True, True] Translation: X:92.37, Y:-10.46, Z:-6.19 [[ 9.95972960e-01 6.52629830e-02 6.14703736e-02 9.23708077e+01] [-6.48590144e-02 9.97857839e-01 -8.54646851e-03 -1.04619721e+01] [-6.18964622e-02 4.52514369e-03 9.98072318e-01 -6.18914994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46071405700002 meters 0.03939531153424761 Centerline is valid? [True, True] Translation: X:92.43, Y:-10.47, Z:-6.19 [[ 9.96072548e-01 6.39212567e-02 6.12662445e-02 9.24306259e+01] [-6.35173240e-02 9.97944366e-01 -8.52011078e-03 -1.04714837e+01] [-6.16849197e-02 4.59518055e-03 9.98085094e-01 -6.19398635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52071405700002 meters 0.03947184179932378 Centerline is valid? [True, True] Translation: X:92.49, Y:-10.48, Z:-6.20 [[ 9.96248978e-01 6.15992410e-02 6.07742254e-02 9.24911969e+01] [-6.11969898e-02 9.98089856e-01 -8.45981935e-03 -1.04782367e+01] [-6.11792563e-02 4.70888673e-03 9.98115687e-01 -6.19961465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58071405700001 meters 0.04151238395130861 Centerline is valid? [True, True] Translation: X:92.55, Y:-10.49, Z:-6.21 [[ 9.96516935e-01 5.82974315e-02 5.96272330e-02 9.25511576e+01] [-5.79043052e-02 9.98287624e-01 -8.30130222e-03 -1.04876232e+01] [-6.00090733e-02 4.81971475e-03 9.98186196e-01 -6.20544521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64071405700001 meters 0.04441484588297341 Centerline is valid? [True, True] Translation: X:92.61, Y:-10.50, Z:-6.21 [[ 9.96770926e-01 5.53830953e-02 5.81414937e-02 9.26094229e+01] [-5.50044184e-02 9.98453300e-01 -8.09454991e-03 -1.04973636e+01] [-5.84998675e-02 4.87037297e-03 9.98275536e-01 -6.21181611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70071405700001 meters 0.046040690569017204 Centerline is valid? [True, True] Translation: X:92.67, Y:-10.51, Z:-6.22 [[ 9.96800292e-01 5.48759068e-02 5.81189547e-02 9.26712199e+01] [-5.44966614e-02 9.98481167e-01 -8.09153379e-03 -1.05057402e+01] [-5.84747119e-02 4.89835425e-03 9.98276873e-01 -6.21554622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76071405700002 meters 0.04826157855486028 Centerline is valid? [True, True] Translation: X:92.73, Y:-10.51, Z:-6.22 [[ 9.96700586e-01 5.50869668e-02 5.96101365e-02 9.27324842e+01] [-5.46874033e-02 9.98468902e-01 -8.31496718e-03 -1.05126047e+01] [-5.99769139e-02 5.02760908e-03 9.98187103e-01 -6.21713491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82071405700002 meters 0.05008717835331229 Centerline is valid? [True, True] Translation: X:92.79, Y:-10.52, Z:-6.22 [[ 9.96701184e-01 5.48730393e-02 5.97971484e-02 9.27937675e+01] [-5.44700953e-02 9.98480496e-01 -8.34907811e-03 -1.05214790e+01] [-6.01644257e-02 5.06437966e-03 9.98175633e-01 -6.22127494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88071405700002 meters 0.051601095403997356 Centerline is valid? [True, True] Translation: X:92.86, Y:-10.53, Z:-6.23 [[ 9.96703970e-01 5.59086116e-02 5.87828412e-02 9.28550459e+01] [-5.55201947e-02 9.98423715e-01 -8.22153542e-03 -1.05280355e+01] [-5.91498373e-02 4.93080221e-03 9.98236938e-01 -6.22619600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94071405700001 meters 0.05293012779923082 Centerline is valid? [True, True] Translation: X:92.92, Y:-10.53, Z:-6.23 [[ 9.96640892e-01 5.75510857e-02 5.82649620e-02 9.29155258e+01] [-5.71713904e-02 9.98330996e-01 -8.16420611e-03 -1.05340304e+01] [-5.86375765e-02 4.80569277e-03 9.98267770e-01 -6.22975407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00071405700001 meters 0.05145260552075552 Centerline is valid? [True, True] Translation: X:92.98, Y:-10.54, Z:-6.23 [[ 9.96343916e-01 6.18049551e-02 5.89826159e-02 9.29764692e+01] [-6.14231058e-02 9.98077583e-01 -8.26688341e-03 -1.05363411e+01] [-5.93801610e-02 4.61376353e-03 9.98224779e-01 -6.23341007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06071405700001 meters 0.03723662999078503 Centerline is valid? [True, True] Translation: X:93.04, Y:-10.52, Z:-6.24 [[ 9.95871443e-01 6.85557155e-02 5.94994329e-02 9.30399791e+01] [-6.81790433e-02 9.97638240e-01 -8.34026528e-03 -1.05207157e+01] [-5.99306824e-02 4.24921760e-03 9.98193497e-01 -6.23668360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12071405700001 meters 0.04631097533812987 Centerline is valid? [True, True] Translation: X:93.10, Y:-10.54, Z:-6.24 [[ 9.95241440e-01 7.70744843e-02 5.96154339e-02 9.30976005e+01] [-7.67114688e-02 9.97018306e-01 -8.35755193e-03 -1.05365710e+01] [-6.00818329e-02 3.74459452e-03 9.98186431e-01 -6.24110811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18071405700002 meters 0.04285104071990714 Centerline is valid? [True, True] Translation: X:93.16, Y:-10.54, Z:-6.25 [[ 9.94628216e-01 8.43923714e-02 5.99386251e-02 9.31587803e+01] [-8.40386925e-02 9.96427072e-01 -8.40173811e-03 -1.05375962e+01] [-6.04335113e-02 3.31944211e-03 9.98166706e-01 -6.24514002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24071405700002 meters 0.04159850766678141 Centerline is valid? [True, True] Translation: X:93.22, Y:-10.54, Z:-6.25 [[ 9.94376869e-01 8.78811484e-02 5.90893104e-02 9.32182545e+01] [-8.75435927e-02 9.96126258e-01 -8.28231022e-03 -1.05431184e+01] [-5.95882726e-02 3.06284719e-03 9.98218341e-01 -6.24989747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30071405700001 meters 0.03316071779532972 Centerline is valid? [True, True] Translation: X:93.28, Y:-10.54, Z:-6.26 [[ 9.94383094e-01 8.94803355e-02 5.65290285e-02 9.32783199e+01] [-8.91740331e-02 9.95984547e-01 -7.92301729e-03 -1.05383978e+01] [-5.70109931e-02 2.83759300e-03 9.98369518e-01 -6.25529103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36071405700001 meters 0.03378173826805257 Centerline is valid? [True, True] Translation: X:93.33, Y:-10.55, Z:-6.26 [[ 9.94441554e-01 8.99298295e-02 5.47596764e-02 9.33346483e+01] [-8.96432988e-02 9.95944390e-01 -7.67148115e-03 -1.05481787e+01] [-5.52274875e-02 2.72000160e-03 9.98470093e-01 -6.26095496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42071405700001 meters 0.033846889693398614 Centerline is valid? [True, True] Translation: X:93.39, Y:-10.56, Z:-6.26 [[ 9.94515000e-01 8.88614139e-02 5.51684978e-02 9.33933721e+01] [-8.85692201e-02 9.96040077e-01 -7.72382072e-03 -1.05555384e+01] [-5.56363845e-02 2.79522474e-03 9.98447184e-01 -6.26254092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48071405700001 meters 0.035888423836589016 Centerline is valid? [True, True] Translation: X:93.45, Y:-10.57, Z:-6.26 [[ 9.94622645e-01 8.63447455e-02 5.71872280e-02 9.34506958e+01] [-8.60268407e-02 9.96260681e-01 -8.00233137e-03 -1.05678245e+01] [-5.76643460e-02 3.03966344e-03 9.98331400e-01 -6.26439290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54071405700002 meters 0.0330994005401905 Centerline is valid? [True, True] Translation: X:93.51, Y:-10.57, Z:-6.27 [[ 9.95101909e-01 8.10446625e-02 5.66034762e-02 9.35103674e+01] [-8.07249299e-02 9.96704981e-01 -7.91624475e-03 -1.05734990e+01] [-5.70585361e-02 3.30815862e-03 9.98365354e-01 -6.26746220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60071405700002 meters 0.034723584718011874 Centerline is valid? [True, True] Translation: X:93.57, Y:-10.59, Z:-6.27 [[ 9.95524710e-01 7.59833160e-02 5.61879668e-02 9.35699447e+01] [-7.56603059e-02 9.97102696e-01 -7.85693412e-03 -1.05857038e+01] [-5.66221691e-02 3.57057331e-03 9.98389293e-01 -6.27241906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.660714057 meters 0.03924663549808438 Centerline is valid? [True, True] Translation: X:93.63, Y:-10.60, Z:-6.28 [[ 9.96331086e-01 6.68299334e-02 5.34614595e-02 9.36276786e+01] [-6.65244393e-02 9.97756792e-01 -7.47553791e-03 -1.06041388e+01] [-5.38411240e-02 3.89161719e-03 9.98541931e-01 -6.27986994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72071405700001 meters 0.0411803978422819 Centerline is valid? [True, True] Translation: X:93.69, Y:-10.62, Z:-6.29 [[ 9.96551474e-01 6.42086400e-02 5.25586339e-02 9.36870250e+01] [-6.39098196e-02 9.97928624e-01 -7.34826595e-03 -1.06155922e+01] [-5.29215873e-02 3.96391246e-03 9.98590804e-01 -6.28504303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78071405700001 meters 0.04347570131052466 Centerline is valid? [True, True] Translation: X:93.75, Y:-10.63, Z:-6.29 [[ 9.96680818e-01 6.28043848e-02 5.17972704e-02 9.37450032e+01] [-6.25123051e-02 9.98017922e-01 -7.24142890e-03 -1.06261970e+01] [-5.21493976e-02 3.97942651e-03 9.98631366e-01 -6.28943428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84071405700001 meters 0.04462447056389927 Centerline is valid? [True, True] Translation: X:93.80, Y:-10.64, Z:-6.29 [[ 9.96633308e-01 6.30992854e-02 5.23500726e-02 9.38048111e+01] [-6.28012260e-02 9.97999205e-01 -7.32077247e-03 -1.06360602e+01] [-5.27072663e-02 4.00847694e-03 9.98601961e-01 -6.29308216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90071405700002 meters 0.04523797547123447 Centerline is valid? [True, True] Translation: X:93.86, Y:-10.64, Z:-6.30 [[ 9.96665025e-01 6.27967243e-02 5.21094916e-02 9.38649220e+01] [-6.25009906e-02 9.98018298e-01 -7.28712898e-03 -1.06442315e+01] [-5.24638339e-02 4.00593175e-03 9.98614790e-01 -6.29657042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96071405700002 meters 0.048590875437689245 Centerline is valid? [True, True] Translation: X:93.92, Y:-10.66, Z:-6.30 [[ 9.96732599e-01 6.24078118e-02 5.12775916e-02 9.39225868e+01] [-6.21209785e-02 9.98042871e-01 -7.17013669e-03 -1.06561915e+01] [-5.16247073e-02 3.96129481e-03 9.98658699e-01 -6.30132322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02071405700002 meters 0.04439041448236341 Centerline is valid? [True, True] Translation: X:93.98, Y:-10.66, Z:-6.30 [[ 9.96828757e-01 6.13169633e-02 5.07213952e-02 9.39826648e+01] [-6.10347320e-02 9.98110418e-01 -7.09609435e-03 -1.06588420e+01] [-5.10606639e-02 3.97782415e-03 9.98687632e-01 -6.30340035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08071405700001 meters 0.04644972484466443 Centerline is valid? [True, True] Translation: X:94.04, Y:-10.67, Z:-6.31 [[ 9.96968424e-01 5.97466993e-02 4.98426775e-02 9.40414751e+01] [-5.94723234e-02 9.98205613e-01 -6.97117563e-03 -1.06697304e+01] [-5.01697452e-02 3.98578214e-03 9.98732752e-01 -6.30732230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14071405700001 meters 0.04431761642177826 Centerline is valid? [True, True] Translation: X:94.10, Y:-10.67, Z:-6.31 [[ 9.96996933e-01 6.01745959e-02 4.87455908e-02 9.41015027e+01] [-5.99127261e-02 9.98180342e-01 -6.81691350e-03 -1.06741063e+01] [-4.90670955e-02 3.87596063e-03 9.98787964e-01 -6.31054822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20071405700001 meters 0.044978119382092875 Centerline is valid? [True, True] Translation: X:94.16, Y:-10.68, Z:-6.31 [[ 9.96826625e-01 6.22265782e-02 4.96440662e-02 9.41598555e+01] [-6.19575154e-02 9.98054646e-01 -6.94190942e-03 -1.06821671e+01] [-4.99794622e-02 3.84405714e-03 9.98742848e-01 -6.31286683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26071405700002 meters 0.03703297044303964 Centerline is valid? [True, True] Translation: X:94.22, Y:-10.68, Z:-6.31 [[ 9.96480537e-01 6.70276119e-02 5.03372498e-02 9.42210932e+01] [-6.67571547e-02 9.97744438e-01 -7.03696654e-03 -1.06767633e+01] [-5.06953820e-02 3.65182863e-03 9.98707486e-01 -6.31235951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32071405700002 meters 0.03613158447130892 Centerline is valid? [True, True] Translation: X:94.28, Y:-10.68, Z:-6.32 [[ 9.96269878e-01 7.03147596e-02 5.00216464e-02 9.42810320e+01] [-7.00518844e-02 9.97518850e-01 -6.99128965e-03 -1.06814928e+01] [-5.03891261e-02 3.46110069e-03 9.98723664e-01 -6.31546507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38071405700002 meters 0.03720975612455776 Centerline is valid? [True, True] Translation: X:94.34, Y:-10.69, Z:-6.32 [[ 9.96161478e-01 7.21052723e-02 4.96300181e-02 9.43386770e+01] [-7.18487163e-02 9.97391421e-01 -6.93645835e-03 -1.06888273e+01] [-5.00007096e-02 3.34397951e-03 9.98743584e-01 -6.32021464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44071405700001 meters 0.03793174499279816 Centerline is valid? [True, True] Translation: X:94.40, Y:-10.70, Z:-6.33 [[ 9.96400564e-01 6.96874729e-02 4.82656497e-02 9.43981311e+01] [-6.94422222e-02 9.97563195e-01 -6.74162280e-03 -1.06966713e+01] [-4.86178424e-02 3.36568278e-03 9.98811783e-01 -6.32517837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50071405700001 meters 0.04027697126042211 Centerline is valid? [True, True] Translation: X:94.46, Y:-10.71, Z:-6.33 [[ 9.96691773e-01 6.64408804e-02 4.68093919e-02 9.44572998e+01] [-6.62067115e-02 9.97784515e-01 -6.53708355e-03 -1.07063546e+01] [-4.71400159e-02 3.41636149e-03 9.98882449e-01 -6.32960786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56071405700001 meters 0.03826637145254214 Centerline is valid? [True, True] Translation: X:94.52, Y:-10.71, Z:-6.33 [[ 9.96786311e-01 6.45029898e-02 4.75017216e-02 9.45166631e+01] [-6.42596315e-02 9.97911162e-01 -6.63412696e-03 -1.07105871e+01] [-4.78304193e-02 3.56036381e-03 9.98849125e-01 -6.33151505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62071405700001 meters 0.03842601879471637 Centerline is valid? [True, True] Translation: X:94.57, Y:-10.72, Z:-6.33 [[ 9.96760295e-01 6.41393484e-02 4.85289395e-02 9.45748158e+01] [-6.38850336e-02 9.97934267e-01 -6.77510423e-03 -1.07180391e+01] [-4.88632424e-02 3.65288197e-03 9.98798799e-01 -6.33413137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68071405700002 meters 0.04056226194158334 Centerline is valid? [True, True] Translation: X:94.63, Y:-10.73, Z:-6.34 [[ 9.96734572e-01 6.43756457e-02 4.87439151e-02 9.46313682e+01] [-6.41195123e-02 9.97919046e-01 -6.80183885e-03 -1.07274275e+01] [-4.90803541e-02 3.65419187e-03 9.98788149e-01 -6.33813767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74071405700002 meters 0.03928787081187813 Centerline is valid? [True, True] Translation: X:94.69, Y:-10.73, Z:-6.34 [[ 9.96753332e-01 6.36009562e-02 4.93732100e-02 9.46899323e+01] [-6.33374631e-02 9.97968420e-01 -6.88467306e-03 -1.07330327e+01] [-4.97107761e-02 3.73514694e-03 9.98756671e-01 -6.34035587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80071405700001 meters 0.03985408760208113 Centerline is valid? [True, True] Translation: X:94.75, Y:-10.74, Z:-6.34 [[ 9.96822257e-01 6.21193121e-02 4.98656163e-02 9.47486373e+01] [-6.18489014e-02 9.98061332e-01 -6.94911404e-03 -1.07420562e+01] [-5.02006176e-02 3.84289795e-03 9.98731761e-01 -6.34384519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86071405700001 meters 0.04223511931641165 Centerline is valid? [True, True] Translation: X:94.81, Y:-10.75, Z:-6.35 [[ 9.96997820e-01 6.00080498e-02 4.89324116e-02 9.48065111e+01] [-5.97452720e-02 9.98190381e-01 -6.81658890e-03 -1.07547233e+01] [-4.92529128e-02 3.87264403e-03 9.98778831e-01 -6.34856790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92071405700001 meters 0.04308432276823495 Centerline is valid? [True, True] Translation: X:94.87, Y:-10.77, Z:-6.35 [[ 9.97191607e-01 5.74093432e-02 4.80943572e-02 9.48656049e+01] [-5.71524529e-02 9.98342976e-01 -6.70074917e-03 -1.07650916e+01] [-4.83993493e-02 3.93322034e-03 9.98820321e-01 -6.35331431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98071405700001 meters 0.04764479282045895 Centerline is valid? [True, True] Translation: X:94.92, Y:-10.78, Z:-6.36 [[ 9.97349319e-01 5.52388173e-02 4.73604257e-02 9.49233234e+01] [-5.49873487e-02 9.98465257e-01 -6.59717611e-03 -1.07801508e+01] [-4.76521598e-02 3.97546486e-03 9.98856079e-01 -6.35743182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04071405700002 meters 0.047110338448598535 Centerline is valid? [True, True] Translation: X:94.98, Y:-10.79, Z:-6.36 [[ 9.97474003e-01 5.29074774e-02 4.73963352e-02 9.49824058e+01] [-5.26529676e-02 9.98591039e-01 -6.60317840e-03 -1.07897888e+01] [-4.76789132e-02 4.09094108e-03 9.98854336e-01 -6.35995762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10071405700002 meters 0.04875795969920393 Centerline is valid? [True, True] Translation: X:95.04, Y:-10.80, Z:-6.37 [[ 9.97569507e-01 5.11563587e-02 4.73086239e-02 9.50415059e+01] [-5.09009063e-02 9.98681969e-01 -6.58951808e-03 -1.08035181e+01] [-4.75833654e-02 4.16545046e-03 9.98858585e-01 -6.36511975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.160714057 meters 0.05289828402667625 Centerline is valid? [True, True] Translation: X:95.10, Y:-10.82, Z:-6.37 [[ 9.97570581e-01 5.08044516e-02 4.76638575e-02 9.51002980e+01] [-5.05447499e-02 9.98699731e-01 -6.63892042e-03 -1.08189573e+01] [-4.79391684e-02 4.21363394e-03 9.98841370e-01 -6.36978509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22071405700001 meters 0.05356359762309216 Centerline is valid? [True, True] Translation: X:95.16, Y:-10.83, Z:-6.37 [[ 9.97586641e-01 5.05017078e-02 4.76494684e-02 9.51601755e+01] [-5.02416189e-02 9.98715012e-01 -6.64112050e-03 -1.08321529e+01] [-4.79236273e-02 4.23110665e-03 9.98842041e-01 -6.37238102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28071405700001 meters 0.0465943795070839 Centerline is valid? [True, True] Translation: X:95.22, Y:-10.83, Z:-6.37 [[ 9.97600838e-01 5.00430503e-02 4.78357644e-02 9.52218200e+01] [-4.97803211e-02 9.98737928e-01 -6.66869770e-03 -1.08337515e+01] [-4.81091142e-02 4.27141870e-03 9.98832953e-01 -6.37376606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34071405700001 meters 0.04523023081576521 Centerline is valid? [True, True] Translation: X:95.28, Y:-10.85, Z:-6.38 [[ 9.97586388e-01 5.09082223e-02 4.72202508e-02 9.52824830e+01] [-5.06531139e-02 9.98694603e-01 -6.58424976e-03 -1.08450814e+01] [-4.74938020e-02 4.17650519e-03 9.98862801e-01 -6.37802691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40071405700002 meters 0.04763111369789021 Centerline is valid? [True, True] Translation: X:95.34, Y:-10.86, Z:-6.38 [[ 9.97550000e-01 5.22999805e-02 4.64619179e-02 9.53411693e+01] [-5.20543583e-02 9.98623218e-01 -6.48164628e-03 -1.08587338e+01] [-4.67369400e-02 4.04722093e-03 9.98899033e-01 -6.38285532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46071405700002 meters 0.04364136781423064 Centerline is valid? [True, True] Translation: X:95.40, Y:-10.86, Z:-6.39 [[ 9.97432774e-01 5.46252033e-02 4.63027974e-02 9.54019646e+01] [-5.43837083e-02 9.98499212e-01 -6.46028970e-03 -1.08631881e+01] [-4.65862014e-02 3.92558684e-03 9.98906560e-01 -6.38503446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52071405700002 meters 0.04526733838990294 Centerline is valid? [True, True] Translation: X:95.46, Y:-10.88, Z:-6.39 [[ 9.97341579e-01 5.62258235e-02 4.63511865e-02 9.54603765e+01] [-5.59854839e-02 9.98410631e-01 -6.46820644e-03 -1.08760376e+01] [-4.66411976e-02 3.85601761e-03 9.98904265e-01 -6.38977608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58071405700001 meters 0.04632771977087353 Centerline is valid? [True, True] Translation: X:95.52, Y:-10.89, Z:-6.39 [[ 9.97216038e-01 5.76477238e-02 4.72960244e-02 9.55195611e+01] [-5.73990636e-02 9.98329498e-01 -6.60005650e-03 -1.08879883e+01] [-4.75974946e-02 3.86693468e-03 9.98859112e-01 -6.39397607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64071405700001 meters 0.041524945055322296 Centerline is valid? [True, True] Translation: X:95.58, Y:-10.89, Z:-6.40 [[ 9.97143061e-01 5.87045408e-02 4.75341299e-02 9.55799596e+01] [-5.84545602e-02 9.98268032e-01 -6.63328359e-03 -1.08909826e+01] [-4.78412061e-02 3.83574604e-03 9.98847589e-01 -6.39618686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70071405700001 meters 0.047155924740790604 Centerline is valid? [True, True] Translation: X:95.64, Y:-10.91, Z:-6.40 [[ 9.97035086e-01 5.98647941e-02 4.83450406e-02 9.56374778e+01] [-5.96075434e-02 9.98199090e-01 -6.74672873e-03 -1.09088380e+01] [-4.86618671e-02 3.84499615e-03 9.98807909e-01 -6.40115672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76071405700002 meters 0.039835104483256105 Centerline is valid? [True, True] Translation: X:95.70, Y:-10.91, Z:-6.40 [[ 9.96888569e-01 6.15686636e-02 4.92187116e-02 9.56978105e+01] [-6.13041285e-02 9.98095505e-01 -6.86774494e-03 -1.09095389e+01] [-4.95478127e-02 3.82906620e-03 9.98764413e-01 -6.40383056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82071405700002 meters 0.040570726675831 Centerline is valid? [True, True] Translation: X:95.76, Y:-10.92, Z:-6.41 [[ 9.96818822e-01 6.35038237e-02 4.81611860e-02 9.57555577e+01] [-6.32528171e-02 9.97974914e-01 -6.71960872e-03 -1.09208077e+01] [-4.84903763e-02 3.65190176e-03 9.98816974e-01 -6.40919489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88071405700002 meters 0.03614567827301902 Centerline is valid? [True, True] Translation: X:95.82, Y:-10.92, Z:-6.41 [[ 9.96781503e-01 6.43558283e-02 4.78012886e-02 9.58158505e+01] [-6.41096324e-02 9.97920588e-01 -6.66739956e-03 -1.09240364e+01] [-4.81309761e-02 3.58141752e-03 9.98834612e-01 -6.41202748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94071405700001 meters 0.037574184238461004 Centerline is valid? [True, True] Translation: X:95.87, Y:-10.94, Z:-6.42 [[ 9.96804492e-01 6.46612563e-02 4.69012354e-02 9.58726955e+01] [-6.44245999e-02 9.97901136e-01 -6.54162970e-03 -1.09364336e+01] [-4.72257861e-02 3.49913254e-03 9.98878111e-01 -6.41691766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00071405700001 meters 0.040117461876399724 Centerline is valid? [True, True] Translation: X:95.93, Y:-10.95, Z:-6.42 [[ 9.96797313e-01 6.44768257e-02 4.73059729e-02 9.59293383e+01] [-6.42359841e-02 9.97912942e-01 -6.59541254e-03 -1.09508803e+01] [-4.76324938e-02 3.53554377e-03 9.98858671e-01 -6.42166481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06071405700001 meters 0.040622239011026316 Centerline is valid? [True, True] Translation: X:95.99, Y:-10.96, Z:-6.43 [[ 9.96813360e-01 6.41221772e-02 4.74496806e-02 9.59881242e+01] [-6.38796085e-02 9.97935704e-01 -6.61253976e-03 -1.09621049e+01] [-4.77757409e-02 3.56040095e-03 9.98851742e-01 -6.42550391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12071405700001 meters 0.04152972190452347 Centerline is valid? [True, True] Translation: X:96.05, Y:-10.97, Z:-6.43 [[ 9.96789992e-01 6.40010227e-02 4.80996942e-02 9.60469104e+01] [-6.37517015e-02 9.97943291e-01 -6.70135602e-03 -1.09723207e+01] [-4.84296607e-02 3.61340727e-03 9.98820059e-01 -6.42907147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18071405700002 meters 0.04462721331470269 Centerline is valid? [True, True] Translation: X:96.10, Y:-10.99, Z:-6.43 [[ 9.96785460e-01 6.25741142e-02 5.00322616e-02 9.61047152e+01] [-6.23026995e-02 9.98032979e-01 -6.96759484e-03 -1.09867508e+01] [-5.03698382e-02 3.82805227e-03 9.98723298e-01 -6.43028223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24071405700002 meters 0.046902359882527424 Centerline is valid? [True, True] Translation: X:96.16, Y:-11.00, Z:-6.43 [[ 9.96863151e-01 6.07279600e-02 5.07540506e-02 9.61642085e+01] [-6.04461319e-02 9.98146416e-01 -7.07084613e-03 -1.10009020e+01] [-5.10893717e-02 3.98077991e-03 9.98686152e-01 -6.43457103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30071405700001 meters 0.051180366462544175 Centerline is valid? [True, True] Translation: X:96.22, Y:-11.02, Z:-6.44 [[ 9.97105017e-01 5.68153523e-02 5.05331638e-02 9.62215281e+01] [-5.65309311e-02 9.98376020e-01 -7.04112378e-03 -1.10182067e+01] [-5.08511428e-02 4.16405304e-03 9.98697563e-01 -6.44012866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36071405700001 meters 0.05135802371228246 Centerline is valid? [True, True] Translation: X:96.28, Y:-11.03, Z:-6.45 [[ 9.97256775e-01 5.53259509e-02 4.91727878e-02 9.62815551e+01] [-5.50548588e-02 9.98459824e-01 -6.85151639e-03 -1.10281724e+01] [-4.94761197e-02 4.12552025e-03 9.98766786e-01 -6.44504199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42071405700001 meters 0.04251048936064946 Centerline is valid? [True, True] Translation: X:96.34, Y:-11.03, Z:-6.45 [[ 9.97258672e-01 5.59746628e-02 4.83939906e-02 9.63446341e+01] [-5.57129999e-02 9.98424075e-01 -6.74006549e-03 -1.10260084e+01] [-4.86949981e-02 4.02541437e-03 9.98805583e-01 -6.44747247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48071405700001 meters 0.043005014901743764 Centerline is valid? [True, True] Translation: X:96.41, Y:-11.04, Z:-6.45 [[ 9.97177853e-01 5.73826201e-02 4.84103798e-02 9.64052656e+01] [-5.71216551e-02 9.98344351e-01 -6.75816461e-03 -1.10362561e+01] [-4.87180304e-02 3.97381106e-03 9.98804667e-01 -6.45133409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54071405700002 meters 0.0390052106489052 Centerline is valid? [True, True] Translation: X:96.47, Y:-11.04, Z:-6.45 [[ 9.96969819e-01 6.00540646e-02 4.94437926e-02 9.64662265e+01] [-5.97849831e-02 9.98187399e-01 -6.90454251e-03 -1.10392521e+01] [-4.97688165e-02 3.92762420e-03 9.98753042e-01 -6.45362470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60071405700002 meters 0.03913700433560505 Centerline is valid? [True, True] Translation: X:96.53, Y:-11.05, Z:-6.46 [[ 9.96767382e-01 6.31736779e-02 4.96374190e-02 9.65263879e+01] [-6.29062767e-02 9.97995361e-01 -6.93252630e-03 -1.10474828e+01] [-4.99758671e-02 3.78761088e-03 9.98743244e-01 -6.45809497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66071405700002 meters 0.03731913216595747 Centerline is valid? [True, True] Translation: X:96.59, Y:-11.05, Z:-6.46 [[ 9.96479806e-01 6.78735905e-02 4.92054135e-02 9.65873102e+01] [-6.76164645e-02 9.97687712e-01 -6.87334525e-03 -1.10510015e+01] [-4.95581550e-02 3.52205365e-03 9.98765030e-01 -6.46198238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72071405700001 meters 0.03698973565246225 Centerline is valid? [True, True] Translation: X:96.65, Y:-11.06, Z:-6.47 [[ 9.96111758e-01 7.21345033e-02 5.05764678e-02 9.66463265e+01] [-7.18682926e-02 9.97389110e-01 -7.06488089e-03 -1.10565841e+01] [-5.09540399e-02 3.40256653e-03 9.98695203e-01 -6.46511817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78071405700001 meters 0.037472850194854815 Centerline is valid? [True, True] Translation: X:96.70, Y:-11.06, Z:-6.47 [[ 9.95919800e-01 7.40548380e-02 5.15716328e-02 9.67049966e+01] [-7.37806475e-02 9.97248481e-01 -7.20293486e-03 -1.10640091e+01] [-5.19631446e-02 3.36855699e-03 9.98643322e-01 -6.46844705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84071405700001 meters 0.03833779486791599 Centerline is valid? [True, True] Translation: X:96.76, Y:-11.07, Z:-6.47 [[ 9.95922879e-01 7.47024810e-02 5.05683556e-02 9.67627339e+01] [-7.44397622e-02 9.97200510e-01 -7.06152807e-03 -1.10722310e+01] [-5.09543036e-02 3.26844100e-03 9.98695637e-01 -6.47337937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90071405700002 meters 0.039095311765443695 Centerline is valid? [True, True] Translation: X:96.82, Y:-11.08, Z:-6.48 [[ 9.95788218e-01 7.62147185e-02 5.09621527e-02 9.68204629e+01] [-7.59500633e-02 9.97086255e-01 -7.11253401e-03 -1.10808587e+01] [-5.13557417e-02 3.21199885e-03 9.98675258e-01 -6.47761345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96071405700002 meters 0.03920795005353991 Centerline is valid? [True, True] Translation: X:96.88, Y:-11.09, Z:-6.48 [[ 9.95542668e-01 7.83122988e-02 5.25545433e-02 9.68793973e+01] [-7.80338468e-02 9.96923744e-01 -7.33268754e-03 -1.10883971e+01] [-5.29671116e-02 3.19897014e-03 9.98591133e-01 -6.48075976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02071405700002 meters 0.0323865860180257 Centerline is valid? [True, True] Translation: X:96.94, Y:-11.09, Z:-6.48 [[ 9.95268116e-01 8.05627612e-02 5.43232732e-02 9.69399411e+01] [-8.02686687e-02 9.96744461e-01 -7.57758664e-03 -1.10852323e+01] [-5.47568930e-02 3.18127356e-03 9.98494648e-01 -6.48239186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08071405700001 meters 0.03227192079919415 Centerline is valid? [True, True] Translation: X:97.00, Y:-11.09, Z:-6.49 [[ 9.95237761e-01 8.10722479e-02 5.41210654e-02 9.69983347e+01] [-8.07811804e-02 9.96703282e-01 -7.54778973e-03 -1.10917670e+01] [-5.45545597e-02 3.13988180e-03 9.98505854e-01 -6.48746474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14071405700001 meters 0.03278016551831615 Centerline is valid? [True, True] Translation: X:97.06, Y:-11.10, Z:-6.49 [[ 9.95406717e-01 7.85029069e-02 5.47974543e-02 9.70572024e+01] [-7.82008726e-02 9.96908365e-01 -7.63777600e-03 -1.11007927e+01] [-5.52276281e-02 3.31748480e-03 9.98468279e-01 -6.49309249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20071405700001 meters 0.035474665351222824 Centerline is valid? [True, True] Translation: X:97.12, Y:-11.11, Z:-6.50 [[ 9.95704009e-01 7.41022636e-02 5.55191881e-02 9.71159877e+01] [-7.37855308e-02 9.97244127e-01 -7.73603357e-03 -1.11132585e+01] [-5.59394418e-02 3.60628688e-03 9.98427651e-01 -6.49762103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26071405700002 meters 0.03578663738137121 Centerline is valid? [True, True] Translation: X:97.18, Y:-11.12, Z:-6.50 [[ 9.96023451e-01 6.97101446e-02 5.54777566e-02 9.71759215e+01] [-6.93871166e-02 9.97559860e-01 -7.73006603e-03 -1.11207904e+01] [-5.58812471e-02 3.84988548e-03 9.98430000e-01 -6.50280578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32071405700002 meters 0.03931377146098374 Centerline is valid? [True, True] Translation: X:97.23, Y:-11.13, Z:-6.51 [[ 9.96197896e-01 6.61031210e-02 5.67461786e-02 9.72340153e+01] [-6.57593314e-02 9.97804188e-01 -7.90649448e-03 -1.11328427e+01] [-5.71442186e-02 4.14484241e-03 9.98357330e-01 -6.50631145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38071405700002 meters 0.04151486740105479 Centerline is valid? [True, True] Translation: X:97.29, Y:-11.14, Z:-6.51 [[ 9.96247570e-01 6.39614264e-02 5.83070695e-02 9.72938409e+01] [-6.35946888e-02 9.97942728e-01 -8.12570764e-03 -1.11437629e+01] [-5.87068478e-02 4.38719656e-03 9.98265625e-01 -6.50947275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44071405700001 meters 0.04394648344599419 Centerline is valid? [True, True] Translation: X:97.35, Y:-11.15, Z:-6.51 [[ 9.96379078e-01 6.09937481e-02 5.92325513e-02 9.73541919e+01] [-6.06099841e-02 9.98127383e-01 -8.25576447e-03 -1.11538182e+01] [-5.96251814e-02 4.63578700e-03 9.98210072e-01 -6.51380802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50071405700001 meters 0.045856513284488414 Centerline is valid? [True, True] Translation: X:97.41, Y:-11.16, Z:-6.52 [[ 9.96574176e-01 5.82743375e-02 5.86857232e-02 9.74145577e+01] [-5.78929030e-02 9.98289283e-01 -8.18043227e-03 -1.11636049e+01] [-5.90620378e-02 4.75492066e-03 9.98242990e-01 -6.51974447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56071405700001 meters 0.04273828655106679 Centerline is valid? [True, True] Translation: X:97.48, Y:-11.16, Z:-6.52 [[ 9.96673270e-01 5.70768263e-02 5.81775666e-02 9.74771039e+01] [-5.66998505e-02 9.98358319e-01 -8.11135621e-03 -1.11645874e+01] [-5.85450280e-02 4.78571259e-03 9.98273298e-01 -6.52380749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62071405700001 meters 0.04416204794032769 Centerline is valid? [True, True] Translation: X:97.54, Y:-11.17, Z:-6.53 [[ 9.96723204e-01 5.54885195e-02 5.88547280e-02 9.75374797e+01] [-5.50996781e-02 9.98447101e-01 -8.21044942e-03 -1.11717005e+01] [-5.92189183e-02 4.94066889e-03 9.98232793e-01 -6.52782678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68071405700002 meters 0.04559891116233521 Centerline is valid? [True, True] Translation: X:97.60, Y:-11.18, Z:-6.53 [[ 9.96837233e-01 5.31268725e-02 5.91021634e-02 9.75978522e+01] [-5.27305677e-02 9.98574729e-01 -8.24604578e-03 -1.11798053e+01] [-5.94560134e-02 5.10347484e-03 9.98217881e-01 -6.53257883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74071405700002 meters 0.04372289744762302 Centerline is valid? [True, True] Translation: X:97.66, Y:-11.18, Z:-6.54 [[ 9.96918442e-01 5.04908217e-02 6.00358047e-02 9.76591805e+01] [-5.00770749e-02 9.98710222e-01 -8.37733800e-03 -1.11839235e+01] [-6.03813505e-02 5.34510525e-03 9.98161070e-01 -6.53637384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80071405700001 meters 0.04362192720135958 Centerline is valid? [True, True] Translation: X:97.72, Y:-11.19, Z:-6.54 [[ 9.96992232e-01 4.86123387e-02 6.03600063e-02 9.77198519e+01] [-4.81905562e-02 9.98802630e-01 -8.42480899e-03 -1.11913664e+01] [-6.06972826e-02 5.49068684e-03 9.98141118e-01 -6.54042621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86071405700001 meters 0.04700194280247465 Centerline is valid? [True, True] Translation: X:97.78, Y:-11.20, Z:-6.55 [[ 9.97060612e-01 4.65650262e-02 6.08427011e-02 9.77785995e+01] [-4.61325493e-02 9.98899211e-01 -8.49436432e-03 -1.12023758e+01] [-6.11712664e-02 5.66256717e-03 9.98111222e-01 -6.54506317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92071405700001 meters 0.04837815760165417 Centerline is valid? [True, True] Translation: X:97.84, Y:-11.21, Z:-6.55 [[ 9.97096035e-01 4.62874353e-02 6.04728913e-02 9.78400239e+01] [-4.58594733e-02 9.98912191e-01 -8.44650291e-03 -1.12118655e+01] [-6.07980753e-02 5.64871962e-03 9.98134102e-01 -6.54965639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98071405700001 meters 0.04934011605118897 Centerline is valid? [True, True] Translation: X:97.90, Y:-11.22, Z:-6.55 [[ 9.97132261e-01 4.64066847e-02 5.97802034e-02 9.79016125e+01] [-4.59877877e-02 9.98906979e-01 -8.36488306e-03 -1.12210683e+01] [-6.01030488e-02 5.59173546e-03 9.98176515e-01 -6.55476806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04071405700002 meters 0.048025201220962 Centerline is valid? [True, True] Translation: X:97.96, Y:-11.23, Z:-6.56 [[ 9.97082921e-01 4.75020226e-02 5.97428326e-02 9.79629617e+01] [-4.70846336e-02 9.98855788e-01 -8.37566863e-03 -1.12267728e+01] [-6.00723354e-02 5.53826676e-03 9.98178662e-01 -6.55887025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10071405700002 meters 0.0465484128499238 Centerline is valid? [True, True] Translation: X:98.02, Y:-11.23, Z:-6.56 [[ 9.96898275e-01 4.95740902e-02 6.11247870e-02 9.80237237e+01] [-4.91407759e-02 9.98755069e-01 -8.57294111e-03 -1.12303218e+01] [-6.14736866e-02 5.54263074e-03 9.98093315e-01 -6.56185061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16071405700002 meters 0.04510761234516456 Centerline is valid? [True, True] Translation: X:98.08, Y:-11.24, Z:-6.57 [[ 9.96690064e-01 5.26943207e-02 6.19049721e-02 9.80839904e+01] [-5.22557254e-02 9.98595979e-01 -8.68386596e-03 -1.12359304e+01] [-6.22756467e-02 5.42023369e-03 9.98044270e-01 -6.56667132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22071405700001 meters 0.04427225930942764 Centerline is valid? [True, True] Translation: X:98.14, Y:-11.24, Z:-6.57 [[ 9.96611656e-01 5.40824136e-02 6.19701588e-02 9.81449557e+01] [-5.36455471e-02 9.98522201e-01 -8.69310542e-03 -1.12428088e+01] [-6.23487235e-02 5.33922711e-03 9.98040144e-01 -6.57177399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28071405700001 meters 0.053670326366065745 Centerline is valid? [True, True] Translation: X:98.20, Y:-11.26, Z:-6.58 [[ 9.96519389e-01 5.51580874e-02 6.25035384e-02 9.82030621e+01] [-5.47156048e-02 9.98463462e-01 -8.77028578e-03 -1.12621358e+01] [-6.28912515e-02 5.31984093e-03 9.98006207e-01 -6.57579754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34071405700001 meters 0.04383937509111826 Centerline is valid? [True, True] Translation: X:98.27, Y:-11.26, Z:-6.58 [[ 9.96535924e-01 5.51648198e-02 6.22333921e-02 9.82663473e+01] [-5.47261308e-02 9.98463211e-01 -8.73305877e-03 -1.12586380e+01] [-6.26195101e-02 5.29701404e-03 9.98023416e-01 -6.58143852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40071405700002 meters 0.04508479360773839 Centerline is valid? [True, True] Translation: X:98.33, Y:-11.27, Z:-6.59 [[ 9.96603543e-01 5.48560201e-02 6.14181915e-02 9.83269604e+01] [-5.44272113e-02 9.98480408e-01 -8.63440846e-03 -1.12698289e+01] [-6.17985102e-02 5.26226119e-03 9.98074773e-01 -6.58692140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46071405700002 meters 0.04406550531890189 Centerline is valid? [True, True] Translation: X:98.39, Y:-11.28, Z:-6.59 [[ 9.96708815e-01 5.49229573e-02 5.96238842e-02 9.83888349e+01] [-5.45181660e-02 9.98477480e-01 -8.39595293e-03 -1.12760621e+01] [-5.99942361e-02 5.11773548e-03 9.98185604e-01 -6.59255221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52071405700002 meters 0.04483152454369661 Centerline is valid? [True, True] Translation: X:98.45, Y:-11.28, Z:-6.60 [[ 9.96707656e-01 5.58142395e-02 5.88100188e-02 9.84508266e+01] [-5.54210355e-02 9.98428597e-01 -8.29726826e-03 -1.12847072e+01] [-5.91807103e-02 5.01063866e-03 9.98234710e-01 -6.59714469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58071405700001 meters 0.04616182753559024 Centerline is valid? [True, True] Translation: X:98.51, Y:-11.29, Z:-6.60 [[ 9.96606060e-01 5.76687826e-02 5.87424228e-02 9.85114740e+01] [-5.72793450e-02 9.98323743e-01 -8.29336776e-03 -1.12936603e+01] [-5.91222239e-02 4.90049306e-03 9.98238723e-01 -6.60082700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64071405700001 meters 0.044883477768671534 Centerline is valid? [True, True] Translation: X:98.57, Y:-11.30, Z:-6.60 [[ 9.96233437e-01 6.26800426e-02 5.99178637e-02 9.85717181e+01] [-6.22836926e-02 9.98022616e-01 -8.46163305e-03 -1.12960395e+01] [-6.03297586e-02 4.69785598e-03 9.98167446e-01 -6.60208219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70071405700001 meters 0.04503625954999507 Centerline is valid? [True, True] Translation: X:98.63, Y:-11.30, Z:-6.61 [[ 9.96078676e-01 6.52250701e-02 5.97742586e-02 9.86319857e+01] [-6.48351334e-02 9.97860280e-01 -8.44197670e-03 -1.13024617e+01] [-6.01969869e-02 4.53340094e-03 9.98176222e-01 -6.60573705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76071405700002 meters 0.03795374275378731 Centerline is valid? [True, True] Translation: X:98.69, Y:-11.30, Z:-6.61 [[ 9.95939792e-01 6.80691483e-02 5.89111374e-02 9.86940977e+01] [-6.76952912e-02 9.97671342e-01 -8.32108137e-03 -1.12983242e+01] [-5.93403624e-02 4.29928945e-03 9.98228550e-01 -6.60876703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82071405700002 meters 0.036661030455526995 Centerline is valid? [True, True] Translation: X:98.75, Y:-11.30, Z:-6.61 [[ 9.95900281e-01 6.93178569e-02 5.81176878e-02 9.87534247e+01] [-6.89560487e-02 9.97585912e-01 -8.21039626e-03 -1.13037822e+01] [-5.85465137e-02 4.16916983e-03 9.98275976e-01 -6.61327747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88071405700002 meters 0.03951753931254185 Centerline is valid? [True, True] Translation: X:98.81, Y:-11.32, Z:-6.62 [[ 9.96000411e-01 6.87413343e-02 5.70772247e-02 9.88103433e+01] [-6.83915544e-02 9.97625986e-01 -8.06144792e-03 -1.13166770e+01] [-5.74958773e-02 4.12560532e-03 9.98337219e-01 -6.61781996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94071405700001 meters 0.03988094240999908 Centerline is valid? [True, True] Translation: X:98.87, Y:-11.33, Z:-6.62 [[ 9.96209398e-01 6.70701825e-02 5.53933756e-02 9.88692516e+01] [-6.67383682e-02 9.97739861e-01 -7.82051771e-03 -1.13261460e+01] [-5.57927024e-02 4.09400974e-03 9.98433981e-01 -6.62244378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00071405700001 meters 0.03923022669675394 Centerline is valid? [True, True] Translation: X:98.93, Y:-11.33, Z:-6.63 [[ 9.96333752e-01 6.58211947e-02 5.46500236e-02 9.89280785e+01] [-6.54964773e-02 9.97822986e-01 -7.71363049e-03 -1.13344981e+01] [-5.50387701e-02 4.10596637e-03 9.98475776e-01 -6.62715220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06071405700001 meters 0.037761826466020804 Centerline is valid? [True, True] Translation: X:98.99, Y:-11.34, Z:-6.63 [[ 9.96274269e-01 6.62359138e-02 5.52302912e-02 9.89873815e+01] [-6.59050020e-02 9.97795466e-01 -7.79349247e-03 -1.13416882e+01] [-5.56247432e-02 4.12450357e-03 9.98443226e-01 -6.63087014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12071405700001 meters 0.03891918526825086 Centerline is valid? [True, True] Translation: X:99.05, Y:-11.35, Z:-6.63 [[ 9.96204498e-01 6.70454245e-02 5.55113483e-02 9.90459289e+01] [-6.67124968e-02 9.97741508e-01 -7.83107543e-03 -1.13511490e+01] [-5.59110142e-02 4.09805192e-03 9.98427346e-01 -6.63427939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18071405700002 meters 0.039120893047179715 Centerline is valid? [True, True] Translation: X:99.11, Y:-11.36, Z:-6.64 [[ 9.96323403e-01 6.61567240e-02 5.44331136e-02 9.91050587e+01] [-6.58354088e-02 9.97800963e-01 -7.67702613e-03 -1.13604659e+01] [-5.48213001e-02 4.06517452e-03 9.98487906e-01 -6.63897055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24071405700002 meters 0.0395014320157346 Centerline is valid? [True, True] Translation: X:99.16, Y:-11.37, Z:-6.64 [[ 9.96546551e-01 6.33180001e-02 5.37196698e-02 9.91640509e+01] [-6.30010792e-02 9.97984716e-01 -7.57428845e-03 -1.13711677e+01] [-5.40909982e-02 4.16373386e-03 9.98527329e-01 -6.64336004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30071405700001 meters 0.042166363481943844 Centerline is valid? [True, True] Translation: X:99.22, Y:-11.38, Z:-6.65 [[ 9.96658620e-01 6.12658680e-02 5.40193344e-02 9.92226172e+01] [-6.09425141e-02 9.98112233e-01 -7.61450082e-03 -1.13838008e+01] [-5.43838675e-02 4.29698383e-03 9.98510857e-01 -6.64657425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36071405700001 meters 0.037399449934394625 Centerline is valid? [True, True] Translation: X:99.28, Y:-11.39, Z:-6.65 [[ 9.96649894e-01 6.14807523e-02 5.39361199e-02 9.92838404e+01] [-6.11584124e-02 9.98099075e-01 -7.60819908e-03 -1.13853456e+01] [-5.43013492e-02 4.28406334e-03 9.98515403e-01 -6.64946155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42071405700001 meters 0.03912883576034981 Centerline is valid? [True, True] Translation: X:99.34, Y:-11.40, Z:-6.65 [[ 9.96586817e-01 6.19014721e-02 5.46161556e-02 9.93422825e+01] [-6.15715598e-02 9.98072937e-01 -7.70430131e-03 -1.13963783e+01] [-5.49878144e-02 4.31520322e-03 9.98477701e-01 -6.65272039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48071405700001 meters 0.04069418217508219 Centerline is valid? [True, True] Translation: X:99.40, Y:-11.41, Z:-6.66 [[ 9.96630356e-01 6.11280609e-02 5.46927224e-02 9.94016866e+01] [-6.07961315e-02 9.98120397e-01 -7.71390043e-03 -1.14073671e+01] [-5.50614576e-02 4.36280138e-03 9.98473436e-01 -6.65644040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54071405700002 meters 0.043810430646508365 Centerline is valid? [True, True] Translation: X:99.46, Y:-11.42, Z:-6.66 [[ 9.96839907e-01 5.86025746e-02 5.36277825e-02 9.94602018e+01] [-5.82798330e-02 9.98271632e-01 -7.56370055e-03 -1.14213227e+01] [-5.39783463e-02 4.41438034e-03 9.98532349e-01 -6.66083433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60071405700002 meters 0.04635346487774199 Centerline is valid? [True, True] Translation: X:99.52, Y:-11.44, Z:-6.67 [[ 9.97096994e-01 5.59232622e-02 5.16737237e-02 9.95187118e+01] [-5.56200705e-02 9.98425406e-01 -7.28805192e-03 -1.14352104e+01] [-5.19999302e-02 4.39279851e-03 9.98637427e-01 -6.66718699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66071405700002 meters 0.048734113248083216 Centerline is valid? [True, True] Translation: X:99.58, Y:-11.45, Z:-6.67 [[ 9.97225184e-01 5.42703448e-02 5.09574529e-02 9.95784351e+01] [-5.39733801e-02 9.98516512e-01 -7.18680833e-03 -1.14488925e+01] [-5.12718887e-02 4.41652028e-03 9.98674966e-01 -6.67194753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72071405700001 meters 0.04638137448734343 Centerline is valid? [True, True] Translation: X:99.64, Y:-11.46, Z:-6.67 [[ 9.97160304e-01 5.52779393e-02 5.11436867e-02 9.96398253e+01] [-5.49800454e-02 9.98461390e-01 -7.21436827e-03 -1.14551068e+01] [-5.14637919e-02 4.38199945e-03 9.98665247e-01 -6.67472994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78071405700001 meters 0.05065686460349468 Centerline is valid? [True, True] Translation: X:99.70, Y:-11.47, Z:-6.68 [[ 9.97035705e-01 5.73431459e-02 5.12987975e-02 9.96979368e+01] [-5.70458927e-02 9.98345296e-01 -7.24126367e-03 -1.14685237e+01] [-5.16291501e-02 4.29341273e-03 9.98657097e-01 -6.67793871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84071405700001 meters 0.04896689642083749 Centerline is valid? [True, True] Translation: X:99.76, Y:-11.47, Z:-6.68 [[ 9.96882867e-01 5.95635500e-02 5.17371588e-02 9.97585248e+01] [-5.92642333e-02 9.98215626e-01 -7.30166746e-03 -1.14746681e+01] [-5.20797536e-02 4.21274414e-03 9.98634043e-01 -6.68019776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90071405700002 meters 0.0518602740033316 Centerline is valid? [True, True] Translation: X:99.82, Y:-11.49, Z:-6.68 [[ 9.96869720e-01 5.99278345e-02 5.15695290e-02 9.98171963e+01] [-5.96308482e-02 9.98193952e-01 -7.27978439e-03 -1.14867018e+01] [-5.19126537e-02 4.18186186e-03 9.98642873e-01 -6.68479978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96071405700002 meters 0.052829211167941745 Centerline is valid? [True, True] Translation: X:99.88, Y:-11.50, Z:-6.69 [[ 9.96824673e-01 6.10753824e-02 5.10917689e-02 9.98764725e+01] [-6.07853761e-02 9.98124802e-01 -7.21234164e-03 -1.14967651e+01] [-5.14364582e-02 4.08380771e-03 9.98667919e-01 -6.68936219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02071405700002 meters 0.05304479447113571 Centerline is valid? [True, True] Translation: X:99.94, Y:-11.51, Z:-6.69 [[ 9.96715663e-01 6.26974193e-02 5.12535005e-02 9.99361343e+01] [-6.24077015e-02 9.98024514e-01 -7.23517239e-03 -1.15055616e+01] [-5.16058766e-02 4.01279648e-03 9.98659467e-01 -6.69327737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08071405700001 meters 0.053606045773186 Centerline is valid? [True, True] Translation: X:99.99, Y:-11.51, Z:-6.70 [[ 9.96538305e-01 6.54999804e-02 5.11972636e-02 9.99948282e+01] [-6.52145621e-02 9.97845091e-01 -7.22743127e-03 -1.15131386e+01] [-5.15603348e-02 3.86360498e-03 9.98662408e-01 -6.69707584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14071405700001 meters 0.03880973470245255 Centerline is valid? [True, True] Translation: X:100.06, Y:-11.50, Z:-6.70 [[ 9.96426678e-01 6.75368788e-02 5.07212541e-02 1.00056879e+02] [-6.72593964e-02 9.97709833e-01 -7.15974418e-03 -1.15012040e+01] [-5.10886408e-02 3.72267917e-03 9.98687184e-01 -6.69837601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20071405700001 meters 0.035542143723285534 Centerline is valid? [True, True] Translation: X:100.12, Y:-11.50, Z:-6.70 [[ 9.96259692e-01 7.11040968e-02 4.91002334e-02 1.00117064e+02] [-7.08484784e-02 9.97463022e-01 -6.92917095e-03 -1.15024204e+01] [-4.94683596e-02 3.42457690e-03 9.98769820e-01 -6.70256107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26071405700002 meters 0.03621027862892287 Centerline is valid? [True, True] Translation: X:100.18, Y:-11.51, Z:-6.71 [[ 9.96109028e-01 7.29138451e-02 4.95012616e-02 1.00175247e+02] [-7.26563355e-02 9.97332582e-01 -6.98409951e-03 -1.15102846e+01] [-4.98784586e-02 3.36034430e-03 9.98749642e-01 -6.70587451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32071405700002 meters 0.04059477783615832 Centerline is valid? [True, True] Translation: X:100.23, Y:-11.52, Z:-6.71 [[ 9.95898363e-01 7.49807941e-02 5.06392275e-02 1.00232586e+02] [-7.47140384e-02 9.97179417e-01 -7.14300109e-03 -1.15218378e+01] [-5.10319832e-02 3.33024191e-03 9.98691467e-01 -6.70989841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38071405700002 meters 0.03629221428953281 Centerline is valid? [True, True] Translation: X:100.29, Y:-11.52, Z:-6.71 [[ 9.95785323e-01 7.68908753e-02 4.99938439e-02 1.00292661e+02] [-7.66334235e-02 9.97034417e-01 -7.04908167e-03 -1.15213833e+01] [-5.03875931e-02 3.18817265e-03 9.98724650e-01 -6.71278891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44071405700001 meters 0.038268601832964745 Centerline is valid? [True, True] Translation: X:100.35, Y:-11.53, Z:-6.72 [[ 9.95695416e-01 7.79129367e-02 5.02017191e-02 1.00349685e+02] [-7.76546852e-02 9.96955195e-01 -7.07730657e-03 -1.15295348e+01] [-5.06002784e-02 3.14844302e-03 9.98714023e-01 -6.71628188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50071405700001 meters 0.04050714462068189 Centerline is valid? [True, True] Translation: X:100.41, Y:-11.54, Z:-6.72 [[ 9.95742209e-01 7.65454369e-02 5.13638933e-02 1.00408052e+02] [-7.62735174e-02 9.97060673e-01 -7.23629290e-03 -1.15391468e+01] [-5.17668232e-02 3.28777747e-03 9.98653787e-01 -6.71864375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56071405700001 meters 0.03483723077488817 Centerline is valid? [True, True] Translation: X:100.47, Y:-11.54, Z:-6.72 [[ 9.95843852e-01 7.45200098e-02 5.23621046e-02 1.00468007e+02] [-7.42348199e-02 9.97213532e-01 -7.37314215e-03 -1.15392336e+01] [-5.27656459e-02 3.45540687e-03 9.98600945e-01 -6.72051111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62071405700001 meters 0.04547271950753627 Centerline is valid? [True, True] Translation: X:100.52, Y:-11.56, Z:-6.73 [[ 9.96001342e-01 7.31332671e-02 5.13113207e-02 1.00523434e+02] [-7.28577340e-02 9.97316192e-01 -7.22239632e-03 -1.15623208e+01] [-5.17018084e-02 3.45508987e-03 9.98656590e-01 -6.72738627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68071405700002 meters 0.046113680866125474 Centerline is valid? [True, True] Translation: X:100.58, Y:-11.57, Z:-6.73 [[ 9.96028284e-01 7.40038321e-02 4.95084955e-02 1.00580541e+02] [-7.37485190e-02 9.97252538e-01 -6.96645396e-03 -1.15696932e+01] [-4.98880171e-02 3.28760696e-03 9.98749407e-01 -6.73244639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74071405700002 meters 0.0350063308814286 Centerline is valid? [True, True] Translation: X:100.64, Y:-11.56, Z:-6.73 [[ 9.95897911e-01 7.58793368e-02 4.92917579e-02 1.00642514e+02] [-7.56287620e-02 9.97111952e-01 -6.93153569e-03 -1.15620515e+01] [-4.96753613e-02 3.17522729e-03 9.98760370e-01 -6.73305720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80071405700001 meters 0.03276764345255834 Centerline is valid? [True, True] Translation: X:100.70, Y:-11.57, Z:-6.74 [[ 9.95554986e-01 8.03712932e-02 4.90991405e-02 1.00702922e+02] [-8.01282748e-02 9.96760670e-01 -6.90115214e-03 -1.15659300e+01] [-4.94947467e-02 2.93624699e-03 9.98770068e-01 -6.73643152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86071405700001 meters 0.029759927955933043 Centerline is valid? [True, True] Translation: X:100.76, Y:-11.57, Z:-6.75 [[ 9.94822150e-01 9.15651189e-02 4.40989599e-02 1.00761719e+02] [-9.13800649e-02 9.95796799e-01 -6.19832461e-03 -1.15743125e+01] [-4.44811534e-02 2.13646480e-03 9.99007939e-01 -6.74919383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92071405700001 meters 0.026054962509979785 Centerline is valid? [True, True] Translation: X:100.82, Y:-11.57, Z:-6.74 [[ 9.93742625e-01 1.00847131e-01 4.80151095e-02 1.00823590e+02] [-1.00638541e-01 9.94900168e-01 -6.74827619e-03 -1.15718573e+01] [-4.84507848e-02 1.87387911e-03 9.98823813e-01 -6.74429173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98071405700001 meters 0.024009510462977727 Centerline is valid? [True, True] Translation: X:100.88, Y:-11.57, Z:-6.74 [[ 9.92337171e-01 1.11901665e-01 5.23923255e-02 1.00884070e+02] [-1.11668632e-01 9.93718218e-01 -7.36345996e-03 -1.15736571e+01] [-5.28871917e-02 1.45645573e-03 9.98599431e-01 -6.74259556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04071405700002 meters 0.023694979432309745 Centerline is valid? [True, True] Translation: X:100.94, Y:-11.59, Z:-6.75 [[ 9.92057972e-01 1.15011500e-01 5.09248046e-02 1.00938482e+02] [-1.14795460e-01 9.93363369e-01 -7.15682116e-03 -1.15942091e+01] [-5.14099522e-02 1.25404511e-03 9.98676847e-01 -6.75470965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10071405700002 meters 0.02420558892113918 Centerline is valid? [True, True] Translation: X:101.00, Y:-11.61, Z:-6.76 [[ 9.92369935e-01 1.11754655e-01 5.20846260e-02 1.00996207e+02] [-1.11524320e-01 9.93734767e-01 -7.31701318e-03 -1.16068987e+01] [-5.25760140e-02 1.45248140e-03 9.98615869e-01 -6.75620107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16071405700002 meters 0.026010258801552395 Centerline is valid? [True, True] Translation: X:101.05, Y:-11.63, Z:-6.76 [[ 9.93384857e-01 1.00961096e-01 5.47118118e-02 1.01054196e+02] [-1.00691500e-01 9.94888138e-01 -7.66902044e-03 -1.16298837e+01] [-5.52064053e-02 2.10927440e-03 9.98472736e-01 -6.75698676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22071405700001 meters 0.02811381899454268 Centerline is valid? [True, True] Translation: X:101.11, Y:-11.65, Z:-6.76 [[ 9.93892013e-01 9.49537222e-02 5.62357346e-02 1.01110657e+02] [-9.46592953e-02 9.95478521e-01 -7.88241562e-03 -1.16532162e+01] [-5.67299306e-02 2.51103491e-03 9.98386403e-01 -6.76228992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28071405700001 meters 0.029803011753758206 Centerline is valid? [True, True] Translation: X:101.17, Y:-11.67, Z:-6.76 [[ 9.94534634e-01 8.75133253e-02 5.69410171e-02 1.01169639e+02] [-8.71993701e-02 9.96158918e-01 -7.97994006e-03 -1.16711370e+01] [-5.74206530e-02 2.97110595e-03 9.98345652e-01 -6.76377250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34071405700001 meters 0.031127318031890155 Centerline is valid? [True, True] Translation: X:101.23, Y:-11.69, Z:-6.77 [[ 9.94800965e-01 8.42944292e-02 5.71444578e-02 1.01227376e+02] [-8.39729214e-02 9.96435854e-01 -8.00862060e-03 -1.16903087e+01] [-5.76158687e-02 3.16839644e-03 9.98333798e-01 -6.76926075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40071405700002 meters 0.032517169567186775 Centerline is valid? [True, True] Translation: X:101.28, Y:-11.71, Z:-6.78 [[ 9.94854503e-01 8.32830662e-02 5.76927053e-02 1.01283746e+02] [-8.29536997e-02 9.96520607e-01 -8.08473008e-03 -1.17086421e+01] [-5.81652908e-02 3.25730677e-03 9.98301652e-01 -6.77551168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46071405700002 meters 0.03358485139577361 Centerline is valid? [True, True] Translation: X:101.34, Y:-11.72, Z:-6.78 [[ 9.94748860e-01 8.33553060e-02 5.93851642e-02 1.01341235e+02] [-8.30066975e-02 9.96514279e-01 -8.31748006e-03 -1.17223285e+01] [-5.98714701e-02 3.34443746e-03 9.98200492e-01 -6.77689476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52071405700002 meters 0.02941717330489137 Centerline is valid? [True, True] Translation: X:101.40, Y:-11.73, Z:-6.78 [[ 9.94717431e-01 8.39302471e-02 5.91011566e-02 1.01399883e+02] [-8.35862282e-02 9.96466202e-01 -8.27354923e-03 -1.17275095e+01] [-5.95867060e-02 3.28980087e-03 9.98217713e-01 -6.78194718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58071405700001 meters 0.028817736026069983 Centerline is valid? [True, True] Translation: X:101.46, Y:-11.74, Z:-6.79 [[ 9.94644226e-01 8.52572248e-02 5.84300454e-02 1.01457843e+02] [-8.49235130e-02 9.96353933e-01 -8.17540676e-03 -1.17396518e+01] [-5.89140180e-02 3.16953641e-03 9.98258029e-01 -6.78793181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64071405700001 meters 0.033881060601599414 Centerline is valid? [True, True] Translation: X:101.51, Y:-11.76, Z:-6.79 [[ 9.94427088e-01 8.72569909e-02 5.91691140e-02 1.01514301e+02] [-8.69186808e-02 9.96181063e-01 -8.27241184e-03 -1.17566829e+01] [-5.96649766e-02 3.08340909e-03 9.98213696e-01 -6.79120932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70071405700001 meters 0.028910447952434106 Centerline is valid? [True, True] Translation: X:101.57, Y:-11.76, Z:-6.80 [[ 9.94310679e-01 8.90692197e-02 5.84204326e-02 1.01573371e+02] [-8.87427341e-02 9.96021118e-01 -8.16453155e-03 -1.17602078e+01] [-5.89151931e-02 2.93369199e-03 9.98258681e-01 -6.79583944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76071405700002 meters 0.029931282115719073 Centerline is valid? [True, True] Translation: X:101.63, Y:-11.77, Z:-6.80 [[ 9.94262983e-01 9.04030711e-02 5.71699646e-02 1.01630061e+02] [-9.00927915e-02 9.95901349e-01 -7.98693576e-03 -1.17709721e+01] [-5.76576884e-02 2.79051288e-03 9.98332512e-01 -6.80137981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82071405700002 meters 0.0312703822132138 Centerline is valid? [True, True] Translation: X:101.69, Y:-11.78, Z:-6.81 [[ 9.94350579e-01 8.97247634e-02 5.67132545e-02 1.01686724e+02] [-8.94186204e-02 9.95962658e-01 -7.91802207e-03 -1.17814816e+01] [-5.71947263e-02 2.80206886e-03 9.98359110e-01 -6.80651499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88071405700002 meters 0.029528317411853224 Centerline is valid? [True, True] Translation: X:101.75, Y:-11.79, Z:-6.81 [[ 9.94342494e-01 8.99423666e-02 5.65099582e-02 1.01745082e+02] [-8.96390602e-02 9.95943108e-01 -7.88451009e-03 -1.17857013e+01] [-5.69898549e-02 2.77440388e-03 9.98370903e-01 -6.80941024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94071405700001 meters 0.028239523352376564 Centerline is valid? [True, True] Translation: X:101.80, Y:-11.79, Z:-6.81 [[ 9.94293418e-01 9.04637342e-02 5.65412450e-02 1.01803736e+02] [-9.01611649e-02 9.95895976e-01 -7.88479284e-03 -1.17910917e+01] [-5.70224862e-02 2.74197310e-03 9.98369129e-01 -6.81312959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00071405700001 meters 0.027586141494348675 Centerline is valid? [True, True] Translation: X:101.86, Y:-11.79, Z:-6.82 [[ 9.94065701e-01 9.37462238e-02 5.51817648e-02 1.01863920e+02] [-9.34633206e-02 9.95593017e-01 -7.69102764e-03 -1.17936435e+01] [-5.56595845e-02 2.48791582e-03 9.98446704e-01 -6.81739568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06071405700001 meters 0.026510158933236876 Centerline is valid? [True, True] Translation: X:101.92, Y:-11.79, Z:-6.82 [[ 9.93470178e-01 1.00524760e-01 5.39608960e-02 1.01923345e+02] [-1.00264375e-01 9.94932427e-01 -7.51797448e-03 -1.17943613e+01] [-5.44431878e-02 2.05852793e-03 9.98514748e-01 -6.82342323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12071405700001 meters 0.024503241613440998 Centerline is valid? [True, True] Translation: X:101.98, Y:-11.79, Z:-6.83 [[ 9.92734042e-01 1.06910694e-01 5.52197891e-02 1.01984348e+02] [-1.06647935e-01 9.94267093e-01 -7.69198907e-03 -1.17937091e+01] [-5.57255750e-02 1.74702295e-03 9.98444594e-01 -6.82687792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18071405700002 meters 0.023657735925668076 Centerline is valid? [True, True] Translation: X:102.04, Y:-11.79, Z:-6.83 [[ 9.92384611e-01 1.08949568e-01 5.74697792e-02 1.02043461e+02] [-1.08668347e-01 9.94045826e-01 -8.00540129e-03 -1.17949063e+01] [-5.79997792e-02 1.69929114e-03 9.98315150e-01 -6.82817390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24071405700002 meters 0.023911826703859364 Centerline is valid? [True, True] Translation: X:102.10, Y:-11.80, Z:-6.83 [[ 9.92511686e-01 1.06862656e-01 5.91686155e-02 1.02101357e+02] [-1.06561110e-01 9.94272032e-01 -8.23753242e-03 -1.18032796e+01] [-5.97099842e-02 1.87077383e-03 9.98214014e-01 -6.83168502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30071405700001 meters 0.025874152164147325 Centerline is valid? [True, True] Translation: X:102.16, Y:-11.82, Z:-6.84 [[ 9.93201261e-01 9.98394960e-02 5.98609266e-02 1.02160089e+02] [-9.95183902e-02 9.95000861e-01 -8.32920544e-03 -1.18163100e+01] [-6.03932572e-02 2.31531430e-03 9.98171976e-01 -6.83635728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36071405700001 meters 0.029746702588293338 Centerline is valid? [True, True] Translation: X:102.22, Y:-11.83, Z:-6.84 [[ 9.94227145e-01 9.02969836e-02 5.79554911e-02 1.02217651e+02] [-8.99799022e-02 9.95910943e-01 -8.06296035e-03 -1.18317952e+01] [-5.84465688e-02 2.80158463e-03 9.98286607e-01 -6.84177689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42071405700001 meters 0.032952506905724245 Centerline is valid? [True, True] Translation: X:102.28, Y:-11.85, Z:-6.85 [[ 9.94896887e-01 8.26789620e-02 5.78305619e-02 1.02276572e+02] [-8.23503989e-02 9.96570959e-01 -8.04586533e-03 -1.18476880e+01] [-5.82974823e-02 3.24243652e-03 9.98293990e-01 -6.84586673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48071405700001 meters 0.031647292638073664 Centerline is valid? [True, True] Translation: X:102.34, Y:-11.85, Z:-6.85 [[ 9.95128907e-01 7.96310640e-02 5.81149924e-02 1.02336298e+02] [-7.92940673e-02 9.96818476e-01 -8.08564723e-03 -1.18543408e+01] [-5.85739669e-02 3.43808717e-03 9.98277151e-01 -6.84876680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54071405700002 meters 0.030979328680891698 Centerline is valid? [True, True] Translation: X:102.40, Y:-11.86, Z:-6.85 [[ 9.95108427e-01 7.95979677e-02 5.85096777e-02 1.02395397e+02] [-7.92563730e-02 9.96821034e-01 -8.13957426e-03 -1.18607978e+01] [-5.89715711e-02 3.46249410e-03 9.98253658e-01 -6.85093894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60071405700002 meters 0.03170597471798923 Centerline is valid? [True, True] Translation: X:102.45, Y:-11.87, Z:-6.85 [[ 9.94912479e-01 8.04443014e-02 6.06454798e-02 1.02453979e+02] [-8.00789848e-02 9.96752837e-01 -8.43433646e-03 -1.18709624e+01] [-6.11270483e-02 3.53499814e-03 9.98123734e-01 -6.85362709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66071405700002 meters 0.030864441440644038 Centerline is valid? [True, True] Translation: X:102.51, Y:-11.88, Z:-6.86 [[ 9.94759255e-01 8.13230884e-02 6.19724155e-02 1.02513568e+02] [-8.09434327e-02 9.96681452e-01 -8.61649505e-03 -1.18789031e+01] [-6.24674770e-02 3.55507815e-03 9.98040668e-01 -6.85602250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72071405700001 meters 0.03285588415521328 Centerline is valid? [True, True] Translation: X:102.57, Y:-11.89, Z:-6.86 [[ 9.95012414e-01 8.03351768e-02 5.91316722e-02 1.02571667e+02] [-7.99879096e-02 9.96761938e-01 -8.22035607e-03 -1.18926086e+01] [-5.96005839e-02 3.44953749e-03 9.98216345e-01 -6.86239367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78071405700001 meters 0.03211253788056937 Centerline is valid? [True, True] Translation: X:102.63, Y:-11.90, Z:-6.87 [[ 9.95371694e-01 7.79891053e-02 5.61506092e-02 1.02630917e+02] [-7.76722684e-02 9.96948383e-01 -7.80641798e-03 -1.19018285e+01] [-5.65880746e-02 3.40894229e-03 9.98391791e-01 -6.86819242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84071405700001 meters 0.03436793159387166 Centerline is valid? [True, True] Translation: X:102.69, Y:-11.92, Z:-6.87 [[ 9.95811115e-01 7.31743941e-02 5.48245510e-02 1.02689159e+02] [-7.28651539e-02 9.97312684e-01 -7.62105900e-03 -1.19164499e+01] [-5.52348865e-02 3.59433591e-03 9.98466919e-01 -6.87426314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90071405700002 meters 0.03388636831403733 Centerline is valid? [True, True] Translation: X:102.75, Y:-11.93, Z:-6.88 [[ 9.96135001e-01 6.89006769e-02 5.44771139e-02 1.02749208e+02] [-6.85890519e-02 9.97616265e-01 -7.57163181e-03 -1.19260552e+01] [-5.48689454e-02 3.80583387e-03 9.98486312e-01 -6.87736610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96071405700002 meters 0.03708866701079724 Centerline is valid? [True, True] Translation: X:102.81, Y:-11.94, Z:-6.88 [[ 9.96244274e-01 6.71148558e-02 5.47077876e-02 1.02807483e+02] [-6.67979419e-02 9.97737555e-01 -7.60303136e-03 -1.19414658e+01] [-5.50942906e-02 3.92010884e-03 9.98473461e-01 -6.88186955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02071405700002 meters 0.03916036370116395 Centerline is valid? [True, True] Translation: X:102.87, Y:-11.96, Z:-6.89 [[ 9.96306975e-01 6.54201220e-02 5.56113280e-02 1.02867507e+02] [-6.50896925e-02 9.97849443e-01 -7.73435449e-03 -1.19560778e+01] [-5.59977151e-02 4.08606708e-03 9.98422536e-01 -6.88565425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08071405700001 meters 0.039910229946861206 Centerline is valid? [True, True] Translation: X:102.93, Y:-11.97, Z:-6.89 [[ 9.96499617e-01 6.23454808e-02 5.56915948e-02 1.02926882e+02] [-6.20091997e-02 9.98045506e-01 -7.74772512e-03 -1.19683763e+01] [-5.60657816e-02 4.26721390e-03 9.98417958e-01 -6.88933903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14071405700001 meters 0.04315675873374102 Centerline is valid? [True, True] Translation: X:102.98, Y:-11.98, Z:-6.90 [[ 9.96745216e-01 5.94662715e-02 5.44310326e-02 1.02984929e+02] [-5.91407403e-02 9.98220926e-01 -7.57337546e-03 -1.19834118e+01] [-5.47845561e-02 4.32963420e-03 9.98488811e-01 -6.89519913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20071405700001 meters 0.04133753747536219 Centerline is valid? [True, True] Translation: X:103.04, Y:-11.99, Z:-6.90 [[ 9.96993718e-01 5.59579532e-02 5.35932257e-02 1.03044279e+02] [-5.56373912e-02 9.98423201e-01 -7.45596655e-03 -1.19929720e+01] [-5.39259406e-02 4.45176454e-03 9.98535014e-01 -6.90024202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26071405700002 meters 0.042301300625475886 Centerline is valid? [True, True] Translation: X:103.11, Y:-12.00, Z:-6.90 [[ 9.96916325e-01 5.70934828e-02 5.38346992e-02 1.03105765e+02] [-5.67717962e-02 9.98359107e-01 -7.48714090e-03 -1.20037009e+01] [-5.41738292e-02 4.40776042e-03 9.98521791e-01 -6.90402373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32071405700002 meters 0.041119160625569494 Centerline is valid? [True, True] Translation: X:103.17, Y:-12.01, Z:-6.91 [[ 9.96706898e-01 6.08550928e-02 5.35912010e-02 1.03166215e+02] [-6.05408303e-02 9.98137773e-01 -7.46957823e-03 -1.20094436e+01] [-5.39459639e-02 4.20052434e-03 9.98535021e-01 -6.90751761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38071405700002 meters 0.04062258354112081 Centerline is valid? [True, True] Translation: X:103.23, Y:-12.02, Z:-6.91 [[ 9.96470823e-01 6.45727407e-02 5.36307710e-02 1.03226671e+02] [-6.42633577e-02 9.97904977e-01 -7.47515543e-03 -1.20151765e+01] [-5.40011045e-02 4.00228086e-03 9.98532855e-01 -6.91172686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44071405700001 meters 0.03785482976984769 Centerline is valid? [True, True] Translation: X:103.29, Y:-12.02, Z:-6.91 [[ 9.96357464e-01 6.61253890e-02 5.38445604e-02 1.03287776e+02] [-6.58157996e-02 9.97803568e-01 -7.50467356e-03 -1.20186443e+01] [-5.42225440e-02 3.93351472e-03 9.98521128e-01 -6.91438525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50071405700001 meters 0.04049658224153824 Centerline is valid? [True, True] Translation: X:103.35, Y:-12.03, Z:-6.92 [[ 9.96354035e-01 6.58520662e-02 5.42415235e-02 1.03348085e+02] [-6.55374825e-02 9.97821469e-01 -7.56008184e-03 -1.20303623e+01] [-5.46212037e-02 3.97766515e-03 9.98499225e-01 -6.91945811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56071405700001 meters 0.03976426152540272 Centerline is valid? [True, True] Translation: X:103.41, Y:-12.04, Z:-6.92 [[ 9.96510967e-01 6.46754333e-02 5.27539729e-02 1.03409271e+02] [-6.43756130e-02 9.97898563e-01 -7.36470682e-03 -1.20373773e+01] [-5.31194293e-02 3.94294177e-03 9.98580382e-01 -6.92472146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62071405700001 meters 0.04102470404279566 Centerline is valid? [True, True] Translation: X:103.47, Y:-12.05, Z:-6.93 [[ 9.96585664e-01 6.42098709e-02 5.19047779e-02 1.03470509e+02] [-6.39183916e-02 9.97928736e-01 -7.25795495e-03 -1.20464969e+01] [-5.22633017e-02 3.91550394e-03 9.98625664e-01 -6.92915954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68071405700002 meters 0.043473512002880216 Centerline is valid? [True, True] Translation: X:103.53, Y:-12.06, Z:-6.93 [[ 9.96491652e-01 6.33928587e-02 5.46418607e-02 1.03531113e+02] [-6.30677507e-02 9.97979886e-01 -7.65549985e-03 -1.20573769e+01] [-5.50167819e-02 4.18250244e-03 9.98476670e-01 -6.93137232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74071405700002 meters 0.04476069670337419 Centerline is valid? [True, True] Translation: X:103.59, Y:-12.07, Z:-6.94 [[ 9.96552881e-01 6.16255182e-02 5.55396382e-02 1.03591137e+02] [-6.12860678e-02 9.98089795e-01 -7.79611509e-03 -1.20667480e+01] [-5.59139857e-02 4.36543493e-03 9.98426046e-01 -6.93522354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80071405700002 meters 0.04331645620553102 Centerline is valid? [True, True] Translation: X:103.65, Y:-12.07, Z:-6.94 [[ 9.96710668e-01 5.93533374e-02 5.51817498e-02 1.03652027e+02] [-5.90147508e-02 9.98227052e-01 -7.74667927e-03 -1.20728671e+01] [-5.55437067e-02 4.46466066e-03 9.98446275e-01 -6.93980945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86071405700001 meters 0.043637920019751614 Centerline is valid? [True, True] Translation: X:103.71, Y:-12.08, Z:-6.94 [[ 9.96975939e-01 5.56114378e-02 5.42802400e-02 1.03712492e+02] [-5.52782095e-02 9.98441896e-01 -7.62237733e-03 -1.20793044e+01] [-5.46195571e-02 4.59881232e-03 9.98496647e-01 -6.94382924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92071405700001 meters 0.04498088381734549 Centerline is valid? [True, True] Translation: X:103.77, Y:-12.09, Z:-6.95 [[ 9.97152311e-01 5.33511276e-02 5.33003290e-02 1.03772754e+02] [-5.30266387e-02 9.98565048e-01 -7.48468085e-03 -1.20869711e+01] [-5.36231618e-02 4.63702952e-03 9.98550477e-01 -6.94766888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98071405700001 meters 0.04913657789216317 Centerline is valid? [True, True] Translation: X:103.83, Y:-12.10, Z:-6.95 [[ 9.97299102e-01 5.15571153e-02 5.23102842e-02 1.03831579e+02] [-5.12420758e-02 9.98659238e-01 -7.34680249e-03 -1.20986065e+01] [-5.26189285e-02 4.64647197e-03 9.98603855e-01 -6.95338393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04071405700002 meters 0.04258582591892525 Centerline is valid? [True, True] Translation: X:103.90, Y:-12.10, Z:-6.96 [[ 9.97278978e-01 5.20790607e-02 5.21767319e-02 1.03895022e+02] [-5.17663967e-02 9.98632343e-01 -7.32692866e-03 -1.20970932e+01] [-5.24869515e-02 4.60599053e-03 9.98610988e-01 -6.95631782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10071405700002 meters 0.05018753048212831 Centerline is valid? [True, True] Translation: X:103.95, Y:-12.11, Z:-6.96 [[ 9.97002566e-01 5.58473200e-02 5.35440002e-02 1.03953083e+02] [-5.55230781e-02 9.98429045e-01 -7.52530778e-03 -1.21130887e+01] [-5.38801532e-02 4.52982347e-03 9.98537135e-01 -6.95999956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16071405700002 meters 0.044385061979314674 Centerline is valid? [True, True] Translation: X:104.02, Y:-12.11, Z:-6.96 [[ 9.96682124e-01 6.05682560e-02 5.43712321e-02 1.04015116e+02] [-6.02409511e-02 9.98154625e-01 -7.64017680e-03 -1.21108968e+01] [-5.47336490e-02 4.33945291e-03 9.98491561e-01 -6.96221254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22071405700001 meters 0.04401675818255559 Centerline is valid? [True, True] Translation: X:104.08, Y:-12.12, Z:-6.97 [[ 9.96536880e-01 6.30182443e-02 5.42489415e-02 1.04075923e+02] [-6.26959717e-02 9.98003553e-01 -7.62381186e-03 -1.21174202e+01] [-5.46210756e-02 4.19621958e-03 9.98498337e-01 -6.96702380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28071405700001 meters 0.04148534277681787 Centerline is valid? [True, True] Translation: X:104.14, Y:-12.12, Z:-6.97 [[ 9.96670733e-01 6.22800551e-02 5.26179109e-02 1.04138198e+02] [-6.19758404e-02 9.98050253e-01 -7.39516944e-03 -1.21200134e+01] [-5.29758908e-02 4.10950970e-03 9.98587336e-01 -6.97087335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34071405700001 meters 0.04434904304902235 Centerline is valid? [True, True] Translation: X:104.20, Y:-12.13, Z:-6.98 [[ 9.96754558e-01 6.10187758e-02 5.25077159e-02 1.04198154e+02] [-6.07139277e-02 9.98127904e-01 -7.38288976e-03 -1.21313660e+01] [-5.28599113e-02 4.17097936e-03 9.98593227e-01 -6.97560595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40071405700002 meters 0.043283467099068045 Centerline is valid? [True, True] Translation: X:104.26, Y:-12.14, Z:-6.98 [[ 9.96795564e-01 6.06578200e-02 5.21462623e-02 1.04259931e+02] [-6.03563994e-02 9.98149924e-01 -7.33719337e-03 -1.21354403e+01] [-5.24948459e-02 4.16632117e-03 9.98612504e-01 -6.97892697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46071405700002 meters 0.04374062809012723 Centerline is valid? [True, True] Translation: X:104.32, Y:-12.14, Z:-6.98 [[ 9.96478825e-01 6.42300757e-02 5.38929445e-02 1.04318721e+02] [-6.39124317e-02 9.97926581e-01 -7.59867715e-03 -1.21410789e+01] [-5.42692654e-02 4.12749175e-03 9.98517807e-01 -6.98164140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52071405700002 meters 0.041680046151329635 Centerline is valid? [True, True] Translation: X:104.38, Y:-12.14, Z:-6.98 [[ 9.95866984e-01 7.11919362e-02 5.63973198e-02 1.04379589e+02] [-7.08552020e-02 9.97454926e-01 -7.95057490e-03 -1.21440265e+01] [-5.68198012e-02 3.92167157e-03 9.98376748e-01 -6.98317861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58071405700001 meters 0.03975953331188772 Centerline is valid? [True, True] Translation: X:104.44, Y:-12.15, Z:-6.99 [[ 9.95286269e-01 7.80810385e-02 5.75203879e-02 1.04439373e+02] [-7.77421521e-02 9.96940518e-01 -8.10937605e-03 -1.21470561e+01] [-5.79775938e-02 3.59939188e-03 9.98311396e-01 -6.98562594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64071405700001 meters 0.034088993117787424 Centerline is valid? [True, True] Translation: X:104.50, Y:-12.15, Z:-6.99 [[ 9.94817021e-01 8.41196323e-02 5.71225158e-02 1.04499873e+02] [-8.37953855e-02 9.96450447e-01 -8.05233098e-03 -1.21458478e+01] [-5.75971156e-02 3.22399268e-03 9.98334702e-01 -6.98928451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70071405700001 meters 0.031091089131444694 Centerline is valid? [True, True] Translation: X:104.56, Y:-12.15, Z:-6.99 [[ 9.94498902e-01 8.81062007e-02 5.66500780e-02 1.04559919e+02] [-8.77938339e-02 9.96106669e-01 -7.98415005e-03 -1.21486788e+01] [-5.71329736e-02 2.96670093e-03 9.98362170e-01 -6.99325076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76071405700002 meters 0.03215248645446399 Centerline is valid? [True, True] Translation: X:104.62, Y:-12.16, Z:-7.00 [[ 9.94300976e-01 9.13871483e-02 5.48995360e-02 1.04617579e+02] [-9.10988287e-02 9.95811802e-01 -7.73679662e-03 -1.21575661e+01] [-5.53766497e-02 2.69142100e-03 9.98461909e-01 -6.99903817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82071405700002 meters 0.029965325580235416 Centerline is valid? [True, True] Translation: X:104.68, Y:-12.16, Z:-7.00 [[ 9.94410260e-01 9.11220405e-02 5.33386195e-02 1.04675786e+02] [-9.08496586e-02 9.95836269e-01 -7.51425983e-03 -1.21632288e+01] [-5.38012465e-02 2.62646170e-03 9.98548210e-01 -7.00427520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88071405700002 meters 0.029278161061112713 Centerline is valid? [True, True] Translation: X:104.73, Y:-12.17, Z:-7.01 [[ 9.94480591e-01 9.00899209e-02 5.37788107e-02 1.04733505e+02] [-8.98117266e-02 9.95929974e-01 -7.57238199e-03 -1.21715289e+01] [-5.42421248e-02 2.70061907e-03 9.98524160e-01 -7.00752677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94071405700001 meters 0.030414360520359913 Centerline is valid? [True, True] Translation: X:104.79, Y:-12.18, Z:-7.01 [[ 9.94534268e-01 8.86881305e-02 5.50999622e-02 1.04791492e+02] [-8.83941701e-02 9.96055391e-01 -7.75425769e-03 -1.21809491e+01] [-5.55703250e-02 2.84135956e-03 9.98450733e-01 -7.00931505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00071405700001 meters 0.03132169433029537 Centerline is valid? [True, True] Translation: X:104.85, Y:-12.19, Z:-7.01 [[ 9.94603521e-01 8.75578510e-02 5.56548220e-02 1.04849500e+02] [-8.72563983e-02 9.96155128e-01 -7.82827519e-03 -1.21911226e+01] [-5.61262633e-02 2.92979075e-03 9.98419380e-01 -7.01261856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06071405700001 meters 0.03269574433749688 Centerline is valid? [True, True] Translation: X:104.91, Y:-12.20, Z:-7.02 [[ 9.94890015e-01 8.44496675e-02 5.53363471e-02 1.04908026e+02] [-8.41471131e-02 9.96422977e-01 -7.77909142e-03 -1.22036940e+01] [-5.57953494e-02 3.08294653e-03 9.98437466e-01 -7.01762207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12071405700001 meters 0.03149478298982408 Centerline is valid? [True, True] Translation: X:104.97, Y:-12.21, Z:-7.02 [[ 9.95107702e-01 8.30224943e-02 5.35530257e-02 1.04966857e+02] [-8.27371220e-02 9.96542975e-01 -7.52779427e-03 -1.22099056e+01] [-5.39928678e-02 3.06014284e-03 9.98536632e-01 -7.02175966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18071405700002 meters 0.03184469638645126 Centerline is valid? [True, True] Translation: X:105.02, Y:-12.22, Z:-7.03 [[ 9.95040634e-01 8.42174143e-02 5.29297922e-02 1.05024656e+02] [-8.39404793e-02 9.96443014e-01 -7.43751838e-03 -1.22175876e+01] [-5.33678903e-02 2.95768088e-03 9.98570539e-01 -7.02562076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24071405700002 meters 0.03175701896703243 Centerline is valid? [True, True] Translation: X:105.08, Y:-12.22, Z:-7.03 [[ 9.94768147e-01 8.75532575e-02 5.26380243e-02 1.05084444e+02] [-8.72842562e-02 9.96156019e-01 -7.39212313e-03 -1.22224607e+01] [-5.30828892e-02 2.75897783e-03 9.98586298e-01 -7.02942050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30071405700002 meters 0.030134245898694154 Centerline is valid? [True, True] Translation: X:105.14, Y:-12.23, Z:-7.03 [[ 9.94534913e-01 8.93718658e-02 5.39720004e-02 1.05143226e+02] [-8.90917345e-02 9.95994589e-01 -7.57901003e-03 -1.22263077e+01] [-5.44331706e-02 2.72913095e-03 9.98513686e-01 -7.03077635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36071405700001 meters 0.029424595789071507 Centerline is valid? [True, True] Translation: X:105.20, Y:-12.23, Z:-7.03 [[ 9.94732440e-01 8.64568858e-02 5.50688575e-02 1.05202390e+02] [-8.61610096e-02 9.96251245e-01 -7.72902842e-03 -1.22319086e+01] [-5.55306456e-02 2.94352694e-03 9.98452644e-01 -7.03289687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42071405700001 meters 0.03206279519531785 Centerline is valid? [True, True] Translation: X:105.26, Y:-12.24, Z:-7.04 [[ 9.95248333e-01 8.11880542e-02 5.37517945e-02 1.05261406e+02] [-8.08987820e-02 9.96693807e-01 -7.53933803e-03 -1.22436592e+01] [-5.41861849e-02 3.15505891e-03 9.98525865e-01 -7.03704859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48071405700001 meters 0.033847162342900285 Centerline is valid? [True, True] Translation: X:105.32, Y:-12.25, Z:-7.04 [[ 9.95786143e-01 7.57683710e-02 5.16634359e-02 1.05321119e+02] [-7.54938957e-02 9.97119933e-01 -7.24647306e-03 -1.22545354e+01] [-5.20636952e-02 3.31566342e-03 9.98638262e-01 -7.04131200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54071405700002 meters 0.03674530715026111 Centerline is valid? [True, True] Translation: X:105.38, Y:-12.27, Z:-7.05 [[ 9.96036993e-01 7.31016134e-02 5.06602651e-02 1.05379366e+02] [-7.28342693e-02 9.97318744e-01 -7.10581929e-03 -1.22655049e+01] [-5.10438788e-02 3.38785549e-03 9.98690665e-01 -7.04534998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60071405700002 meters 0.03641231070382565 Centerline is valid? [True, True] Translation: X:105.44, Y:-12.27, Z:-7.05 [[ 9.96200618e-01 7.17060462e-02 4.94223707e-02 1.05438782e+02] [-7.14499985e-02 9.97420105e-01 -6.93045553e-03 -1.22716564e+01] [-4.97918217e-02 3.37289577e-03 9.98753923e-01 -7.04838654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66071405700002 meters 0.037395965471407965 Centerline is valid? [True, True] Translation: X:105.50, Y:-12.28, Z:-7.05 [[ 9.96215114e-01 7.20748052e-02 4.85867248e-02 1.05497503e+02] [-7.18278456e-02 9.97393782e-01 -6.81209094e-03 -1.22782475e+01] [-4.89510773e-02 3.29642819e-03 9.98795738e-01 -7.05181688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72071405700001 meters 0.03941357495653097 Centerline is valid? [True, True] Translation: X:105.55, Y:-12.29, Z:-7.06 [[ 9.96121336e-01 7.32514565e-02 4.87494510e-02 1.05554666e+02] [-7.30044006e-02 9.97308220e-01 -6.83164069e-03 -1.22872861e+01] [-4.91186559e-02 3.24621860e-03 9.98787675e-01 -7.05554104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78071405700001 meters 0.03728350536356185 Centerline is valid? [True, True] Translation: X:105.62, Y:-12.29, Z:-7.06 [[ 9.95993139e-01 7.59453803e-02 4.72225235e-02 1.05615381e+02] [-7.57168327e-02 9.97107435e-01 -6.61246990e-03 -1.22875445e+01] [-4.75881158e-02 3.01043474e-03 9.98862507e-01 -7.05781697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84071405700001 meters 0.03376088828063846 Centerline is valid? [True, True] Translation: X:105.67, Y:-12.29, Z:-7.06 [[ 9.96035251e-01 7.63042109e-02 4.57323298e-02 1.05673722e+02] [-7.60902058e-02 9.97080368e-01 -6.40473525e-03 -1.22865569e+01] [-4.60875164e-02 2.89955970e-03 9.98933198e-01 -7.05865798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90071405700002 meters 0.040377803734693685 Centerline is valid? [True, True] Translation: X:105.73, Y:-12.30, Z:-7.06 [[ 9.96174582e-01 7.45326476e-02 4.56189275e-02 1.05730194e+02] [-7.43181183e-02 9.97214156e-01 -6.38311451e-03 -1.23023353e+01] [-4.59675907e-02 2.96838358e-03 9.98938521e-01 -7.06279734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96071405700002 meters 0.03450858640644702 Centerline is valid? [True, True] Translation: X:105.79, Y:-12.30, Z:-7.06 [[ 9.96404700e-01 7.24885028e-02 4.38530634e-02 1.05790404e+02] [-7.22884512e-02 9.97364913e-01 -6.13267879e-03 -1.23003661e+01] [-4.41820555e-02 2.94055993e-03 9.99019169e-01 -7.06412452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02071405700002 meters 0.03578718621557143 Centerline is valid? [True, True] Translation: X:105.85, Y:-12.31, Z:-7.07 [[ 9.96563503e-01 7.17927698e-02 4.13156505e-02 1.05849183e+02] [-7.16147248e-02 9.97415649e-01 -5.77532090e-03 -1.23095416e+01] [-4.16235026e-02 2.79666509e-03 9.99129452e-01 -7.06985541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08071405700001 meters 0.03551797105458979 Centerline is valid? [True, True] Translation: X:105.91, Y:-12.31, Z:-7.07 [[ 9.96561989e-01 7.17304579e-02 4.14601539e-02 1.05907661e+02] [-7.15511401e-02 9.97420099e-01 -5.79481685e-03 -1.23128377e+01] [-4.17688557e-02 2.80837292e-03 9.99123354e-01 -7.07150498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14071405700001 meters 0.03712529018169156 Centerline is valid? [True, True] Translation: X:105.96, Y:-12.32, Z:-7.07 [[ 9.96510349e-01 7.16891066e-02 4.27527316e-02 1.05964742e+02] [-7.14985142e-02 9.97422825e-01 -5.97252828e-03 -1.23216701e+01] [-4.30707155e-02 2.89492946e-03 9.99067832e-01 -7.07459635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20071405700001 meters 0.03979561919345872 Centerline is valid? [True, True] Translation: X:106.02, Y:-12.33, Z:-7.08 [[ 9.96621940e-01 6.99584747e-02 4.30176710e-02 1.06022356e+02] [-6.97641115e-02 9.97545443e-01 -6.00482388e-03 -1.23322739e+01] [-4.33321700e-02 2.98344962e-03 9.99056266e-01 -7.07920267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26071405700002 meters 0.04302290934202802 Centerline is valid? [True, True] Translation: X:106.08, Y:-12.34, Z:-7.08 [[ 9.96841475e-01 6.65657620e-02 4.33136618e-02 1.06080033e+02] [-6.63656601e-02 9.97777069e-01 -6.04309213e-03 -1.23443443e+01] [-4.36196416e-02 3.14946511e-03 9.99043246e-01 -7.08389180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32071405700002 meters 0.04253905001743255 Centerline is valid? [True, True] Translation: X:106.14, Y:-12.35, Z:-7.09 [[ 9.97087841e-01 6.33243085e-02 4.24955100e-02 1.06139815e+02] [-6.31288214e-02 9.97987782e-01 -5.92782585e-03 -1.23514063e+01] [-4.27853753e-02 3.22787162e-03 9.99079072e-01 -7.08892632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38071405700002 meters 0.04752820994548669 Centerline is valid? [True, True] Translation: X:106.20, Y:-12.36, Z:-7.09 [[ 9.97101139e-01 6.33138128e-02 4.21980989e-02 1.06196315e+02] [-6.31209782e-02 9.97988514e-01 -5.88791223e-03 -1.23639414e+01] [-4.24860042e-02 3.20725871e-03 9.99091914e-01 -7.09469588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44071405700001 meters 0.047490010752616656 Centerline is valid? [True, True] Translation: X:106.26, Y:-12.37, Z:-7.10 [[ 9.96913612e-01 6.57013974e-02 4.29718190e-02 1.06256090e+02] [-6.55038582e-02 9.97834334e-01 -5.99048970e-03 -1.23698617e+01] [-4.32723399e-02 3.15718078e-03 9.99058325e-01 -7.09847357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50071405700001 meters 0.04167410062841234 Centerline is valid? [True, True] Translation: X:106.32, Y:-12.37, Z:-7.10 [[ 9.96530831e-01 6.92410231e-02 4.61734150e-02 1.06317930e+02] [-6.90167506e-02 9.97594742e-01 -6.43575371e-03 -1.23681630e+01] [-4.65079742e-02 3.22668792e-03 9.98912707e-01 -7.09891826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56071405700001 meters 0.03413430385447126 Centerline is valid? [True, True] Translation: X:106.38, Y:-12.36, Z:-7.10 [[ 9.96138482e-01 7.27736017e-02 4.91134177e-02 1.06379646e+02] [-7.25241139e-02 9.97343168e-01 -6.84525319e-03 -1.23628525e+01] [-4.94810853e-02 3.25691303e-03 9.98769751e-01 -7.09891985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62071405700001 meters 0.03334186945534487 Centerline is valid? [True, True] Translation: X:106.44, Y:-12.37, Z:-7.10 [[ 9.95890325e-01 7.53385623e-02 5.02649207e-02 1.06439353e+02] [-7.50804646e-02 9.97152867e-01 -7.00598222e-03 -1.23684707e+01] [-5.06496304e-02 3.20327631e-03 9.98711347e-01 -7.10354910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68071405700002 meters 0.04055710306575898 Centerline is valid? [True, True] Translation: X:106.50, Y:-12.38, Z:-7.11 [[ 9.95625434e-01 7.88769556e-02 5.00841482e-02 1.06496578e+02] [-7.86252872e-02 9.96879815e-01 -6.97844162e-03 -1.23842699e+01] [-5.04783146e-02 3.01003343e-03 9.98720621e-01 -7.11168196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74071405700002 meters 0.0359397446142039 Centerline is valid? [True, True] Translation: X:106.56, Y:-12.38, Z:-7.12 [[ 9.95369400e-01 8.20257319e-02 5.01152330e-02 1.06557176e+02] [-8.17778181e-02 9.96626136e-01 -6.98092082e-03 -1.23834924e+01] [-5.05187661e-02 2.85028056e-03 9.98719045e-01 -7.11591432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80071405700002 meters 0.03198567330228933 Centerline is valid? [True, True] Translation: X:106.62, Y:-12.38, Z:-7.12 [[ 9.94913999e-01 8.62765130e-02 5.19855518e-02 1.06618332e+02] [-8.60156338e-02 9.96267488e-01 -7.23906204e-03 -1.23825288e+01] [-5.24160761e-02 2.73067398e-03 9.98621599e-01 -7.11885607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86071405700001 meters 0.02905634082776158 Centerline is valid? [True, True] Translation: X:106.68, Y:-12.38, Z:-7.12 [[ 9.94047177e-01 9.38455618e-02 5.53463676e-02 1.06678404e+02] [-9.35615209e-02 9.95583672e-01 -7.70679741e-03 -1.23819726e+01] [-5.58251886e-02 2.48262988e-03 9.98437472e-01 -7.12202382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92071405700001 meters 0.027407969430778382 Centerline is valid? [True, True] Translation: X:106.74, Y:-12.38, Z:-7.12 [[ 9.92986160e-01 1.01590905e-01 6.04795271e-02 1.06738294e+02] [-1.01266097e-01 9.94823747e-01 -8.41958115e-03 -1.23834531e+01] [-6.10218227e-02 2.23600190e-03 9.98133928e-01 -7.12399700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98071405700001 meters 0.025820524036255975 Centerline is valid? [True, True] Translation: X:106.80, Y:-12.39, Z:-7.13 [[ 9.92434847e-01 1.04491225e-01 6.44566440e-02 1.06797198e+02] [-1.04128473e-01 9.94523394e-01 -8.97102608e-03 -1.23884186e+01] [-6.50410339e-02 2.19138698e-03 9.97880184e-01 -7.12598388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04071405700002 meters 0.025438532132325012 Centerline is valid? [True, True] Translation: X:106.86, Y:-12.40, Z:-7.13 [[ 9.92608952e-01 1.03061132e-01 6.40770792e-02 1.06855098e+02] [-1.02699975e-01 9.94672441e-01 -8.91353849e-03 -1.23967025e+01] [-6.46543441e-02 2.26694367e-03 9.97905144e-01 -7.13005121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10071405700002 meters 0.02865630198223646 Centerline is valid? [True, True] Translation: X:106.91, Y:-12.42, Z:-7.14 [[ 9.93318470e-01 9.76083573e-02 6.15713092e-02 1.06911811e+02] [-9.72647579e-02 9.95221727e-01 -8.56044016e-03 -1.24153649e+01] [-6.21126751e-02 2.51452484e-03 9.98065976e-01 -7.13643697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16071405700002 meters 0.030752191774345974 Centerline is valid? [True, True] Translation: X:106.97, Y:-12.43, Z:-7.14 [[ 9.93959436e-01 9.27408772e-02 5.86836357e-02 1.06969767e+02] [-9.24204559e-02 9.95686661e-01 -8.15679013e-03 -1.24301897e+01] [-5.91869811e-02 2.68395015e-03 9.98243306e-01 -7.14289021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22071405700001 meters 0.029360020687887813 Centerline is valid? [True, True] Translation: X:107.03, Y:-12.44, Z:-7.14 [[ 9.94131758e-01 9.06026827e-02 5.91033063e-02 1.07028355e+02] [-9.02739337e-02 9.95883096e-01 -8.21435775e-03 -1.24386205e+01] [-5.96042265e-02 2.83066596e-03 9.98218074e-01 -7.14495255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28071405700001 meters 0.029799435547354418 Centerline is valid? [True, True] Translation: X:107.09, Y:-12.45, Z:-7.15 [[ 9.94276493e-01 8.87252326e-02 5.95154480e-02 1.07086561e+02] [-8.83887928e-02 9.96051743e-01 -8.26715881e-03 -1.24489531e+01] [-6.00139714e-02 2.95934307e-03 9.98193150e-01 -7.14728781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34071405700001 meters 0.032099442244520014 Centerline is valid? [True, True] Translation: X:107.14, Y:-12.46, Z:-7.15 [[ 9.94684162e-01 8.42633294e-02 5.91870723e-02 1.07144819e+02] [-8.39229256e-02 9.96438360e-01 -8.21816044e-03 -1.24639321e+01] [-5.96687588e-02 3.20732176e-03 9.98213080e-01 -7.15049560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40071405700002 meters 0.03241091418732752 Centerline is valid? [True, True] Translation: X:107.20, Y:-12.48, Z:-7.15 [[ 9.95308853e-01 7.66253998e-02 5.90663634e-02 1.07203575e+02] [-7.62730761e-02 9.97053248e-01 -8.19985992e-03 -1.24764628e+01] [-5.95206270e-02 3.65621994e-03 9.98220380e-01 -7.15366815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46071405700002 meters 0.03518455079125733 Centerline is valid? [True, True] Translation: X:107.26, Y:-12.49, Z:-7.16 [[ 9.95725721e-01 7.18706953e-02 5.80076791e-02 1.07262532e+02] [-7.15229367e-02 9.97406456e-01 -8.05182520e-03 -1.24911967e+01] [-5.84359239e-02 3.86852989e-03 9.98283666e-01 -7.15794274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52071405700002 meters 0.03883929090726926 Centerline is valid? [True, True] Translation: X:107.32, Y:-12.51, Z:-7.16 [[ 9.95981846e-01 6.86438454e-02 5.75168290e-02 1.07319721e+02] [-6.82965912e-02 9.97633115e-01 -7.98389624e-03 -1.25080823e+01] [-5.79287386e-02 4.02361235e-03 9.98312612e-01 -7.16266935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58071405700001 meters 0.03883162696477844 Centerline is valid? [True, True] Translation: X:107.38, Y:-12.52, Z:-7.17 [[ 9.96214002e-01 6.63709153e-02 5.61476919e-02 1.07379304e+02] [-6.60365584e-02 9.97786783e-01 -7.79155599e-03 -1.25176145e+01] [-5.65405576e-02 4.05425684e-03 9.98392071e-01 -7.16753056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64071405700001 meters 0.04007283069316344 Centerline is valid? [True, True] Translation: X:107.44, Y:-12.53, Z:-7.17 [[ 9.96255981e-01 6.65834583e-02 5.51422107e-02 1.07437522e+02] [-6.62612906e-02 9.97772962e-01 -7.65234762e-03 -1.25272786e+01] [-5.55289267e-02 3.96990303e-03 9.98449187e-01 -7.17274605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70071405700001 meters 0.0382785483464173 Centerline is valid? [True, True] Translation: X:107.50, Y:-12.53, Z:-7.18 [[ 9.95975698e-01 6.99197791e-02 5.60681072e-02 1.07498024e+02] [-6.95920722e-02 9.97545206e-01 -7.77853481e-03 -1.25316072e+01] [-5.64743450e-02 3.84533588e-03 9.98396646e-01 -7.17654042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76071405700002 meters 0.03714071744250183 Centerline is valid? [True, True] Translation: X:107.56, Y:-12.54, Z:-7.18 [[ 9.95496712e-01 7.59084005e-02 5.67821449e-02 1.07557112e+02] [-7.55819749e-02 9.97108474e-01 -7.87751080e-03 -1.25362112e+01] [-5.72159272e-02 3.55032944e-03 9.98355514e-01 -7.18037671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82071405700002 meters 0.03180537286290068 Centerline is valid? [True, True] Translation: X:107.62, Y:-12.53, Z:-7.18 [[ 9.94776477e-01 8.44598502e-02 5.73262057e-02 1.07618774e+02] [-8.41413799e-02 9.96422105e-01 -7.95092154e-03 -1.25321025e+01] [-5.77926322e-02 3.08588367e-03 9.98323840e-01 -7.18312046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88071405700002 meters 0.030216129822236593 Centerline is valid? [True, True] Translation: X:107.68, Y:-12.54, Z:-7.19 [[ 9.94216504e-01 9.04616998e-02 5.78811194e-02 1.07679195e+02] [-9.01471596e-02 9.95896101e-01 -8.02783743e-03 -1.25355520e+01] [-5.83697930e-02 2.76358995e-03 9.98291205e-01 -7.18727221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94071405700001 meters 0.02945939376719509 Centerline is valid? [True, True] Translation: X:107.74, Y:-12.54, Z:-7.19 [[ 9.93650752e-01 9.71028169e-02 5.68262735e-02 1.07738213e+02] [-9.68104724e-02 9.95271628e-01 -7.88156487e-03 -1.25408784e+01] [-5.73228999e-02 2.33014448e-03 9.98352971e-01 -7.19320215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00071405700001 meters 0.027527335743276083 Centerline is valid? [True, True] Translation: X:107.80, Y:-12.54, Z:-7.20 [[ 9.93282932e-01 1.01261351e-01 5.59924591e-02 1.07798380e+02] [-1.00984177e-01 9.94857729e-01 -7.76494214e-03 -1.25443600e+01] [-5.64908193e-02 2.05843209e-03 9.98400997e-01 -7.19718362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06071405700001 meters 0.027110706789304478 Centerline is valid? [True, True] Translation: X:107.86, Y:-12.55, Z:-7.20 [[ 9.93062440e-01 1.03465716e-01 5.58733907e-02 1.07856911e+02] [-1.03193344e-01 9.94631155e-01 -7.74591097e-03 -1.25521156e+01] [-5.63748513e-02 1.92641121e-03 9.98407815e-01 -7.20112870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12071405700001 meters 0.027318538367412416 Centerline is valid? [True, True] Translation: X:107.91, Y:-12.56, Z:-7.20 [[ 9.92966607e-01 1.03843331e-01 5.68672128e-02 1.07913647e+02] [-1.03561956e-01 9.94591783e-01 -7.88081198e-03 -1.25626146e+01] [-5.73780323e-02 1.93610335e-03 9.98350646e-01 -7.20428601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18071405700002 meters 0.028372268205964536 Centerline is valid? [True, True] Translation: X:107.97, Y:-12.57, Z:-7.21 [[ 9.93265620e-01 1.02048453e-01 5.48590994e-02 1.07969726e+02] [-1.01784145e-01 9.94777493e-01 -7.59786822e-03 -1.25748106e+01] [-5.53479481e-02 1.96291473e-03 9.98465198e-01 -7.20992848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24071405700002 meters 0.0276412059155365 Centerline is valid? [True, True] Translation: X:108.03, Y:-12.58, Z:-7.22 [[ 9.93636325e-01 9.96434584e-02 5.25169988e-02 1.08027970e+02] [-9.93981540e-02 9.95021191e-01 -7.26881380e-03 -1.25843972e+01] [-5.29798164e-02 2.00246469e-03 9.98593576e-01 -7.21595552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30071405700002 meters 0.02823956800036728 Centerline is valid? [True, True] Translation: X:108.09, Y:-12.60, Z:-7.22 [[ 9.93972233e-01 9.64238150e-02 5.21694233e-02 1.08086024e+02] [-9.61774712e-02 9.95338031e-01 -7.21791409e-03 -1.25959977e+01] [-5.26221899e-02 2.15688297e-03 9.98612163e-01 -7.21927306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36071405700001 meters 0.02977068694909545 Centerline is valid? [True, True] Translation: X:108.14, Y:-12.61, Z:-7.22 [[ 9.94266140e-01 9.27156083e-02 5.32790640e-02 1.08144617e+02] [-9.24535206e-02 9.95689738e-01 -7.36827404e-03 -1.26090213e+01] [-5.37325713e-02 2.40018835e-03 9.98552477e-01 -7.22255724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42071405700001 meters 0.032379325257794585 Centerline is valid? [True, True] Translation: X:108.20, Y:-12.62, Z:-7.23 [[ 9.94713699e-01 8.69904071e-02 5.45648798e-02 1.08203053e+02] [-8.67070373e-02 9.96205291e-01 -7.54379029e-03 -1.26248500e+01] [-5.50140593e-02 2.77275247e-03 9.98481730e-01 -7.22732910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48071405700001 meters 0.03469500693121046 Centerline is valid? [True, True] Translation: X:108.26, Y:-12.64, Z:-7.23 [[ 9.95120045e-01 8.24609743e-02 5.41874892e-02 1.08261443e+02] [-8.21748311e-02 9.96589773e-01 -7.49143528e-03 -1.26387863e+01] [-5.46204486e-02 3.00202965e-03 9.98502676e-01 -7.23227314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54071405700002 meters 0.036743854826263744 Centerline is valid? [True, True] Translation: X:108.32, Y:-12.65, Z:-7.24 [[ 9.95748494e-01 7.56630393e-02 5.25360894e-02 1.08319977e+02] [-7.53846853e-02 9.97128077e-01 -7.26270250e-03 -1.26529566e+01] [-5.29347279e-02 3.27140852e-03 9.98592616e-01 -7.23720152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60071405700002 meters 0.042372145866065414 Centerline is valid? [True, True] Translation: X:108.38, Y:-12.67, Z:-7.24 [[ 9.96188041e-01 7.05201374e-02 5.13448777e-02 1.08377666e+02] [-7.02475079e-02 9.97504343e-01 -7.09741847e-03 -1.26708095e+01] [-5.17172494e-02 3.46351371e-03 9.98655762e-01 -7.24322352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66071405700002 meters 0.03840304847431387 Centerline is valid? [True, True] Translation: X:108.44, Y:-12.67, Z:-7.25 [[ 9.96330174e-01 6.93884245e-02 5.01141791e-02 1.08436957e+02] [-6.91273115e-02 9.97583797e-01 -6.92701488e-03 -1.26725842e+01] [-5.04737477e-02 3.43733547e-03 9.98719473e-01 -7.24686023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72071405700001 meters 0.03588395204649083 Centerline is valid? [True, True] Translation: X:108.50, Y:-12.67, Z:-7.25 [[ 9.96034824e-01 7.30263297e-02 5.08112564e-02 1.08497435e+02] [-7.27627790e-02 9.97324570e-01 -7.01992288e-03 -1.26745152e+01] [-5.11879536e-02 3.29491944e-03 9.98683602e-01 -7.24880182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78071405700001 meters 0.03177018195431485 Centerline is valid? [True, True] Translation: X:108.56, Y:-12.67, Z:-7.25 [[ 9.95454878e-01 7.93224045e-02 5.27023887e-02 1.08558228e+02] [-7.90476235e-02 9.96844249e-01 -7.28126995e-03 -1.26723790e+01] [-5.31136409e-02 3.08217711e-03 9.98583718e-01 -7.24939694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84071405700001 meters 0.030809746163681262 Centerline is valid? [True, True] Translation: X:108.62, Y:-12.68, Z:-7.25 [[ 9.95079702e-01 8.36840103e-02 5.30412413e-02 1.08618461e+02] [-8.34119555e-02 9.96488221e-01 -7.32612386e-03 -1.26756554e+01] [-5.34680516e-02 2.86580349e-03 9.98565448e-01 -7.25255241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90071405700002 meters 0.03129860834252307 Centerline is valid? [True, True] Translation: X:108.68, Y:-12.68, Z:-7.26 [[ 9.94686173e-01 8.73075602e-02 5.45601275e-02 1.08677283e+02] [-8.70251119e-02 9.96177614e-01 -7.53593362e-03 -1.26818026e+01] [-5.50095217e-02 2.74778776e-03 9.98482049e-01 -7.25687396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96071405700002 meters 0.03181693194816868 Centerline is valid? [True, True] Translation: X:108.74, Y:-12.69, Z:-7.26 [[ 9.94710143e-01 8.70502506e-02 5.45342671e-02 1.08735049e+02] [-8.67677757e-02 9.96200101e-01 -7.53071201e-03 -1.26906244e+01] [-5.49825928e-02 2.75905856e-03 9.98483501e-01 -7.26070024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02071405700002 meters 0.03327456379349396 Centerline is valid? [True, True] Translation: X:108.79, Y:-12.70, Z:-7.27 [[ 9.94944269e-01 8.50145583e-02 5.34642485e-02 1.08793339e+02] [-8.47403641e-02 9.96375744e-01 -7.37883995e-03 -1.27011966e+01] [-5.38977892e-02 2.81095463e-03 9.98542501e-01 -7.26627689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08071405700001 meters 0.03577171693531874 Centerline is valid? [True, True] Translation: X:108.85, Y:-12.71, Z:-7.27 [[ 9.95346250e-01 8.12291527e-02 5.18427204e-02 1.08851352e+02] [-8.09663373e-02 9.96691168e-01 -7.15315167e-03 -1.27140050e+01] [-5.22522260e-02 2.92234750e-03 9.98629643e-01 -7.27249277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14071405700001 meters 0.03741778808311314 Centerline is valid? [True, True] Translation: X:108.91, Y:-12.72, Z:-7.28 [[ 9.95360706e-01 8.03325693e-02 5.29503934e-02 1.08907656e+02] [-8.00571584e-02 9.96763504e-01 -7.30539538e-03 -1.27239780e+01] [-5.33658808e-02 3.03244547e-03 9.98570422e-01 -7.27615858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20071405700001 meters 0.03794996113719163 Centerline is valid? [True, True] Translation: X:108.97, Y:-12.73, Z:-7.28 [[ 9.95133882e-01 8.18289977e-02 5.48869105e-02 1.08966297e+02] [-8.15356106e-02 9.96641701e-01 -7.56724726e-03 -1.27310803e+01] [-5.53218042e-02 3.05518638e-03 9.98463902e-01 -7.27801827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26071405700002 meters 0.03580912137167465 Centerline is valid? [True, True] Translation: X:109.03, Y:-12.74, Z:-7.28 [[ 9.94911960e-01 8.39398361e-02 5.57162158e-02 1.09026026e+02] [-8.36410221e-02 9.96466373e-01 -7.67767102e-03 -1.27356835e+01] [-5.61637979e-02 2.97844548e-03 9.98417126e-01 -7.28158449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32071405700002 meters 0.03240761079624484 Centerline is valid? [True, True] Translation: X:109.09, Y:-12.74, Z:-7.29 [[ 9.94836738e-01 8.47456899e-02 5.58393512e-02 1.09085361e+02] [-8.44469579e-02 9.96398285e-01 -7.69213688e-03 -1.27374689e+01] [-5.62901092e-02 2.93695702e-03 9.98410135e-01 -7.28512863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38071405700002 meters 0.037697002362500925 Centerline is valid? [True, True] Translation: X:109.14, Y:-12.75, Z:-7.29 [[ 9.94746732e-01 8.65263848e-02 5.47003044e-02 1.09141627e+02] [-8.62426124e-02 9.96245696e-01 -7.53161365e-03 -1.27519103e+01] [-5.51466261e-02 2.77455092e-03 9.98474412e-01 -7.29190819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44071405700001 meters 0.0305112543985386 Centerline is valid? [True, True] Translation: X:109.20, Y:-12.75, Z:-7.29 [[ 9.94573373e-01 8.91652134e-02 5.36038328e-02 1.09202511e+02] [-8.88968262e-02 9.96013534e-01 -7.37527401e-03 -1.27475257e+01] [-5.40477608e-02 2.57004053e-03 9.98535044e-01 -7.29426194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50071405700001 meters 0.028744338494613234 Centerline is valid? [True, True] Translation: X:109.26, Y:-12.75, Z:-7.30 [[ 9.93924718e-01 9.59078901e-02 5.39938068e-02 1.09261748e+02] [-9.56456097e-02 9.95387743e-01 -7.42682613e-03 -1.27517824e+01] [-5.44570647e-02 2.21743550e-03 9.98513651e-01 -7.29759203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56071405700001 meters 0.026297650186467948 Centerline is valid? [True, True] Translation: X:109.32, Y:-12.75, Z:-7.30 [[ 9.93443966e-01 1.00195487e-01 5.50449937e-02 1.09322255e+02] [-9.99294992e-02 9.94965720e-01 -7.57047089e-03 -1.27540864e+01] [-5.55264088e-02 2.02021997e-03 9.98455175e-01 -7.30001927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62071405700001 meters 0.02557299534859492 Centerline is valid? [True, True] Translation: X:109.38, Y:-12.76, Z:-7.30 [[ 9.92933546e-01 1.04578625e-01 5.60917460e-02 1.09380784e+02] [-1.04309535e-01 9.94514981e-01 -7.71188632e-03 -1.27605638e+01] [-5.65905801e-02 1.80648669e-03 9.98395835e-01 -7.30393932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68071405700002 meters 0.025620947018606777 Centerline is valid? [True, True] Translation: X:109.44, Y:-12.77, Z:-7.31 [[ 9.92760750e-01 1.05853672e-01 5.67546725e-02 1.09437404e+02] [-1.05580351e-01 9.94380173e-01 -7.80136167e-03 -1.27698077e+01] [-5.72615238e-02 1.75270741e-03 9.98357674e-01 -7.30768430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74071405700002 meters 0.02690327051948893 Centerline is valid? [True, True] Translation: X:109.49, Y:-12.78, Z:-7.31 [[ 9.92958163e-01 1.04072089e-01 5.65958214e-02 1.09493814e+02] [-1.03797691e-01 9.94568044e-01 -7.77459555e-03 -1.27811540e+01] [-5.70975138e-02 1.84533252e-03 9.98366901e-01 -7.31164150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80071405700002 meters 0.029641401936426476 Centerline is valid? [True, True] Translation: X:109.55, Y:-12.80, Z:-7.32 [[ 9.93511525e-01 9.80661864e-02 5.76009733e-02 1.09552457e+02] [-9.77721885e-02 9.95177410e-01 -7.90711048e-03 -1.27977821e+01] [-5.80986076e-02 2.22403217e-03 9.98308372e-01 -7.31560148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86071405700001 meters 0.028316560609320085 Centerline is valid? [True, True] Translation: X:109.61, Y:-12.81, Z:-7.32 [[ 9.93994218e-01 9.27045699e-02 5.81494426e-02 1.09611825e+02] [-9.23957752e-02 9.95690363e-01 -7.98254456e-03 -1.28071363e+01] [-5.86388580e-02 2.56184031e-03 9.98275975e-01 -7.31963545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92071405700001 meters 0.030222000853993507 Centerline is valid? [True, True] Translation: X:109.67, Y:-12.82, Z:-7.33 [[ 9.94903044e-01 8.35184521e-02 5.65031168e-02 1.09670207e+02] [-8.32122154e-02 9.96501673e-01 -7.75516396e-03 -1.28227843e+01] [-5.69531497e-02 3.01388670e-03 9.98372303e-01 -7.32521291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98071405700001 meters 0.03716138511741902 Centerline is valid? [True, True] Translation: X:109.73, Y:-12.84, Z:-7.33 [[ 9.95235571e-01 7.95284401e-02 5.64037657e-02 1.09726684e+02] [-7.92169406e-02 9.96827346e-01 -7.74073642e-03 -1.28426518e+01] [-5.68404248e-02 3.23572247e-03 9.98378033e-01 -7.32985182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04071405700002 meters 0.03395270481359861 Centerline is valid? [True, True] Translation: X:109.79, Y:-12.85, Z:-7.33 [[ 9.95509356e-01 7.46671985e-02 5.81887569e-02 1.09786972e+02] [-7.43275129e-02 9.97201929e-01 -7.98332665e-03 -1.28474046e+01] [-5.86220332e-02 3.62245080e-03 9.98273677e-01 -7.33044253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10071405700002 meters 0.03534316079318944 Centerline is valid? [True, True] Translation: X:109.85, Y:-12.86, Z:-7.33 [[ 9.95592191e-01 7.20290048e-02 6.00667325e-02 1.09845366e+02] [-7.16622242e-02 9.97394912e-01 -8.24103779e-03 -1.28571862e+01] [-6.05038471e-02 3.90019722e-03 9.98160344e-01 -7.33263617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16071405700002 meters 0.03735517200463435 Centerline is valid? [True, True] Translation: X:109.90, Y:-12.87, Z:-7.34 [[ 9.95683097e-01 7.02647650e-02 6.06467950e-02 1.09904340e+02] [-6.98878303e-02 9.97520186e-01 -8.31684627e-03 -1.28686822e+01] [-6.10807835e-02 4.04247033e-03 9.98124640e-01 -7.33723130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22071405700001 meters 0.04058535164025064 Centerline is valid? [True, True] Translation: X:109.96, Y:-12.88, Z:-7.34 [[ 9.95952500e-01 6.82875015e-02 5.84417257e-02 1.09962626e+02] [-6.79341367e-02 9.97657618e-01 -8.01435672e-03 -1.28803192e+01] [-5.88521133e-02 4.01173043e-03 9.98258651e-01 -7.34377047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28071405700001 meters 0.04189584300336339 Centerline is valid? [True, True] Translation: X:110.02, Y:-12.89, Z:-7.35 [[ 9.95949126e-01 6.85965128e-02 5.81365292e-02 1.10021731e+02] [-6.82474121e-02 9.97636579e-01 -7.97157923e-03 -1.28885592e+01] [-5.85459507e-02 3.97161970e-03 9.98276814e-01 -7.34737572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34071405700001 meters 0.03688609336128997 Centerline is valid? [True, True] Translation: X:110.08, Y:-12.89, Z:-7.35 [[ 9.95595945e-01 7.27039649e-02 5.91848664e-02 1.10083505e+02] [-7.23494920e-02 9.97346343e-01 -8.11309850e-03 -1.28858394e+01] [-5.96176645e-02 3.79537295e-03 9.98214070e-01 -7.34907664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40071405700002 meters 0.03077037029177274 Centerline is valid? [True, True] Translation: X:110.14, Y:-12.88, Z:-7.35 [[ 9.94960564e-01 7.98997396e-02 6.05764695e-02 1.10144411e+02] [-7.95416506e-02 9.96796957e-01 -8.30374883e-03 -1.28799145e+01] [-6.10459078e-02 3.44355024e-03 9.98129019e-01 -7.35106426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46071405700002 meters 0.029338636051289377 Centerline is valid? [True, True] Translation: X:110.20, Y:-12.88, Z:-7.35 [[ 9.94215416e-01 8.73779092e-02 6.24564473e-02 1.10203263e+02] [-8.70120331e-02 9.96170489e-01 -8.55940172e-03 -1.28820636e+01] [-6.29651722e-02 3.07542668e-03 9.98010986e-01 -7.35415627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52071405700002 meters 0.027427433384595235 Centerline is valid? [True, True] Translation: X:110.26, Y:-12.88, Z:-7.36 [[ 9.93638686e-01 9.26640649e-02 6.39963521e-02 1.10263427e+02] [-9.22910247e-02 9.95693478e-01 -8.76725989e-03 -1.28846494e+01] [-6.45331603e-02 2.80519969e-03 9.97911620e-01 -7.35737305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58071405700001 meters 0.026969225877892432 Centerline is valid? [True, True] Translation: X:110.32, Y:-12.89, Z:-7.36 [[ 9.93439071e-01 9.48104254e-02 6.39515115e-02 1.10321693e+02] [-9.44423597e-02 9.95491782e-01 -8.76084598e-03 -1.28910686e+01] [-6.44938237e-02 2.66363504e-03 9.97914551e-01 -7.36202893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64071405700001 meters 0.026847771126488465 Centerline is valid? [True, True] Translation: X:110.38, Y:-12.90, Z:-7.37 [[ 9.93366202e-01 9.67747608e-02 6.21146885e-02 1.10379714e+02] [-9.64316668e-02 9.95303271e-01 -8.50487041e-03 -1.28981216e+01] [-6.26460095e-02 2.45862787e-03 9.98032781e-01 -7.36760331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70071405700001 meters 0.02525639344333959 Centerline is valid? [True, True] Translation: X:110.44, Y:-12.90, Z:-7.37 [[ 9.93403710e-01 9.80491584e-02 5.94594989e-02 1.10438418e+02] [-9.77373251e-02 9.95178979e-01 -8.13730319e-03 -1.29025931e+01] [-5.99706991e-02 2.27221480e-03 9.98197552e-01 -7.37395059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76071405700002 meters 0.02712342812942636 Centerline is valid? [True, True] Translation: X:110.49, Y:-12.91, Z:-7.38 [[ 9.93294777e-01 9.98872476e-02 5.82067260e-02 1.10494727e+02] [-9.95918195e-02 9.94996522e-01 -7.96179203e-03 -1.29136544e+01] [-5.87107714e-02 2.11149270e-03 9.98272802e-01 -7.37965531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82071405700002 meters 0.02426217707249208 Centerline is valid? [True, True] Translation: X:110.55, Y:-12.92, Z:-7.38 [[ 9.93066104e-01 1.01754134e-01 5.88711251e-02 1.10553398e+02] [-1.01455512e-01 9.94807530e-01 -8.04721720e-03 -1.29158475e+01] [-5.93842762e-02 2.01861852e-03 9.98233156e-01 -7.38242297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88071405700002 meters 0.023550203106137986 Centerline is valid? [True, True] Translation: X:110.61, Y:-12.92, Z:-7.39 [[ 9.92918461e-01 1.03730730e-01 5.79039410e-02 1.10612085e+02] [-1.03445387e-01 9.94603667e-01 -7.91190116e-03 -1.29220082e+01] [-5.84121793e-02 1.86597714e-03 9.98290807e-01 -7.38749589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94071405700002 meters 0.023696994829724354 Centerline is valid? [True, True] Translation: X:110.67, Y:-12.93, Z:-7.39 [[ 9.92694913e-01 1.06224238e-01 5.72120778e-02 1.10669006e+02] [-1.05950649e-01 9.94340774e-01 -7.80291295e-03 -1.29310292e+01] [-5.77171602e-02 1.68425519e-03 9.98331555e-01 -7.39207628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00071405700001 meters 0.02328335565922673 Centerline is valid? [True, True] Translation: X:110.73, Y:-12.94, Z:-7.40 [[ 9.92647113e-01 1.07185241e-01 5.62408585e-02 1.10727643e+02] [-1.06922834e-01 9.94237791e-01 -7.66301790e-03 -1.29383828e+01] [-5.67381493e-02 1.59324063e-03 9.98387822e-01 -7.39644119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06071405700001 meters 0.024111197379698322 Centerline is valid? [True, True] Translation: X:110.78, Y:-12.95, Z:-7.40 [[ 9.92764506e-01 1.06633078e-01 5.52088999e-02 1.10784097e+02] [-1.06379814e-01 9.94297173e-01 -7.51444913e-03 -1.29501343e+01] [-5.56953419e-02 1.58696590e-03 9.98446549e-01 -7.40105363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12071405700001 meters 0.024871421895837974 Centerline is valid? [True, True] Translation: X:110.84, Y:-12.96, Z:-7.41 [[ 9.93340128e-01 1.02025016e-01 5.35377108e-02 1.10841449e+02] [-1.01780440e-01 9.94780233e-01 -7.28222432e-03 -1.29645535e+01] [-5.40012254e-02 1.78463388e-03 9.98539275e-01 -7.40621477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18071405700002 meters 0.026385726820048198 Centerline is valid? [True, True] Translation: X:110.90, Y:-12.98, Z:-7.41 [[ 9.94076957e-01 9.47761836e-02 5.31834356e-02 1.10899822e+02] [-9.45247438e-02 9.95496265e-01 -7.22907491e-03 -1.29817536e+01] [-5.36290556e-02 2.15910617e-03 9.98558593e-01 -7.41032523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24071405700002 meters 0.029671732264653118 Centerline is valid? [True, True] Translation: X:110.96, Y:-13.00, Z:-7.42 [[ 9.94817062e-01 8.70767954e-02 5.25037661e-02 1.10956373e+02] [-8.68210374e-02 9.96198360e-01 -7.13684876e-03 -1.30017334e+01] [-5.29256196e-02 2.54142747e-03 9.98595223e-01 -7.41532350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30071405700002 meters 0.032464474138636394 Centerline is valid? [True, True] Translation: X:111.01, Y:-13.02, Z:-7.42 [[ 9.95329999e-01 8.21984309e-02 5.06123548e-02 1.11013641e+02] [-8.19545956e-02 9.96612332e-01 -6.87781306e-03 -1.30194149e+01] [-5.10062423e-02 2.69777860e-03 9.98694691e-01 -7.42129550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36071405700001 meters 0.02954736820735619 Centerline is valid? [True, True] Translation: X:111.07, Y:-13.02, Z:-7.42 [[ 9.95458363e-01 8.10426873e-02 4.99472726e-02 1.11072466e+02] [-8.08037869e-02 9.96706919e-01 -6.78719096e-03 -1.30237057e+01] [-5.03328443e-02 2.72043723e-03 9.98728794e-01 -7.42386957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42071405700001 meters 0.03639698599659344 Centerline is valid? [True, True] Translation: X:111.13, Y:-13.04, Z:-7.43 [[ 9.95861112e-01 7.67354822e-02 4.87063769e-02 1.11129372e+02] [-7.65033918e-02 9.97047382e-01 -6.61430366e-03 -1.30441016e+01] [-4.90701173e-02 2.86072477e-03 9.98791239e-01 -7.43030656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48071405700001 meters 0.03374930391083367 Centerline is valid? [True, True] Translation: X:111.19, Y:-13.05, Z:-7.43 [[ 9.96276910e-01 7.15645968e-02 4.80710617e-02 1.11189396e+02] [-7.13326096e-02 9.97431233e-01 -6.52642411e-03 -1.30500874e+01] [-4.84146392e-02 3.07309137e-03 9.98822596e-01 -7.43318541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54071405700002 meters 0.04248525180506319 Centerline is valid? [True, True] Translation: X:111.25, Y:-13.07, Z:-7.44 [[ 9.96553007e-01 6.80688846e-02 4.74207957e-02 1.11246039e+02] [-6.78391685e-02 9.97675493e-01 -6.43875012e-03 -1.30710868e+01] [-4.77488443e-02 3.19956844e-03 9.98854249e-01 -7.44028628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60071405700002 meters 0.03950699731777145 Centerline is valid? [True, True] Translation: X:111.31, Y:-13.07, Z:-7.44 [[ 9.96809886e-01 6.41676234e-02 4.74612220e-02 1.11307047e+02] [-6.39332235e-02 9.97933386e-01 -6.44198374e-03 -1.30748849e+01] [-4.77765047e-02 3.38708416e-03 9.98852308e-01 -7.44134757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66071405700002 meters 0.04142750720957734 Centerline is valid? [True, True] Translation: X:111.37, Y:-13.08, Z:-7.44 [[ 9.96922618e-01 6.23356217e-02 4.75348666e-02 1.11365307e+02] [-6.20983885e-02 9.98049174e-01 -6.45268869e-03 -1.30837231e+01] [-4.78443667e-02 3.48099269e-03 9.98848737e-01 -7.44400942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72071405700001 meters 0.04349820460663541 Centerline is valid? [True, True] Translation: X:111.42, Y:-13.09, Z:-7.45 [[ 9.97009371e-01 6.19519841e-02 4.61981061e-02 1.11423206e+02] [-6.17276221e-02 9.98073345e-01 -6.26879248e-03 -1.30922966e+01] [-4.64974625e-02 3.39834561e-03 9.98912627e-01 -7.44860830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78071405700001 meters 0.03840315945159445 Centerline is valid? [True, True] Translation: X:111.48, Y:-13.09, Z:-7.45 [[ 9.97075169e-01 6.12928463e-02 4.56540648e-02 1.11483172e+02] [-6.10731604e-02 9.98114082e-01 -6.19268621e-03 -1.30897984e+01] [-4.59475323e-02 3.38633563e-03 9.98938115e-01 -7.45068043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84071405700001 meters 0.046484410679512096 Centerline is valid? [True, True] Translation: X:111.54, Y:-13.11, Z:-7.46 [[ 9.97136796e-01 6.08399976e-02 4.49077442e-02 1.11539795e+02] [-6.06270955e-02 9.98141913e-01 -6.08901275e-03 -1.31067985e+01] [-4.51947572e-02 3.34895257e-03 9.98972581e-01 -7.45734184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90071405700002 meters 0.040544818866027024 Centerline is valid? [True, True] Translation: X:111.60, Y:-13.10, Z:-7.46 [[ 9.97146075e-01 6.09466511e-02 4.45557076e-02 1.11600189e+02] [-6.07372746e-02 9.98135517e-01 -6.03922975e-03 -1.31018364e+01] [-4.48407051e-02 3.31580199e-03 9.98988647e-01 -7.45775089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96071405700002 meters 0.039241886456330026 Centerline is valid? [True, True] Translation: X:111.66, Y:-13.10, Z:-7.46 [[ 9.96900794e-01 6.29125520e-02 4.72315397e-02 1.11661188e+02] [-6.26796581e-02 9.98013194e-01 -6.39733495e-03 -1.31025093e+01] [-4.75401724e-02 3.41705153e-03 9.98863482e-01 -7.45786831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02071405700002 meters 0.040496068060748174 Centerline is valid? [True, True] Translation: X:111.72, Y:-13.11, Z:-7.46 [[ 9.96519293e-01 6.57944047e-02 5.11898007e-02 1.11720648e+02] [-6.55246243e-02 9.97826871e-01 -6.93248740e-03 -1.31087756e+01] [-5.15346775e-02 3.55416498e-03 9.98664881e-01 -7.45997756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08071405700001 meters 0.036109721463051955 Centerline is valid? [True, True] Translation: X:111.78, Y:-13.11, Z:-7.46 [[ 9.96314502e-01 6.83465294e-02 5.18282228e-02 1.11781478e+02] [-6.80734656e-02 9.97655629e-01 -7.01777304e-03 -1.31062956e+01] [-5.21863587e-02 3.46378231e-03 9.98631357e-01 -7.46340438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14071405700001 meters 0.034489338992235975 Centerline is valid? [True, True] Translation: X:111.84, Y:-13.11, Z:-7.47 [[ 9.96211098e-01 7.02119495e-02 5.13198833e-02 1.11840825e+02] [-6.99467081e-02 9.97526529e-01 -6.94848524e-03 -1.31080714e+01] [-5.16808118e-02 3.33250122e-03 9.98658094e-01 -7.46825806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20071405700001 meters 0.035629321000959654 Centerline is valid? [True, True] Translation: X:111.90, Y:-13.11, Z:-7.47 [[ 9.96150913e-01 7.14424083e-02 5.07872180e-02 1.11898632e+02] [-7.11843708e-02 9.97439490e-01 -6.87384225e-03 -1.31142400e+01] [-5.11482606e-02 3.23212807e-03 9.98685841e-01 -7.47356309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26071405700002 meters 0.03442025482538371 Centerline is valid? [True, True] Translation: X:111.96, Y:-13.12, Z:-7.48 [[ 9.95997545e-01 7.32811803e-02 5.11738028e-02 1.11958327e+02] [-7.30218422e-02 9.97306322e-01 -6.92168287e-03 -1.31189130e+01] [-5.15431862e-02 3.15717380e-03 9.98665776e-01 -7.47770523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32071405700002 meters 0.032489381243854476 Centerline is valid? [True, True] Translation: X:112.02, Y:-13.12, Z:-7.48 [[ 9.95246066e-01 8.11039874e-02 5.39204111e-02 1.12019555e+02] [-8.08275196e-02 9.96701429e-01 -7.29202903e-03 -1.31190820e+01] [-5.43339634e-02 2.89911012e-03 9.98518611e-01 -7.48095252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38071405700002 meters 0.03087793161568191 Centerline is valid? [True, True] Translation: X:112.08, Y:-13.12, Z:-7.48 [[ 9.94669797e-01 8.72867236e-02 5.48910082e-02 1.12080118e+02] [-8.70096043e-02 9.96179818e-01 -7.42283713e-03 -1.31218483e+01] [-5.53292297e-02 2.60722700e-03 9.98464761e-01 -7.48423698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44071405700002 meters 0.02820940729976566 Centerline is valid? [True, True] Translation: X:112.14, Y:-13.12, Z:-7.49 [[ 9.93693553e-01 9.69766978e-02 5.62907050e-02 1.12141391e+02] [-9.67007513e-02 9.95284393e-01 -7.61192579e-03 -1.31203572e+01] [-5.67634396e-02 2.12056811e-03 9.98385404e-01 -7.48686937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50071405700001 meters 0.024956243145687042 Centerline is valid? [True, True] Translation: X:112.20, Y:-13.12, Z:-7.49 [[ 9.92726917e-01 1.05800674e-01 5.74411498e-02 1.12201978e+02] [-1.05528058e-01 9.94385990e-01 -7.76732809e-03 -1.31194421e+01] [-5.79404632e-02 1.64918266e-03 9.98318678e-01 -7.49099507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56071405700001 meters 0.024071776958067344 Centerline is valid? [True, True] Translation: X:112.26, Y:-13.12, Z:-7.50 [[ 9.91960110e-01 1.12987676e-01 5.69993398e-02 1.12261380e+02] [-1.12731079e-01 9.93595640e-01 -7.70760668e-03 -1.31230760e+01] [-5.75051601e-02 1.22004131e-03 9.98344464e-01 -7.49663534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62071405700001 meters 0.023397893290779976 Centerline is valid? [True, True] Translation: X:112.32, Y:-13.13, Z:-7.50 [[ 9.91476714e-01 1.16522914e-01 5.82780849e-02 1.12319803e+02] [-1.16260875e-01 9.93187463e-01 -7.87855471e-03 -1.31308665e+01] [-5.87990955e-02 1.03594240e-03 9.98269299e-01 -7.50118716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68071405700002 meters 0.02320532536656257 Centerline is valid? [True, True] Translation: X:112.38, Y:-13.14, Z:-7.51 [[ 9.91371907e-01 1.16875440e-01 5.93453732e-02 1.12376450e+02] [-1.16604596e-01 9.93146048e-01 -8.01849368e-03 -1.31414364e+01] [-5.98757878e-02 1.02936613e-03 9.98205305e-01 -7.50531773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74071405700002 meters 0.023571454030777005 Centerline is valid? [True, True] Translation: X:112.43, Y:-13.16, Z:-7.51 [[ 9.91701823e-01 1.13716305e-01 5.99674533e-02 1.12433945e+02] [-1.13434265e-01 9.93512503e-01 -8.09776970e-03 -1.31560822e+01] [-6.04992631e-02 1.22820896e-03 9.98167486e-01 -7.50952889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80071405700002 meters 0.023872999353941018 Centerline is valid? [True, True] Translation: X:112.49, Y:-13.17, Z:-7.51 [[ 9.92138003e-01 1.10132286e-01 5.94395662e-02 1.12490933e+02] [-1.09849708e-01 9.93915926e-01 -8.01087365e-03 -1.31676259e+01] [-5.99601873e-02 1.41847321e-03 9.98199762e-01 -7.51411199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86071405700001 meters 0.02548668226482322 Centerline is valid? [True, True] Translation: X:112.55, Y:-13.19, Z:-7.52 [[ 9.93017072e-01 1.02319184e-01 5.87186432e-02 1.12548529e+02] [-1.02030123e-01 9.94749878e-01 -7.90791673e-03 -1.31873703e+01] [-5.92194947e-02 1.86162595e-03 9.98243250e-01 -7.51949968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92071405700001 meters 0.027211593589331284 Centerline is valid? [True, True] Translation: X:112.61, Y:-13.21, Z:-7.52 [[ 9.93948920e-01 9.29537770e-02 5.85246984e-02 1.12606521e+02] [-9.26504738e-02 9.95667507e-01 -7.88072368e-03 -1.32059423e+01] [-5.90036836e-02 2.41069576e-03 9.98254854e-01 -7.52336197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98071405700001 meters 0.02908544141516159 Centerline is valid? [True, True] Translation: X:112.67, Y:-13.22, Z:-7.53 [[ 9.94557174e-01 8.50245024e-02 6.02234360e-02 1.12665544e+02] [-8.46888792e-02 9.96374452e-01 -8.10829979e-03 -1.32231945e+01] [-6.06944972e-02 2.96391242e-03 9.98151989e-01 -7.52565706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04071405700002 meters 0.03272872371917373 Centerline is valid? [True, True] Translation: X:112.72, Y:-13.24, Z:-7.53 [[ 9.95133732e-01 7.80285792e-02 6.01697353e-02 1.12723053e+02] [-7.76808302e-02 9.96945368e-01 -8.10068667e-03 -1.32416868e+01] [-6.06180240e-02 3.38723156e-03 9.98155289e-01 -7.52941715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10071405700002 meters 0.03416477523727294 Centerline is valid? [True, True] Translation: X:112.78, Y:-13.25, Z:-7.54 [[ 9.95779663e-01 7.09376921e-02 5.82297790e-02 1.12781620e+02] [-7.05999765e-02 9.97473904e-01 -7.83921784e-03 -1.32549693e+01] [-5.86387810e-02 3.69511267e-03 9.98272428e-01 -7.53556391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16071405700002 meters 0.03903091994766221 Centerline is valid? [True, True] Translation: X:112.84, Y:-13.27, Z:-7.54 [[ 9.96353416e-01 6.46281678e-02 5.57052183e-02 1.12838519e+02] [-6.43093878e-02 9.97901839e-01 -7.49820873e-03 -1.32719532e+01] [-5.60729353e-02 3.88849740e-03 9.98419103e-01 -7.54157510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22071405700001 meters 0.040755538051911934 Centerline is valid? [True, True] Translation: X:112.90, Y:-13.28, Z:-7.55 [[ 9.96461044e-01 6.31004440e-02 5.55312602e-02 1.12897497e+02] [-6.27812888e-02 9.97999316e-01 -7.47491376e-03 -1.32829704e+01] [-5.58918301e-02 3.96213629e-03 9.98428968e-01 -7.54589809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28071405700001 meters 0.04083193860326595 Centerline is valid? [True, True] Translation: X:112.96, Y:-13.29, Z:-7.55 [[ 9.96743096e-01 5.89066240e-02 5.50745811e-02 1.12957151e+02] [-5.85860255e-02 9.98254794e-01 -7.41909158e-03 -1.32919182e+01] [-5.54154983e-02 4.16832751e-03 9.98454680e-01 -7.55001401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34071405700001 meters 0.0389598391937969 Centerline is valid? [True, True] Translation: X:113.02, Y:-13.30, Z:-7.55 [[ 9.96887005e-01 5.68439458e-02 5.46357454e-02 1.13018334e+02] [-5.65253726e-02 9.98374036e-01 -7.35983790e-03 -1.32957077e+01] [-5.49652719e-02 4.24862090e-03 9.98479228e-01 -7.55287013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40071405700002 meters 0.03951803518332903 Centerline is valid? [True, True] Translation: X:113.08, Y:-13.30, Z:-7.56 [[ 9.96816389e-01 5.74343801e-02 5.53026089e-02 1.13079851e+02] [-5.71088668e-02 9.98340161e-01 -7.44980911e-03 -1.33027023e+01] [-5.56386907e-02 4.26782249e-03 9.98441847e-01 -7.55582680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46071405700002 meters 0.03941862305512438 Centerline is valid? [True, True] Translation: X:113.14, Y:-13.31, Z:-7.56 [[ 9.96679488e-01 6.05126537e-02 5.44813433e-02 1.13141176e+02] [-6.02004289e-02 9.98159209e-01 -7.35536080e-03 -1.33061253e+01] [-5.48261470e-02 4.05113700e-03 9.98487697e-01 -7.55874409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52071405700002 meters 0.03992901769581011 Centerline is valid? [True, True] Translation: X:113.20, Y:-13.31, Z:-7.56 [[ 9.96490078e-01 6.47030444e-02 5.31134654e-02 1.13201035e+02] [-6.44121752e-02 9.97897608e-01 -7.17181152e-03 -1.33099341e+01] [-5.34658381e-02 3.72548519e-03 9.98562730e-01 -7.56366944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58071405700001 meters 0.03808231566587558 Centerline is valid? [True, True] Translation: X:113.26, Y:-13.31, Z:-7.57 [[ 9.96146214e-01 6.99755110e-02 5.28786247e-02 1.13261386e+02] [-6.96945769e-02 9.97542821e-01 -7.14049954e-03 -1.33104311e+01] [-5.32483526e-02 3.42762820e-03 9.98575417e-01 -7.56769631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64071405700001 meters 0.03386116320573387 Centerline is valid? [True, True] Translation: X:113.32, Y:-13.31, Z:-7.57 [[ 9.95685485e-01 7.61816103e-02 5.29790176e-02 1.13322801e+02] [-7.59084340e-02 9.97089139e-01 -7.15246031e-03 -1.33068323e+01] [-5.33696890e-02 3.10004665e-03 9.98570011e-01 -7.56963304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70071405700001 meters 0.031241093138295074 Centerline is valid? [True, True] Translation: X:113.38, Y:-13.31, Z:-7.57 [[ 9.95219120e-01 8.13024563e-02 5.41185203e-02 1.13383498e+02] [-8.10249641e-02 9.96685298e-01 -7.30562134e-03 -1.33067366e+01] [-5.45330985e-02 2.88574288e-03 9.98507793e-01 -7.57142789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76071405700002 meters 0.030794322118845068 Centerline is valid? [True, True] Translation: X:113.44, Y:-13.31, Z:-7.57 [[ 9.94841260e-01 8.54835272e-02 5.46208138e-02 1.13443036e+02] [-8.52071342e-02 9.96335976e-01 -7.37339370e-03 -1.33114184e+01] [-5.50509856e-02 2.68127327e-03 9.98479945e-01 -7.57437567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82071405700002 meters 0.031882680973007435 Centerline is valid? [True, True] Translation: X:113.50, Y:-13.32, Z:-7.58 [[ 9.94526804e-01 8.97994613e-02 5.34087362e-02 1.13501368e+02] [-8.95414551e-02 9.95957006e-01 -7.20903460e-03 -1.33186866e+01] [-5.38401724e-02 2.38728218e-03 9.98546712e-01 -7.57998970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88071405700002 meters 0.03125210279763501 Centerline is valid? [True, True] Translation: X:113.56, Y:-13.32, Z:-7.59 [[ 9.94367538e-01 9.25865739e-02 5.15841525e-02 1.13558843e+02] [-9.23497120e-02 9.95702298e-01 -6.96160798e-03 -1.33240201e+01] [-5.20070106e-02 2.15861537e-03 9.98644387e-01 -7.58574590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94071405700002 meters 0.02752570234082866 Centerline is valid? [True, True] Translation: X:113.62, Y:-13.33, Z:-7.59 [[ 9.94220631e-01 9.41200530e-02 5.16406170e-02 1.13617596e+02] [-9.38849709e-02 9.95558690e-01 -6.96470614e-03 -1.33252936e+01] [-5.20667835e-02 2.07617671e-03 9.98641447e-01 -7.58794159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00071405700001 meters 0.028362930785860132 Centerline is valid? [True, True] Translation: X:113.67, Y:-13.34, Z:-7.59 [[ 9.94230993e-01 9.37389856e-02 5.21319086e-02 1.13674430e+02] [-9.34990720e-02 9.95594566e-01 -7.02735693e-03 -1.33355255e+01] [-5.25609822e-02 2.11253098e-03 9.98615482e-01 -7.59194806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06071405700001 meters 0.027753338103980566 Centerline is valid? [True, True] Translation: X:113.73, Y:-13.34, Z:-7.59 [[ 9.94415974e-01 9.18287205e-02 5.20034298e-02 1.13732238e+02] [-9.15875941e-02 9.95772378e-01 -7.00601507e-03 -1.33432797e+01] [-5.24269323e-02 2.20402428e-03 9.98622331e-01 -7.59421011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12071405700001 meters 0.028319294614281718 Centerline is valid? [True, True] Translation: X:113.79, Y:-13.35, Z:-7.60 [[ 9.94719587e-01 8.88350854e-02 5.13932978e-02 1.13790880e+02] [-8.85960271e-02 9.96043633e-01 -6.91564265e-03 -1.33538882e+01] [-5.18043187e-02 2.32588319e-03 9.98654546e-01 -7.59817973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18071405700002 meters 0.029647620246611734 Centerline is valid? [True, True] Translation: X:113.85, Y:-13.37, Z:-7.60 [[ 9.94992934e-01 8.61223468e-02 5.07149202e-02 1.13848829e+02] [-8.58861303e-02 9.96281598e-01 -6.82277631e-03 -1.33671833e+01] [-5.11139353e-02 2.43290597e-03 9.98689865e-01 -7.60316074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24071405700002 meters 0.029813072373420034 Centerline is valid? [True, True] Translation: X:113.91, Y:-13.38, Z:-7.61 [[ 9.95285681e-01 8.26301563e-02 5.07806046e-02 1.13907525e+02] [-8.23889595e-02 9.96576857e-01 -6.82839119e-03 -1.33793898e+01] [-5.11710063e-02 2.61243881e-03 9.98686489e-01 -7.60705909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30071405700002 meters 0.031116535494997676 Centerline is valid? [True, True] Translation: X:113.97, Y:-13.39, Z:-7.61 [[ 9.95612144e-01 7.92170874e-02 4.98107564e-02 1.13966006e+02] [-7.89808114e-02 9.96853640e-01 -6.69708744e-03 -1.33926324e+01] [-5.01845577e-02 2.73360762e-03 9.98736220e-01 -7.61057667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36071405700001 meters 0.03348931720300973 Centerline is valid? [True, True] Translation: X:114.02, Y:-13.41, Z:-7.62 [[ 9.95892057e-01 7.66188681e-02 4.82551575e-02 1.14023918e+02] [-7.63941350e-02 9.97056595e-01 -6.48708926e-03 -1.34069442e+01] [-4.86101565e-02 2.77402965e-03 9.98813975e-01 -7.61581881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42071405700001 meters 0.03400986949772172 Centerline is valid? [True, True] Translation: X:114.08, Y:-13.42, Z:-7.62 [[ 9.96078436e-01 7.43720205e-02 4.79223555e-02 1.14081999e+02] [-7.41478020e-02 9.97226455e-01 -6.44208116e-03 -1.34182340e+01] [-4.82685513e-02 2.86348080e-03 9.98830290e-01 -7.61985373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48071405700001 meters 0.034393983733069414 Centerline is valid? [True, True] Translation: X:114.14, Y:-13.43, Z:-7.62 [[ 9.96099293e-01 7.38674591e-02 4.82679738e-02 1.14139833e+02] [-7.36395158e-02 9.97263832e-01 -6.48619885e-03 -1.34267944e+01] [-4.86150236e-02 2.90646786e-03 9.98813362e-01 -7.62291948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54071405700002 meters 0.03295710314840593 Centerline is valid? [True, True] Translation: X:114.20, Y:-13.43, Z:-7.62 [[ 9.96098319e-01 7.38695686e-02 4.82848342e-02 1.14198155e+02] [-7.36416371e-02 9.97263683e-01 -6.48499988e-03 -1.34311530e+01] [-4.86317558e-02 2.90392324e-03 9.98812555e-01 -7.62419648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60071405700002 meters 0.03395716832726613 Centerline is valid? [True, True] Translation: X:114.26, Y:-13.44, Z:-7.63 [[ 9.96143377e-01 7.29746999e-02 4.87141122e-02 1.14256280e+02] [-7.27418066e-02 9.97329369e-01 -6.53902013e-03 -1.34401672e+01] [-4.90611978e-02 2.97024907e-03 9.98791358e-01 -7.62785441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66071405700002 meters 0.036686237942634856 Centerline is valid? [True, True] Translation: X:114.31, Y:-13.45, Z:-7.63 [[ 9.96364251e-01 7.00501797e-02 4.84897166e-02 1.14313839e+02] [-6.98161792e-02 9.97538665e-01 -6.50483669e-03 -1.34518684e+01] [-4.88260321e-02 3.09582000e-03 9.98802500e-01 -7.63283491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72071405700001 meters 0.039064794325736486 Centerline is valid? [True, True] Translation: X:114.37, Y:-13.46, Z:-7.64 [[ 9.96554697e-01 6.71601010e-02 4.86647426e-02 1.14373061e+02] [-6.69210760e-02 9.97736928e-01 -6.52629154e-03 -1.34624195e+01] [-4.89929172e-02 3.24710955e-03 9.98793848e-01 -7.63651779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78071405700001 meters 0.042233330076933064 Centerline is valid? [True, True] Translation: X:114.43, Y:-13.48, Z:-7.64 [[ 9.96732464e-01 6.39236930e-02 4.93777013e-02 1.14430483e+02] [-6.36736862e-02 9.97948807e-01 -6.62126934e-03 -1.34750472e+01] [-4.96996740e-02 3.45557385e-03 9.98758230e-01 -7.63990817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84071405700001 meters 0.04569935721714697 Centerline is valid? [True, True] Translation: X:114.49, Y:-13.49, Z:-7.65 [[ 9.96923564e-01 6.06590354e-02 4.96375723e-02 1.14488074e+02] [-6.04024513e-02 9.98151924e-01 -6.65435303e-03 -1.34877544e+01] [-4.99494849e-02 3.63565030e-03 9.98745128e-01 -7.64503859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90071405700002 meters 0.047658737113539275 Centerline is valid? [True, True] Translation: X:114.55, Y:-13.50, Z:-7.65 [[ 9.97044080e-01 5.85255901e-02 4.97780768e-02 1.14547677e+02] [-5.82650116e-02 9.98278861e-01 -6.67109938e-03 -1.34986013e+01] [-5.00828318e-02 3.75105993e-03 9.98738023e-01 -7.65034117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96071405700002 meters 0.04687389757420783 Centerline is valid? [True, True] Translation: X:114.61, Y:-13.51, Z:-7.65 [[ 9.97084045e-01 5.66490903e-02 5.11301083e-02 1.14607182e+02] [-5.63716930e-02 9.98386337e-01 -6.85236150e-03 -1.35052717e+01] [-5.14357815e-02 3.95008955e-03 9.98668492e-01 -7.65200994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02071405700002 meters 0.050030857426399566 Centerline is valid? [True, True] Translation: X:114.67, Y:-13.52, Z:-7.65 [[ 9.97159144e-01 5.44241143e-02 5.20735685e-02 1.14667461e+02] [-5.41334072e-02 9.98509331e-01 -6.97789484e-03 -1.35159110e+01] [-5.23757098e-02 4.13915196e-03 9.98618872e-01 -7.65415704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08071405700001 meters 0.0525587074247936 Centerline is valid? [True, True] Translation: X:114.73, Y:-13.53, Z:-7.66 [[ 9.97210887e-01 5.34346584e-02 5.21074322e-02 1.14727137e+02] [-5.31420931e-02 9.98562530e-01 -6.98506714e-03 -1.35284013e+01] [-5.24057740e-02 4.19648699e-03 9.98617056e-01 -7.65985562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14071405700001 meters 0.053918126121906794 Centerline is valid? [True, True] Translation: X:114.79, Y:-13.54, Z:-7.67 [[ 9.97242944e-01 5.32933845e-02 5.16364682e-02 1.14788723e+02] [-5.30059434e-02 9.98570212e-01 -6.92114015e-03 -1.35384923e+01] [-5.19314899e-02 4.16501848e-03 9.98641964e-01 -7.66508535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20071405700001 meters 0.05483207270966053 Centerline is valid? [True, True] Translation: X:114.85, Y:-13.55, Z:-7.67 [[ 9.97265815e-01 5.39390502e-02 5.05121168e-02 1.14850492e+02] [-5.36642405e-02 9.98536006e-01 -6.78196133e-03 -1.35462756e+01] [-5.08039799e-02 4.05272381e-03 9.98700421e-01 -7.67063844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26071405700002 meters 0.05465872706102239 Centerline is valid? [True, True] Translation: X:114.91, Y:-13.55, Z:-7.67 [[ 9.97142431e-01 5.47832417e-02 5.20169969e-02 1.14911471e+02] [-5.44921545e-02 9.98489670e-01 -6.99889411e-03 -1.35533894e+01] [-5.23218561e-02 4.14437606e-03 9.98621674e-01 -7.67389148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32071405700002 meters 0.042185964610673914 Centerline is valid? [True, True] Translation: X:114.97, Y:-13.54, Z:-7.67 [[ 9.96910767e-01 5.66334712e-02 5.44203306e-02 1.14974084e+02] [-5.63174547e-02 9.98386047e-01 -7.32429288e-03 -1.35447046e+01] [-5.47472989e-02 4.23685192e-03 9.98491253e-01 -7.67411810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38071405700002 meters 0.03827580939467359 Centerline is valid? [True, True] Translation: X:115.04, Y:-13.55, Z:-7.68 [[ 9.96788594e-01 5.89231726e-02 5.42269219e-02 1.15035083e+02] [-5.86127137e-02 9.98254111e-01 -7.29923048e-03 -1.35455270e+01] [-5.45623415e-02 4.09740264e-03 9.98501959e-01 -7.67778047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44071405700002 meters 0.03918647782437786 Centerline is valid? [True, True] Translation: X:115.09, Y:-13.55, Z:-7.68 [[ 9.96751097e-01 6.08019094e-02 5.28240351e-02 1.15094348e+02] [-6.05098855e-02 9.98142264e-01 -7.11155161e-03 -1.35529789e+01] [-5.31582979e-02 3.89207055e-03 9.98578513e-01 -7.68347083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50071405700001 meters 0.040545842476411784 Centerline is valid? [True, True] Translation: X:115.15, Y:-13.56, Z:-7.69 [[ 9.96690924e-01 6.13511929e-02 5.33219751e-02 1.15153289e+02] [-6.10543911e-02 9.98108623e-01 -7.17897494e-03 -1.35618385e+01] [-5.36615619e-02 3.89967844e-03 9.98551566e-01 -7.68811536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56071405700001 meters 0.06080092586262981 Centerline is valid? [True, True] Translation: X:115.21, Y:-13.60, Z:-7.70 [[ 9.96783190e-01 6.02906682e-02 5.28044268e-02 1.15209272e+02] [-5.99982876e-02 9.98173184e-01 -7.10629339e-03 -1.35959404e+01] [-5.31364060e-02 3.91525861e-03 9.98579588e-01 -7.69757729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62071405700001 meters 0.04525946847253807 Centerline is valid? [True, True] Translation: X:115.27, Y:-13.58, Z:-7.70 [[ 9.96861053e-01 5.93664548e-02 5.23800087e-02 1.15271687e+02] [-5.90772673e-02 9.98228494e-01 -7.05345277e-03 -1.35828882e+01] [-5.27059557e-02 3.93684458e-03 9.98602315e-01 -7.69969341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68071405700002 meters 0.04425032644058892 Centerline is valid? [True, True] Translation: X:115.33, Y:-13.59, Z:-7.70 [[ 9.96775326e-01 5.97595578e-02 5.35513274e-02 1.15331345e+02] [-5.94578919e-02 9.98204775e-01 -7.21020859e-03 -1.35892858e+01] [-5.38860695e-02 4.00290898e-03 9.98539067e-01 -7.70330890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74071405700002 meters 0.046032170540272525 Centerline is valid? [True, True] Translation: X:115.39, Y:-13.60, Z:-7.71 [[ 9.96606272e-01 6.00534185e-02 5.62985358e-02 1.15390047e+02] [-5.97205095e-02 9.98186367e-01 -7.57869302e-03 -1.35988785e+01] [-5.66515574e-02 4.19079575e-03 9.98385215e-01 -7.70525048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80071405700002 meters 0.048052671785191056 Centerline is valid? [True, True] Translation: X:115.45, Y:-13.61, Z:-7.71 [[ 9.96590884e-01 5.89109431e-02 5.77590699e-02 1.15449754e+02] [-5.85585045e-02 9.98253685e-01 -7.77703288e-03 -1.36095666e+01] [-5.81163567e-02 4.36823533e-03 9.98300259e-01 -7.70931245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86071405700001 meters 0.04993558824762151 Centerline is valid? [True, True] Translation: X:115.51, Y:-13.62, Z:-7.71 [[ 9.96737106e-01 5.67646862e-02 5.73839009e-02 1.15509282e+02] [-5.64132394e-02 9.98377602e-01 -7.72729396e-03 -1.36204374e+01] [-5.77294388e-02 4.46486887e-03 9.98322281e-01 -7.71437603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92071405700001 meters 0.043449582123929305 Centerline is valid? [True, True] Translation: X:115.57, Y:-13.62, Z:-7.72 [[ 9.96959577e-01 5.30470868e-02 5.70754641e-02 1.15570692e+02] [-5.26932027e-02 9.98581150e-01 -7.68855608e-03 -1.36204878e+01] [-5.74023380e-02 4.65769062e-03 9.98340261e-01 -7.71885621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98071405700001 meters 0.04370857874623943 Centerline is valid? [True, True] Translation: X:115.63, Y:-13.63, Z:-7.72 [[ 9.97177906e-01 4.98900658e-02 5.60999503e-02 1.15629852e+02] [-4.95432245e-02 9.98743388e-01 -7.55730568e-03 -1.36302609e+01] [-5.64064890e-02 4.75660582e-03 9.98396556e-01 -7.72453294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04071405700002 meters 0.04486378565488192 Centerline is valid? [True, True] Translation: X:115.69, Y:-13.64, Z:-7.73 [[ 9.97139496e-01 5.05044858e-02 5.62327598e-02 1.15689816e+02] [-5.01570601e-02 9.98712627e-01 -7.57355854e-03 -1.36406887e+01] [-5.65428659e-02 4.73142443e-03 9.98388961e-01 -7.73002919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10071405700002 meters 0.0409592725257136 Centerline is valid? [True, True] Translation: X:115.75, Y:-13.64, Z:-7.73 [[ 9.96718703e-01 5.64549011e-02 5.80057818e-02 1.15750857e+02] [-5.60942603e-02 9.98394788e-01 -7.82819594e-03 -1.36407918e+01] [-5.83546103e-02 4.54871788e-03 9.98285555e-01 -7.73135938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16071405700002 meters 0.03820954396109634 Centerline is valid? [True, True] Translation: X:115.81, Y:-13.64, Z:-7.73 [[ 9.96260023e-01 6.30878913e-02 5.90413777e-02 1.15812274e+02] [-6.27258214e-02 9.97998992e-01 -7.96769369e-03 -1.36432991e+01] [-5.94259004e-02 4.23447578e-03 9.98223738e-01 -7.73399658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22071405700001 meters 0.03832737839268012 Centerline is valid? [True, True] Translation: X:115.87, Y:-13.65, Z:-7.74 [[ 9.96205679e-01 6.46496893e-02 5.82637354e-02 1.15872016e+02] [-6.42996931e-02 9.97899648e-01 -7.86394563e-03 -1.36523757e+01] [-5.86497627e-02 4.08776699e-03 9.98270252e-01 -7.74022741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28071405700001 meters 0.03901444270961571 Centerline is valid? [True, True] Translation: X:115.93, Y:-13.66, Z:-7.75 [[ 9.96326681e-01 6.43525201e-02 5.64968908e-02 1.15931014e+02] [-6.40229826e-02 9.97919290e-01 -7.62547191e-03 -1.36633959e+01] [-5.68700555e-02 3.98036166e-03 9.98373654e-01 -7.74880635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34071405700001 meters 0.04118332432615743 Centerline is valid? [True, True] Translation: X:115.99, Y:-13.67, Z:-7.75 [[ 9.96563502e-01 6.24086198e-02 5.44642174e-02 1.15989772e+02] [-6.20995018e-02 9.98042890e-01 -7.35129028e-03 -1.36737957e+01] [-5.48164089e-02 3.94382682e-03 9.98488662e-01 -7.75424894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40071405700002 meters 0.044150728563201125 Centerline is valid? [True, True] Translation: X:116.05, Y:-13.69, Z:-7.76 [[ 9.96632045e-01 6.04047123e-02 5.54602270e-02 1.16048239e+02] [-6.00811424e-02 9.98165435e-01 -7.48471728e-03 -1.36861752e+01] [-5.58105938e-02 4.12739530e-03 9.98432843e-01 -7.75829529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46071405700002 meters 0.04604824377431333 Centerline is valid? [True, True] Translation: X:116.11, Y:-13.70, Z:-7.76 [[ 9.96704338e-01 5.77996512e-02 5.69180355e-02 1.16108098e+02] [-5.74546758e-02 9.98318574e-01 -7.68017938e-03 -1.36974807e+01] [-5.72662438e-02 4.38466082e-03 9.98349314e-01 -7.76001108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52071405700002 meters 0.046564288523799055 Centerline is valid? [True, True] Translation: X:116.17, Y:-13.71, Z:-7.76 [[ 9.96835736e-01 5.45655385e-02 5.78024000e-02 1.16167502e+02] [-5.42042797e-02 9.98499397e-01 -7.80061526e-03 -1.37079610e+01] [-5.81413063e-02 4.64279460e-03 9.98297567e-01 -7.76313639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58071405700001 meters 0.04338959901423301 Centerline is valid? [True, True] Translation: X:116.23, Y:-13.71, Z:-7.77 [[ 9.96927706e-01 5.19539306e-02 5.86168691e-02 1.16227986e+02] [-5.15779142e-02 9.98637642e-01 -7.91067652e-03 -1.37142652e+01] [-5.89480027e-02 4.86303675e-03 9.98249209e-01 -7.76582335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64071405700001 meters 0.04660250750997662 Centerline is valid? [True, True] Translation: X:116.29, Y:-13.73, Z:-7.77 [[ 9.97028428e-01 5.02736318e-02 5.83684515e-02 1.16286110e+02] [-4.98978755e-02 9.98723252e-01 -7.87830759e-03 -1.37290882e+01] [-5.86900009e-02 4.94243490e-03 9.98264021e-01 -7.76944369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70071405700001 meters 0.045898788516589184 Centerline is valid? [True, True] Translation: X:116.35, Y:-13.74, Z:-7.77 [[ 9.97078496e-01 5.03445064e-02 5.74447831e-02 1.16347876e+02] [-4.99807796e-02 9.98720095e-01 -7.75196006e-03 -1.37380131e+01] [-5.77615279e-02 4.85817764e-03 9.98318588e-01 -7.77366272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76071405700002 meters 0.04588071259871725 Centerline is valid? [True, True] Translation: X:116.41, Y:-13.75, Z:-7.78 [[ 9.97031784e-01 5.29688505e-02 5.58741616e-02 1.16407304e+02] [-5.26279857e-02 9.98585605e-01 -7.55549748e-03 -1.37488862e+01] [-5.61953395e-02 4.59252655e-03 9.98409231e-01 -7.77905953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82071405700002 meters 0.0392301840642198 Centerline is valid? [True, True] Translation: X:116.47, Y:-13.75, Z:-7.78 [[ 9.96772755e-01 5.84740139e-02 5.49987680e-02 1.16468724e+02] [-5.81520039e-02 9.98280028e-01 -7.43847643e-03 -1.37478287e+01] [-5.53391292e-02 4.21618207e-03 9.98458715e-01 -7.78275095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88071405700002 meters 0.03496897517301588 Centerline is valid? [True, True] Translation: X:116.53, Y:-13.75, Z:-7.78 [[ 9.96148732e-01 6.75693712e-02 5.58756184e-02 1.16530108e+02] [-6.72511691e-02 9.97707452e-01 -7.55782858e-03 -1.37484453e+01] [-5.62581986e-02 3.77102069e-03 9.98409132e-01 -7.78437713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94071405700002 meters 0.03190545954532602 Centerline is valid? [True, True] Translation: X:116.59, Y:-13.75, Z:-7.79 [[ 9.95351694e-01 7.71245648e-02 5.76784778e-02 1.16591271e+02] [-7.68013764e-02 9.97015882e-01 -7.80249306e-03 -1.37509486e+01] [-5.81081223e-02 3.33643820e-03 9.98304720e-01 -7.78695086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00071405700001 meters 0.02850172497030613 Centerline is valid? [True, True] Translation: X:116.65, Y:-13.75, Z:-7.79 [[ 9.94771445e-01 8.49445628e-02 5.66938659e-02 1.16651742e+02] [-8.46449950e-02 9.96381660e-01 -7.66891624e-03 -1.37537884e+01] [-5.71401609e-02 2.82996689e-03 9.98362155e-01 -7.79142530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06071405700001 meters 0.028836572859554807 Centerline is valid? [True, True] Translation: X:116.71, Y:-13.76, Z:-7.80 [[ 9.94503964e-01 8.81318338e-02 5.65211921e-02 1.16709565e+02] [-8.78392504e-02 9.96105326e-01 -7.64503069e-03 -1.37637709e+01] [-5.69748310e-02 2.63823418e-03 9.98372129e-01 -7.79660834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12071405700001 meters 0.027956377977502236 Centerline is valid? [True, True] Translation: X:116.77, Y:-13.77, Z:-7.80 [[ 9.94356045e-01 8.96446988e-02 5.67440146e-02 1.16767237e+02] [-8.93523606e-02 9.95970519e-01 -7.67336129e-03 -1.37731607e+01] [-5.72032418e-02 2.55984153e-03 9.98359272e-01 -7.79973893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18071405700002 meters 0.029196323134988763 Centerline is valid? [True, True] Translation: X:116.82, Y:-13.79, Z:-7.80 [[ 9.94351877e-01 8.90923451e-02 5.76792720e-02 1.16823317e+02] [-8.87895957e-02 9.96019897e-01 -7.79564750e-03 -1.37871921e+01] [-5.81442351e-02 2.63029748e-03 9.98304728e-01 -7.80322815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24071405700002 meters 0.027632032056212466 Centerline is valid? [True, True] Translation: X:116.88, Y:-13.80, Z:-7.81 [[ 9.94446584e-01 8.81218076e-02 5.75372741e-02 1.16881106e+02] [-8.78192333e-02 9.96106114e-01 -7.77121939e-03 -1.37956161e+01] [-5.79980444e-02 2.67518328e-03 9.98313112e-01 -7.80693078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30071405700002 meters 0.03140151611677665 Centerline is valid? [True, True] Translation: X:116.94, Y:-13.81, Z:-7.81 [[ 9.94637535e-01 8.62084433e-02 5.71338605e-02 1.16936950e+02] [-8.59071967e-02 9.96273291e-01 -7.71253896e-03 -1.38146219e+01] [-5.75858252e-02 2.76297095e-03 9.98336736e-01 -7.81145829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36071405700001 meters 0.0287550254712959 Centerline is valid? [True, True] Translation: X:117.00, Y:-13.82, Z:-7.81 [[ 9.94924985e-01 8.33177810e-02 5.64129606e-02 1.16995263e+02] [-8.30196944e-02 9.96518841e-01 -7.61120084e-03 -1.38228268e+01] [-5.68507265e-02 2.88918713e-03 9.98378509e-01 -7.81462560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42071405700001 meters 0.030939297003819095 Centerline is valid? [True, True] Translation: X:117.05, Y:-13.84, Z:-7.82 [[ 9.95191265e-01 8.05488463e-02 5.57335623e-02 1.17052121e+02] [-8.02538124e-02 9.96746129e-01 -7.51535688e-03 -1.38392291e+01] [-5.61575658e-02 3.00638666e-03 9.98417392e-01 -7.81937825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48071405700001 meters 0.030166263077441094 Centerline is valid? [True, True] Translation: X:117.11, Y:-13.85, Z:-7.82 [[ 9.95327398e-01 7.98939364e-02 5.42248037e-02 1.17109355e+02] [-7.96139002e-02 9.96798984e-01 -7.30843620e-03 -1.38501924e+01] [-5.46351290e-02 2.95723868e-03 9.98502007e-01 -7.82373429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54071405700002 meters 0.034167618247786656 Centerline is valid? [True, True] Translation: X:117.17, Y:-13.87, Z:-7.83 [[ 9.95246145e-01 8.06500931e-02 5.45955399e-02 1.17165302e+02] [-8.03676325e-02 9.96738168e-01 -7.35315644e-03 -1.38695586e+01] [-5.50104911e-02 2.93048631e-03 9.98481476e-01 -7.82852517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60071405700002 meters 0.03323827318662531 Centerline is valid? [True, True] Translation: X:117.22, Y:-13.88, Z:-7.83 [[ 9.95280396e-01 8.04657469e-02 5.42420237e-02 1.17222839e+02] [-8.01868787e-02 9.96753104e-01 -7.30161929e-03 -1.38811099e+01] [-5.46534358e-02 2.91765996e-03 9.98501121e-01 -7.83215810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66071405700002 meters 0.03127708127445539 Centerline is valid? [True, True] Translation: X:117.28, Y:-13.89, Z:-7.84 [[ 9.95345045e-01 7.96589429e-02 5.42466104e-02 1.17280896e+02] [-7.93790392e-02 9.96817787e-01 -7.29847954e-03 -1.38917809e+01] [-5.46553753e-02 2.95846163e-03 9.98500895e-01 -7.83604946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72071405700001 meters 0.03146664488381834 Centerline is valid? [True, True] Translation: X:117.34, Y:-13.90, Z:-7.84 [[ 9.95447493e-01 7.87678392e-02 5.36648475e-02 1.17338974e+02] [-7.84928405e-02 9.96888560e-01 -7.21620283e-03 -1.39034640e+01] [-5.40662773e-02 2.97104470e-03 9.98532929e-01 -7.84002564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78071405700001 meters 0.030240884746578395 Centerline is valid? [True, True] Translation: X:117.40, Y:-13.91, Z:-7.84 [[ 9.95603395e-01 7.74756290e-02 5.26441438e-02 1.17397578e+02] [-7.72093512e-02 9.96989791e-01 -7.07617166e-03 -1.39119992e+01] [-5.30339048e-02 2.98044035e-03 9.98588264e-01 -7.84286387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84071405700001 meters 0.03366469671347594 Centerline is valid? [True, True] Translation: X:117.45, Y:-13.93, Z:-7.85 [[ 9.95853808e-01 7.37331511e-02 5.32786577e-02 1.17454840e+02] [-7.34552473e-02 9.97272825e-01 -7.15821525e-03 -1.39289218e+01] [-5.36611552e-02 3.21493894e-03 9.98554027e-01 -7.84792079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90071405700002 meters 0.03442711050437414 Centerline is valid? [True, True] Translation: X:117.51, Y:-13.94, Z:-7.85 [[ 9.96068858e-01 7.10481281e-02 5.29055079e-02 1.17514366e+02] [-7.07704618e-02 9.97467318e-01 -7.10573829e-03 -1.39398848e+01] [-5.32763645e-02 3.33365740e-03 9.98574241e-01 -7.85232117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96071405700002 meters 0.036010996354909335 Centerline is valid? [True, True] Translation: X:117.57, Y:-13.95, Z:-7.86 [[ 9.96315818e-01 6.83732968e-02 5.17675819e-02 1.17573826e+02] [-6.81038772e-02 9.97654009e-01 -6.95268213e-03 -1.39512763e+01] [-5.21215134e-02 3.40149415e-03 9.98634957e-01 -7.85711454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02071405700002 meters 0.03715752452962641 Centerline is valid? [True, True] Translation: X:117.63, Y:-13.96, Z:-7.86 [[ 9.96352283e-01 6.82812984e-02 5.11839025e-02 1.17633254e+02] [-6.80177472e-02 9.97660420e-01 -6.87542747e-03 -1.39604890e+01] [-5.15336168e-02 3.36893412e-03 9.98665578e-01 -7.86116088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08071405700002 meters 0.03791335330142791 Centerline is valid? [True, True] Translation: X:117.69, Y:-13.97, Z:-7.86 [[ 9.96291998e-01 6.87606550e-02 5.17129297e-02 1.17692695e+02] [-6.84922639e-02 9.97627464e-01 -6.94649059e-03 -1.39689318e+01] [-5.20678841e-02 3.37879736e-03 9.98637832e-01 -7.86347073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14071405700001 meters 0.03793138703788208 Centerline is valid? [True, True] Translation: X:117.75, Y:-13.97, Z:-7.87 [[ 9.96032643e-01 7.18756131e-02 5.24677941e-02 1.17752187e+02] [-7.16036205e-02 9.97408266e-01 -7.04788996e-03 -1.39740439e+01] [-5.28383829e-02 3.26304445e-03 9.98597746e-01 -7.86507230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20071405700001 meters 0.036733280331632014 Centerline is valid? [True, True] Translation: X:117.81, Y:-13.98, Z:-7.87 [[ 9.95617057e-01 7.66648339e-02 5.35647105e-02 1.17812666e+02] [-7.63882334e-02 9.97052188e-01 -7.19526510e-03 -1.39760679e+01] [-5.39584357e-02 3.07201506e-03 9.98538457e-01 -7.86719719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26071405700002 meters 0.03224122841592873 Centerline is valid? [True, True] Translation: X:117.87, Y:-13.97, Z:-7.87 [[ 9.95394233e-01 7.96085874e-02 5.34115455e-02 1.17873189e+02] [-7.93377777e-02 9.96821969e-01 -7.17489744e-03 -1.39722740e+01] [-5.38129854e-02 2.90429821e-03 9.98546808e-01 -7.86972255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32071405700002 meters 0.03179010008908888 Centerline is valid? [True, True] Translation: X:117.93, Y:-13.98, Z:-7.87 [[ 9.95434153e-01 7.93378777e-02 5.30692744e-02 1.17931583e+02] [-7.90702274e-02 9.96843568e-01 -7.12744286e-03 -1.39766660e+01] [-5.34672410e-02 2.89870045e-03 9.98565397e-01 -7.87396459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38071405700002 meters 0.03519573264147492 Centerline is valid? [True, True] Translation: X:117.99, Y:-13.99, Z:-7.88 [[ 9.95889128e-01 7.30601617e-02 5.35449170e-02 1.17991595e+02] [-7.27788955e-02 9.97322207e-01 -7.18669407e-03 -1.39852387e+01] [-5.39265958e-02 3.26021057e-03 9.98539580e-01 -7.87767487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44071405700002 meters 0.03599412494160791 Centerline is valid? [True, True] Translation: X:118.05, Y:-13.99, Z:-7.88 [[ 9.96168679e-01 6.90074680e-02 5.37208830e-02 1.18051542e+02] [-6.87184732e-02 9.97610034e-01 -7.21045190e-03 -1.39928678e+01] [-5.40900670e-02 3.49120928e-03 9.98529958e-01 -7.88172635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50071405700001 meters 0.043308143765022435 Centerline is valid? [True, True] Translation: X:118.11, Y:-14.01, Z:-7.89 [[ 9.96572949e-01 6.37786232e-02 5.26748983e-02 1.18109510e+02] [-6.34935346e-02 9.97957208e-01 -7.06973842e-03 -1.40079466e+01] [-5.30181927e-02 3.70099458e-03 9.98586688e-01 -7.88828988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56071405700001 meters 0.042714452463551926 Centerline is valid? [True, True] Translation: X:118.17, Y:-14.01, Z:-7.89 [[ 9.96852959e-01 6.07997920e-02 5.08680952e-02 1.18169762e+02] [-6.05301195e-02 9.98143026e-01 -6.82666938e-03 -1.40117322e+01] [-5.11886946e-02 3.72613369e-03 9.98682048e-01 -7.89413313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62071405700001 meters 0.046230422318844513 Centerline is valid? [True, True] Translation: X:118.23, Y:-14.02, Z:-7.90 [[ 9.96983481e-01 5.87873238e-02 5.06753359e-02 1.18229057e+02] [-5.85171489e-02 9.98263243e-01 -6.80002803e-03 -1.40206839e+01] [-5.09870806e-02 3.81413944e-03 9.98692030e-01 -7.89871517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68071405700002 meters 0.03947099859025544 Centerline is valid? [True, True] Translation: X:118.29, Y:-14.01, Z:-7.90 [[ 9.96983070e-01 5.84318063e-02 5.10928692e-02 1.18290737e+02] [-5.81564327e-02 9.98283905e-01 -6.86109343e-03 -1.40147227e+01] [-5.14060950e-02 3.86901499e-03 9.98670338e-01 -7.90006316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74071405700002 meters 0.039968606903345784 Centerline is valid? [True, True] Translation: X:118.35, Y:-14.02, Z:-7.90 [[ 9.96809730e-01 6.06776342e-02 5.18515839e-02 1.18351697e+02] [-6.03970423e-02 9.98150148e-01 -6.96275985e-03 -1.40184667e+01] [-5.21781499e-02 3.80886446e-03 9.98630529e-01 -7.90274472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80071405700002 meters 0.038893526055258844 Centerline is valid? [True, True] Translation: X:118.41, Y:-14.02, Z:-7.90 [[ 9.96353486e-01 6.59983107e-02 5.40735958e-02 1.18413390e+02] [-6.57008550e-02 9.97812938e-01 -7.26218381e-03 -1.40184165e+01] [-5.44346253e-02 3.68302068e-03 9.98510544e-01 -7.90402861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86071405700001 meters 0.03435581096816185 Centerline is valid? [True, True] Translation: X:118.48, Y:-14.01, Z:-7.91 [[ 9.95805732e-01 7.36313824e-02 5.43080431e-02 1.18475147e+02] [-7.33425760e-02 9.97280129e-01 -7.29462679e-03 -1.40139834e+01] [-5.46974457e-02 3.28093939e-03 9.98497584e-01 -7.90848162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92071405700001 meters 0.03243028200405055 Centerline is valid? [True, True] Translation: X:118.53, Y:-14.01, Z:-7.91 [[ 9.95274222e-01 8.13835816e-02 5.29710769e-02 1.18534529e+02] [-8.11197512e-02 9.96678964e-01 -7.11532679e-03 -1.40135319e+01] [-5.33742289e-02 2.78470075e-03 9.98570697e-01 -7.91386592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98071405700001 meters 0.03164837077691381 Centerline is valid? [True, True] Translation: X:118.59, Y:-14.02, Z:-7.92 [[ 9.95077870e-01 8.42100975e-02 5.22368935e-02 1.18594291e+02] [-8.39575135e-02 9.96444643e-01 -7.01490666e-03 -1.40182280e+01] [-5.26418987e-02 2.59469869e-03 9.98610083e-01 -7.91795375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04071405700002 meters 0.02863714808824226 Centerline is valid? [True, True] Translation: X:118.65, Y:-14.02, Z:-7.92 [[ 9.94369600e-01 9.24575281e-02 5.17755102e-02 1.18654416e+02] [-9.22205696e-02 9.95714333e-01 -6.95222495e-03 -1.40171801e+01] [-5.21964032e-02 2.13831410e-03 9.98634549e-01 -7.92212863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10071405700002 meters 0.026069490735895828 Centerline is valid? [True, True] Translation: X:118.71, Y:-14.02, Z:-7.93 [[ 9.93428786e-01 1.01841380e-01 5.22262519e-02 1.18714877e+02] [-1.01613292e-01 9.94799268e-01 -7.01104258e-03 -1.40181467e+01] [-5.26686515e-02 1.65809010e-03 9.98610667e-01 -7.92535605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16071405700002 meters 0.023255519602460816 Centerline is valid? [True, True] Translation: X:118.78, Y:-14.02, Z:-7.93 [[ 9.92219747e-01 1.12578307e-01 5.31610629e-02 1.18775654e+02] [-1.12357434e-01 9.93642240e-01 -7.13485970e-03 -1.40172543e+01] [-5.36263081e-02 1.10630807e-03 9.98560461e-01 -7.92798157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22071405700001 meters 0.021485578374937583 Centerline is valid? [True, True] Translation: X:118.84, Y:-14.02, Z:-7.93 [[ 9.91094850e-01 1.21989114e-01 5.33821592e-02 1.18835744e+02] [-1.21780007e-01 9.92531257e-01 -7.16475856e-03 -1.40191599e+01] [-5.38574841e-02 6.00075563e-04 9.98548452e-01 -7.93083465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28071405700001 meters 0.021443782239483206 Centerline is valid? [True, True] Translation: X:118.89, Y:-14.03, Z:-7.94 [[ 9.90610329e-01 1.25911634e-01 5.32675853e-02 1.18892450e+02] [-1.25709175e-01 9.92041387e-01 -7.14778254e-03 -1.40270930e+01] [-5.37436382e-02 3.84443012e-04 9.98554692e-01 -7.93604026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34071405700001 meters 0.022160204810301277 Centerline is valid? [True, True] Translation: X:118.95, Y:-14.04, Z:-7.94 [[ 9.90902323e-01 1.23837444e-01 5.26960482e-02 1.18950418e+02] [-1.23636676e-01 9.92302399e-01 -7.06549635e-03 -1.40394872e+01] [-5.31653881e-02 4.86052527e-04 9.98585602e-01 -7.93909772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40071405700002 meters 0.02246219927169454 Centerline is valid? [True, True] Translation: X:119.01, Y:-14.06, Z:-7.94 [[ 9.91763571e-01 1.16072065e-01 5.41506673e-02 1.19006384e+02] [-1.15849341e-01 9.93240376e-01 -7.24471443e-03 -1.40595632e+01] [-5.46255381e-02 9.11724745e-04 9.98506494e-01 -7.94311103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46071405700002 meters 0.023601560635793457 Centerline is valid? [True, True] Translation: X:119.06, Y:-14.08, Z:-7.95 [[ 9.92546370e-01 1.08285292e-01 5.59106301e-02 1.19063651e+02] [-1.08035810e-01 9.94118904e-01 -7.47450404e-03 -1.40811133e+01] [-5.63911931e-02 1.37844164e-03 9.98407799e-01 -7.94695537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52071405700002 meters 0.02435936749924738 Centerline is valid? [True, True] Translation: X:119.12, Y:-14.10, Z:-7.95 [[ 9.93202278e-01 1.01774783e-01 5.64900670e-02 1.19122253e+02] [-1.01509711e-01 9.94805902e-01 -7.54962783e-03 -1.40991707e+01] [-5.69650138e-02 1.76401721e-03 9.98374617e-01 -7.94976155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58071405700002 meters 0.025783162891457052 Centerline is valid? [True, True] Translation: X:119.18, Y:-14.12, Z:-7.95 [[ 9.93917626e-01 9.43164497e-02 5.68520882e-02 1.19179838e+02] [-9.40357752e-02 9.95539824e-01 -7.59808931e-03 -1.41203664e+01] [-5.73151427e-02 2.20574471e-03 9.98353699e-01 -7.95430060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64071405700001 meters 0.030023148351995224 Centerline is valid? [True, True] Translation: X:119.24, Y:-14.14, Z:-7.96 [[ 9.94564386e-01 8.61899380e-02 5.84206887e-02 1.19236429e+02] [-8.58795914e-02 9.96274935e-01 -7.80702516e-03 -1.41441395e+01] [-5.88759548e-02 2.74744431e-03 9.98261526e-01 -7.95835168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70071405700001 meters 0.032854820403615995 Centerline is valid? [True, True] Translation: X:119.29, Y:-14.16, Z:-7.96 [[ 9.95367526e-01 7.77404663e-02 5.65677272e-02 1.19294677e+02] [-7.74359147e-02 9.96968673e-01 -7.55933979e-03 -1.41626727e+01] [-5.69839186e-02 3.14394765e-03 9.98370146e-01 -7.96471684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76071405700002 meters 0.032175474771653036 Centerline is valid? [True, True] Translation: X:119.35, Y:-14.17, Z:-7.97 [[ 9.95726930e-01 7.35698399e-02 5.58154123e-02 1.19353555e+02] [-7.32668549e-02 9.97284485e-01 -7.45814402e-03 -1.41729770e+01] [-5.62125392e-02 3.33685513e-03 9.98413249e-01 -7.96922594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82071405700002 meters 0.03395444181048664 Centerline is valid? [True, True] Translation: X:119.41, Y:-14.19, Z:-7.97 [[ 9.95841103e-01 7.08354376e-02 5.72960560e-02 1.19412640e+02] [-7.05117040e-02 9.97481580e-01 -7.65482201e-03 -1.41870543e+01] [-5.76939931e-02 3.58294386e-03 9.98327885e-01 -7.97300870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88071405700002 meters 0.03494755360951239 Centerline is valid? [True, True] Translation: X:119.47, Y:-14.20, Z:-7.98 [[ 9.95989846e-01 6.96701118e-02 5.61275608e-02 1.19472319e+02] [-6.93576234e-02 9.97563677e-01 -7.49870966e-03 -1.41971193e+01] [-5.65132519e-02 3.57576445e-03 9.98395446e-01 -7.97766197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94071405700002 meters 0.03471811710685542 Centerline is valid? [True, True] Translation: X:119.53, Y:-14.21, Z:-7.98 [[ 9.95999527e-01 6.96308854e-02 5.60043064e-02 1.19532527e+02] [-6.93197080e-02 9.97566436e-01 -7.48224272e-03 -1.42053573e+01] [-5.63890116e-02 3.57010804e-03 9.98402491e-01 -7.98211930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00071405700001 meters 0.038548417285134084 Centerline is valid? [True, True] Translation: X:119.59, Y:-14.22, Z:-7.99 [[ 9.96004146e-01 6.92483686e-02 5.63950708e-02 1.19591436e+02] [-6.89322255e-02 9.97592894e-01 -7.53431145e-03 -1.42180114e+01] [-5.67810607e-02 3.61676771e-03 9.98380103e-01 -7.98583767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06071405700001 meters 0.032659399455182134 Centerline is valid? [True, True] Translation: X:119.65, Y:-14.22, Z:-7.99 [[ 9.95939348e-01 6.94944742e-02 5.72305192e-02 1.19652902e+02] [-6.91692192e-02 9.97575632e-01 -7.64708792e-03 -1.42160331e+01] [-5.76232017e-02 3.65744542e-03 9.98331703e-01 -7.98814941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12071405700001 meters 0.03351936894563112 Centerline is valid? [True, True] Translation: X:119.71, Y:-14.22, Z:-7.99 [[ 9.95892014e-01 6.97266475e-02 5.77692971e-02 1.19713257e+02] [-6.93956199e-02 9.97559354e-01 -7.71907891e-03 -1.42230757e+01] [-5.81665282e-02 3.67843285e-03 9.98300117e-01 -7.99165773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18071405700002 meters 0.03329170866461594 Centerline is valid? [True, True] Translation: X:119.77, Y:-14.23, Z:-8.00 [[ 9.96046259e-01 6.86739296e-02 5.63537148e-02 1.19774365e+02] [-6.83572872e-02 9.97632490e-01 -7.52964039e-03 -1.42287438e+01] [-5.67373868e-02 3.64768308e-03 9.98382473e-01 -7.99610374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24071405700002 meters 0.03729663442817324 Centerline is valid? [True, True] Translation: X:119.83, Y:-14.24, Z:-8.00 [[ 9.96010046e-01 6.83080950e-02 5.74281427e-02 1.19833111e+02] [-6.79785360e-02 9.97657262e-01 -7.67502196e-03 -1.42401501e+01] [-5.78178698e-02 3.74051791e-03 9.98320140e-01 -7.99964591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30071405700002 meters 0.03658002193037421 Centerline is valid? [True, True] Translation: X:119.89, Y:-14.24, Z:-8.00 [[ 9.95739141e-01 7.04011707e-02 5.95586995e-02 1.19894339e+02] [-7.00500302e-02 9.97511674e-01 -7.96580059e-03 -1.42441752e+01] [-5.99712997e-02 3.75977073e-03 9.98193021e-01 -8.00137081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36071405700001 meters 0.03351597040329304 Centerline is valid? [True, True] Translation: X:119.95, Y:-14.24, Z:-8.01 [[ 9.95337030e-01 7.53798234e-02 6.01837130e-02 1.19954930e+02] [-7.50302498e-02 9.97148760e-01 -8.05054057e-03 -1.42436344e+01] [-6.06189632e-02 3.49740211e-03 9.98154852e-01 -8.00507921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42071405700001 meters 0.031804859052531456 Centerline is valid? [True, True] Translation: X:120.01, Y:-14.24, Z:-8.01 [[ 9.94834401e-01 8.20241990e-02 5.98042299e-02 1.20014138e+02] [-8.16909645e-02 9.96625600e-01 -8.00001783e-03 -1.42448435e+01] [-6.02586215e-02 3.07322772e-03 9.98178067e-01 -8.00914521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48071405700001 meters 0.030945876785063338 Centerline is valid? [True, True] Translation: X:120.07, Y:-14.25, Z:-8.02 [[ 9.94460816e-01 8.76127839e-02 5.80662164e-02 1.20073669e+02] [-8.73083100e-02 9.96151076e-01 -7.76485526e-03 -1.42483530e+01] [-5.85230245e-02 2.65218107e-03 9.98282536e-01 -8.01506429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54071405700002 meters 0.026650516101107174 Centerline is valid? [True, True] Translation: X:120.13, Y:-14.25, Z:-8.02 [[ 9.94142373e-01 9.18627030e-02 5.69402049e-02 1.20134204e+02] [-9.15769548e-02 9.95768900e-01 -7.61310362e-03 -1.42465944e+01] [-5.73986455e-02 2.35409833e-03 9.98348563e-01 -8.01912912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60071405700002 meters 0.024781094376379917 Centerline is valid? [True, True] Translation: X:120.19, Y:-14.25, Z:-8.02 [[ 9.93730714e-01 9.61028543e-02 5.71271403e-02 1.20194187e+02] [-9.58222710e-02 9.95369161e-01 -7.63706763e-03 -1.42490947e+01] [-5.75965377e-02 2.11513635e-03 9.98337701e-01 -8.02231193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66071405700002 meters 0.024645836814695735 Centerline is valid? [True, True] Translation: X:120.25, Y:-14.25, Z:-8.03 [[ 9.93518111e-01 9.88487205e-02 5.61310438e-02 1.20253397e+02] [-9.85822600e-02 9.95100618e-01 -7.50319427e-03 -1.42536816e+01] [-5.65977175e-02 1.92103424e-03 9.98395216e-01 -8.02602133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72071405700001 meters 0.02438962452933892 Centerline is valid? [True, True] Translation: X:120.31, Y:-14.26, Z:-8.03 [[ 9.93467461e-01 9.90412839e-02 5.66853351e-02 1.20311581e+02] [-9.87700168e-02 9.95081461e-01 -7.57422720e-03 -1.42614019e+01] [-5.71566873e-02 1.92593677e-03 9.98363363e-01 -8.03005062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78071405700001 meters 0.024472373692104043 Centerline is valid? [True, True] Translation: X:120.37, Y:-14.27, Z:-8.03 [[ 9.93520328e-01 9.83710321e-02 5.69253779e-02 1.20369766e+02] [-9.80966029e-02 9.95147861e-01 -7.60211271e-03 -1.42705156e+01] [-5.73969957e-02 1.96866733e-03 9.98349493e-01 -8.03396986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84071405700001 meters 0.025311637256708607 Centerline is valid? [True, True] Translation: X:120.43, Y:-14.28, Z:-8.04 [[ 9.93743795e-01 9.65789600e-02 5.60872078e-02 1.20427905e+02] [-9.63099402e-02 9.95323240e-01 -7.48616399e-03 -1.42801339e+01] [-5.65479073e-02 2.03757339e-03 9.98397808e-01 -8.03868330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90071405700002 meters 0.025362795615217888 Centerline is valid? [True, True] Translation: X:120.49, Y:-14.29, Z:-8.04 [[ 9.93967911e-01 9.45546471e-02 5.55626648e-02 1.20486160e+02] [-9.42877070e-02 9.95517397e-01 -7.41218810e-03 -1.42889575e+01] [-5.60144563e-02 2.12860086e-03 9.98427689e-01 -8.04241582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96071405700002 meters 0.028190075171241794 Centerline is valid? [True, True] Translation: X:120.55, Y:-14.30, Z:-8.05 [[ 9.94679777e-01 8.70152042e-02 5.51406948e-02 1.20545351e+02] [-8.67410036e-02 9.96203773e-01 -7.35124273e-03 -1.43048898e+01] [-5.55710381e-02 2.52917326e-03 9.98451533e-01 -8.04615399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02071405700002 meters 0.030215652488278136 Centerline is valid? [True, True] Translation: X:120.60, Y:-14.32, Z:-8.05 [[ 9.95007216e-01 8.34218997e-02 5.47852791e-02 1.20603854e+02] [-8.31457856e-02 9.96510627e-01 -7.30402198e-03 -1.43174771e+01] [-5.52034282e-02 2.71238950e-03 9.98471444e-01 -8.05034126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08071405700002 meters 0.0295363163892867 Centerline is valid? [True, True] Translation: X:120.66, Y:-14.33, Z:-8.05 [[ 9.95427202e-01 7.84332623e-02 5.45243897e-02 1.20663675e+02] [-7.81523725e-02 9.96914931e-01 -7.26817497e-03 -1.43256453e+01] [-5.49262449e-02 2.97372866e-03 9.98485986e-01 -8.05430679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14071405700001 meters 0.03191651682212982 Centerline is valid? [True, True] Translation: X:120.72, Y:-14.34, Z:-8.06 [[ 9.95828740e-01 7.34178090e-02 5.41751396e-02 1.20722922e+02] [-7.31331408e-02 9.97296044e-01 -7.22115209e-03 -1.43378315e+01] [-5.45588135e-02 3.22903268e-03 9.98505338e-01 -8.05924488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20071405700001 meters 0.035957416967580064 Centerline is valid? [True, True] Translation: X:120.78, Y:-14.35, Z:-8.06 [[ 9.96142913e-01 6.82826698e-02 5.51069313e-02 1.20780564e+02] [-6.79802986e-02 9.97659625e-01 -7.34517565e-03 -1.43520511e+01] [-5.54795086e-02 3.57065902e-03 9.98453441e-01 -8.06309594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26071405700002 meters 0.03709921557287881 Centerline is valid? [True, True] Translation: X:120.84, Y:-14.36, Z:-8.07 [[ 9.96505599e-01 6.41048143e-02 5.35459016e-02 1.20839814e+02] [-6.38134141e-02 9.97936334e-01 -7.13591285e-03 -1.43612023e+01] [-5.38928471e-02 3.69403032e-03 9.98539892e-01 -8.06819240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32071405700002 meters 0.03711412176870078 Centerline is valid? [True, True] Translation: X:120.90, Y:-14.37, Z:-8.07 [[ 9.96664336e-01 6.21338985e-02 5.29110589e-02 1.20900466e+02] [-6.18466249e-02 9.98060758e-01 -7.05108863e-03 -1.43685697e+01] [-5.32465632e-02 3.75519816e-03 9.98574335e-01 -8.07339718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38071405700002 meters 0.05530067853670535 Centerline is valid? [True, True] Translation: X:120.96, Y:-14.40, Z:-8.08 [[ 9.96369458e-01 6.56345155e-02 5.42218851e-02 1.20956101e+02] [-6.53378293e-02 9.97837021e-01 -7.22829621e-03 -1.44001564e+01] [-5.45790300e-02 3.65931331e-03 9.98502749e-01 -8.08059488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44071405700002 meters 0.03553836204973854 Centerline is valid? [True, True] Translation: X:121.02, Y:-14.37, Z:-8.08 [[ 9.96259434e-01 6.82713086e-02 5.29732847e-02 1.21020637e+02] [-6.79918831e-02 9.97660885e-01 -7.06128057e-03 -1.43733856e+01] [-5.33314570e-02 3.43311400e-03 9.98570964e-01 -8.07984255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50071405700001 meters 0.03479051099478859 Centerline is valid? [True, True] Translation: X:121.08, Y:-14.38, Z:-8.08 [[ 9.95973832e-01 7.16708450e-02 5.38462179e-02 1.21080908e+02] [-7.13871212e-02 9.97422867e-01 -7.17664117e-03 -1.43771855e+01] [-5.42218049e-02 3.30382033e-03 9.98523450e-01 -8.08330354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56071405700001 meters 0.029815013581860922 Centerline is valid? [True, True] Translation: X:121.14, Y:-14.37, Z:-8.08 [[ 9.95440069e-01 7.79087357e-02 5.50390669e-02 1.21142490e+02] [-7.76218256e-02 9.96955894e-01 -7.33474918e-03 -1.43708997e+01] [-5.54429631e-02 3.02907038e-03 9.98457261e-01 -8.08419659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62071405700001 meters 0.029973052785776028 Centerline is valid? [True, True] Translation: X:121.20, Y:-14.38, Z:-8.09 [[ 9.95237379e-01 8.06018105e-02 5.48261605e-02 1.21200825e+02] [-8.03212623e-02 9.96742259e-01 -7.30505408e-03 -1.43755847e+01] [-5.52363517e-02 2.86655645e-03 9.98469192e-01 -8.08826993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68071405700002 meters 0.02893756591194022 Centerline is valid? [True, True] Translation: X:121.26, Y:-14.38, Z:-8.09 [[ 9.94909176e-01 8.44256666e-02 5.50276148e-02 1.21260889e+02] [-8.41490656e-02 9.96426228e-01 -7.32852074e-03 -1.43788831e+01] [-5.54496739e-02 2.66069017e-03 9.98457938e-01 -8.09230787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74071405700002 meters 0.027545482447815073 Centerline is valid? [True, True] Translation: X:121.32, Y:-14.38, Z:-8.09 [[ 9.94715194e-01 8.59654825e-02 5.61392840e-02 1.21319539e+02] [-8.56800576e-02 9.96294654e-01 -7.47596941e-03 -1.43815133e+01] [-5.65739439e-02 2.62644328e-03 9.98394957e-01 -8.09401638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80071405700002 meters 0.028420332755619566 Centerline is valid? [True, True] Translation: X:121.38, Y:-14.39, Z:-8.10 [[ 9.95031048e-01 8.35317278e-02 5.41817637e-02 1.21378188e+02] [-8.32625172e-02 9.96501557e-01 -7.21104377e-03 -1.43903176e+01] [-5.45945629e-02 2.66390240e-03 9.98505051e-01 -8.10065408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86071405700001 meters 0.030001860212448685 Centerline is valid? [True, True] Translation: X:121.44, Y:-14.40, Z:-8.11 [[ 9.95425148e-01 7.97811279e-02 5.25713367e-02 1.21437541e+02] [-7.95226071e-02 9.96808524e-01 -6.99440784e-03 -1.44009314e+01] [-5.29615783e-02 2.78179970e-03 9.98592676e-01 -8.10653011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92071405700001 meters 0.03191809514250355 Centerline is valid? [True, True] Translation: X:121.50, Y:-14.41, Z:-8.11 [[ 9.95665458e-01 7.69032297e-02 5.23085926e-02 1.21495141e+02] [-7.66432849e-02 9.97034283e-01 -6.96032948e-03 -1.44113874e+01] [-5.26887319e-02 2.92105727e-03 9.98606712e-01 -8.11052307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98071405700001 meters 0.032051263416122584 Centerline is valid? [True, True] Translation: X:121.55, Y:-14.42, Z:-8.11 [[ 9.95718397e-01 7.53004407e-02 5.36163943e-02 1.21552965e+02] [-7.50252083e-02 9.97156143e-01 -7.13059690e-03 -1.44186795e+01] [-5.40008540e-02 3.07748536e-03 9.98536147e-01 -8.11243671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04071405700002 meters 0.0337617095719573 Centerline is valid? [True, True] Translation: X:121.61, Y:-14.43, Z:-8.11 [[ 9.95414190e-01 7.79216507e-02 5.54869973e-02 1.21611127e+02] [-7.76312944e-02 9.96954878e-01 -7.37249714e-03 -1.44274004e+01] [-5.58925097e-02 3.03116085e-03 9.98432191e-01 -8.11458011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10071405700002 meters 0.0338984563458795 Centerline is valid? [True, True] Translation: X:121.67, Y:-14.43, Z:-8.12 [[ 9.95188854e-01 8.06038921e-02 5.56970125e-02 1.21669668e+02] [-8.03156285e-02 9.96742025e-01 -7.39839107e-03 -1.44344431e+01] [-5.61118921e-02 2.88945577e-03 9.98420306e-01 -8.11918012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16071405700002 meters 0.0341521116037516 Centerline is valid? [True, True] Translation: X:121.73, Y:-14.44, Z:-8.13 [[ 9.95261556e-01 8.08435121e-02 5.40255595e-02 1.21726830e+02] [-8.05727222e-02 9.96722906e-01 -7.17525934e-03 -1.44428814e+01] [-5.44285858e-02 2.78827338e-03 9.98513773e-01 -8.12503992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22071405700001 meters 0.03652209014964003 Centerline is valid? [True, True] Translation: X:121.78, Y:-14.45, Z:-8.13 [[ 9.95562308e-01 7.84769606e-02 5.19331971e-02 1.21784245e+02] [-7.82238486e-02 9.96911999e-01 -6.89170768e-03 -1.44536450e+01] [-5.23136676e-02 2.79870986e-03 9.98626781e-01 -8.13079806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28071405700001 meters 0.03048957172486013 Centerline is valid? [True, True] Translation: X:121.85, Y:-14.45, Z:-8.13 [[ 9.95896155e-01 7.50447697e-02 5.05878574e-02 1.21845308e+02] [-7.48003487e-02 9.97175952e-01 -6.71030654e-03 -1.44516282e+01] [-5.09485683e-02 2.89877910e-03 9.98697071e-01 -8.13274848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34071405700001 meters 0.03223212051189442 Centerline is valid? [True, True] Translation: X:121.90, Y:-14.46, Z:-8.14 [[ 9.96117826e-01 7.16768800e-02 5.11048063e-02 1.21904191e+02] [-7.14230672e-02 9.97423082e-01 -6.77791710e-03 -1.44630563e+01] [-5.14589334e-02 3.10154203e-03 9.98670295e-01 -8.13586804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40071405700002 meters 0.03560364626412956 Centerline is valid? [True, True] Translation: X:121.96, Y:-14.48, Z:-8.14 [[ 9.96222877e-01 6.97218190e-02 5.17575909e-02 1.21961823e+02] [-6.94588737e-02 9.97561202e-01 -6.86397117e-03 -1.44759429e+01] [-5.21099331e-02 3.24302113e-03 9.98636089e-01 -8.13888189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46071405700002 meters 0.0338968174185585 Centerline is valid? [True, True] Translation: X:122.02, Y:-14.48, Z:-8.14 [[ 9.96243217e-01 6.88684777e-02 5.25031887e-02 1.22020537e+02] [-6.85968561e-02 9.97620182e-01 -6.96016074e-03 -1.44808312e+01] [-5.28575764e-02 3.33245924e-03 9.98596501e-01 -8.14070907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52071405700002 meters 0.03660144276782919 Centerline is valid? [True, True] Translation: X:122.08, Y:-14.49, Z:-8.15 [[ 9.96266003e-01 6.90888341e-02 5.17762991e-02 1.22076703e+02] [-6.88251697e-02 9.97605149e-01 -6.86028090e-03 -1.44927310e+01] [-5.21262713e-02 3.27115206e-03 9.98635144e-01 -8.14632677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58071405700002 meters 0.0358283223424599 Centerline is valid? [True, True] Translation: X:122.14, Y:-14.50, Z:-8.15 [[ 9.96207572e-01 7.12265353e-02 4.99725405e-02 1.22136394e+02] [-7.09838608e-02 9.97455520e-01 -6.61645747e-03 -1.44983421e+01] [-5.03166537e-02 3.04412117e-03 9.98728676e-01 -8.15095947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64071405700001 meters 0.03494128134029695 Centerline is valid? [True, True] Translation: X:122.20, Y:-14.50, Z:-8.16 [[ 9.95959312e-01 7.56269812e-02 4.84314923e-02 1.22196046e+02] [-7.54043984e-02 9.97132438e-01 -6.40912451e-03 -1.45036582e+01] [-4.87773147e-02 2.73127970e-03 9.98805944e-01 -8.15513824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70071405700001 meters 0.02988726228536121 Centerline is valid? [True, True] Translation: X:122.26, Y:-14.50, Z:-8.16 [[ 9.95544568e-01 8.11093456e-02 4.80862570e-02 1.22257536e+02] [-8.08963102e-02 9.96702211e-01 -6.36318751e-03 -1.45025647e+01] [-4.84437926e-02 2.44483599e-03 9.98822918e-01 -8.15807352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76071405700002 meters 0.03212223574651057 Centerline is valid? [True, True] Translation: X:122.31, Y:-14.51, Z:-8.16 [[ 9.95368469e-01 8.31550286e-02 4.82374640e-02 1.22314326e+02] [-8.29429860e-02 9.96533843e-01 -6.38440055e-03 -1.45136902e+01] [-4.86011604e-02 2.35387170e-03 9.98815492e-01 -8.16331251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82071405700002 meters 0.03126755945222066 Centerline is valid? [True, True] Translation: X:122.37, Y:-14.52, Z:-8.17 [[ 9.94797806e-01 8.92719488e-02 4.90697953e-02 1.22373172e+02] [-8.90602122e-02 9.96005106e-01 -6.48898469e-03 -1.45191556e+01] [-4.94530510e-02 2.08506135e-03 9.98774273e-01 -8.16638381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88071405700002 meters 0.02552648133471836 Centerline is valid? [True, True] Translation: X:122.43, Y:-14.52, Z:-8.17 [[ 9.94237411e-01 9.49198359e-02 4.98216409e-02 1.22434355e+02] [-9.47086857e-02 9.95483236e-01 -6.58723533e-03 -1.45171894e+01] [-5.02218676e-02 1.83073366e-03 9.98736408e-01 -8.16657335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94071405700002 meters 0.02546086520704407 Centerline is valid? [True, True] Translation: X:122.49, Y:-14.53, Z:-8.17 [[ 9.94155423e-01 9.57307131e-02 4.99061740e-02 1.22492752e+02] [-9.55198419e-02 9.95405653e-01 -6.59886745e-03 -1.45258831e+01] [-5.03086020e-02 1.79327001e-03 9.98732111e-01 -8.17004820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00071405700001 meters 0.02606413736662649 Centerline is valid? [True, True] Translation: X:122.55, Y:-14.54, Z:-8.17 [[ 9.94407094e-01 9.36048309e-02 4.89148966e-02 1.22551150e+02] [-9.33998916e-02 9.95607694e-01 -6.46377887e-03 -1.45369689e+01] [-4.93050883e-02 1.85898152e-03 9.98782035e-01 -8.17482984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06071405700001 meters 0.02752852662843812 Centerline is valid? [True, True] Translation: X:122.61, Y:-14.55, Z:-8.18 [[ 9.94986987e-01 8.79385090e-02 4.76205309e-02 1.22610180e+02] [-8.77379039e-02 9.96123731e-01 -6.29062930e-03 -1.45518931e+01] [-4.79891295e-02 2.08096873e-03 9.98845690e-01 -8.18031011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12071405700001 meters 0.030688070425179993 Centerline is valid? [True, True] Translation: X:122.67, Y:-14.57, Z:-8.19 [[ 9.95515299e-01 8.25282643e-02 4.62425720e-02 1.22667303e+02] [-8.23332980e-02 9.96586131e-01 -6.10834956e-03 -1.45689494e+01] [-4.65888174e-02 2.27365198e-03 9.98911564e-01 -8.18604274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18071405700002 meters 0.028556987570453038 Centerline is valid? [True, True] Translation: X:122.73, Y:-14.58, Z:-8.19 [[ 9.95511666e-01 8.14812192e-02 4.81386901e-02 1.22725288e+02] [-8.12686964e-02 9.96671944e-01 -6.35891436e-03 -1.45758683e+01] [-4.84966139e-02 2.41820484e-03 9.98820420e-01 -8.18622136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24071405700002 meters 0.029013608793792403 Centerline is valid? [True, True] Translation: X:122.78, Y:-14.59, Z:-8.19 [[ 9.95278963e-01 8.27974767e-02 5.06395420e-02 1.22782639e+02] [-8.25642436e-02 9.96563330e-01 -6.68399104e-03 -1.45879463e+01] [-5.10189282e-02 2.47142020e-03 9.98694629e-01 -8.18829458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30071405700002 meters 0.027076616135956005 Centerline is valid? [True, True] Translation: X:122.84, Y:-14.60, Z:-8.19 [[ 9.95042233e-01 8.54369412e-02 5.09066112e-02 1.22842291e+02] [-8.52048872e-02 9.96340821e-01 -6.71525450e-03 -1.45951395e+01] [-5.12940657e-02 2.34446976e-03 9.98680841e-01 -8.19146924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36071405700001 meters 0.027200475088548635 Centerline is valid? [True, True] Translation: X:122.90, Y:-14.61, Z:-8.20 [[ 9.94866101e-01 8.80826936e-02 4.98285126e-02 1.22900343e+02] [-8.78637682e-02 9.96110825e-01 -6.57134212e-03 -1.46055987e+01] [-5.02135424e-02 2.15948463e-03 9.98736170e-01 -8.19636269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42071405700001 meters 0.026468357886795777 Centerline is valid? [True, True] Translation: X:122.96, Y:-14.62, Z:-8.20 [[ 9.94702534e-01 9.05584460e-02 4.86419224e-02 1.22958784e+02] [-9.03531103e-02 9.95889176e-01 -6.40822447e-03 -1.46154754e+01] [-4.90222829e-02 1.97932814e-03 9.98795724e-01 -8.20129687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48071405700001 meters 0.026307569481282767 Centerline is valid? [True, True] Translation: X:123.02, Y:-14.63, Z:-8.21 [[ 9.94470593e-01 9.27236699e-02 4.93007076e-02 1.23016766e+02] [-9.25155210e-02 9.95690077e-01 -6.49225870e-03 -1.46268650e+01] [-4.96902114e-02 1.89527972e-03 9.98762880e-01 -8.20532201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54071405700002 meters 0.024529689996553812 Centerline is valid? [True, True] Translation: X:123.07, Y:-14.64, Z:-8.21 [[ 9.94189962e-01 9.47720927e-02 5.10349778e-02 1.23074623e+02] [-9.45518542e-02 9.95497270e-01 -6.71804256e-03 -1.46353923e+01] [-5.14418640e-02 1.85355870e-03 9.98674271e-01 -8.20740615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60071405700002 meters 0.023517331825479364 Centerline is valid? [True, True] Translation: X:123.13, Y:-14.64, Z:-8.21 [[ 9.93759989e-01 9.81008506e-02 5.30783139e-02 1.23133534e+02] [-9.78675826e-02 9.95174950e-01 -6.98253631e-03 -1.46449998e+01] [-5.35072011e-02 1.74431893e-03 9.98565940e-01 -8.21027430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66071405700002 meters 0.023109909697398262 Centerline is valid? [True, True] Translation: X:123.19, Y:-14.66, Z:-8.21 [[ 9.93445972e-01 1.00859490e-01 5.37816302e-02 1.23191197e+02] [-1.00624115e-01 9.94899369e-01 -7.07342320e-03 -1.46552276e+01] [-5.42207318e-02 1.61533482e-03 9.98527668e-01 -8.21337361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72071405700001 meters 0.022651073456984014 Centerline is valid? [True, True] Translation: X:123.25, Y:-14.67, Z:-8.22 [[ 9.93346865e-01 1.01916251e-01 5.36198137e-02 1.23248501e+02] [-1.01684040e-01 9.94791776e-01 -7.04825285e-03 -1.46680892e+01] [-5.40588813e-02 1.54908056e-03 9.98536548e-01 -8.21762532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78071405700001 meters 0.022694180445618398 Centerline is valid? [True, True] Translation: X:123.31, Y:-14.68, Z:-8.22 [[ 9.93337641e-01 1.02427733e-01 5.28099440e-02 1.23306106e+02] [-1.02203412e-01 9.94739326e-01 -6.93803863e-03 -1.46807154e+01] [-5.32427756e-02 1.49445844e-03 9.98580479e-01 -8.22202866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84071405700001 meters 0.023490090333334643 Centerline is valid? [True, True] Translation: X:123.36, Y:-14.69, Z:-8.23 [[ 9.93369864e-01 1.02473686e-01 5.21100488e-02 1.23362017e+02] [-1.02255524e-01 9.94734631e-01 -6.84260319e-03 -1.46945515e+01] [-5.25368570e-02 1.46869547e-03 9.98617906e-01 -8.22676008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90071405700002 meters 0.02340427741956158 Centerline is valid? [True, True] Translation: X:123.42, Y:-14.71, Z:-8.23 [[ 9.93283251e-01 1.02536936e-01 5.36149161e-02 1.23419517e+02] [-1.02306348e-01 9.94728063e-01 -7.03510616e-03 -1.47068792e+01] [-5.40536199e-02 1.50270688e-03 9.98536904e-01 -8.22944290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96071405700002 meters 0.022508028615344275 Centerline is valid? [True, True] Translation: X:123.48, Y:-14.72, Z:-8.23 [[ 9.93381311e-01 1.01156530e-01 5.44143975e-02 1.23477868e+02] [-1.00917150e-01 9.94869240e-01 -7.13614658e-03 -1.47168966e+01] [-5.48570781e-02 1.59756871e-03 9.98492939e-01 -8.23228893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02071405700002 meters 0.025655077140661092 Centerline is valid? [True, True] Translation: X:123.53, Y:-14.74, Z:-8.24 [[ 9.93566949e-01 9.85940683e-02 5.57129114e-02 1.23533458e+02] [-9.83393228e-02 9.95126149e-01 -7.30234197e-03 -1.47364796e+01] [-5.61613426e-02 1.77659566e-03 9.98420126e-01 -8.23711536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08071405700002 meters 0.024105766286146135 Centerline is valid? [True, True] Translation: X:123.59, Y:-14.75, Z:-8.24 [[ 9.93952176e-01 9.41481573e-02 5.65260610e-02 1.23591863e+02] [-9.38790493e-02 9.95556083e-01 -7.40340572e-03 -1.47459800e+01] [-5.69718808e-02 2.05201837e-03 9.98373675e-01 -8.23942906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14071405700001 meters 0.027092889868152902 Centerline is valid? [True, True] Translation: X:123.65, Y:-14.76, Z:-8.24 [[ 9.94181796e-01 9.13531502e-02 5.70715215e-02 1.23648480e+02] [-9.10744078e-02 9.95816061e-01 -7.47160531e-03 -1.47620750e+01] [-5.75152924e-02 2.23037896e-03 9.98342134e-01 -8.24402867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20071405700001 meters 0.02655265465854911 Centerline is valid? [True, True] Translation: X:123.71, Y:-14.77, Z:-8.25 [[ 9.94480449e-01 8.78825323e-02 5.73175169e-02 1.23706726e+02] [-8.75958111e-02 9.96127860e-01 -7.50062843e-03 -1.47735572e+01] [-5.77547497e-02 2.43845395e-03 9.98327823e-01 -8.24822732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26071405700002 meters 0.026555468567143227 Centerline is valid? [True, True] Translation: X:123.76, Y:-14.79, Z:-8.25 [[ 9.94809832e-01 8.50087931e-02 5.59187162e-02 1.23764745e+02] [-8.47315516e-02 9.96376967e-01 -7.31459687e-03 -1.47851650e+01] [-5.63379259e-02 2.53855330e-03 9.98408531e-01 -8.25359569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32071405700002 meters 0.027171774270812476 Centerline is valid? [True, True] Translation: X:123.82, Y:-14.80, Z:-8.26 [[ 9.95003374e-01 8.27530199e-02 5.58589569e-02 1.23823025e+02] [-8.24730034e-02 9.96566536e-01 -7.30364033e-03 -1.47961212e+01] [-5.62715654e-02 2.66029084e-03 9.98411956e-01 -8.25753172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38071405700002 meters 0.028123790207014634 Centerline is valid? [True, True] Translation: X:123.88, Y:-14.81, Z:-8.26 [[ 9.95054370e-01 8.06381675e-02 5.80024750e-02 1.23881800e+02] [-8.03328451e-02 9.96739270e-01 -7.58035866e-03 -1.48087367e+01] [-5.84246108e-02 2.88336516e-03 9.98287659e-01 -8.26034115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44071405700002 meters 0.030518685626834414 Centerline is valid? [True, True] Translation: X:123.94, Y:-14.82, Z:-8.26 [[ 9.95090001e-01 7.97926799e-02 5.85578261e-02 1.23939478e+02] [-7.94801535e-02 9.96807089e-01 -7.65060895e-03 -1.48232452e+01] [-5.89813188e-02 2.95885947e-03 9.98254702e-01 -8.26485791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50071405700001 meters 0.0305996999596596 Centerline is valid? [True, True] Translation: X:124.00, Y:-14.83, Z:-8.27 [[ 9.95139173e-01 7.99906067e-02 5.74415215e-02 1.23999251e+02] [-7.96902937e-02 9.96791429e-01 -7.50360079e-03 -1.48326619e+01] [-5.78574339e-02 2.88959538e-03 9.98320674e-01 -8.26928829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56071405700001 meters 0.02950340953786989 Centerline is valid? [True, True] Translation: X:124.06, Y:-14.84, Z:-8.27 [[ 9.95291919e-01 7.85830926e-02 5.67335260e-02 1.24059573e+02] [-7.82878829e-02 9.96903248e-01 -7.41084003e-03 -1.48420935e+01] [-5.71402031e-02 2.93440156e-03 9.98361851e-01 -8.27451927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62071405700001 meters 0.03112234608895166 Centerline is valid? [True, True] Translation: X:124.12, Y:-14.85, Z:-8.28 [[ 9.95196843e-01 7.85765721e-02 5.83863585e-02 1.24118937e+02] [-7.82637379e-02 9.96903498e-01 -7.62908810e-03 -1.48541220e+01] [-5.88050327e-02 3.02290973e-03 9.98264910e-01 -8.27740006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68071405700002 meters 0.030124868967945292 Centerline is valid? [True, True] Translation: X:124.18, Y:-14.86, Z:-8.28 [[ 9.95110100e-01 7.92190305e-02 5.89935146e-02 1.24179548e+02] [-7.89007127e-02 9.96852668e-01 -7.70942047e-03 -1.48602809e+01] [-5.94185752e-02 3.01709183e-03 9.98228596e-01 -8.28080944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74071405700002 meters 0.0307488859760505 Centerline is valid? [True, True] Translation: X:124.24, Y:-14.87, Z:-8.28 [[ 9.94715401e-01 8.34661447e-02 5.97885775e-02 1.24238784e+02] [-8.31466774e-02 9.96506671e-01 -7.81569838e-03 -1.48680117e+01] [-6.02320625e-02 2.80317399e-03 9.98180465e-01 -8.28428420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80071405700002 meters 0.02893318515852469 Centerline is valid? [True, True] Translation: X:124.30, Y:-14.87, Z:-8.29 [[ 9.94471724e-01 8.57185878e-02 6.06491085e-02 1.24298645e+02] [-8.53940203e-02 9.96315716e-01 -7.92818895e-03 -1.48738228e+01] [-6.11052531e-02 2.70528853e-03 9.98127662e-01 -8.28790863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86071405700001 meters 0.027656629679546303 Centerline is valid? [True, True] Translation: X:124.36, Y:-14.88, Z:-8.29 [[ 9.94208894e-01 8.83263518e-02 6.12138159e-02 1.24358904e+02] [-8.80006311e-02 9.96088278e-01 -8.00200878e-03 -1.48785454e+01] [-6.16811527e-02 2.56881386e-03 9.98092599e-01 -8.29110000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92071405700001 meters 0.026293328822676813 Centerline is valid? [True, True] Translation: X:124.42, Y:-14.88, Z:-8.29 [[ 9.94084554e-01 8.95540442e-02 6.14489363e-02 1.24418016e+02] [-8.92281458e-02 9.95978821e-01 -8.03284476e-03 -1.48837189e+01] [-6.19212129e-02 2.50235225e-03 9.98077904e-01 -8.29433369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98071405700001 meters 0.02784449440499583 Centerline is valid? [True, True] Translation: X:124.48, Y:-14.90, Z:-8.30 [[ 9.94169106e-01 8.98773577e-02 5.95806049e-02 1.24476540e+02] [-8.95717152e-02 9.95949939e-01 -7.78637257e-03 -1.48961821e+01] [-6.00391183e-02 2.40423409e-03 9.98193130e-01 -8.30000483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04071405700002 meters 0.02599129075436711 Centerline is valid? [True, True] Translation: X:124.54, Y:-14.90, Z:-8.30 [[ 9.94240971e-01 8.96110884e-02 5.87770787e-02 1.24535354e+02] [-8.93132377e-02 9.95973974e-01 -7.68040345e-03 -1.49017584e+01] [-5.92286900e-02 2.38660058e-03 9.98241587e-01 -8.30455938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10071405700002 meters 0.029921596153439558 Centerline is valid? [True, True] Translation: X:124.59, Y:-14.92, Z:-8.31 [[ 9.94207667e-01 8.96070469e-02 5.93438513e-02 1.24593264e+02] [-8.93035498e-02 9.95974287e-01 -7.75212253e-03 -1.49189116e+01] [-5.97995948e-02 2.40760307e-03 9.98207499e-01 -8.30928935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16071405700002 meters 0.02687819282390918 Centerline is valid? [True, True] Translation: X:124.65, Y:-14.92, Z:-8.31 [[ 9.94286150e-01 8.84910311e-02 5.97025024e-02 1.24652986e+02] [-8.81819045e-02 9.96073865e-01 -7.79794719e-03 -1.49230233e+01] [-6.01581506e-02 2.48871053e-03 9.98185756e-01 -8.31217367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22071405700002 meters 0.028501015902059532 Centerline is valid? [True, True] Translation: X:124.71, Y:-14.94, Z:-8.32 [[ 9.94787582e-01 8.33397125e-02 5.87550802e-02 1.24712544e+02] [-8.30315118e-02 9.96517392e-01 -7.67178076e-03 -1.49362313e+01] [-5.91898232e-02 2.75326910e-03 9.98242949e-01 -8.31717906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28071405700001 meters 0.0329691419219806 Centerline is valid? [True, True] Translation: X:124.77, Y:-14.95, Z:-8.32 [[ 9.95271296e-01 7.64524622e-02 5.99171773e-02 1.24771373e+02] [-7.61194271e-02 9.97068007e-01 -7.82452227e-03 -1.49523476e+01] [-6.03397045e-02 3.22666122e-03 9.98172685e-01 -8.31963744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34071405700001 meters 0.03613120353725701 Centerline is valid? [True, True] Translation: X:124.83, Y:-14.97, Z:-8.32 [[ 9.95901658e-01 6.73719673e-02 6.03399118e-02 1.24830220e+02] [-6.70175929e-02 9.97720677e-01 -7.87990644e-03 -1.49667510e+01] [-6.07332624e-02 3.80377625e-03 9.98146784e-01 -8.32359937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40071405700002 meters 0.0373725988465795 Centerline is valid? [True, True] Translation: X:124.89, Y:-14.97, Z:-8.33 [[ 9.96270383e-01 6.37065270e-02 5.81962331e-02 1.24890057e+02] [-6.33706884e-02 9.97961119e-01 -7.60009563e-03 -1.49749259e+01] [-5.85617536e-02 3.88381484e-03 9.98276233e-01 -8.32878849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46071405700002 meters 0.03553703325307237 Centerline is valid? [True, True] Translation: X:124.95, Y:-14.98, Z:-8.33 [[ 9.96409417e-01 6.23441139e-02 5.72842519e-02 1.24952296e+02] [-6.20164809e-02 9.98047087e-01 -7.48121375e-03 -1.49782237e+01] [-5.76387904e-02 3.90178411e-03 9.98329878e-01 -8.33362946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52071405700002 meters 0.03562600799557119 Centerline is valid? [True, True] Translation: X:125.01, Y:-14.98, Z:-8.34 [[ 9.96488334e-01 6.18665130e-02 5.64228292e-02 1.25014036e+02] [-6.15477505e-02 9.98076918e-01 -7.37154329e-03 -1.49809476e+01] [-5.67703751e-02 3.87295868e-03 9.98379750e-01 -8.33806646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58071405700002 meters 0.03570423936469552 Centerline is valid? [True, True] Translation: X:125.08, Y:-14.99, Z:-8.34 [[ 9.96509892e-01 6.18276709e-02 5.60836346e-02 1.25075695e+02] [-6.15119186e-02 9.98079355e-01 -7.34058233e-03 -1.49870668e+01] [-5.64297690e-02 3.86515094e-03 9.98399089e-01 -8.34231385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64071405700001 meters 0.03902547431294148 Centerline is valid? [True, True] Translation: X:125.14, Y:-14.99, Z:-8.35 [[ 9.96445839e-01 6.33153940e-02 5.55594415e-02 1.25136532e+02] [-6.30070129e-02 9.97986485e-01 -7.28646007e-03 -1.49933174e+01] [-5.59089168e-02 3.75992837e-03 9.98428794e-01 -8.34687437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70071405700001 meters 0.03843288498681913 Centerline is valid? [True, True] Translation: X:125.20, Y:-15.00, Z:-8.35 [[ 9.96562823e-01 6.05378447e-02 5.65482993e-02 1.25198036e+02] [-6.02130573e-02 9.98157884e-01 -7.43139390e-03 -1.49957065e+01] [-5.68940113e-02 4.00090490e-03 9.98372207e-01 -8.34985937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76071405700002 meters 0.042047810878400815 Centerline is valid? [True, True] Translation: X:125.26, Y:-15.00, Z:-8.35 [[ 9.96771074e-01 5.71099210e-02 5.64436206e-02 1.25256609e+02] [-5.67807510e-02 9.98359100e-01 -7.41978035e-03 -1.50044602e+01] [-5.67747453e-02 4.19091126e-03 9.98378217e-01 -8.35410591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82071405700002 meters 0.04081963084140449 Centerline is valid? [True, True] Translation: X:125.32, Y:-15.01, Z:-8.36 [[ 9.97149204e-01 5.17575592e-02 5.49055473e-02 1.25317675e+02] [-5.14379827e-02 9.98650101e-01 -7.21872828e-03 -1.50060041e+01] [-5.52050541e-02 4.37391857e-03 9.98465458e-01 -8.35854136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88071405700002 meters 0.04236629013526845 Centerline is valid? [True, True] Translation: X:125.38, Y:-15.01, Z:-8.36 [[ 9.97371303e-01 4.81059145e-02 5.41876769e-02 1.25377402e+02] [-4.77891736e-02 9.98832021e-01 -7.12666621e-03 -1.50120324e+01] [-5.44672216e-02 4.51834807e-03 9.98505336e-01 -8.36266591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94071405700002 meters 0.0428012419458593 Centerline is valid? [True, True] Translation: X:125.44, Y:-15.02, Z:-8.37 [[ 9.97413252e-01 4.79321759e-02 5.35659575e-02 1.25439351e+02] [-4.76225579e-02 9.98840576e-01 -7.04238047e-03 -1.50151309e+01] [-5.38414085e-02 4.47321570e-03 9.98539480e-01 -8.36702819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.000714057 meters 0.0436409110126191 Centerline is valid? [True, True] Translation: X:125.50, Y:-15.02, Z:-8.37 [[ 9.97324499e-01 5.00096429e-02 5.33186539e-02 1.25499804e+02] [-4.97049467e-02 9.98739230e-01 -7.02626860e-03 -1.50174488e+01] [-5.36028125e-02 4.35726896e-03 9.98552829e-01 -8.37108226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.060714057 meters 0.040726819654369584 Centerline is valid? [True, True] Translation: X:125.56, Y:-15.02, Z:-8.37 [[ 9.97164985e-01 5.10639342e-02 5.52672343e-02 1.25561919e+02] [-5.07381550e-02 9.98685437e-01 -7.28272111e-03 -1.50158811e+01] [-5.55664664e-02 4.45791699e-03 9.98445038e-01 -8.37313053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12071405700001 meters 0.03825030429827768 Centerline is valid? [True, True] Translation: X:125.62, Y:-15.02, Z:-8.38 [[ 9.97007533e-01 5.29523127e-02 5.63207917e-02 1.25623964e+02] [-5.26168554e-02 9.98587181e-01 -7.42353542e-03 -1.50158298e+01] [-5.66343139e-02 4.43789778e-03 9.98385126e-01 -8.37641598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.180714057 meters 0.039648508966698415 Centerline is valid? [True, True] Translation: X:125.68, Y:-15.02, Z:-8.38 [[ 9.96928730e-01 5.49600930e-02 5.57897387e-02 1.25684303e+02] [-5.46338695e-02 9.98479351e-01 -7.35697857e-03 -1.50193465e+01] [-5.61092423e-02 4.28637400e-03 9.98415435e-01 -8.38133719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.240714057 meters 0.03987394572708823 Centerline is valid? [True, True] Translation: X:125.75, Y:-15.03, Z:-8.39 [[ 9.96914091e-01 5.52146563e-02 5.57999639e-02 1.25746824e+02] [-5.48887785e-02 9.98465370e-01 -7.35709230e-03 -1.50250490e+01] [-5.61205509e-02 4.27159713e-03 9.98414862e-01 -8.38653821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.300714057 meters 0.04202983135294866 Centerline is valid? [True, True] Translation: X:125.81, Y:-15.03, Z:-8.39 [[ 9.97012260e-01 5.49786090e-02 5.42577772e-02 1.25807798e+02] [-5.46692464e-02 9.98478770e-01 -7.17067859e-03 -1.50317903e+01] [-5.45694726e-02 4.18302267e-03 9.98501214e-01 -8.39267084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.360714057 meters 0.03802535344900118 Centerline is valid? [True, True] Translation: X:125.87, Y:-15.03, Z:-8.40 [[ 9.97033900e-01 5.46853093e-02 5.41564334e-02 1.25870918e+02] [-5.43763450e-02 9.98494817e-01 -7.16329728e-03 -1.50305528e+01] [-5.44666452e-02 4.19722132e-03 9.98506769e-01 -8.39597974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.420714057 meters 0.04694665127995096 Centerline is valid? [True, True] Translation: X:125.93, Y:-15.05, Z:-8.40 [[ 9.96966821e-01 5.40672662e-02 5.59811434e-02 1.25930356e+02] [-5.37352669e-02 9.98527648e-01 -7.42003328e-03 -1.50473189e+01] [-5.62999004e-02 4.38936531e-03 9.98404254e-01 -8.39922870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.480714057 meters 0.04832008466457085 Centerline is valid? [True, True] Translation: X:125.99, Y:-15.05, Z:-8.40 [[ 9.96941761e-01 5.27568014e-02 5.76527929e-02 1.25992416e+02] [-5.24015817e-02 9.98596738e-01 -7.65695101e-03 -1.50543937e+01] [-5.79758472e-02 4.61243668e-03 9.98307331e-01 -8.40259102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.540714057 meters 0.03991375271919843 Centerline is valid? [True, True] Translation: X:126.06, Y:-15.05, Z:-8.41 [[ 9.96962668e-01 5.24339919e-02 5.75857225e-02 1.26055493e+02] [-5.20789080e-02 9.98613666e-01 -7.65074725e-03 -1.50500302e+01] [-5.79070487e-02 4.62850784e-03 9.98311249e-01 -8.40579901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.600714057 meters 0.04364669849499773 Centerline is valid? [True, True] Translation: X:126.11, Y:-15.06, Z:-8.41 [[ 9.97263881e-01 4.88106656e-02 5.55182085e-02 1.26114134e+02] [-4.84741870e-02 9.98797082e-01 -7.39206999e-03 -1.50605045e+01] [-5.58122365e-02 4.68064438e-03 9.98430311e-01 -8.41239885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.660714057 meters 0.04416025790808627 Centerline is valid? [True, True] Translation: X:126.17, Y:-15.07, Z:-8.42 [[ 9.97590372e-01 4.47801475e-02 5.29923455e-02 1.26174722e+02] [-4.44679711e-02 9.98985892e-01 -7.05603359e-03 -1.50684439e+01] [-5.32545757e-02 4.68256909e-03 9.98569989e-01 -8.41923075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.720714057 meters 0.04596920651421609 Centerline is valid? [True, True] Translation: X:126.24, Y:-15.07, Z:-8.42 [[ 9.97692726e-01 4.45573013e-02 5.12237302e-02 1.26236867e+02] [-4.42654267e-02 9.98996533e-01 -6.81901262e-03 -1.50748612e+01] [-5.14761657e-02 4.53583901e-03 9.98663923e-01 -8.42365244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.780714057 meters 0.04168805652608727 Centerline is valid? [True, True] Translation: X:126.30, Y:-15.07, Z:-8.43 [[ 9.97397245e-01 4.99513036e-02 5.19961770e-02 1.26298855e+02] [-4.96569614e-02 9.98742233e-01 -6.93820202e-03 -1.50722690e+01] [-5.22773501e-02 4.33817143e-03 9.98623182e-01 -8.42602875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.840714057 meters 0.039702132543122035 Centerline is valid? [True, True] Translation: X:126.36, Y:-15.07, Z:-8.43 [[ 9.96810495e-01 5.85080903e-02 5.42737467e-02 1.26359896e+02] [-5.81998952e-02 9.98278673e-01 -7.24313997e-03 -1.50705371e+01] [-5.46041061e-02 4.06131157e-03 9.98499823e-01 -8.42775148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90071405700002 meters 0.0360665557463893 Centerline is valid? [True, True] Translation: X:126.42, Y:-15.07, Z:-8.43 [[ 9.96159197e-01 6.53550574e-02 5.82715300e-02 1.26421680e+02] [-6.50113243e-02 9.97854219e-01 -7.77723109e-03 -1.50675144e+01] [-5.86547734e-02 3.95905094e-03 9.98270476e-01 -8.42879588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.960714057 meters 0.034072513181353806 Centerline is valid? [True, True] Translation: X:126.48, Y:-15.07, Z:-8.43 [[ 9.95978620e-01 6.73849814e-02 5.90411090e-02 1.26482071e+02] [-6.70355886e-02 9.97719461e-01 -7.88085195e-03 -1.50689843e+01] [-5.94375145e-02 3.89130455e-03 9.98224444e-01 -8.43222268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.020714057 meters 0.03591595016331845 Centerline is valid? [True, True] Translation: X:126.54, Y:-15.08, Z:-8.44 [[ 9.96319409e-01 6.44159938e-02 5.65527560e-02 1.26541158e+02] [-6.40907693e-02 9.97915530e-01 -7.54769913e-03 -1.50788538e+01] [-5.69210661e-02 3.89540950e-03 9.98371082e-01 -8.43894433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.080714057 meters 0.040171828340593144 Centerline is valid? [True, True] Translation: X:126.60, Y:-15.09, Z:-8.45 [[ 9.96644699e-01 6.12268137e-02 5.43196139e-02 1.26599548e+02] [-6.09221424e-02 9.98116200e-01 -7.24865952e-03 -1.50926519e+01] [-5.46610989e-02 3.91507084e-03 9.98497289e-01 -8.44559003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.140714057 meters 0.04027369518216914 Centerline is valid? [True, True] Translation: X:126.66, Y:-15.10, Z:-8.45 [[ 9.96929383e-01 5.84529649e-02 5.21062060e-02 1.26659675e+02] [-5.81689356e-02 9.98282546e-01 -6.95221680e-03 -1.50999953e+01] [-5.24230937e-02 3.89990666e-03 9.98617349e-01 -8.45117941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.200714057 meters 0.04147254896196808 Centerline is valid? [True, True] Translation: X:126.72, Y:-15.11, Z:-8.45 [[ 9.96783335e-01 5.98711777e-02 5.32768671e-02 1.26718534e+02] [-5.95762104e-02 9.98198446e-01 -7.10895517e-03 -1.51076554e+01] [-5.36065075e-02 3.91205420e-03 9.98554474e-01 -8.45447310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.260714057 meters 0.0371572126069231 Centerline is valid? [True, True] Translation: X:126.78, Y:-15.11, Z:-8.46 [[ 9.96317721e-01 6.60915126e-02 5.46160354e-02 1.26779759e+02] [-6.57906076e-02 9.97806813e-01 -7.29114424e-03 -1.51060853e+01] [-5.49781350e-02 3.67107406e-03 9.98480810e-01 -8.45507014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.320714057 meters 0.032807596814022476 Centerline is valid? [True, True] Translation: X:126.84, Y:-15.10, Z:-8.46 [[ 9.95927515e-01 7.15152716e-02 5.48994667e-02 1.26841191e+02] [-7.12194380e-02 9.97433747e-01 -7.32880533e-03 -1.51031347e+01] [-5.52827023e-02 3.38904972e-03 9.98464990e-01 -8.45680740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.380714057 meters 0.03419495004651793 Centerline is valid? [True, True] Translation: X:126.90, Y:-15.11, Z:-8.46 [[ 9.95772875e-01 7.41331697e-02 5.42278079e-02 1.26899584e+02] [-7.38483942e-02 9.97243204e-01 -7.23930800e-03 -1.51124435e+01] [-5.46149857e-02 3.20407000e-03 9.98502347e-01 -8.46255591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.440714057 meters 0.033177045625021946 Centerline is valid? [True, True] Translation: X:126.96, Y:-15.12, Z:-8.47 [[ 9.95639734e-01 7.70210902e-02 5.26238726e-02 1.26959433e+02] [-7.67570566e-02 9.97025090e-01 -7.02312331e-03 -1.51178753e+01] [-5.30082500e-02 2.95324705e-03 9.98589707e-01 -8.46721854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.500714057 meters 0.02995064137128097 Centerline is valid? [True, True] Translation: X:127.02, Y:-15.12, Z:-8.47 [[ 9.95328078e-01 8.15615516e-02 5.16694340e-02 1.27020352e+02] [-8.13131642e-02 9.96664754e-01 -6.89475880e-03 -1.51175440e+01] [-5.20594509e-02 2.66114186e-03 9.98640442e-01 -8.46990864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.560714057 meters 0.028361576674839892 Centerline is valid? [True, True] Translation: X:127.08, Y:-15.12, Z:-8.47 [[ 9.94867144e-01 8.61614400e-02 5.30619734e-02 1.27080464e+02] [-8.59060268e-02 9.96278089e-01 -7.07985835e-03 -1.51209294e+01] [-5.34744922e-02 2.48517515e-03 9.98566123e-01 -8.47272217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62071405700001 meters 0.03119229636493528 Centerline is valid? [True, True] Translation: X:127.14, Y:-15.13, Z:-8.48 [[ 9.94649562e-01 8.80927399e-02 5.39621834e-02 1.27136750e+02] [-8.78313619e-02 9.96109331e-01 -7.20086745e-03 -1.51324306e+01] [-5.43865786e-02 2.42276759e-03 9.98517016e-01 -8.47667989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.680714057 meters 0.02864936910351159 Centerline is valid? [True, True] Translation: X:127.20, Y:-15.13, Z:-8.48 [[ 9.94786788e-01 8.69644124e-02 5.32582207e-02 1.27195976e+02] [-8.67085747e-02 9.96208418e-01 -7.10003407e-03 -1.51348502e+01] [-5.36737381e-02 2.44507567e-03 9.98555532e-01 -8.47937968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.740714057 meters 0.0292720571144217 Centerline is valid? [True, True] Translation: X:127.26, Y:-15.15, Z:-8.48 [[ 9.95171796e-01 8.31292376e-02 5.21787908e-02 1.27255292e+02] [-8.28786475e-02 9.96535400e-01 -6.95178079e-03 -1.51453702e+01] [-5.25759084e-02 2.59370856e-03 9.98613562e-01 -8.48413579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.800714057 meters 0.030882592777448977 Centerline is valid? [True, True] Translation: X:127.31, Y:-15.16, Z:-8.49 [[ 9.95684143e-01 7.78858736e-02 5.04665964e-02 1.27314442e+02] [-7.76448174e-02 9.96958419e-01 -6.72254394e-03 -1.51570175e+01] [-5.08366894e-02 2.77506074e-03 9.98703124e-01 -8.48803156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.860714057 meters 0.032604050547532265 Centerline is valid? [True, True] Translation: X:127.37, Y:-15.17, Z:-8.49 [[ 9.96141783e-01 7.19279640e-02 5.02783847e-02 1.27373329e+02] [-7.16811465e-02 9.97405112e-01 -6.69738997e-03 -1.51697517e+01] [-5.06296476e-02 3.06753773e-03 9.98712786e-01 -8.49193792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.920714057 meters 0.03604910231441415 Centerline is valid? [True, True] Translation: X:127.43, Y:-15.19, Z:-8.50 [[ 9.96482613e-01 6.66245273e-02 5.08288780e-02 1.27430424e+02] [-6.63654256e-02 9.97772416e-01 -6.77022242e-03 -1.51868504e+01] [-5.11667153e-02 3.37312880e-03 9.98684429e-01 -8.49684769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.980714057 meters 0.037862053596688545 Centerline is valid? [True, True] Translation: X:127.49, Y:-15.20, Z:-8.50 [[ 9.96758402e-01 6.31392937e-02 4.98609837e-02 1.27489411e+02] [-6.28854978e-02 9.97998632e-01 -6.64408254e-03 -1.51986242e+01] [-5.01806962e-02 3.48701231e-03 9.98734068e-01 -8.50116014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.040714057 meters 0.03542357302837723 Centerline is valid? [True, True] Translation: X:127.55, Y:-15.20, Z:-8.50 [[ 9.96844797e-01 6.22892599e-02 4.91985574e-02 1.27548484e+02] [-6.20411537e-02 9.98052063e-01 -6.55553906e-03 -1.52038118e+01] [-4.95110614e-02 3.48251974e-03 9.98767504e-01 -8.50382962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.100714057 meters 0.03955385981315759 Centerline is valid? [True, True] Translation: X:127.61, Y:-15.22, Z:-8.51 [[ 9.96966831e-01 6.08832854e-02 4.84805403e-02 1.27605238e+02] [-6.06407955e-02 9.98138760e-01 -6.45836858e-03 -1.52189551e+01] [-4.87835131e-02 3.49888073e-03 9.98803247e-01 -8.50942919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.160714057 meters 0.04005511367546098 Centerline is valid? [True, True] Translation: X:127.66, Y:-15.23, Z:-8.51 [[ 9.97084716e-01 5.98178091e-02 4.73698174e-02 1.27663735e+02] [-5.95852407e-02 9.98203291e-01 -6.30783826e-03 -1.52278930e+01] [-4.76620287e-02 3.46690714e-03 9.98857503e-01 -8.51304262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.220714057 meters 0.039840719982819905 Centerline is valid? [True, True] Translation: X:127.72, Y:-15.24, Z:-8.52 [[ 9.97101736e-01 5.92227735e-02 4.77576291e-02 1.27722923e+02] [-5.89858396e-02 9.98238581e-01 -6.35656043e-03 -1.52359343e+01] [-4.80499611e-02 3.52111358e-03 9.98838727e-01 -8.51650257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.280714057 meters 0.0376639976172025 Centerline is valid? [True, True] Translation: X:127.78, Y:-15.24, Z:-8.52 [[ 9.97034147e-01 5.95834402e-02 4.87106032e-02 1.27782766e+02] [-5.93374623e-02 9.98216938e-01 -6.48160815e-03 -1.52394924e+01] [-4.90099456e-02 3.57202107e-03 9.98791903e-01 -8.51788137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.340714057 meters 0.03728903785757249 Centerline is valid? [True, True] Translation: X:127.84, Y:-15.25, Z:-8.52 [[ 9.96906549e-01 6.07865430e-02 4.98229821e-02 1.27841835e+02] [-6.05307799e-02 9.98144327e-01 -6.62770914e-03 -1.52461668e+01] [-5.01334025e-02 3.59138268e-03 9.98736073e-01 -8.52023486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40071405700002 meters 0.03658988754600129 Centerline is valid? [True, True] Translation: X:127.90, Y:-15.25, Z:-8.52 [[ 9.96799577e-01 6.17727104e-02 5.07418428e-02 1.27901408e+02] [-6.15087976e-02 9.98083732e-01 -6.74776196e-03 -1.52534710e+01] [-5.10614354e-02 3.60509653e-03 9.98689007e-01 -8.52393959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.460714057 meters 0.036871862469943305 Centerline is valid? [True, True] Translation: X:127.96, Y:-15.26, Z:-8.53 [[ 9.96828427e-01 6.15781855e-02 5.04104638e-02 1.27959485e+02] [-6.13174733e-02 9.98095802e-01 -6.70352845e-03 -1.52617368e+01] [-5.07272634e-02 3.59122545e-03 9.98706087e-01 -8.52845126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.520714057 meters 0.03818189951024052 Centerline is valid? [True, True] Translation: X:128.02, Y:-15.27, Z:-8.53 [[ 9.97000593e-01 5.97745175e-02 4.91612192e-02 1.28018266e+02] [-5.95246006e-02 9.98205458e-01 -6.53335189e-03 -1.52727858e+01] [-4.94635253e-02 3.58745377e-03 9.98769488e-01 -8.53341334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.580714057 meters 0.03643651314742181 Centerline is valid? [True, True] Translation: X:128.08, Y:-15.28, Z:-8.54 [[ 9.97111109e-01 5.84368625e-02 4.85239117e-02 1.28077766e+02] [-5.81918997e-02 9.98284599e-01 -6.44692703e-03 -1.52791987e+01] [-4.88174119e-02 3.60460395e-03 9.98801215e-01 -8.53714923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.640714057 meters 0.037931346676181074 Centerline is valid? [True, True] Translation: X:128.14, Y:-15.29, Z:-8.54 [[ 9.97034576e-01 5.97508219e-02 4.84963273e-02 1.28135267e+02] [-5.95077850e-02 9.98207060e-01 -6.44116817e-03 -1.52901410e+01] [-4.87942414e-02 3.53615835e-03 9.98802592e-01 -8.54141656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.700714057 meters 0.03609015660466229 Centerline is valid? [True, True] Translation: X:128.20, Y:-15.30, Z:-8.54 [[ 9.96820527e-01 6.29737855e-02 4.88174096e-02 1.28195500e+02] [-6.27314144e-02 9.98009391e-01 -6.48268187e-03 -1.52960316e+01] [-4.91284723e-02 3.39968521e-03 9.98786682e-01 -8.54499849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.760714057 meters 0.033912104718312054 Centerline is valid? [True, True] Translation: X:128.26, Y:-15.30, Z:-8.55 [[ 9.96496505e-01 6.74386414e-02 4.94645855e-02 1.28255619e+02] [-6.71952955e-02 9.97718223e-01 -6.56802071e-03 -1.52991820e+01] [-4.97946567e-02 3.22122224e-03 9.98754282e-01 -8.54672276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.820714057 meters 0.03277553667784696 Centerline is valid? [True, True] Translation: X:128.32, Y:-15.31, Z:-8.55 [[ 9.96184075e-01 7.12306061e-02 5.04330297e-02 1.28315618e+02] [-7.09824704e-02 9.97455085e-01 -6.69647847e-03 -1.53060767e+01] [-5.07816761e-02 3.09106418e-03 9.98704995e-01 -8.54951338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.880714057 meters 0.03131670206149495 Centerline is valid? [True, True] Translation: X:128.37, Y:-15.31, Z:-8.55 [[ 9.95709085e-01 7.75874423e-02 5.04341909e-02 1.28374171e+02] [-7.73473950e-02 9.96981710e-01 -6.69698650e-03 -1.53125932e+01] [-5.08015680e-02 2.76729701e-03 9.98704933e-01 -8.55365718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.940714057 meters 0.028743589811664545 Centerline is valid? [True, True] Translation: X:128.43, Y:-15.32, Z:-8.56 [[ 9.94980927e-01 8.68987617e-02 4.96141186e-02 1.28434683e+02] [-8.66781341e-02 9.96214603e-01 -6.58532541e-03 -1.53169534e+01] [-4.99985661e-02 2.25181394e-03 9.98746751e-01 -8.55830305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.000714057 meters 0.0237046988497262 Centerline is valid? [True, True] Translation: X:128.50, Y:-15.32, Z:-8.56 [[ 9.93510207e-01 1.02789623e-01 4.87007298e-02 1.28495455e+02] [-1.02596105e-01 9.94702098e-01 -6.46347222e-03 -1.53152152e+01] [-4.91070960e-02 1.42502044e-03 9.98792502e-01 -8.56087375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.060714057 meters 0.02214286079881274 Centerline is valid? [True, True] Translation: X:128.56, Y:-15.32, Z:-8.56 [[ 9.92613208e-01 1.10193847e-01 5.07576173e-02 1.28555501e+02] [-1.09993272e-01 9.93909502e-01 -6.73666902e-03 -1.53203705e+01] [-5.11908176e-02 1.10391025e-03 9.98688280e-01 -8.56312079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12071405700001 meters 0.021330839812023477 Centerline is valid? [True, True] Translation: X:128.61, Y:-15.33, Z:-8.57 [[ 9.91657780e-01 1.17507316e-01 5.29799778e-02 1.28613500e+02] [-1.17299294e-01 9.93071729e-01 -7.02976011e-03 -1.53282372e+01] [-5.34389663e-02 7.56602346e-04 9.98570831e-01 -8.56632229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.180714057 meters 0.020889298404718787 Centerline is valid? [True, True] Translation: X:128.67, Y:-15.34, Z:-8.57 [[ 9.91609191e-01 1.17985835e-01 5.28257061e-02 1.28669900e+02] [-1.17779711e-01 9.93015011e-01 -7.00911182e-03 -1.53409245e+01] [-5.32836950e-02 7.28503299e-04 9.98579149e-01 -8.57110335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.240714057 meters 0.02156157848538727 Centerline is valid? [True, True] Translation: X:128.73, Y:-15.36, Z:-8.58 [[ 9.92398073e-01 1.12133821e-01 5.07155914e-02 1.28727027e+02] [-1.11937091e-01 9.93692628e-01 -6.71189432e-03 -1.53595971e+01] [-5.11483397e-02 9.83915206e-04 9.98690582e-01 -8.57748281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.300714057 meters 0.02288871469251417 Centerline is valid? [True, True] Translation: X:128.78, Y:-15.38, Z:-8.58 [[ 9.93590115e-01 1.01348445e-01 5.00717089e-02 1.28784666e+02] [-1.01143161e-01 9.94849834e-01 -6.62328275e-03 -1.53808692e+01] [-5.04850907e-02 1.51641736e-03 9.98723664e-01 -8.58098078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.360714057 meters 0.02611158601789434 Centerline is valid? [True, True] Translation: X:128.84, Y:-15.41, Z:-8.58 [[ 9.94613787e-01 9.00032775e-02 5.14084171e-02 1.28842521e+02] [-8.97717509e-02 9.95939153e-01 -6.79979787e-03 -1.54050582e+01] [-5.18116594e-02 2.14814909e-03 9.98654564e-01 -8.58412105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.420714057 meters 0.03259887456600591 Centerline is valid? [True, True] Translation: X:128.90, Y:-15.43, Z:-8.59 [[ 9.95383317e-01 8.00235089e-02 5.29932979e-02 1.28899025e+02] [-7.97633430e-02 9.96789182e-01 -7.00969857e-03 -1.54321133e+01] [-5.33840867e-02 2.75041443e-03 9.98570265e-01 -8.58735354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.480714057 meters 0.030846748108339452 Centerline is valid? [True, True] Translation: X:128.96, Y:-15.44, Z:-8.59 [[ 9.95924291e-01 7.24342013e-02 5.37409825e-02 1.28958861e+02] [-7.21556791e-02 9.97368057e-01 -7.10751911e-03 -1.54434529e+01] [-5.41143667e-02 3.20083384e-03 9.98529614e-01 -8.58947324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.540714057 meters 0.03212229992996766 Centerline is valid? [True, True] Translation: X:129.02, Y:-15.46, Z:-8.59 [[ 9.96445728e-01 6.59162533e-02 5.24495748e-02 1.29018152e+02] [-6.56419750e-02 9.97819128e-01 -6.93681038e-03 -1.54574166e+01] [-5.27924375e-02 3.46926140e-03 9.98599481e-01 -8.59436274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.600714057 meters 0.03709803458649803 Centerline is valid? [True, True] Translation: X:129.08, Y:-15.47, Z:-8.60 [[ 9.96732761e-01 6.28550365e-02 5.07252208e-02 1.29076291e+02] [-6.25945657e-02 9.98016489e-01 -6.70886347e-03 -1.54735647e+01] [-5.10462926e-02 3.51182085e-03 9.98690114e-01 -8.59985160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.660714057 meters 0.039866966669620016 Centerline is valid? [True, True] Translation: X:129.14, Y:-15.49, Z:-8.60 [[ 9.97077651e-01 5.72495807e-02 5.05830287e-02 1.29135763e+02] [-5.69834186e-02 9.98352713e-01 -6.68961400e-03 -1.54883871e+01] [-5.08826815e-02 3.78767071e-03 9.98697455e-01 -8.60483683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.720714057 meters 0.041479243963442415 Centerline is valid? [True, True] Translation: X:129.20, Y:-15.50, Z:-8.61 [[ 9.97175266e-01 5.55724660e-02 5.05290953e-02 1.29195781e+02] [-5.53046466e-02 9.98447153e-01 -6.68416457e-03 -1.54978124e+01] [-5.08220869e-02 3.87078983e-03 9.98700222e-01 -8.60787768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.780714057 meters 0.039685037187487386 Centerline is valid? [True, True] Translation: X:129.26, Y:-15.50, Z:-8.61 [[ 9.97218804e-01 5.50187139e-02 5.02752161e-02 1.29257445e+02] [-5.47529200e-02 9.98477790e-01 -6.64984601e-03 -1.55024363e+01] [-5.05645527e-02 3.87863660e-03 9.98713263e-01 -8.61052590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.840714057 meters 0.038972428505685545 Centerline is valid? [True, True] Translation: X:129.32, Y:-15.51, Z:-8.61 [[ 9.97264827e-01 5.23840209e-02 5.21419174e-02 1.29318673e+02] [-5.20940720e-02 9.98618308e-01 -6.90532062e-03 -1.55093829e+01] [-5.24316018e-02 4.17014857e-03 9.98615811e-01 -8.61193871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90071405700002 meters 0.04034880308407729 Centerline is valid? [True, True] Translation: X:129.38, Y:-15.52, Z:-8.62 [[ 9.97338989e-01 5.03517291e-02 5.27223340e-02 1.29378818e+02] [-5.00523446e-02 9.98722174e-01 -6.98439468e-03 -1.55178063e+01] [-5.30066403e-02 4.32693270e-03 9.98584785e-01 -8.61506428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.960714057 meters 0.039991991288709255 Centerline is valid? [True, True] Translation: X:129.44, Y:-15.52, Z:-8.62 [[ 9.97435357e-01 4.92289399e-02 5.19540280e-02 1.29440332e+02] [-4.89368102e-02 9.98778175e-01 -6.88081533e-03 -1.55240670e+01] [-5.22292845e-02 4.32070409e-03 9.98625772e-01 -8.61901249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.020714057 meters 0.04200793467963118 Centerline is valid? [True, True] Translation: X:129.50, Y:-15.53, Z:-8.62 [[ 9.97576965e-01 4.72362198e-02 5.10777696e-02 1.29500185e+02] [-4.69505013e-02 9.98874208e-01 -6.77991545e-03 -1.55342506e+01] [-5.13405242e-02 4.36536058e-03 9.98671665e-01 -8.62445959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.080714057 meters 0.043172729110729925 Centerline is valid? [True, True] Translation: X:129.56, Y:-15.54, Z:-8.63 [[ 9.97662714e-01 4.61465778e-02 5.03944664e-02 1.29561139e+02] [-4.58671899e-02 9.98925164e-01 -6.68709541e-03 -1.55427612e+01] [-5.06488872e-02 4.36001320e-03 9.98707004e-01 -8.62904223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.140714057 meters 0.04528195698170423 Centerline is valid? [True, True] Translation: X:129.62, Y:-15.55, Z:-8.63 [[ 9.97662163e-01 4.64037160e-02 5.01687536e-02 1.29621948e+02] [-4.61265689e-02 9.98913344e-01 -6.66866517e-03 -1.55522744e+01] [-5.04236883e-02 4.33896244e-03 9.98718491e-01 -8.63375082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.200714057 meters 0.04351095723594005 Centerline is valid? [True, True] Translation: X:129.68, Y:-15.56, Z:-8.64 [[ 9.97567592e-01 4.87891314e-02 4.97847332e-02 1.29683094e+02] [-4.85183049e-02 9.98800258e-01 -6.63473183e-03 -1.55552418e+01] [-5.00487071e-02 4.20312259e-03 9.98737934e-01 -8.63759573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.260714057 meters 0.042338185218011706 Centerline is valid? [True, True] Translation: X:129.74, Y:-15.56, Z:-8.64 [[ 9.97339888e-01 5.21176760e-02 5.09597496e-02 1.29743511e+02] [-5.18381509e-02 9.98632399e-01 -6.79250202e-03 -1.55586454e+01] [-5.12440664e-02 4.13277402e-03 9.98677609e-01 -8.64065575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.320714057 meters 0.041878597687212755 Centerline is valid? [True, True] Translation: X:129.80, Y:-15.56, Z:-8.64 [[ 9.97151464e-01 5.43418689e-02 5.23060200e-02 1.29803937e+02] [-5.40503949e-02 9.98513868e-01 -6.97203312e-03 -1.55632106e+01] [-5.26071596e-02 4.12501200e-03 9.98606765e-01 -8.64364986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.380714057 meters 0.043827186696680384 Centerline is valid? [True, True] Translation: X:129.86, Y:-15.57, Z:-8.65 [[ 9.97042658e-01 5.53974370e-02 5.32640714e-02 1.29864334e+02] [-5.50968056e-02 9.98455794e-01 -7.09721167e-03 -1.55736334e+01] [-5.35749880e-02 4.14154261e-03 9.98555240e-01 -8.64852664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.440714057 meters 0.04343352859075604 Centerline is valid? [True, True] Translation: X:129.93, Y:-15.58, Z:-8.65 [[ 9.97146475e-01 5.44702878e-02 5.22675393e-02 1.29926198e+02] [-5.41788234e-02 9.98506865e-01 -6.97820408e-03 -1.55793138e+01] [-5.25696016e-02 4.12649781e-03 9.98608737e-01 -8.65317752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.500714057 meters 0.04532217386543438 Centerline is valid? [True, True] Translation: X:129.99, Y:-15.59, Z:-8.66 [[ 9.97279713e-01 5.30463405e-02 5.11786997e-02 1.29986738e+02] [-5.27648363e-02 9.98583561e-01 -6.83688493e-03 -1.55876548e+01] [-5.14688800e-02 4.11785093e-03 9.98666109e-01 -8.65830066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.560714057 meters 0.04816059998154475 Centerline is valid? [True, True] Translation: X:130.05, Y:-15.60, Z:-8.66 [[ 9.97411958e-01 5.11461908e-02 5.05316977e-02 1.30045812e+02] [-5.08692446e-02 9.98682494e-01 -6.75244525e-03 -1.55984517e+01] [-5.08104837e-02 4.16446035e-03 9.98699631e-01 -8.66448634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62071405700001 meters 0.05140556597688961 Centerline is valid? [True, True] Translation: X:130.11, Y:-15.61, Z:-8.67 [[ 9.97503799e-01 5.01019017e-02 4.97591285e-02 1.30105741e+02] [-4.98320486e-02 9.98735474e-01 -6.64980983e-03 -1.56077798e+01] [-5.00293749e-02 4.15361126e-03 9.98739110e-01 -8.66890740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.680714057 meters 0.04382529832700618 Centerline is valid? [True, True] Translation: X:130.17, Y:-15.60, Z:-8.67 [[ 9.97390393e-01 5.13512699e-02 5.07489009e-02 1.30168554e+02] [-5.10720771e-02 9.98671929e-01 -6.78384488e-03 -1.56021339e+01] [-5.10298618e-02 4.17428993e-03 9.98688404e-01 -8.66962206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.740714057 meters 0.04159075701051624 Centerline is valid? [True, True] Translation: X:130.23, Y:-15.60, Z:-8.67 [[ 9.97286045e-01 5.22142529e-02 5.19058460e-02 1.30230720e+02] [-5.19233698e-02 9.98626973e-01 -6.93774077e-03 -1.56041523e+01] [-5.21968268e-02 4.22378562e-03 9.98627884e-01 -8.67199203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.800714057 meters 0.041048380794272206 Centerline is valid? [True, True] Translation: X:130.29, Y:-15.61, Z:-8.68 [[ 9.97306870e-01 5.16420848e-02 5.20778458e-02 1.30292018e+02] [-5.13477796e-02 9.98656479e-01 -6.97435183e-03 -1.56101769e+01] [-5.23680482e-02 4.28148725e-03 9.98618674e-01 -8.67589536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.860714057 meters 0.04278978153599396 Centerline is valid? [True, True] Translation: X:130.35, Y:-15.62, Z:-8.68 [[ 9.97386470e-01 5.08218400e-02 5.13553241e-02 1.30353511e+02] [-5.05338363e-02 9.98698570e-01 -6.89187154e-03 -1.56194336e+01] [-5.16387463e-02 4.27867789e-03 9.98656664e-01 -8.68120566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.920714057 meters 0.04445581990122482 Centerline is valid? [True, True] Translation: X:130.41, Y:-15.63, Z:-8.69 [[ 9.97454617e-01 4.99164820e-02 5.09178846e-02 1.30414577e+02] [-4.96320090e-02 9.98744172e-01 -6.83686987e-03 -1.56285389e+01] [-5.11952130e-02 4.29231052e-03 9.98679441e-01 -8.68599795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.980714057 meters 0.04249893243669939 Centerline is valid? [True, True] Translation: X:130.48, Y:-15.63, Z:-8.69 [[ 9.97395239e-01 5.06671568e-02 5.13378591e-02 1.30476934e+02] [-5.03788801e-02 9.98706379e-01 -6.89466885e-03 -1.56316385e+01] [-5.16207806e-02 4.29036604e-03 9.98657543e-01 -8.68862638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.040714057 meters 0.04127740655633404 Centerline is valid? [True, True] Translation: X:130.54, Y:-15.63, Z:-8.69 [[ 9.97272323e-01 5.24004113e-02 5.19818355e-02 1.30538798e+02] [-5.21063491e-02 9.98617028e-01 -6.99712024e-03 -1.56343185e+01] [-5.22765981e-02 4.26945068e-03 9.98623517e-01 -8.69188544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.100714057 meters 0.041580364785305635 Centerline is valid? [True, True] Translation: X:130.60, Y:-15.64, Z:-8.70 [[ 9.97088602e-01 5.41953347e-02 5.36394096e-02 1.30599675e+02] [-5.38845956e-02 9.98521042e-01 -7.22353239e-03 -1.56403239e+01] [-5.39515609e-02 4.31216392e-03 9.98534243e-01 -8.69550845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.160714057 meters 0.04226767794180251 Centerline is valid? [True, True] Translation: X:130.66, Y:-15.65, Z:-8.70 [[ 9.96979715e-01 5.59154565e-02 5.38972136e-02 1.30660636e+02] [-5.56041113e-02 9.98426498e-01 -7.26016007e-03 -1.56461957e+01] [-5.42183614e-02 4.24132565e-03 9.98520095e-01 -8.69874064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.220714057 meters 0.043001725476669535 Centerline is valid? [True, True] Translation: X:130.72, Y:-15.65, Z:-8.70 [[ 9.96890803e-01 5.64861051e-02 5.49367612e-02 1.30721929e+02] [-5.61633743e-02 9.98394153e-01 -7.40207079e-03 -1.56540601e+01] [-5.52666553e-02 4.29362240e-03 9.98462399e-01 -8.70265852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.280714057 meters 0.04459294481006488 Centerline is valid? [True, True] Translation: X:130.78, Y:-15.66, Z:-8.71 [[ 9.96888368e-01 5.79824505e-02 5.34005378e-02 1.30782230e+02] [-5.76796226e-02 9.98309210e-01 -7.19598647e-03 -1.56626312e+01] [-5.37274897e-02 4.09347234e-03 9.98547245e-01 -8.70895751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.340714057 meters 0.041303902219245694 Centerline is valid? [True, True] Translation: X:130.84, Y:-15.66, Z:-8.71 [[ 9.96748121e-01 6.08710459e-02 5.28005647e-02 1.30843726e+02] [-6.05782723e-02 9.98137990e-01 -7.12917285e-03 -1.56629686e+01] [-5.31362097e-02 3.90742266e-03 9.98579629e-01 -8.71267426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40071405700002 meters 0.03843574596401175 Centerline is valid? [True, True] Translation: X:130.90, Y:-15.66, Z:-8.72 [[ 9.96320869e-01 6.61088547e-02 5.45375509e-02 1.30903792e+02] [-6.58041538e-02 9.97805370e-01 -7.36590798e-03 -1.56643248e+01] [-5.49048129e-02 3.75001046e-03 9.98484551e-01 -8.71546043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.460714057 meters 0.03352333434003422 Centerline is valid? [True, True] Translation: X:130.96, Y:-15.66, Z:-8.72 [[ 9.95770244e-01 7.21991860e-02 5.68233909e-02 1.30964892e+02] [-7.18783346e-02 9.97383894e-01 -7.67287009e-03 -1.56621918e+01] [-5.72287099e-02 3.55604502e-03 9.98354761e-01 -8.71660693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.520714057 meters 0.031224550949181 Centerline is valid? [True, True] Translation: X:131.03, Y:-15.66, Z:-8.72 [[ 9.95135551e-01 7.96534552e-02 5.79703623e-02 1.31025421e+02] [-7.93321313e-02 9.96817511e-01 -7.82701323e-03 -1.56638003e+01] [-5.84093210e-02 3.19002672e-03 9.98287621e-01 -8.71958180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.580714057 meters 0.03061799618715811 Centerline is valid? [True, True] Translation: X:131.08, Y:-15.67, Z:-8.72 [[ 9.94501898e-01 8.65068645e-02 5.90130244e-02 1.31083961e+02] [-8.61859179e-02 9.96247215e-01 -7.96712047e-03 -1.56694206e+01] [-5.94807718e-02 2.83722475e-03 9.98225419e-01 -8.72377384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.640714057 meters 0.02834492678331644 Centerline is valid? [True, True] Translation: X:131.14, Y:-15.67, Z:-8.73 [[ 9.94097169e-01 9.11927750e-02 5.87766590e-02 1.31143471e+02] [-9.08827206e-02 9.95830009e-01 -7.93251388e-03 -1.56731036e+01] [-5.92549488e-02 2.54390692e-03 9.98239640e-01 -8.72879472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.700714057 meters 0.02748504235956387 Centerline is valid? [True, True] Translation: X:131.20, Y:-15.68, Z:-8.73 [[ 9.93862434e-01 9.40383525e-02 5.82602046e-02 1.31202027e+02] [-9.37387263e-02 9.95565799e-01 -7.86075112e-03 -1.56814762e+01] [-5.87410792e-02 2.35126787e-03 9.98270483e-01 -8.73470917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.760714057 meters 0.029023698404244534 Centerline is valid? [True, True] Translation: X:131.26, Y:-15.69, Z:-8.74 [[ 9.93816593e-01 9.42500925e-02 5.86983788e-02 1.31258432e+02] [-9.39464125e-02 9.95545768e-01 -7.91805728e-03 -1.56935335e+01] [-5.91832002e-02 2.35459460e-03 9.98244361e-01 -8.73882399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.820714057 meters 0.031125735613064427 Centerline is valid? [True, True] Translation: X:131.32, Y:-15.71, Z:-8.74 [[ 9.93969300e-01 9.19929998e-02 5.96851672e-02 1.31315625e+02] [-9.16752793e-02 9.95756451e-01 -8.04571485e-03 -1.57074458e+01] [-6.01720397e-02 2.52553918e-03 9.98184826e-01 -8.74275420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.880714057 meters 0.03338121303294386 Centerline is valid? [True, True] Translation: X:131.37, Y:-15.72, Z:-8.75 [[ 9.94201175e-01 8.86419937e-02 6.08820139e-02 1.31373812e+02] [-8.83053165e-02 9.96059671e-01 -8.20382878e-03 -1.57227280e+01] [-6.13693225e-02 2.78005071e-03 9.98111255e-01 -8.74694560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.940714057 meters 0.030196122996654456 Centerline is valid? [True, True] Translation: X:131.43, Y:-15.73, Z:-8.75 [[ 9.94568840e-01 8.42483918e-02 6.11149045e-02 1.31433201e+02] [-8.39009878e-02 9.96440083e-01 -8.23312206e-03 -1.57293901e+01] [-6.15909678e-02 3.06080580e-03 9.98096781e-01 -8.75109934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.000714057 meters 0.03137578086186339 Centerline is valid? [True, True] Translation: X:131.49, Y:-15.74, Z:-8.76 [[ 9.95086983e-01 7.84966655e-02 6.03338178e-02 1.31492108e+02] [-7.81476293e-02 9.96908674e-01 -8.12675165e-03 -1.57423377e+01] [-6.07852292e-02 3.37187995e-03 9.98145173e-01 -8.75634071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.060714057 meters 0.035922604986361004 Centerline is valid? [True, True] Translation: X:131.55, Y:-15.76, Z:-8.76 [[ 9.95536094e-01 7.32039928e-02 5.95739904e-02 1.31549028e+02] [-7.28542826e-02 9.97310316e-01 -8.02412649e-03 -1.57604044e+01] [-6.00011534e-02 3.64808721e-03 9.98191641e-01 -8.76148738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12071405700001 meters 0.034649360592526574 Centerline is valid? [True, True] Translation: X:131.61, Y:-15.77, Z:-8.77 [[ 9.95818891e-01 6.88470063e-02 6.00402078e-02 1.31608408e+02] [-6.84837031e-02 9.97619431e-01 -8.09034468e-03 -1.57680137e+01] [-6.04542739e-02 3.94474230e-03 9.98163173e-01 -8.76508478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.180714057 meters 0.04285036141974702 Centerline is valid? [True, True] Translation: X:131.67, Y:-15.79, Z:-8.77 [[ 9.96008300e-01 6.66356583e-02 5.93898628e-02 1.31666001e+02] [-6.62762984e-02 9.97769218e-01 -8.00246632e-03 -1.57885392e+01] [-5.97906266e-02 4.03438261e-03 9.98202787e-01 -8.77038675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.240714057 meters 0.0436717409517242 Centerline is valid? [True, True] Translation: X:131.73, Y:-15.80, Z:-8.78 [[ 9.96080565e-01 6.61964163e-02 5.86646642e-02 1.31726695e+02] [-6.58450450e-02 9.97798551e-01 -7.90456549e-03 -1.57977764e+01] [-5.90587708e-02 4.01080661e-03 9.98246450e-01 -8.77526789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.300714057 meters 0.0372312112285157 Centerline is valid? [True, True] Translation: X:131.79, Y:-15.80, Z:-8.78 [[ 9.96052317e-01 6.59633375e-02 5.94021889e-02 1.31787536e+02] [-6.56025188e-02 9.97813716e-01 -8.00613721e-03 -1.57954890e+01] [-5.98004304e-02 4.07759831e-03 9.98202025e-01 -8.77805528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.360714057 meters 0.037430900723570436 Centerline is valid? [True, True] Translation: X:131.85, Y:-15.80, Z:-8.78 [[ 9.96001439e-01 6.65827654e-02 5.95639930e-02 1.31847872e+02] [-6.62210769e-02 9.97772680e-01 -8.02794493e-03 -1.58021295e+01] [-5.99658477e-02 4.05145294e-03 9.98192207e-01 -8.78142466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.420714057 meters 0.037071937633314234 Centerline is valid? [True, True] Translation: X:131.91, Y:-15.81, Z:-8.78 [[ 9.95869713e-01 6.83949401e-02 5.97130430e-02 1.31908653e+02] [-6.80346808e-02 9.97650496e-01 -8.04795499e-03 -1.58076899e+01] [-6.01231864e-02 3.95215680e-03 9.98183141e-01 -8.78496215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.480714057 meters 0.03828094721585097 Centerline is valid? [True, True] Translation: X:131.97, Y:-15.81, Z:-8.79 [[ 9.95509438e-01 7.23259263e-02 6.10730696e-02 1.31967240e+02] [-7.19563257e-02 9.97373808e-01 -8.23248616e-03 -1.58141271e+01] [-6.15081022e-02 3.80092398e-03 9.98099347e-01 -8.78822763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.540714057 meters 0.03763632990639487 Centerline is valid? [True, True] Translation: X:132.03, Y:-15.82, Z:-8.79 [[ 9.95216111e-01 7.58923190e-02 6.15243742e-02 1.32026999e+02] [-7.55240796e-02 9.97109499e-01 -8.29218257e-03 -1.58173168e+01] [-6.19758509e-02 3.60594196e-03 9.98071135e-01 -8.79039108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.600714057 meters 0.03284096018383282 Centerline is valid? [True, True] Translation: X:132.09, Y:-15.81, Z:-8.79 [[ 9.95176312e-01 7.69787195e-02 6.08143491e-02 1.32087193e+02] [-7.66210640e-02 9.97026608e-01 -8.19483756e-03 -1.58135804e+01] [-6.12643523e-02 3.49564808e-03 9.98115454e-01 -8.79346447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.660714057 meters 0.032892392063679846 Centerline is valid? [True, True] Translation: X:132.15, Y:-15.82, Z:-8.80 [[ 9.95149380e-01 7.68986580e-02 6.13539577e-02 1.32145534e+02] [-7.65346714e-02 9.97032671e-01 -8.26423661e-03 -1.58207499e+01] [-6.18074090e-02 3.52844495e-03 9.98081858e-01 -8.79697055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.720714057 meters 0.032427534636242185 Centerline is valid? [True, True] Translation: X:132.21, Y:-15.83, Z:-8.80 [[ 9.95252765e-01 7.53799135e-02 6.15613636e-02 1.32205054e+02] [-7.50108486e-02 9.97148278e-01 -8.28760785e-03 -1.58258314e+01] [-6.20105269e-02 3.63049451e-03 9.98068892e-01 -8.80033829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.780714057 meters 0.03436849219714859 Centerline is valid? [True, True] Translation: X:132.26, Y:-15.84, Z:-8.80 [[ 9.95315151e-01 7.53441552e-02 6.05888537e-02 1.32262102e+02] [-7.49867325e-02 9.97151188e-01 -8.15468368e-03 -1.58356016e+01] [-6.10306551e-02 3.57312005e-03 9.98129497e-01 -8.80475848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.840714057 meters 0.031786741621438026 Centerline is valid? [True, True] Translation: X:132.32, Y:-15.84, Z:-8.81 [[ 9.95234854e-01 7.66911003e-02 6.02167861e-02 1.32321049e+02] [-7.63408475e-02 9.97048885e-01 -8.09913566e-03 -1.58384231e+01] [-6.06602110e-02 3.46354162e-03 9.98152465e-01 -8.80855215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90071405700002 meters 0.03165219900478625 Centerline is valid? [True, True] Translation: X:132.38, Y:-15.84, Z:-8.81 [[ 9.94909167e-01 8.08854956e-02 6.01106161e-02 1.32380304e+02] [-8.05443815e-02 9.96718271e-01 -8.08023338e-03 -1.58442976e+01] [-6.05669230e-02 3.19752586e-03 9.98159017e-01 -8.81292713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.960714057 meters 0.029498861142975653 Centerline is valid? [True, True] Translation: X:132.44, Y:-15.85, Z:-8.82 [[ 9.94685011e-01 8.37111514e-02 5.99514150e-02 1.32440075e+02] [-8.33770526e-02 9.96485498e-01 -8.05725636e-03 -1.58482373e+01] [-6.04151978e-02 3.01585985e-03 9.98168778e-01 -8.81678796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.020714057 meters 0.028886678487764227 Centerline is valid? [True, True] Translation: X:132.50, Y:-15.85, Z:-8.82 [[ 9.94332924e-01 8.80794520e-02 5.95318988e-02 1.32499056e+02] [-8.77579968e-02 9.96109716e-01 -7.99793815e-03 -1.58545550e+01] [-6.00047568e-02 2.72821304e-03 9.98194363e-01 -8.82059298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.080714057 meters 0.02693986163720338 Centerline is valid? [True, True] Translation: X:132.56, Y:-15.86, Z:-8.82 [[ 9.93978434e-01 9.17339138e-02 5.99313087e-02 1.32558137e+02] [-9.14148784e-02 9.95780361e-01 -8.04941868e-03 -1.58604795e+01] [-6.04168248e-02 2.52233528e-03 9.98170048e-01 -8.82365397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.140714057 meters 0.02669305680414123 Centerline is valid? [True, True] Translation: X:132.62, Y:-15.87, Z:-8.83 [[ 9.93922936e-01 9.28098043e-02 5.91906874e-02 1.32615723e+02] [-9.25006355e-02 9.95680904e-01 -7.94798432e-03 -1.58710130e+01] [-5.96726880e-02 2.42450771e-03 9.98215053e-01 -8.82923567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.200714057 meters 0.02653812891054802 Centerline is valid? [True, True] Translation: X:132.67, Y:-15.88, Z:-8.83 [[ 9.94134969e-01 9.16361742e-02 5.74323492e-02 1.32673093e+02] [-9.13434040e-02 9.95789622e-01 -7.70783737e-03 -1.58841632e+01] [-5.78968540e-02 2.41656439e-03 9.98319645e-01 -8.83495937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.260714057 meters 0.02738239542673969 Centerline is valid? [True, True] Translation: X:132.73, Y:-15.90, Z:-8.84 [[ 9.94447557e-01 8.91766195e-02 5.58711698e-02 1.32730624e+02] [-8.88959277e-02 9.96012726e-01 -7.49420255e-03 -1.58986940e+01] [-5.63167038e-02 2.48587194e-03 9.98409860e-01 -8.84010365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.320714057 meters 0.028024811629787993 Centerline is valid? [True, True] Translation: X:132.79, Y:-15.91, Z:-8.84 [[ 9.94635459e-01 8.74720902e-02 5.52171855e-02 1.32787957e+02] [-8.71954757e-02 9.96163709e-01 -7.40367015e-03 -1.59126073e+01] [-5.56529708e-02 2.54926409e-03 9.98446918e-01 -8.84431498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.380714057 meters 0.028371837886682755 Centerline is valid? [True, True] Translation: X:132.85, Y:-15.93, Z:-8.85 [[ 9.94846088e-01 8.54838888e-02 5.45322541e-02 1.32845986e+02] [-8.52113574e-02 9.96336100e-01 -7.30758122e-03 -1.59264610e+01] [-5.49571338e-02 2.62315120e-03 9.98485269e-01 -8.84898300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.440714057 meters 0.02848109841010713 Centerline is valid? [True, True] Translation: X:132.90, Y:-15.94, Z:-8.85 [[ 9.95062061e-01 8.30348942e-02 5.43755610e-02 1.32903723e+02] [-8.27603811e-02 9.96542850e-01 -7.28479360e-03 -1.59402772e+01] [-5.47924686e-02 2.74867958e-03 9.98493981e-01 -8.85303428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.500714057 meters 0.03232295417362978 Centerline is valid? [True, True] Translation: X:132.96, Y:-15.96, Z:-8.86 [[ 9.95287421e-01 8.07405747e-02 5.37020474e-02 1.32959693e+02] [-8.04696564e-02 9.96731114e-01 -7.19164957e-03 -1.59590154e+01] [-5.41071594e-02 2.83637306e-03 9.98531106e-01 -8.85812542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.560714057 meters 0.035467864302576986 Centerline is valid? [True, True] Translation: X:133.02, Y:-15.98, Z:-8.86 [[ 9.95317943e-01 7.98426319e-02 5.44733495e-02 1.33015298e+02] [-7.95626852e-02 9.96803193e-01 -7.29204761e-03 -1.59776382e+01] [-5.48814250e-02 2.92385987e-03 9.98488598e-01 -8.86245340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62071405700001 meters 0.030921368264737265 Centerline is valid? [True, True] Translation: X:133.07, Y:-15.98, Z:-8.87 [[ 9.95321132e-01 8.03884444e-02 5.36054269e-02 1.33073495e+02] [-8.01184017e-02 9.96759558e-01 -7.17114048e-03 -1.59843231e+01] [-5.40081985e-02 2.84280653e-03 9.98536445e-01 -8.86676186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.680714057 meters 0.030436750516933214 Centerline is valid? [True, True] Translation: X:133.13, Y:-16.00, Z:-8.87 [[ 9.95198794e-01 8.20551284e-02 5.33508766e-02 1.33131272e+02] [-8.17902501e-02 9.96624039e-01 -7.13306388e-03 -1.59972509e+01] [-5.37560706e-02 2.73523503e-03 9.98550351e-01 -8.87126228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.740714057 meters 0.030352337055547345 Centerline is valid? [True, True] Translation: X:133.19, Y:-16.01, Z:-8.88 [[ 9.95044272e-01 8.38675353e-02 5.34147301e-02 1.33189287e+02] [-8.36047801e-02 9.96473421e-01 -7.13870918e-03 -1.60104645e+01] [-5.38250648e-02 2.63760491e-03 9.98546897e-01 -8.87562009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.800714057 meters 0.028619622051098564 Centerline is valid? [True, True] Translation: X:133.25, Y:-16.02, Z:-8.88 [[ 9.95072892e-01 8.39492519e-02 5.27490611e-02 1.33247060e+02] [-8.36932621e-02 9.96466645e-01 -7.04719759e-03 -1.60205574e+01] [-5.31542869e-02 2.59773429e-03 9.98582933e-01 -8.87997411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.860714057 meters 0.0301459180361777 Centerline is valid? [True, True] Translation: X:133.30, Y:-16.04, Z:-8.88 [[ 9.95193553e-01 8.23774515e-02 5.29504181e-02 1.33303893e+02] [-8.21175050e-02 9.96597577e-01 -7.06995365e-03 -1.60367879e+01] [-5.33526632e-02 2.68781607e-03 9.98572115e-01 -8.88418084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.920714057 meters 0.03224546740847729 Centerline is valid? [True, True] Translation: X:133.36, Y:-16.05, Z:-8.89 [[ 9.95406198e-01 7.94201938e-02 5.34689933e-02 1.33360863e+02] [-7.91510318e-02 9.96837092e-01 -7.13623698e-03 -1.60536493e+01] [-5.38666371e-02 2.87132853e-03 9.98544010e-01 -8.88861596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.980714057 meters 0.03475948095894222 Centerline is valid? [True, True] Translation: X:133.42, Y:-16.07, Z:-8.89 [[ 9.95601834e-01 7.65470795e-02 5.40141965e-02 1.33419432e+02] [-7.62683699e-02 9.97061290e-01 -7.20552998e-03 -1.60701625e+01] [-5.44070267e-02 3.05426414e-03 9.98514170e-01 -8.89312503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.040714057 meters 0.03736607502313213 Centerline is valid? [True, True] Translation: X:133.48, Y:-16.09, Z:-8.90 [[ 9.95736544e-01 7.37028005e-02 5.54674053e-02 1.33477324e+02] [-7.34044744e-02 9.97274802e-01 -7.39944947e-03 -1.60852597e+01] [-5.58616058e-02 3.29634650e-03 9.98433080e-01 -8.89639003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.100714057 meters 0.03556967838434508 Centerline is valid? [True, True] Translation: X:133.54, Y:-16.09, Z:-8.90 [[ 9.95892794e-01 7.12825153e-02 5.58242353e-02 1.33537648e+02] [-7.09765959e-02 9.97450188e-01 -7.44618941e-03 -1.60926189e+01] [-5.62126771e-02 3.45339219e-03 9.98412845e-01 -8.89932866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.160714057 meters 0.03706581856883921 Centerline is valid? [True, True] Translation: X:133.60, Y:-16.10, Z:-8.90 [[ 9.96076265e-01 6.87528574e-02 5.57235875e-02 1.33597678e+02] [-6.84439400e-02 9.97627254e-01 -7.43563371e-03 -1.61047096e+01] [-5.61025907e-02 3.59251637e-03 9.98418546e-01 -8.90334685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.220714057 meters 0.03379542861402003 Centerline is valid? [True, True] Translation: X:133.66, Y:-16.11, Z:-8.91 [[ 9.96087314e-01 6.84079867e-02 5.59500655e-02 1.33659563e+02] [-6.80959997e-02 9.97650837e-01 -7.46601181e-03 -1.61083174e+01] [-5.63293646e-02 3.62682401e-03 9.98405653e-01 -8.90699020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.280714057 meters 0.03432343883971768 Centerline is valid? [True, True] Translation: X:133.72, Y:-16.12, Z:-8.91 [[ 9.95994702e-01 6.94835091e-02 5.62725144e-02 1.33720911e+02] [-6.91687718e-02 9.97576599e-01 -7.52396580e-03 -1.61172096e+01] [-5.66589351e-02 3.60152936e-03 9.98387096e-01 -8.91089080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.340714057 meters 0.03349145857886689 Centerline is valid? [True, True] Translation: X:133.78, Y:-16.12, Z:-8.91 [[ 9.95571174e-01 7.54469218e-02 5.60874221e-02 1.33780142e+02] [-7.51427219e-02 9.97144464e-01 -7.51599061e-03 -1.61213572e+01] [-5.64943207e-02 3.26814205e-03 9.98397572e-01 -8.91369587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40071405700002 meters 0.03253260785028665 Centerline is valid? [True, True] Translation: X:133.84, Y:-16.13, Z:-8.92 [[ 9.95084944e-01 8.14449398e-02 5.63265079e-02 1.33840131e+02] [-8.11477749e-02 9.96673509e-01 -7.54679935e-03 -1.61262439e+01] [-5.67537869e-02 2.93893563e-03 9.98383879e-01 -8.91821464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.460714057 meters 0.0320014417596192 Centerline is valid? [True, True] Translation: X:133.90, Y:-16.13, Z:-8.92 [[ 9.94734781e-01 8.50388358e-02 5.71936420e-02 1.33899219e+02] [-8.47383456e-02 9.96373769e-01 -7.66318904e-03 -1.61327835e+01] [-5.76379133e-02 2.77634606e-03 9.98333693e-01 -8.92172034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.520714057 meters 0.031964978432385126 Centerline is valid? [True, True] Translation: X:133.96, Y:-16.14, Z:-8.93 [[ 9.94725945e-01 8.58844568e-02 5.60727557e-02 1.33957277e+02] [-8.55970763e-02 9.96301521e-01 -7.51135214e-03 -1.61401731e+01] [-5.65104802e-02 2.67207291e-03 9.98398430e-01 -8.92623640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.580714057 meters 0.03355161563449007 Centerline is valid? [True, True] Translation: X:134.02, Y:-16.15, Z:-8.93 [[ 9.94972750e-01 8.34303324e-02 5.53949986e-02 1.34015506e+02] [-8.31462954e-02 9.96509753e-01 -7.41658435e-03 -1.61515233e+01] [-5.58204244e-02 2.77341041e-03 9.98436973e-01 -8.93048187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.640714057 meters 0.03465916042556478 Centerline is valid? [True, True] Translation: X:134.07, Y:-16.16, Z:-8.93 [[ 9.95158628e-01 8.10608796e-02 5.55737287e-02 1.34073809e+02] [-8.07714916e-02 9.96704896e-01 -7.43748727e-03 -1.61634272e+01] [-5.59934968e-02 2.91270666e-03 9.98426885e-01 -8.93447232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.700714057 meters 0.03687801252897282 Centerline is valid? [True, True] Translation: X:134.13, Y:-16.18, Z:-8.94 [[ 9.95266558e-01 7.96463100e-02 5.56861135e-02 1.34131488e+02] [-7.93536505e-02 9.96818683e-01 -7.45060535e-03 -1.61757057e+01] [-5.61023715e-02 2.99644195e-03 9.98420525e-01 -8.93839889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.760714057 meters 0.03829034628684401 Centerline is valid? [True, True] Translation: X:134.19, Y:-16.19, Z:-8.94 [[ 9.95381506e-01 7.78177738e-02 5.62143284e-02 1.34190806e+02] [-7.75167476e-02 9.96962696e-01 -7.51908931e-03 -1.61861625e+01] [-5.66287072e-02 3.12681054e-03 9.98390411e-01 -8.94103975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.820714057 meters 0.03815848552735833 Centerline is valid? [True, True] Translation: X:134.25, Y:-16.20, Z:-8.95 [[ 9.95623896e-01 7.44337442e-02 5.65037669e-02 1.34251253e+02] [-7.41241921e-02 9.97220381e-01 -7.55754440e-03 -1.61969449e+01] [-5.69092442e-02 3.33617573e-03 9.98373782e-01 -8.94542103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.880714057 meters 0.04295348569744943 Centerline is valid? [True, True] Translation: X:134.31, Y:-16.21, Z:-8.95 [[ 9.96180109e-01 6.68639503e-02 5.61640759e-02 1.34309599e+02] [-6.65460116e-02 9.97755062e-01 -7.51426586e-03 -1.62135814e+01] [-5.65404245e-02 3.74806693e-03 9.98393275e-01 -8.94997392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.940714057 meters 0.04608306652593147 Centerline is valid? [True, True] Translation: X:134.37, Y:-16.23, Z:-8.96 [[ 9.96467236e-01 6.30839795e-02 5.54387900e-02 1.34368895e+02] [-6.27683846e-02 9.98000558e-01 -7.41733342e-03 -1.62253608e+01] [-5.57958583e-02 3.91132644e-03 9.98434537e-01 -8.95508371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.000714057 meters 0.05186730077208523 Centerline is valid? [True, True] Translation: X:134.43, Y:-16.24, Z:-8.96 [[ 9.96937769e-01 5.66919354e-02 5.38619465e-02 1.34427256e+02] [-5.63847851e-02 9.98383105e-01 -7.20636138e-03 -1.62398185e+01] [-5.41834000e-02 4.14729956e-03 9.98522388e-01 -8.96123757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.060714057 meters 0.054602326012189194 Centerline is valid? [True, True] Translation: X:134.49, Y:-16.25, Z:-8.97 [[ 9.97090725e-01 5.39759527e-02 5.38208404e-02 1.34486832e+02] [-5.36652827e-02 9.98533009e-01 -7.20194694e-03 -1.62494565e+01] [-5.41306177e-02 4.29268388e-03 9.98524636e-01 -8.96536806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12071405700001 meters 0.057915028532968114 Centerline is valid? [True, True] Translation: X:134.55, Y:-16.26, Z:-8.97 [[ 9.97189341e-01 5.13644740e-02 5.45445604e-02 1.34547041e+02] [-5.10414899e-02 9.98669861e-01 -7.29902956e-03 -1.62582818e+01] [-5.48469193e-02 4.49447884e-03 9.98484659e-01 -8.96921232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.180714057 meters 0.060960035047714925 Centerline is valid? [True, True] Translation: X:134.61, Y:-16.26, Z:-8.97 [[ 9.97285988e-01 4.97927747e-02 5.42340965e-02 1.34606390e+02] [-4.94711215e-02 9.98749182e-01 -7.25810333e-03 -1.62645659e+01] [-5.45276606e-02 4.55538318e-03 9.98501869e-01 -8.97353711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.240714057 meters 0.06308342602159132 Centerline is valid? [True, True] Translation: X:134.67, Y:-16.27, Z:-8.98 [[ 9.97407079e-01 4.85965950e-02 5.30800304e-02 1.34667402e+02] [-4.82868402e-02 9.98808252e-01 -7.10331028e-03 -1.62691998e+01] [-5.33619691e-02 4.52182501e-03 9.98564997e-01 -8.97837646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.300714057 meters 0.06628873879665112 Centerline is valid? [True, True] Translation: X:134.73, Y:-16.28, Z:-8.98 [[ 9.97470348e-01 4.72238788e-02 5.31301229e-02 1.34727512e+02] [-4.69115082e-02 9.98873732e-01 -7.11185302e-03 -1.62754788e+01] [-5.34061334e-02 4.60144831e-03 9.98562272e-01 -8.98228798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.360714057 meters 0.04608909810757843 Centerline is valid? [True, True] Translation: X:134.79, Y:-16.25, Z:-8.98 [[ 9.97578108e-01 4.54918422e-02 5.26156860e-02 1.34792428e+02] [-4.51830688e-02 9.98953891e-01 -7.04376347e-03 -1.62504415e+01] [-5.28810780e-02 4.64936608e-03 9.98589993e-01 -8.98259524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.420714057 meters 0.045679955714879816 Centerline is valid? [True, True] Translation: X:134.85, Y:-16.25, Z:-8.99 [[ 9.97617484e-01 4.39198102e-02 5.32015557e-02 1.34854195e+02] [-4.36018554e-02 9.99023594e-01 -7.12297330e-03 -1.62505062e+01] [-5.34624491e-02 4.78631617e-03 9.98558390e-01 -8.98569299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.480714057 meters 0.07592525667142429 Centerline is valid? [True, True] Translation: X:134.91, Y:-16.29, Z:-8.99 [[ 9.97701643e-01 4.24761546e-02 5.27940073e-02 1.34908531e+02] [-4.21609841e-02 9.99085817e-01 -7.06975161e-03 -1.62917620e+01] [-5.30460398e-02 4.82765549e-03 9.98580398e-01 -8.99431412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.540714057 meters 0.05250409061293433 Centerline is valid? [True, True] Translation: X:134.97, Y:-16.26, Z:-8.99 [[ 9.97755838e-01 4.05651290e-02 5.32706095e-02 1.34974386e+02] [-4.02412539e-02 9.99164490e-01 -7.13884110e-03 -1.62632847e+01] [-5.35156894e-02 4.97914427e-03 9.98554595e-01 -8.99353324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.600714057 meters 0.051575144577302494 Centerline is valid? [True, True] Translation: X:135.04, Y:-16.27, Z:-9.00 [[ 9.97739099e-01 3.93905045e-02 5.44525338e-02 1.35035843e+02] [-3.90502821e-02 9.99210593e-01 -7.29839402e-03 -1.62676039e+01] [-5.46970360e-02 5.15550626e-03 9.98489687e-01 -8.99687929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.660714057 meters 0.05400723447556918 Centerline is valid? [True, True] Translation: X:135.10, Y:-16.28, Z:-9.00 [[ 9.97796524e-01 3.79768038e-02 5.44045883e-02 1.35095082e+02] [-3.76347216e-02 9.99264907e-01 -7.29888605e-03 -1.62754346e+01] [-5.46417843e-02 5.23530159e-03 9.98492297e-01 -9.00109675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.720714057 meters 0.056546673246469746 Centerline is valid? [True, True] Translation: X:135.16, Y:-16.28, Z:-9.01 [[ 9.97859796e-01 3.76210614e-02 5.34834844e-02 1.35156456e+02] [-3.72898144e-02 9.99278711e-01 -7.17827516e-03 -1.62849342e+01] [-5.37149617e-02 5.16852298e-03 9.98542933e-01 -9.00717947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.780714057 meters 0.04978029564534282 Centerline is valid? [True, True] Translation: X:135.22, Y:-16.28, Z:-9.01 [[ 9.97896173e-01 3.79623740e-02 5.25555450e-02 1.35220604e+02] [-3.76423743e-02 9.99266295e-01 -7.06565847e-03 -1.62830095e+01] [-5.27852139e-02 5.07247805e-03 9.98593006e-01 -9.01117041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.840714057 meters 0.057835455770759596 Centerline is valid? [True, True] Translation: X:135.28, Y:-16.30, Z:-9.02 [[ 9.97790499e-01 4.00574865e-02 5.30048848e-02 1.35278559e+02] [-3.97339056e-02 9.99184751e-01 -7.14492957e-03 -1.62989548e+01] [-5.32478805e-02 5.02305175e-03 9.98568692e-01 -9.01515210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90071405700002 meters 0.04679277001130099 Centerline is valid? [True, True] Translation: X:135.34, Y:-16.29, Z:-9.02 [[ 9.97549854e-01 4.52657612e-02 5.33413504e-02 1.35340698e+02] [-4.49454381e-02 9.98963568e-01 -7.19012659e-03 -1.62900655e+01] [-5.36115323e-02 4.77505937e-03 9.98550451e-01 -9.01728565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.960714057 meters 0.04110142539077763 Centerline is valid? [True, True] Translation: X:135.40, Y:-16.29, Z:-9.02 [[ 9.97275269e-01 5.19299337e-02 5.23957909e-02 1.35402039e+02] [-5.16299558e-02 9.98641304e-01 -7.06351726e-03 -1.62865439e+01] [-5.26914089e-02 4.33907871e-03 9.98601416e-01 -9.02183841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.020714057 meters 0.03923821732631756 Centerline is valid? [True, True] Translation: X:135.46, Y:-16.29, Z:-9.03 [[ 9.96827411e-01 5.92907919e-02 5.31009859e-02 1.35462434e+02] [-5.89930221e-02 9.98232725e-01 -7.15894826e-03 -1.62882503e+01] [-5.34316015e-02 4.00364823e-03 9.98563486e-01 -9.02521757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.080714057 meters 0.04122832749552038 Centerline is valid? [True, True] Translation: X:135.52, Y:-16.30, Z:-9.03 [[ 9.96683246e-01 6.13780399e-02 5.34344769e-02 1.35522252e+02] [-6.10794968e-02 9.98106908e-01 -7.20386004e-03 -1.62975943e+01] [-5.37754793e-02 3.91621565e-03 9.98545373e-01 -9.02891595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.140714057 meters 0.03817391568697566 Centerline is valid? [True, True] Translation: X:135.58, Y:-16.30, Z:-9.03 [[ 9.96263697e-01 6.70107172e-02 5.44812842e-02 1.35583940e+02] [-6.67085972e-02 9.97745449e-01 -7.34719307e-03 -1.62969580e+01] [-5.48507941e-02 3.68537169e-03 9.98487761e-01 -9.03087081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.200714057 meters 0.03733342898065462 Centerline is valid? [True, True] Translation: X:135.64, Y:-16.30, Z:-9.03 [[ 9.96035709e-01 7.02141326e-02 5.46153952e-02 1.35643685e+02] [-6.99152504e-02 9.97525736e-01 -7.36638854e-03 -1.63002814e+01] [-5.49974869e-02 3.51873700e-03 9.98480293e-01 -9.03443822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.260714057 meters 0.0341644747238929 Centerline is valid? [True, True] Translation: X:135.70, Y:-16.30, Z:-9.04 [[ 9.96003195e-01 7.10431863e-02 5.41341098e-02 1.35702591e+02] [-7.07507942e-02 9.97467302e-01 -7.30109580e-03 -1.63016868e+01] [-5.45156975e-02 3.44188348e-03 9.98506982e-01 -9.03906717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.320714057 meters 0.033176521087706544 Centerline is valid? [True, True] Translation: X:135.76, Y:-16.31, Z:-9.04 [[ 9.96129331e-01 7.03511554e-02 5.26979214e-02 1.35761692e+02] [-7.00733238e-02 9.97516550e-01 -7.10367006e-03 -1.63053967e+01] [-5.30668002e-02 3.38345559e-03 9.98585233e-01 -9.04288520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.380714057 meters 0.03493597810419322 Centerline is valid? [True, True] Translation: X:135.82, Y:-16.31, Z:-9.05 [[ 9.96136473e-01 6.94042583e-02 5.38068418e-02 1.35818369e+02] [-6.91134358e-02 9.97582469e-01 -7.24921181e-03 -1.63139889e+01] [-5.41798882e-02 3.50242858e-03 9.98525049e-01 -9.04642668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.440714057 meters 0.034849811651116135 Centerline is valid? [True, True] Translation: X:135.88, Y:-16.32, Z:-9.05 [[ 9.95980777e-01 7.00495110e-02 5.58153958e-02 1.35876662e+02] [-6.97378572e-02 9.97537050e-01 -7.51436718e-03 -1.63198302e+01] [-5.62043030e-02 3.59171916e-03 9.98412828e-01 -9.04777642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.500714057 meters 0.034936509199550374 Centerline is valid? [True, True] Translation: X:135.93, Y:-16.33, Z:-9.05 [[ 9.95946508e-01 6.98071281e-02 5.67231736e-02 1.35934647e+02] [-6.94850904e-02 9.97553793e-01 -7.63237061e-03 -1.63277345e+01] [-5.71172108e-02 3.66001801e-03 9.98360771e-01 -9.05115873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.560714057 meters 0.036821425030277896 Centerline is valid? [True, True] Translation: X:135.99, Y:-16.34, Z:-9.06 [[ 9.96028686e-01 6.90541167e-02 5.61995190e-02 1.35993044e+02] [-6.87370586e-02 9.97606185e-01 -7.55756913e-03 -1.63384729e+01] [-5.65868690e-02 3.66456602e-03 9.98390954e-01 -9.05606634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62071405700001 meters 0.03701570758302219 Centerline is valid? [True, True] Translation: X:136.05, Y:-16.35, Z:-9.06 [[ 9.96001716e-01 6.95871842e-02 5.60196929e-02 1.36051550e+02] [-6.92730900e-02 9.97569302e-01 -7.53167838e-03 -1.63465535e+01] [-5.64076343e-02 3.62090736e-03 9.98401256e-01 -9.05967942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68071405700002 meters 0.03648787323148893 Centerline is valid? [True, True] Translation: X:136.11, Y:-16.35, Z:-9.06 [[ 9.95994607e-01 7.07532968e-02 5.46691239e-02 1.36109992e+02] [-7.04561397e-02 9.97487826e-01 -7.34632369e-03 -1.63532380e+01] [-5.50515622e-02 3.46512335e-03 9.98477500e-01 -9.06381395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.740714057 meters 0.03913802419021796 Centerline is valid? [True, True] Translation: X:136.17, Y:-16.37, Z:-9.07 [[ 9.96044189e-01 7.09566499e-02 5.34895036e-02 1.36166334e+02] [-7.06726765e-02 9.97473688e-01 -7.18426075e-03 -1.63657012e+01] [-5.38641435e-02 3.37559479e-03 9.98542568e-01 -9.06965966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.800714057 meters 0.0336851832207577 Centerline is valid? [True, True] Translation: X:136.23, Y:-16.37, Z:-9.07 [[ 9.96142087e-01 7.05619257e-02 5.21723817e-02 1.36225954e+02] [-7.02914853e-02 9.97501914e-01 -7.00272916e-03 -1.63656137e+01] [-5.25361766e-02 3.30843904e-03 9.98613541e-01 -9.07336227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.860714057 meters 0.03874092099874661 Centerline is valid? [True, True] Translation: X:136.28, Y:-16.38, Z:-9.08 [[ 9.96230010e-01 6.99648777e-02 5.12901840e-02 1.36282415e+02] [-6.97028997e-02 9.97544063e-01 -6.88100243e-03 -1.63802553e+01] [-5.16456470e-02 3.27998657e-03 9.98660087e-01 -9.07910424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.920714057 meters 0.03566104064381902 Centerline is valid? [True, True] Translation: X:136.34, Y:-16.38, Z:-9.08 [[ 9.96294960e-01 6.92141051e-02 5.10466529e-02 1.36341825e+02] [-6.89539206e-02 9.97596378e-01 -6.84270191e-03 -1.63826951e+01] [-5.13975676e-02 3.29748258e-03 9.98672828e-01 -9.08114499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.980714057 meters 0.03809525069397968 Centerline is valid? [True, True] Translation: X:136.40, Y:-16.39, Z:-9.09 [[ 9.96333184e-01 6.87387367e-02 5.09428386e-02 1.36398086e+02] [-6.84791574e-02 9.97629198e-01 -6.82556815e-03 -1.63928931e+01] [-5.12912441e-02 3.31201738e-03 9.98678246e-01 -9.08595819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.040714057 meters 0.03959876699995084 Centerline is valid? [True, True] Translation: X:136.46, Y:-16.40, Z:-9.09 [[ 9.96620577e-01 6.63411655e-02 4.84383557e-02 1.36457603e+02] [-6.61040070e-02 9.97791674e-01 -6.48347712e-03 -1.64027419e+01] [-4.87615094e-02 3.25959731e-03 9.98805131e-01 -9.09254161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.100714057 meters 0.04270896961971577 Centerline is valid? [True, True] Translation: X:136.52, Y:-16.41, Z:-9.10 [[ 9.96847358e-01 6.30112140e-02 4.82175424e-02 1.36515203e+02] [-6.27723317e-02 9.98007004e-01 -6.45407979e-03 -1.64142391e+01] [-4.85281244e-02 3.40700482e-03 9.98816006e-01 -9.09638837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.160714057 meters 0.046588156373089946 Centerline is valid? [True, True] Translation: X:136.57, Y:-16.43, Z:-9.10 [[ 9.97012955e-01 6.01635891e-02 4.84304584e-02 1.36572608e+02] [-5.99192550e-02 9.98182178e-01 -6.48246792e-03 -1.64270791e+01] [-4.87324290e-02 3.56118751e-03 9.98805521e-01 -9.10054352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.220714057 meters 0.04302927566748246 Centerline is valid? [True, True] Translation: X:136.63, Y:-16.43, Z:-9.10 [[ 9.97103016e-01 5.84101954e-02 4.87219147e-02 1.36632557e+02] [-5.81609084e-02 9.98285931e-01 -6.51984136e-03 -1.64294375e+01] [-4.90192272e-02 3.66724267e-03 9.98791103e-01 -9.10270530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.280714057 meters 0.04405784661376506 Centerline is valid? [True, True] Translation: X:136.69, Y:-16.44, Z:-9.11 [[ 9.97148351e-01 5.79075310e-02 4.83930260e-02 1.36691799e+02] [-5.76610966e-02 9.98315223e-01 -6.47412205e-03 -1.64361712e+01] [-4.86863949e-02 3.66526518e-03 9.98807389e-01 -9.10755364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.340714057 meters 0.04446359155707727 Centerline is valid? [True, True] Translation: X:136.75, Y:-16.44, Z:-9.11 [[ 9.97149522e-01 5.81529489e-02 4.80735416e-02 1.36751128e+02] [-5.79101256e-02 9.98301095e-01 -6.42970070e-03 -1.64435593e+01] [-4.83657752e-02 3.62742815e-03 9.98823104e-01 -9.11168033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40071405700002 meters 0.03793375453968087 Centerline is valid? [True, True] Translation: X:136.81, Y:-16.44, Z:-9.11 [[ 9.97123701e-01 5.84863921e-02 4.82044305e-02 1.36812166e+02] [-5.82427101e-02 9.98281644e-01 -6.44556843e-03 -1.64405835e+01] [-4.84985762e-02 3.61947238e-03 9.98816694e-01 -9.11290080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.460714057 meters 0.04729374916615529 Centerline is valid? [True, True] Translation: X:136.87, Y:-16.46, Z:-9.12 [[ 9.97101018e-01 5.90480448e-02 4.79884190e-02 1.36869145e+02] [-5.88073265e-02 9.98248747e-01 -6.41387261e-03 -1.64605135e+01] [-4.82831057e-02 3.57320829e-03 9.98827299e-01 -9.12036813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.520714057 meters 0.0403350924744869 Centerline is valid? [True, True] Translation: X:136.93, Y:-16.46, Z:-9.12 [[ 9.97068727e-01 5.95978366e-02 4.79796926e-02 1.36930146e+02] [-5.93577233e-02 9.98216163e-01 -6.41509155e-03 -1.64577210e+01] [-4.82764302e-02 3.54832185e-03 9.98827711e-01 -9.12169390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.580714057 meters 0.042043127159639794 Centerline is valid? [True, True] Translation: X:136.99, Y:-16.47, Z:-9.12 [[ 9.96949331e-01 6.06717520e-02 4.91016214e-02 1.36989046e+02] [-6.04216510e-02 9.98151365e-01 -6.56327655e-03 -1.64666159e+01] [-4.94090559e-02 3.57645313e-03 9.98772223e-01 -9.12364117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.640714057 meters 0.04386812245429807 Centerline is valid? [True, True] Translation: X:137.05, Y:-16.48, Z:-9.13 [[ 9.96904593e-01 6.04560234e-02 5.02623193e-02 1.37046167e+02] [-6.01937535e-02 9.98164113e-01 -6.71683145e-03 -1.64776255e+01] [-5.05761163e-02 3.67056247e-03 9.98713464e-01 -9.12717065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.700714057 meters 0.04428066646203156 Centerline is valid? [True, True] Translation: X:137.11, Y:-16.49, Z:-9.13 [[ 9.96885314e-01 6.08832458e-02 5.01288457e-02 1.37105005e+02] [-6.06230516e-02 9.98138271e-01 -6.69610161e-03 -1.64863402e+01] [-5.04431998e-02 3.63628175e-03 9.98720312e-01 -9.13157231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.760714057 meters 0.04587840066296105 Centerline is valid? [True, True] Translation: X:137.16, Y:-16.50, Z:-9.14 [[ 9.96902417e-01 6.12432270e-02 4.93440711e-02 1.37162733e+02] [-6.09916341e-02 9.98116524e-01 -6.58983657e-03 -1.64961741e+01] [-4.96547156e-02 3.55984848e-03 9.98760100e-01 -9.13647937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.820714057 meters 0.04786131869216818 Centerline is valid? [True, True] Translation: X:137.22, Y:-16.51, Z:-9.14 [[ 9.96984814e-01 6.03257712e-02 4.88065678e-02 1.37220735e+02] [-6.00786748e-02 9.98172381e-01 -6.51535645e-03 -1.65080442e+01] [-4.91104119e-02 3.56347753e-03 9.98786999e-01 -9.14238304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.880714057 meters 0.039849532100772425 Centerline is valid? [True, True] Translation: X:137.28, Y:-16.51, Z:-9.14 [[ 9.96965267e-01 6.03536317e-02 4.91700660e-02 1.37281485e+02] [-6.01029507e-02 9.98170613e-01 -6.56226948e-03 -1.65056272e+01] [-4.94761717e-02 3.58708869e-03 9.98768863e-01 -9.14381020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.940714057 meters 0.03797101796363867 Centerline is valid? [True, True] Translation: X:137.34, Y:-16.51, Z:-9.15 [[ 9.96823796e-01 6.17105635e-02 5.03400984e-02 1.37341651e+02] [-6.14496244e-02 9.98087589e-01 -6.71630949e-03 -1.65101628e+01] [-5.06582947e-02 3.60159699e-03 9.98709550e-01 -9.14562593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.000714057 meters 0.039228760469175596 Centerline is valid? [True, True] Translation: X:137.40, Y:-16.52, Z:-9.15 [[ 9.96777752e-01 6.21472749e-02 5.07132163e-02 1.37399356e+02] [-6.18830342e-02 9.98060477e-01 -6.76563582e-03 -1.65198097e+01] [-5.10353227e-02 3.60554756e-03 9.98690340e-01 -9.14930268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.060714057 meters 0.03771648466087653 Centerline is valid? [True, True] Translation: X:137.46, Y:-16.53, Z:-9.15 [[ 9.96689825e-01 6.26746468e-02 5.17810948e-02 1.37458176e+02] [-6.24000164e-02 9.98027334e-01 -6.90501395e-03 -1.65263375e+01] [-5.21117173e-02 3.65101598e-03 9.98634587e-01 -9.15288713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12071405700001 meters 0.03797183756859885 Centerline is valid? [True, True] Translation: X:137.52, Y:-16.54, Z:-9.16 [[ 9.96632794e-01 6.31857749e-02 5.22554436e-02 1.37517199e+02] [-6.29068841e-02 9.97995087e-01 -6.96634038e-03 -1.65360297e+01] [-5.25908496e-02 3.65565614e-03 9.98609453e-01 -9.15740682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18071405700002 meters 0.03706691094973921 Centerline is valid? [True, True] Translation: X:137.58, Y:-16.54, Z:-9.16 [[ 9.96678581e-01 6.36998338e-02 5.07359563e-02 1.37576638e+02] [-6.34376958e-02 9.97962892e-01 -6.76202205e-03 -1.65425079e+01] [-5.10633414e-02 3.52099038e-03 9.98689210e-01 -9.16160166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.240714057 meters 0.03835155835116288 Centerline is valid? [True, True] Translation: X:137.63, Y:-16.55, Z:-9.17 [[ 9.96777302e-01 6.35097338e-02 4.90053548e-02 1.37634123e+02] [-6.32650208e-02 9.97975397e-01 -6.53020626e-03 -1.65517277e+01] [-4.93208701e-02 3.40883658e-03 9.98777168e-01 -9.16734507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.300714057 meters 0.04010075504263592 Centerline is valid? [True, True] Translation: X:137.69, Y:-16.56, Z:-9.17 [[ 9.96894651e-01 6.41392893e-02 4.56859509e-02 1.37690594e+02] [-6.39274173e-02 9.97935998e-01 -6.08513717e-03 -1.65611568e+01] [-4.59819514e-02 3.14565585e-03 9.98937318e-01 -9.17356447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.360714057 meters 0.034430881314752304 Centerline is valid? [True, True] Translation: X:137.75, Y:-16.56, Z:-9.17 [[ 9.96852710e-01 6.53159913e-02 4.49276835e-02 1.37750412e+02] [-6.51124848e-02 9.97860013e-01 -5.97981204e-03 -1.65587166e+01] [-4.52221162e-02 3.03563872e-03 9.98972345e-01 -9.17432133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.420714057 meters 0.03929590577838811 Centerline is valid? [True, True] Translation: X:137.81, Y:-16.57, Z:-9.18 [[ 9.96697518e-01 6.63240392e-02 4.68527385e-02 1.37807621e+02] [-6.61039872e-02 9.97793276e-01 -6.23230039e-03 -1.65713796e+01] [-4.71626988e-02 3.11456551e-03 9.98882365e-01 -9.17735140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.480714057 meters 0.04450257449097275 Centerline is valid? [True, True] Translation: X:137.86, Y:-16.58, Z:-9.18 [[ 9.96608441e-01 6.67536658e-02 4.81202938e-02 1.37863908e+02] [-6.65221997e-02 9.97764436e-01 -6.39746577e-03 -1.65848808e+01] [-4.84397721e-02 3.17470060e-03 9.98821060e-01 -9.18133987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.540714057 meters 0.0364953001855922 Centerline is valid? [True, True] Translation: X:137.92, Y:-16.58, Z:-9.18 [[ 9.96699202e-01 6.54222954e-02 4.80689441e-02 1.37924915e+02] [-6.51900210e-02 9.97852436e-01 -6.38572210e-03 -1.65796331e+01] [-4.83834815e-02 3.23102865e-03 9.98823608e-01 -9.18165267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.600714057 meters 0.03815051637041766 Centerline is valid? [True, True] Translation: X:137.98, Y:-16.59, Z:-9.19 [[ 9.96934028e-01 6.26042898e-02 4.69387473e-02 1.37984762e+02] [-6.23798201e-02 9.98033018e-01 -6.23329194e-03 -1.65890125e+01] [-4.72366504e-02 3.28615023e-03 9.98878321e-01 -9.18508192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.660714057 meters 0.04120068894444219 Centerline is valid? [True, True] Translation: X:138.04, Y:-16.60, Z:-9.19 [[ 9.97201055e-01 5.94253865e-02 4.53726662e-02 1.38044202e+02] [-5.92123964e-02 9.98227224e-01 -6.02508974e-03 -1.66014345e+01] [-4.56502739e-02 3.32160155e-03 9.98951961e-01 -9.19185874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.720714057 meters 0.04407429002115365 Centerline is valid? [True, True] Translation: X:138.10, Y:-16.61, Z:-9.20 [[ 9.97325340e-01 5.74078520e-02 4.52383013e-02 1.38101728e+02] [-5.71940222e-02 9.98345004e-01 -6.00806366e-03 -1.66134066e+01] [-4.55083421e-02 3.40463372e-03 9.98958157e-01 -9.19760199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.780714057 meters 0.047022467562606154 Centerline is valid? [True, True] Translation: X:138.16, Y:-16.62, Z:-9.20 [[ 9.97332428e-01 5.69098657e-02 4.57088192e-02 1.38159226e+02] [-5.66910009e-02 9.98373311e-01 -6.07142134e-03 -1.66242585e+01] [-4.59799890e-02 3.46394667e-03 9.98936355e-01 -9.20172962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.840714057 meters 0.0396317230513755 Centerline is valid? [True, True] Translation: X:138.22, Y:-16.62, Z:-9.20 [[ 9.97261635e-01 5.77638182e-02 4.61797788e-02 1.38219071e+02] [-5.75414200e-02 9.98324288e-01 -6.13194997e-03 -1.66215209e+01] [-4.64565996e-02 3.45790841e-03 9.98914324e-01 -9.20263882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90071405700002 meters 0.04694723793510958 Centerline is valid? [True, True] Translation: X:138.28, Y:-16.64, Z:-9.21 [[ 9.97144795e-01 5.94040562e-02 4.66199137e-02 1.38275582e+02] [-5.91793543e-02 9.98228195e-01 -6.18659803e-03 -1.66378614e+01] [-4.69048213e-02 3.40999763e-03 9.98893543e-01 -9.20864738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.960714057 meters 0.03873130336820764 Centerline is valid? [True, True] Translation: X:138.34, Y:-16.63, Z:-9.21 [[ 9.97151301e-01 5.88532894e-02 4.71759768e-02 1.38335282e+02] [-5.86226853e-02 9.98260596e-01 -6.25811772e-03 -1.66341178e+01] [-4.74622295e-02 3.47470778e-03 9.98866990e-01 -9.20892206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.020714057 meters 0.039406618274091136 Centerline is valid? [True, True] Translation: X:138.39, Y:-16.65, Z:-9.21 [[ 9.97218368e-01 5.77777755e-02 4.70877424e-02 1.38394164e+02] [-5.75470349e-02 9.98323280e-01 -6.24235054e-03 -1.66452579e+01] [-4.73694586e-02 3.51522666e-03 9.98871252e-01 -9.21332948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.080714057 meters 0.041302222668214914 Centerline is valid? [True, True] Translation: X:138.45, Y:-16.66, Z:-9.22 [[ 9.97225232e-01 5.73605355e-02 4.74510808e-02 1.38451916e+02] [-5.71258173e-02 9.98347178e-01 -6.28905391e-03 -1.66566030e+01] [-4.77333961e-02 3.56092147e-03 9.98853764e-01 -9.21638713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.140714057 meters 0.04113132318157921 Centerline is valid? [True, True] Translation: X:138.51, Y:-16.67, Z:-9.22 [[ 9.97215540e-01 5.68385632e-02 4.82757143e-02 1.38510630e+02] [-5.65951439e-02 9.98376727e-01 -6.39538330e-03 -1.66672993e+01] [-4.85608540e-02 3.64540462e-03 9.98813573e-01 -9.21966005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.200714057 meters 0.04458651834126495 Centerline is valid? [True, True] Translation: X:138.57, Y:-16.68, Z:-9.22 [[ 9.97172790e-01 5.62808126e-02 4.97885240e-02 1.38568390e+02] [-5.60212976e-02 9.98407801e-01 -6.59366265e-03 -1.66836255e+01] [-5.00803475e-02 3.78580326e-03 9.98738017e-01 -9.22334112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.260714057 meters 0.040114710415765226 Centerline is valid? [True, True] Translation: X:138.63, Y:-16.69, Z:-9.23 [[ 9.97149938e-01 5.66367105e-02 4.98425992e-02 1.38628473e+02] [-5.63771298e-02 9.98387732e-01 -6.59968563e-03 -1.66882210e+01] [-5.01360241e-02 3.77089343e-03 9.98735280e-01 -9.22671350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.320714057 meters 0.04020186404196176 Centerline is valid? [True, True] Translation: X:138.69, Y:-16.70, Z:-9.23 [[ 9.97024999e-01 5.82098431e-02 5.05249033e-02 1.38687331e+02] [-5.79450936e-02 9.98297354e-01 -6.69027559e-03 -1.67006072e+01] [-5.08283171e-02 3.74270177e-03 9.98700393e-01 -9.23166730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.380714057 meters 0.04039731965880723 Centerline is valid? [True, True] Translation: X:138.75, Y:-16.71, Z:-9.24 [[ 9.96929087e-01 5.98180937e-02 5.05390084e-02 1.38747010e+02] [-5.95553091e-02 9.98202583e-01 -6.69098430e-03 -1.67106154e+01] [-5.08484107e-02 3.66057060e-03 9.98699674e-01 -9.23563100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.440714057 meters 0.036303551852683746 Centerline is valid? [True, True] Translation: X:138.81, Y:-16.72, Z:-9.24 [[ 9.96703881e-01 6.42062698e-02 4.95875931e-02 1.38807315e+02] [-6.39586936e-02 9.97930952e-01 -6.56506746e-03 -1.67170040e+01] [-4.99065125e-02 3.37187054e-03 9.98748202e-01 -9.24044563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.500714057 meters 0.03936145830555292 Centerline is valid? [True, True] Translation: X:138.86, Y:-16.73, Z:-9.25 [[ 9.96476900e-01 6.75281089e-02 4.97367309e-02 1.38864676e+02] [-6.72831398e-02 9.97712191e-01 -6.58513000e-03 -1.67308214e+01] [-5.00676241e-02 3.21548650e-03 9.98740654e-01 -9.24613388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.560714057 meters 0.035557580294300326 Centerline is valid? [True, True] Translation: X:138.93, Y:-16.74, Z:-9.25 [[ 9.96082258e-01 7.16187475e-02 5.18737835e-02 1.38925204e+02] [-7.13578920e-02 9.97427147e-01 -6.86575536e-03 -1.67356591e+01] [-5.22320367e-02 3.13725326e-03 9.98630048e-01 -9.24873853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62071405700001 meters 0.03972724502337428 Centerline is valid? [True, True] Translation: X:138.98, Y:-16.75, Z:-9.25 [[ 9.95911435e-01 7.35243764e-02 5.24840849e-02 1.38982232e+02] [-7.32599666e-02 9.97288685e-01 -6.94667883e-03 -1.67524453e+01] [-5.28525342e-02 3.07329458e-03 9.98597599e-01 -9.25457433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68071405700002 meters 0.04084383281123687 Centerline is valid? [True, True] Translation: X:139.04, Y:-16.77, Z:-9.26 [[ 9.95896193e-01 7.32015440e-02 5.32194243e-02 1.39039007e+02] [-7.29292798e-02 9.97312249e-01 -7.04262413e-03 -1.67650980e+01] [-5.35919147e-02 3.13246827e-03 9.98558007e-01 -9.25812251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.740714057 meters 0.03569827448962886 Centerline is valid? [True, True] Translation: X:139.10, Y:-16.77, Z:-9.26 [[ 9.95892512e-01 7.15735194e-02 5.54557043e-02 1.39098545e+02] [-7.12756260e-02 9.97429698e-01 -7.33362985e-03 -1.67674276e+01] [-5.58380601e-02 3.35086701e-03 9.98434216e-01 -9.25704584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.800714057 meters 0.03755274333842341 Centerline is valid? [True, True] Translation: X:139.16, Y:-16.78, Z:-9.26 [[ 9.95989970e-01 6.93391209e-02 5.65337596e-02 1.39155306e+02] [-6.90261692e-02 9.97586866e-01 -7.47206977e-03 -1.67822407e+01] [-5.69154428e-02 3.53979769e-03 9.98372727e-01 -9.25999602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.860714057 meters 0.0391081661622925 Centerline is valid? [True, True] Translation: X:139.21, Y:-16.79, Z:-9.26 [[ 9.96064206e-01 6.81418003e-02 5.66815086e-02 1.39214109e+02] [-6.78255223e-02 9.97669103e-01 -7.48734131e-03 -1.67936508e+01] [-5.70595907e-02 3.61341975e-03 9.98364235e-01 -9.26411343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.920714057 meters 0.03538843597838598 Centerline is valid? [True, True] Translation: X:139.27, Y:-16.80, Z:-9.27 [[ 9.96264322e-01 6.55815161e-02 5.61824380e-02 1.39274380e+02] [-6.52668635e-02 9.97840264e-01 -7.41921919e-03 -1.68000883e+01] [-5.65476624e-02 3.72465187e-03 9.98392953e-01 -9.26810992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.980714057 meters 0.03623473892277642 Centerline is valid? [True, True] Translation: X:139.33, Y:-16.81, Z:-9.27 [[ 9.96292115e-01 6.50764544e-02 5.62767940e-02 1.39333896e+02] [-6.47599411e-02 9.97873198e-01 -7.43167946e-03 -1.68121356e+01] [-5.66407318e-02 3.75964178e-03 9.98387546e-01 -9.27292144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.040714057 meters 0.036149640339333204 Centerline is valid? [True, True] Translation: X:139.39, Y:-16.82, Z:-9.28 [[ 9.96230262e-01 6.65660833e-02 5.56257217e-02 1.39393564e+02] [-6.62591706e-02 9.97775407e-01 -7.34570155e-03 -1.68213624e+01] [-5.59909517e-02 3.63229600e-03 9.98424669e-01 -9.27688482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.100714057 meters 0.036112858991870236 Centerline is valid? [True, True] Translation: X:139.45, Y:-16.83, Z:-9.28 [[ 9.96242389e-01 6.69515740e-02 5.49416923e-02 1.39453558e+02] [-6.66527559e-02 9.97749853e-01 -7.25537148e-03 -1.68303931e+01] [-5.53038240e-02 3.56609341e-03 9.98463204e-01 -9.28094965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.160714057 meters 0.036946369580287616 Centerline is valid? [True, True] Translation: X:139.51, Y:-16.84, Z:-9.29 [[ 9.96286062e-01 6.58229355e-02 5.55105752e-02 1.39512532e+02] [-6.55161374e-02 9.97824582e-01 -7.33065003e-03 -1.68410484e+01] [-5.58723414e-02 3.66658598e-03 9.98431188e-01 -9.28559214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.220714057 meters 0.039100770949350896 Centerline is valid? [True, True] Translation: X:139.57, Y:-16.85, Z:-9.29 [[ 9.96405606e-01 6.38576449e-02 5.56602974e-02 1.39571281e+02] [-6.35462422e-02 9.97951840e-01 -7.34854394e-03 -1.68545557e+01] [-5.60155569e-02 3.78512764e-03 9.98422721e-01 -9.28974202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.280714057 meters 0.040943850240931 Centerline is valid? [True, True] Translation: X:139.63, Y:-16.87, Z:-9.29 [[ 9.96442078e-01 6.33426079e-02 5.55958483e-02 1.39630238e+02] [-6.30308296e-02 9.97984549e-01 -7.34538947e-03 -1.68657273e+01] [-5.59490737e-02 3.81500271e-03 9.98426335e-01 -9.29403442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.340714057 meters 0.042065435130221436 Centerline is valid? [True, True] Translation: X:139.69, Y:-16.88, Z:-9.30 [[ 9.96546022e-01 6.19650040e-02 5.52843900e-02 1.39690550e+02] [-6.16545610e-02 9.98070815e-01 -7.30503733e-03 -1.68766059e+01] [-5.56303929e-02 3.87127110e-03 9.98443926e-01 -9.29785439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40071405700002 meters 0.038037899562894543 Centerline is valid? [True, True] Translation: X:139.75, Y:-16.88, Z:-9.30 [[ 9.96645807e-01 6.04816692e-02 5.51280671e-02 1.39753088e+02] [-6.01706398e-02 9.98161515e-01 -7.28591884e-03 -1.68796115e+01] [-5.54673795e-02 3.94438939e-03 9.98452709e-01 -9.30041532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.460714057 meters 0.03862770786067303 Centerline is valid? [True, True] Translation: X:139.81, Y:-16.89, Z:-9.30 [[ 9.96531807e-01 6.23478128e-02 5.51099604e-02 1.39814375e+02] [-6.20395923e-02 9.98047082e-01 -7.28771286e-03 -1.68871006e+01] [-5.54567082e-02 3.84343819e-03 9.98453695e-01 -9.30445919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.520714057 meters 0.03275710039637869 Centerline is valid? [True, True] Translation: X:139.88, Y:-16.88, Z:-9.31 [[ 9.96371482e-01 6.50320520e-02 5.49063071e-02 1.39876275e+02] [-6.47299768e-02 9.97876377e-01 -7.26411193e-03 -1.68838261e+01] [-5.52621069e-02 3.68366999e-03 9.98465087e-01 -9.30702765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.580714057 meters 0.03382755572703311 Centerline is valid? [True, True] Translation: X:139.94, Y:-16.89, Z:-9.31 [[ 9.96145446e-01 6.79022327e-02 5.55295989e-02 1.39936197e+02] [-6.75976183e-02 9.97685608e-01 -7.34780526e-03 -1.68889094e+01] [-5.59000140e-02 3.56581412e-03 9.98430004e-01 -9.31058311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.640714057 meters 0.034410843261929454 Centerline is valid? [True, True] Translation: X:140.00, Y:-16.90, Z:-9.31 [[ 9.96086709e-01 6.81018488e-02 5.63329976e-02 1.39995501e+02] [-6.77886459e-02 9.97671856e-01 -7.45439910e-03 -1.68958561e+01] [-5.67095046e-02 3.60649024e-03 9.98384207e-01 -9.31475405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.700714057 meters 0.0352886949808032 Centerline is valid? [True, True] Translation: X:140.06, Y:-16.90, Z:-9.32 [[ 9.96357770e-01 6.41883705e-02 5.61341920e-02 1.40055079e+02] [-6.38713280e-02 9.97930514e-01 -7.42577093e-03 -1.69018017e+01] [-5.64946713e-02 3.81335917e-03 9.98395618e-01 -9.31924933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.760714057 meters 0.038341614643506314 Centerline is valid? [True, True] Translation: X:140.12, Y:-16.91, Z:-9.32 [[ 9.96598455e-01 6.09547790e-02 5.54620060e-02 1.40115110e+02] [-6.06403393e-02 9.98132720e-01 -7.33638954e-03 -1.69124034e+01] [-5.58056309e-02 3.94819962e-03 9.98433845e-01 -9.32422805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.820714057 meters 0.04507704508053789 Centerline is valid? [True, True] Translation: X:140.17, Y:-16.93, Z:-9.33 [[ 9.97163781e-01 5.31756908e-02 5.32610459e-02 1.40172826e+02] [-5.28746472e-02 9.98576296e-01 -7.04644879e-03 -1.69253318e+01] [-5.35599177e-02 4.21030451e-03 9.98555761e-01 -9.33012769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.880714057 meters 0.046319814193116204 Centerline is valid? [True, True] Translation: X:140.23, Y:-16.93, Z:-9.34 [[ 9.97363913e-01 4.95188412e-02 5.30387592e-02 1.40232718e+02] [-4.92149866e-02 9.98763534e-01 -7.02055012e-03 -1.69339372e+01] [-5.33208281e-02 4.39174152e-03 9.98567775e-01 -9.33515205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.940714057 meters 0.050572814152936185 Centerline is valid? [True, True] Translation: X:140.29, Y:-16.95, Z:-9.34 [[ 9.97638427e-01 4.44433443e-02 5.23675207e-02 1.40292070e+02] [-4.41401909e-02 9.99001297e-01 -6.93192915e-03 -1.69452641e+01] [-5.26232992e-02 4.60404654e-03 9.98603821e-01 -9.34020231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.000714057 meters 0.053625342114472584 Centerline is valid? [True, True] Translation: X:140.35, Y:-16.96, Z:-9.34 [[ 9.97802615e-01 4.06951006e-02 5.22862370e-02 1.40352130e+02] [-4.03878112e-02 9.99160112e-01 -6.92070345e-03 -1.69552594e+01] [-5.25239611e-02 4.79376933e-03 9.98608158e-01 -9.34417434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.060714057 meters 0.057612990341988586 Centerline is valid? [True, True] Translation: X:140.41, Y:-16.97, Z:-9.35 [[ 9.97838213e-01 3.90827786e-02 5.28340524e-02 1.40410893e+02] [-3.87666808e-02 9.99223807e-01 -6.99487060e-03 -1.69666456e+01] [-5.30664220e-02 4.93154833e-03 9.98578807e-01 -9.34708293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12071405700001 meters 0.04787263853743406 Centerline is valid? [True, True] Translation: X:140.47, Y:-16.96, Z:-9.35 [[ 9.97807869e-01 4.00357424e-02 5.26934205e-02 1.40474391e+02] [-3.97227989e-02 9.99186405e-01 -6.97332224e-03 -1.69600016e+01] [-5.29297315e-02 4.86490565e-03 9.98586389e-01 -9.34990103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18071405700002 meters 0.04888949608959521 Centerline is valid? [True, True] Translation: X:140.54, Y:-16.97, Z:-9.36 [[ 9.97821529e-01 4.15671585e-02 5.12285734e-02 1.40535045e+02] [-4.12725940e-02 9.99124818e-01 -6.79497428e-03 -1.69664644e+01] [-5.14661868e-02 4.66583552e-03 9.98663838e-01 -9.35511298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.240714057 meters 0.04509905523064664 Centerline is valid? [True, True] Translation: X:140.60, Y:-16.97, Z:-9.36 [[ 9.97812140e-01 4.30743027e-02 5.01551437e-02 1.40596684e+02] [-4.27937651e-02 9.99061766e-01 -6.65436367e-03 -1.69665038e+01] [-5.03947186e-02 4.49347742e-03 9.98719270e-01 -9.35887416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.300714057 meters 0.04474146183778227 Centerline is valid? [True, True] Translation: X:140.66, Y:-16.97, Z:-9.36 [[ 9.97639122e-01 4.60516052e-02 5.09453772e-02 1.40657358e+02] [-4.57658753e-02 9.98929310e-01 -6.76156723e-03 -1.69694199e+01] [-5.12022115e-02 4.41404421e-03 9.98678552e-01 -9.36142033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.360714057 meters 0.04314208371860326 Centerline is valid? [True, True] Translation: X:140.72, Y:-16.97, Z:-9.37 [[ 9.97418684e-01 4.90496805e-02 5.24413820e-02 1.40717899e+02] [-4.87509943e-02 9.98786710e-01 -6.96046582e-03 -1.69729565e+01] [-5.27191640e-02 4.38592914e-03 9.98599746e-01 -9.36549852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.420714057 meters 0.046241680348751826 Centerline is valid? [True, True] Translation: X:140.78, Y:-16.98, Z:-9.37 [[ 9.97348339e-01 5.02084616e-02 5.26820730e-02 1.40778983e+02] [-4.99086602e-02 9.98729313e-01 -6.99180777e-03 -1.69822141e+01] [-5.29661785e-02 4.34397618e-03 9.98586858e-01 -9.37006056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.480714057 meters 0.0466355858862881 Centerline is valid? [True, True] Translation: X:140.84, Y:-16.99, Z:-9.37 [[ 9.97267824e-01 5.07648026e-02 5.36639665e-02 1.40840728e+02] [-5.04543912e-02 9.98700956e-01 -7.12425835e-03 -1.69881585e+01] [-5.39559162e-02 4.39721086e-03 9.98533637e-01 -9.37405785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.540714057 meters 0.04458759984267944 Centerline is valid? [True, True] Translation: X:140.90, Y:-16.99, Z:-9.38 [[ 9.97212487e-01 5.03585883e-02 5.50569625e-02 1.40902538e+02] [-5.00304029e-02 9.98720842e-01 -7.32385608e-03 -1.69924955e+01] [-5.53553550e-02 4.54891871e-03 9.98456355e-01 -9.37747436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.600714057 meters 0.044420680518099415 Centerline is valid? [True, True] Translation: X:140.96, Y:-17.00, Z:-9.38 [[ 9.97326797e-01 4.81923651e-02 5.49249949e-02 1.40963023e+02] [-4.78615491e-02 9.98827132e-01 -7.32337406e-03 -1.69994704e+01] [-5.52135058e-02 4.67500185e-03 9.98463626e-01 -9.38194286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.660714057 meters 0.04596234971274422 Centerline is valid? [True, True] Translation: X:141.02, Y:-17.01, Z:-9.39 [[ 9.97503741e-01 4.60772532e-02 5.35086289e-02 1.41022757e+02] [-4.57602408e-02 9.98926968e-01 -7.13528889e-03 -1.70095311e+01] [-5.37799869e-02 4.66890962e-03 9.98541894e-01 -9.38843609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.720714057 meters 0.04746533236142918 Centerline is valid? [True, True] Translation: X:141.08, Y:-17.02, Z:-9.39 [[ 9.97503795e-01 4.66071538e-02 5.30466964e-02 1.41083494e+02] [-4.62963531e-02 9.98902705e-01 -7.07346790e-03 -1.70199540e+01] [-5.33181627e-02 4.59994248e-03 9.98566980e-01 -9.39335003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.780714057 meters 0.04409960724994736 Centerline is valid? [True, True] Translation: X:141.14, Y:-17.02, Z:-9.39 [[ 9.97265339e-01 4.83658274e-02 5.58801350e-02 1.41144797e+02] [-4.80226819e-02 9.98818327e-01 -7.46810484e-03 -1.70232252e+01] [-5.61753040e-02 4.76416816e-03 9.98409554e-01 -9.39496772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.840714057 meters 0.04532604863917539 Centerline is valid? [True, True] Translation: X:141.21, Y:-17.03, Z:-9.40 [[ 9.97180402e-01 4.91824036e-02 5.66774870e-02 1.41206655e+02] [-4.88306604e-02 9.98778345e-01 -7.57517988e-03 -1.70330134e+01] [-5.69808123e-02 4.78622180e-03 9.98363801e-01 -9.39826580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90071405700002 meters 0.04609919819687422 Centerline is valid? [True, True] Translation: X:141.27, Y:-17.04, Z:-9.40 [[ 9.97062866e-01 5.03436454e-02 5.77161913e-02 1.41265977e+02] [-4.99804636e-02 9.98720360e-01 -7.71983332e-03 -1.70425262e+01] [-5.80309799e-02 4.81247714e-03 9.98303183e-01 -9.40098472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.960714057 meters 0.048022218950868216 Centerline is valid? [True, True] Translation: X:141.33, Y:-17.06, Z:-9.41 [[ 9.97221068e-01 4.90376754e-02 5.60842918e-02 1.41325848e+02] [-4.86926727e-02 9.98785632e-01 -7.50239469e-03 -1.70563538e+01] [-5.63840848e-02 4.75065198e-03 9.98397850e-01 -9.40774585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.020714057 meters 0.050487382964786255 Centerline is valid? [True, True] Translation: X:141.38, Y:-17.07, Z:-9.41 [[ 9.97425842e-01 4.76325030e-02 5.35988251e-02 1.41384785e+02] [-4.73153205e-02 9.98854256e-01 -7.17189120e-03 -1.70705935e+01] [-5.38790296e-02 4.61738403e-03 9.98536794e-01 -9.41411062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.080714057 meters 0.051337379940458755 Centerline is valid? [True, True] Translation: X:141.44, Y:-17.08, Z:-9.42 [[ 9.97367977e-01 4.98243706e-02 5.26749446e-02 1.41444330e+02] [-4.95210164e-02 9.98748204e-01 -7.04936000e-03 -1.70804625e+01] [-5.29602362e-02 4.42228913e-03 9.98586830e-01 -9.41734892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.140714057 meters 0.0404936007794442 Centerline is valid? [True, True] Translation: X:141.51, Y:-17.07, Z:-9.42 [[ 9.97012090e-01 5.61080911e-02 5.30921309e-02 1.41506544e+02] [-5.58087565e-02 9.98416196e-01 -7.10504394e-03 -1.70727653e+01] [-5.34066939e-02 4.12080890e-03 9.98564341e-01 -9.41843268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.200714057 meters 0.03877939943977308 Centerline is valid? [True, True] Translation: X:141.57, Y:-17.08, Z:-9.42 [[ 9.96481319e-01 6.40060767e-02 5.41128785e-02 1.41566318e+02] [-6.37066265e-02 9.97942389e-01 -7.24252652e-03 -1.70759954e+01] [-5.44651009e-02 3.76969344e-03 9.98508559e-01 -9.42078457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.260714057 meters 0.036883946008870114 Centerline is valid? [True, True] Translation: X:141.63, Y:-17.08, Z:-9.42 [[ 9.95868881e-01 7.17868302e-02 5.56041656e-02 1.41625607e+02] [-7.14826787e-02 9.97414076e-01 -7.44224377e-03 -1.70795152e+01] [-5.59946326e-02 3.43676427e-03 9.98425155e-01 -9.42355001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.320714057 meters 0.03523804717230072 Centerline is valid? [True, True] Translation: X:141.69, Y:-17.08, Z:-9.43 [[ 9.95312870e-01 7.90888572e-02 5.56528800e-02 1.41685468e+02] [-7.87956069e-02 9.96862973e-01 -7.44744377e-03 -1.70826811e+01] [-5.60673053e-02 3.02733418e-03 9.98422402e-01 -9.42804553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.380714057 meters 0.03475291609119728 Centerline is valid? [True, True] Translation: X:141.74, Y:-17.09, Z:-9.43 [[ 9.95087012e-01 8.35111374e-02 5.31763964e-02 1.41743648e+02] [-8.32497237e-02 9.96503309e-01 -7.11605315e-03 -1.70890245e+01] [-5.35847246e-02 2.65417176e-03 9.98559779e-01 -9.43467759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.440714057 meters 0.03485867482223931 Centerline is valid? [True, True] Translation: X:141.80, Y:-17.10, Z:-9.44 [[ 9.94898439e-01 8.62134213e-02 5.23864756e-02 1.41801136e+02] [-8.59635395e-02 9.96273630e-01 -7.00881230e-03 -1.70978126e+01] [-5.27955179e-02 2.46972955e-03 9.98602290e-01 -9.44038326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.500714057 meters 0.03442276837211635 Centerline is valid? [True, True] Translation: X:141.86, Y:-17.10, Z:-9.44 [[ 9.94675214e-01 8.88615149e-02 5.22001006e-02 1.41860158e+02] [-8.86171914e-02 9.96041293e-01 -6.98110543e-03 -1.71042820e+01] [-5.26138073e-02 2.31810623e-03 9.98612244e-01 -9.44382512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.560714057 meters 0.033933611788040066 Centerline is valid? [True, True] Translation: X:141.92, Y:-17.11, Z:-9.45 [[ 9.94384159e-01 9.14320549e-02 5.32946952e-02 1.41918381e+02] [-9.11811416e-02 9.95808829e-01 -7.12575144e-03 -1.71109136e+01] [-5.37228501e-02 2.22626320e-03 9.98553403e-01 -9.44605862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62071405700001 meters 0.03403233836573582 Centerline is valid? [True, True] Translation: X:141.98, Y:-17.12, Z:-9.45 [[ 9.94281875e-01 9.24476455e-02 5.34507839e-02 1.41976572e+02] [-9.21968053e-02 9.95715169e-01 -7.14508710e-03 -1.71201487e+01] [-5.38823028e-02 2.17623907e-03 9.98544922e-01 -9.44909893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68071405700002 meters 0.03680274005689849 Centerline is valid? [True, True] Translation: X:142.03, Y:-17.13, Z:-9.45 [[ 9.94043862e-01 9.32271822e-02 5.64401702e-02 1.42033546e+02] [-9.29489339e-02 9.95642320e-01 -7.54091959e-03 -1.71340787e+01] [-5.68972407e-02 2.24995119e-03 9.98377505e-01 -9.45144354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.740714057 meters 0.028291024773106944 Centerline is valid? [True, True] Translation: X:142.09, Y:-17.13, Z:-9.45 [[ 9.94714000e-01 8.84129655e-02 5.22226545e-02 1.42094926e+02] [-8.81683501e-02 9.96081174e-01 -6.97395204e-03 -1.71289942e+01] [-5.26345908e-02 2.33270245e-03 9.98611115e-01 -9.45302041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.800714057 meters 0.029255436571796065 Centerline is valid? [True, True] Translation: X:142.15, Y:-17.14, Z:-9.46 [[ 9.95205850e-01 8.43061577e-02 4.95760741e-02 1.42153320e+02] [-8.40806827e-02 9.96436961e-01 -6.61981093e-03 -1.71425006e+01] [-4.99575234e-02 2.41968441e-03 9.98748412e-01 -9.45914182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.860714057 meters 0.03101776513352851 Centerline is valid? [True, True] Translation: X:142.21, Y:-17.15, Z:-9.46 [[ 9.95421689e-01 8.23440818e-02 4.85295043e-02 1.42211837e+02] [-8.21257590e-02 9.96600914e-01 -6.47905577e-03 -1.71546287e+01] [-4.88980603e-02 2.46387026e-03 9.98800735e-01 -9.46421201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.920714057 meters 0.030831031111839297 Centerline is valid? [True, True] Translation: X:142.27, Y:-17.16, Z:-9.47 [[ 9.95345180e-01 8.30555615e-02 4.88850253e-02 1.42270301e+02] [-8.28349416e-02 9.96541917e-01 -6.52528305e-03 -1.71631826e+01] [-4.92579379e-02 2.44552082e-03 9.98783097e-01 -9.46594178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.980714057 meters 0.030416756237446687 Centerline is valid? [True, True] Translation: X:142.33, Y:-17.17, Z:-9.47 [[ 9.95142829e-01 8.55703934e-02 4.86668117e-02 1.42329586e+02] [-8.53549388e-02 9.96329457e-01 -6.49207078e-03 -1.71700724e+01] [-4.90437071e-02 2.30658494e-03 9.98793970e-01 -9.46887760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.040714057 meters 0.02852343826172762 Centerline is valid? [True, True] Translation: X:142.39, Y:-17.17, Z:-9.47 [[ 9.94825978e-01 8.79772013e-02 5.08063458e-02 1.42389016e+02] [-8.77455941e-02 9.96119873e-01 -6.77557342e-03 -1.71746002e+01] [-5.12053067e-02 2.28248346e-03 9.98685540e-01 -9.47052686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.100714057 meters 0.028890794350906336 Centerline is valid? [True, True] Translation: X:142.45, Y:-17.18, Z:-9.47 [[ 9.94913370e-01 8.68323809e-02 5.10639102e-02 1.42447014e+02] [-8.65969849e-02 9.96220159e-01 -6.80853089e-03 -1.71836838e+01] [-5.14620977e-02 2.35191775e-03 9.98672179e-01 -9.47463665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.160714057 meters 0.0330972530728845 Centerline is valid? [True, True] Translation: X:142.50, Y:-17.20, Z:-9.48 [[ 9.95266968e-01 8.31051206e-02 5.03706489e-02 1.42504160e+02] [-8.28715265e-02 9.96537636e-01 -6.71199359e-03 -1.72009917e+01] [-5.07540484e-02 2.50593294e-03 9.98708039e-01 -9.48135461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.220714057 meters 0.03046825827444883 Centerline is valid? [True, True] Translation: X:142.56, Y:-17.21, Z:-9.48 [[ 9.95820043e-01 7.73259228e-02 4.86121860e-02 1.42564276e+02] [-7.71016067e-02 9.97002211e-01 -6.47555122e-03 -1.72057790e+01] [-4.89671850e-02 2.70040604e-03 9.98796737e-01 -9.48405710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.280714057 meters 0.0333038190069687 Centerline is valid? [True, True] Translation: X:142.62, Y:-17.22, Z:-9.49 [[ 9.96343250e-01 7.08918576e-02 4.76914302e-02 1.42623052e+02] [-7.06686321e-02 9.97479618e-01 -6.35268016e-03 -1.72203010e+01] [-4.80215829e-02 2.95916186e-03 9.98841915e-01 -9.48945785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.340714057 meters 0.03450398048563686 Centerline is valid? [True, True] Translation: X:142.68, Y:-17.23, Z:-9.49 [[ 9.96568358e-01 6.63315796e-02 4.95139319e-02 1.42682523e+02] [-6.60853707e-02 9.97792178e-01 -6.59495069e-03 -1.72313933e+01] [-4.98420675e-02 3.30017264e-03 9.98751659e-01 -9.49267170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40071405700002 meters 0.03677915250890057 Centerline is valid? [True, True] Translation: X:142.74, Y:-17.24, Z:-9.50 [[ 9.96677505e-01 6.43656508e-02 4.99100675e-02 1.42739976e+02] [-6.41130248e-02 9.97920501e-01 -6.64781711e-03 -1.72415669e+01] [-5.02341707e-02 3.42584437e-03 9.98731591e-01 -9.49543139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.460714057 meters 0.038352350186635596 Centerline is valid? [True, True] Translation: X:142.80, Y:-17.25, Z:-9.50 [[ 9.96757159e-01 6.32218251e-02 4.97811853e-02 1.42798510e+02] [-6.29691790e-02 9.97993458e-01 -6.62876730e-03 -1.72511172e+01] [-5.01003801e-02 3.47259089e-03 9.98738150e-01 -9.50018142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.520714057 meters 0.03938715417752867 Centerline is valid? [True, True] Translation: X:142.86, Y:-17.26, Z:-9.50 [[ 9.96849246e-01 6.16077913e-02 4.99605946e-02 1.42856704e+02] [-6.13513807e-02 9.98094069e-01 -6.65111139e-03 -1.72600240e+01] [-5.02751334e-02 3.56500392e-03 9.98729043e-01 -9.50448430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.580714057 meters 0.041719170959998594 Centerline is valid? [True, True] Translation: X:142.92, Y:-17.27, Z:-9.51 [[ 9.96936258e-01 6.05532542e-02 4.95116277e-02 1.42915581e+02] [-6.03002871e-02 9.98158538e-01 -6.58845565e-03 -1.72702887e+01] [-4.98194064e-02 3.58270495e-03 9.98751817e-01 -9.50874529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.640714057 meters 0.036464528875516024 Centerline is valid? [True, True] Translation: X:142.98, Y:-17.27, Z:-9.51 [[ 9.96879569e-01 6.27740620e-02 4.78596098e-02 1.42976607e+02] [-6.25403463e-02 9.98022129e-01 -6.36673728e-03 -1.72680906e+01] [-4.81646156e-02 3.35371374e-03 9.98833781e-01 -9.51300668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.700714057 meters 0.041601232392142785 Centerline is valid? [True, True] Translation: X:143.03, Y:-17.28, Z:-9.52 [[ 9.96745804e-01 6.47972717e-02 4.79491021e-02 1.43033367e+02] [-6.45650236e-02 9.97893118e-01 -6.37832790e-03 -1.72822914e+01] [-4.82613772e-02 3.26173666e-03 9.98829415e-01 -9.51890248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.760714057 meters 0.03667330517588176 Centerline is valid? [True, True] Translation: X:143.09, Y:-17.28, Z:-9.52 [[ 9.95636989e-01 7.83933175e-02 5.06110061e-02 1.43094047e+02] [-7.81521815e-02 9.96918731e-01 -6.72904838e-03 -1.72754607e+01] [-5.09825724e-02 2.74432893e-03 9.98695772e-01 -9.51996993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.820714057 meters 0.03259377844251137 Centerline is valid? [True, True] Translation: X:143.15, Y:-17.27, Z:-9.52 [[ 9.94755672e-01 8.78491337e-02 5.23801785e-02 1.43154910e+02] [-8.76039585e-02 9.96131048e-01 -6.96284416e-03 -1.72733002e+01] [-5.27892020e-02 2.33761774e-03 9.98602942e-01 -9.52194810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.880714057 meters 0.024467659531372758 Centerline is valid? [True, True] Translation: X:143.22, Y:-17.26, Z:-9.52 [[ 9.93026353e-01 1.04602297e-01 5.43785130e-02 1.43218206e+02] [-1.04363089e-01 9.94512997e-01 -7.22796338e-03 -1.72602498e+01] [-5.48361996e-02 1.50244851e-03 9.98494233e-01 -9.52340441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.940714057 meters 0.023246948492916558 Centerline is valid? [True, True] Translation: X:143.28, Y:-17.26, Z:-9.53 [[ 9.92244339e-01 1.11391799e-01 5.51637460e-02 1.43277956e+02] [-1.11156036e-01 9.93775909e-01 -7.33341281e-03 -1.72631268e+01] [-5.56372839e-02 1.14475401e-03 9.98450390e-01 -9.52678537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.000714057 meters 0.022343405743425283 Centerline is valid? [True, True] Translation: X:143.34, Y:-17.27, Z:-9.53 [[ 9.91386497e-01 1.17936673e-01 5.69539769e-02 1.43336315e+02] [-1.17696237e-01 9.93020795e-01 -7.56942072e-03 -1.72674244e+01] [-5.74491957e-02 8.00952704e-04 9.98348110e-01 -9.52996172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.060714057 meters 0.022371638737214213 Centerline is valid? [True, True] Translation: X:143.39, Y:-17.28, Z:-9.53 [[ 9.91284701e-01 1.18470790e-01 5.76134835e-02 1.43392724e+02] [-1.18225816e-01 9.92957235e-01 -7.65419943e-03 -1.72789473e+01] [-5.81145243e-02 7.76089667e-04 9.98309621e-01 -9.53466513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12071405700001 meters 0.023092008842557483 Centerline is valid? [True, True] Translation: X:143.45, Y:-17.29, Z:-9.54 [[ 9.91745487e-01 1.14820911e-01 5.70705535e-02 1.43449234e+02] [-1.14574775e-01 9.93385729e-01 -7.57725251e-03 -1.72940313e+01] [-5.75631004e-02 9.75860132e-04 9.98341393e-01 -9.54114555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18071405700002 meters 0.024261901537633204 Centerline is valid? [True, True] Translation: X:143.51, Y:-17.31, Z:-9.55 [[ 9.92288921e-01 1.11082795e-01 5.49846293e-02 1.43505743e+02] [-1.10848867e-01 9.93810497e-01 -7.29558177e-03 -1.73101024e+01] [-5.54547154e-02 1.14434110e-03 9.98460548e-01 -9.54818358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.240714057 meters 0.02430466899658849 Centerline is valid? [True, True] Translation: X:143.56, Y:-17.32, Z:-9.55 [[ 9.92749725e-01 1.06176606e-01 5.63428035e-02 1.43564344e+02] [-1.05923241e-01 9.94346229e-01 -7.47280473e-03 -1.73243489e+01] [-5.68176912e-02 1.45061246e-03 9.98383516e-01 -9.55023517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.300714057 meters 0.02465892781190019 Centerline is valid? [True, True] Translation: X:143.62, Y:-17.34, Z:-9.55 [[ 9.93190751e-01 1.00699080e-01 5.85817972e-02 1.43622297e+02] [-1.00415762e-01 9.94915242e-01 -7.76766346e-03 -1.73406904e+01] [-5.90661195e-02 1.83223569e-03 9.98252391e-01 -9.55186911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.360714057 meters 0.024752558556762016 Centerline is valid? [True, True] Translation: X:143.68, Y:-17.35, Z:-9.56 [[ 9.93418348e-01 9.79902403e-02 5.93118772e-02 1.43680242e+02] [-9.76951158e-02 9.95185334e-01 -7.86232902e-03 -1.73549546e+01] [-5.97967418e-02 2.01610120e-03 9.98208538e-01 -9.55519862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.420714057 meters 0.026433059552311126 Centerline is valid? [True, True] Translation: X:143.74, Y:-17.37, Z:-9.56 [[ 9.93679751e-01 9.54779860e-02 5.90297160e-02 1.43736757e+02] [-9.51813637e-02 9.95429209e-01 -7.82287901e-03 -1.73719568e+01] [-5.95068162e-02 2.15490760e-03 9.98225573e-01 -9.56016524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.480714057 meters 0.0257444414243512 Centerline is valid? [True, True] Translation: X:143.79, Y:-17.38, Z:-9.56 [[ 9.93821014e-01 9.41016157e-02 5.88615082e-02 1.43794357e+02] [-9.38044561e-02 9.95560105e-01 -7.79753584e-03 -1.73834016e+01] [-5.93339300e-02 2.22788322e-03 9.98235704e-01 -9.56495480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.540714057 meters 0.02855665126304127 Centerline is valid? [True, True] Translation: X:143.85, Y:-17.40, Z:-9.57 [[ 9.94194852e-01 9.12972040e-02 5.69334451e-02 1.43850393e+02] [-9.10148570e-02 9.95821004e-01 -7.53811980e-03 -1.74018462e+01] [-5.73837297e-02 2.31257054e-03 9.98349518e-01 -9.57132948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.600714057 meters 0.030235940461785682 Centerline is valid? [True, True] Translation: X:143.91, Y:-17.42, Z:-9.58 [[ 9.94472110e-01 8.84981786e-02 5.65092497e-02 1.43908452e+02] [-8.82157646e-02 9.96073322e-01 -7.47766453e-03 -1.74166196e+01] [-5.69491158e-02 2.45132215e-03 9.98374073e-01 -9.57551397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.660714057 meters 0.03140471803086226 Centerline is valid? [True, True] Translation: X:143.97, Y:-17.43, Z:-9.58 [[ 9.94614261e-01 8.59033642e-02 5.79920949e-02 1.43966492e+02] [-8.56016289e-02 9.96299906e-01 -7.67195432e-03 -1.74290517e+01] [-5.84365654e-02 2.66641740e-03 9.98287563e-01 -9.57813636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.720714057 meters 0.02824350594985477 Centerline is valid? [True, True] Translation: X:144.03, Y:-17.43, Z:-9.58 [[ 9.94681746e-01 8.33964716e-02 6.04421390e-02 1.44025656e+02] [-8.30642484e-02 9.96512140e-01 -7.99284724e-03 -1.74334349e+01] [-6.08979005e-02 2.92975840e-03 9.98139701e-01 -9.57929606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.780714057 meters 0.03105259834187677 Centerline is valid? [True, True] Translation: X:144.08, Y:-17.45, Z:-9.58 [[ 9.94922943e-01 8.03177862e-02 6.06414871e-02 1.44082428e+02] [-7.99778650e-02 9.96764408e-01 -8.01592880e-03 -1.74467901e+01] [-6.10890977e-02 3.12525481e-03 9.98127424e-01 -9.58380520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.840714057 meters 0.030807840890745196 Centerline is valid? [True, True] Translation: X:144.14, Y:-17.45, Z:-9.59 [[ 9.95292291e-01 7.61436287e-02 5.99616741e-02 1.44141489e+02] [-7.58040199e-02 9.97091269e-01 -7.92157159e-03 -1.74547262e+01] [-6.03904390e-02 3.33894320e-03 9.98169247e-01 -9.58804394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90071405700002 meters 0.03329673241359421 Centerline is valid? [True, True] Translation: X:144.20, Y:-17.47, Z:-9.59 [[ 9.95540849e-01 7.26303042e-02 6.01934905e-02 1.44200824e+02] [-7.22817355e-02 9.97352562e-01 -7.95101859e-03 -1.74664946e+01] [-6.06116168e-02 3.56467384e-03 9.98155061e-01 -9.59245316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.960714057 meters 0.035167374153852925 Centerline is valid? [True, True] Translation: X:144.26, Y:-17.48, Z:-9.60 [[ 9.95774145e-01 7.01899930e-02 5.92217590e-02 1.44261055e+02] [-6.98483172e-02 9.97526953e-01 -7.82248722e-03 -1.74783945e+01] [-5.96243611e-02 3.65289031e-03 9.98214201e-01 -9.59785227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.020714057 meters 0.03744537898490746 Centerline is valid? [True, True] Translation: X:144.32, Y:-17.49, Z:-9.60 [[ 9.96088649e-01 6.69334901e-02 5.76828438e-02 1.44320883e+02] [-6.66038074e-02 9.97750394e-01 -7.62132223e-03 -1.74885870e+01] [-5.80632018e-02 3.74961555e-03 9.98305867e-01 -9.60400281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.080714057 meters 0.03955081689584999 Centerline is valid? [True, True] Translation: X:144.38, Y:-17.50, Z:-9.61 [[ 9.96284362e-01 6.49409271e-02 5.65698367e-02 1.44381401e+02] [-6.46206181e-02 9.97881906e-01 -7.47509307e-03 -1.74984641e+01] [-5.69354559e-02 3.79174051e-03 9.98370661e-01 -9.60874137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.140714057 meters 0.04329320619981542 Centerline is valid? [True, True] Translation: X:144.44, Y:-17.51, Z:-9.61 [[ 9.96533398e-01 6.13128617e-02 5.62309482e-02 1.44440594e+02] [-6.09905215e-02 9.98110673e-01 -7.43238455e-03 -1.75075646e+01] [-5.65804104e-02 3.97706458e-03 9.98390124e-01 -9.61320871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.200714057 meters 0.04505693432094193 Centerline is valid? [True, True] Translation: X:144.50, Y:-17.52, Z:-9.62 [[ 9.96648691e-01 5.96987340e-02 5.59235987e-02 1.44500956e+02] [-5.93773294e-02 9.98208235e-01 -7.39277045e-03 -1.75150214e+01] [-5.62647358e-02 4.04740104e-03 9.98407681e-01 -9.61715513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.260714057 meters 0.0387392655253037 Centerline is valid? [True, True] Translation: X:144.56, Y:-17.51, Z:-9.62 [[ 9.96738923e-01 5.74623612e-02 5.66532960e-02 1.44562959e+02] [-5.71288574e-02 9.98338715e-01 -7.49019313e-03 -1.75110122e+01] [-5.69895829e-02 4.22922897e-03 9.98365815e-01 -9.61973833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.320714057 meters 0.05011058832560682 Centerline is valid? [True, True] Translation: X:144.62, Y:-17.53, Z:-9.62 [[ 9.96796994e-01 5.52456034e-02 5.78245368e-02 1.44620515e+02] [-5.48944012e-02 9.98462892e-01 -7.64573125e-03 -1.75305582e+01] [-5.81580473e-02 4.44699860e-03 9.98297484e-01 -9.62427871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.380714057 meters 0.043457016238415455 Centerline is valid? [True, True] Translation: X:144.68, Y:-17.53, Z:-9.63 [[ 9.96955393e-01 5.33234781e-02 5.68906950e-02 1.44682799e+02] [-5.29801482e-02 9.98567196e-01 -7.52726732e-03 -1.75251710e+01] [-5.72105618e-02 4.49027230e-03 9.98352037e-01 -9.62787377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.440714057 meters 0.046451204340936435 Centerline is valid? [True, True] Translation: X:144.74, Y:-17.53, Z:-9.63 [[ 9.97222522e-01 5.13347704e-02 5.39627917e-02 1.44741842e+02] [-5.10229647e-02 9.98671950e-01 -7.14095216e-03 -1.75326133e+01] [-5.42577056e-02 4.36777670e-03 9.98517413e-01 -9.63480756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.500714057 meters 0.042250917070331774 Centerline is valid? [True, True] Translation: X:144.80, Y:-17.53, Z:-9.64 [[ 9.97233917e-01 5.12189143e-02 5.38622164e-02 1.44804888e+02] [-5.09082452e-02 9.98677918e-01 -7.12503162e-03 -1.75292800e+01] [-5.41559425e-02 4.36329228e-03 9.98522957e-01 -9.63802454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.560714057 meters 0.04206748742154462 Centerline is valid? [True, True] Translation: X:144.87, Y:-17.53, Z:-9.64 [[ 9.97101083e-01 5.33857866e-02 5.42161299e-02 1.44865369e+02] [-5.30732994e-02 9.98564747e-01 -7.18827006e-03 -1.75323248e+01] [-5.45220675e-02 4.29000296e-03 9.98503350e-01 -9.64169449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62071405700001 meters 0.03878614790265381 Centerline is valid? [True, True] Translation: X:144.93, Y:-17.53, Z:-9.65 [[ 9.96941202e-01 5.67607954e-02 5.37257056e-02 1.44926610e+02] [-5.64588153e-02 9.98379518e-01 -7.12315273e-03 -1.75304160e+01] [-5.40429599e-02 4.06807476e-03 9.98530325e-01 -9.64573074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68071405700002 meters 0.04117307990607161 Centerline is valid? [True, True] Translation: X:144.99, Y:-17.53, Z:-9.65 [[ 9.96637785e-01 6.28573807e-02 5.25554408e-02 1.44986432e+02] [-6.25768201e-02 9.98015822e-01 -6.96858321e-03 -1.75322267e+01] [-5.28891884e-02 3.65640097e-03 9.98593693e-01 -9.65103842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.740714057 meters 0.0396786030198467 Centerline is valid? [True, True] Translation: X:145.05, Y:-17.53, Z:-9.65 [[ 9.96146155e-01 6.96590842e-02 5.32958621e-02 1.45048150e+02] [-6.93802379e-02 9.97565258e-01 -7.06668434e-03 -1.75287417e+01] [-5.36583592e-02 3.34177085e-03 9.98553761e-01 -9.65357524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.800714057 meters 0.03631794529837211 Centerline is valid? [True, True] Translation: X:145.11, Y:-17.52, Z:-9.66 [[ 9.95501626e-01 7.77339958e-02 5.41658446e-02 1.45108739e+02] [-7.74578584e-02 9.96969758e-01 -7.18199956e-03 -1.75246767e+01] [-5.45599946e-02 2.95412191e-03 9.98506124e-01 -9.65712570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.860714057 meters 0.0288777832797047 Centerline is valid? [True, True] Translation: X:145.17, Y:-17.52, Z:-9.66 [[ 9.94935173e-01 8.50143095e-02 5.36336568e-02 1.45169792e+02] [-8.47541667e-02 9.96376521e-01 -7.11047023e-03 -1.75183143e+01] [-5.40438081e-02 2.52878104e-03 9.98535363e-01 -9.66131865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.920714057 meters 0.024846114250027956 Centerline is valid? [True, True] Translation: X:145.23, Y:-17.52, Z:-9.66 [[ 9.93919098e-01 9.60717493e-02 5.38056305e-02 1.45230792e+02] [-9.58261747e-02 9.95372536e-01 -7.13151422e-03 -1.75154130e+01] [-5.42417840e-02 1.93216043e-03 9.98525961e-01 -9.66445862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.980714057 meters 0.024809403418464458 Centerline is valid? [True, True] Translation: X:145.29, Y:-17.52, Z:-9.67 [[ 9.93693224e-01 9.74540496e-02 5.54660716e-02 1.45289725e+02] [-9.71951114e-02 9.95238181e-01 -7.35345883e-03 -1.75212788e+01] [-5.59185765e-02 1.91605120e-03 9.98433494e-01 -9.66620151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.040714057 meters 0.025493089206478043 Centerline is valid? [True, True] Translation: X:145.35, Y:-17.53, Z:-9.67 [[ 9.93961624e-01 9.49704092e-02 5.49628259e-02 1.45347493e+02] [-9.47131656e-02 9.95478041e-01 -7.27227911e-03 -1.75342318e+01] [-5.54049376e-02 2.02266312e-03 9.98461918e-01 -9.67222148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.100714057 meters 0.028145800207520447 Centerline is valid? [True, True] Translation: X:145.41, Y:-17.55, Z:-9.68 [[ 9.94595481e-01 8.82857462e-02 5.46393327e-02 1.45405413e+02] [-8.80216453e-02 9.96092352e-01 -7.22603826e-03 -1.75515152e+01] [-5.50637776e-02 2.37754103e-03 9.98480009e-01 -9.67819136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.160714057 meters 0.029300271270832266 Centerline is valid? [True, True] Translation: X:145.46, Y:-17.57, Z:-9.68 [[ 9.95061911e-01 8.25386284e-02 5.51286548e-02 1.45464430e+02] [-8.22609812e-02 9.96584155e-01 -7.29058451e-03 -1.75661759e+01] [-5.55420987e-02 2.71964572e-03 9.98452642e-01 -9.68172832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.220714057 meters 0.03131107613529803 Centerline is valid? [True, True] Translation: X:145.52, Y:-17.58, Z:-9.69 [[ 9.95490610e-01 7.70749093e-02 5.52983094e-02 1.45523326e+02] [-7.67871632e-02 9.97020690e-01 -7.31268675e-03 -1.75834243e+01] [-5.56971833e-02 3.03351068e-03 9.98443099e-01 -9.68670544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.280714057 meters 0.03160196754475878 Centerline is valid? [True, True] Translation: X:145.58, Y:-17.60, Z:-9.69 [[ 9.95821710e-01 7.16795811e-02 5.65787941e-02 1.45582165e+02] [-7.13696792e-02 9.97421873e-01 -7.48170784e-03 -1.75966102e+01] [-5.69692124e-02 3.41243671e-03 9.98370104e-01 -9.68894110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.340714057 meters 0.035804644145772814 Centerline is valid? [True, True] Translation: X:145.64, Y:-17.62, Z:-9.69 [[ 9.96218193e-01 6.54398990e-02 5.71570780e-02 1.45638915e+02] [-6.51134095e-02 9.97849248e-01 -7.55795925e-03 -1.76165084e+01] [-5.75287394e-02 3.80768428e-03 9.98336589e-01 -9.69346311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40071405700002 meters 0.04007087215134862 Centerline is valid? [True, True] Translation: X:145.70, Y:-17.64, Z:-9.70 [[ 9.96640489e-01 5.89728343e-02 5.68325702e-02 1.45695570e+02] [-5.86395185e-02 9.98250927e-01 -7.51625519e-03 -1.76383376e+01] [-5.71764207e-02 4.15836970e-03 9.98355430e-01 -9.69880387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.460714057 meters 0.039557485116716244 Centerline is valid? [True, True] Translation: X:145.76, Y:-17.65, Z:-9.70 [[ 9.96906080e-01 5.36437982e-02 5.74509427e-02 1.45755398e+02] [-5.32943304e-02 9.98549934e-01 -7.59898926e-03 -1.76520399e+01] [-5.77752737e-02 4.51366906e-03 9.98319410e-01 -9.70143872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.520714057 meters 0.041276497117112475 Centerline is valid? [True, True] Translation: X:145.82, Y:-17.67, Z:-9.71 [[ 9.96983505e-01 5.13104322e-02 5.82334161e-02 1.45815075e+02] [-5.09473112e-02 9.98671626e-01 -7.70423423e-03 -1.76675031e+01] [-5.85513679e-02 4.71415848e-03 9.98273266e-01 -9.70514661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.580714057 meters 0.041982602829313494 Centerline is valid? [True, True] Translation: X:145.88, Y:-17.68, Z:-9.71 [[ 9.96953422e-01 5.12332636e-02 5.88134943e-02 1.45875308e+02] [-5.08626677e-02 9.98675337e-01 -7.78199290e-03 -1.76827847e+01] [-5.91342832e-02 4.76687324e-03 9.98238656e-01 -9.70901903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.640714057 meters 0.03934894407703327 Centerline is valid? [True, True] Translation: X:145.94, Y:-17.69, Z:-9.71 [[ 9.96769933e-01 5.60005805e-02 5.75641828e-02 1.45935241e+02] [-5.56525473e-02 9.98421021e-01 -7.63271366e-03 -1.76896344e+01] [-5.79007266e-02 4.40446608e-03 9.98312630e-01 -9.71385323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.700714057 meters 0.0366330825459774 Centerline is valid? [True, True] Translation: X:146.00, Y:-17.70, Z:-9.72 [[ 9.96487578e-01 6.23834790e-02 5.58642029e-02 1.45995583e+02] [-6.20657014e-02 9.98044580e-01 -7.40711632e-03 -1.76957383e+01] [-5.62170466e-02 3.91384847e-03 9.98410900e-01 -9.71821348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.760714057 meters 0.03670684518614054 Centerline is valid? [True, True] Translation: X:146.05, Y:-17.71, Z:-9.72 [[ 9.96125256e-01 6.69173348e-02 5.70661515e-02 1.46054029e+02] [-6.65930444e-02 9.97751520e-01 -7.56769404e-03 -1.77065953e+01] [-5.74442494e-02 3.73816239e-03 9.98341717e-01 -9.72232010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.820714057 meters 0.03144788787546049 Centerline is valid? [True, True] Translation: X:146.11, Y:-17.71, Z:-9.73 [[ 9.95974798e-01 7.05604035e-02 5.52759470e-02 1.46114421e+02] [-7.02618108e-02 9.97501660e-01 -7.32917017e-03 -1.77096970e+01] [-5.56549980e-02 3.41588066e-03 9.98444216e-01 -9.72772557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.880714057 meters 0.03327512233010791 Centerline is valid? [True, True] Translation: X:146.17, Y:-17.72, Z:-9.73 [[ 9.95808250e-01 7.37681378e-02 5.40757875e-02 1.46172426e+02] [-7.34870837e-02 9.97270393e-01 -7.17022373e-03 -1.77224765e+01] [-5.44571159e-02 3.16629602e-03 9.98511090e-01 -9.73405258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.940714057 meters 0.030143164207485158 Centerline is valid? [True, True] Translation: X:146.23, Y:-17.73, Z:-9.74 [[ 9.95597217e-01 7.67808413e-02 5.37669410e-02 1.46232289e+02] [-7.65074206e-02 9.97043531e-01 -7.12828606e-03 -1.77264769e+01] [-5.41552965e-02 2.98333180e-03 9.98528069e-01 -9.73700881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.000714057 meters 0.031189382703636352 Centerline is valid? [True, True] Translation: X:146.29, Y:-17.74, Z:-9.74 [[ 9.95513313e-01 7.86238916e-02 5.26452916e-02 1.46289778e+02] [-7.83643570e-02 9.96900355e-01 -6.97925293e-03 -1.77354931e+01] [-5.30308459e-02 2.82242478e-03 9.98588886e-01 -9.74139542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.060714057 meters 0.030841663988695363 Centerline is valid? [True, True] Translation: X:146.35, Y:-17.74, Z:-9.75 [[ 9.95435711e-01 8.03464987e-02 5.14993785e-02 1.46348073e+02] [-8.01006385e-02 9.96763425e-01 -6.82368035e-03 -1.77420355e+01] [-5.18809558e-02 2.66740200e-03 9.98649714e-01 -9.74605603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12071405700001 meters 0.02902494413391031 Centerline is valid? [True, True] Translation: X:146.41, Y:-17.74, Z:-9.75 [[ 9.95193206e-01 8.32243261e-02 5.16158381e-02 1.46408313e+02] [-8.29814165e-02 9.96527654e-01 -6.83512117e-03 -1.77449799e+01] [-5.20054584e-02 2.51911079e-03 9.98643623e-01 -9.74916080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18071405700002 meters 0.029749246185231466 Centerline is valid? [True, True] Translation: X:146.47, Y:-17.75, Z:-9.75 [[ 9.94873485e-01 8.50341264e-02 5.47352290e-02 1.46467035e+02] [-8.47638212e-02 9.96374728e-01 -7.24535717e-03 -1.77528084e+01] [-5.51529016e-02 2.56864657e-03 9.98474616e-01 -9.75038680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.240714057 meters 0.03145469527211491 Centerline is valid? [True, True] Translation: X:146.52, Y:-17.76, Z:-9.75 [[ 9.94801408e-01 8.41174068e-02 5.73970347e-02 1.46524337e+02] [-8.38187212e-02 9.96452068e-01 -7.59589882e-03 -1.77641011e+01] [-5.78323413e-02 2.74546479e-03 9.98322534e-01 -9.75192885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.300714057 meters 0.031389657669907235 Centerline is valid? [True, True] Translation: X:146.58, Y:-17.77, Z:-9.76 [[ 9.94855274e-01 8.35602544e-02 5.72771065e-02 1.46582762e+02] [-8.32621906e-02 9.96498885e-01 -7.57494452e-03 -1.77734583e+01] [-5.77095371e-02 2.76695615e-03 9.98329582e-01 -9.75515392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.360714057 meters 0.02805879373946581 Centerline is valid? [True, True] Translation: X:146.64, Y:-17.78, Z:-9.76 [[ 9.94877995e-01 8.45695406e-02 5.53693737e-02 1.46641531e+02] [-8.42927860e-02 9.96414150e-01 -7.31900954e-03 -1.77778391e+01] [-5.57897928e-02 2.61428277e-03 9.98439114e-01 -9.75998676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.420714057 meters 0.02617206158636257 Centerline is valid? [True, True] Translation: X:146.70, Y:-17.78, Z:-9.76 [[ 9.94560785e-01 8.89545793e-02 5.41842090e-02 1.46700774e+02] [-8.86962760e-02 9.96032997e-01 -7.15814377e-03 -1.77844216e+01] [-5.46060097e-02 2.31327153e-03 9.98505299e-01 -9.76434079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.480714057 meters 0.025057297851589323 Centerline is valid? [True, True] Translation: X:146.76, Y:-17.79, Z:-9.77 [[ 9.94395416e-01 9.10812792e-02 5.36838569e-02 1.46759243e+02] [-9.08309042e-02 9.95841088e-01 -7.09050022e-03 -1.77895160e+01] [-5.41064023e-02 2.17460766e-03 9.98532808e-01 -9.76774018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.540714057 meters 0.024525574088165795 Centerline is valid? [True, True] Translation: X:146.82, Y:-17.80, Z:-9.77 [[ 9.93851974e-01 9.62222315e-02 5.47680209e-02 1.46817862e+02] [-9.59696650e-02 9.95358007e-01 -7.22917478e-03 -1.77978772e+01] [-5.52093954e-02 1.92866101e-03 9.98472936e-01 -9.77078127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.600714057 meters 0.023346194916977956 Centerline is valid? [True, True] Translation: X:146.88, Y:-17.81, Z:-9.77 [[ 9.93671590e-01 9.66826989e-02 5.71771569e-02 1.46875867e+02] [-9.64082689e-02 9.95313275e-01 -7.54524918e-03 -1.78064769e+01] [-5.76386783e-02 1.98514903e-03 9.98335536e-01 -9.77178572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.660714057 meters 0.02583664375681591 Centerline is valid? [True, True] Translation: X:146.93, Y:-17.82, Z:-9.78 [[ 9.94068261e-01 9.16226002e-02 5.85968491e-02 1.46932934e+02] [-9.13258570e-02 9.95791076e-01 -7.72792104e-03 -1.78226250e+01] [-5.90582717e-02 2.33067358e-03 9.98251816e-01 -9.77510797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.720714057 meters 0.0289979560599082 Centerline is valid? [True, True] Translation: X:146.99, Y:-17.84, Z:-9.78 [[ 9.94710799e-01 8.42025909e-02 5.88247433e-02 1.46990487e+02] [-8.38907234e-02 9.96444778e-01 -7.75563981e-03 -1.78412461e+01] [-5.92686533e-02 2.77976840e-03 9.98238198e-01 -9.78004698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.780714057 meters 0.031856322338604734 Centerline is valid? [True, True] Translation: X:147.05, Y:-17.86, Z:-9.79 [[ 9.95285848e-01 7.79660905e-02 5.76833591e-02 1.47049400e+02] [-7.76557877e-02 9.96951224e-01 -7.60501418e-03 -1.78581217e+01] [-5.81004287e-02 3.08971629e-03 9.98305962e-01 -9.78553736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.840714057 meters 0.03087388554020863 Centerline is valid? [True, True] Translation: X:147.11, Y:-17.87, Z:-9.79 [[ 9.95750080e-01 7.30534108e-02 5.60800922e-02 1.47108680e+02] [-7.27523739e-02 9.97322629e-01 -7.39366735e-03 -1.78682325e+01] [-5.64700776e-02 3.28228502e-03 9.98398897e-01 -9.79051485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90071405700002 meters 0.03380368116093074 Centerline is valid? [True, True] Translation: X:147.17, Y:-17.88, Z:-9.80 [[ 9.96057400e-01 6.88211352e-02 5.59759580e-02 1.47166328e+02] [-6.85145549e-02 9.97622820e-01 -7.38005385e-03 -1.78830178e+01] [-5.63507968e-02 3.51578940e-03 9.98404841e-01 -9.79504706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.960714057 meters 0.03543937229439602 Centerline is valid? [True, True] Translation: X:147.23, Y:-17.89, Z:-9.80 [[ 9.96198618e-01 6.67492759e-02 5.59718464e-02 1.47226483e+02] [-6.64395549e-02 9.97763172e-01 -7.37828785e-03 -1.78949850e+01] [-5.63391423e-02 3.63149560e-03 9.98405085e-01 -9.79931414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.020714057 meters 0.03402603332187049 Centerline is valid? [True, True] Translation: X:147.29, Y:-17.90, Z:-9.80 [[ 9.96144761e-01 6.74719139e-02 5.60638590e-02 1.47288935e+02] [-6.71622977e-02 9.97714691e-01 -7.39065672e-03 -1.78996954e+01] [-5.64343975e-02 3.59678638e-03 9.98399831e-01 -9.80239032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.080714057 meters 0.035727859483752775 Centerline is valid? [True, True] Translation: X:147.35, Y:-17.91, Z:-9.81 [[ 9.95844794e-01 7.06643502e-02 5.74429840e-02 1.47348193e+02] [-7.03435998e-02 9.97493950e-01 -7.58933696e-03 -1.79088289e+01] [-5.78353245e-02 3.51705543e-03 9.98319941e-01 -9.80576454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.140714057 meters 0.03406977265757212 Centerline is valid? [True, True] Translation: X:147.41, Y:-17.91, Z:-9.81 [[ 9.95656248e-01 7.28850207e-02 5.79345263e-02 1.47409522e+02] [-7.25625047e-02 9.97334497e-01 -7.65405748e-03 -1.79121352e+01] [-5.83379677e-02 3.41693581e-03 9.98291043e-01 -9.80867995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.200714057 meters 0.031322361731598816 Centerline is valid? [True, True] Translation: X:147.47, Y:-17.91, Z:-9.81 [[ 9.95695471e-01 7.30435691e-02 5.70540650e-02 1.47470119e+02] [-7.27309236e-02 9.97323098e-01 -7.53999568e-03 -1.79141652e+01] [-5.74520850e-02 3.35794470e-03 9.98342618e-01 -9.81298043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.260714057 meters 0.030801669656821015 Centerline is valid? [True, True] Translation: X:147.53, Y:-17.92, Z:-9.82 [[ 9.95632646e-01 7.33997843e-02 5.76897365e-02 1.47530079e+02] [-7.30807191e-02 9.97296888e-01 -7.62400303e-03 -1.79192715e+01] [-5.80933949e-02 3.37469888e-03 9.98305449e-01 -9.81707064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.320714057 meters 0.0306810153535303 Centerline is valid? [True, True] Translation: X:147.59, Y:-17.92, Z:-9.82 [[ 9.95499628e-01 7.54505597e-02 5.73384961e-02 1.47590562e+02] [-7.51387675e-02 9.97144296e-01 -7.57745981e-03 -1.79244556e+01] [-5.77464779e-02 3.23501450e-03 9.98326038e-01 -9.82116093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.380714057 meters 0.02965898713564277 Centerline is valid? [True, True] Translation: X:147.65, Y:-17.93, Z:-9.82 [[ 9.95059769e-01 8.06623757e-02 5.78760550e-02 1.47650822e+02] [-8.03534102e-02 9.96737082e-01 -7.64971227e-03 -1.79259169e+01] [-5.83042541e-02 2.96138253e-03 9.98294468e-01 -9.82480965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.440714057 meters 0.027774259304597784 Centerline is valid? [True, True] Translation: X:147.71, Y:-17.93, Z:-9.83 [[ 9.94390561e-01 8.80471507e-02 5.86098297e-02 1.47710963e+02] [-8.77430741e-02 9.96113017e-01 -7.74662376e-03 -1.79261572e+01] [-5.90640824e-02 2.56056291e-03 9.98250909e-01 -9.82804693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.500714057 meters 0.024813052771725443 Centerline is valid? [True, True] Translation: X:147.77, Y:-17.92, Z:-9.83 [[ 9.93666426e-01 9.59730430e-02 5.84483437e-02 1.47771712e+02] [-9.56844103e-02 9.95381756e-01 -7.72357175e-03 -1.79244128e+01] [-5.89196697e-02 2.08205863e-03 9.98260556e-01 -9.83216183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.560714057 meters 0.022736673677533504 Centerline is valid? [True, True] Translation: X:147.83, Y:-17.93, Z:-9.84 [[ 9.92964649e-01 1.03405507e-01 5.76932087e-02 1.47832069e+02] [-1.03136810e-01 9.94637963e-01 -7.62370839e-03 -1.79251429e+01] [-5.81721890e-02 1.61977943e-03 9.98305250e-01 -9.83696456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62071405700001 meters 0.021537163732360958 Centerline is valid? [True, True] Translation: X:147.89, Y:-17.93, Z:-9.84 [[ 9.92214239e-01 1.10954263e-01 5.65690398e-02 1.47892308e+02] [-1.10708244e-01 9.93824844e-01 -7.47417409e-03 -1.79284540e+01] [-5.70490086e-02 1.15332287e-03 9.98370713e-01 -9.84179658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68071405700002 meters 0.021010480872566812 Centerline is valid? [True, True] Translation: X:147.95, Y:-17.93, Z:-9.85 [[ 9.91688521e-01 1.15344210e-01 5.70051834e-02 1.47951118e+02] [-1.15101591e-01 9.93325167e-01 -7.53230587e-03 -1.79342975e+01] [-5.74934912e-02 9.08313987e-04 9.98345468e-01 -9.84562640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.740714057 meters 0.021152945278079847 Centerline is valid? [True, True] Translation: X:148.01, Y:-17.95, Z:-9.85 [[ 9.91877334e-01 1.13260743e-01 5.78909218e-02 1.48008204e+02] [-1.13007838e-01 9.93564765e-01 -7.63453745e-03 -1.79466873e+01] [-5.83830735e-02 1.03039674e-03 9.98293722e-01 -9.84828602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.800714057 meters 0.02171597762601375 Centerline is valid? [True, True] Translation: X:148.07, Y:-17.96, Z:-9.85 [[ 9.92497179e-01 1.07147040e-01 5.88970358e-02 1.48065995e+02] [-1.06874827e-01 9.94242187e-01 -7.76172252e-03 -1.79605571e+01] [-5.93895633e-02 1.40887716e-03 9.98233888e-01 -9.85145913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.860714057 meters 0.0243174388340448 Centerline is valid? [True, True] Translation: X:148.12, Y:-17.98, Z:-9.86 [[ 9.93639393e-01 9.55245665e-02 5.96306486e-02 1.48123911e+02] [-9.52249150e-02 9.95424805e-01 -7.85328045e-03 -1.79813712e+01] [-6.01080080e-02 2.12500537e-03 9.98189617e-01 -9.85559213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.920714057 meters 0.026688287875252792 Centerline is valid? [True, True] Translation: X:148.18, Y:-18.00, Z:-9.86 [[ 9.94622231e-01 8.57498929e-02 5.80824718e-02 1.48182481e+02] [-8.54489759e-02 9.96313183e-01 -7.64942858e-03 -1.79979325e+01] [-5.85242701e-02 2.64520398e-03 9.98282481e-01 -9.85988691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.980714057 meters 0.029029956180631325 Centerline is valid? [True, True] Translation: X:148.24, Y:-18.01, Z:-9.87 [[ 9.95230772e-01 7.97860640e-02 5.61239257e-02 1.48241469e+02] [-7.94956600e-02 9.96807807e-01 -7.39158051e-03 -1.80126375e+01] [-5.65345124e-02 2.89471986e-03 9.98396449e-01 -9.86568225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.040714057 meters 0.030510959067312042 Centerline is valid? [True, True] Translation: X:148.30, Y:-18.02, Z:-9.87 [[ 9.95652372e-01 7.63345532e-02 5.33796835e-02 1.48300813e+02] [-7.60669448e-02 9.97077930e-01 -7.03009549e-03 -1.80234838e+01] [-5.37603435e-02 2.93910181e-03 9.98549542e-01 -9.87103635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.100714057 meters 0.03011220185807371 Centerline is valid? [True, True] Translation: X:148.36, Y:-18.03, Z:-9.88 [[ 9.95779477e-01 7.47162694e-02 5.32983332e-02 1.48359767e+02] [-7.44471458e-02 9.97200253e-01 -7.01978466e-03 -1.80298441e+01] [-5.36736035e-02 3.02224871e-03 9.98553960e-01 -9.87516757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.160714057 meters 0.02959176439123553 Centerline is valid? [True, True] Translation: X:148.42, Y:-18.04, Z:-9.88 [[ 9.95601998e-01 7.55717344e-02 5.53676325e-02 1.48418830e+02] [-7.52827190e-02 9.97135580e-01 -7.29017573e-03 -1.80359462e+01] [-5.57599675e-02 3.08988761e-03 9.98439422e-01 -9.87733086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.220714057 meters 0.03238077322906493 Centerline is valid? [True, True] Translation: X:148.48, Y:-18.04, Z:-9.88 [[ 9.95459037e-01 7.63514116e-02 5.68486406e-02 1.48477297e+02] [-7.60480996e-02 9.97076071e-01 -7.48298503e-03 -1.80443986e+01] [-5.72537556e-02 3.12577400e-03 9.98354765e-01 -9.88000412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.280714057 meters 0.03349028482250768 Centerline is valid? [True, True] Translation: X:148.54, Y:-18.05, Z:-9.88 [[ 9.95529224e-01 7.45565793e-02 5.79903543e-02 1.48536673e+02] [-7.42380457e-02 9.97211352e-01 -7.63097987e-03 -1.80520939e+01] [-5.83975794e-02 3.29177289e-03 9.98287978e-01 -9.88348955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.340714057 meters 0.03344226871282676 Centerline is valid? [True, True] Translation: X:148.60, Y:-18.06, Z:-9.89 [[ 9.95921186e-01 7.00272865e-02 5.68961330e-02 1.48597119e+02] [-6.97133794e-02 9.97538975e-01 -7.48585330e-03 -1.80583012e+01] [-5.72803242e-02 3.48889819e-03 9.98352038e-01 -9.88819625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40071405700002 meters 0.036914703358100404 Centerline is valid? [True, True] Translation: X:148.66, Y:-18.07, Z:-9.89 [[ 9.96168702e-01 6.73577583e-02 5.57749941e-02 1.48655622e+02] [-6.70519753e-02 9.97722500e-01 -7.33790761e-03 -1.80703102e+01] [-5.61422316e-02 3.56997036e-03 9.98416399e-01 -9.89418803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.460714057 meters 0.03611698144299203 Centerline is valid? [True, True] Translation: X:148.72, Y:-18.08, Z:-9.90 [[ 9.96355241e-01 6.55861927e-02 5.45406808e-02 1.48716467e+02] [-6.52909258e-02 9.97840440e-01 -7.17994803e-03 -1.80755121e+01] [-5.48938023e-02 3.59276731e-03 9.98485735e-01 -9.89882274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.520714057 meters 0.03616479490864153 Centerline is valid? [True, True] Translation: X:148.78, Y:-18.08, Z:-9.90 [[ 9.96435845e-01 6.63179693e-02 5.21299700e-02 1.48777699e+02] [-6.60491595e-02 9.97792759e-01 -6.86437032e-03 -1.80807934e+01] [-5.24701377e-02 3.39676393e-03 9.98616717e-01 -9.90473027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.580714057 meters 0.03380868923487071 Centerline is valid? [True, True] Translation: X:148.84, Y:-18.08, Z:-9.91 [[ 9.96223886e-01 7.00803481e-02 5.12514850e-02 1.48838785e+02] [-6.98253699e-02 9.97536387e-01 -6.75094399e-03 -1.80809734e+01] [-5.15983297e-02 3.14679775e-03 9.98662961e-01 -9.90842531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.640714057 meters 0.035966849959138 Centerline is valid? [True, True] Translation: X:148.90, Y:-18.09, Z:-9.91 [[ 9.96053441e-01 7.27479553e-02 5.08456328e-02 1.48896646e+02] [-7.25004242e-02 9.97345889e-01 -6.69825790e-03 -1.80878612e+01] [-5.11979674e-02 2.98549288e-03 9.98684062e-01 -9.91230393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.700714057 meters 0.03227385304662463 Centerline is valid? [True, True] Translation: X:148.96, Y:-18.08, Z:-9.91 [[ 9.95674449e-01 7.65395010e-02 5.26696859e-02 1.48957767e+02] [-7.62793391e-02 9.97062369e-01 -6.93505592e-03 -1.80844351e+01] [-5.30457675e-02 2.88744915e-03 9.98587908e-01 -9.91296520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.760714057 meters 0.0333167746756321 Centerline is valid? [True, True] Translation: X:149.02, Y:-18.09, Z:-9.92 [[ 9.95533494e-01 7.75778978e-02 5.38027185e-02 1.49015316e+02] [-7.73078874e-02 9.96982094e-01 -7.08484137e-03 -1.80891234e+01] [-5.41899740e-02 2.89382239e-03 9.98526451e-01 -9.91693529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.820714057 meters 0.0314645611976777 Centerline is valid? [True, True] Translation: X:149.07, Y:-18.09, Z:-9.92 [[ 9.95670116e-01 7.66498560e-02 5.25910669e-02 1.49074203e+02] [-7.63908305e-02 9.97053932e-01 -6.92081809e-03 -1.80883809e+01] [-5.29666098e-02 2.87337647e-03 9.98592150e-01 -9.92072795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.880714057 meters 0.03176068259955302 Centerline is valid? [True, True] Translation: X:149.13, Y:-18.09, Z:-9.92 [[ 9.95847303e-01 7.42142358e-02 5.27294677e-02 1.49133708e+02] [-7.39507291e-02 9.97237792e-01 -6.93362889e-03 -1.80916103e+01] [-5.30983919e-02 3.00545305e-03 9.98584763e-01 -9.92382026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.940714057 meters 0.032363057541419014 Centerline is valid? [True, True] Translation: X:149.19, Y:-18.10, Z:-9.93 [[ 9.95930863e-01 7.22402900e-02 5.38800258e-02 1.49193384e+02] [-7.19623767e-02 9.97382198e-01 -7.08290884e-03 -1.80960227e+01] [-5.42506500e-02 3.17675280e-03 9.98522296e-01 -9.92703898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.000714057 meters 0.032384880299801695 Centerline is valid? [True, True] Translation: X:149.25, Y:-18.10, Z:-9.93 [[ 9.95900655e-01 7.23292961e-02 5.43171946e-02 1.49251922e+02] [-7.20470713e-02 9.97375686e-01 -7.13872867e-03 -1.81007367e+01] [-5.46909884e-02 3.19606976e-03 9.98498213e-01 -9.93046244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.060714057 meters 0.03214057652519117 Centerline is valid? [True, True] Translation: X:149.31, Y:-18.10, Z:-9.94 [[ 9.95836399e-01 7.41323771e-02 5.30495640e-02 1.49310545e+02] [-7.38659369e-02 9.97243835e-01 -6.96833923e-03 -1.81038016e+01] [-5.34199302e-02 3.02077010e-03 9.98567567e-01 -9.93530266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12071405700001 meters 0.03255673619329996 Centerline is valid? [True, True] Translation: X:149.37, Y:-18.11, Z:-9.94 [[ 9.95863811e-01 7.46353727e-02 5.18153626e-02 1.49369004e+02] [-7.43820699e-02 9.97206615e-01 -6.80253354e-03 -1.81086929e+01] [-5.21783320e-02 2.92026304e-03 9.98633513e-01 -9.94104743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18071405700002 meters 0.035250073630324355 Centerline is valid? [True, True] Translation: X:149.43, Y:-18.12, Z:-9.95 [[ 9.96165597e-01 7.12525702e-02 5.07658708e-02 1.49427273e+02] [-7.10052799e-02 9.97453703e-01 -6.66043705e-03 -1.81178818e+01] [-5.11111791e-02 3.03025339e-03 9.98688372e-01 -9.94636789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.240714057 meters 0.039170397629184665 Centerline is valid? [True, True] Translation: X:149.49, Y:-18.13, Z:-9.95 [[ 9.96681171e-01 6.49436425e-02 4.90812275e-02 1.49485909e+02] [-6.47049263e-02 9.97883668e-01 -6.43868502e-03 -1.81300504e+01] [-4.93955070e-02 3.24151892e-03 9.98774037e-01 -9.95301580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.300714057 meters 0.04209609912142644 Centerline is valid? [True, True] Translation: X:149.54, Y:-18.14, Z:-9.96 [[ 9.96811411e-01 6.27711636e-02 4.92624797e-02 1.49543029e+02] [-6.25280346e-02 9.98022284e-01 -6.46256016e-03 -1.81399251e+01] [-4.95707150e-02 3.36166767e-03 9.98764959e-01 -9.95665068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.360714057 meters 0.03458263657315841 Centerline is valid? [True, True] Translation: X:149.61, Y:-18.13, Z:-9.96 [[ 9.96501745e-01 6.61472421e-02 5.10765571e-02 1.49605198e+02] [-6.58905012e-02 9.97804392e-01 -6.69601302e-03 -1.81331830e+01] [-5.14073358e-02 3.30712871e-03 9.98672293e-01 -9.95652196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.420714057 meters 0.033268338004679675 Centerline is valid? [True, True] Translation: X:149.67, Y:-18.14, Z:-9.96 [[ 9.96204568e-01 6.96928387e-02 5.21475408e-02 1.49665667e+02] [-6.94300500e-02 9.97563399e-01 -6.83621847e-03 -1.81370233e+01] [-5.24969135e-02 3.18966570e-03 9.98615992e-01 -9.95928644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.480714057 meters 0.031008943538125448 Centerline is valid? [True, True] Translation: X:149.73, Y:-18.14, Z:-9.96 [[ 9.95730361e-01 7.54680141e-02 5.31566208e-02 1.49726204e+02] [-7.52031617e-02 9.97143887e-01 -6.96804185e-03 -1.81375474e+01] [-5.35306638e-02 2.94074487e-03 9.98561876e-01 -9.96139936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.540714057 meters 0.02891505506802421 Centerline is valid? [True, True] Translation: X:149.79, Y:-18.14, Z:-9.96 [[ 9.95144874e-01 8.15097010e-02 5.51620200e-02 1.49786546e+02] [-8.12337175e-02 9.96668851e-01 -7.23074539e-03 -1.81401137e+01] [-5.55676430e-02 2.71462326e-03 9.98451235e-01 -9.96444282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.600714057 meters 0.028400943518429984 Centerline is valid? [True, True] Translation: X:149.85, Y:-18.14, Z:-9.97 [[ 9.94803928e-01 8.62192728e-02 5.41422405e-02 1.49846824e+02] [-8.59603634e-02 9.96273280e-01 -7.09705642e-03 -1.81439782e+01] [-5.45523705e-02 2.40609293e-03 9.98508012e-01 -9.96964908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.660714057 meters 0.027900991038965442 Centerline is valid? [True, True] Translation: X:149.91, Y:-18.15, Z:-9.97 [[ 9.94727807e-01 8.82787811e-02 5.21866465e-02 1.49905177e+02] [-8.80410963e-02 9.96093356e-01 -6.84045983e-03 -1.81481932e+01] [-5.25866393e-02 2.20982604e-03 9.98613920e-01 -9.97484211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.720714057 meters 0.02783188577307193 Centerline is valid? [True, True] Translation: X:149.96, Y:-18.15, Z:-9.98 [[ 9.94840108e-01 8.78495592e-02 5.07505092e-02 1.49963704e+02] [-8.76244118e-02 9.96131396e-01 -6.64869748e-03 -1.81545597e+01] [-5.11382607e-02 2.16740740e-03 9.98689231e-01 -9.97975576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.780714057 meters 0.029410096010106843 Centerline is valid? [True, True] Translation: X:150.02, Y:-18.16, Z:-9.98 [[ 9.95112581e-01 8.49474491e-02 5.03476095e-02 1.50022431e+02] [-8.47223710e-02 9.96382792e-01 -6.59175801e-03 -1.81641793e+01] [-5.07254447e-02 2.29397248e-03 9.98710001e-01 -9.98369656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.840714057 meters 0.03046429245562353 Centerline is valid? [True, True] Translation: X:150.08, Y:-18.17, Z:-9.99 [[ 9.95418689e-01 8.11937567e-02 5.04896694e-02 1.50082119e+02] [-8.09626946e-02 9.96695226e-01 -6.60828898e-03 -1.81730253e+01] [-5.08593642e-02 2.49023468e-03 9.98702720e-01 -9.98602600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90071405700002 meters 0.03186253983715578 Centerline is valid? [True, True] Translation: X:150.14, Y:-18.19, Z:-9.99 [[ 9.95674115e-01 7.71584446e-02 5.17651523e-02 1.50141062e+02] [-7.69101659e-02 9.97015013e-01 -6.77417529e-03 -1.81853339e+01] [-5.21333188e-02 2.76360454e-03 9.98636310e-01 -9.98958637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96071405700002 meters 0.03392248875332965 Centerline is valid? [True, True] Translation: X:150.20, Y:-18.20, Z:-9.99 [[ 9.95967664e-01 7.34711274e-02 5.14821002e-02 1.50200392e+02] [-7.32206985e-02 9.97293013e-01 -6.73620340e-03 -1.81966882e+01] [-5.18376553e-02 2.93948542e-03 9.98651199e-01 -9.99301255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.020714057 meters 0.035219190010598506 Centerline is valid? [True, True] Translation: X:150.26, Y:-18.21, Z:-10.00 [[ 9.96103399e-01 7.12774793e-02 5.19378362e-02 1.50258880e+02] [-7.10196373e-02 9.97451769e-01 -6.79554045e-03 -1.82064558e+01] [-5.22898556e-02 3.08045465e-03 9.98627199e-01 -9.99638963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.080714057 meters 0.03600824950968052 Centerline is valid? [True, True] Translation: X:150.32, Y:-18.22, Z:-10.00 [[ 9.96192692e-01 7.03176679e-02 5.15319830e-02 1.50316219e+02] [-7.00627346e-02 9.97519823e-01 -6.73918217e-03 -1.82158366e+01] [-5.18780581e-02 3.10305239e-03 9.98648606e-01 -1.00004530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.140714057 meters 0.03862285356803614 Centerline is valid? [True, True] Translation: X:150.37, Y:-18.23, Z:-10.01 [[ 9.96401032e-01 6.84625985e-02 4.99785573e-02 1.50373702e+02] [-6.82207823e-02 9.97648876e-01 -6.53033286e-03 -1.82285272e+01] [-5.03081351e-02 3.09725412e-03 9.98728941e-01 -1.00056286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.200714057 meters 0.04071992023181347 Centerline is valid? [True, True] Translation: X:150.43, Y:-18.24, Z:-10.01 [[ 9.96637527e-01 6.60439881e-02 4.84956850e-02 1.50432875e+02] [-6.58136317e-02 9.97811834e-01 -6.33330001e-03 -1.82413842e+01] [-4.88078448e-02 3.12032731e-03 9.98803313e-01 -1.00102959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.260714057 meters 0.04279666978377124 Centerline is valid? [True, True] Translation: X:150.49, Y:-18.25, Z:-10.02 [[ 9.96800683e-01 6.48683094e-02 4.66958430e-02 1.50490056e+02] [-6.46534242e-02 9.97889140e-01 -6.09913201e-03 -1.82542233e+01] [-4.69929150e-02 3.06057281e-03 9.98890534e-01 -1.00151969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.320714057 meters 0.04289382376864923 Centerline is valid? [True, True] Translation: X:150.55, Y:-18.26, Z:-10.02 [[ 9.96760238e-01 6.51122605e-02 4.72167560e-02 1.50547904e+02] [-6.48929244e-02 9.97873189e-01 -6.16502040e-03 -1.82633820e+01] [-4.75177533e-02 3.08101382e-03 9.98865642e-01 -1.00185380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.380714057 meters 0.044349178371088156 Centerline is valid? [True, True] Translation: X:150.60, Y:-18.27, Z:-10.02 [[ 9.96677926e-01 6.55673469e-02 4.83118413e-02 1.50604681e+02] [-6.53383910e-02 9.97843246e-01 -6.30491655e-03 -1.82743647e+01] [-4.86210412e-02 3.12735317e-03 9.98812402e-01 -1.00212983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.440714057 meters 0.04464058010105778 Centerline is valid? [True, True] Translation: X:150.66, Y:-18.28, Z:-10.02 [[ 9.96682820e-01 6.43387840e-02 4.98385085e-02 1.50662659e+02] [-6.40938120e-02 9.97922711e-01 -6.49964302e-03 -1.82844162e+01] [-5.01531587e-02 3.28374254e-03 9.98736140e-01 -1.00227431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.500714057 meters 0.05042605723176011 Centerline is valid? [True, True] Translation: X:150.72, Y:-18.30, Z:-10.03 [[ 9.96900070e-01 6.00070922e-02 5.08861331e-02 1.50719704e+02] [-5.97462963e-02 9.98191562e-01 -6.63218264e-03 -1.83033533e+01] [-5.11920866e-02 3.57136536e-03 9.98682440e-01 -1.00268115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.560714057 meters 0.03838200750684511 Centerline is valid? [True, True] Translation: X:150.78, Y:-18.30, Z:-10.03 [[ 9.97119666e-01 5.54452203e-02 5.17513207e-02 1.50781347e+02] [-5.51694167e-02 9.98454233e-01 -6.74387680e-03 -1.82973303e+01] [-5.20452410e-02 3.86936201e-03 9.98637232e-01 -1.00268186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62071405700001 meters 0.04262964895259063 Centerline is valid? [True, True] Translation: X:150.84, Y:-18.31, Z:-10.03 [[ 9.97345210e-01 5.25928333e-02 5.03639274e-02 1.50839375e+02] [-5.23280140e-02 9.98608383e-01 -6.56323220e-03 -1.83125179e+01] [-5.06390191e-02 3.91036390e-03 9.98709367e-01 -1.00323351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68071405700002 meters 0.04185725258382884 Centerline is valid? [True, True] Translation: X:150.90, Y:-18.32, Z:-10.04 [[ 9.97625830e-01 5.04530042e-02 4.68742780e-02 1.50899492e+02] [-5.02213471e-02 9.98719438e-01 -6.10746427e-03 -1.83217660e+01] [-4.71223925e-02 3.73887473e-03 9.98882126e-01 -1.00390883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.740714057 meters 0.04475336255994656 Centerline is valid? [True, True] Translation: X:150.96, Y:-18.34, Z:-10.04 [[ 9.97647558e-01 5.06058678e-02 4.62427987e-02 1.50959410e+02] [-5.03807188e-02 9.98711929e-01 -6.02218652e-03 -1.83352163e+01] [-4.64879927e-02 3.67827424e-03 9.98912077e-01 -1.00446943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.800714057 meters 0.047095130221907144 Centerline is valid? [True, True] Translation: X:151.02, Y:-18.35, Z:-10.05 [[ 9.97352874e-01 5.41877620e-02 4.84863986e-02 1.51018285e+02] [-5.39436400e-02 9.98523916e-01 -6.33026958e-03 -1.83454203e+01] [-4.87578517e-02 3.69797973e-03 9.98803783e-01 -1.00453888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.860714057 meters 0.03756088025703179 Centerline is valid? [True, True] Translation: X:151.08, Y:-18.34, Z:-10.05 [[ 9.97119174e-01 5.74058548e-02 4.95774213e-02 1.51079974e+02] [-5.71546285e-02 9.98344364e-01 -6.47140607e-03 -1.83392989e+01] [-4.98668357e-02 3.61918398e-03 9.98749318e-01 -1.00455997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.920714057 meters 0.045198807683649096 Centerline is valid? [True, True] Translation: X:151.14, Y:-18.36, Z:-10.05 [[ 9.96844613e-01 6.12563688e-02 5.04824296e-02 1.51137818e+02] [-6.10007425e-02 9.98115963e-01 -6.59037260e-03 -1.83572264e+01] [-5.07910212e-02 3.49011174e-03 9.98703205e-01 -1.00506729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.980714057 meters 0.03730888285628839 Centerline is valid? [True, True] Translation: X:151.20, Y:-18.35, Z:-10.05 [[ 9.96640464e-01 6.38489733e-02 5.12941932e-02 1.51198896e+02] [-6.35885086e-02 9.97953742e-01 -6.69551732e-03 -1.83546230e+01] [-5.16167340e-02 3.41130224e-03 9.98661142e-01 -1.00527529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.040714057 meters 0.03681347053550334 Centerline is valid? [True, True] Translation: X:151.26, Y:-18.36, Z:-10.06 [[ 9.96590910e-01 6.54251998e-02 5.02603286e-02 1.51257707e+02] [-6.51771665e-02 9.97852145e-01 -6.55993178e-03 -1.83637197e+01] [-5.05815615e-02 3.26174258e-03 9.98714607e-01 -1.00577713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.100714057 meters 0.035031582201705685 Centerline is valid? [True, True] Translation: X:151.32, Y:-18.37, Z:-10.06 [[ 9.96591601e-01 6.65140969e-02 4.87960620e-02 1.51315915e+02] [-6.62816734e-02 9.97780633e-01 -6.36770143e-03 -1.83702411e+01] [-4.91113076e-02 3.11171312e-03 9.98788464e-01 -1.00618354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.160714057 meters 0.03544647931068419 Centerline is valid? [True, True] Translation: X:151.37, Y:-18.38, Z:-10.07 [[ 9.96496198e-01 6.82301653e-02 4.83732565e-02 1.51373191e+02] [-6.80039671e-02 9.97665106e-01 -6.30845273e-03 -1.83802755e+01] [-4.86907368e-02 2.99677581e-03 9.98809407e-01 -1.00672422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.220714057 meters 0.03554623711388527 Centerline is valid? [True, True] Translation: X:151.43, Y:-18.39, Z:-10.07 [[ 9.96287795e-01 7.05926961e-02 4.92676499e-02 1.51432610e+02] [-7.03610042e-02 9.97500911e-01 -6.42346561e-03 -1.83883132e+01] [-4.95979754e-02 2.93309906e-03 9.98764956e-01 -1.00711559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.280714057 meters 0.035548277454619116 Centerline is valid? [True, True] Translation: X:151.49, Y:-18.40, Z:-10.07 [[ 9.96143008e-01 7.14550741e-02 5.09242624e-02 1.51491245e+02] [-7.12087517e-02 9.97439351e-01 -6.63736028e-03 -1.83962755e+01] [-5.12681364e-02 2.98550688e-03 9.98680462e-01 -1.00741343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.340714057 meters 0.03675276732457903 Centerline is valid? [True, True] Translation: X:151.55, Y:-18.41, Z:-10.08 [[ 9.96200298e-01 6.98943675e-02 5.19590622e-02 1.51548856e+02] [-6.96359420e-02 9.97549501e-01 -6.76966160e-03 -1.84067409e+01] [-5.23048978e-02 3.12572066e-03 9.98626270e-01 -1.00775524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40071405700002 meters 0.03984947822155661 Centerline is valid? [True, True] Translation: X:151.61, Y:-18.42, Z:-10.08 [[ 9.96416466e-01 6.61646675e-02 5.26921534e-02 1.51607411e+02] [-6.58939267e-02 9.97803046e-01 -6.86085476e-03 -1.84195522e+01] [-5.30303374e-02 3.36417576e-03 9.98587235e-01 -1.00819065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46071405700002 meters 0.04349194387072684 Centerline is valid? [True, True] Translation: X:151.66, Y:-18.43, Z:-10.09 [[ 9.96700716e-01 6.14768042e-02 5.29932636e-02 1.51664888e+02] [-6.11964535e-02 9.98101902e-01 -6.89835237e-03 -1.84346317e+01] [-5.33167659e-02 3.63259295e-03 9.98571042e-01 -1.00871775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.520714057 meters 0.04892757985252866 Centerline is valid? [True, True] Translation: X:151.72, Y:-18.45, Z:-10.09 [[ 9.97045350e-01 5.51768243e-02 5.34423723e-02 1.51722906e+02] [-5.48825077e-02 9.98468560e-01 -6.96030441e-03 -1.84519507e+01] [-5.37445760e-02 4.00668775e-03 9.98546677e-01 -1.00921041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.580714057 meters 0.051908376616989944 Centerline is valid? [True, True] Translation: X:151.78, Y:-18.47, Z:-10.10 [[ 9.97192855e-01 5.12297981e-02 5.46069452e-02 1.51781711e+02] [-5.09166221e-02 9.98677585e-01 -7.11190255e-03 -1.84659028e+01] [-5.48990734e-02 4.31153722e-03 9.98482600e-01 -1.00953295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.640714057 meters 0.04042998953697384 Centerline is valid? [True, True] Translation: X:151.84, Y:-18.46, Z:-10.10 [[ 9.97245483e-01 4.96411215e-02 5.51108528e-02 1.51844513e+02] [-4.93197312e-02 9.98757253e-01 -7.17737002e-03 -1.84581592e+01] [-5.53986566e-02 4.43954738e-03 9.98454445e-01 -1.00964438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.700714057 meters 0.041975305500316445 Centerline is valid? [True, True] Translation: X:151.90, Y:-18.47, Z:-10.10 [[ 9.97226739e-01 5.08439557e-02 5.43481678e-02 1.51904472e+02] [-5.05331832e-02 9.98697301e-01 -7.07806297e-03 -1.84685723e+01] [-5.46372452e-02 4.31204773e-03 9.98496959e-01 -1.01022534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.760714057 meters 0.041997382946049135 Centerline is valid? [True, True] Translation: X:151.97, Y:-18.48, Z:-10.11 [[ 9.97212280e-01 5.21839585e-02 5.33338864e-02 1.51965383e+02] [-5.18858242e-02 9.98628767e-01 -6.96032441e-03 -1.84767230e+01] [-5.36239705e-02 4.17364832e-03 9.98552478e-01 -1.01078225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.820714057 meters 0.04041666034619039 Centerline is valid? [True, True] Translation: X:152.03, Y:-18.48, Z:-10.11 [[ 9.96959523e-01 5.70159161e-02 5.31120883e-02 1.52025881e+02] [-5.67268836e-02 9.98365649e-01 -6.93486601e-03 -1.84796384e+01] [-5.34206822e-02 3.90089746e-03 9.98564476e-01 -1.01114846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.880714057 meters 0.03954970560364145 Centerline is valid? [True, True] Translation: X:152.09, Y:-18.48, Z:-10.11 [[ 9.96644978e-01 6.15195350e-02 5.39827188e-02 1.52086369e+02] [-6.12275065e-02 9.98098949e-01 -7.04848365e-03 -1.84843077e+01] [-5.43137143e-02 3.71960857e-03 9.98516993e-01 -1.01147118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.940714057 meters 0.0372540204022948 Centerline is valid? [True, True] Translation: X:152.15, Y:-18.49, Z:-10.12 [[ 9.96166911e-01 6.83847376e-02 5.45436860e-02 1.52147212e+02] [-6.80968409e-02 9.97653298e-01 -7.12161932e-03 -1.84861889e+01] [-5.49026983e-02 3.38006882e-03 9.98485988e-01 -1.01190176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.000714057 meters 0.03527217274180785 Centerline is valid? [True, True] Translation: X:152.21, Y:-18.49, Z:-10.12 [[ 9.95776642e-01 7.33213596e-02 5.52526740e-02 1.52207436e+02] [-7.30334567e-02 9.97303395e-01 -7.21468452e-03 -1.84883009e+01] [-5.56326698e-02 3.14892055e-03 9.98446338e-01 -1.01231122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.060714057 meters 0.0347371704654017 Centerline is valid? [True, True] Translation: X:152.27, Y:-18.49, Z:-10.13 [[ 9.95524561e-01 7.59190805e-02 5.62773689e-02 1.52266653e+02] [-7.56245087e-02 9.97109287e-01 -7.34868198e-03 -1.84947600e+01] [-5.66725923e-02 3.05984503e-03 9.98388128e-01 -1.01273449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12071405700001 meters 0.031585138227180766 Centerline is valid? [True, True] Translation: X:152.33, Y:-18.50, Z:-10.13 [[ 9.95417404e-01 7.58060194e-02 5.82892651e-02 1.52325536e+02] [-7.54898969e-02 9.97117531e-01 -7.60952578e-03 -1.84987759e+01] [-5.86980959e-02 3.17440379e-03 9.98270733e-01 -1.01295494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18071405700002 meters 0.037708336164882776 Centerline is valid? [True, True] Translation: X:152.38, Y:-18.52, Z:-10.13 [[ 9.95491093e-01 7.34018912e-02 6.00803289e-02 1.52382183e+02] [-7.30619296e-02 9.97296600e-01 -7.83877800e-03 -1.85166066e+01] [-6.04932888e-02 3.41384892e-03 9.98162766e-01 -1.01337424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.240714057 meters 0.03662673605028442 Centerline is valid? [True, True] Translation: X:152.44, Y:-18.52, Z:-10.14 [[ 9.95531614e-01 7.26142955e-02 6.03653028e-02 1.52441582e+02] [-7.22698580e-02 9.97354044e-01 -7.87261655e-03 -1.85230678e+01] [-6.07772434e-02 3.47484680e-03 9.98145306e-01 -1.01375572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.300714057 meters 0.03473881801592152 Centerline is valid? [True, True] Translation: X:152.50, Y:-18.53, Z:-10.14 [[ 9.95717680e-01 7.12004322e-02 5.89643953e-02 1.52501530e+02] [-7.08694780e-02 9.97455972e-01 -7.68775898e-03 -1.85281143e+01] [-5.93617600e-02 3.47606162e-03 9.98230484e-01 -1.01432438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.360714057 meters 0.035417096194320104 Centerline is valid? [True, True] Translation: X:152.56, Y:-18.54, Z:-10.15 [[ 9.95744581e-01 6.98771011e-02 6.00826029e-02 1.52560735e+02] [-6.95310537e-02 9.97549030e-01 -7.83362409e-03 -1.85371812e+01] [-6.04827332e-02 3.62268206e-03 9.98162670e-01 -1.01474864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.420714057 meters 0.03644923492416124 Centerline is valid? [True, True] Translation: X:152.62, Y:-18.55, Z:-10.15 [[ 9.95627999e-01 7.04226952e-02 6.13639270e-02 1.52619898e+02] [-7.00628093e-02 9.97510506e-01 -7.99954827e-03 -1.85460575e+01] [-6.17745116e-02 3.66524513e-03 9.98083401e-01 -1.01498295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.480714057 meters 0.032809502690006695 Centerline is valid? [True, True] Translation: X:152.68, Y:-18.55, Z:-10.15 [[ 9.95477105e-01 7.14112186e-02 6.26559758e-02 1.52680688e+02] [-7.10380173e-02 9.97440175e-01 -8.16679582e-03 -1.85470807e+01] [-6.30787884e-02 3.67890196e-03 9.98001770e-01 -1.01525657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.540714057 meters 0.03787277657909925 Centerline is valid? [True, True] Translation: X:152.74, Y:-18.56, Z:-10.16 [[ 9.95558504e-01 7.01991951e-02 6.27322781e-02 1.52739008e+02] [-6.98226873e-02 9.97525906e-01 -8.17674132e-03 -1.85618610e+01] [-6.31510732e-02 3.76028812e-03 9.97996895e-01 -1.01563612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.600714057 meters 0.04022413271438018 Centerline is valid? [True, True] Translation: X:152.80, Y:-18.57, Z:-10.16 [[ 9.95726494e-01 6.80541872e-02 6.24289796e-02 1.52797693e+02] [-6.76771204e-02 9.97674092e-01 -8.13720835e-03 -1.85730812e+01] [-6.28375466e-02 3.87742037e-03 9.98016237e-01 -1.01609302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.660714057 meters 0.035993863844502434 Centerline is valid? [True, True] Translation: X:152.86, Y:-18.57, Z:-10.17 [[ 9.95818813e-01 6.69024626e-02 6.22008951e-02 1.52859050e+02] [-6.65259189e-02 9.97751759e-01 -8.10740856e-03 -1.85736733e+01] [-6.26034580e-02 3.93553827e-03 9.98030720e-01 -1.01652185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.720714057 meters 0.03986121832289213 Centerline is valid? [True, True] Translation: X:152.92, Y:-18.59, Z:-10.17 [[ 9.96122207e-01 6.43943804e-02 5.99492552e-02 1.52918030e+02] [-6.40399942e-02 9.97916724e-01 -7.81608964e-03 -1.85864896e+01] [-6.03276766e-02 3.94663050e-03 9.98170825e-01 -1.01716231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.780714057 meters 0.0415197489525526 Centerline is valid? [True, True] Translation: X:152.98, Y:-18.60, Z:-10.18 [[ 9.96514929e-01 6.00536671e-02 5.78926022e-02 1.52977965e+02] [-5.97158629e-02 9.98186870e-01 -7.54903084e-03 -1.85963255e+01] [-5.82409824e-02 4.06561523e-03 9.98294275e-01 -1.01770643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.840714057 meters 0.045179843536665 Centerline is valid? [True, True] Translation: X:153.04, Y:-18.61, Z:-10.18 [[ 9.96883657e-01 5.46108749e-02 5.69265022e-02 1.53037403e+02] [-5.42754384e-02 9.98498409e-01 -7.42315395e-03 -1.86088410e+01] [-5.72464069e-02 4.31030999e-03 9.98350775e-01 -1.01808517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90071405700002 meters 0.04738699920258099 Centerline is valid? [True, True] Translation: X:153.10, Y:-18.62, Z:-10.18 [[ 9.97005059e-01 5.14575579e-02 5.77324149e-02 1.53096749e+02] [-5.11072485e-02 9.98664790e-01 -7.52897547e-03 -1.86194022e+01] [-5.80427527e-02 4.55588175e-03 9.98303703e-01 -1.01835416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96071405700002 meters 0.0465279055549621 Centerline is valid? [True, True] Translation: X:153.16, Y:-18.63, Z:-10.19 [[ 9.97073936e-01 4.95483394e-02 5.82110650e-02 1.53157236e+02] [-4.91889280e-02 9.98760638e-01 -7.59190829e-03 -1.86274095e+01] [-5.85150869e-02 4.70635400e-03 9.98275430e-01 -1.01868744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.020714057 meters 0.051232454331008946 Centerline is valid? [True, True] Translation: X:153.22, Y:-18.64, Z:-10.19 [[ 9.97097943e-01 4.79717698e-02 5.91134588e-02 1.53215622e+02] [-4.75983185e-02 9.98836799e-01 -7.71031793e-03 -1.86408155e+01] [-5.94145756e-02 4.87424091e-03 9.98221493e-01 -1.01898284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.080714057 meters 0.043435081746582054 Centerline is valid? [True, True] Translation: X:153.28, Y:-18.64, Z:-10.19 [[ 9.97002712e-01 4.76502298e-02 6.09511940e-02 1.53278539e+02] [-4.72522659e-02 9.98851312e-01 -7.95484499e-03 -1.86407493e+01] [-6.12602302e-02 5.05092000e-03 9.98109048e-01 -1.01925756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.140714057 meters 0.04464790525068258 Centerline is valid? [True, True] Translation: X:153.34, Y:-18.65, Z:-10.20 [[ 9.97029423e-01 4.80459143e-02 6.01990036e-02 1.53340013e+02] [-4.76575122e-02 9.98832715e-01 -7.87204197e-03 -1.86507695e+01] [-6.05069537e-02 4.97972272e-03 9.98155354e-01 -1.01964300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.200714057 meters 0.0478065298154715 Centerline is valid? [True, True] Translation: X:153.40, Y:-18.66, Z:-10.20 [[ 9.96954913e-01 5.01145680e-02 5.97447214e-02 1.53398312e+02] [-4.97347178e-02 9.98731778e-01 -7.82898237e-03 -1.86638287e+01] [-6.00612979e-02 4.83375558e-03 9.98182987e-01 -1.02000674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.260714057 meters 0.04385975854662158 Centerline is valid? [True, True] Translation: X:153.46, Y:-18.67, Z:-10.20 [[ 9.96929320e-01 5.24160069e-02 5.81763939e-02 1.53458767e+02] [-5.20598291e-02 9.98614879e-01 -7.62223957e-03 -1.86681009e+01] [-5.84953399e-02 4.57018099e-03 9.98277220e-01 -1.02047570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.320714057 meters 0.043040399165331096 Centerline is valid? [True, True] Translation: X:153.52, Y:-18.67, Z:-10.21 [[ 9.96941959e-01 5.47591772e-02 5.57508980e-02 1.53520123e+02] [-5.44357214e-02 9.98490555e-01 -7.30511007e-03 -1.86740955e+01] [-5.60667669e-02 4.24793039e-03 9.98417985e-01 -1.02107381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.380714057 meters 0.039678323340226786 Centerline is valid? [True, True] Translation: X:153.58, Y:-18.68, Z:-10.21 [[ 9.96840575e-01 5.71785384e-02 5.51315106e-02 1.53580900e+02] [-5.68657378e-02 9.98355676e-01 -7.22714774e-03 -1.86779069e+01] [-5.54540943e-02 4.06922007e-03 9.98452946e-01 -1.02147199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.440714057 meters 0.04205488315325679 Centerline is valid? [True, True] Translation: X:153.64, Y:-18.69, Z:-10.22 [[ 9.96721844e-01 5.84834906e-02 5.59039122e-02 1.53640438e+02] [-5.81638418e-02 9.98280146e-01 -7.32928854e-03 -1.86899003e+01] [-5.62364080e-02 4.05367569e-03 9.98409252e-01 -1.02182374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.500714057 meters 0.039220609799431844 Centerline is valid? [True, True] Translation: X:153.70, Y:-18.70, Z:-10.22 [[ 9.96568243e-01 6.01238593e-02 5.68934009e-02 1.53701272e+02] [-5.97953161e-02 9.98182775e-01 -7.46110539e-03 -1.86956810e+01] [-5.72386032e-02 4.03354180e-03 9.98352379e-01 -1.02214620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.560714057 meters 0.039448098748039145 Centerline is valid? [True, True] Translation: X:153.76, Y:-18.70, Z:-10.22 [[ 9.96453619e-01 6.17884888e-02 5.71171371e-02 1.53761628e+02] [-6.14599510e-02 9.98081428e-01 -7.49254159e-03 -1.87046675e+01] [-5.74705066e-02 3.95555373e-03 9.98339368e-01 -1.02246653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62071405700001 meters 0.0387516893674743 Centerline is valid? [True, True] Translation: X:153.82, Y:-18.71, Z:-10.23 [[ 9.96221304e-01 6.50438734e-02 5.75535260e-02 1.53821848e+02] [-6.47155623e-02 9.97875174e-01 -7.55200686e-03 -1.87133055e+01] [-5.79224466e-02 3.79886132e-03 9.98313858e-01 -1.02276445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68071405700002 meters 0.03728734039933373 Centerline is valid? [True, True] Translation: X:153.88, Y:-18.72, Z:-10.23 [[ 9.96109132e-01 6.73015255e-02 5.68955281e-02 1.53882266e+02] [-6.69842953e-02 9.97726091e-01 -7.46666198e-03 -1.87200530e+01] [-5.72686706e-02 3.62650333e-03 9.98352216e-01 -1.02321619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.740714057 meters 0.037794202045079155 Centerline is valid? [True, True] Translation: X:153.94, Y:-18.73, Z:-10.24 [[ 9.96103381e-01 6.95226028e-02 5.42647461e-02 1.53940811e+02] [-6.92372774e-02 9.97574793e-01 -7.12267156e-03 -1.87292383e+01] [-5.46283295e-02 3.33777395e-03 9.98501179e-01 -1.02392678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.800714057 meters 0.03835633276732113 Centerline is valid? [True, True] Translation: X:154.00, Y:-18.74, Z:-10.24 [[ 9.96055075e-01 7.23339811e-02 5.14012007e-02 1.53999783e+02] [-7.20817654e-02 9.97375911e-01 -6.74618689e-03 -1.87350828e+01] [-5.17542979e-02 3.01448440e-03 9.98655299e-01 -1.02442200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.860714057 meters 0.03912943258149996 Centerline is valid? [True, True] Translation: X:154.06, Y:-18.74, Z:-10.25 [[ 9.95832217e-01 7.47249762e-02 5.22912391e-02 1.54058420e+02] [-7.44673209e-02 9.97199851e-01 -6.86114643e-03 -1.87431404e+01] [-5.26575148e-02 2.93856218e-03 9.98608307e-01 -1.02476007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.920714057 meters 0.039572320601523076 Centerline is valid? [True, True] Translation: X:154.12, Y:-18.75, Z:-10.25 [[ 9.95708775e-01 7.60410065e-02 5.27427749e-02 1.54115469e+02] [-7.57807877e-02 9.97100496e-01 -6.91905262e-03 -1.87516319e+01] [-5.31159788e-02 2.89247239e-03 9.98584161e-01 -1.02521835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.980714057 meters 0.03616350004905558 Centerline is valid? [True, True] Translation: X:154.18, Y:-18.75, Z:-10.25 [[ 9.95915756e-01 7.37143822e-02 5.21344152e-02 1.54175236e+02] [-7.34571897e-02 9.97274950e-01 -6.83491340e-03 -1.87530216e+01] [-5.24961777e-02 2.97735032e-03 9.98616687e-01 -1.02543221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.040714057 meters 0.03635360030998655 Centerline is valid? [True, True] Translation: X:154.24, Y:-18.76, Z:-10.26 [[ 9.96251382e-01 6.92486248e-02 5.18441076e-02 1.54235172e+02] [-6.89883830e-02 9.97594324e-01 -6.79466176e-03 -1.87608424e+01] [-5.21899085e-02 3.19255002e-03 9.98632075e-01 -1.02578552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.100714057 meters 0.0440697573544688 Centerline is valid? [True, True] Translation: X:154.29, Y:-18.78, Z:-10.26 [[ 9.96759673e-01 6.28163178e-02 5.02420509e-02 1.54291784e+02] [-6.25637807e-02 9.98019244e-01 -6.58493063e-03 -1.87803806e+01] [-5.05561748e-02 3.42026065e-03 9.98715362e-01 -1.02638481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.160714057 meters 0.041324029013490624 Centerline is valid? [True, True] Translation: X:154.35, Y:-18.78, Z:-10.27 [[ 9.96899357e-01 6.10643095e-02 4.96268339e-02 1.54352302e+02] [-6.08158715e-02 9.98127823e-01 -6.50219105e-03 -1.87835977e+01] [-4.99309755e-02 3.46393093e-03 9.98746664e-01 -1.02668826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.220714057 meters 0.045552300485112135 Centerline is valid? [True, True] Translation: X:154.41, Y:-18.80, Z:-10.27 [[ 9.97242406e-01 5.68056477e-02 4.77566900e-02 1.54410278e+02] [-5.65707313e-02 9.98378985e-01 -6.25739977e-03 -1.87956485e+01] [-4.80347313e-02 3.53851353e-03 9.98839398e-01 -1.02722829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.280714057 meters 0.04684093679346122 Centerline is valid? [True, True] Translation: X:154.47, Y:-18.80, Z:-10.28 [[ 9.97315241e-01 5.56113392e-02 4.76412608e-02 1.54470402e+02] [-5.53762619e-02 9.98446052e-01 -6.24106283e-03 -1.88037870e+01] [-4.79143026e-02 3.58611214e-03 9.98845013e-01 -1.02758679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.340714057 meters 0.04137917710849027 Centerline is valid? [True, True] Translation: X:154.53, Y:-18.80, Z:-10.28 [[ 9.97121981e-01 5.78646602e-02 4.89840345e-02 1.54531734e+02] [-5.76187771e-02 9.98318028e-01 -6.41809680e-03 -1.88020762e+01] [-4.92730257e-02 3.57722523e-03 9.98778941e-01 -1.02775852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40071405700002 meters 0.03801445929256389 Centerline is valid? [True, True] Translation: X:154.59, Y:-18.80, Z:-10.28 [[ 9.96724611e-01 6.34650939e-02 5.01221591e-02 1.54592943e+02] [-6.32146768e-02 9.97978344e-01 -6.56725946e-03 -1.88011774e+01] [-5.04376211e-02 3.37729305e-03 9.98721503e-01 -1.02798786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46071405700002 meters 0.03686165583267155 Centerline is valid? [True, True] Translation: X:154.65, Y:-18.80, Z:-10.28 [[ 9.96288669e-01 6.89519660e-02 5.15219747e-02 1.54653064e+02] [-6.86946401e-02 9.97614892e-01 -6.75083846e-03 -1.88032991e+01] [-5.18645728e-02 3.18650036e-03 9.98649044e-01 -1.02830089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.520714057 meters 0.03792095025757427 Centerline is valid? [True, True] Translation: X:154.71, Y:-18.81, Z:-10.29 [[ 9.96103876e-01 7.11037636e-02 5.21663050e-02 1.54711931e+02] [-7.08429666e-02 9.97464071e-01 -6.83383438e-03 -1.88109624e+01] [-5.25199263e-02 3.11159311e-03 9.98615029e-01 -1.02866453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.580714057 meters 0.03744850564800814 Centerline is valid? [True, True] Translation: X:154.77, Y:-18.82, Z:-10.29 [[ 9.96109693e-01 7.14203010e-02 5.16199652e-02 1.54770542e+02] [-7.11654489e-02 9.97441613e-01 -6.76069530e-03 -1.88182961e+01] [-5.19707523e-02 3.06083612e-03 9.98643917e-01 -1.02918117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.640714057 meters 0.03741459318716349 Centerline is valid? [True, True] Translation: X:154.83, Y:-18.82, Z:-10.30 [[ 9.96212032e-01 7.11712048e-02 4.99624597e-02 1.54828770e+02] [-7.09322777e-02 9.97459685e-01 -6.54129113e-03 -1.88249384e+01] [-5.03010908e-02 2.97256186e-03 9.98729675e-01 -1.02978097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.700714057 meters 0.03926652311623862 Centerline is valid? [True, True] Translation: X:154.89, Y:-18.83, Z:-10.30 [[ 9.96260913e-01 7.08829237e-02 4.93943664e-02 1.54885770e+02] [-7.06492123e-02 9.97480280e-01 -6.46368967e-03 -1.88340638e+01] [-4.97280717e-02 2.94984830e-03 9.98758438e-01 -1.03030972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.760714057 meters 0.04177181531697102 Centerline is valid? [True, True] Translation: X:154.94, Y:-18.84, Z:-10.31 [[ 9.96406042e-01 6.82994792e-02 5.01016945e-02 1.54944167e+02] [-6.80560163e-02 9.97659992e-01 -6.55131496e-03 -1.88434588e+01] [-5.04319076e-02 3.11804807e-03 9.98722634e-01 -1.03070512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.820714057 meters 0.04176182865885898 Centerline is valid? [True, True] Translation: X:155.00, Y:-18.85, Z:-10.31 [[ 9.96483998e-01 6.55953919e-02 5.21237648e-02 1.55003117e+02] [-6.53283327e-02 9.97840566e-01 -6.81272585e-03 -1.88515207e+01] [-5.24580905e-02 3.38361364e-03 9.98617394e-01 -1.03101534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.880714057 meters 0.04866677938312612 Centerline is valid? [True, True] Translation: X:155.06, Y:-18.87, Z:-10.32 [[ 9.96766297e-01 5.99187409e-02 5.35415202e-02 1.55060861e+02] [-5.96289040e-02 9.98196099e-01 -6.99590867e-03 -1.88697285e+01] [-5.38641226e-02 3.78066381e-03 9.98541117e-01 -1.03154569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.940714057 meters 0.04342673787070495 Centerline is valid? [True, True] Translation: X:155.12, Y:-18.87, Z:-10.32 [[ 9.97019658e-01 5.40833105e-02 5.50163405e-02 1.55121771e+02] [-5.37684943e-02 9.98527560e-01 -7.18750654e-03 -1.88706748e+01] [-5.53240564e-02 4.20793952e-03 9.98459585e-01 -1.03171238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.000714057 meters 0.04437195624036937 Centerline is valid? [True, True] Translation: X:155.18, Y:-18.88, Z:-10.32 [[ 9.97112386e-01 4.98308551e-02 5.73042360e-02 1.55181534e+02] [-4.94822496e-02 9.98746939e-01 -7.48723084e-03 -1.88816860e+01] [-5.76055254e-02 4.63006810e-03 9.98328686e-01 -1.03207386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.060714057 meters 0.0466916956607605 Centerline is valid? [True, True] Translation: X:155.24, Y:-18.89, Z:-10.33 [[ 9.97213909e-01 4.87459835e-02 5.64645767e-02 1.55241878e+02] [-4.84059024e-02 9.98800513e-01 -7.37584881e-03 -1.88940052e+01] [-5.67563912e-02 4.62208024e-03 9.98377358e-01 -1.03269051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12071405700001 meters 0.04600205651120138 Centerline is valid? [True, True] Translation: X:155.30, Y:-18.90, Z:-10.33 [[ 9.97252681e-01 4.97717506e-02 5.48622220e-02 1.55303124e+02] [-4.94515960e-02 9.98750723e-01 -7.17862284e-03 -1.89021164e+01] [-5.51509765e-02 4.44587644e-03 9.98468129e-01 -1.03338117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18071405700002 meters 0.04639931236974315 Centerline is valid? [True, True] Translation: X:155.36, Y:-18.91, Z:-10.34 [[ 9.97280914e-01 5.07110511e-02 5.34711967e-02 1.55364929e+02] [-5.04074989e-02 9.98704124e-01 -7.01123876e-03 -1.89112003e+01] [-5.37574519e-02 4.29682530e-03 9.98544778e-01 -1.03407787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.240714057 meters 0.04687468988424131 Centerline is valid? [True, True] Translation: X:155.43, Y:-18.92, Z:-10.35 [[ 9.97251765e-01 5.15357694e-02 5.32257680e-02 1.55426197e+02] [-5.12360076e-02 9.98662166e-01 -6.98203428e-03 -1.89189684e+01] [-5.35143852e-02 4.23577016e-03 9.98558095e-01 -1.03453010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.300714057 meters 0.051614054463896615 Centerline is valid? [True, True] Translation: X:155.49, Y:-18.93, Z:-10.35 [[ 9.97124743e-01 5.27476960e-02 5.44052132e-02 1.55485578e+02] [-5.24354068e-02 9.98598702e-01 -7.15260887e-03 -1.89334657e+01] [-5.47062590e-02 4.27928379e-03 9.98493321e-01 -1.03503336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.360714057 meters 0.0504790332231988 Centerline is valid? [True, True] Translation: X:155.55, Y:-18.94, Z:-10.35 [[ 9.97050192e-01 5.36447679e-02 5.48921946e-02 1.55547701e+02] [-5.33282047e-02 9.98550961e-01 -7.21665119e-03 -1.89399558e+01] [-5.51997892e-02 4.26806127e-03 9.98466207e-01 -1.03540348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.420714057 meters 0.045071625267300915 Centerline is valid? [True, True] Translation: X:155.61, Y:-18.94, Z:-10.36 [[ 9.96855580e-01 5.60147566e-02 5.60472953e-02 1.55609448e+02] [-5.56875479e-02 9.98420939e-01 -7.38417443e-03 -1.89404166e+01] [-5.63724159e-02 4.23981905e-03 9.98400809e-01 -1.03563761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.480714057 meters 0.045925538785440055 Centerline is valid? [True, True] Translation: X:155.67, Y:-18.95, Z:-10.36 [[ 9.96866536e-01 5.56697194e-02 5.61960126e-02 1.55670458e+02] [-5.53402702e-02 9.98440109e-01 -7.40296764e-03 -1.89508137e+01] [-5.65204740e-02 4.26986819e-03 9.98392310e-01 -1.03617228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.540714057 meters 0.04391304059389001 Centerline is valid? [True, True] Translation: X:155.73, Y:-18.96, Z:-10.37 [[ 9.96882032e-01 5.54104571e-02 5.61773587e-02 1.55732491e+02] [-5.50800425e-02 9.98454415e-01 -7.41421121e-03 -1.89582558e+01] [-5.65013567e-02 4.29684263e-03 9.98393276e-01 -1.03662277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.600714057 meters 0.04940442193694244 Centerline is valid? [True, True] Translation: X:155.79, Y:-18.98, Z:-10.37 [[ 9.97065851e-01 5.30457819e-02 5.51890801e-02 1.55790170e+02] [-5.27224322e-02 9.98582526e-01 -7.29952808e-03 -1.89761031e+01] [-5.54980602e-02 4.36840764e-03 9.98449239e-01 -1.03720610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.660714057 meters 0.04766749926052552 Centerline is valid? [True, True] Translation: X:155.85, Y:-18.98, Z:-10.38 [[ 9.97178598e-01 5.11763095e-02 5.49165618e-02 1.55850276e+02] [-5.08533434e-02 9.98679719e-01 -7.26332265e-03 -1.89834102e+01] [-5.52157666e-02 4.45013912e-03 9.98464529e-01 -1.03759951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.720714057 meters 0.048512872198098016 Centerline is valid? [True, True] Translation: X:155.91, Y:-18.99, Z:-10.38 [[ 9.97174252e-01 5.08633856e-02 5.52849702e-02 1.55911407e+02] [-5.05356455e-02 9.98695498e-01 -7.31102389e-03 -1.89942540e+01] [-5.55847143e-02 4.49650312e-03 9.98443850e-01 -1.03793164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.780714057 meters 0.049876068771615316 Centerline is valid? [True, True] Translation: X:155.97, Y:-19.00, Z:-10.38 [[ 9.97047148e-01 5.27342459e-02 5.58218884e-02 1.55970301e+02] [-5.24021240e-02 9.98598663e-01 -7.39779906e-03 -1.90047927e+01] [-5.61337805e-02 4.45076894e-03 9.98413336e-01 -1.03832207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.840714057 meters 0.05017226175904063 Centerline is valid? [True, True] Translation: X:156.03, Y:-19.01, Z:-10.39 [[ 9.96850362e-01 5.66572181e-02 5.54915887e-02 1.56029378e+02] [-5.63350475e-02 9.98384835e-01 -7.35417389e-03 -1.90119968e+01] [-5.58186277e-02 4.20488961e-03 9.98432071e-01 -1.03869121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90071405700002 meters 0.049008287369097146 Centerline is valid? [True, True] Translation: X:156.09, Y:-19.02, Z:-10.39 [[ 9.96614830e-01 6.12064570e-02 5.48876123e-02 1.56089525e+02] [-6.08981890e-02 9.98117485e-01 -7.27298176e-03 -1.90170854e+01] [-5.52294390e-02 3.90580529e-03 9.98466050e-01 -1.03907903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96071405700002 meters 0.048604238055680433 Centerline is valid? [True, True] Translation: X:156.15, Y:-19.02, Z:-10.39 [[ 9.96405767e-01 6.42422259e-02 5.52130737e-02 1.56149184e+02] [-6.39348956e-02 9.97927250e-01 -7.31654851e-03 -1.90238169e+01] [-5.55686622e-02 3.76020902e-03 9.98447788e-01 -1.03937479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.020714057 meters 0.04851004824502309 Centerline is valid? [True, True] Translation: X:156.21, Y:-19.03, Z:-10.40 [[ 9.96347064e-01 6.48575972e-02 5.55519648e-02 1.56209856e+02] [-6.45474459e-02 9.97887489e-01 -7.36115527e-03 -1.90322285e+01] [-5.59120375e-02 3.74852800e-03 9.98428662e-01 -1.03971113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.080714057 meters 0.035844705805620526 Centerline is valid? [True, True] Translation: X:156.27, Y:-19.02, Z:-10.40 [[ 9.96164704e-01 6.77211294e-02 5.54051635e-02 1.56272707e+02] [-6.74169169e-02 9.97697866e-01 -7.34359663e-03 -1.90217055e+01] [-5.57749301e-02 3.58018645e-03 9.98436948e-01 -1.03977230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.140714057 meters 0.04113249800602265 Centerline is valid? [True, True] Translation: X:156.33, Y:-19.04, Z:-10.40 [[ 9.95861063e-01 7.24788862e-02 5.48411660e-02 1.56330689e+02] [-7.21879574e-02 9.97364550e-01 -7.27000827e-03 -1.90383605e+01] [-5.52235569e-02 3.28104642e-03 9.98468624e-01 -1.04033501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.200714057 meters 0.032773065326629464 Centerline is valid? [True, True] Translation: X:156.39, Y:-19.03, Z:-10.41 [[ 9.95800162e-01 7.41652078e-02 5.36801552e-02 1.56390788e+02] [-7.38888809e-02 9.97241086e-01 -7.11683471e-03 -1.90333596e+01] [-5.40598778e-02 3.12057857e-03 9.98532820e-01 -1.04056417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.260714057 meters 0.03441945673901912 Centerline is valid? [True, True] Translation: X:156.45, Y:-19.04, Z:-10.41 [[ 9.95856249e-01 7.46788135e-02 5.18980368e-02 1.56447453e+02] [-7.44214248e-02 9.97203167e-01 -6.87710762e-03 -1.90433705e+01] [-5.22664609e-02 2.98628476e-03 9.98628709e-01 -1.04103294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.320714057 meters 0.03561658385778146 Centerline is valid? [True, True] Translation: X:156.51, Y:-19.05, Z:-10.42 [[ 9.96020327e-01 7.34706032e-02 5.04537281e-02 1.56505962e+02] [-7.32260747e-02 9.97292992e-01 -6.68055293e-03 -1.90547540e+01] [-5.08079737e-02 2.95943805e-03 9.98704056e-01 -1.04152580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.380714057 meters 0.03402644689526531 Centerline is valid? [True, True] Translation: X:156.56, Y:-19.06, Z:-10.42 [[ 9.96232975e-01 7.10301369e-02 4.97451409e-02 1.56564847e+02] [-7.07894781e-02 9.97469540e-01 -6.58527773e-03 -1.90610150e+01] [-5.00870160e-02 3.03903827e-03 9.98740234e-01 -1.04170597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.440714057 meters 0.03563393854728967 Centerline is valid? [True, True] Translation: X:156.62, Y:-19.07, Z:-10.42 [[ 9.96429709e-01 6.88971826e-02 4.87956177e-02 1.56623022e+02] [-6.86632121e-02 9.97619001e-01 -6.45701229e-03 -1.90731412e+01] [-4.91243053e-02 3.08349503e-03 9.98787913e-01 -1.04217925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.500714057 meters 0.04115068240517874 Centerline is valid? [True, True] Translation: X:156.68, Y:-19.09, Z:-10.43 [[ 9.96670225e-01 6.63457024e-02 4.73994724e-02 1.56680175e+02] [-6.61222408e-02 9.97791839e-01 -6.26867191e-03 -1.90913602e+01] [-4.77107061e-02 3.11363932e-03 9.98856343e-01 -1.04286577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.560714057 meters 0.042024524286944434 Centerline is valid? [True, True] Translation: X:156.74, Y:-19.10, Z:-10.43 [[ 9.96766131e-01 6.47257572e-02 4.76220183e-02 1.56738495e+02] [-6.44983205e-02 9.97897937e-01 -6.29873050e-03 -1.91025495e+01] [-4.79296040e-02 3.20682103e-03 9.98845568e-01 -1.04316041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62071405700001 meters 0.038460324529475835 Centerline is valid? [True, True] Translation: X:156.80, Y:-19.11, Z:-10.43 [[ 9.96887103e-01 6.26149567e-02 4.79110846e-02 1.56798385e+02] [-6.23824776e-02 9.98032219e-01 -6.33374986e-03 -1.91072983e+01] [-4.82133935e-02 3.32522139e-03 9.98831523e-01 -1.04318844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68071405700002 meters 0.04052682684185368 Centerline is valid? [True, True] Translation: X:156.86, Y:-19.12, Z:-10.44 [[ 9.97018933e-01 6.07641132e-02 4.75496632e-02 1.56857513e+02] [-6.05330601e-02 9.98146403e-01 -6.28551162e-03 -1.91198738e+01] [-4.78434588e-02 3.38844746e-03 9.98849099e-01 -1.04352708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.740714057 meters 0.039915402097486334 Centerline is valid? [True, True] Translation: X:156.92, Y:-19.13, Z:-10.44 [[ 9.97177815e-01 5.85455799e-02 4.69980793e-02 1.56917213e+02] [-5.83174113e-02 9.98278760e-01 -6.21259865e-03 -1.91288129e+01] [-4.72809045e-02 3.45425923e-03 9.98875660e-01 -1.04394298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.800714057 meters 0.044856014222740305 Centerline is valid? [True, True] Translation: X:156.98, Y:-19.15, Z:-10.45 [[ 9.97311618e-01 5.79405781e-02 4.48600812e-02 1.56975907e+02] [-5.77321615e-02 9.98314503e-01 -5.92874696e-03 -1.91452018e+01] [-4.51279848e-02 3.32293876e-03 9.98975687e-01 -1.04459672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.860714057 meters 0.03852226254856193 Centerline is valid? [True, True] Translation: X:157.04, Y:-19.14, Z:-10.45 [[ 9.97383349e-01 5.73518319e-02 4.40138985e-02 1.57037146e+02] [-5.71504619e-02 9.98348607e-01 -5.82094324e-03 -1.91440829e+01] [-4.42750561e-02 3.29029722e-03 9.99013961e-01 -1.04483116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.920714057 meters 0.041618343761571364 Centerline is valid? [True, True] Translation: X:157.10, Y:-19.16, Z:-10.45 [[ 9.97480061e-01 5.57801433e-02 4.38418115e-02 1.57095589e+02] [-5.55788328e-02 9.98437466e-01 -5.79828694e-03 -1.91561193e+01] [-4.40967365e-02 3.34699890e-03 9.99021659e-01 -1.04534433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.980714057 meters 0.04284715524728405 Centerline is valid? [True, True] Translation: X:157.15, Y:-19.17, Z:-10.46 [[ 9.97547643e-01 5.42820412e-02 4.41832556e-02 1.57154846e+02] [-5.40761187e-02 9.98519718e-01 -5.84347518e-03 -1.91660333e+01] [-4.44350476e-02 3.43988592e-03 9.99006353e-01 -1.04575734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.040714057 meters 0.045985679794415965 Centerline is valid? [True, True] Translation: X:157.21, Y:-19.18, Z:-10.46 [[ 9.97640046e-01 5.18070475e-02 4.50596193e-02 1.57213923e+02] [-5.15904285e-02 9.98650555e-01 -5.95786973e-03 -1.91789268e+01] [-4.53074735e-02 3.61916436e-03 9.98966533e-01 -1.04612761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.100714057 meters 0.05038290041452106 Centerline is valid? [True, True] Translation: X:157.27, Y:-19.19, Z:-10.47 [[ 9.97663644e-01 5.06710237e-02 4.58224906e-02 1.57273007e+02] [-5.04458601e-02 9.98708426e-01 -6.05767320e-03 -1.91930146e+01] [-4.60702560e-02 3.73196536e-03 9.98931231e-01 -1.04659518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.160714057 meters 0.046732348024728504 Centerline is valid? [True, True] Translation: X:157.34, Y:-19.20, Z:-10.47 [[ 9.97632261e-01 5.02312259e-02 4.69754860e-02 1.57335780e+02] [-4.99939161e-02 9.98730192e-01 -6.21384289e-03 -1.91962248e+01] [-4.72279651e-02 3.85064163e-03 9.98876715e-01 -1.04670110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.220714057 meters 0.04266057655372451 Centerline is valid? [True, True] Translation: X:157.40, Y:-19.20, Z:-10.47 [[ 9.97435786e-01 5.36658609e-02 4.73479555e-02 1.57396964e+02] [-5.34278567e-02 9.98551971e-01 -6.27894097e-03 -1.91967802e+01] [-4.76163591e-02 3.73314064e-03 9.98858722e-01 -1.04695909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.280714057 meters 0.040063068450224525 Centerline is valid? [True, True] Translation: X:157.46, Y:-19.20, Z:-10.47 [[ 9.97222870e-01 5.71836230e-02 4.77135228e-02 1.57457884e+02] [-5.69459207e-02 9.98357213e-01 -6.32751443e-03 -1.91995571e+01] [-4.79969698e-02 3.59285161e-03 9.98841020e-01 -1.04723916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.340714057 meters 0.036729364619472224 Centerline is valid? [True, True] Translation: X:157.52, Y:-19.20, Z:-10.47 [[ 9.96716352e-01 6.50873228e-02 4.81679700e-02 1.57518837e+02] [-6.48542352e-02 9.97874302e-01 -6.38785665e-03 -1.91994609e+01] [-4.84813479e-02 3.24298432e-03 9.98818823e-01 -1.04747050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40071405700002 meters 0.03405281059313331 Centerline is valid? [True, True] Translation: X:157.58, Y:-19.20, Z:-10.48 [[ 9.95961613e-01 7.54315174e-02 4.86883183e-02 1.57579561e+02] [-7.52056281e-02 9.97147138e-01 -6.45746503e-03 -1.91985152e+01] [-4.90365136e-02 2.76975173e-03 9.98793146e-01 -1.04779725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46071405700002 meters 0.02871942247383862 Centerline is valid? [True, True] Translation: X:157.64, Y:-19.19, Z:-10.48 [[ 9.95208902e-01 8.48344212e-02 4.86041478e-02 1.57641325e+02] [-8.46204966e-02 9.96392403e-01 -6.44597852e-03 -1.91937706e+01] [-4.89756445e-02 2.30218808e-03 9.98797320e-01 -1.04810989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.520714057 meters 0.027985122059356077 Centerline is valid? [True, True] Translation: X:157.70, Y:-19.20, Z:-10.48 [[ 9.94847824e-01 8.86215558e-02 4.92343987e-02 1.57701651e+02] [-8.84066506e-02 9.96063063e-01 -6.52987136e-03 -1.91976475e+01] [-4.96192534e-02 2.14358004e-03 9.98765906e-01 -1.04848168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.580714057 meters 0.028142902078284814 Centerline is valid? [True, True] Translation: X:157.76, Y:-19.21, Z:-10.49 [[ 9.94885069e-01 8.73237900e-02 5.07765298e-02 1.57759520e+02] [-8.70935240e-02 9.96177378e-01 -6.73416637e-03 -1.92064910e+01] [-5.11704833e-02 2.27741465e-03 9.98687336e-01 -1.04877235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.640714057 meters 0.03023551390323497 Centerline is valid? [True, True] Translation: X:157.82, Y:-19.22, Z:-10.49 [[ 9.95294366e-01 8.21088165e-02 5.14516012e-02 1.57818322e+02] [-8.18656655e-02 9.96620044e-01 -6.81915873e-03 -1.92199242e+01] [-5.18376101e-02 2.57495069e-03 9.98652208e-01 -1.04912907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.700714057 meters 0.03362528808849372 Centerline is valid? [True, True] Translation: X:157.88, Y:-19.23, Z:-10.50 [[ 9.95732486e-01 7.66995196e-02 5.13225161e-02 1.57876091e+02] [-7.64504716e-02 9.97050184e-01 -6.80114743e-03 -1.92349474e+01] [-5.16927689e-02 2.84849288e-03 9.98658973e-01 -1.04950066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.760714057 meters 0.03606648276541817 Centerline is valid? [True, True] Translation: X:157.94, Y:-19.25, Z:-10.50 [[ 9.96116241e-01 7.16890182e-02 5.11186684e-02 1.57935229e+02] [-7.14354369e-02 9.97422231e-01 -6.77289738e-03 -1.92494152e+01] [-5.14724386e-02 3.09490867e-03 9.98669620e-01 -1.05001914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.820714057 meters 0.04053200043261053 Centerline is valid? [True, True] Translation: X:157.99, Y:-19.26, Z:-10.50 [[ 9.96431517e-01 6.67415095e-02 5.16701417e-02 1.57992482e+02] [-6.64757790e-02 9.97764551e-01 -6.84633293e-03 -1.92649755e+01] [-5.20115703e-02 3.38708899e-03 9.98640738e-01 -1.05049617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.880714057 meters 0.04022226198942469 Centerline is valid? [True, True] Translation: X:158.05, Y:-19.27, Z:-10.51 [[ 9.96555242e-01 6.34312963e-02 5.34239747e-02 1.58052208e+02] [-6.31425803e-02 9.97979427e-01 -7.07658643e-03 -1.92716059e+01] [-5.37649047e-02 3.67888169e-03 9.98546845e-01 -1.05064053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.940714057 meters 0.038522125347714674 Centerline is valid? [True, True] Translation: X:158.11, Y:-19.28, Z:-10.51 [[ 9.96526196e-01 6.27725186e-02 5.47279772e-02 1.58112781e+02] [-6.24685938e-02 9.98020610e-01 -7.24816065e-03 -1.92775909e+01] [-5.50746345e-02 3.80420219e-03 9.98474994e-01 -1.05091697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.000714057 meters 0.041123780296643646 Centerline is valid? [True, True] Translation: X:158.17, Y:-19.29, Z:-10.51 [[ 9.96484281e-01 6.28306038e-02 5.54201550e-02 1.58171524e+02] [-6.25190304e-02 9.98016783e-01 -7.33967798e-03 -1.92895741e+01] [-5.57714013e-02 3.84905938e-03 9.98436145e-01 -1.05134170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.060714057 meters 0.04051656206819201 Centerline is valid? [True, True] Translation: X:158.23, Y:-19.30, Z:-10.52 [[ 9.96558950e-01 6.30363062e-02 5.38208482e-02 1.58232475e+02] [-6.27427359e-02 9.98004275e-01 -7.12861361e-03 -1.92962550e+01] [-5.41627981e-02 3.72721642e-03 9.98525162e-01 -1.05186950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12071405700001 meters 0.03865555386637614 Centerline is valid? [True, True] Translation: X:158.29, Y:-19.30, Z:-10.52 [[ 9.96405071e-01 6.56007918e-02 5.36047704e-02 1.58292714e+02] [-6.53131462e-02 9.97839542e-01 -7.10224089e-03 -1.93020277e+01] [-5.39548721e-02 3.57561264e-03 9.98536973e-01 -1.05228999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18071405700002 meters 0.035699190884531766 Centerline is valid? [True, True] Translation: X:158.35, Y:-19.30, Z:-10.53 [[ 9.96120720e-01 7.11449109e-02 5.17871833e-02 1.58353257e+02] [-7.08839148e-02 9.97460972e-01 -6.86146037e-03 -1.93046307e+01] [-5.21438522e-02 3.16396455e-03 9.98634572e-01 -1.05288374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.240714057 meters 0.034327872673008304 Centerline is valid? [True, True] Translation: X:158.41, Y:-19.31, Z:-10.53 [[ 9.95780285e-01 7.71206261e-02 4.97396572e-02 1.58413869e+02] [-7.68873095e-02 9.97018010e-01 -6.59003835e-03 -1.93080292e+01] [-5.00995620e-02 2.73788185e-03 9.98740476e-01 -1.05342598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.300714057 meters 0.03352170475243602 Centerline is valid? [True, True] Translation: X:158.47, Y:-19.31, Z:-10.54 [[ 9.95496263e-01 8.09945007e-02 4.92654063e-02 1.58473670e+02] [-8.07703393e-02 9.96711366e-01 -6.52726692e-03 -1.93129887e+01] [-4.96320631e-02 2.51868625e-03 9.98764394e-01 -1.05392018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.360714057 meters 0.034278413985017096 Centerline is valid? [True, True] Translation: X:158.53, Y:-19.32, Z:-10.54 [[ 9.95495426e-01 8.03257917e-02 5.03649171e-02 1.58531898e+02] [-8.00906596e-02 9.96765249e-01 -6.67275063e-03 -1.93210734e+01] [-5.07379931e-02 2.60893329e-03 9.98708591e-01 -1.05411899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.420714057 meters 0.03718504673980639 Centerline is valid? [True, True] Translation: X:158.59, Y:-19.33, Z:-10.54 [[ 9.95575498e-01 7.77694234e-02 5.27384609e-02 1.58588814e+02] [-7.75082154e-02 9.96967256e-01 -6.98330036e-03 -1.93335779e+01] [-5.31216059e-02 2.86473875e-03 9.98583942e-01 -1.05434460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.480714057 meters 0.038558647297730425 Centerline is valid? [True, True] Translation: X:158.65, Y:-19.34, Z:-10.55 [[ 9.95696874e-01 7.51262175e-02 5.42566802e-02 1.58647613e+02] [-7.48460182e-02 9.97169248e-01 -7.18082006e-03 -1.93445939e+01] [-5.46425608e-02 3.08902361e-03 9.98501201e-01 -1.05465073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.540714057 meters 0.042358112441807795 Centerline is valid? [True, True] Translation: X:158.71, Y:-19.36, Z:-10.55 [[ 9.96011002e-01 7.05079518e-02 5.46874124e-02 1.58705907e+02] [-7.02164557e-02 9.97505535e-01 -7.23584675e-03 -1.93589199e+01] [-5.50611812e-02 3.36702670e-03 9.98477305e-01 -1.05494496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.600714057 meters 0.04443165577323544 Centerline is valid? [True, True] Translation: X:158.77, Y:-19.37, Z:-10.55 [[ 9.96160348e-01 6.84513252e-02 5.45800039e-02 1.58765156e+02] [-6.81579549e-02 9.97648413e-01 -7.22066328e-03 -1.93698740e+01] [-5.49459182e-02 3.47287701e-03 9.98483292e-01 -1.05527107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.660714057 meters 0.04596345211033461 Centerline is valid? [True, True] Translation: X:158.82, Y:-19.38, Z:-10.56 [[ 9.96221630e-01 6.79452187e-02 5.40916893e-02 1.58824095e+02] [-6.76563769e-02 9.97683024e-01 -7.15535357e-03 -1.93792780e+01] [-5.44525322e-02 3.46867028e-03 9.98510335e-01 -1.05569860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.720714057 meters 0.04746349169741161 Centerline is valid? [True, True] Translation: X:158.88, Y:-19.39, Z:-10.56 [[ 9.96400292e-01 6.70942797e-02 5.18152138e-02 1.58883189e+02] [-6.68282245e-02 9.97740966e-01 -6.85221778e-03 -1.93881456e+01] [-5.21579061e-02 3.36483305e-03 9.98633181e-01 -1.05632625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.780714057 meters 0.04193330118314469 Centerline is valid? [True, True] Translation: X:158.94, Y:-19.39, Z:-10.57 [[ 9.96502732e-01 6.59920020e-02 5.12577804e-02 1.58942988e+02] [-6.57301562e-02 9.97814406e-01 -6.77926247e-03 -1.93872597e+01] [-5.15931288e-02 3.38637167e-03 9.98662446e-01 -1.05664414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.840714057 meters 0.03960112610275017 Centerline is valid? [True, True] Translation: X:159.00, Y:-19.39, Z:-10.57 [[ 9.96725239e-01 6.30477422e-02 5.06337789e-02 1.59003377e+02] [-6.27886046e-02 9.98004400e-01 -6.69389604e-03 -1.93918599e+01] [-5.09547691e-02 3.49275082e-03 9.98694854e-01 -1.05703544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90071405700002 meters 0.04401645767532296 Centerline is valid? [True, True] Translation: X:159.06, Y:-19.40, Z:-10.58 [[ 9.97040560e-01 5.90748747e-02 4.91963599e-02 1.59061512e+02] [-5.88254350e-02 9.98247096e-01 -6.50408798e-03 -1.94024000e+01] [-4.94943515e-02 3.59084225e-03 9.98767949e-01 -1.05761419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96071405700002 meters 0.04314238729802267 Centerline is valid? [True, True] Translation: X:159.12, Y:-19.41, Z:-10.58 [[ 9.97168919e-01 5.56137240e-02 5.06088914e-02 1.59121979e+02] [-5.53453598e-02 9.98444860e-01 -6.68981745e-03 -1.94075148e+01] [-5.09022331e-02 3.86991074e-03 9.98696143e-01 -1.05781438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.020714057 meters 0.04287616441550944 Centerline is valid? [True, True] Translation: X:159.18, Y:-19.41, Z:-10.58 [[ 9.97268888e-01 5.33474351e-02 5.10765705e-02 1.59182575e+02] [-5.30711326e-02 9.98567910e-01 -6.75157614e-03 -1.94126380e+01] [-5.13636035e-02 4.02244539e-03 9.98671918e-01 -1.05804013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.080714057 meters 0.04829398899418528 Centerline is valid? [True, True] Translation: X:159.24, Y:-19.42, Z:-10.59 [[ 9.97330391e-01 5.28248554e-02 5.04145347e-02 1.59242478e+02] [-5.25550470e-02 9.98595797e-01 -6.66341701e-03 -1.94233281e+01] [-5.06957365e-02 3.99609006e-03 9.98706150e-01 -1.05860054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.140714057 meters 0.040745595672439884 Centerline is valid? [True, True] Translation: X:159.30, Y:-19.42, Z:-10.59 [[ 9.97304140e-01 5.31887366e-02 5.05510772e-02 1.59304635e+02] [-5.29175255e-02 9.98576481e-01 -6.68935710e-03 -1.94182046e+01] [-5.08349152e-02 3.99628561e-03 9.98699074e-01 -1.05884013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.200714057 meters 0.04735441259248256 Centerline is valid? [True, True] Translation: X:159.36, Y:-19.43, Z:-10.59 [[ 9.97207213e-01 5.51500303e-02 5.03611795e-02 1.59363845e+02] [-5.48832324e-02 9.98470526e-01 -6.66633509e-03 -1.94301443e+01] [-5.06518019e-02 3.88373312e-03 9.98708822e-01 -1.05933639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.260714057 meters 0.041315147146588495 Centerline is valid? [True, True] Translation: X:159.43, Y:-19.43, Z:-10.60 [[ 9.97011267e-01 5.73739455e-02 5.17374566e-02 1.59425699e+02] [-5.70952721e-02 9.98345238e-01 -6.84950134e-03 -1.94259988e+01] [-5.20448263e-02 3.87506585e-03 9.98637231e-01 -1.05962912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.320714057 meters 0.03531286258873515 Centerline is valid? [True, True] Translation: X:159.49, Y:-19.42, Z:-10.60 [[ 9.96756362e-01 6.16120061e-02 5.17756268e-02 1.59487129e+02] [-6.13385415e-02 9.98093474e-01 -6.85573098e-03 -1.94220793e+01] [-5.20993105e-02 3.65765204e-03 9.98635210e-01 -1.05996449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.380714057 meters 0.032392203034896094 Centerline is valid? [True, True] Translation: X:159.55, Y:-19.42, Z:-10.60 [[ 9.96076171e-01 7.16610938e-02 5.19321693e-02 1.59548417e+02] [-7.13995625e-02 9.97424092e-01 -6.87625128e-03 -1.94232141e+01] [-5.22911565e-02 3.14133587e-03 9.98626941e-01 -1.06033463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.440714057 meters 0.029394261971041526 Centerline is valid? [True, True] Translation: X:159.61, Y:-19.42, Z:-10.61 [[ 9.95133246e-01 8.35314214e-02 5.22716372e-02 1.59607924e+02] [-8.32826948e-02 9.96501919e-01 -6.92236370e-03 -1.94228978e+01] [-5.26670217e-02 2.53535145e-03 9.98608911e-01 -1.06077958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.500714057 meters 0.028421337277365927 Centerline is valid? [True, True] Translation: X:159.67, Y:-19.43, Z:-10.61 [[ 9.94902425e-01 8.66970851e-02 5.15051541e-02 1.59667292e+02] [-8.64598990e-02 9.96231990e-01 -6.81963815e-03 -1.94291515e+01] [-5.19023249e-02 2.33174412e-03 9.98649444e-01 -1.06140773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.560714057 meters 0.027696935061687997 Centerline is valid? [True, True] Translation: X:159.73, Y:-19.43, Z:-10.62 [[ 9.94504086e-01 9.08071082e-02 5.21122937e-02 1.59727157e+02] [-9.05699680e-02 9.95866198e-01 -6.89906691e-03 -1.94338966e+01] [-5.25233561e-02 2.14134147e-03 9.98617400e-01 -1.06173923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62071405700001 meters 0.028435144748827756 Centerline is valid? [True, True] Translation: X:159.79, Y:-19.44, Z:-10.62 [[ 9.94521483e-01 8.94152423e-02 5.41473324e-02 1.59785715e+02] [-8.91571668e-02 9.95991777e-01 -7.16800363e-03 -1.94424903e+01] [-5.45712266e-02 2.30111086e-03 9.98507229e-01 -1.06196203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68071405700002 meters 0.028951059365545477 Centerline is valid? [True, True] Translation: X:159.84, Y:-19.45, Z:-10.62 [[ 9.94803806e-01 8.39169119e-02 5.76484118e-02 1.59844407e+02] [-8.36154075e-02 9.96468914e-01 -7.62672149e-03 -1.94548561e+01] [-5.80848612e-02 2.76679612e-03 9.98307815e-01 -1.06220384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.740714057 meters 0.032828632238369994 Centerline is valid? [True, True] Translation: X:159.90, Y:-19.47, Z:-10.63 [[ 9.95331990e-01 7.60852128e-02 5.93739834e-02 1.59902684e+02] [-7.57515435e-02 9.97095794e-01 -7.85379428e-03 -1.94733128e+01] [-5.97991067e-02 3.31946180e-03 9.98204913e-01 -1.06259207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.800714057 meters 0.035513850640464445 Centerline is valid? [True, True] Translation: X:159.96, Y:-19.49, Z:-10.63 [[ 9.95840558e-01 6.91397332e-02 5.93403738e-02 1.59960800e+02] [-6.87941488e-02 9.97599995e-01 -7.84952884e-03 -1.94900604e+01] [-5.97406709e-02 3.73460868e-03 9.98206945e-01 -1.06317353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.860714057 meters 0.04256626209269919 Centerline is valid? [True, True] Translation: X:160.02, Y:-19.51, Z:-10.64 [[ 9.96001309e-01 6.66697922e-02 5.94687379e-02 1.60017635e+02] [-6.63183817e-02 9.97767510e-01 -7.86560321e-03 -1.95111272e+01] [-5.98603727e-02 3.89028063e-03 9.98199179e-01 -1.06364772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.920714057 meters 0.040284727321045516 Centerline is valid? [True, True] Translation: X:160.08, Y:-19.52, Z:-10.64 [[ 9.96087804e-01 6.50241379e-02 5.98410330e-02 1.60077546e+02] [-6.46654909e-02 9.97875626e-01 -7.91255749e-03 -1.95189734e+01] [-6.02284155e-02 4.01195224e-03 9.98176559e-01 -1.06392347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.980714057 meters 0.03976059932749288 Centerline is valid? [True, True] Translation: X:160.14, Y:-19.53, Z:-10.64 [[ 9.95967006e-01 6.61068494e-02 6.06597607e-02 1.60137126e+02] [-6.57403033e-02 9.97804529e-01 -8.02081481e-03 -1.95294592e+01] [-6.10568148e-02 4.00067585e-03 9.98126275e-01 -1.06433767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.040714057 meters 0.04048189347191077 Centerline is valid? [True, True] Translation: X:160.20, Y:-19.54, Z:-10.65 [[ 9.95833814e-01 6.82125196e-02 6.05150209e-02 1.60196131e+02] [-6.78516133e-02 9.97663339e-01 -8.00130476e-03 -1.95410282e+01] [-6.09194070e-02 3.86192803e-03 9.98135217e-01 -1.06479781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.100714057 meters 0.039860124741653485 Centerline is valid? [True, True] Translation: X:160.26, Y:-19.55, Z:-10.65 [[ 9.95572682e-01 7.18838772e-02 6.05618953e-02 1.60255445e+02] [-7.15287697e-02 9.97406342e-01 -8.01404615e-03 -1.95511117e+01] [-6.09808991e-02 3.64664756e-03 9.98132272e-01 -1.06528215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.160714057 meters 0.03224072941580428 Centerline is valid? [True, True] Translation: X:160.32, Y:-19.55, Z:-10.66 [[ 9.95388454e-01 7.58643980e-02 5.87062055e-02 1.60316163e+02] [-7.55375775e-02 9.97112686e-01 -7.76955750e-03 -1.95506846e+01] [-5.91261350e-02 3.29920329e-03 9.98245068e-01 -1.06571039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.220714057 meters 0.03154778238664291 Centerline is valid? [True, True] Translation: X:160.37, Y:-19.56, Z:-10.66 [[ 9.95458192e-01 7.62822451e-02 5.69561925e-02 1.60374185e+02] [-7.59753742e-02 9.97081208e-01 -7.53709969e-03 -1.95598010e+01] [-5.73648961e-02 3.17559959e-03 9.98348228e-01 -1.06620656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.280714057 meters 0.03161537634786938 Centerline is valid? [True, True] Translation: X:160.43, Y:-19.57, Z:-10.67 [[ 9.95789874e-01 7.46046281e-02 5.32604654e-02 1.60432537e+02] [-7.43341576e-02 9.97208511e-01 -7.04403596e-03 -1.95723872e+01] [-5.36373071e-02 3.05530785e-03 9.98555809e-01 -1.06683267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.340714057 meters 0.03508063264509534 Centerline is valid? [True, True] Translation: X:160.49, Y:-19.59, Z:-10.67 [[ 9.95963328e-01 7.27589183e-02 5.25660439e-02 1.60489410e+02] [-7.24929923e-02 9.97344703e-01 -6.95049259e-03 -1.95899071e+01] [-5.29321758e-02 3.11176592e-03 9.98593261e-01 -1.06733567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40071405700002 meters 0.03502584913909887 Centerline is valid? [True, True] Translation: X:160.55, Y:-19.60, Z:-10.67 [[ 9.95835590e-01 7.31792287e-02 5.43716590e-02 1.60547777e+02] [-7.28954824e-02 9.97313695e-01 -7.18630428e-03 -1.96001555e+01] [-5.47514883e-02 3.19292925e-03 9.98494907e-01 -1.06748598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46071405700002 meters 0.03384742751729376 Centerline is valid? [True, True] Translation: X:160.61, Y:-19.61, Z:-10.68 [[ 9.95541566e-01 7.55284746e-02 5.65016831e-02 1.60607481e+02] [-7.52260591e-02 9.97138576e-01 -7.46326210e-03 -1.96085251e+01] [-5.69036966e-02 3.17958869e-03 9.98374609e-01 -1.06758540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.520714057 meters 0.03370402334563852 Centerline is valid? [True, True] Translation: X:160.67, Y:-19.62, Z:-10.68 [[ 9.95301866e-01 7.73700419e-02 5.82071545e-02 1.60666972e+02] [-7.70522682e-02 9.96997418e-01 -7.68746903e-03 -1.96187134e+01] [-5.86271625e-02 3.16635899e-03 9.98274927e-01 -1.06778673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.580714057 meters 0.032534907884360524 Centerline is valid? [True, True] Translation: X:160.73, Y:-19.63, Z:-10.68 [[ 9.95433133e-01 7.66442117e-02 5.69081995e-02 1.60725431e+02] [-7.63393326e-02 9.97053572e-01 -7.51533352e-03 -1.96271292e+01] [-5.73165304e-02 3.13667802e-03 9.98351129e-01 -1.06822842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.640714057 meters 0.034735725699456425 Centerline is valid? [True, True] Translation: X:160.78, Y:-19.64, Z:-10.69 [[ 9.95797027e-01 7.32251421e-02 5.50123667e-02 1.60783465e+02] [-7.29353031e-02 9.97310245e-01 -7.26066502e-03 -1.96435391e+01] [-5.53960601e-02 3.21780500e-03 9.98459274e-01 -1.06894491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.700714057 meters 0.03773106600000716 Centerline is valid? [True, True] Translation: X:160.84, Y:-19.66, Z:-10.70 [[ 9.96236033e-01 6.91580460e-02 5.22583099e-02 1.60841533e+02] [-6.88910282e-02 9.97600357e-01 -6.89587288e-03 -1.96587251e+01] [-5.26098137e-02 3.26978834e-03 9.98609792e-01 -1.06965965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.760714057 meters 0.03943923397961916 Centerline is valid? [True, True] Translation: X:160.90, Y:-19.67, Z:-10.70 [[ 9.96468900e-01 6.70082868e-02 5.05926918e-02 1.60900243e+02] [-6.67552066e-02 9.97747039e-01 -6.67749539e-03 -1.96700877e+01] [-5.09261560e-02 3.27659089e-03 9.98697046e-01 -1.07010001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.820714057 meters 0.0393427874652492 Centerline is valid? [True, True] Translation: X:160.96, Y:-19.68, Z:-10.70 [[ 9.96687464e-01 6.35020085e-02 5.08093872e-02 1.60959330e+02] [-6.32422786e-02 9.97975680e-01 -6.70493907e-03 -1.96806828e+01] [-5.11323098e-02 3.46942730e-03 9.98685862e-01 -1.07032782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.880714057 meters 0.03797792407945288 Centerline is valid? [True, True] Translation: X:161.02, Y:-19.69, Z:-10.71 [[ 9.96815708e-01 6.12774925e-02 5.10246263e-02 1.61019858e+02] [-6.10126568e-02 9.98114281e-01 -6.73333035e-03 -1.96875847e+01] [-5.13410098e-02 3.59874145e-03 9.98674697e-01 -1.07052724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.940714057 meters 0.04251477062405813 Centerline is valid? [True, True] Translation: X:161.08, Y:-19.70, Z:-10.71 [[ 9.96913376e-01 5.76366523e-02 5.33079365e-02 1.61077560e+02] [-5.73423314e-02 9.98329784e-01 -7.03552784e-03 -1.97045104e+01] [-5.36244050e-02 3.95701046e-03 9.98553336e-01 -1.07072641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.000714057 meters 0.04243986737617075 Centerline is valid? [True, True] Translation: X:161.14, Y:-19.71, Z:-10.71 [[ 9.97092514e-01 5.55738040e-02 5.21351252e-02 1.61137510e+02] [-5.52894145e-02 9.98446650e-01 -6.88244448e-03 -1.97135854e+01] [-5.24366247e-02 3.97991332e-03 9.98616323e-01 -1.07111843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.060714057 meters 0.04470393623555658 Centerline is valid? [True, True] Translation: X:161.20, Y:-19.73, Z:-10.72 [[ 9.97352842e-01 5.26647346e-02 5.01371467e-02 1.61196528e+02] [-5.23980438e-02 9.98604338e-01 -6.61973224e-03 -1.97251280e+01] [-5.04157986e-02 3.97512036e-03 9.98720404e-01 -1.07167007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12071405700001 meters 0.047395559222212995 Centerline is valid? [True, True] Translation: X:161.26, Y:-19.74, Z:-10.72 [[ 9.97529369e-01 5.09318264e-02 4.83849808e-02 1.61255161e+02] [-5.06814330e-02 9.98694437e-01 -6.38863183e-03 -1.97369270e+01] [-4.86471958e-02 3.92062772e-03 9.98808329e-01 -1.07219485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18071405700002 meters 0.05043917372598839 Centerline is valid? [True, True] Translation: X:161.31, Y:-19.75, Z:-10.73 [[ 9.97526332e-01 5.05197234e-02 4.88771296e-02 1.61314850e+02] [-5.02638811e-02 9.98715143e-01 -6.45021118e-03 -1.97499023e+01] [-4.91401924e-02 3.97750127e-03 9.98783971e-01 -1.07259552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.240714057 meters 0.04684676496589644 Centerline is valid? [True, True] Translation: X:161.38, Y:-19.75, Z:-10.73 [[ 9.97473555e-01 5.09077706e-02 4.95469989e-02 1.61377216e+02] [-5.06447901e-02 9.98695253e-01 -6.54953853e-03 -1.97529161e+01] [-4.98157750e-02 4.02369412e-03 9.98750318e-01 -1.07279523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.300714057 meters 0.0418635038315574 Centerline is valid? [True, True] Translation: X:161.44, Y:-19.75, Z:-10.73 [[ 9.97348974e-01 5.27759737e-02 5.00971178e-02 1.61438865e+02] [-5.25086769e-02 9.98598408e-01 -6.63767172e-03 -1.97548864e+01] [-5.03772116e-02 3.98954171e-03 9.98722294e-01 -1.07295716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.360714057 meters 0.04204700172738789 Centerline is valid? [True, True] Translation: X:161.50, Y:-19.76, Z:-10.73 [[ 9.97290950e-01 5.45945655e-02 4.92970075e-02 1.61499135e+02] [-5.43378663e-02 9.98501232e-01 -6.53343338e-03 -1.97638142e+01] [-4.95798127e-02 3.83703978e-03 9.98762794e-01 -1.07340227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.420714057 meters 0.04360464065779059 Centerline is valid? [True, True] Translation: X:161.56, Y:-19.77, Z:-10.74 [[ 9.97319894e-01 5.58989484e-02 4.72052542e-02 1.61559787e+02] [-5.56651371e-02 9.98429906e-01 -6.25424303e-03 -1.97743933e+01] [-4.74807431e-02 3.60979405e-03 9.98865631e-01 -1.07393295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.480714057 meters 0.04486907934993875 Centerline is valid? [True, True] Translation: X:161.62, Y:-19.79, Z:-10.74 [[ 9.97321620e-01 5.63978030e-02 4.65711712e-02 1.61620661e+02] [-5.61702428e-02 9.98402069e-01 -6.18162887e-03 -1.97864957e+01] [-4.68453840e-02 3.54915813e-03 9.98895847e-01 -1.07448322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.540714057 meters 0.045597044391480844 Centerline is valid? [True, True] Translation: X:161.68, Y:-19.80, Z:-10.75 [[ 9.97179403e-01 5.82754397e-02 4.72991602e-02 1.61680582e+02] [-5.80420728e-02 9.98294300e-01 -6.29355095e-03 -1.97951965e+01] [-4.75852415e-02 3.53045807e-03 9.98860942e-01 -1.07475579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.600714057 meters 0.045345014858784456 Centerline is valid? [True, True] Translation: X:161.74, Y:-19.80, Z:-10.75 [[ 9.96967347e-01 6.13579161e-02 4.78676742e-02 1.61740732e+02] [-6.11223330e-02 9.98109948e-01 -6.37123580e-03 -1.98024735e+01] [-4.81681275e-02 3.42613013e-03 9.98833366e-01 -1.07508422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.660714057 meters 0.04369746630161018 Centerline is valid? [True, True] Translation: X:161.80, Y:-19.81, Z:-10.75 [[ 9.96526150e-01 6.70502097e-02 4.93953689e-02 1.61800497e+02] [-6.68062705e-02 9.97744302e-01 -6.57489308e-03 -1.98076287e+01] [-4.97247959e-02 3.25213250e-03 9.98757662e-01 -1.07521070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.720714057 meters 0.03576382069078007 Centerline is valid? [True, True] Translation: X:161.86, Y:-19.80, Z:-10.75 [[ 9.96172613e-01 7.09984555e-02 5.09837660e-02 1.61862350e+02] [-7.07436444e-02 9.97471437e-01 -6.78746043e-03 -1.98043040e+01] [-5.13367495e-02 3.15470477e-03 9.98676417e-01 -1.07523482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.780714057 meters 0.0337675903659956 Centerline is valid? [True, True] Translation: X:161.92, Y:-19.81, Z:-10.76 [[ 9.96106599e-01 7.18973307e-02 5.10138857e-02 1.61922079e+02] [-7.16433940e-02 9.97407189e-01 -6.79142426e-03 -1.98102279e+01] [-5.13699016e-02 3.11017462e-03 9.98674852e-01 -1.07555093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.840714057 meters 0.03535769403149291 Centerline is valid? [True, True] Translation: X:161.98, Y:-19.82, Z:-10.76 [[ 9.96362621e-01 7.00562682e-02 4.85144024e-02 1.61980924e+02] [-6.98244963e-02 9.97538388e-01 -6.45785008e-03 -1.98219201e+01] [-4.88473916e-02 3.04686672e-03 9.98801606e-01 -1.07620037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90071405700002 meters 0.037371948832393816 Centerline is valid? [True, True] Translation: X:162.04, Y:-19.83, Z:-10.77 [[ 9.96714560e-01 6.63648855e-02 4.64304528e-02 1.62040435e+02] [-6.61486765e-02 9.97790643e-01 -6.17940820e-03 -1.98327981e+01] [-4.67379671e-02 3.08779313e-03 9.98902412e-01 -1.07673034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96071405700002 meters 0.036001154219584934 Centerline is valid? [True, True] Translation: X:162.10, Y:-19.84, Z:-10.77 [[ 9.97040297e-01 6.11752147e-02 4.65643567e-02 1.62100645e+02] [-6.09521279e-02 9.98121452e-01 -6.19715282e-03 -1.98389858e+01] [-4.68559955e-02 3.34061446e-03 9.98896069e-01 -1.07694640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.020714057 meters 0.046618158482373016 Centerline is valid? [True, True] Translation: X:162.16, Y:-19.86, Z:-10.78 [[ 9.97287507e-01 5.65212588e-02 4.71484399e-02 1.62157982e+02] [-5.62873689e-02 9.98394891e-01 -6.27478328e-03 -1.98601181e+01] [-4.74274202e-02 3.60390134e-03 9.98868185e-01 -1.07752458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.080714057 meters 0.047719446710930515 Centerline is valid? [True, True] Translation: X:162.22, Y:-19.87, Z:-10.78 [[ 9.97345404e-01 5.42878414e-02 4.85280942e-02 1.62218168e+02] [-5.40374840e-02 9.98518030e-01 -6.45712699e-03 -1.98683674e+01] [-4.88067205e-02 3.81764981e-03 9.98800946e-01 -1.07772845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.140714057 meters 0.04400566952205649 Centerline is valid? [True, True] Translation: X:162.28, Y:-19.87, Z:-10.78 [[ 9.97353306e-01 5.15743028e-02 5.12491461e-02 1.62279790e+02] [-5.12914436e-02 9.98660440e-01 -6.82011369e-03 -1.98682657e+01] [-5.15322373e-02 4.17342024e-03 9.98662611e-01 -1.07779368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.200714057 meters 0.0419621600590025 Centerline is valid? [True, True] Translation: X:162.34, Y:-19.87, Z:-10.78 [[ 9.97420715e-01 5.05001048e-02 5.10064314e-02 1.62341729e+02] [-5.02186288e-02 9.98715195e-01 -6.78583921e-03 -1.98716928e+01] [-5.12835837e-02 4.20686356e-03 9.98675271e-01 -1.07817663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.260714057 meters 0.045996643921524284 Centerline is valid? [True, True] Translation: X:162.40, Y:-19.88, Z:-10.79 [[ 9.97606147e-01 4.85286477e-02 4.92640355e-02 1.62401079e+02] [-4.82629929e-02 9.98813065e-01 -6.56846287e-03 -1.98813613e+01] [-4.95243209e-02 4.17510914e-03 9.98764191e-01 -1.07874812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.320714057 meters 0.044857579036600384 Centerline is valid? [True, True] Translation: X:162.46, Y:-19.88, Z:-10.79 [[ 9.97839196e-01 4.61645132e-02 4.67522840e-02 1.62461200e+02] [-4.59226656e-02 9.98925543e-01 -6.23446961e-03 -1.98845568e+01] [-4.69898619e-02 4.07400864e-03 9.98887058e-01 -1.07932818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.380714057 meters 0.0486461675159976 Centerline is valid? [True, True] Translation: X:162.52, Y:-19.89, Z:-10.80 [[ 9.98007021e-01 4.35549144e-02 4.56613171e-02 1.62519515e+02] [-4.33214803e-02 9.99042623e-01 -6.08993561e-03 -1.98942244e+01] [-4.58828486e-02 4.09968264e-03 9.98938415e-01 -1.07982166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.440714057 meters 0.0480747733553862 Centerline is valid? [True, True] Translation: X:162.58, Y:-19.90, Z:-10.80 [[ 9.97981087e-01 4.39147980e-02 4.58829084e-02 1.62581769e+02] [-4.36797205e-02 9.99026877e-01 -6.11401106e-03 -1.98980521e+01] [-4.61067543e-02 4.09751479e-03 9.98928114e-01 -1.08010703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.500714057 meters 0.04579491071702189 Centerline is valid? [True, True] Translation: X:162.64, Y:-19.90, Z:-10.80 [[ 9.97802445e-01 4.65918002e-02 4.71114167e-02 1.62642828e+02] [-4.63461363e-02 9.98905611e-01 -6.29407091e-03 -1.98994160e+01] [-4.73531106e-02 4.09680721e-03 9.98869811e-01 -1.08027826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.560714057 meters 0.04281102465482565 Centerline is valid? [True, True] Translation: X:162.70, Y:-19.90, Z:-10.81 [[ 9.97705919e-01 4.94569028e-02 4.62267772e-02 1.62703888e+02] [-4.92234341e-02 9.98768697e-01 -6.17596250e-03 -1.99005757e+01] [-4.64753020e-02 3.88635362e-03 9.98911879e-01 -1.08068084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62071405700001 meters 0.04337859353010316 Centerline is valid? [True, True] Translation: X:162.76, Y:-19.91, Z:-10.81 [[ 9.97612027e-01 5.18275678e-02 4.56524647e-02 1.62764104e+02] [-5.16022953e-02 9.98649084e-01 -6.10005800e-03 -1.99082188e+01] [-4.59069432e-02 3.72971926e-03 9.98938758e-01 -1.08115674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68071405700002 meters 0.043556842175416284 Centerline is valid? [True, True] Translation: X:162.82, Y:-19.91, Z:-10.81 [[ 9.97419113e-01 5.54324560e-02 4.56328362e-02 1.62823209e+02] [-5.52110562e-02 9.98456080e-01 -6.09889768e-03 -1.99142359e+01] [-4.59004596e-02 3.56372004e-03 9.98939662e-01 -1.08146965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.740714057 meters 0.042669353375880015 Centerline is valid? [True, True] Translation: X:162.88, Y:-19.92, Z:-10.82 [[ 9.97144513e-01 5.93854756e-02 4.66495969e-02 1.62883626e+02] [-5.91584459e-02 9.98229143e-01 -6.23355072e-03 -1.99191095e+01] [-4.69371695e-02 3.45603325e-03 9.98891865e-01 -1.08177329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.800714057 meters 0.034022137109150016 Centerline is valid? [True, True] Translation: X:162.95, Y:-19.91, Z:-10.82 [[ 9.96419179e-01 6.93222548e-02 4.84070653e-02 1.62946106e+02] [-6.90894114e-02 9.97589498e-01 -6.46886355e-03 -1.99105472e+01] [-4.87388162e-02 3.10128406e-03 9.98806743e-01 -1.08184781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.860714057 meters 0.03781835781084156 Centerline is valid? [True, True] Translation: X:163.00, Y:-19.92, Z:-10.82 [[ 9.96067704e-01 7.38050066e-02 4.90096981e-02 1.63004178e+02] [-7.35716880e-02 9.97268420e-01 -6.55013197e-03 -1.99216982e+01] [-4.93592568e-02 2.91864869e-03 9.98776825e-01 -1.08238818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.920714057 meters 0.031591472539517974 Centerline is valid? [True, True] Translation: X:163.07, Y:-19.92, Z:-10.82 [[ 9.95493525e-01 8.00231922e-02 5.08815390e-02 1.63065367e+02] [-7.97798331e-02 9.96789320e-01 -6.79924573e-03 -1.99171440e+01] [-5.12622721e-02 2.70928440e-03 9.98681550e-01 -1.08249269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.980714057 meters 0.029832407086888293 Centerline is valid? [True, True] Translation: X:163.12, Y:-19.92, Z:-10.83 [[ 9.95291460e-01 8.19697760e-02 5.17287724e-02 1.63124398e+02] [-8.17209071e-02 9.96631288e-01 -6.91148326e-03 -1.99207159e+01] [-5.21210458e-02 2.65161807e-03 9.98637254e-01 -1.08275299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.040714057 meters 0.02918503158541267 Centerline is valid? [True, True] Translation: X:163.18, Y:-19.93, Z:-10.83 [[ 9.95170826e-01 8.25765910e-02 5.30672578e-02 1.63183254e+02] [-8.23157476e-02 9.96581108e-01 -7.08610189e-03 -1.99275362e+01] [-5.34709727e-02 2.68361087e-03 9.98565798e-01 -1.08311333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.100714057 meters 0.03087837463076399 Centerline is valid? [True, True] Translation: X:163.24, Y:-19.94, Z:-10.84 [[ 9.95476040e-01 7.96785258e-02 5.17569843e-02 1.63240536e+02] [-7.94266905e-02 9.96816776e-01 -6.90773926e-03 -1.99414967e+01] [-5.21426287e-02 2.76560295e-03 9.98635818e-01 -1.08382464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.160714057 meters 0.03969713297043774 Centerline is valid? [True, True] Translation: X:163.30, Y:-19.97, Z:-10.85 [[ 9.95958805e-01 7.43205592e-02 5.04233421e-02 1.63296855e+02] [-7.40747247e-02 9.97229989e-01 -6.72934809e-03 -1.99654707e+01] [-5.07837978e-02 2.96705830e-03 9.98705263e-01 -1.08467214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.220714057 meters 0.035541582858692286 Centerline is valid? [True, True] Translation: X:163.36, Y:-19.97, Z:-10.85 [[ 9.96165403e-01 7.10828559e-02 5.10070325e-02 1.63357414e+02] [-7.08270675e-02 9.97465382e-01 -6.80717397e-03 -1.99686593e+01] [-5.13616225e-02 3.16839267e-03 9.98675095e-01 -1.08484918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.280714057 meters 0.03596122343081217 Centerline is valid? [True, True] Translation: X:163.42, Y:-19.98, Z:-10.85 [[ 9.96319968e-01 6.94217983e-02 5.02706223e-02 1.63415588e+02] [-6.91712074e-02 9.97582240e-01 -6.70964340e-03 -1.99777202e+01] [-5.06148755e-02 3.20767205e-03 9.98713095e-01 -1.08528526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.340714057 meters 0.03698775264301142 Centerline is valid? [True, True] Translation: X:163.47, Y:-19.99, Z:-10.86 [[ 9.96403002e-01 6.77610365e-02 5.08871167e-02 1.63473704e+02] [-6.75022447e-02 9.97696023e-01 -6.78909209e-03 -1.99873027e+01] [-5.12299099e-02 3.32967713e-03 9.98681335e-01 -1.08567038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40071405700002 meters 0.039637444083854514 Centerline is valid? [True, True] Translation: X:163.53, Y:-20.00, Z:-10.86 [[ 9.96442165e-01 6.58131690e-02 5.26463585e-02 1.63531351e+02] [-6.55335950e-02 9.97825663e-01 -7.02102965e-03 -1.99983932e+01] [-5.29939637e-02 3.54594485e-03 9.98588537e-01 -1.08599584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46071405700002 meters 0.03738342278426718 Centerline is valid? [True, True] Translation: X:163.59, Y:-20.00, Z:-10.86 [[ 9.96514014e-01 6.33546601e-02 5.42771361e-02 1.63592000e+02] [-6.30540327e-02 9.97983888e-01 -7.23514282e-03 -2.00033034e+01] [-5.46260873e-02 3.78752890e-03 9.98499697e-01 -1.08619506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.520714057 meters 0.039381140058188824 Centerline is valid? [True, True] Translation: X:163.65, Y:-20.01, Z:-10.87 [[ 9.96651207e-01 6.04893014e-02 5.50219570e-02 1.63651576e+02] [-6.01760141e-02 9.98160835e-01 -7.33442746e-03 -2.00141833e+01] [-5.53644170e-02 3.99886392e-03 9.98458207e-01 -1.08661369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.580714057 meters 0.03952346902519217 Centerline is valid? [True, True] Translation: X:163.71, Y:-20.02, Z:-10.87 [[ 9.96890780e-01 5.75144248e-02 5.38596653e-02 1.63711381e+02] [-5.72099424e-02 9.98336356e-01 -7.17934632e-03 -2.00224591e+01] [-5.41829780e-02 4.07571580e-03 9.98522706e-01 -1.08718200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.640714057 meters 0.043994175053784855 Centerline is valid? [True, True] Translation: X:163.77, Y:-20.04, Z:-10.88 [[ 9.96981064e-01 5.64649010e-02 5.32960905e-02 1.63771170e+02] [-5.61653627e-02 9.98396217e-01 -7.10259307e-03 -2.00371552e+01] [-5.36116623e-02 4.08775655e-03 9.98553494e-01 -1.08776259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.700714057 meters 0.046320092030401196 Centerline is valid? [True, True] Translation: X:163.83, Y:-20.05, Z:-10.88 [[ 9.97237784e-01 5.36967578e-02 5.13172546e-02 1.63830776e+02] [-5.34146869e-02 9.98548899e-01 -6.85333587e-03 -2.00475141e+01] [-5.16107900e-02 4.09331038e-03 9.98658886e-01 -1.08837197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.760714057 meters 0.04250386465400093 Centerline is valid? [True, True] Translation: X:163.89, Y:-20.05, Z:-10.89 [[ 9.97267310e-01 5.36156269e-02 5.08259541e-02 1.63893252e+02] [-5.33389913e-02 9.98553414e-01 -6.78462370e-03 -2.00491524e+01] [-5.11161918e-02 4.05507831e-03 9.98684480e-01 -1.08864264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.820714057 meters 0.042010706188173555 Centerline is valid? [True, True] Translation: X:163.95, Y:-20.05, Z:-10.89 [[ 9.97031886e-01 5.60750512e-02 5.27542080e-02 1.63954107e+02] [-5.57795331e-02 9.98418158e-01 -7.05870131e-03 -2.00545100e+01] [-5.30665763e-02 4.09514519e-03 9.98582580e-01 -1.08894926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.880714057 meters 0.03992285841201306 Centerline is valid? [True, True] Translation: X:164.02, Y:-20.06, Z:-10.89 [[ 9.96739550e-01 5.91596965e-02 5.48671137e-02 1.64015179e+02] [-5.88445796e-02 9.98240153e-01 -7.34255325e-03 -2.00576242e+01] [-5.52049392e-02 4.08998098e-03 9.98466668e-01 -1.08913237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.940714057 meters 0.039758101842348216 Centerline is valid? [True, True] Translation: X:164.08, Y:-20.06, Z:-10.90 [[ 9.96664376e-01 5.88403867e-02 5.65502426e-02 1.64075599e+02] [-5.85050887e-02 9.98258423e-01 -7.56802889e-03 -2.00647160e+01] [-5.68970618e-02 4.23430783e-03 9.98371071e-01 -1.08950869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.000714057 meters 0.04157383962454051 Centerline is valid? [True, True] Translation: X:164.14, Y:-20.08, Z:-10.90 [[ 9.96916639e-01 5.52243473e-02 5.57448321e-02 1.64135296e+02] [-5.48928012e-02 9.98464367e-01 -7.46250426e-03 -2.00763411e+01] [-5.60713404e-02 4.37950468e-03 9.98417160e-01 -1.09009926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.060714057 meters 0.04635371243361557 Centerline is valid? [True, True] Translation: X:164.19, Y:-20.09, Z:-10.91 [[ 9.97352409e-01 4.94789357e-02 5.32917243e-02 1.64192688e+02] [-4.91678228e-02 9.98765053e-01 -7.13404072e-03 -2.00916250e+01] [-5.35788965e-02 4.49491464e-03 9.98553503e-01 -1.09085764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12071405700001 meters 0.04410970679964428 Centerline is valid? [True, True] Translation: X:164.25, Y:-20.10, Z:-10.91 [[ 9.97577471e-01 4.64136111e-02 5.18166671e-02 1.64252614e+02] [-4.61153233e-02 9.98912028e-01 -6.93805445e-03 -2.00970330e+01] [-5.20823122e-02 4.53170445e-03 9.98632513e-01 -1.09131398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18071405700002 meters 0.04513983346255341 Centerline is valid? [True, True] Translation: X:164.31, Y:-20.11, Z:-10.92 [[ 9.97587816e-01 4.42547616e-02 5.34795772e-02 1.64312789e+02] [-4.39339179e-02 9.99008776e-01 -7.16075239e-03 -2.01071062e+01] [-5.37434643e-02 4.79391199e-03 9.98543268e-01 -1.09163531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24071405700002 meters 0.04580923699368518 Centerline is valid? [True, True] Translation: X:164.37, Y:-20.12, Z:-10.92 [[ 9.97426123e-01 4.58803881e-02 5.51009909e-02 1.64373994e+02] [-4.55421861e-02 9.98935166e-01 -7.37857804e-03 -2.01155337e+01] [-5.53808495e-02 4.85016691e-03 9.98453523e-01 -1.09191383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.300714057 meters 0.044393543293675536 Centerline is valid? [True, True] Translation: X:164.43, Y:-20.12, Z:-10.92 [[ 9.97165865e-01 4.94162459e-02 5.67298225e-02 1.64434810e+02] [-4.90631915e-02 9.98766759e-01 -7.60030537e-03 -2.01208714e+01] [-5.70354395e-02 4.79541893e-03 9.98360638e-01 -1.09222986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.360714057 meters 0.04355555201004892 Centerline is valid? [True, True] Translation: X:164.50, Y:-20.13, Z:-10.93 [[ 9.97114177e-01 5.03399228e-02 5.68261363e-02 1.64496594e+02] [-4.99871891e-02 9.98720846e-01 -7.61261247e-03 -2.01291294e+01] [-5.71366653e-02 4.75006499e-03 9.98355066e-01 -1.09278174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.420714057 meters 0.04513721884384063 Centerline is valid? [True, True] Translation: X:164.56, Y:-20.14, Z:-10.93 [[ 9.97370122e-01 4.70604846e-02 5.51194194e-02 1.64555603e+02] [-4.67233679e-02 9.98880534e-01 -7.38960749e-03 -2.01415284e+01] [-5.54054736e-02 4.79480881e-03 9.98452424e-01 -1.09348263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.480714057 meters 0.049140677575997584 Centerline is valid? [True, True] Translation: X:164.61, Y:-20.16, Z:-10.94 [[ 9.97682782e-01 4.32114983e-02 5.25531402e-02 1.64614300e+02] [-4.28997816e-02 9.99054537e-01 -7.04562981e-03 -2.01577203e+01] [-5.28079054e-02 4.77478531e-03 9.98593274e-01 -1.09420401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.540714057 meters 0.05319683461953211 Centerline is valid? [True, True] Translation: X:164.67, Y:-20.17, Z:-10.95 [[ 9.97819969e-01 4.04384504e-02 5.21540135e-02 1.64673047e+02] [-4.01276726e-02 9.99170092e-01 -6.99269647e-03 -2.01728406e+01] [-5.23935043e-02 4.88463300e-03 9.98614571e-01 -1.09460466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.600714057 meters 0.05056733489346614 Centerline is valid? [True, True] Translation: X:164.74, Y:-20.18, Z:-10.95 [[ 9.97803727e-01 4.00364042e-02 5.27712860e-02 1.64735274e+02] [-3.97178011e-02 9.99185905e-01 -7.07279910e-03 -2.01789197e+01] [-5.30114946e-02 4.96130586e-03 9.98581577e-01 -1.09478457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.660714057 meters 0.051343804869776084 Centerline is valid? [True, True] Translation: X:164.80, Y:-20.19, Z:-10.95 [[ 9.97707544e-01 4.06143244e-02 5.41306995e-02 1.64796884e+02] [-4.02791388e-02 9.99162023e-01 -7.26925488e-03 -2.01899014e+01] [-5.43805752e-02 5.07225247e-03 9.98507399e-01 -1.09500255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.720714057 meters 0.04913779029920102 Centerline is valid? [True, True] Translation: X:164.86, Y:-20.20, Z:-10.95 [[ 9.97522858e-01 4.31961920e-02 5.55179014e-02 1.64856912e+02] [-4.28466275e-02 9.99053721e-01 -7.47193261e-03 -2.01975460e+01] [-5.57881250e-02 5.07466873e-03 9.98429734e-01 -1.09522310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.780714057 meters 0.04567722924426954 Centerline is valid? [True, True] Translation: X:164.92, Y:-20.20, Z:-10.96 [[ 9.97460382e-01 4.57786724e-02 5.45627955e-02 1.64917014e+02] [-4.54448321e-02 9.98939853e-01 -7.34421036e-03 -2.02024480e+01] [-5.48411591e-02 4.84596180e-03 9.98483332e-01 -1.09563251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.840714057 meters 0.048748865532510705 Centerline is valid? [True, True] Translation: X:164.98, Y:-20.22, Z:-10.96 [[ 9.97461538e-01 4.74376164e-02 5.31051089e-02 1.64976050e+02] [-4.71237502e-02 9.98863486e-01 -7.14760690e-03 -2.02184065e+01] [-5.33838197e-02 4.62695109e-03 9.98563348e-01 -1.09633833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90071405700002 meters 0.04504843509139378 Centerline is valid? [True, True] Translation: X:165.04, Y:-20.22, Z:-10.97 [[ 9.97564869e-01 4.79622814e-02 5.06354835e-02 1.65038859e+02] [-4.76777192e-02 9.98839532e-01 -6.81350302e-03 -2.02241663e+01] [-5.09035138e-02 4.38272688e-03 9.98693959e-01 -1.09686633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96071405700002 meters 0.04568076728333546 Centerline is valid? [True, True] Translation: X:165.10, Y:-20.23, Z:-10.97 [[ 9.97610910e-01 4.94707358e-02 4.82194851e-02 1.65099713e+02] [-4.92136369e-02 9.98767090e-01 -6.50528844e-03 -2.02341237e+01] [-4.84818562e-02 4.11669049e-03 9.98815580e-01 -1.09740809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.020714057 meters 0.04060755872827854 Centerline is valid? [True, True] Translation: X:165.16, Y:-20.24, Z:-10.98 [[ 9.97454474e-01 5.27435122e-02 4.79863981e-02 1.65160262e+02] [-5.24924905e-02 9.98600313e-01 -6.47721549e-03 -2.02355419e+01] [-4.82608633e-02 3.94180202e-03 9.98826988e-01 -1.09762502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.080714057 meters 0.03852125079571697 Centerline is valid? [True, True] Translation: X:165.22, Y:-20.24, Z:-10.98 [[ 9.96987673e-01 5.96496785e-02 4.95731419e-02 1.65220577e+02] [-5.93902196e-02 9.98212413e-01 -6.69178245e-03 -2.02392424e+01] [-4.98836882e-02 3.72746483e-03 9.98748078e-01 -1.09781667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.140714057 meters 0.03754945652918074 Centerline is valid? [True, True] Translation: X:165.28, Y:-20.24, Z:-10.98 [[ 9.96615567e-01 6.51314819e-02 5.01527778e-02 1.65280929e+02] [-6.48728026e-02 9.97870575e-01 -6.77019872e-03 -2.02448002e+01] [-5.04869343e-02 3.49373419e-03 9.98718611e-01 -1.09813115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.200714057 meters 0.03471046882830953 Centerline is valid? [True, True] Translation: X:165.34, Y:-20.24, Z:-10.98 [[ 9.95882059e-01 7.51720959e-02 5.06762291e-02 1.65341948e+02] [-7.49209169e-02 9.97166015e-01 -6.84072634e-03 -2.02446666e+01] [-5.10468452e-02 3.01584708e-03 9.98691706e-01 -1.09839047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.260714057 meters 0.03299045360212908 Centerline is valid? [True, True] Translation: X:165.40, Y:-20.25, Z:-10.99 [[ 9.95711843e-01 7.73915084e-02 5.06801757e-02 1.65401662e+02] [-7.71431205e-02 9.96996553e-01 -6.84189643e-03 -2.02489131e+01] [-5.10574652e-02 2.90293041e-03 9.98691498e-01 -1.09869758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.320714057 meters 0.03329227329162861 Centerline is valid? [True, True] Translation: X:165.46, Y:-20.26, Z:-10.99 [[ 9.95798138e-01 7.68655236e-02 4.97771049e-02 1.65459536e+02] [-7.66253248e-02 9.97037320e-01 -6.71874999e-03 -2.02560749e+01] [-5.01460715e-02 2.87633190e-03 9.98737752e-01 -1.09913489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.380714057 meters 0.03207572091497867 Centerline is valid? [True, True] Translation: X:165.52, Y:-20.26, Z:-10.99 [[ 9.95988293e-01 7.51206365e-02 4.86231465e-02 1.65518772e+02] [-7.48895779e-02 9.97170261e-01 -6.55905439e-03 -2.02607970e+01] [-4.89782760e-02 2.89137446e-03 9.98795659e-01 -1.09944460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.440714057 meters 0.0312831612474922 Centerline is valid? [True, True] Translation: X:165.58, Y:-20.27, Z:-11.00 [[ 9.95975282e-01 7.54867556e-02 4.83217142e-02 1.65577154e+02] [-7.52590426e-02 9.97142719e-01 -6.51720817e-03 -2.02651355e+01] [-4.86756084e-02 2.85433230e-03 9.98810562e-01 -1.09972093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.500714057 meters 0.03132521564693625 Centerline is valid? [True, True] Translation: X:165.64, Y:-20.27, Z:-11.00 [[ 9.95945297e-01 7.50920794e-02 4.95393348e-02 1.65635378e+02] [-7.48524369e-02 9.97172263e-01 -6.67764905e-03 -2.02708911e+01] [-4.99006891e-02 2.94243323e-03 9.98749850e-01 -1.09991775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.560714057 meters 0.03538370258864651 Centerline is valid? [True, True] Translation: X:165.69, Y:-20.28, Z:-11.00 [[ 9.96042777e-01 7.33539329e-02 5.01795512e-02 1.65692523e+02] [-7.31060496e-02 9.97301262e-01 -6.76006905e-03 -2.02841071e+01] [-5.05400074e-02 3.06488919e-03 9.98717334e-01 -1.10035034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62071405700001 meters 0.0363375329610282 Centerline is valid? [True, True] Translation: X:165.75, Y:-20.29, Z:-11.01 [[ 9.96378186e-01 6.84819666e-02 5.04056595e-02 1.65752454e+02] [-6.82258577e-02 9.97646822e-01 -6.78614388e-03 -2.02935114e+01] [-5.07517744e-02 3.32259638e-03 9.98705771e-01 -1.10072297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68071405700002 meters 0.036240625636490185 Centerline is valid? [True, True] Translation: X:165.81, Y:-20.30, Z:-11.01 [[ 9.96691383e-01 6.41675195e-02 4.98880450e-02 1.65812249e+02] [-6.39112722e-02 9.97932983e-01 -6.71643590e-03 -2.03016424e+01] [-5.02159026e-02 3.50580536e-03 9.98732233e-01 -1.10113615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74071405700002 meters 0.04095441570403497 Centerline is valid? [True, True] Translation: X:165.87, Y:-20.32, Z:-11.02 [[ 9.97138458e-01 5.77909793e-02 4.87349711e-02 1.65870100e+02] [-5.75388643e-02 9.98321705e-01 -6.56150144e-03 -2.03167023e+01] [-4.90323750e-02 3.73857054e-03 9.98790193e-01 -1.10169745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.800714057 meters 0.04100079475066251 Centerline is valid? [True, True] Translation: X:165.93, Y:-20.32, Z:-11.02 [[ 9.97343776e-01 5.62164005e-02 4.63153200e-02 1.65930837e+02] [-5.59871187e-02 9.98412030e-01 -6.23392199e-03 -2.03233714e+01] [-4.65922213e-02 3.62430198e-03 9.98907418e-01 -1.10216720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.860714057 meters 0.039728658344299964 Centerline is valid? [True, True] Translation: X:165.99, Y:-20.32, Z:-11.02 [[ 9.96871664e-01 6.42987917e-02 4.59624977e-02 1.65990542e+02] [-6.40814447e-02 9.97925485e-01 -6.18823163e-03 -2.03247433e+01] [-4.62650436e-02 3.22352951e-03 9.98923998e-01 -1.10244506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.920714057 meters 0.03161319845221991 Centerline is valid? [True, True] Translation: X:166.05, Y:-20.31, Z:-11.03 [[ 9.95802503e-01 7.83790526e-02 4.72662630e-02 1.66053363e+02] [-7.81650221e-02 9.96920131e-01 -6.36248325e-03 -2.03149491e+01] [-4.76193746e-02 2.64120825e-03 9.98862062e-01 -1.10255754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.980714057 meters 0.027711342738595563 Centerline is valid? [True, True] Translation: X:166.12, Y:-20.31, Z:-11.03 [[ 9.94435686e-01 9.32962163e-02 4.89232392e-02 1.66115196e+02] [-9.30848928e-02 9.95636398e-01 -6.58520681e-03 -2.03109119e+01] [-4.93241326e-02 1.99455017e-03 9.98780833e-01 -1.10287287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.040714057 meters 0.02428022608292573 Centerline is valid? [True, True] Translation: X:166.18, Y:-20.31, Z:-11.03 [[ 9.93194279e-01 1.05061727e-01 5.02708457e-02 1.66175949e+02] [-1.04853616e-01 9.94464646e-01 -6.76657089e-03 -2.03066127e+01] [-5.07034864e-02 1.44943953e-03 9.98712699e-01 -1.10305111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.100714057 meters 0.023560921802000444 Centerline is valid? [True, True] Translation: X:166.24, Y:-20.31, Z:-11.03 [[ 9.92474726e-01 1.11125899e-01 5.14290968e-02 1.66235164e+02] [-1.10916289e-01 9.93805654e-01 -6.92086107e-03 -2.03107962e+01] [-5.18796141e-02 1.16445513e-03 9.98652667e-01 -1.10337398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.160714057 meters 0.02297353336139383 Centerline is valid? [True, True] Translation: X:166.29, Y:-20.32, Z:-11.04 [[ 9.92649858e-01 1.09387994e-01 5.17737905e-02 1.66293228e+02] [-1.09173156e-01 9.93998324e-01 -6.96809629e-03 -2.03208324e+01] [-5.22252871e-02 1.26457169e-03 9.98634528e-01 -1.10376396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.220714057 meters 0.023624849790236286 Centerline is valid? [True, True] Translation: X:166.35, Y:-20.34, Z:-11.04 [[ 9.93210473e-01 1.05016526e-01 5.00448257e-02 1.66350690e+02] [-1.04811035e-01 9.94469450e-01 -6.72016002e-03 -2.03357977e+01] [-5.04737781e-02 1.42928333e-03 9.98724364e-01 -1.10440736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.280714057 meters 0.0241013347995997 Centerline is valid? [True, True] Translation: X:166.41, Y:-20.35, Z:-11.05 [[ 9.93590429e-01 1.02314147e-01 4.80611522e-02 1.66408767e+02] [-1.02121613e-01 9.94751004e-01 -6.45101183e-03 -2.03493864e+01] [-4.84689091e-02 1.50158124e-03 9.98823563e-01 -1.10496251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.340714057 meters 0.025019565247835995 Centerline is valid? [True, True] Translation: X:166.47, Y:-20.36, Z:-11.05 [[ 9.93658455e-01 1.01608520e-01 4.81516700e-02 1.66465317e+02] [-1.01414476e-01 9.94823272e-01 -6.46225276e-03 -2.03620050e+01] [-4.85590219e-02 1.53799569e-03 9.98819131e-01 -1.10521925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40071405700002 meters 0.025165645576574552 Centerline is valid? [True, True] Translation: X:166.52, Y:-20.37, Z:-11.05 [[ 9.93626216e-01 1.01086112e-01 4.98852758e-02 1.66523279e+02] [-1.00877425e-01 9.94876369e-01 -6.68994920e-03 -2.03736353e+01] [-5.03059430e-02 1.61501072e-03 9.98732549e-01 -1.10542187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46071405700002 meters 0.027640291407368588 Centerline is valid? [True, True] Translation: X:166.58, Y:-20.39, Z:-11.06 [[ 9.94158005e-01 9.54626583e-02 5.03660740e-02 1.66580967e+02] [-9.52429379e-02 9.95431172e-01 -6.75011291e-03 -2.03908319e+01] [-5.07803438e-02 1.91366593e-03 9.98708013e-01 -1.10584701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.520714057 meters 0.03176134834187799 Centerline is valid? [True, True] Translation: X:166.64, Y:-20.41, Z:-11.06 [[ 9.95134640e-01 8.55055301e-02 4.89474378e-02 1.66639418e+02] [-8.52860524e-02 9.96334919e-01 -6.55887915e-03 -2.04101565e+01] [-4.93288619e-02 2.35243410e-03 9.98779820e-01 -1.10635919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.580714057 meters 0.03245482784240248 Centerline is valid? [True, True] Translation: X:166.70, Y:-20.42, Z:-11.07 [[ 9.96072115e-01 7.42500625e-02 4.82417860e-02 1.66699162e+02] [-7.40237013e-02 9.97235530e-01 -6.46443077e-03 -2.04230249e+01] [-4.85884074e-02 2.86800367e-03 9.98814768e-01 -1.10651548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.640714057 meters 0.03753967109821342 Centerline is valid? [True, True] Translation: X:166.76, Y:-20.44, Z:-11.07 [[ 9.96634576e-01 6.57564936e-02 4.89449266e-02 1.66756906e+02] [-6.55132595e-02 9.97830142e-01 -6.55903965e-03 -2.04410482e+01] [-4.92700225e-02 3.33042402e-03 9.98779942e-01 -1.10680822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.700714057 meters 0.039542079440159424 Centerline is valid? [True, True] Translation: X:166.82, Y:-20.45, Z:-11.07 [[ 9.96891372e-01 6.18111592e-02 4.88566528e-02 1.66815612e+02] [-6.15641460e-02 9.98081663e-01 -6.54605975e-03 -2.04531882e+01] [-4.91675488e-02 3.51789238e-03 9.98784349e-01 -1.10719905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.760714057 meters 0.038194074740335586 Centerline is valid? [True, True] Translation: X:166.88, Y:-20.46, Z:-11.08 [[ 9.96842692e-01 6.33878287e-02 4.78187186e-02 1.66875557e+02] [-6.31530608e-02 9.97983293e-01 -6.40600371e-03 -2.04587330e+01] [-4.81283450e-02 3.36587954e-03 9.98835489e-01 -1.10756229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.820714057 meters 0.036658643104602186 Centerline is valid? [True, True] Translation: X:166.94, Y:-20.46, Z:-11.08 [[ 9.96503548e-01 6.79127815e-02 4.86675794e-02 1.66936180e+02] [-6.76750317e-02 9.97686124e-01 -6.51831412e-03 -2.04638051e+01] [-4.89976455e-02 3.20194316e-03 9.98793762e-01 -1.10790942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.880714057 meters 0.038469892592002834 Centerline is valid? [True, True] Translation: X:166.99, Y:-20.47, Z:-11.08 [[ 9.95997661e-01 7.33946124e-02 5.10087264e-02 1.66994263e+02] [-7.31404825e-02 9.97298237e-01 -6.83349830e-03 -2.04723754e+01] [-5.13724548e-02 3.07534546e-03 9.98674829e-01 -1.10824220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.940714057 meters 0.036378542030564245 Centerline is valid? [True, True] Translation: X:167.05, Y:-20.48, Z:-11.09 [[ 9.95720835e-01 7.69179433e-02 5.12215637e-02 1.67054616e+02] [-7.66664600e-02 9.97033200e-01 -6.85944675e-03 -2.04765783e+01] [-5.15972141e-02 2.90311808e-03 9.98663757e-01 -1.10862385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.000714057 meters 0.03514181087879072 Centerline is valid? [True, True] Translation: X:167.11, Y:-20.48, Z:-11.09 [[ 9.95559269e-01 7.92368950e-02 5.08257401e-02 1.67114701e+02] [-7.89923921e-02 9.96851995e-01 -6.80459549e-03 -2.04808882e+01] [-5.12049155e-02 2.75953132e-03 9.98684355e-01 -1.10904421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.060714057 meters 0.03737500414913811 Centerline is valid? [True, True] Translation: X:167.17, Y:-20.49, Z:-11.10 [[ 9.95740064e-01 7.73996236e-02 5.01101183e-02 1.67172088e+02] [-7.71596649e-02 9.96996180e-01 -6.70841541e-03 -2.04916283e+01] [-5.04788254e-02 2.81335805e-03 9.98721169e-01 -1.10959920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12071405700001 meters 0.03849289702468046 Centerline is valid? [True, True] Translation: X:167.23, Y:-20.50, Z:-11.10 [[ 9.95906768e-01 7.53317209e-02 4.99483951e-02 1.67230465e+02] [-7.50908454e-02 9.97154294e-01 -6.68425656e-03 -2.05009552e+01] [-5.03097932e-02 2.90622913e-03 9.98729432e-01 -1.11001079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18071405700002 meters 0.03654012494068917 Centerline is valid? [True, True] Translation: X:167.29, Y:-20.51, Z:-11.10 [[ 9.95973741e-01 7.33972327e-02 5.14699317e-02 1.67290404e+02] [-7.31390187e-02 9.97297990e-01 -6.88500178e-03 -2.05052109e+01] [-5.18361995e-02 3.09282068e-03 9.98650811e-01 -1.11005287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24071405700002 meters 0.03615951275887648 Centerline is valid? [True, True] Translation: X:167.35, Y:-20.51, Z:-11.10 [[ 9.96091480e-01 7.10477652e-02 5.24783612e-02 1.67349716e+02] [-7.07761740e-02 9.97467533e-01 -7.01803860e-03 -2.05130423e+01] [-5.28440775e-02 3.27639083e-03 9.98597401e-01 -1.11028128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.300714057 meters 0.038595323705866366 Centerline is valid? [True, True] Translation: X:167.41, Y:-20.52, Z:-11.11 [[ 9.96680568e-01 6.25934713e-02 5.20567203e-02 1.67409517e+02] [-6.23148669e-02 9.98032276e-01 -6.95947970e-03 -2.05246198e+01] [-5.23899051e-02 3.69247059e-03 9.98619879e-01 -1.11065972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.360714057 meters 0.04311395448760962 Centerline is valid? [True, True] Translation: X:167.47, Y:-20.54, Z:-11.11 [[ 9.96975805e-01 5.78001556e-02 5.19459983e-02 1.67468384e+02] [-5.75163127e-02 9.98320418e-01 -6.94381459e-03 -2.05398739e+01] [-5.22601043e-02 3.93507285e-03 9.98625754e-01 -1.11118015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.420714057 meters 0.04213671235474206 Centerline is valid? [True, True] Translation: X:167.53, Y:-20.55, Z:-11.12 [[ 9.97360386e-01 5.17151004e-02 5.09686999e-02 1.67528152e+02] [-5.14338088e-02 9.98653146e-01 -6.81603066e-03 -2.05460712e+01] [-5.12525442e-02 4.17652460e-03 9.98676992e-01 -1.11154565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.480714057 meters 0.04271792045161655 Centerline is valid? [True, True] Translation: X:167.59, Y:-20.55, Z:-11.12 [[ 9.97599121e-01 4.86676230e-02 4.92692142e-02 1.67588358e+02] [-4.84011145e-02 9.98806249e-01 -6.58863160e-03 -2.05549604e+01] [-4.95310520e-02 4.18812823e-03 9.98763803e-01 -1.11205530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.540714057 meters 0.04603892296098325 Centerline is valid? [True, True] Translation: X:167.65, Y:-20.57, Z:-11.13 [[ 9.97763593e-01 4.64598441e-02 4.80551299e-02 1.67648576e+02] [-4.62037983e-02 9.98911366e-01 -6.42592201e-03 -2.05668812e+01] [-4.83013628e-02 4.19122150e-03 9.98824015e-01 -1.11255007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.600714057 meters 0.04163933553576697 Centerline is valid? [True, True] Translation: X:167.71, Y:-20.57, Z:-11.13 [[ 9.97742870e-01 4.68447852e-02 4.81116571e-02 1.67711839e+02] [-4.65887007e-02 9.98893455e-01 -6.43098605e-03 -2.05686067e+01] [-4.83596775e-02 4.17501089e-03 9.98821261e-01 -1.11272377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.660714057 meters 0.043471377971070854 Centerline is valid? [True, True] Translation: X:167.77, Y:-20.58, Z:-11.13 [[ 9.97577943e-01 4.97489597e-02 4.86136704e-02 1.67770876e+02] [-4.94899580e-02 9.98753355e-01 -6.51771306e-03 -2.05776840e+01] [-4.88773159e-02 4.09603829e-03 9.98796391e-01 -1.11301977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.720714057 meters 0.04257887648783507 Centerline is valid? [True, True] Translation: X:167.83, Y:-20.58, Z:-11.13 [[ 9.97387974e-01 5.21424862e-02 4.99839022e-02 1.67831278e+02] [-5.18716917e-02 9.98631279e-01 -6.70048258e-03 -2.05833296e+01] [-5.02648680e-02 4.09023118e-03 9.98727547e-01 -1.11319665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.780714057 meters 0.04032168496687973 Centerline is valid? [True, True] Translation: X:167.89, Y:-20.59, Z:-11.13 [[ 9.97246097e-01 5.47337124e-02 5.00444028e-02 1.67892257e+02] [-5.44654545e-02 9.98493113e-01 -6.70949910e-03 -2.05873462e+01] [-5.03362273e-02 3.96533065e-03 9.98724457e-01 -1.11349025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.840714057 meters 0.04094938828712796 Centerline is valid? [True, True] Translation: X:167.95, Y:-20.60, Z:-11.14 [[ 9.97180366e-01 5.67574305e-02 4.90908505e-02 1.67952278e+02] [-5.65017144e-02 9.98380804e-01 -6.58226228e-03 -2.05958099e+01] [-4.93849551e-02 3.78998549e-03 9.98772628e-01 -1.11399796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90071405700002 meters 0.042213218037416886 Centerline is valid? [True, True] Translation: X:168.01, Y:-20.61, Z:-11.14 [[ 9.97165460e-01 5.77696135e-02 4.82049481e-02 1.68011434e+02] [-5.75241160e-02 9.98323179e-01 -6.46577957e-03 -2.06054430e+01] [-4.84976426e-02 3.67450503e-03 9.98816538e-01 -1.11438786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96071405700002 meters 0.042975247995439364 Centerline is valid? [True, True] Translation: X:168.07, Y:-20.62, Z:-11.15 [[ 9.97132744e-01 5.98149909e-02 4.63514585e-02 1.68069679e+02] [-5.95902081e-02 9.98203561e-01 -6.21747976e-03 -2.06153007e+01] [-4.66400895e-02 3.43755960e-03 9.98905844e-01 -1.11488852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.020714057 meters 0.07573157180727702 Centerline is valid? [True, True] Translation: X:168.12, Y:-20.67, Z:-11.16 [[ 9.96595582e-01 6.73103656e-02 4.76084090e-02 1.68121630e+02] [-6.70817571e-02 9.97727050e-01 -6.38521103e-03 -2.06685029e+01] [-4.79299884e-02 3.16981737e-03 9.98845668e-01 -1.11646398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.080714057 meters 0.04197100486497771 Centerline is valid? [True, True] Translation: X:168.19, Y:-20.63, Z:-11.16 [[ 9.96770271e-01 6.64649057e-02 4.50715438e-02 1.68187111e+02] [-6.62591740e-02 9.97784135e-01 -6.04491546e-03 -2.06311941e+01] [-4.53734461e-02 3.03898875e-03 9.98965472e-01 -1.11560867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.140714057 meters 0.03574063353914957 Centerline is valid? [True, True] Translation: X:168.25, Y:-20.63, Z:-11.16 [[ 9.96444036e-01 6.99704218e-02 4.69406406e-02 1.68248611e+02] [-6.97512856e-02 9.97544568e-01 -6.29223875e-03 -2.06317556e+01] [-4.72656517e-02 2.99569374e-03 9.98877862e-01 -1.11557463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.200714057 meters 0.03307588056619497 Centerline is valid? [True, True] Translation: X:168.31, Y:-20.64, Z:-11.16 [[ 9.96216924e-01 7.20971435e-02 4.85164220e-02 1.68308827e+02] [-7.18655402e-02 9.97393126e-01 -6.50352993e-03 -2.06368926e+01] [-4.88588317e-02 2.99226770e-03 9.98801212e-01 -1.11569099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.260714057 meters 0.035058344764915844 Centerline is valid? [True, True] Translation: X:168.36, Y:-20.65, Z:-11.16 [[ 9.96252077e-01 7.19204855e-02 4.80545913e-02 1.68364715e+02] [-7.16930566e-02 9.97405939e-01 -6.44190077e-03 -2.06504413e+01] [-4.83932394e-02 2.97257648e-03 9.98823938e-01 -1.11624640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.320714057 meters 0.03690579846871263 Centerline is valid? [True, True] Translation: X:168.42, Y:-20.66, Z:-11.17 [[ 9.96505206e-01 6.92515607e-02 4.67075567e-02 1.68423148e+02] [-6.90340472e-02 9.97594689e-01 -6.25598319e-03 -2.06634407e+01] [-4.70284471e-02 3.00970815e-03 9.98889016e-01 -1.11686304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.380714057 meters 0.037444547682202206 Centerline is valid? [True, True] Translation: X:168.48, Y:-20.67, Z:-11.17 [[ 9.96755913e-01 6.66617630e-02 4.50983246e-02 1.68482387e+02] [-6.64563880e-02 9.97771051e-01 -6.03968411e-03 -2.06732140e+01] [-4.54004187e-02 3.02301909e-03 9.98964295e-01 -1.11730187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.440714057 meters 0.04236711979376573 Centerline is valid? [True, True] Translation: X:168.54, Y:-20.69, Z:-11.18 [[ 9.96925090e-01 6.34484494e-02 4.59854226e-02 1.68539828e+02] [-6.32315313e-02 9.97979886e-01 -6.15795710e-03 -2.06900354e+01] [-4.62832397e-02 3.23129325e-03 9.98923130e-01 -1.11774365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.500714057 meters 0.03579140816784789 Centerline is valid? [True, True] Translation: X:168.60, Y:-20.69, Z:-11.18 [[ 9.96942656e-01 6.27271418e-02 4.65901877e-02 1.68599643e+02] [-6.25037384e-02 9.98025235e-01 -6.23795456e-03 -2.06876765e+01] [-4.68894721e-02 3.30682209e-03 9.98894610e-01 -1.11773197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.560714057 meters 0.03680243760593873 Centerline is valid? [True, True] Translation: X:168.66, Y:-20.70, Z:-11.18 [[ 9.96824415e-01 6.34142836e-02 4.81634042e-02 1.68658432e+02] [-6.31764819e-02 9.97981558e-01 -6.44526537e-03 -2.06958000e+01] [-4.84749111e-02 3.38200345e-03 9.98818675e-01 -1.11799653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62071405700001 meters 0.037483732394764935 Centerline is valid? [True, True] Translation: X:168.72, Y:-20.70, Z:-11.18 [[ 9.96804112e-01 6.30455913e-02 4.90593166e-02 1.68716854e+02] [-6.27987012e-02 9.98004659e-01 -6.55920785e-03 -2.07047844e+01] [-4.93749557e-02 3.45738399e-03 9.98774329e-01 -1.11833618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68071405700002 meters 0.04025839004160056 Centerline is valid? [True, True] Translation: X:168.78, Y:-20.72, Z:-11.19 [[ 9.97097262e-01 5.93260422e-02 4.77228533e-02 1.68775906e+02] [-5.90883023e-02 9.98232382e-01 -6.37832867e-03 -2.07157537e+01] [-4.80168986e-02 3.53995167e-03 9.98840251e-01 -1.11883113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74071405700002 meters 0.044613942229015144 Centerline is valid? [True, True] Translation: X:168.83, Y:-20.73, Z:-11.20 [[ 9.97574444e-01 5.29431907e-02 4.51912248e-02 1.68834567e+02] [-5.27235327e-02 9.98590883e-01 -6.03963928e-03 -2.07311398e+01] [-4.54473028e-02 3.64234877e-03 9.98960097e-01 -1.11957141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.800714057 meters 0.04700398375269769 Centerline is valid? [True, True] Translation: X:168.89, Y:-20.74, Z:-11.20 [[ 9.98018132e-01 4.51020833e-02 4.38817767e-02 1.68894195e+02] [-4.48874429e-02 9.98974834e-01 -5.86494678e-03 -2.07417848e+01] [-4.41013119e-02 3.88358248e-03 9.99019515e-01 -1.12003096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.860714057 meters 0.05164204508979838 Centerline is valid? [True, True] Translation: X:168.95, Y:-20.76, Z:-11.20 [[ 9.98226751e-01 4.03711753e-02 4.37438118e-02 1.68953134e+02] [-4.01533968e-02 9.99176425e-01 -5.84612456e-03 -2.07560887e+01] [-4.39438004e-02 4.07929530e-03 9.99025676e-01 -1.12049444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.920714057 meters 0.04999099741365148 Centerline is valid? [True, True] Translation: X:169.02, Y:-20.76, Z:-11.21 [[ 9.98209918e-01 4.09390711e-02 4.35999192e-02 1.69015133e+02] [-4.07234727e-02 9.99153493e-01 -5.82206559e-03 -2.07605067e+01] [-4.38013615e-02 4.03610349e-03 9.99032107e-01 -1.12078570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.980714057 meters 0.0495060533995541 Centerline is valid? [True, True] Translation: X:169.08, Y:-20.76, Z:-11.21 [[ 9.97961951e-01 4.51631763e-02 4.50802744e-02 1.69075862e+02] [-4.49362060e-02 9.98971623e-01 -6.03606942e-03 -2.07648797e+01] [-4.53065229e-02 3.99803112e-03 9.98965132e-01 -1.12101024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.040714057 meters 0.05090992612735543 Centerline is valid? [True, True] Translation: X:169.13, Y:-20.77, Z:-11.21 [[ 9.97539890e-01 5.10157627e-02 4.80786900e-02 1.69134995e+02] [-5.07642383e-02 9.98689908e-01 -6.43891572e-03 -2.07719625e+01] [-4.83441887e-02 3.98239720e-03 9.98822797e-01 -1.12111746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.100714057 meters 0.04777341137648151 Centerline is valid? [True, True] Translation: X:169.20, Y:-20.77, Z:-11.21 [[ 9.97229570e-01 5.58371453e-02 4.91466957e-02 1.69195886e+02] [-5.55801880e-02 9.98432541e-01 -6.58062245e-03 -2.07743817e+01] [-4.94371034e-02 3.83080871e-03 9.98769892e-01 -1.12133393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.160714057 meters 0.04840060130277714 Centerline is valid? [True, True] Translation: X:169.25, Y:-20.78, Z:-11.22 [[ 9.97086684e-01 5.93379597e-02 4.79286034e-02 1.69254601e+02] [-5.90975613e-02 9.98231576e-01 -6.41858189e-03 -2.07817180e+01] [-4.82247109e-02 3.56741895e-03 9.98830141e-01 -1.12202348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.220714057 meters 0.04495344992954722 Centerline is valid? [True, True] Translation: X:169.31, Y:-20.78, Z:-11.22 [[ 9.96878328e-01 6.36006165e-02 4.67820627e-02 1.69314902e+02] [-6.33762965e-02 9.97970042e-01 -6.26422799e-03 -2.07828392e+01] [-4.70855058e-02 3.27979925e-03 9.98885478e-01 -1.12246130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.280714057 meters 0.04372691567517586 Centerline is valid? [True, True] Translation: X:169.38, Y:-20.79, Z:-11.23 [[ 9.96501066e-01 6.86132273e-02 4.77268250e-02 1.69375381e+02] [-6.83854454e-02 9.97638504e-01 -6.39112542e-03 -2.07865941e+01] [-4.80526340e-02 3.10494311e-03 9.98839979e-01 -1.12271849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.340714057 meters 0.03441673268767403 Centerline is valid? [True, True] Translation: X:169.44, Y:-20.78, Z:-11.23 [[ 9.96075265e-01 7.36920957e-02 4.90259261e-02 1.69437599e+02] [-7.34579685e-02 9.97276720e-01 -6.56277508e-03 -2.07779238e+01] [-4.93760395e-02 2.93567299e-03 9.98775945e-01 -1.12270027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40071405700002 meters 0.034051746871420305 Centerline is valid? [True, True] Translation: X:169.50, Y:-20.78, Z:-11.23 [[ 9.95701076e-01 7.75274314e-02 5.06839710e-02 1.69496426e+02] [-7.72821111e-02 9.96986177e-01 -6.78510968e-03 -2.07837017e+01] [-5.10572506e-02 2.83897673e-03 9.98691693e-01 -1.12305381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46071405700002 meters 0.030419084555989892 Centerline is valid? [True, True] Translation: X:169.56, Y:-20.78, Z:-11.23 [[ 9.95407407e-01 8.03319654e-02 5.20660050e-02 1.69557285e+02] [-8.00769559e-02 9.96764323e-01 -6.96888564e-03 -2.07842179e+01] [-5.24573605e-02 2.76759321e-03 9.98619330e-01 -1.12327916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.520714057 meters 0.03590747989392957 Centerline is valid? [True, True] Translation: X:169.61, Y:-20.80, Z:-11.24 [[ 9.95182825e-01 8.12639629e-02 5.48389838e-02 1.69613986e+02] [-8.09824752e-02 9.96688502e-01 -7.33947003e-03 -2.07986859e+01] [-5.52538191e-02 2.86311787e-03 9.98468236e-01 -1.12379275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.580714057 meters 0.031527669600690686 Centerline is valid? [True, True] Translation: X:169.67, Y:-20.80, Z:-11.24 [[ 9.95324468e-01 7.87274908e-02 5.59569957e-02 1.69673378e+02] [-7.84306430e-02 9.96891475e-01 -7.48479014e-03 -2.07990573e+01] [-5.63723107e-02 3.06105161e-03 9.98405124e-01 -1.12411188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.640714057 meters 0.03495120889086588 Centerline is valid? [True, True] Translation: X:169.73, Y:-20.81, Z:-11.25 [[ 9.95828656e-01 7.27640142e-02 5.50516749e-02 1.69731209e+02] [-7.24678173e-02 9.97343593e-01 -7.36025355e-03 -2.08116482e+01] [-5.54409969e-02 3.34007667e-03 9.98456379e-01 -1.12473180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.700714057 meters 0.04067344327911385 Centerline is valid? [True, True] Translation: X:169.79, Y:-20.83, Z:-11.25 [[ 9.96408581e-01 6.54879038e-02 5.36774933e-02 1.69788298e+02] [-6.51958121e-02 9.97846683e-01 -7.17658168e-03 -2.08266381e+01] [-5.40318879e-02 3.65125980e-03 9.98532535e-01 -1.12528448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.760714057 meters 0.04043301718890636 Centerline is valid? [True, True] Translation: X:169.85, Y:-20.83, Z:-11.26 [[ 9.96789877e-01 5.91393662e-02 5.39673730e-02 1.69848331e+02] [-5.88349648e-02 9.98241662e-01 -7.21328272e-03 -2.08340777e+01] [-5.42990691e-02 4.01495870e-03 9.98516645e-01 -1.12567060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.820714057 meters 0.044282850258486876 Centerline is valid? [True, True] Translation: X:169.91, Y:-20.85, Z:-11.26 [[ 9.97007042e-01 5.45199224e-02 5.48136583e-02 1.69907058e+02] [-5.41990165e-02 9.98503284e-01 -7.32519108e-03 -2.08464618e+01] [-5.51309867e-02 4.33242072e-03 9.98469731e-01 -1.12603108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.880714057 meters 0.0467926296364859 Centerline is valid? [True, True] Translation: X:169.97, Y:-20.86, Z:-11.26 [[ 9.96989569e-01 5.27524483e-02 5.68241039e-02 1.69966788e+02] [-5.24045187e-02 9.98597044e-01 -7.59678408e-03 -2.08570554e+01] [-5.71451311e-02 4.59607467e-03 9.98355303e-01 -1.12629445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.940714057 meters 0.048778106987820175 Centerline is valid? [True, True] Translation: X:170.03, Y:-20.87, Z:-11.27 [[ 9.96936271e-01 5.26958946e-02 5.78032353e-02 1.70026983e+02] [-5.23357416e-02 9.98599644e-01 -7.72798345e-03 -2.08675579e+01] [-5.81295232e-02 4.67913182e-03 9.98298084e-01 -1.12670950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.000714057 meters 0.05173792366729583 Centerline is valid? [True, True] Translation: X:170.09, Y:-20.88, Z:-11.27 [[ 9.97026977e-01 5.26867882e-02 5.62255208e-02 1.70087389e+02] [-5.23456658e-02 9.98600684e-01 -7.52366172e-03 -2.08783296e+01] [-5.65432411e-02 4.55813138e-03 9.98389746e-01 -1.12734851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.060714057 meters 0.05190638751311088 Centerline is valid? [True, True] Translation: X:170.15, Y:-20.89, Z:-11.28 [[ 9.97076521e-01 5.32663456e-02 5.47823632e-02 1.70149283e+02] [-5.29427613e-02 9.98570557e-01 -7.34214633e-03 -2.08863416e+01] [-5.50951442e-02 4.42035215e-03 9.98471324e-01 -1.12797895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12071405700001 meters 0.050963292139558226 Centerline is valid? [True, True] Translation: X:170.21, Y:-20.89, Z:-11.28 [[ 9.97071344e-01 5.51624083e-02 5.29702205e-02 1.70210617e+02] [-5.48617989e-02 9.98468618e-01 -7.11354410e-03 -2.08908104e+01] [-5.32815031e-02 4.18666939e-03 9.98570755e-01 -1.12842907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18071405700002 meters 0.052712808804065384 Centerline is valid? [True, True] Translation: X:170.27, Y:-20.90, Z:-11.29 [[ 9.97004079e-01 5.63693319e-02 5.29656989e-02 1.70270992e+02] [-5.60703700e-02 9.98401470e-01 -7.11472120e-03 -2.08989698e+01] [-5.32820837e-02 4.12359973e-03 9.98570987e-01 -1.12871961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24071405700002 meters 0.04064369957295604 Centerline is valid? [True, True] Translation: X:170.33, Y:-20.89, Z:-11.29 [[ 9.96825451e-01 5.90019070e-02 5.34583503e-02 1.70333642e+02] [-5.87009958e-02 9.98249767e-01 -7.18303656e-03 -2.08879196e+01] [-5.37885985e-02 4.02217526e-03 9.98544245e-01 -1.12868598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.300714057 meters 0.03977997312234855 Centerline is valid? [True, True] Translation: X:170.39, Y:-20.89, Z:-11.29 [[ 9.96651467e-01 6.18135970e-02 5.35250567e-02 1.70393295e+02] [-6.15159449e-02 9.98080187e-01 -7.19232757e-03 -2.08922107e+01] [-5.38668822e-02 3.87559939e-03 9.98540604e-01 -1.12898593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.360714057 meters 0.040040536336971605 Centerline is valid? [True, True] Translation: X:170.45, Y:-20.90, Z:-11.29 [[ 9.96635162e-01 6.20193688e-02 5.35905852e-02 1.70452261e+02] [-6.17213692e-02 9.98067452e-01 -7.19952238e-03 -2.09005541e+01] [-5.39335287e-02 3.86761286e-03 9.98537038e-01 -1.12937101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.420714057 meters 0.038620890382943716 Centerline is valid? [True, True] Translation: X:170.51, Y:-20.91, Z:-11.30 [[ 9.96758281e-01 6.00229487e-02 5.35740103e-02 1.70512014e+02] [-5.97223705e-02 9.98189093e-01 -7.19537949e-03 -2.09050942e+01] [-5.39088806e-02 3.97248721e-03 9.98537957e-01 -1.12970938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.480714057 meters 0.045281539057937525 Centerline is valid? [True, True] Translation: X:170.57, Y:-20.92, Z:-11.30 [[ 9.96857437e-01 5.86022841e-02 5.33012532e-02 1.70568872e+02] [-5.83028904e-02 9.98273291e-01 -7.15602647e-03 -2.09219657e+01] [-5.36285770e-02 4.02592108e-03 9.98552837e-01 -1.13029286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.540714057 meters 0.04176903799116358 Centerline is valid? [True, True] Translation: X:170.63, Y:-20.92, Z:-11.31 [[ 9.97041716e-01 5.66197778e-02 5.19809320e-02 1.70628647e+02] [-5.63322474e-02 9.98387671e-01 -6.98116441e-03 -2.09246553e+01] [-5.22923936e-02 4.03230942e-03 9.98623676e-01 -1.13076300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.600714057 meters 0.04399168354931529 Centerline is valid? [True, True] Translation: X:170.69, Y:-20.93, Z:-11.31 [[ 9.97197419e-01 5.47797714e-02 5.09557134e-02 1.70687429e+02] [-5.45011438e-02 9.98490263e-01 -6.84257626e-03 -2.09349630e+01] [-5.12536184e-02 4.04625472e-03 9.98677473e-01 -1.13129758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.660714057 meters 0.04468090906716722 Centerline is valid? [True, True] Translation: X:170.75, Y:-20.94, Z:-11.32 [[ 9.97203298e-01 5.49828706e-02 5.06208174e-02 1.70747087e+02] [-5.47082151e-02 9.98479253e-01 -6.79647413e-03 -2.09437547e+01] [-5.09175256e-02 4.00809184e-03 9.98694819e-01 -1.13185488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.720714057 meters 0.04115068826945618 Centerline is valid? [True, True] Translation: X:170.81, Y:-20.94, Z:-11.32 [[ 9.97063919e-01 5.61859215e-02 5.20257921e-02 1.70807629e+02] [-5.58974049e-02 9.98412082e-01 -6.98532916e-03 -2.09449956e+01] [-5.23356565e-02 4.05671291e-03 9.98621311e-01 -1.13201632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.780714057 meters 0.04017170935747527 Centerline is valid? [True, True] Translation: X:170.87, Y:-20.95, Z:-11.32 [[ 9.97064461e-01 5.59810774e-02 5.22358055e-02 1.70867325e+02] [-5.56899834e-02 9.98423481e-01 -7.01279250e-03 -2.09514356e+01] [-5.25460384e-02 4.08319503e-03 9.98610155e-01 -1.13225969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.840714057 meters 0.04199759510159566 Centerline is valid? [True, True] Translation: X:170.93, Y:-20.96, Z:-11.33 [[ 9.97167017e-01 5.44581896e-02 5.18868592e-02 1.70926217e+02] [-5.41690393e-02 9.98507496e-01 -6.96382794e-03 -2.09637417e+01] [-5.21886553e-02 4.13343822e-03 9.98628689e-01 -1.13280842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90071405700002 meters 0.04401325821556267 Centerline is valid? [True, True] Translation: X:170.99, Y:-20.98, Z:-11.33 [[ 9.97300213e-01 5.26844733e-02 5.11530292e-02 1.70985469e+02] [-5.24012077e-02 9.98602523e-01 -6.86396178e-03 -2.09773436e+01] [-5.14431682e-02 4.16495003e-03 9.98667239e-01 -1.13345465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96071405700002 meters 0.0457802742856471 Centerline is valid? [True, True] Translation: X:171.04, Y:-20.99, Z:-11.34 [[ 9.97285504e-01 5.37224296e-02 5.03539890e-02 1.71044745e+02] [-5.34492225e-02 9.98547703e-01 -6.75763526e-03 -2.09877474e+01] [-5.06438967e-02 4.04791013e-03 9.98708571e-01 -1.13377148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.020714057 meters 0.04542454968461946 Centerline is valid? [True, True] Translation: X:171.10, Y:-21.00, Z:-11.34 [[ 9.96986135e-01 5.77749535e-02 5.17754905e-02 1.71103330e+02] [-5.74914372e-02 9.98321809e-01 -6.94981943e-03 -2.09968749e+01] [-5.20901269e-02 3.95222626e-03 9.98634567e-01 -1.13409698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.080714057 meters 0.044260593095614344 Centerline is valid? [True, True] Translation: X:171.16, Y:-21.00, Z:-11.35 [[ 9.96641536e-01 6.26962660e-02 5.26766208e-02 1.71163120e+02] [-6.24096711e-02 9.98025577e-01 -7.06967470e-03 -2.10047850e+01] [-5.30158570e-02 3.75840087e-03 9.98586598e-01 -1.13455099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.140714057 meters 0.038537257587379116 Centerline is valid? [True, True] Translation: X:171.22, Y:-21.01, Z:-11.35 [[ 9.96216020e-01 6.91842430e-02 5.26040162e-02 1.71224032e+02] [-6.89074640e-02 9.97598079e-01 -7.05931545e-03 -2.10052103e+01] [-5.29660589e-02 3.40779378e-03 9.98590498e-01 -1.13490175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.200714057 meters 0.03252246426778411 Centerline is valid? [True, True] Translation: X:171.29, Y:-21.01, Z:-11.35 [[ 9.95646863e-01 7.62482383e-02 5.36053114e-02 1.71285469e+02] [-7.59709957e-02 9.97084078e-01 -7.19370477e-03 -2.10050893e+01] [-5.39975099e-02 3.08994071e-03 9.98536289e-01 -1.13508132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.260714057 meters 0.03181552001830844 Centerline is valid? [True, True] Translation: X:171.34, Y:-21.01, Z:-11.35 [[ 9.95514543e-01 7.81708405e-02 5.32927248e-02 1.71344167e+02] [-7.78995222e-02 9.96935557e-01 -7.15262889e-03 -2.10126090e+01] [-5.36885393e-02 2.96906828e-03 9.98553316e-01 -1.13546765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.320714057 meters 0.030256573232789803 Centerline is valid? [True, True] Translation: X:171.40, Y:-21.02, Z:-11.36 [[ 9.95111131e-01 8.29734432e-02 5.35653226e-02 1.71403470e+02] [-8.27064471e-02 9.96548045e-01 -7.18592558e-03 -2.10199624e+01] [-5.39766585e-02 2.72059701e-03 9.98538491e-01 -1.13592939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.380714057 meters 0.029017866453303114 Centerline is valid? [True, True] Translation: X:171.46, Y:-21.03, Z:-11.36 [[ 9.94952134e-01 8.54023935e-02 5.26942305e-02 1.71461240e+02] [-8.51474453e-02 9.96343289e-01 -7.06849896e-03 -2.10276328e+01] [-5.31052096e-02 2.54603902e-03 9.98585677e-01 -1.13645145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.440714057 meters 0.03000156722902321 Centerline is valid? [True, True] Translation: X:171.52, Y:-21.04, Z:-11.37 [[ 9.95020973e-01 8.44982324e-02 5.28517894e-02 1.71518609e+02] [-8.42406915e-02 9.96420242e-01 -7.08574574e-03 -2.10409656e+01] [-5.32613258e-02 2.59819434e-03 9.98577228e-01 -1.13698079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.500714057 meters 0.030734265560538186 Centerline is valid? [True, True] Translation: X:171.58, Y:-21.05, Z:-11.37 [[ 9.95309837e-01 8.09717197e-02 5.29330541e-02 1.71577790e+02] [-8.07086599e-02 9.96712504e-01 -7.09202175e-03 -2.10528862e+01] [-5.33332901e-02 2.78660316e-03 9.98572879e-01 -1.13744966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.560714057 meters 0.03023910201058092 Centerline is valid? [True, True] Translation: X:171.64, Y:-21.06, Z:-11.38 [[ 9.95483767e-01 7.86278884e-02 5.31951558e-02 1.71636481e+02] [-7.83588575e-02 9.96899738e-01 -7.12754078e-03 -2.10620280e+01] [-5.35906604e-02 2.92703951e-03 9.98558698e-01 -1.13775191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62071405700001 meters 0.03482276093389072 Centerline is valid? [True, True] Translation: X:171.69, Y:-21.08, Z:-11.38 [[ 9.95731450e-01 7.37323365e-02 5.55195658e-02 1.71693589e+02] [-7.34317954e-02 9.97272514e-01 -7.43673688e-03 -2.10810295e+01] [-5.59164650e-02 3.32809140e-03 9.98429904e-01 -1.13807881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68071405700002 meters 0.03538055194225002 Centerline is valid? [True, True] Translation: X:171.75, Y:-21.09, Z:-11.38 [[ 9.95798440e-01 7.18990182e-02 5.67097693e-02 1.71752269e+02] [-7.15825562e-02 9.97405764e-01 -7.59476347e-03 -2.10903076e+01] [-5.71087067e-02 3.50342337e-03 9.98361819e-01 -1.13833763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74071405700002 meters 0.036476904392019956 Centerline is valid? [True, True] Translation: X:171.81, Y:-21.10, Z:-11.39 [[ 9.95878730e-01 6.89733006e-02 5.88917564e-02 1.71811693e+02] [-6.86270313e-02 9.97611229e-01 -7.88460710e-03 -2.11017279e+01] [-5.92949048e-02 3.81054609e-03 9.98233236e-01 -1.13866702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.800714057 meters 0.036813077052313715 Centerline is valid? [True, True] Translation: X:171.87, Y:-21.11, Z:-11.39 [[ 9.95981101e-01 6.76802893e-02 5.86602434e-02 1.71870927e+02] [-6.73344982e-02 9.97699545e-01 -7.85380702e-03 -2.11096611e+01] [-5.90568461e-02 3.87238532e-03 9.98247110e-01 -1.13909514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.860714057 meters 0.039236930915750395 Centerline is valid? [True, True] Translation: X:171.93, Y:-21.12, Z:-11.40 [[ 9.96230125e-01 6.41947455e-02 5.83487190e-02 1.71929864e+02] [-6.38468092e-02 9.97929152e-01 -7.80982432e-03 -2.11211842e+01] [-5.87292373e-02 4.05500273e-03 9.98265713e-01 -1.13956947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.920714057 meters 0.04023777754805063 Centerline is valid? [True, True] Translation: X:171.99, Y:-21.13, Z:-11.40 [[ 9.96525840e-01 5.96873511e-02 5.80832979e-02 1.71989888e+02] [-5.93349744e-02 9.98207856e-01 -7.77413776e-03 -2.11307749e+01] [-5.84432220e-02 4.30075818e-03 9.98281470e-01 -1.14001058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.980714057 meters 0.045920016666391714 Centerline is valid? [True, True] Translation: X:172.05, Y:-21.15, Z:-11.41 [[ 9.96759897e-01 5.61773131e-02 5.75657635e-02 1.72047795e+02] [-5.58253630e-02 9.98410817e-01 -7.70517105e-03 -2.11472736e+01] [-5.79071367e-02 4.46657586e-03 9.98311982e-01 -1.14059023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.040714057 meters 0.04129361999772811 Centerline is valid? [True, True] Translation: X:172.11, Y:-21.15, Z:-11.41 [[ 9.96987438e-01 5.51045822e-02 5.45851125e-02 1.72110414e+02] [-5.47866718e-02 9.98471363e-01 -7.30462659e-03 -2.11478403e+01] [-5.49041901e-02 4.29208431e-03 9.98482402e-01 -1.14112365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.100714057 meters 0.049333543283213696 Centerline is valid? [True, True] Translation: X:172.17, Y:-21.16, Z:-11.42 [[ 9.96984177e-01 5.63797038e-02 5.33280392e-02 1.72169666e+02] [-5.60779867e-02 9.98400872e-01 -7.13845994e-03 -2.11648256e+01] [-5.36452251e-02 4.12640254e-03 9.98551532e-01 -1.14163950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.160714057 meters 0.04272326494565113 Centerline is valid? [True, True] Translation: X:172.23, Y:-21.16, Z:-11.42 [[ 9.96892381e-01 5.73728561e-02 5.39808841e-02 1.72232044e+02] [-5.70643437e-02 9.98344247e-01 -7.24055208e-03 -2.11627144e+01] [-5.43069162e-02 4.13766748e-03 9.98515718e-01 -1.14175733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.220714057 meters 0.04541634100770105 Centerline is valid? [True, True] Translation: X:172.29, Y:-21.17, Z:-11.42 [[ 9.96898802e-01 5.73198714e-02 5.39185654e-02 1.72292633e+02] [-5.70119967e-02 9.98347298e-01 -7.23215777e-03 -2.11742678e+01] [-5.42440004e-02 4.13572434e-03 9.98519146e-01 -1.14216546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.280714057 meters 0.047148295765990535 Centerline is valid? [True, True] Translation: X:172.35, Y:-21.18, Z:-11.43 [[ 9.96919183e-01 5.75336799e-02 5.33105899e-02 1.72353117e+02] [-5.72323718e-02 9.98335190e-01 -7.16270269e-03 -2.11837800e+01] [-5.36339345e-02 4.08954421e-03 9.98552290e-01 -1.14252022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.340714057 meters 0.04760466355023212 Centerline is valid? [True, True] Translation: X:172.41, Y:-21.19, Z:-11.43 [[ 9.96868555e-01 5.85848613e-02 5.31121190e-02 1.72413503e+02] [-5.82865279e-02 9.98274290e-01 -7.15004364e-03 -2.11925924e+01] [-5.34393472e-02 4.03193267e-03 9.98562957e-01 -1.14288099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40071405700002 meters 0.04634717144824653 Centerline is valid? [True, True] Translation: X:172.47, Y:-21.20, Z:-11.43 [[ 9.96733796e-01 6.11436591e-02 5.27559705e-02 1.72473968e+02] [-6.08528323e-02 9.98121476e-01 -7.10298116e-03 -2.11984776e+01] [-5.30911694e-02 3.86943115e-03 9.98582173e-01 -1.14321416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46071405700002 meters 0.04550712560401119 Centerline is valid? [True, True] Translation: X:172.53, Y:-21.20, Z:-11.44 [[ 9.96528100e-01 6.51389508e-02 5.18523130e-02 1.72533743e+02] [-6.48633318e-02 9.97869728e-01 -6.98241301e-03 -2.12040003e+01] [-5.21966805e-02 3.59485699e-03 9.98630354e-01 -1.14366692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.520714057 meters 0.04414757841949144 Centerline is valid? [True, True] Translation: X:172.59, Y:-21.21, Z:-11.44 [[ 9.96207326e-01 7.03870371e-02 5.11529999e-02 1.72593278e+02] [-7.01256839e-02 9.97514380e-01 -6.88838732e-03 -2.12090721e+01] [-5.15107062e-02 3.27512281e-03 9.98667072e-01 -1.14418259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.580714057 meters 0.04284192143084399 Centerline is valid? [True, True] Translation: X:172.65, Y:-21.21, Z:-11.44 [[ 9.95748759e-01 7.57187576e-02 5.24507294e-02 1.72652463e+02] [-7.54513959e-02 9.97124475e-01 -7.06172450e-03 -2.12143064e+01] [-5.28346110e-02 3.07422265e-03 9.98598544e-01 -1.14443685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.640714057 meters 0.041485380751421226 Centerline is valid? [True, True] Translation: X:172.71, Y:-21.22, Z:-11.45 [[ 9.95321089e-01 7.93647243e-02 5.51105374e-02 1.72712658e+02] [-7.90751858e-02 9.96841054e-01 -7.41809874e-03 -2.12216226e+01] [-5.55251815e-02 3.02551413e-03 9.98452703e-01 -1.14466107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.700714057 meters 0.03728131605575034 Centerline is valid? [True, True] Translation: X:172.77, Y:-21.23, Z:-11.45 [[ 9.95390905e-01 7.93470597e-02 5.38608471e-02 1.72771492e+02] [-7.90704666e-02 9.96842662e-01 -7.25036888e-03 -2.12264245e+01] [-5.42660856e-02 2.95814893e-03 9.98522129e-01 -1.14521620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.760714057 meters 0.035663628149759305 Centerline is valid? [True, True] Translation: X:172.83, Y:-21.23, Z:-11.46 [[ 9.95580937e-01 7.77448470e-02 5.26719789e-02 1.72830559e+02] [-7.74783113e-02 9.96968852e-01 -7.08652215e-03 -2.12341396e+01] [-5.30632629e-02 2.97427038e-03 9.98586723e-01 -1.14567892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.820714057 meters 0.04836516074225099 Centerline is valid? [True, True] Translation: X:172.88, Y:-21.26, Z:-11.47 [[ 9.95769458e-01 7.49111991e-02 5.32118277e-02 1.72884764e+02] [-7.46352159e-02 9.97185215e-01 -7.15764934e-03 -2.12634346e+01] [-5.35982359e-02 3.15589236e-03 9.98557594e-01 -1.14657173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.880714057 meters 0.04011088961046769 Centerline is valid? [True, True] Translation: X:172.95, Y:-21.26, Z:-11.47 [[ 9.96004487e-01 7.18302648e-02 5.30610520e-02 1.72945301e+02] [-7.15517116e-02 9.97411384e-01 -7.13325530e-03 -2.12613483e+01] [-5.34360809e-02 3.30814519e-03 9.98565792e-01 -1.14687354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.940714057 meters 0.0384344673205386 Centerline is valid? [True, True] Translation: X:173.00, Y:-21.27, Z:-11.47 [[ 9.96050172e-01 6.99944050e-02 5.46336751e-02 1.73004513e+02] [-6.96963604e-02 9.97541218e-01 -7.34404705e-03 -2.12659912e+01] [-5.50133850e-02 3.50727101e-03 9.98479457e-01 -1.14710851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.000714057 meters 0.04039967284743418 Centerline is valid? [True, True] Translation: X:173.06, Y:-21.28, Z:-11.47 [[ 9.95907697e-01 6.93681178e-02 5.79303402e-02 1.73061766e+02] [-6.90321029e-02 9.97584071e-01 -7.78394776e-03 -2.12776435e+01] [-5.83303424e-02 3.75304028e-03 9.98290281e-01 -1.14735059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.060714057 meters 0.03557555347849951 Centerline is valid? [True, True] Translation: X:173.12, Y:-21.28, Z:-11.48 [[ 9.96000157e-01 6.70507079e-02 5.90583648e-02 1.73122009e+02] [-6.66976025e-02 9.97741705e-01 -7.93223920e-03 -2.12778625e+01] [-5.94568559e-02 3.96146015e-03 9.98223016e-01 -1.14768076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12071405700001 meters 0.039362198886659684 Centerline is valid? [True, True] Translation: X:173.18, Y:-21.29, Z:-11.48 [[ 9.96346429e-01 6.28203548e-02 5.78566953e-02 1.73180156e+02] [-6.24744699e-02 9.98016319e-01 -7.76961725e-03 -2.12922201e+01] [-5.82300162e-02 4.12666403e-03 9.98294664e-01 -1.14835633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18071405700002 meters 0.040139160432122276 Centerline is valid? [True, True] Translation: X:173.24, Y:-21.30, Z:-11.49 [[ 9.96445919e-01 6.16943063e-02 5.73528032e-02 1.73240433e+02] [-6.13525463e-02 9.98086438e-01 -7.70243123e-03 -2.13020046e+01] [-5.77182512e-02 4.15631564e-03 9.98324260e-01 -1.14886303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24071405700002 meters 0.04171841272067017 Centerline is valid? [True, True] Translation: X:173.30, Y:-21.31, Z:-11.50 [[ 9.96755738e-01 5.90958562e-02 5.46413703e-02 1.73300615e+02] [-5.87817059e-02 9.98243875e-01 -7.34011408e-03 -2.13120887e+01] [-5.49791836e-02 4.10438787e-03 9.98479065e-01 -1.14953098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.300714057 meters 0.04265651564405077 Centerline is valid? [True, True] Translation: X:173.36, Y:-21.32, Z:-11.50 [[ 9.96748622e-01 6.02911599e-02 5.34524188e-02 1.73360780e+02] [-5.99921409e-02 9.98173008e-01 -7.18254961e-03 -2.13205025e+01] [-5.37878059e-02 3.95247138e-03 9.98544566e-01 -1.15005856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.360714057 meters 0.04193235381410198 Centerline is valid? [True, True] Translation: X:173.42, Y:-21.32, Z:-11.50 [[ 9.96482412e-01 6.40213477e-02 5.40746753e-02 1.73421538e+02] [-6.37206521e-02 9.97941305e-01 -7.26843303e-03 -2.13225952e+01] [-5.44286869e-02 3.79719210e-03 9.98510440e-01 -1.15031375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.420714057 meters 0.04237009973933412 Centerline is valid? [True, True] Translation: X:173.48, Y:-21.33, Z:-11.51 [[ 9.96166115e-01 6.74676176e-02 5.56883508e-02 1.73480874e+02] [-6.71540224e-02 9.97714540e-01 -7.48561274e-03 -2.13269867e+01] [-5.60661137e-02 3.71721700e-03 9.98420139e-01 -1.15060153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.480714057 meters 0.04189949893183708 Centerline is valid? [True, True] Translation: X:173.54, Y:-21.33, Z:-11.51 [[ 9.96015642e-01 6.90845525e-02 5.63929605e-02 1.73540343e+02] [-6.87656014e-02 9.97604053e-01 -7.57922511e-03 -2.13310863e+01] [-5.67814533e-02 3.67113092e-03 9.98379882e-01 -1.15089325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.540714057 meters 0.04438707159047558 Centerline is valid? [True, True] Translation: X:173.60, Y:-21.34, Z:-11.51 [[ 9.96132995e-01 6.78039489e-02 5.58720104e-02 1.73599078e+02] [-6.74889722e-02 9.97691775e-01 -7.50733870e-03 -2.13388597e+01] [-5.62520725e-02 3.70756323e-03 9.98409715e-01 -1.15134509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.600714057 meters 0.04622052005117301 Centerline is valid? [True, True] Translation: X:173.66, Y:-21.35, Z:-11.52 [[ 9.96218137e-01 6.66910886e-02 5.56931112e-02 1.73657585e+02] [-6.63765020e-02 9.97766600e-01 -7.48145581e-03 -2.13477446e+01] [-5.60676726e-02 3.75644806e-03 9.98419904e-01 -1.15180339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.660714057 meters 0.036425170856307094 Centerline is valid? [True, True] Translation: X:173.72, Y:-21.34, Z:-11.52 [[ 9.96412286e-01 6.52591032e-02 5.38869800e-02 1.73719054e+02] [-6.49626222e-02 9.97861454e-01 -7.23715983e-03 -2.13384639e+01] [-5.42440308e-02 3.71055544e-03 9.98520814e-01 -1.15208965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.720714057 meters 0.038704494791160456 Centerline is valid? [True, True] Translation: X:173.78, Y:-21.34, Z:-11.53 [[ 9.96487699e-01 6.57437483e-02 5.18654563e-02 1.73777344e+02] [-6.54698575e-02 9.97830246e-01 -6.96403588e-03 -2.13435121e+01] [-5.22107629e-02 3.54395206e-03 9.98629800e-01 -1.15269045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.780714057 meters 0.0345707563602701 Centerline is valid? [True, True] Translation: X:173.84, Y:-21.34, Z:-11.53 [[ 9.96247578e-01 6.81560953e-02 5.33433292e-02 1.73838370e+02] [-6.78699666e-02 9.97668488e-01 -7.15926072e-03 -2.13382917e+01] [-5.37069058e-02 3.51198619e-03 9.98550567e-01 -1.15284718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.840714057 meters 0.0367879690039074 Centerline is valid? [True, True] Translation: X:173.90, Y:-21.34, Z:-11.53 [[ 9.95846140e-01 7.15381780e-02 5.63272166e-02 1.73897658e+02] [-7.12246134e-02 9.97431672e-01 -7.55741470e-03 -2.13438055e+01] [-5.67231935e-02 3.51413802e-03 9.98383759e-01 -1.15304519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90071405700002 meters 0.03699198879504712 Centerline is valid? [True, True] Translation: X:173.96, Y:-21.35, Z:-11.53 [[ 9.95651164e-01 7.38842706e-02 5.67439319e-02 1.73956155e+02] [-7.35698979e-02 9.97261011e-01 -7.61223025e-03 -2.13459149e+01] [-5.71509350e-02 3.40448063e-03 9.98359745e-01 -1.15342486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96071405700002 meters 0.03314225857944472 Centerline is valid? [True, True] Translation: X:174.02, Y:-21.35, Z:-11.54 [[ 9.95427857e-01 7.68235234e-02 5.67585010e-02 1.74016848e+02] [-7.65139333e-02 9.97039464e-01 -7.61091068e-03 -2.13451532e+01] [-5.71751624e-02 3.23329635e-03 9.98358927e-01 -1.15385459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.020714057 meters 0.0320218913015 Centerline is valid? [True, True] Translation: X:174.08, Y:-21.35, Z:-11.54 [[ 9.95245996e-01 8.05033273e-02 5.48144271e-02 1.74076304e+02] [-8.02202089e-02 9.96750071e-01 -7.34944169e-03 -2.13487268e+01] [-5.52279386e-02 2.91727762e-03 9.98469511e-01 -1.15439060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.080714057 meters 0.02852261779841625 Centerline is valid? [True, True] Translation: X:174.14, Y:-21.35, Z:-11.55 [[ 9.94945827e-01 8.52241715e-02 5.31003035e-02 1.74137099e+02] [-8.49653096e-02 9.96358488e-01 -7.11759524e-03 -2.13476179e+01] [-5.35135293e-02 2.56993796e-03 9.98563818e-01 -1.15483227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.140714057 meters 0.028524947787842193 Centerline is valid? [True, True] Translation: X:174.20, Y:-21.35, Z:-11.55 [[ 9.94551016e-01 8.98094139e-02 5.29390754e-02 1.74195322e+02] [-8.95586286e-02 9.95956278e-01 -7.09541189e-03 -2.13532155e+01] [-5.33622393e-02 2.31559811e-03 9.98572536e-01 -1.15519132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.200714057 meters 0.02718468950131897 Centerline is valid? [True, True] Translation: X:174.26, Y:-21.36, Z:-11.55 [[ 9.94013376e-01 9.43019342e-02 5.51774795e-02 1.74255872e+02] [-9.40365634e-02 9.95541302e-01 -7.39193880e-03 -2.13569914e+01] [-5.56285339e-02 2.15898549e-03 9.98449200e-01 -1.15527129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.260714057 meters 0.026498502822791203 Centerline is valid? [True, True] Translation: X:174.31, Y:-21.36, Z:-11.56 [[ 9.93771499e-01 9.60461353e-02 5.65097185e-02 1.74314859e+02] [-9.57705587e-02 9.95374643e-01 -7.57101554e-03 -2.13627949e+01] [-5.69755077e-02 2.11189214e-03 9.98373343e-01 -1.15552896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.320714057 meters 0.027335602733600424 Centerline is valid? [True, True] Translation: X:174.37, Y:-21.37, Z:-11.56 [[ 9.93925633e-01 9.48970630e-02 5.57349443e-02 1.74372082e+02] [-9.46279971e-02 9.95484804e-01 -7.45299520e-03 -2.13746326e+01] [-5.61905575e-02 2.13363682e-03 9.98417783e-01 -1.15608312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.380714057 meters 0.02690986403488444 Centerline is valid? [True, True] Translation: X:174.43, Y:-21.39, Z:-11.57 [[ 9.94268844e-01 9.26494992e-02 5.33435744e-02 1.74430919e+02] [-9.24000371e-02 9.95696443e-01 -7.12923308e-03 -2.13850221e+01] [-5.37745272e-02 2.15942608e-03 9.98550768e-01 -1.15652207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.440714057 meters 0.028899280745136768 Centerline is valid? [True, True] Translation: X:174.49, Y:-21.40, Z:-11.57 [[ 9.94533172e-01 9.04097093e-02 5.22479988e-02 1.74487451e+02] [-9.01673912e-02 9.95902155e-01 -6.98137106e-03 -2.13995853e+01] [-5.26650783e-02 2.23213936e-03 9.98609737e-01 -1.15688216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.500714057 meters 0.028273255720544434 Centerline is valid? [True, True] Translation: X:174.55, Y:-21.41, Z:-11.57 [[ 9.94598086e-01 8.87543713e-02 5.38266549e-02 1.74545826e+02] [-8.84949722e-02 9.96050686e-01 -7.18830601e-03 -2.14091741e+01] [-5.42520701e-02 2.38608708e-03 9.98524421e-01 -1.15699204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.560714057 meters 0.03088599694858073 Centerline is valid? [True, True] Translation: X:174.60, Y:-21.43, Z:-11.57 [[ 9.94856922e-01 8.55149242e-02 5.42853717e-02 1.74602153e+02] [-8.52464993e-02 9.96333548e-01 -7.24537583e-03 -2.14309517e+01] [-5.47059247e-02 2.58047440e-03 9.98499175e-01 -1.15742371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62071405700001 meters 0.03406453565719749 Centerline is valid? [True, True] Translation: X:174.66, Y:-21.45, Z:-11.58 [[ 9.95003808e-01 8.38242106e-02 5.42302851e-02 1.74657565e+02] [-8.35539500e-02 9.96476985e-01 -7.23577504e-03 -2.14475304e+01] [-5.46457641e-02 2.66846919e-03 9.98502238e-01 -1.15785411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68071405700002 meters 0.0343629886778201 Centerline is valid? [True, True] Translation: X:174.72, Y:-21.46, Z:-11.58 [[ 9.95328042e-01 8.08688453e-02 5.27476874e-02 1.74716370e+02] [-8.06094409e-02 9.96720970e-01 -7.03039355e-03 -2.14624192e+01] [-5.31432659e-02 2.74558627e-03 9.98583124e-01 -1.15823680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74071405700002 meters 0.03634748467722307 Centerline is valid? [True, True] Translation: X:174.77, Y:-21.48, Z:-11.59 [[ 9.95638434e-01 7.85704402e-02 5.03070058e-02 1.74772608e+02] [-7.83315499e-02 9.96904810e-01 -6.70578861e-03 -2.14820062e+01] [-5.06781728e-02 2.73591514e-03 9.98711288e-01 -1.15890446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.800714057 meters 0.03133347707398555 Centerline is valid? [True, True] Translation: X:174.83, Y:-21.49, Z:-11.59 [[ 9.95766909e-01 7.84751989e-02 4.78529608e-02 1.74830895e+02] [-7.82590494e-02 9.96912663e-01 -6.37677895e-03 -2.14887718e+01] [-4.82056416e-02 2.60485824e-03 9.98834036e-01 -1.15928539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.860714057 meters 0.029748727189148727 Centerline is valid? [True, True] Translation: X:174.89, Y:-21.50, Z:-11.60 [[ 9.95620508e-01 8.16364391e-02 4.55554113e-02 1.74889438e+02] [-8.14440350e-02 9.96659452e-01 -6.06683498e-03 -2.14997880e+01] [-4.58985060e-02 2.33004882e-03 9.98943391e-01 -1.15970244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.920714057 meters 0.03329664616062047 Centerline is valid? [True, True] Translation: X:174.95, Y:-21.52, Z:-11.60 [[ 9.95515203e-01 8.33005516e-02 4.48385866e-02 1.74945284e+02] [-8.31158466e-02 9.96522002e-01 -5.97127344e-03 -2.15173180e+01] [-4.51800485e-02 2.21769640e-03 9.98976399e-01 -1.16030909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.980714057 meters 0.0300063500831407 Centerline is valid? [True, True] Translation: X:175.00, Y:-21.52, Z:-11.60 [[ 9.95381678e-01 8.42629187e-02 4.59899616e-02 1.75004327e+02] [-8.40699294e-02 9.96441076e-01 -6.11798673e-03 -2.15244637e+01] [-4.63418062e-02 2.22335907e-03 9.98923167e-01 -1.16022574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.040714057 meters 0.030497383028383004 Centerline is valid? [True, True] Translation: X:175.06, Y:-21.54, Z:-11.60 [[ 9.95410728e-01 8.29638853e-02 4.76914708e-02 1.75061853e+02] [-8.27549685e-02 9.96549746e-01 -6.34191637e-03 -2.15380405e+01] [-4.80530731e-02 2.36610542e-03 9.98841981e-01 -1.16044350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.100714057 meters 0.030812310269163062 Centerline is valid? [True, True] Translation: X:175.12, Y:-21.55, Z:-11.61 [[ 9.95471489e-01 8.20518255e-02 4.80001347e-02 1.75119921e+02] [-8.18393061e-02 9.96625120e-01 -6.37945261e-03 -2.15482060e+01] [-4.83615858e-02 2.42226547e-03 9.98826957e-01 -1.16080890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.160714057 meters 0.032688271017958924 Centerline is valid? [True, True] Translation: X:175.18, Y:-21.56, Z:-11.61 [[ 9.95873727e-01 7.70554963e-02 4.79371437e-02 1.75178207e+02] [-7.68379844e-02 9.97023265e-01 -6.36651508e-03 -2.15643271e+01] [-4.82850225e-02 2.65685160e-03 9.98830065e-01 -1.16119901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.220714057 meters 0.035376041475185034 Centerline is valid? [True, True] Translation: X:175.24, Y:-21.58, Z:-11.62 [[ 9.96415768e-01 7.06493265e-02 4.65219329e-02 1.75236647e+02] [-7.04375353e-02 9.97497059e-01 -6.17825801e-03 -2.15823953e+01] [-4.68419811e-02 2.87922340e-03 9.98898162e-01 -1.16179930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.280714057 meters 0.03891627757797427 Centerline is valid? [True, True] Translation: X:175.30, Y:-21.60, Z:-11.62 [[ 9.96815716e-01 6.50787411e-02 4.60780446e-02 1.75295326e+02] [-6.48650468e-02 9.97875282e-01 -6.11937969e-03 -2.16004057e+01] [-4.63783833e-02 3.11103933e-03 9.98919099e-01 -1.16238072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.340714057 meters 0.041649973787908336 Centerline is valid? [True, True] Translation: X:175.35, Y:-21.61, Z:-11.63 [[ 9.96994286e-01 6.27735282e-02 4.54079065e-02 1.75353375e+02] [-6.25635981e-02 9.98022756e-01 -6.03110416e-03 -2.16123799e+01] [-4.56967177e-02 3.17209437e-03 9.98950323e-01 -1.16285112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40071405700002 meters 0.04092467923523153 Centerline is valid? [True, True] Translation: X:175.41, Y:-21.62, Z:-11.63 [[ 9.96899882e-01 6.39588722e-02 4.58245264e-02 1.75412661e+02] [-6.37463886e-02 9.97947580e-01 -6.08482944e-03 -2.16180313e+01] [-4.61196541e-02 3.14481768e-03 9.98930972e-01 -1.16316898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46071405700002 meters 0.03765576209163177 Centerline is valid? [True, True] Translation: X:175.47, Y:-21.62, Z:-11.63 [[ 9.96842577e-01 6.43456227e-02 4.65243769e-02 1.75472954e+02] [-6.41270891e-02 9.97922628e-01 -6.17611972e-03 -2.16190271e+01] [-4.68251348e-02 3.17314623e-03 9.98898062e-01 -1.16336876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.520714057 meters 0.038267226391085894 Centerline is valid? [True, True] Translation: X:175.53, Y:-21.63, Z:-11.64 [[ 9.96837616e-01 6.32482597e-02 4.81084635e-02 1.75532370e+02] [-6.30133941e-02 9.97992259e-01 -6.38457418e-03 -2.16251565e+01] [-4.84156874e-02 3.33290614e-03 9.98821712e-01 -1.16363403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.580714057 meters 0.03947771318539033 Centerline is valid? [True, True] Translation: X:175.59, Y:-21.63, Z:-11.64 [[ 9.96941765e-01 6.08165374e-02 4.90761319e-02 1.75592074e+02] [-6.05692980e-02 9.98142760e-01 -6.51077644e-03 -2.16330786e+01] [-4.93809487e-02 3.51835809e-03 9.98773820e-01 -1.16393307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.640714057 meters 0.03689262043375433 Centerline is valid? [True, True] Translation: X:175.65, Y:-21.63, Z:-11.64 [[ 9.97134511e-01 5.77430586e-02 4.88723523e-02 1.75652168e+02] [-5.74942143e-02 9.98324787e-01 -6.48345015e-03 -2.16342204e+01] [-4.91648549e-02 3.65499440e-03 9.98783990e-01 -1.16415969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.700714057 meters 0.038827086861435454 Centerline is valid? [True, True] Translation: X:175.71, Y:-21.64, Z:-11.65 [[ 9.97435225e-01 5.31421137e-02 4.79467256e-02 1.75711891e+02] [-5.28974264e-02 9.98579706e-01 -6.35871999e-03 -2.16438357e+01] [-4.82165430e-02 3.80615292e-03 9.98829654e-01 -1.16474833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.760714057 meters 0.042680746353226044 Centerline is valid? [True, True] Translation: X:175.77, Y:-21.66, Z:-11.65 [[ 9.97724480e-01 4.84895425e-02 4.68468479e-02 1.75770656e+02] [-4.82507647e-02 9.98815917e-01 -6.21509752e-03 -2.16563513e+01] [-4.70927446e-02 3.94055870e-03 9.98882749e-01 -1.16527948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.820714057 meters 0.04376466561952578 Centerline is valid? [True, True] Translation: X:175.83, Y:-21.66, Z:-11.66 [[ 9.97808486e-01 4.64097818e-02 4.71630907e-02 1.75831665e+02] [-4.61653662e-02 9.98914202e-01 -6.25904703e-03 -2.16636659e+01] [-4.74023622e-02 4.06802889e-03 9.98867592e-01 -1.16560132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.880714057 meters 0.042731010486288815 Centerline is valid? [True, True] Translation: X:175.89, Y:-21.67, Z:-11.66 [[ 9.97649801e-01 4.72300564e-02 4.96406787e-02 1.75893498e+02] [-4.69603278e-02 9.98875039e-01 -6.58659057e-03 -2.16692475e+01] [-4.98959199e-02 4.23996823e-03 9.98745423e-01 -1.16577461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.940714057 meters 0.042538057763125435 Centerline is valid? [True, True] Translation: X:175.95, Y:-21.68, Z:-11.66 [[ 9.97522629e-01 4.81382003e-02 5.12963709e-02 1.75954462e+02] [-4.78504918e-02 9.98831206e-01 -6.82286695e-03 -2.16751312e+01] [-5.15648566e-02 4.35140761e-03 9.98660168e-01 -1.16598347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.000714057 meters 0.045194692837470636 Centerline is valid? [True, True] Translation: X:176.01, Y:-21.69, Z:-11.66 [[ 9.97477196e-01 4.86701314e-02 5.16765128e-02 1.76014160e+02] [-4.83788736e-02 9.98805410e-01 -6.87289683e-03 -2.16864101e+01] [-5.19492854e-02 4.35550637e-03 9.98640226e-01 -1.16642819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.060714057 meters 0.044533944800069905 Centerline is valid? [True, True] Translation: X:176.08, Y:-21.69, Z:-11.67 [[ 9.97499277e-01 4.81618024e-02 5.17265183e-02 1.76075922e+02] [-4.78686804e-02 9.98829864e-01 -6.89148225e-03 -2.16948559e+01] [-5.19978974e-02 4.39816839e-03 9.98637509e-01 -1.16699952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12071405700001 meters 0.04709806596406287 Centerline is valid? [True, True] Translation: X:176.14, Y:-21.71, Z:-11.68 [[ 9.97651590e-01 4.65686492e-02 5.02261502e-02 1.76135787e+02] [-4.62895271e-02 9.98905550e-01 -6.70690114e-03 -2.17069520e+01] [-5.04835115e-02 4.36620585e-03 9.98715351e-01 -1.16766215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18071405700002 meters 0.05000909991120504 Centerline is valid? [True, True] Translation: X:176.20, Y:-21.72, Z:-11.68 [[ 9.97794925e-01 4.48085173e-02 4.89641133e-02 1.76195029e+02] [-4.45410625e-02 9.98986145e-01 -6.54033855e-03 -2.17201367e+01] [-4.92075336e-02 4.34500298e-03 9.98779125e-01 -1.16827434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24071405700002 meters 0.0534323831455499 Centerline is valid? [True, True] Translation: X:176.25, Y:-21.73, Z:-11.69 [[ 9.97852164e-01 4.42269274e-02 4.83222344e-02 1.76254862e+02] [-4.39658899e-02 9.99012197e-01 -6.45213442e-03 -2.17334118e+01] [-4.85598597e-02 4.31374626e-03 9.98810959e-01 -1.16876962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.300714057 meters 0.04298131380430635 Centerline is valid? [True, True] Translation: X:176.32, Y:-21.73, Z:-11.69 [[ 9.97668443e-01 4.61128420e-02 5.03118557e-02 1.76316769e+02] [-4.58314512e-02 9.98926497e-01 -6.73294807e-03 -2.17269785e+01] [-5.05683211e-02 4.41138446e-03 9.98710861e-01 -1.16882564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.360714057 meters 0.04003158107980879 Centerline is valid? [True, True] Translation: X:176.38, Y:-21.73, Z:-11.69 [[ 9.97321743e-01 5.06939648e-02 5.27206128e-02 1.76377632e+02] [-5.03912976e-02 9.98704631e-01 -7.05531624e-03 -2.17291973e+01] [-5.30099821e-02 4.37976020e-03 9.98584378e-01 -1.16900216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.420714057 meters 0.03803299693172002 Centerline is valid? [True, True] Translation: X:176.44, Y:-21.73, Z:-11.69 [[ 9.96875846e-01 5.69791935e-02 5.46984305e-02 1.76438245e+02] [-5.66627622e-02 9.98366542e-01 -7.31979502e-03 -2.17329073e+01] [-5.50261590e-02 4.19756270e-03 9.98476090e-01 -1.16936702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.480714057 meters 0.03703647212500217 Centerline is valid? [True, True] Translation: X:176.50, Y:-21.74, Z:-11.70 [[ 9.96541026e-01 6.09822208e-02 5.64548764e-02 1.76498707e+02] [-6.06514549e-02 9.98130410e-01 -7.55552126e-03 -2.17389989e+01] [-5.68100813e-02 4.10531652e-03 9.98376563e-01 -1.16975405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.540714057 meters 0.03842456624735724 Centerline is valid? [True, True] Translation: X:176.56, Y:-21.75, Z:-11.70 [[ 9.96493875e-01 6.30372173e-02 5.50115181e-02 1.76558221e+02] [-6.27262989e-02 9.98003613e-01 -7.36205681e-03 -2.17493269e+01] [-5.53657774e-02 3.88557559e-03 9.98458579e-01 -1.17040294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.600714057 meters 0.036771542844186954 Centerline is valid? [True, True] Translation: X:176.62, Y:-21.76, Z:-11.71 [[ 9.96612948e-01 6.33171715e-02 5.24744414e-02 1.76617880e+02] [-6.30345711e-02 9.97986621e-01 -7.02475832e-03 -2.17553057e+01] [-5.28135782e-02 3.69326120e-03 9.98597559e-01 -1.17096355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.660714057 meters 0.03753721065300912 Centerline is valid? [True, True] Translation: X:176.68, Y:-21.76, Z:-11.71 [[ 9.96611790e-01 6.42762693e-02 5.13176521e-02 1.76677498e+02] [-6.40072696e-02 9.97925786e-01 -6.86989883e-03 -2.17649891e+01] [-5.16527797e-02 3.56191938e-03 9.98658752e-01 -1.17146845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.720714057 meters 0.037253554236141115 Centerline is valid? [True, True] Translation: X:176.74, Y:-21.77, Z:-11.72 [[ 9.96362559e-01 6.75617287e-02 5.19332586e-02 1.76737135e+02] [-6.72906625e-02 9.97709192e-01 -6.95240489e-03 -2.17713390e+01] [-5.22840060e-02 3.43249255e-03 9.98626357e-01 -1.17182580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.780714057 meters 0.03590355320074642 Centerline is valid? [True, True] Translation: X:176.80, Y:-21.78, Z:-11.72 [[ 9.95894714e-01 7.22062118e-02 5.45892024e-02 1.76797935e+02] [-7.19136433e-02 9.97384093e-01 -7.30748521e-03 -2.17757614e+01] [-5.49740479e-02 3.35177747e-03 9.98482158e-01 -1.17198950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.840714057 meters 0.031019940651706268 Centerline is valid? [True, True] Translation: X:176.86, Y:-21.78, Z:-11.72 [[ 9.95450294e-01 7.68823945e-02 5.62832951e-02 1.76858509e+02] [-7.65788178e-02 9.97035067e-01 -7.53396992e-03 -2.17752093e+01] [-5.66956485e-02 3.18958438e-03 9.98386413e-01 -1.17213301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90071405700002 meters 0.031062361462226056 Centerline is valid? [True, True] Translation: X:176.92, Y:-21.78, Z:-11.73 [[ 9.95255573e-01 7.93127330e-02 5.63545469e-02 1.76917850e+02] [-7.90122704e-02 9.96845102e-01 -7.54343603e-03 -2.17820737e+01] [-5.67750446e-02 3.05494605e-03 9.98382322e-01 -1.17250188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96071405700002 meters 0.031012248976388084 Centerline is valid? [True, True] Translation: X:176.98, Y:-21.79, Z:-11.73 [[ 9.95165898e-01 8.08248944e-02 5.57868422e-02 1.76975962e+02] [-8.05329266e-02 9.96723989e-01 -7.46571912e-03 -2.17897051e+01] [-5.62074998e-02 2.93695141e-03 9.98414789e-01 -1.17297851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.020714057 meters 0.032716267561530746 Centerline is valid? [True, True] Translation: X:177.03, Y:-21.80, Z:-11.74 [[ 9.95072222e-01 8.19115587e-02 5.58727978e-02 1.77032907e+02] [-8.16206266e-02 9.96635453e-01 -7.47313850e-03 -2.18010537e+01] [-5.62969475e-02 2.87593977e-03 9.98409927e-01 -1.17351870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.080714057 meters 0.02914866812200589 Centerline is valid? [True, True] Translation: X:177.09, Y:-21.80, Z:-11.74 [[ 9.94911221e-01 8.40783596e-02 5.55201928e-02 1.77092179e+02] [-8.37946745e-02 9.96455401e-01 -7.42204885e-03 -2.18022267e+01] [-5.59474297e-02 2.73198320e-03 9.98429978e-01 -1.17393113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.140714057 meters 0.029455626420199586 Centerline is valid? [True, True] Translation: X:177.15, Y:-21.81, Z:-11.74 [[ 9.94811744e-01 8.54939161e-02 5.51396893e-02 1.77150493e+02] [-8.52165028e-02 9.96335221e-01 -7.36714490e-03 -2.18098703e+01] [-5.55674606e-02 2.63011078e-03 9.98451471e-01 -1.17433109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.200714057 meters 0.03003729278781355 Centerline is valid? [True, True] Translation: X:177.21, Y:-21.82, Z:-11.75 [[ 9.94830052e-01 8.51439892e-02 5.53504215e-02 1.77208769e+02] [-8.48641343e-02 9.96365118e-01 -7.39126614e-03 -2.18196022e+01] [-5.57785511e-02 2.65578807e-03 9.98439633e-01 -1.17475458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.260714057 meters 0.03202491396596427 Centerline is valid? [True, True] Translation: X:177.27, Y:-21.83, Z:-11.75 [[ 9.95003926e-01 8.28591054e-02 5.56916180e-02 1.77266289e+02] [-8.25724513e-02 9.96557347e-01 -7.43266379e-03 -2.18316340e+01] [-5.61157549e-02 2.79693624e-03 9.98420352e-01 -1.17519077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.320714057 meters 0.03395630644688437 Centerline is valid? [True, True] Translation: X:177.32, Y:-21.84, Z:-11.76 [[ 9.95144683e-01 8.07712179e-02 5.62411834e-02 1.77323790e+02] [-8.04757187e-02 9.96728330e-01 -7.50299796e-03 -2.18438281e+01] [-5.66632071e-02 2.94051887e-03 9.98389020e-01 -1.17555817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.380714057 meters 0.030230346427046015 Centerline is valid? [True, True] Translation: X:177.38, Y:-21.85, Z:-11.76 [[ 9.95135172e-01 8.01934042e-02 5.72276750e-02 1.77382692e+02] [-7.98866476e-02 9.96774739e-01 -7.63174009e-03 -2.18463848e+01] [-5.76551161e-02 3.02288588e-03 9.98331984e-01 -1.17570149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.440714057 meters 0.031434928500038345 Centerline is valid? [True, True] Translation: X:177.44, Y:-21.86, Z:-11.76 [[ 9.95351016e-01 7.83381293e-02 5.60311730e-02 1.77440803e+02] [-7.80413871e-02 9.96922149e-01 -7.46802640e-03 -2.18570411e+01] [-5.64437486e-02 3.06055720e-03 9.98401090e-01 -1.17622612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.500714057 meters 0.03155623579372332 Centerline is valid? [True, True] Translation: X:177.50, Y:-21.87, Z:-11.77 [[ 9.95675019e-01 7.47665461e-02 5.51472499e-02 1.77499917e+02] [-7.44738243e-02 9.97195904e-01 -7.34700526e-03 -2.18672549e+01] [-5.55419220e-02 3.20820301e-03 9.98451202e-01 -1.17675103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.560714057 meters 0.03622250432113097 Centerline is valid? [True, True] Translation: X:177.56, Y:-21.88, Z:-11.77 [[ 9.95832743e-01 7.27120495e-02 5.50463975e-02 1.77556468e+02] [-7.24173198e-02 9.97347464e-01 -7.33272185e-03 -2.18811246e+01] [-5.54335622e-02 3.31585194e-03 9.98456872e-01 -1.17716531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62071405700001 meters 0.03521281957726341 Centerline is valid? [True, True] Translation: X:177.62, Y:-21.89, Z:-11.78 [[ 9.95970854e-01 7.17159448e-02 5.38412680e-02 1.77615594e+02] [-7.14327711e-02 9.97419660e-01 -7.16802112e-03 -2.18854956e+01] [-5.42164006e-02 3.29310914e-03 9.98523779e-01 -1.17761116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68071405700002 meters 0.037151013380342345 Centerline is valid? [True, True] Translation: X:177.67, Y:-21.89, Z:-11.78 [[ 9.96141757e-01 6.94929878e-02 5.35940777e-02 1.77674640e+02] [-6.92093109e-02 9.97576658e-01 -7.13321179e-03 -2.18940516e+01] [-5.39599091e-02 3.39648094e-03 9.98537326e-01 -1.17802436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74071405700002 meters 0.0363731730268305 Centerline is valid? [True, True] Translation: X:177.73, Y:-21.90, Z:-11.78 [[ 9.96300345e-01 6.69690001e-02 5.38588566e-02 1.77734879e+02] [-6.66789522e-02 9.97748746e-01 -7.16637570e-03 -2.18980158e+01] [-5.42175316e-02 3.54861045e-03 9.98522842e-01 -1.17832457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.800714057 meters 0.038225208933712465 Centerline is valid? [True, True] Translation: X:177.80, Y:-21.91, Z:-11.79 [[ 9.96544515e-01 6.25604624e-02 5.46371590e-02 1.77795189e+02] [-6.22554321e-02 9.98033780e-01 -7.26877794e-03 -2.19057540e+01] [-5.49844684e-02 3.84220084e-03 9.98479817e-01 -1.17859756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.860714057 meters 0.043068730499524754 Centerline is valid? [True, True] Translation: X:177.85, Y:-21.92, Z:-11.79 [[ 9.96857344e-01 5.79439841e-02 5.40178636e-02 1.77852987e+02] [-5.76390840e-02 9.98311619e-01 -7.18666532e-03 -2.19172399e+01] [-5.43430849e-02 4.05053993e-03 9.98514107e-01 -1.17908380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.920714057 meters 0.04611586227147623 Centerline is valid? [True, True] Translation: X:177.91, Y:-21.93, Z:-11.80 [[ 9.97175433e-01 5.39637389e-02 5.22405098e-02 1.77912163e+02] [-5.36732784e-02 9.98534377e-01 -6.94812845e-03 -2.19269377e+01] [-5.25388919e-02 4.12458357e-03 9.98610361e-01 -1.17970465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.980714057 meters 0.04002288332445268 Centerline is valid? [True, True] Translation: X:177.97, Y:-21.92, Z:-11.80 [[ 9.97432560e-01 5.04755214e-02 5.07987116e-02 1.77973522e+02] [-5.01963880e-02 9.98716512e-01 -6.75656546e-03 -2.19241816e+01] [-5.10745532e-02 4.18930655e-03 9.98686057e-01 -1.18007255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.040714057 meters 0.04367190105539934 Centerline is valid? [True, True] Translation: X:178.03, Y:-21.94, Z:-11.81 [[ 9.97463448e-01 4.95296650e-02 5.11222363e-02 1.78033133e+02] [-4.92458022e-02 9.98763554e-01 -6.79815009e-03 -2.19351301e+01] [-5.13957365e-02 4.26335069e-03 9.98669266e-01 -1.18056858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.100714057 meters 0.042180408553558736 Centerline is valid? [True, True] Translation: X:178.09, Y:-21.94, Z:-11.81 [[ 9.97269872e-01 5.33465780e-02 5.10582500e-02 1.78093564e+02] [-5.30679712e-02 9.98567764e-01 -6.79780993e-03 -2.19367531e+01] [-5.13477624e-02 4.06969329e-03 9.98672541e-01 -1.18093824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.160714057 meters 0.036843607943442866 Centerline is valid? [True, True] Translation: X:178.16, Y:-21.93, Z:-11.81 [[ 9.96879940e-01 5.97418891e-02 5.15877065e-02 1.78155096e+02] [-5.94659541e-02 9.98206703e-01 -6.86864154e-03 -2.19326907e+01] [-5.19055400e-02 3.77949878e-03 9.98644847e-01 -1.18119072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.220714057 meters 0.03854736888076529 Centerline is valid? [True, True] Translation: X:178.21, Y:-21.94, Z:-11.82 [[ 9.96359906e-01 6.66844277e-02 5.31048539e-02 1.78213934e+02] [-6.64018064e-02 9.97767912e-01 -7.07062708e-03 -2.19383988e+01] [-5.34578199e-02 3.51863110e-03 9.98563909e-01 -1.18150143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.280714057 meters 0.03257059258854287 Centerline is valid? [True, True] Translation: X:178.28, Y:-21.93, Z:-11.82 [[ 9.95844229e-01 7.35165258e-02 5.37549297e-02 1.78275649e+02] [-7.32368540e-02 9.97288896e-01 -7.15685932e-03 -2.19327374e+01] [-5.41353420e-02 3.19027511e-03 9.98528511e-01 -1.18175456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.340714057 meters 0.03489715604579968 Centerline is valid? [True, True] Translation: X:178.33, Y:-21.94, Z:-11.82 [[ 9.95370615e-01 8.02780418e-02 5.28467037e-02 1.78334116e+02] [-8.00173413e-02 9.96768653e-01 -7.03403048e-03 -2.19416661e+01] [-5.32406159e-02 2.77281452e-03 9.98577863e-01 -1.18245137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40071405700002 meters 0.028535055901309957 Centerline is valid? [True, True] Translation: X:178.40, Y:-21.94, Z:-11.83 [[ 9.94912735e-01 8.58350409e-02 5.27351406e-02 1.78395484e+02] [-8.55833117e-02 9.96306304e-01 -7.01744063e-03 -2.19374785e+01] [-5.31426954e-02 2.46849307e-03 9.98583878e-01 -1.18273134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46071405700002 meters 0.028304107384912992 Centerline is valid? [True, True] Translation: X:178.45, Y:-21.94, Z:-11.83 [[ 9.94517221e-01 8.96469393e-02 5.38416426e-02 1.78454382e+02] [-8.93900858e-02 9.95970922e-01 -7.16480916e-03 -2.19430817e+01] [-5.42670137e-02 2.31261705e-03 9.98523782e-01 -1.18311990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52071405700002 meters 0.026820339923278834 Centerline is valid? [True, True] Translation: X:178.51, Y:-21.95, Z:-11.84 [[ 9.94441944e-01 9.05255705e-02 5.37618848e-02 1.78513176e+02] [-9.02708417e-02 9.95891568e-01 -7.15266786e-03 -2.19481943e+01] [-5.41885071e-02 2.25978234e-03 9.98528166e-01 -1.18351424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.580714057 meters 0.03153523684400338 Centerline is valid? [True, True] Translation: X:178.57, Y:-21.97, Z:-11.84 [[ 9.94665512e-01 8.84978433e-02 5.29967059e-02 1.78569350e+02] [-8.82476667e-02 9.96073638e-01 -7.04681854e-03 -2.19663997e+01] [-5.34122499e-02 2.33239173e-03 9.98569823e-01 -1.18431074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.640714057 meters 0.028270129038748308 Centerline is valid? [True, True] Translation: X:178.63, Y:-21.97, Z:-11.84 [[ 9.94872111e-01 8.63241954e-02 5.27031004e-02 1.78629453e+02] [-8.60739053e-02 9.96264130e-01 -7.00474067e-03 -2.19684645e+01] [-5.31108870e-02 2.43245946e-03 9.98585658e-01 -1.18443740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.700714057 meters 0.028215480120631704 Centerline is valid? [True, True] Translation: X:178.69, Y:-21.98, Z:-11.85 [[ 9.94649679e-01 8.72777780e-02 5.52684785e-02 1.78688024e+02] [-8.70040687e-02 9.96180887e-01 -7.34388307e-03 -2.19764594e+01] [-5.56983597e-02 2.49600844e-03 9.98444522e-01 -1.18453743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.760714057 meters 0.029402229892595524 Centerline is valid? [True, True] Translation: X:178.74, Y:-21.99, Z:-11.85 [[ 9.94453320e-01 8.79696011e-02 5.76536565e-02 1.78744445e+02] [-8.76731360e-02 9.96119872e-01 -7.65652265e-03 -2.19869855e+01] [-5.81034941e-02 2.55937750e-03 9.98307284e-01 -1.18488496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.820714057 meters 0.028230596944590437 Centerline is valid? [True, True] Translation: X:178.80, Y:-21.99, Z:-11.85 [[ 9.94526956e-01 8.66760803e-02 5.83385905e-02 1.78803183e+02] [-8.63706169e-02 9.96232993e-01 -7.74211794e-03 -2.19923999e+01] [-5.87898851e-02 2.66100493e-03 9.98266832e-01 -1.18514074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.880714057 meters 0.030035317301379878 Centerline is valid? [True, True] Translation: X:178.86, Y:-22.01, Z:-11.86 [[ 9.94835733e-01 8.28738323e-02 5.85985626e-02 1.78862110e+02] [-8.25593323e-02 9.96555845e-01 -7.77200166e-03 -2.20059752e+01] [-5.90408356e-02 2.89400677e-03 9.98251373e-01 -1.18556210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.940714057 meters 0.029948395380820697 Centerline is valid? [True, True] Translation: X:178.92, Y:-22.02, Z:-11.86 [[ 9.95199410e-01 7.92210853e-02 5.74643800e-02 1.78921821e+02] [-7.89126544e-02 9.96852407e-01 -7.62041653e-03 -2.20158221e+01] [-5.78872032e-02 3.04916727e-03 9.98318473e-01 -1.18599481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.000714057 meters 0.0359282152203265 Centerline is valid? [True, True] Translation: X:178.98, Y:-22.04, Z:-11.87 [[ 9.95719618e-01 7.41091205e-02 5.52293486e-02 1.78978566e+02] [-7.38163981e-02 9.97244953e-01 -7.32419606e-03 -2.20363828e+01] [-5.56199788e-02 3.21601412e-03 9.98446831e-01 -1.18662658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.060714057 meters 0.03927725307431446 Centerline is valid? [True, True] Translation: X:179.04, Y:-22.05, Z:-11.87 [[ 9.96148861e-01 7.01659605e-02 5.25755089e-02 1.79035669e+02] [-6.98953041e-02 9.97529973e-01 -6.97132625e-03 -2.20526118e+01] [-5.29347958e-02 3.26969752e-03 9.98592618e-01 -1.18731195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12071405700001 meters 0.03310564846751726 Centerline is valid? [True, True] Translation: X:179.10, Y:-22.05, Z:-11.88 [[ 9.96346035e-01 6.88669945e-02 5.05164808e-02 1.79095377e+02] [-6.86155066e-02 9.97620695e-01 -6.69783307e-03 -2.20524212e+01] [-5.08575463e-02 3.20714550e-03 9.98700768e-01 -1.18754013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18071405700002 meters 0.03293362097093026 Centerline is valid? [True, True] Translation: X:179.15, Y:-22.06, Z:-11.88 [[ 9.96291797e-01 6.93980430e-02 5.08583008e-02 1.79154111e+02] [-6.91439590e-02 9.97583920e-01 -6.74054365e-03 -2.20586305e+01] [-5.12032036e-02 3.19900408e-03 9.98683132e-01 -1.18783012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24071405700002 meters 0.034103860817907554 Centerline is valid? [True, True] Translation: X:179.21, Y:-22.07, Z:-11.88 [[ 9.96089203e-01 7.00428346e-02 5.38544474e-02 1.79211605e+02] [-6.97590659e-02 9.97538364e-01 -7.13334370e-03 -2.20686481e+01] [-5.42215170e-02 3.34861069e-03 9.98523317e-01 -1.18808237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.300714057 meters 0.03361387996911029 Centerline is valid? [True, True] Translation: X:179.27, Y:-22.07, Z:-11.88 [[ 9.96141939e-01 6.83593264e-02 5.50294445e-02 1.79271062e+02] [-6.80607149e-02 9.97654587e-01 -7.28451899e-03 -2.20746483e+01] [-5.53983425e-02 3.51107154e-03 9.98458159e-01 -1.18825805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.360714057 meters 0.03674566534503854 Centerline is valid? [True, True] Translation: X:179.33, Y:-22.09, Z:-11.89 [[ 9.96575412e-01 6.24279770e-02 5.42235701e-02 1.79330281e+02] [-6.21294430e-02 9.98042305e-01 -7.17560378e-03 -2.20868194e+01] [-5.45653753e-02 3.78215009e-03 9.98503037e-01 -1.18858729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.420714057 meters 0.041291826214253646 Centerline is valid? [True, True] Translation: X:179.39, Y:-22.10, Z:-11.89 [[ 9.97020341e-01 5.63127560e-02 5.27191955e-02 1.79387972e+02] [-5.60220989e-02 9.98405158e-01 -6.97609047e-03 -2.21032470e+01] [-5.30279596e-02 4.00186411e-03 9.98585009e-01 -1.18917900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.480714057 meters 0.04471049455616198 Centerline is valid? [True, True] Translation: X:179.45, Y:-22.12, Z:-11.90 [[ 9.97212173e-01 5.34696825e-02 5.20468577e-02 1.79447413e+02] [-5.31826073e-02 9.98561061e-01 -6.88609149e-03 -2.21153941e+01] [-5.23401626e-02 4.09890666e-03 9.98620902e-01 -1.18952815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.540714057 meters 0.04367137225381964 Centerline is valid? [True, True] Translation: X:179.51, Y:-22.12, Z:-11.90 [[ 9.97131733e-01 5.53136551e-02 5.16595176e-02 1.79508988e+02] [-5.50333101e-02 9.98461127e-01 -6.83464554e-03 -2.21208729e+01] [-5.19580694e-02 3.97204770e-03 9.98641368e-01 -1.18993734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.600714057 meters 0.04410760546149781 Centerline is valid? [True, True] Translation: X:179.57, Y:-22.13, Z:-11.90 [[ 9.96998079e-01 5.94805963e-02 4.95670090e-02 1.79568012e+02] [-5.92274669e-02 9.98222949e-01 -6.56132990e-03 -2.21265265e+01] [-4.98691977e-02 3.60590492e-03 9.98749248e-01 -1.19045321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.660714057 meters 0.04379506202757025 Centerline is valid? [True, True] Translation: X:179.63, Y:-22.13, Z:-11.91 [[ 9.96744631e-01 6.35292199e-02 4.96404921e-02 1.79626999e+02] [-6.32803686e-02 9.97974161e-01 -6.57028648e-03 -2.21303851e+01] [-4.99573337e-02 3.40762914e-03 9.98745540e-01 -1.19072971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.720714057 meters 0.04351696658504062 Centerline is valid? [True, True] Translation: X:179.69, Y:-22.14, Z:-11.91 [[ 9.96514388e-01 6.54645843e-02 5.17055437e-02 1.79686606e+02] [-6.51972232e-02 9.97848938e-01 -6.84249568e-03 -2.21369011e+01] [-5.20422629e-02 3.44758753e-03 9.98638932e-01 -1.19095905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.780714057 meters 0.03575844172197888 Centerline is valid? [True, True] Translation: X:179.75, Y:-22.13, Z:-11.91 [[ 9.96465914e-01 6.58325932e-02 5.21704156e-02 1.79746455e+02] [-6.55609101e-02 9.97824686e-01 -6.90380493e-03 -2.21326993e+01] [-5.25114239e-02 3.45906636e-03 9.98614333e-01 -1.19113228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.840714057 meters 0.03473667460057673 Centerline is valid? [True, True] Translation: X:179.80, Y:-22.14, Z:-11.92 [[ 9.96573384e-01 6.52074641e-02 5.08868984e-02 1.79804952e+02] [-6.49483721e-02 9.97865928e-01 -6.73037156e-03 -2.21382024e+01] [-5.12171726e-02 3.40228795e-03 9.98681744e-01 -1.19154979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90071405700002 meters 0.036234728846366505 Centerline is valid? [True, True] Translation: X:179.86, Y:-22.15, Z:-11.92 [[ 9.96698047e-01 6.42463139e-02 4.96529399e-02 1.79862738e+02] [-6.39986567e-02 9.97928402e-01 -6.56326100e-03 -2.21482614e+01] [-4.99717443e-02 3.36386797e-03 9.98744967e-01 -1.19206510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96071405700002 meters 0.041296377641320096 Centerline is valid? [True, True] Translation: X:179.92, Y:-22.16, Z:-11.93 [[ 9.96723330e-01 6.32952122e-02 5.03618930e-02 1.79919299e+02] [-6.30393798e-02 9.97988860e-01 -6.65376463e-03 -2.21634774e+01] [-5.06817596e-02 3.45717993e-03 9.98708870e-01 -1.19253710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02071405700002 meters 0.034521917796562294 Centerline is valid? [True, True] Translation: X:179.98, Y:-22.16, Z:-11.93 [[ 9.96662334e-01 6.40498782e-02 5.06142830e-02 1.79978624e+02] [-6.37924141e-02 9.97940782e-01 -6.68762175e-03 -2.21614170e+01] [-5.09383985e-02 3.43649339e-03 9.98695885e-01 -1.19263985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.080714057 meters 0.03653769166146801 Centerline is valid? [True, True] Translation: X:180.04, Y:-22.17, Z:-11.93 [[ 9.96580123e-01 6.59234821e-02 4.98212113e-02 1.80036211e+02] [-6.56765573e-02 9.97819276e-01 -6.57891698e-03 -2.21722221e+01] [-5.01462701e-02 3.28433225e-03 9.98736484e-01 -1.19312003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.140714057 meters 0.032948834840451656 Centerline is valid? [True, True] Translation: X:180.10, Y:-22.18, Z:-11.93 [[ 9.96400029e-01 6.80887487e-02 5.05064746e-02 1.80096054e+02] [-6.78379140e-02 9.97674085e-01 -6.66608783e-03 -2.21766182e+01] [-5.08428864e-02 3.21583624e-03 9.98701487e-01 -1.19345759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.200714057 meters 0.03356315138264741 Centerline is valid? [True, True] Translation: X:180.15, Y:-22.19, Z:-11.94 [[ 9.96286794e-01 6.98905772e-02 5.02785434e-02 1.80153524e+02] [-6.96442964e-02 9.97549817e-01 -6.63582769e-03 -2.21855427e+01] [-5.06191336e-02 3.10957371e-03 9.98713189e-01 -1.19388275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.260714057 meters 0.03954418161375808 Centerline is valid? [True, True] Translation: X:180.21, Y:-22.20, Z:-11.94 [[ 9.96220274e-01 7.03775821e-02 5.09132836e-02 1.80209745e+02] [-7.01258536e-02 9.97515544e-01 -6.71602705e-03 -2.22022678e+01] [-5.12594495e-02 3.12030484e-03 9.98680496e-01 -1.19439292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.320714057 meters 0.03576207843313996 Centerline is valid? [True, True] Translation: X:180.27, Y:-22.21, Z:-11.95 [[ 9.96467780e-01 6.75126535e-02 4.99400189e-02 1.80269582e+02] [-6.72671535e-02 9.97713287e-01 -6.58230321e-03 -2.22082406e+01] [-5.02702092e-02 3.19973014e-03 9.98730528e-01 -1.19473741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.380714057 meters 0.03565870398465954 Centerline is valid? [True, True] Translation: X:180.33, Y:-22.22, Z:-11.95 [[ 9.96679956e-01 6.49117505e-02 4.91480314e-02 1.80328875e+02] [-6.46708936e-02 9.97885628e-01 -6.47675037e-03 -2.22182310e+01] [-4.94645314e-02 3.27680016e-03 9.98770506e-01 -1.19513264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.440714057 meters 0.037976512600500965 Centerline is valid? [True, True] Translation: X:180.39, Y:-22.23, Z:-11.96 [[ 9.96774481e-01 6.31432831e-02 4.95334256e-02 1.80386241e+02] [-6.28964773e-02 9.97998712e-01 -6.52714233e-03 -2.22317238e+01] [-4.98464402e-02 3.39061093e-03 9.98751138e-01 -1.19559870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.500714057 meters 0.03744275006864464 Centerline is valid? [True, True] Translation: X:180.44, Y:-22.24, Z:-11.96 [[ 9.96736290e-01 6.30254169e-02 5.04436837e-02 1.80444458e+02] [-6.27694269e-02 9.98005936e-01 -6.64452949e-03 -2.22402227e+01] [-5.07618701e-02 3.45652255e-03 9.98704804e-01 -1.19582843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.560714057 meters 0.04012988357461754 Centerline is valid? [True, True] Translation: X:180.50, Y:-22.25, Z:-11.96 [[ 9.96732116e-01 6.41729756e-02 4.90603455e-02 1.80501712e+02] [-6.39324326e-02 9.97933332e-01 -6.45822045e-03 -2.22509780e+01] [-4.93733973e-02 3.30056850e-03 9.98774937e-01 -1.19628305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62071405700001 meters 0.04145263162004715 Centerline is valid? [True, True] Translation: X:180.56, Y:-22.26, Z:-11.97 [[ 9.96681513e-01 6.52627401e-02 4.86491215e-02 1.80560258e+02] [-6.50275648e-02 9.97862926e-01 -6.40293314e-03 -2.22607994e+01] [-4.89630276e-02 3.21815118e-03 9.98795407e-01 -1.19666901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68071405700002 meters 0.03922898643747523 Centerline is valid? [True, True] Translation: X:180.62, Y:-22.27, Z:-11.97 [[ 9.96646210e-01 6.52551986e-02 4.93770342e-02 1.80618749e+02] [-6.50129758e-02 9.97863265e-01 -6.49754687e-03 -2.22654650e+01] [-4.96955273e-02 3.26560753e-03 9.98759075e-01 -1.19685234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74071405700002 meters 0.042185132478030365 Centerline is valid? [True, True] Translation: X:180.68, Y:-22.28, Z:-11.97 [[ 9.96667965e-01 6.46100542e-02 4.97846211e-02 1.80675430e+02] [-6.43632364e-02 9.97905063e-01 -6.54668827e-03 -2.22788758e+01] [-5.01033074e-02 3.32057514e-03 9.98738521e-01 -1.19741226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.800714057 meters 0.04181598169621016 Centerline is valid? [True, True] Translation: X:180.73, Y:-22.29, Z:-11.98 [[ 9.96706620e-01 6.43330830e-02 4.93676920e-02 1.80733883e+02] [-6.40900079e-02 9.97923001e-01 -6.49266917e-03 -2.22861549e+01] [-4.96828488e-02 3.30731057e-03 9.98759569e-01 -1.19777626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.860714057 meters 0.041403501904309026 Centerline is valid? [True, True] Translation: X:180.79, Y:-22.29, Z:-11.98 [[ 9.96522570e-01 6.64966379e-02 5.02092088e-02 1.80793741e+02] [-6.62481280e-02 9.97781356e-01 -6.59940148e-03 -2.22920034e+01] [-5.05366505e-02 3.25018644e-03 9.98716918e-01 -1.19803570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.920714057 meters 0.04190116542382736 Centerline is valid? [True, True] Translation: X:180.85, Y:-22.30, Z:-11.98 [[ 9.96264499e-01 6.96992176e-02 5.09810387e-02 1.80852571e+02] [-6.94472781e-02 9.97563132e-01 -6.69880498e-03 -2.22999601e+01] [-5.13237061e-02 3.13328721e-03 9.98677155e-01 -1.19832146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.980714057 meters 0.033117863939388155 Centerline is valid? [True, True] Translation: X:180.91, Y:-22.29, Z:-11.98 [[ 9.96243030e-01 7.08583233e-02 4.97887903e-02 1.80913043e+02] [-7.06195229e-02 9.97481876e-01 -6.54134928e-03 -2.22945949e+01] [-5.01269250e-02 3.00071301e-03 9.98738348e-01 -1.19849370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.040714057 meters 0.0324381871716518 Centerline is valid? [True, True] Translation: X:180.97, Y:-22.30, Z:-11.99 [[ 9.96279318e-01 7.10359256e-02 4.87997766e-02 1.80971089e+02] [-7.08068548e-02 9.97469455e-01 -6.40906489e-03 -2.23024578e+01] [-4.91315604e-02 2.92986010e-03 9.98788018e-01 -1.19894238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.100714057 meters 0.0340722484157461 Centerline is valid? [True, True] Translation: X:181.03, Y:-22.31, Z:-11.99 [[ 9.96445245e-01 6.97139363e-02 4.72952442e-02 1.81029313e+02] [-6.94974911e-02 9.97562813e-01 -6.20751386e-03 -2.23138063e+01] [-4.76127271e-02 2.89854686e-03 9.98861665e-01 -1.19944777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.160714057 meters 0.035583602837070905 Centerline is valid? [True, True] Translation: X:181.09, Y:-22.32, Z:-12.00 [[ 9.96563718e-01 6.84789887e-02 4.65981209e-02 1.81087883e+02] [-6.82676163e-02 9.97648308e-01 -6.11436148e-03 -2.23245209e+01] [-4.69072418e-02 2.91220817e-03 9.98895004e-01 -1.19974675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.220714057 meters 0.035598664962099735 Centerline is valid? [True, True] Translation: X:181.15, Y:-22.33, Z:-12.00 [[ 9.96662965e-01 6.71221036e-02 4.64495216e-02 1.81145509e+02] [-6.69106445e-02 9.97740360e-01 -6.09415316e-03 -2.23329845e+01] [-4.67536148e-02 2.96584933e-03 9.98902049e-01 -1.20002212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.280714057 meters 0.03934855661066912 Centerline is valid? [True, True] Translation: X:181.20, Y:-22.35, Z:-12.01 [[ 9.96730346e-01 6.66577687e-02 4.56657320e-02 1.81201278e+02] [-6.64530744e-02 9.97771585e-01 -5.98767894e-03 -2.23465908e+01] [-4.59630952e-02 2.93347301e-03 9.98938831e-01 -1.20051591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.340714057 meters 0.03711123811212522 Centerline is valid? [True, True] Translation: X:181.26, Y:-22.35, Z:-12.00 [[ 9.96741028e-01 6.55108681e-02 4.70706882e-02 1.81260333e+02] [-6.52923751e-02 9.97847125e-01 -6.16609628e-03 -2.23512865e+01] [-4.73732972e-02 3.07264411e-03 9.98872529e-01 -1.20049945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40071405700002 meters 0.037294433742616755 Centerline is valid? [True, True] Translation: X:181.32, Y:-22.36, Z:-12.01 [[ 9.96887877e-01 6.19280564e-02 4.87798834e-02 1.81319783e+02] [-6.16893415e-02 9.98074972e-01 -6.38555294e-03 -2.23608501e+01] [-4.90814256e-02 3.35648143e-03 9.98789141e-01 -1.20067930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46071405700002 meters 0.0400827482080745 Centerline is valid? [True, True] Translation: X:181.38, Y:-22.37, Z:-12.01 [[ 9.97113031e-01 5.91168279e-02 4.76529602e-02 1.81377656e+02] [-5.88858588e-02 9.98245235e-01 -6.23748555e-03 -2.23738848e+01] [-4.79380808e-02 3.41339264e-03 9.98844477e-01 -1.20119424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52071405700002 meters 0.04018836683850266 Centerline is valid? [True, True] Translation: X:181.44, Y:-22.38, Z:-12.02 [[ 9.97326118e-01 5.74424080e-02 4.51772577e-02 1.81436827e+02] [-5.72332204e-02 9.98343335e-01 -5.91137305e-03 -2.23821056e+01] [-4.54419776e-02 3.30992678e-03 9.98961496e-01 -1.20159944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.580714057 meters 0.04487633702156015 Centerline is valid? [True, True] Translation: X:181.49, Y:-22.40, Z:-12.02 [[ 9.97378762e-01 5.70983250e-02 4.44453123e-02 1.81493996e+02] [-5.68954966e-02 9.98363197e-01 -5.81627755e-03 -2.23958824e+01] [-4.47046638e-02 3.27229359e-03 9.98994887e-01 -1.20212186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.640714057 meters 0.04336683600809721 Centerline is valid? [True, True] Translation: X:181.55, Y:-22.40, Z:-12.03 [[ 9.97425597e-01 5.72235322e-02 4.32162747e-02 1.81553263e+02] [-5.70320035e-02 9.98356347e-01 -5.65288194e-03 -2.24011158e+01] [-4.34687200e-02 3.17361841e-03 9.99049748e-01 -1.20252377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.700714057 meters 0.047282184831334964 Centerline is valid? [True, True] Translation: X:181.61, Y:-22.41, Z:-12.03 [[ 9.97357752e-01 5.76453837e-02 4.42099946e-02 1.81610591e+02] [-5.74454061e-02 9.98331908e-01 -5.78160623e-03 -2.24122789e+01] [-4.44695311e-02 3.22666870e-03 9.99005530e-01 -1.20286790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.760714057 meters 0.03708012110903783 Centerline is valid? [True, True] Translation: X:181.67, Y:-22.40, Z:-12.03 [[ 9.97353902e-01 5.71916614e-02 4.48810416e-02 1.81671341e+02] [-5.69851904e-02 9.98357782e-01 -5.86747190e-03 -2.24046025e+01] [-4.51429076e-02 3.29439130e-03 9.98975107e-01 -1.20272343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.820714057 meters 0.04411968981989762 Centerline is valid? [True, True] Translation: X:181.73, Y:-22.42, Z:-12.03 [[ 9.97447960e-01 5.47675866e-02 4.58047896e-02 1.81728432e+02] [-5.45501745e-02 9.98493100e-01 -5.98402574e-03 -2.24224232e+01] [-4.60634970e-02 3.47009501e-03 9.98932487e-01 -1.20328460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.880714057 meters 0.04011554229163964 Centerline is valid? [True, True] Translation: X:181.79, Y:-22.43, Z:-12.04 [[ 9.97666800e-01 5.18101859e-02 4.44596530e-02 1.81788688e+02] [-5.16025418e-02 9.98650823e-01 -5.80620873e-03 -2.24257356e+01] [-4.47004898e-02 3.49843058e-03 9.98994308e-01 -1.20363289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.940714057 meters 0.03912764808073836 Centerline is valid? [True, True] Translation: X:181.85, Y:-22.43, Z:-12.04 [[ 9.97844636e-01 5.01683296e-02 4.22991825e-02 1.81847881e+02] [-4.99789349e-02 9.98734996e-01 -5.52385237e-03 -2.24337176e+01] [-4.25227963e-02 3.39787837e-03 9.99089719e-01 -1.20418519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.000714057 meters 0.04238903055971876 Centerline is valid? [True, True] Translation: X:181.91, Y:-22.45, Z:-12.05 [[ 9.97836233e-01 5.05189658e-02 4.20795160e-02 1.81905790e+02] [-5.03318603e-02 9.98717433e-01 -5.49478609e-03 -2.24459723e+01] [-4.23031371e-02 3.36495634e-03 9.99099155e-01 -1.20465434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.060714057 meters 0.04018618950009003 Centerline is valid? [True, True] Translation: X:181.97, Y:-22.45, Z:-12.05 [[ 9.97724481e-01 5.14377617e-02 4.35891806e-02 1.81965231e+02] [-5.12379228e-02 9.98670264e-01 -5.69024678e-03 -2.24505615e+01] [-4.38239120e-02 3.44387945e-03 9.99033335e-01 -1.20485932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12071405700001 meters 0.03977369205901439 Centerline is valid? [True, True] Translation: X:182.03, Y:-22.46, Z:-12.05 [[ 9.97480064e-01 5.43428318e-02 4.56111722e-02 1.82025051e+02] [-5.41271322e-02 9.98516314e-01 -5.95180496e-03 -2.24570870e+01] [-4.58669375e-02 3.46800484e-03 9.98941538e-01 -1.20522145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18071405700002 meters 0.04016403527970688 Centerline is valid? [True, True] Translation: X:182.08, Y:-22.46, Z:-12.06 [[ 9.97314125e-01 5.74658084e-02 4.54116444e-02 1.82083956e+02] [-5.72551973e-02 9.98341988e-01 -5.92606733e-03 -2.24629191e+01] [-4.56768976e-02 3.31009799e-03 9.98950782e-01 -1.20564608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24071405700002 meters 0.0399864522847271 Centerline is valid? [True, True] Translation: X:182.14, Y:-22.47, Z:-12.06 [[ 9.97085682e-01 6.08130609e-02 4.60642467e-02 1.82143544e+02] [-6.05999811e-02 9.98144042e-01 -6.00945246e-03 -2.24687855e+01] [-4.63442066e-02 3.20044652e-03 9.98920403e-01 -1.20600756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.300714057 meters 0.0395445230252613 Centerline is valid? [True, True] Translation: X:182.20, Y:-22.47, Z:-12.06 [[ 9.96710278e-01 6.50299085e-02 4.83707807e-02 1.82202409e+02] [-6.47998700e-02 9.97878327e-01 -6.31041770e-03 -2.24738577e+01] [-4.86785196e-02 3.15523788e-03 9.98809514e-01 -1.20623825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.360714057 meters 0.039491712641663096 Centerline is valid? [True, True] Translation: X:182.26, Y:-22.48, Z:-12.07 [[ 9.96546171e-01 6.76413143e-02 4.81703464e-02 1.82261685e+02] [-6.74162528e-02 9.97705150e-01 -6.28351522e-03 -2.24798396e+01] [-4.84848279e-02 3.01434879e-03 9.98819371e-01 -1.20671193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.420714057 meters 0.04012868357254673 Centerline is valid? [True, True] Translation: X:182.32, Y:-22.49, Z:-12.07 [[ 9.96474650e-01 6.91007489e-02 4.75747742e-02 1.82318727e+02] [-6.88829161e-02 9.97605454e-01 -6.20505904e-03 -2.24869257e+01] [-4.78896284e-02 2.90609486e-03 9.98848406e-01 -1.20725812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.480714057 meters 0.03545809860446744 Centerline is valid? [True, True] Translation: X:182.38, Y:-22.49, Z:-12.07 [[ 9.96446013e-01 6.88846455e-02 4.84793686e-02 1.82377953e+02] [-6.86584032e-02 9.97620218e-01 -6.31862407e-03 -2.24877103e+01] [-4.87992544e-02 2.96765173e-03 9.98804198e-01 -1.20744203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.540714057 meters 0.03534050072186916 Centerline is valid? [True, True] Translation: X:182.44, Y:-22.50, Z:-12.08 [[ 9.96505488e-01 6.74514844e-02 4.92656967e-02 1.82435704e+02] [-6.72162580e-02 9.97717789e-01 -6.41776855e-03 -2.24952507e+01] [-4.95861500e-02 3.08388580e-03 9.98765089e-01 -1.20778663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.600714057 meters 0.03670270943295292 Centerline is valid? [True, True] Translation: X:182.49, Y:-22.51, Z:-12.08 [[ 9.96668814e-01 6.53056065e-02 4.88513435e-02 1.82494262e+02] [-6.50720147e-02 9.97860312e-01 -6.35858002e-03 -2.25060042e+01] [-4.91620677e-02 3.15854307e-03 9.98785820e-01 -1.20828886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.660714057 meters 0.03789198140524069 Centerline is valid? [True, True] Translation: X:182.55, Y:-22.52, Z:-12.09 [[ 9.96861344e-01 6.21553932e-02 4.90323131e-02 1.82553258e+02] [-6.19163731e-02 9.98060948e-01 -6.38011547e-03 -2.25163998e+01] [-4.93337955e-02 3.32418749e-03 9.98776815e-01 -1.20874399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.720714057 meters 0.035984707695498615 Centerline is valid? [True, True] Translation: X:182.61, Y:-22.52, Z:-12.09 [[ 9.96910423e-01 6.06827757e-02 4.98719203e-02 1.82612560e+02] [-6.04336900e-02 9.98151124e-01 -6.48872682e-03 -2.25216507e+01] [-5.01734672e-02 3.45473524e-03 9.98734543e-01 -1.20903147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.780714057 meters 0.042320234416147386 Centerline is valid? [True, True] Translation: X:182.67, Y:-22.54, Z:-12.09 [[ 9.96844836e-01 6.01199894e-02 5.18262507e-02 1.82669371e+02] [-5.98503126e-02 9.98184600e-01 -6.74122768e-03 -2.25385680e+01] [-5.21374479e-02 3.61814069e-03 9.98633364e-01 -1.20941777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.840714057 meters 0.037752450916388965 Centerline is valid? [True, True] Translation: X:182.73, Y:-22.54, Z:-12.10 [[ 9.96759523e-01 6.14989225e-02 5.18491730e-02 1.82729069e+02] [-6.12310200e-02 9.98100856e-01 -6.74118500e-03 -2.25394987e+01] [-5.21652795e-02 3.54456259e-03 9.98632174e-01 -1.20976236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90071405700002 meters 0.03581727523826956 Centerline is valid? [True, True] Translation: X:182.79, Y:-22.54, Z:-12.10 [[ 9.96431405e-01 6.59814574e-02 5.26393574e-02 1.82789227e+02] [-6.57116610e-02 9.97815198e-01 -6.84161541e-03 -2.25421094e+01] [-5.29757706e-02 3.35818085e-03 9.98590151e-01 -1.21012477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96071405700002 meters 0.03164269670703676 Centerline is valid? [True, True] Translation: X:182.85, Y:-22.54, Z:-12.10 [[ 9.96039673e-01 7.16053664e-02 5.27033347e-02 1.82850558e+02] [-7.13427523e-02 9.97428339e-01 -6.84985111e-03 -2.25404074e+01] [-5.30582857e-02 3.06272250e-03 9.98586720e-01 -1.21037434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02071405700002 meters 0.030609126644208878 Centerline is valid? [True, True] Translation: X:182.91, Y:-22.54, Z:-12.11 [[ 9.95640865e-01 7.60871000e-02 5.39446060e-02 1.82910425e+02] [-7.58185148e-02 9.97096986e-01 -7.01101420e-03 -2.25443835e+01] [-5.43214518e-02 2.89045234e-03 9.98519316e-01 -1.21080029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.080714057 meters 0.029519478125886546 Centerline is valid? [True, True] Translation: X:182.97, Y:-22.55, Z:-12.11 [[ 9.95369246e-01 7.98131385e-02 5.35716973e-02 1.82970508e+02] [-7.95536374e-02 9.96806271e-01 -6.96249770e-03 -2.25478131e+01] [-5.39563026e-02 2.66843271e-03 9.98539732e-01 -1.21125008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.140714057 meters 0.02918266840588118 Centerline is valid? [True, True] Translation: X:183.03, Y:-22.55, Z:-12.12 [[ 9.95173675e-01 8.23998704e-02 5.32880634e-02 1.83029533e+02] [-8.21468506e-02 9.96596178e-01 -6.92486469e-03 -2.25533929e+01] [-5.36772883e-02 2.51399645e-03 9.98555171e-01 -1.21172916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.200714057 meters 0.02859310197576248 Centerline is valid? [True, True] Translation: X:183.09, Y:-22.56, Z:-12.12 [[ 9.95130785e-01 8.32035610e-02 5.28383211e-02 1.83087724e+02] [-8.29560065e-02 9.96529565e-01 -6.86495360e-03 -2.25599311e+01] [-5.32261377e-02 2.44827056e-03 9.98579483e-01 -1.21212659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.260714057 meters 0.02897608516392816 Centerline is valid? [True, True] Translation: X:183.15, Y:-22.57, Z:-12.12 [[ 9.95190405e-01 8.23976261e-02 5.29781980e-02 1.83145617e+02] [-8.21478264e-02 9.96596413e-01 -6.87924389e-03 -2.25666133e+01] [-5.33647155e-02 2.49411370e-03 9.98571974e-01 -1.21248973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.320714057 meters 0.029051501100809746 Centerline is valid? [True, True] Translation: X:183.20, Y:-22.57, Z:-12.13 [[ 9.95334383e-01 8.05420060e-02 5.31267536e-02 1.83204290e+02] [-8.02883961e-02 9.96747833e-01 -6.89424335e-03 -2.25748841e+01] [-5.35092527e-02 2.59661561e-03 9.98563978e-01 -1.21294930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.380714057 meters 0.030988231964690985 Centerline is valid? [True, True] Translation: X:183.26, Y:-22.59, Z:-12.13 [[ 9.95610316e-01 7.71892995e-02 5.29330733e-02 1.83262313e+02] [-7.69329166e-02 9.97012622e-01 -6.86717179e-03 -2.25861155e+01] [-5.33050144e-02 2.76473136e-03 9.98574450e-01 -1.21329544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.440714057 meters 0.033485350679592296 Centerline is valid? [True, True] Translation: X:183.32, Y:-22.60, Z:-12.14 [[ 9.95879560e-01 7.38110150e-02 5.26862037e-02 1.83320660e+02] [-7.35524202e-02 9.97267943e-01 -6.83304780e-03 -2.25983359e+01] [-5.30466162e-02 2.92969484e-03 9.98587739e-01 -1.21377125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.500714057 meters 0.03637428525072856 Centerline is valid? [True, True] Translation: X:183.38, Y:-22.61, Z:-12.14 [[ 9.96179529e-01 6.97664046e-02 5.25261256e-02 1.83378841e+02] [-6.95038249e-02 9.97558431e-01 -6.81141982e-03 -2.26112003e+01] [-5.28730877e-02 3.13463035e-03 9.98596320e-01 -1.21427096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.560714057 meters 0.0395732507312343 Centerline is valid? [True, True] Translation: X:183.44, Y:-22.62, Z:-12.15 [[ 9.96427675e-01 6.55015152e-02 5.33051590e-02 1.83437820e+02] [-6.52250798e-02 9.97846645e-01 -6.91101074e-03 -2.26244929e+01] [-5.36430557e-02 3.40948912e-03 9.98554354e-01 -1.21463483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62071405700001 meters 0.04207322783359782 Centerline is valid? [True, True] Translation: X:183.50, Y:-22.64, Z:-12.15 [[ 9.96525686e-01 6.30624691e-02 5.44029701e-02 1.83495710e+02] [-6.27709121e-02 9.98003039e-01 -7.05310065e-03 -2.26352887e+01] [-5.47391154e-02 3.61367191e-03 9.98494152e-01 -1.21499860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68071405700002 meters 0.04402082539296369 Centerline is valid? [True, True] Translation: X:183.55, Y:-22.65, Z:-12.15 [[ 9.96473495e-01 6.23155245e-02 5.61902889e-02 1.83553362e+02] [-6.20032649e-02 9.98049358e-01 -7.28522798e-03 -2.26459663e+01] [-5.65346646e-02 3.77555522e-03 9.98393498e-01 -1.21534155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74071405700002 meters 0.04728743100252624 Centerline is valid? [True, True] Translation: X:183.61, Y:-22.66, Z:-12.16 [[ 9.96552880e-01 6.08321546e-02 5.64075106e-02 1.83611398e+02] [-6.05152851e-02 9.98140501e-01 -7.31029767e-03 -2.26583192e+01] [-5.67473220e-02 3.87158161e-03 9.98381066e-01 -1.21582491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.800714057 meters 0.049785153557845116 Centerline is valid? [True, True] Translation: X:183.67, Y:-22.67, Z:-12.16 [[ 9.96750867e-01 5.82972865e-02 5.55799964e-02 1.83670762e+02] [-5.79858046e-02 9.98291430e-01 -7.20188101e-03 -2.26706383e+01] [-5.59048842e-02 3.95563033e-03 9.98428263e-01 -1.21643693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.860714057 meters 0.053998987722831404 Centerline is valid? [True, True] Translation: X:183.73, Y:-22.68, Z:-12.17 [[ 9.97032656e-01 5.44289354e-02 5.44368766e-02 1.83728386e+02] [-5.41243877e-02 9.98509282e-01 -7.05432084e-03 -2.26842636e+01] [-5.47396858e-02 4.08702563e-03 9.98492295e-01 -1.21691332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.920714057 meters 0.05723802606112693 Centerline is valid? [True, True] Translation: X:183.79, Y:-22.70, Z:-12.17 [[ 9.97167395e-01 5.15695782e-02 5.47518558e-02 1.83787584e+02] [-5.12570442e-02 9.98660269e-01 -7.09812668e-03 -2.26972783e+01] [-5.50445504e-02 4.27160220e-03 9.98474762e-01 -1.21728956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.980714057 meters 0.03832241029086147 Centerline is valid? [True, True] Translation: X:183.85, Y:-22.68, Z:-12.17 [[ 9.97253831e-01 5.13545783e-02 5.33620034e-02 1.83852523e+02] [-5.10575642e-02 9.98671770e-01 -6.91533448e-03 -2.26794617e+01] [-5.36462604e-02 4.17180990e-03 9.98551288e-01 -1.21742299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.040714057 meters 0.041591027807226295 Centerline is valid? [True, True] Translation: X:183.91, Y:-22.69, Z:-12.18 [[ 9.97239924e-01 5.30184372e-02 5.19767238e-02 1.83912137e+02] [-5.27380594e-02 9.98585553e-01 -6.75200613e-03 -2.26894308e+01] [-5.22611863e-02 3.99221854e-03 9.98625471e-01 -1.21793652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.100714057 meters 0.037663430408931754 Centerline is valid? [True, True] Translation: X:183.97, Y:-22.69, Z:-12.18 [[ 9.97146786e-01 5.47230085e-02 5.19969168e-02 1.83973369e+02] [-5.44446649e-02 9.98493936e-01 -6.75558404e-03 -2.26900860e+01] [-5.22882920e-02 3.90535420e-03 9.98624395e-01 -1.21816874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.160714057 meters 0.03953533654145321 Centerline is valid? [True, True] Translation: X:184.03, Y:-22.70, Z:-12.19 [[ 9.97080211e-01 5.53299511e-02 5.26274615e-02 1.84032593e+02] [-5.50455773e-02 9.98460422e-01 -6.83883435e-03 -2.26997037e+01] [-5.29248298e-02 3.92195740e-03 9.98590797e-01 -1.21850241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.220714057 meters 0.04067535026885056 Centerline is valid? [True, True] Translation: X:184.09, Y:-22.71, Z:-12.19 [[ 9.96941134e-01 5.65499330e-02 5.39488615e-02 1.84092749e+02] [-5.62528562e-02 9.98391941e-01 -7.01054767e-03 -2.27072328e+01] [-5.42585546e-02 3.95432579e-03 9.98519090e-01 -1.21885854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.280714057 meters 0.040195238894047525 Centerline is valid? [True, True] Translation: X:184.15, Y:-22.71, Z:-12.19 [[ 9.96941654e-01 5.73039290e-02 5.31375496e-02 1.84152825e+02] [-5.70167957e-02 9.98349340e-01 -6.90511929e-03 -2.27136352e+01] [-5.34455280e-02 3.85426823e-03 9.98563328e-01 -1.21935077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.340714057 meters 0.038015545243661776 Centerline is valid? [True, True] Translation: X:184.21, Y:-22.72, Z:-12.20 [[ 9.97197654e-01 5.47888528e-02 5.09413398e-02 1.84213139e+02] [-5.45217278e-02 9.98490641e-01 -6.61972618e-03 -2.27175228e+01] [-5.12271383e-02 3.82376555e-03 9.98679708e-01 -1.21991326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40071405700002 meters 0.04096153825573042 Centerline is valid? [True, True] Translation: X:184.27, Y:-22.73, Z:-12.20 [[ 9.97379189e-01 5.22859365e-02 5.00093410e-02 1.84271621e+02] [-5.20253806e-02 9.98624618e-01 -6.49861477e-03 -2.27285987e+01] [-5.02803452e-02 3.87982813e-03 9.98727607e-01 -1.22033956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46071405700002 meters 0.04261333629209686 Centerline is valid? [True, True] Translation: X:184.33, Y:-22.74, Z:-12.21 [[ 9.97551859e-01 4.97121728e-02 4.91832037e-02 1.84331409e+02] [-4.94570695e-02 9.98755803e-01 -6.39099034e-03 -2.27382474e+01] [-4.94397201e-02 3.94288717e-03 9.98769327e-01 -1.22082091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52071405700002 meters 0.04443660590195239 Centerline is valid? [True, True] Translation: X:184.39, Y:-22.75, Z:-12.21 [[ 9.97608123e-01 4.80699270e-02 4.96720676e-02 1.84391899e+02] [-4.78076679e-02 9.98835701e-01 -6.45516530e-03 -2.27471531e+01] [-4.99245338e-02 4.06501963e-03 9.98744720e-01 -1.22117768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.580714057 meters 0.04298994034817938 Centerline is valid? [True, True] Translation: X:184.45, Y:-22.75, Z:-12.22 [[ 9.97585793e-01 4.80252460e-02 5.01613460e-02 1.84453399e+02] [-4.77577963e-02 9.98837682e-01 -6.51749326e-03 -2.27532926e+01] [-5.04160467e-02 4.10616334e-03 9.98719861e-01 -1.22152549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.640714057 meters 0.04819901509232547 Centerline is valid? [True, True] Translation: X:184.51, Y:-22.77, Z:-12.22 [[ 9.97467211e-01 4.82815696e-02 5.22307667e-02 1.84512464e+02] [-4.79911690e-02 9.98824609e-01 -6.80063585e-03 -2.27696265e+01] [-5.24977205e-02 4.27679572e-03 9.98611886e-01 -1.22198413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.700714057 meters 0.042116997831010534 Centerline is valid? [True, True] Translation: X:184.58, Y:-22.77, Z:-12.22 [[ 9.97355311e-01 4.88762645e-02 5.37912175e-02 1.84575459e+02] [-4.85683958e-02 9.98795213e-01 -7.01660300e-03 -2.27699905e+01] [-5.40693559e-02 4.38549312e-03 9.98527552e-01 -1.22220151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.760714057 meters 0.04228008557119815 Centerline is valid? [True, True] Translation: X:184.64, Y:-22.78, Z:-12.23 [[ 9.97336050e-01 4.92916963e-02 5.37692465e-02 1.84637269e+02] [-4.89839294e-02 9.98774843e-01 -7.02757855e-03 -2.27793240e+01] [-5.40497720e-02 4.37502846e-03 9.98528658e-01 -1.22264329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.820714057 meters 0.03979599756778573 Centerline is valid? [True, True] Translation: X:184.70, Y:-22.79, Z:-12.23 [[ 9.97385326e-01 4.94618492e-02 5.26881093e-02 1.84699239e+02] [-4.91658950e-02 9.98766797e-01 -6.89928729e-03 -2.27853234e+01] [-5.29643856e-02 4.29078986e-03 9.98587183e-01 -1.22316333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.880714057 meters 0.043076924625412266 Centerline is valid? [True, True] Translation: X:184.76, Y:-22.80, Z:-12.24 [[ 9.97545003e-01 4.87117997e-02 5.03103155e-02 1.84759162e+02] [-4.84403214e-02 9.98804259e-01 -6.60207417e-03 -2.27985750e+01] [-5.05717564e-02 4.14881824e-03 9.98711813e-01 -1.22396151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.940714057 meters 0.042152806018211364 Centerline is valid? [True, True] Translation: X:184.82, Y:-22.81, Z:-12.24 [[ 9.97564450e-01 4.91509532e-02 4.94909303e-02 1.84820977e+02] [-4.88885738e-02 9.98783095e-01 -6.49892565e-03 -2.28067078e+01] [-4.97501329e-02 4.06355619e-03 9.98753429e-01 -1.22449753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.000714057 meters 0.0445961510827377 Centerline is valid? [True, True] Translation: X:184.88, Y:-22.82, Z:-12.25 [[ 9.97461783e-01 5.07195525e-02 4.99751780e-02 1.84880833e+02] [-5.04531494e-02 9.98704762e-01 -6.57867130e-03 -2.28171678e+01] [-5.02441155e-02 4.04056808e-03 9.98728793e-01 -1.22491156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.060714057 meters 0.04263915138829923 Centerline is valid? [True, True] Translation: X:184.94, Y:-22.82, Z:-12.25 [[ 9.97189079e-01 5.21859453e-02 5.37640106e-02 1.84941751e+02] [-5.18795538e-02 9.98628254e-01 -7.07973603e-03 -2.28216736e+01] [-5.40597228e-02 4.27058257e-03 9.98528572e-01 -1.22502511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12071405700001 meters 0.045721476745732965 Centerline is valid? [True, True] Translation: X:185.00, Y:-22.83, Z:-12.25 [[ 9.97065139e-01 5.29429782e-02 5.53005341e-02 1.85002657e+02] [-5.26199334e-02 9.98588057e-01 -7.28246994e-03 -2.28347473e+01] [-5.56080086e-02 4.35118648e-03 9.98443196e-01 -1.22544044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18071405700002 meters 0.043817507390500256 Centerline is valid? [True, True] Translation: X:185.06, Y:-22.84, Z:-12.26 [[ 9.97122407e-01 5.24553111e-02 5.47297617e-02 1.85063979e+02] [-5.21380022e-02 9.98613858e-01 -7.21052557e-03 -2.28427538e+01] [-5.50321288e-02 4.33627617e-03 9.98475168e-01 -1.22594719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24071405700002 meters 0.0438208766492427 Centerline is valid? [True, True] Translation: X:185.12, Y:-22.85, Z:-12.27 [[ 9.97323951e-01 5.04324869e-02 5.29292040e-02 1.85124414e+02] [-5.01320809e-02 9.98718144e-01 -6.98885852e-03 -2.28527813e+01] [-5.32138219e-02 4.31670485e-03 9.98573811e-01 -1.22650923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.300714057 meters 0.0464635570534466 Centerline is valid? [True, True] Translation: X:185.18, Y:-22.87, Z:-12.27 [[ 9.97485553e-01 4.85142560e-02 5.16617721e-02 1.85183010e+02] [-4.82254569e-02 9.98813173e-01 -6.82286770e-03 -2.28659926e+01] [-5.19314648e-02 4.31429940e-03 9.98641332e-01 -1.22698370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.360714057 meters 0.046572376027061754 Centerline is valid? [True, True] Translation: X:185.24, Y:-22.88, Z:-12.27 [[ 9.97665348e-01 4.52757389e-02 5.11269061e-02 1.85242796e+02] [-4.49884361e-02 9.98964657e-01 -6.75689576e-03 -2.28773982e+01] [-5.13798957e-02 4.44100121e-03 9.98669307e-01 -1.22736620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.420714057 meters 0.053038036980050746 Centerline is valid? [True, True] Translation: X:185.30, Y:-22.90, Z:-12.28 [[ 9.97725194e-01 4.49793348e-02 5.02125116e-02 1.85302084e+02] [-4.47020078e-02 9.98978345e-01 -6.63304817e-03 -2.28974776e+01] [-5.04595618e-02 4.37335918e-03 9.98716530e-01 -1.22791719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.480714057 meters 0.04443763049422103 Centerline is valid? [True, True] Translation: X:185.36, Y:-22.89, Z:-12.28 [[ 9.97626457e-01 4.73532689e-02 4.99912091e-02 1.85363888e+02] [-4.70806152e-02 9.98869168e-01 -6.61822320e-03 -2.28939426e+01] [-5.02480720e-02 4.24889768e-03 9.98727730e-01 -1.22805722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.540714057 meters 0.047869496100842054 Centerline is valid? [True, True] Translation: X:185.42, Y:-22.91, Z:-12.28 [[ 9.97288576e-01 5.29654449e-02 5.10897076e-02 1.85421957e+02] [-5.26878958e-02 9.98588113e-01 -6.76510406e-03 -2.29074348e+01] [-5.13758914e-02 4.05495181e-03 9.98671155e-01 -1.22842124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.600714057 meters 0.04763016225629941 Centerline is valid? [True, True] Translation: X:185.48, Y:-22.92, Z:-12.29 [[ 9.96910998e-01 5.96552735e-02 5.10853281e-02 1.85481176e+02] [-5.93865523e-02 9.98212149e-01 -6.76342209e-03 -2.29152613e+01] [-5.13974689e-02 3.70874836e-03 9.98671390e-01 -1.22881888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.660714057 meters 0.03445615183963093 Centerline is valid? [True, True] Translation: X:185.54, Y:-22.90, Z:-12.29 [[ 9.96543256e-01 6.63619273e-02 4.99763293e-02 1.85543807e+02] [-6.61131847e-02 9.97790198e-01 -6.61577578e-03 -2.29040997e+01] [-5.03049271e-02 3.28881245e-03 9.98728491e-01 -1.22887443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.720714057 meters 0.03351421280266772 Centerline is valid? [True, True] Translation: X:185.60, Y:-22.91, Z:-12.29 [[ 9.96171373e-01 7.16335639e-02 5.01121488e-02 1.85603601e+02] [-7.13901109e-02 9.97426412e-01 -6.63359546e-03 -2.29113646e+01] [-5.04583689e-02 3.03068603e-03 9.98721567e-01 -1.22924651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.780714057 meters 0.03281274148603514 Centerline is valid? [True, True] Translation: X:185.66, Y:-22.92, Z:-12.30 [[ 9.95979796e-01 7.33953901e-02 5.13552638e-02 1.85662406e+02] [-7.31420144e-02 9.97298364e-01 -6.79840462e-03 -2.29200559e+01] [-5.17154921e-02 3.01484620e-03 9.98657308e-01 -1.22952574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.840714057 meters 0.03588175203527399 Centerline is valid? [True, True] Translation: X:185.72, Y:-22.93, Z:-12.30 [[ 9.96058356e-01 7.26942569e-02 5.08261317e-02 1.85718078e+02] [-7.24452175e-02 9.97349704e-01 -6.72747167e-03 -2.29347641e+01] [-5.11804759e-02 3.01884421e-03 9.98684858e-01 -1.22999018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90071405700002 meters 0.03488634477010894 Centerline is valid? [True, True] Translation: X:185.78, Y:-22.94, Z:-12.30 [[ 9.96280248e-01 7.08752344e-02 4.90139726e-02 1.85777165e+02] [-7.06417648e-02 9.97480692e-01 -6.48147841e-03 -2.29439723e+01] [-4.93498676e-02 2.99493539e-03 9.98777063e-01 -1.23038847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96071405700002 meters 0.03504338084183851 Centerline is valid? [True, True] Translation: X:185.84, Y:-22.95, Z:-12.31 [[ 9.96531004e-01 6.88112807e-02 4.68077573e-02 1.85835175e+02] [-6.85961675e-02 9.97625315e-01 -6.18845909e-03 -2.29544561e+01] [-4.71224394e-02 2.95615859e-03 9.98884747e-01 -1.23077061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02071405700002 meters 0.034069875156091396 Centerline is valid? [True, True] Translation: X:185.89, Y:-22.96, Z:-12.31 [[ 9.96632733e-01 6.81701658e-02 4.55634137e-02 1.85893260e+02] [-6.79657727e-02 9.97669479e-01 -6.02193929e-03 -2.29635112e+01] [-4.58677438e-02 2.90490919e-03 9.98943297e-01 -1.23109577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.080714057 meters 0.035127630356819095 Centerline is valid? [True, True] Translation: X:185.95, Y:-22.97, Z:-12.31 [[ 9.96595916e-01 6.91778196e-02 4.48442743e-02 1.85950583e+02] [-6.89809949e-02 9.97600387e-01 -5.92365137e-03 -2.29744590e+01] [-4.51464507e-02 2.81008410e-03 9.98976427e-01 -1.23146434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.140714057 meters 0.03469239241809501 Centerline is valid? [True, True] Translation: X:186.01, Y:-22.98, Z:-12.32 [[ 9.96455488e-01 7.12307050e-02 4.47509406e-02 1.86009618e+02] [-7.10369377e-02 9.97456193e-01 -5.90739057e-03 -2.29831127e+01] [-4.50578904e-02 2.70748197e-03 9.98980709e-01 -1.23173028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.200714057 meters 0.03599446348221075 Centerline is valid? [True, True] Translation: X:186.07, Y:-22.99, Z:-12.32 [[ 9.96408560e-01 7.14114278e-02 4.55015294e-02 1.86066111e+02] [-7.12113178e-02 9.97443170e-01 -6.00582657e-03 -2.29934774e+01] [-4.58140744e-02 2.74403313e-03 9.98946215e-01 -1.23205972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.260714057 meters 0.036593019547108224 Centerline is valid? [True, True] Translation: X:186.13, Y:-23.01, Z:-12.32 [[ 9.96658258e-01 6.71074644e-02 4.65715064e-02 1.86125197e+02] [-6.68934172e-02 9.97741227e-01 -6.14125034e-03 -2.30061068e+01] [-4.68784357e-02 3.00540066e-03 9.98896081e-01 -1.23229287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.320714057 meters 0.04061307480353812 Centerline is valid? [True, True] Translation: X:186.18, Y:-23.02, Z:-12.33 [[ 9.96960696e-01 6.29964377e-02 4.58346909e-02 1.86183334e+02] [-6.27847998e-02 9.98008788e-01 -6.04391032e-03 -2.30214834e+01] [-4.61241691e-02 3.14781915e-03 9.98930754e-01 -1.23280764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.380714057 meters 0.039962525537988784 Centerline is valid? [True, True] Translation: X:186.24, Y:-23.03, Z:-12.33 [[ 9.97359834e-01 5.69372120e-02 4.50723350e-02 1.86243174e+02] [-5.67264625e-02 9.98372075e-01 -5.94216437e-03 -2.30309777e+01] [-4.53372908e-02 3.36968196e-03 9.98966053e-01 -1.23323790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.440714057 meters 0.047888289503151035 Centerline is valid? [True, True] Translation: X:186.30, Y:-23.05, Z:-12.34 [[ 9.97579808e-01 5.35747251e-02 4.43201398e-02 1.86300614e+02] [-5.33676697e-02 9.98557837e-01 -5.84275884e-03 -2.30499124e+01] [-4.45692471e-02 3.46335567e-03 9.99000294e-01 -1.23385073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.500714057 meters 0.050485711946645834 Centerline is valid? [True, True] Translation: X:186.36, Y:-23.06, Z:-12.34 [[ 9.97547515e-01 5.32419543e-02 4.54340157e-02 1.86359996e+02] [-5.30239699e-02 9.98575272e-01 -5.99043510e-03 -2.30606151e+01] [-4.56882270e-02 3.56665176e-03 9.98949381e-01 -1.23424416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.560714057 meters 0.04960730739620397 Centerline is valid? [True, True] Translation: X:186.42, Y:-23.07, Z:-12.35 [[ 9.97491131e-01 5.37342124e-02 4.60877110e-02 1.86421022e+02] [-5.35104036e-02 9.98548800e-01 -6.07711313e-03 -2.30676535e+01] [-4.63473774e-02 3.59569444e-03 9.98918911e-01 -1.23456019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62071405700001 meters 0.042584501370245 Centerline is valid? [True, True] Translation: X:186.48, Y:-23.06, Z:-12.35 [[ 9.97241446e-01 5.63425714e-02 4.83219816e-02 1.86482711e+02] [-5.60994575e-02 9.98404841e-01 -6.37374202e-03 -2.30643061e+01] [-4.86040134e-02 3.64532275e-03 9.98811474e-01 -1.23465513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68071405700002 meters 0.035063328807937146 Centerline is valid? [True, True] Translation: X:186.54, Y:-23.06, Z:-12.35 [[ 9.97011839e-01 6.05497132e-02 4.79700521e-02 1.86544299e+02] [-6.03149238e-02 9.98159337e-01 -6.32829112e-03 -2.30583578e+01] [-4.82649316e-02 3.41607113e-03 9.98828727e-01 -1.23488718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74071405700002 meters 0.033789019474771635 Centerline is valid? [True, True] Translation: X:186.60, Y:-23.06, Z:-12.35 [[ 9.96639471e-01 6.69082381e-02 4.72551878e-02 1.86604041e+02] [-6.66874862e-02 9.97754434e-01 -6.23445327e-03 -2.30603952e+01] [-4.75662095e-02 3.06217252e-03 9.98863393e-01 -1.23538271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.800714057 meters 0.03240571441323924 Centerline is valid? [True, True] Translation: X:186.66, Y:-23.06, Z:-12.36 [[ 9.95998453e-01 7.53595408e-02 4.80418696e-02 1.86664135e+02] [-7.51412372e-02 9.97152768e-01 -6.33652898e-03 -2.30613116e+01] [-4.83826011e-02 2.70124754e-03 9.98825224e-01 -1.23569937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.860714057 meters 0.029397387124140494 Centerline is valid? [True, True] Translation: X:186.72, Y:-23.06, Z:-12.36 [[ 9.94987555e-01 8.61991201e-02 5.06900067e-02 1.86724281e+02] [-8.59701371e-02 9.96275290e-01 -6.68448825e-03 -2.30587461e+01] [-5.10773981e-02 2.29315580e-03 9.98692065e-01 -1.23578020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.920714057 meters 0.025089650259904214 Centerline is valid? [True, True] Translation: X:186.79, Y:-23.06, Z:-12.36 [[ 9.93647040e-01 9.88574633e-02 5.37844001e-02 1.86785887e+02] [-9.86181453e-02 9.95100078e-01 -7.09204142e-03 -2.30556375e+01] [-5.42219619e-02 1.74286818e-03 9.98527386e-01 -1.23595157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.980714057 meters 0.02219942313274921 Centerline is valid? [True, True] Translation: X:186.85, Y:-23.06, Z:-12.36 [[ 9.92720316e-01 1.06992687e-01 5.53076780e-02 1.86847043e+02] [-1.06752209e-01 9.94258911e-01 -7.29275800e-03 -2.30553717e+01] [-5.57704235e-02 1.33545223e-03 9.98442726e-01 -1.23615922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.040714057 meters 0.02164733024788709 Centerline is valid? [True, True] Translation: X:186.91, Y:-23.06, Z:-12.36 [[ 9.91623355e-01 1.15413371e-01 5.79903060e-02 1.86905975e+02] [-1.15163360e-01 9.93317138e-01 -7.64614791e-03 -2.30613118e+01] [-5.84852325e-02 9.03740360e-04 9.98287865e-01 -1.23646348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.100714057 meters 0.020830044393725034 Centerline is valid? [True, True] Translation: X:186.96, Y:-23.07, Z:-12.37 [[ 9.91340253e-01 1.17762144e-01 5.81083445e-02 1.86963896e+02] [-1.17515254e-01 9.93041536e-01 -7.65980283e-03 -2.30716326e+01] [-5.86060345e-02 7.64854027e-04 9.98280896e-01 -1.23684659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.160714057 meters 0.02137136577794463 Centerline is valid? [True, True] Translation: X:187.02, Y:-23.09, Z:-12.37 [[ 9.91828312e-01 1.14179997e-01 5.69168475e-02 1.87020820e+02] [-1.13937398e-01 9.93459621e-01 -7.50005308e-03 -2.30890041e+01] [-5.74009458e-02 9.53807472e-04 9.98350751e-01 -1.23745971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.220714057 meters 0.02141517929978742 Centerline is valid? [True, True] Translation: X:187.08, Y:-23.11, Z:-12.38 [[ 9.92396780e-01 1.09346615e-01 5.64973372e-02 1.87077665e+02] [-1.09100662e-01 9.94002946e-01 -7.42888161e-03 -2.31099007e+01] [-5.69708427e-02 1.20850131e-03 9.98375111e-01 -1.23802167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.280714057 meters 0.023152993200541927 Centerline is valid? [True, True] Translation: X:187.13, Y:-23.13, Z:-12.39 [[ 9.92624280e-01 1.07339899e-01 5.63487770e-02 1.87133117e+02] [-1.07092169e-01 9.94221510e-01 -7.40652625e-03 -2.31327396e+01] [-5.68181819e-02 1.31738501e-03 9.98383673e-01 -1.23855107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.340714057 meters 0.023091819531278434 Centerline is valid? [True, True] Translation: X:187.19, Y:-23.15, Z:-12.39 [[ 9.92565647e-01 1.07569424e-01 5.69408118e-02 1.87190413e+02] [-1.07317143e-01 9.94196709e-01 -7.47896525e-03 -2.31465656e+01] [-5.74148757e-02 1.31263875e-03 9.98349543e-01 -1.23885829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40071405700002 meters 0.021346577772719273 Centerline is valid? [True, True] Translation: X:187.25, Y:-23.16, Z:-12.39 [[ 9.92561527e-01 1.07485309e-01 5.71710067e-02 1.87246607e+02] [-1.07231047e-01 9.94205797e-01 -7.50566416e-03 -2.31642282e+01] [-5.76464949e-02 1.31932660e-03 9.98336186e-01 -1.23913932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46071405700002 meters 0.021479476713086414 Centerline is valid? [True, True] Translation: X:187.30, Y:-23.18, Z:-12.39 [[ 9.92518234e-01 1.07299211e-01 5.82617777e-02 1.87303575e+02] [-1.07035218e-01 9.94225860e-01 -7.64215024e-03 -2.31790756e+01] [-5.87453627e-02 1.34891141e-03 9.98272089e-01 -1.23948343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52071405700002 meters 0.021628743094610336 Centerline is valid? [True, True] Translation: X:187.36, Y:-23.20, Z:-12.40 [[ 9.92798116e-01 1.04209758e-01 5.90950732e-02 1.87359404e+02] [-1.03932926e-01 9.94554134e-01 -7.74738794e-03 -2.32008346e+01] [-5.95806027e-02 1.54966829e-03 9.98222295e-01 -1.23993011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.580714057 meters 0.022434108637547457 Centerline is valid? [True, True] Translation: X:187.42, Y:-23.22, Z:-12.40 [[ 9.93096339e-01 1.01084816e-01 5.95106805e-02 1.87416046e+02] [-1.00798948e-01 9.94876287e-01 -7.79389707e-03 -2.32180744e+01] [-5.99936095e-02 1.74147667e-03 9.98197242e-01 -1.24035702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.640714057 meters 0.02531496505164223 Centerline is valid? [True, True] Translation: X:187.47, Y:-23.24, Z:-12.41 [[ 9.93828426e-01 9.23016953e-02 6.15260610e-02 1.87472233e+02] [-9.19796022e-02 9.95728327e-01 -8.05300025e-03 -2.32421498e+01] [-6.20065474e-02 2.34415795e-03 9.98072990e-01 -1.24072483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.700714057 meters 0.029099416410091162 Centerline is valid? [True, True] Translation: X:187.53, Y:-23.27, Z:-12.41 [[ 9.94800739e-01 8.07719164e-02 6.20273104e-02 1.87529875e+02] [-8.04223359e-02 9.96727835e-01 -8.11607339e-03 -2.32661716e+01] [-6.24798977e-02 3.08549461e-03 9.98041453e-01 -1.24124280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.760714057 meters 0.033119963063704884 Centerline is valid? [True, True] Translation: X:187.59, Y:-23.29, Z:-12.42 [[ 9.95530955e-01 7.18933667e-02 6.12328458e-02 1.87588261e+02] [-7.15359557e-02 9.97405842e-01 -8.01213194e-03 -2.32869705e+01] [-6.16500173e-02 3.59597522e-03 9.98091351e-01 -1.24181268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.820714057 meters 0.035606299596012615 Centerline is valid? [True, True] Translation: X:187.65, Y:-23.30, Z:-12.42 [[ 9.95598411e-01 7.02734937e-02 6.20116150e-02 1.87648518e+02] [-6.99038283e-02 9.97520740e-01 -8.11343276e-03 -2.32997265e+01] [-6.24280314e-02 3.74287148e-03 9.98042450e-01 -1.24212508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.880714057 meters 0.033877119341690944 Centerline is valid? [True, True] Translation: X:187.71, Y:-23.30, Z:-12.43 [[ 9.95282596e-01 7.61397275e-02 6.01273359e-02 1.87708955e+02] [-7.58019988e-02 9.97091742e-01 -7.88132963e-03 -2.33035044e+01] [-6.05525524e-02 3.28637797e-03 9.98159601e-01 -1.24266017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.940714057 meters 0.030976596182727512 Centerline is valid? [True, True] Translation: X:187.77, Y:-23.31, Z:-12.43 [[ 9.94598645e-01 8.54610042e-02 5.89062967e-02 1.87768803e+02] [-8.51531535e-02 9.96337956e-01 -7.72126494e-03 -2.33054457e+01] [-5.93504463e-02 2.66350272e-03 9.98233655e-01 -1.24318737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.000714057 meters 0.02820565630278662 Centerline is valid? [True, True] Translation: X:187.83, Y:-23.31, Z:-12.44 [[ 9.93649187e-01 9.49981556e-02 6.03045895e-02 1.87828292e+02] [-9.46930024e-02 9.95475140e-01 -7.90449686e-03 -2.33072954e+01] [-6.07826323e-02 2.14387424e-03 9.98148724e-01 -1.24351069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.060714057 meters 0.026047764727098483 Centerline is valid? [True, True] Translation: X:187.89, Y:-23.31, Z:-12.44 [[ 9.92707424e-01 1.02805786e-01 6.29518850e-02 1.87888902e+02] [-1.02488953e-01 9.94699929e-01 -8.25017435e-03 -2.33102286e+01] [-6.34664012e-02 1.73813655e-03 9.97982462e-01 -1.24367444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12071405700001 meters 0.02270078841690916 Centerline is valid? [True, True] Translation: X:187.95, Y:-23.31, Z:-12.44 [[ 9.91983271e-01 1.08058073e-01 6.55182670e-02 1.87948673e+02] [-1.07726287e-01 9.94143512e-01 -8.58626797e-03 -2.33106286e+01] [-6.60623757e-02 1.45939455e-03 9.97814428e-01 -1.24394748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18071405700002 meters 0.023262931674800945 Centerline is valid? [True, True] Translation: X:188.01, Y:-23.32, Z:-12.44 [[ 9.92027582e-01 1.07335210e-01 6.60335405e-02 1.88006772e+02] [-1.06996745e-01 9.94221732e-01 -8.65130311e-03 -2.33215892e+01] [-6.65805704e-02 1.51695740e-03 9.97779899e-01 -1.24445591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24071405700002 meters 0.024526200775294316 Centerline is valid? [True, True] Translation: X:188.06, Y:-23.34, Z:-12.45 [[ 9.92541149e-01 1.01991542e-01 6.67816785e-02 1.88063679e+02] [-1.01633599e-01 9.94783467e-01 -8.74447569e-03 -2.33365506e+01] [-6.73251722e-02 1.89198961e-03 9.97729293e-01 -1.24484415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.300714057 meters 0.02731139243696358 Centerline is valid? [True, True] Translation: X:188.12, Y:-23.36, Z:-12.45 [[ 9.93205981e-01 9.50258822e-02 6.71711267e-02 1.88121239e+02] [-9.46480761e-02 9.95471970e-01 -8.79197464e-03 -2.33553145e+01] [-6.77024390e-02 2.37462389e-03 9.97702732e-01 -1.24536661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.360714057 meters 0.0288257256328004 Centerline is valid? [True, True] Translation: X:188.18, Y:-23.37, Z:-12.46 [[ 9.94040481e-01 8.72131447e-02 6.54017493e-02 1.88180366e+02] [-8.68381950e-02 9.96185657e-01 -8.55944449e-03 -2.33702149e+01] [-6.58987807e-02 2.82906446e-03 9.97822302e-01 -1.24603979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.420714057 meters 0.030792295416058862 Centerline is valid? [True, True] Translation: X:188.24, Y:-23.38, Z:-12.47 [[ 9.94278549e-01 8.49986045e-02 6.46946992e-02 1.88240393e+02] [-8.46270346e-02 9.96376721e-01 -8.46724264e-03 -2.33828374e+01] [-6.51799961e-02 2.94387718e-03 9.97869181e-01 -1.24650750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.480714057 meters 0.03478908123947281 Centerline is valid? [True, True] Translation: X:188.30, Y:-23.40, Z:-12.47 [[ 9.94820820e-01 7.66667399e-02 6.67363945e-02 1.88299461e+02] [-7.62515892e-02 9.97050219e-01 -8.74966743e-03 -2.34017819e+01] [-6.72103452e-02 3.61559520e-03 9.97732277e-01 -1.24677480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.540714057 meters 0.034716213718546725 Centerline is valid? [True, True] Translation: X:188.36, Y:-23.41, Z:-12.47 [[ 9.95009439e-01 7.24316792e-02 6.86284783e-02 1.88359310e+02] [-7.19825418e-02 9.97365302e-01 -8.99823389e-03 -2.34109652e+01] [-6.90994202e-02 4.01327535e-03 9.97601706e-01 -1.24703469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.600714057 meters 0.03876642428354893 Centerline is valid? [True, True] Translation: X:188.42, Y:-23.42, Z:-12.47 [[ 9.95647058e-01 6.26265488e-02 6.90279037e-02 1.88418873e+02] [-6.21486824e-02 9.98025863e-01 -9.05087121e-03 -2.34239217e+01] [-6.94584580e-02 4.72148003e-03 9.97573672e-01 -1.24746847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.660714057 meters 0.04296752444536821 Centerline is valid? [True, True] Translation: X:188.48, Y:-23.43, Z:-12.48 [[ 9.95959915e-01 5.76457240e-02 6.88535987e-02 1.88477741e+02] [-5.71584170e-02 9.98324298e-01 -9.02835692e-03 -2.34343299e+01] [-6.92586667e-02 5.05631889e-03 9.97585921e-01 -1.24794349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.720714057 meters 0.038121859983778796 Centerline is valid? [True, True] Translation: X:188.54, Y:-23.43, Z:-12.48 [[ 9.95951626e-01 5.66025672e-02 6.98320029e-02 1.88540318e+02] [-5.60986656e-02 9.98383232e-01 -9.15764596e-03 -2.34325236e+01] [-7.02374470e-02 5.20309020e-03 9.97516731e-01 -1.24837104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.780714057 meters 0.03806875629024145 Centerline is valid? [True, True] Translation: X:188.60, Y:-23.43, Z:-12.49 [[ 9.95643465e-01 5.92504643e-02 7.19963443e-02 1.88602220e+02] [-5.87212787e-02 9.98229720e-01 -9.44655013e-03 -2.34295321e+01] [-7.24286031e-02 5.17767851e-03 9.97360160e-01 -1.24859770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.840714057 meters 0.03896024229952845 Centerline is valid? [True, True] Translation: X:188.66, Y:-23.43, Z:-12.49 [[ 9.95508300e-01 6.04390375e-02 7.28721317e-02 1.88664116e+02] [-5.98997825e-02 9.98158569e-01 -9.56487150e-03 -2.34335531e+01] [-7.33160343e-02 5.15688414e-03 9.97295425e-01 -1.24900719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90071405700002 meters 0.03845163719717443 Centerline is valid? [True, True] Translation: X:188.73, Y:-23.43, Z:-12.50 [[ 9.95465762e-01 6.22113575e-02 7.19559898e-02 1.88725286e+02] [-6.16890200e-02 9.98050577e-01 -9.46097763e-03 -2.34342217e+01] [-7.24042974e-02 4.97918481e-03 9.97362936e-01 -1.24968657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96071405700002 meters 0.03472131878892453 Centerline is valid? [True, True] Translation: X:188.79, Y:-23.43, Z:-12.50 [[ 9.95390326e-01 6.47667332e-02 7.07344943e-02 1.88786642e+02] [-6.42682668e-02 9.97889298e-01 -9.30265949e-03 -2.34294767e+01] [-7.11876977e-02 4.71379392e-03 9.97451799e-01 -1.25021973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02071405700002 meters 0.034836030255421306 Centerline is valid? [True, True] Translation: X:188.85, Y:-23.43, Z:-12.51 [[ 9.95306359e-01 6.71061115e-02 6.97281933e-02 1.88848376e+02] [-6.66274425e-02 9.97735778e-01 -9.17062597e-03 -2.34311128e+01] [-7.01857183e-02 4.48177115e-03 9.97523874e-01 -1.25071150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.080714057 meters 0.038187884962165665 Centerline is valid? [True, True] Translation: X:188.91, Y:-23.44, Z:-12.51 [[ 9.95422996e-01 6.72698846e-02 6.78809411e-02 1.88909565e+02] [-6.68163618e-02 9.97725308e-01 -8.93215818e-03 -2.34392955e+01] [-6.83273981e-02 4.35571814e-03 9.97653444e-01 -1.25119755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.140714057 meters 0.035761785258161684 Centerline is valid? [True, True] Translation: X:188.97, Y:-23.44, Z:-12.52 [[ 9.95497295e-01 6.65809549e-02 6.74693356e-02 1.88971893e+02] [-6.61301189e-02 9.97771350e-01 -8.89611168e-03 -2.34386497e+01] [-6.79112817e-02 4.39429993e-03 9.97681687e-01 -1.25161044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.200714057 meters 0.03563120570860983 Centerline is valid? [True, True] Translation: X:189.03, Y:-23.44, Z:-12.52 [[ 9.95436309e-01 6.71646185e-02 6.77898925e-02 1.89034325e+02] [-6.67097182e-02 9.97732243e-01 -8.95457642e-03 -2.34402198e+01] [-6.82375922e-02 4.39146586e-03 9.97659434e-01 -1.25181487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.260714057 meters 0.0349894104462515 Centerline is valid? [True, True] Translation: X:189.10, Y:-23.44, Z:-12.52 [[ 9.95411734e-01 6.62399878e-02 6.90488514e-02 1.89096043e+02] [-6.57645472e-02 9.97793320e-01 -9.13868013e-03 -2.34435450e+01] [-6.95018287e-02 4.55578299e-03 9.97571421e-01 -1.25216095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.320714057 meters 0.038847622630946606 Centerline is valid? [True, True] Translation: X:189.16, Y:-23.45, Z:-12.53 [[ 9.95847670e-01 6.08790980e-02 6.76842261e-02 1.89155482e+02] [-6.04089563e-02 9.98133378e-01 -8.97316052e-03 -2.34524163e+01] [-6.81041631e-02 4.84716754e-03 9.97666441e-01 -1.25261919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.380714057 meters 0.042855477196858824 Centerline is valid? [True, True] Translation: X:189.21, Y:-23.46, Z:-12.53 [[ 9.96399308e-01 5.43121051e-02 6.51046479e-02 1.89214988e+02] [-5.38632126e-02 9.98511015e-01 -8.63175593e-03 -2.34640286e+01] [-6.54765169e-02 5.09393014e-03 9.97841108e-01 -1.25323383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.440714057 meters 0.04220125256635961 Centerline is valid? [True, True] Translation: X:189.28, Y:-23.47, Z:-12.54 [[ 9.96731721e-01 5.14702330e-02 6.22630843e-02 1.89275442e+02] [-5.10542278e-02 9.98661764e-01 -8.25505849e-03 -2.34671624e+01] [-6.26046514e-02 5.04928496e-03 9.98025632e-01 -1.25379763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.500714057 meters 0.042578421664064905 Centerline is valid? [True, True] Translation: X:189.34, Y:-23.47, Z:-12.54 [[ 9.96773601e-01 5.16750566e-02 6.14172427e-02 1.89338035e+02] [-5.12706621e-02 9.98651594e-01 -8.14323766e-03 -2.34716257e+01] [-6.17552296e-02 4.96806163e-03 9.98078960e-01 -1.25419055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.560714057 meters 0.04166431313577869 Centerline is valid? [True, True] Translation: X:189.40, Y:-23.47, Z:-12.55 [[ 9.96623589e-01 5.48012858e-02 6.11411500e-02 1.89399095e+02] [-5.44052228e-02 9.98485880e-01 -8.12516176e-03 -2.34720761e+01] [-6.14938443e-02 4.77132999e-03 9.98096058e-01 -1.25452509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62071405700001 meters 0.047102053097963476 Centerline is valid? [True, True] Translation: X:189.46, Y:-23.48, Z:-12.55 [[ 9.96511120e-01 5.75247610e-02 6.04689182e-02 1.89458070e+02] [-5.71422902e-02 9.98333696e-01 -8.03684952e-03 -2.34840412e+01] [-6.08304764e-02 4.55347744e-03 9.98137725e-01 -1.25499165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68071405700002 meters 0.03459658582262198 Centerline is valid? [True, True] Translation: X:189.52, Y:-23.47, Z:-12.55 [[ 9.96175117e-01 6.38422283e-02 5.96599282e-02 1.89521509e+02] [-6.34811993e-02 9.97951534e-01 -7.92925153e-03 -2.34697946e+01] [-6.00439380e-02 4.11163927e-03 9.98187267e-01 -1.25531295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74071405700002 meters 0.03332867082605177 Centerline is valid? [True, True] Translation: X:189.58, Y:-23.47, Z:-12.56 [[ 9.95642104e-01 7.27045567e-02 5.84024691e-02 1.89580836e+02] [-7.23737003e-02 9.97347371e-01 -7.76328951e-03 -2.34708201e+01] [-5.88119755e-02 3.50265510e-03 9.98262933e-01 -1.25576775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.800714057 meters 0.03020112103814755 Centerline is valid? [True, True] Translation: X:189.64, Y:-23.47, Z:-12.56 [[ 9.95088407e-01 8.14881077e-02 5.62027653e-02 1.89642002e+02] [-8.11957380e-02 9.96670182e-01 -7.46991044e-03 -2.34687520e+01] [-5.66243292e-02 2.86979627e-03 9.98391431e-01 -1.25622483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.860714057 meters 0.027711660953995087 Centerline is valid? [True, True] Translation: X:189.70, Y:-23.47, Z:-12.57 [[ 9.94627942e-01 8.77109483e-02 5.49731358e-02 1.89702679e+02] [-8.74407277e-02 9.96142930e-01 -7.30629505e-03 -2.34705139e+01] [-5.54019426e-02 2.46015422e-03 9.98461102e-01 -1.25673067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.920714057 meters 0.038488490270234016 Centerline is valid? [True, True] Translation: X:189.76, Y:-23.49, Z:-12.57 [[ 9.93938995e-01 9.33589929e-02 5.80463019e-02 1.89759310e+02] [-9.30672818e-02 9.95629934e-01 -7.71465867e-03 -2.34948717e+01] [-5.85128685e-02 2.26568854e-03 9.98284083e-01 -1.25736408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.980714057 meters 0.026880247152759735 Centerline is valid? [True, True] Translation: X:189.82, Y:-23.48, Z:-12.57 [[ 9.94415742e-01 8.96816720e-02 5.56284897e-02 1.89821198e+02] [-8.94081079e-02 9.95967643e-01 -7.39213929e-03 -2.34843725e+01] [-5.60671152e-02 2.37722167e-03 9.98424172e-01 -1.25736708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.040714057 meters 0.028508185822003894 Centerline is valid? [True, True] Translation: X:189.88, Y:-23.50, Z:-12.58 [[ 9.94895597e-01 8.45182005e-02 5.51309813e-02 1.89880306e+02] [-8.42416625e-02 9.96418430e-01 -7.32498382e-03 -2.34975227e+01] [-5.55526202e-02 2.64326863e-03 9.98452262e-01 -1.25768472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.100714057 meters 0.035561091813862966 Centerline is valid? [True, True] Translation: X:189.94, Y:-23.52, Z:-12.58 [[ 9.95390417e-01 7.75418883e-02 5.64373382e-02 1.89937498e+02] [-7.72409522e-02 9.96984264e-01 -7.49749836e-03 -2.35194888e+01] [-5.68485083e-02 3.10366427e-03 9.98377992e-01 -1.25799302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.160714057 meters 0.03485473981316508 Centerline is valid? [True, True] Translation: X:190.00, Y:-23.53, Z:-12.58 [[ 9.95910488e-01 7.08286953e-02 5.60856154e-02 1.89997375e+02] [-7.05209560e-02 9.97482479e-01 -7.44973461e-03 -2.35280557e+01] [-5.64720737e-02 3.46405761e-03 9.98398170e-01 -1.25826668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.220714057 meters 0.03861600346739497 Centerline is valid? [True, True] Translation: X:190.06, Y:-23.54, Z:-12.59 [[ 9.96241606e-01 6.66317376e-02 5.53432379e-02 1.90055709e+02] [-6.63256967e-02 9.97770953e-01 -7.35037850e-03 -2.35431395e+01] [-5.57096437e-02 3.65207407e-03 9.98440333e-01 -1.25871954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.280714057 meters 0.03916270633661405 Centerline is valid? [True, True] Translation: X:190.12, Y:-23.55, Z:-12.59 [[ 9.96312962e-01 6.59839449e-02 5.48324880e-02 1.90115538e+02] [-6.56824950e-02 9.97813990e-01 -7.28367842e-03 -2.35515617e+01] [-5.51932294e-02 3.65528860e-03 9.98469001e-01 -1.25907440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.340714057 meters 0.03930504909058548 Centerline is valid? [True, True] Translation: X:190.17, Y:-23.56, Z:-12.59 [[ 9.96317764e-01 6.59287189e-02 5.48116550e-02 1.90174971e+02] [-6.56274152e-02 9.97817634e-01 -7.28091107e-03 -2.35593320e+01] [-5.51720570e-02 3.65695379e-03 9.98470165e-01 -1.25942942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40071405700002 meters 0.04040999823972422 Centerline is valid? [True, True] Translation: X:190.23, Y:-23.57, Z:-12.60 [[ 9.96267338e-01 6.60947269e-02 5.55236816e-02 1.90234979e+02] [-6.57857904e-02 9.97806510e-01 -7.37549318e-03 -2.35681898e+01] [-5.58893722e-02 3.69529367e-03 9.98430129e-01 -1.25978376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46071405700002 meters 0.0420341618864457 Centerline is valid? [True, True] Translation: X:190.30, Y:-23.58, Z:-12.60 [[ 9.96397431e-01 6.48725390e-02 5.46233675e-02 1.90295265e+02] [-6.45717435e-02 9.97886690e-01 -7.25557492e-03 -2.35789245e+01] [-5.49786190e-02 3.70231014e-03 9.98480668e-01 -1.26033398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52071405700002 meters 0.04556696535427926 Centerline is valid? [True, True] Translation: X:190.35, Y:-23.59, Z:-12.61 [[ 9.96678125e-01 6.17116023e-02 5.31450274e-02 1.90353933e+02] [-6.14223053e-02 9.98086889e-01 -7.06130159e-03 -2.35912377e+01] [-5.34791194e-02 3.77355472e-03 9.98561838e-01 -1.26096936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.580714057 meters 0.04713401345598888 Centerline is valid? [True, True] Translation: X:190.41, Y:-23.60, Z:-12.62 [[ 9.97066515e-01 5.75558933e-02 5.04547731e-02 1.90414381e+02] [-5.72898911e-02 9.98335078e-01 -6.70373053e-03 -2.36013393e+01] [-5.07566090e-02 3.79351678e-03 9.98703848e-01 -1.26151767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.640714057 meters 0.04614262124528652 Centerline is valid? [True, True] Translation: X:190.48, Y:-23.61, Z:-12.62 [[ 9.97259464e-01 5.36878718e-02 5.09035693e-02 1.90475042e+02] [-5.34120219e-02 9.98549644e-01 -6.76496535e-03 -2.36052390e+01] [-5.11929376e-02 4.02756316e-03 9.98680661e-01 -1.26163902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.700714057 meters 0.049046556163040655 Centerline is valid? [True, True] Translation: X:190.53, Y:-23.61, Z:-12.62 [[ 9.97246859e-01 5.27178395e-02 5.21491196e-02 1.90534949e+02] [-5.24270020e-02 9.98600711e-01 -6.93029807e-03 -2.36135588e+01] [-5.24414983e-02 4.17719598e-03 9.98615261e-01 -1.26198461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.760714057 meters 0.04337532686275779 Centerline is valid? [True, True] Translation: X:190.60, Y:-23.61, Z:-12.62 [[ 9.97143921e-01 5.32671782e-02 5.35407225e-02 1.90598157e+02] [-5.29613980e-02 9.98571214e-01 -7.11485881e-03 -2.36096265e+01] [-5.38432127e-02 4.25894669e-03 9.98540320e-01 -1.26208667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.820714057 meters 0.040534140297759466 Centerline is valid? [True, True] Translation: X:190.66, Y:-23.61, Z:-12.62 [[ 9.97025500e-01 5.37541819e-02 5.52325984e-02 1.90660944e+02] [-5.34286928e-02 9.98544588e-01 -7.35395867e-03 -2.36089300e+01] [-5.55475182e-02 4.38107879e-03 9.98446433e-01 -1.26225420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.880714057 meters 0.04721129058477676 Centerline is valid? [True, True] Translation: X:190.72, Y:-23.62, Z:-12.63 [[ 9.97167156e-01 5.16363472e-02 5.46932439e-02 1.90719857e+02] [-5.13131393e-02 9.98655945e-01 -7.29830392e-03 -2.36229876e+01] [-5.49965909e-02 4.47114692e-03 9.98476531e-01 -1.26290336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.940714057 meters 0.044644892520594726 Centerline is valid? [True, True] Translation: X:190.78, Y:-23.63, Z:-12.63 [[ 9.97389738e-01 4.85412961e-02 5.34551570e-02 1.90779965e+02] [-4.82281031e-02 9.98810870e-01 -7.13418672e-03 -2.36262187e+01] [-5.37378945e-02 4.53752380e-03 9.98544766e-01 -1.26341754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.000714057 meters 0.05408205874572228 Centerline is valid? [True, True] Translation: X:190.84, Y:-23.64, Z:-12.64 [[ 9.97669805e-01 4.42613560e-02 5.19219812e-02 1.90838228e+02] [-4.39601392e-02 9.99009252e-01 -6.92964164e-03 -2.36434702e+01] [-5.21772550e-02 4.63099670e-03 9.98627102e-01 -1.26402199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.060714057 meters 0.049454442095350604 Centerline is valid? [True, True] Translation: X:190.90, Y:-23.64, Z:-12.64 [[ 9.97828339e-01 4.14822886e-02 5.11646846e-02 1.90899119e+02] [-4.11861479e-02 9.99128151e-01 -6.82925614e-03 -2.36426324e+01] [-5.14033699e-02 4.70714905e-03 9.98666880e-01 -1.26433991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12071405700001 meters 0.050035330771618695 Centerline is valid? [True, True] Translation: X:190.96, Y:-23.65, Z:-12.65 [[ 9.97837934e-01 4.13806442e-02 5.10597670e-02 1.90961203e+02] [-4.10857428e-02 9.99132401e-01 -6.81220740e-03 -2.36484068e+01] [-5.12973611e-02 4.69965050e-03 9.98672366e-01 -1.26477556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18071405700002 meters 0.052210753648943856 Centerline is valid? [True, True] Translation: X:191.02, Y:-23.66, Z:-12.65 [[ 9.97810662e-01 4.22671533e-02 5.08661988e-02 1.91021718e+02] [-4.19749653e-02 9.99095527e-01 -6.79932445e-03 -2.36550518e+01] [-5.11075798e-02 4.64933150e-03 9.98682331e-01 -1.26527469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24071405700002 meters 0.05106488672169971 Centerline is valid? [True, True] Translation: X:191.08, Y:-23.66, Z:-12.66 [[ 9.97797171e-01 4.27885469e-02 5.06946387e-02 1.91083743e+02] [-4.24984223e-02 9.99073477e-01 -6.78763794e-03 -2.36584434e+01] [-5.09381021e-02 4.61824377e-03 9.98691134e-01 -1.26564666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.300714057 meters 0.04618454563500783 Centerline is valid? [True, True] Translation: X:191.15, Y:-23.66, Z:-12.66 [[ 9.97762511e-01 4.35332333e-02 5.07427716e-02 1.91147075e+02] [-4.32427676e-02 9.99041393e-01 -6.80864845e-03 -2.36565400e+01] [-5.09905317e-02 4.59915630e-03 9.98688547e-01 -1.26596136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.360714057 meters 0.05139921328794702 Centerline is valid? [True, True] Translation: X:191.21, Y:-23.67, Z:-12.66 [[ 9.97722494e-01 4.41809528e-02 5.09692937e-02 1.91207155e+02] [-4.38885782e-02 9.99013004e-01 -6.84185765e-03 -2.36683332e+01] [-5.12212670e-02 4.58930545e-03 9.98676785e-01 -1.26645736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.420714057 meters 0.050645345119287 Centerline is valid? [True, True] Translation: X:191.27, Y:-23.67, Z:-12.67 [[ 9.97608232e-01 4.58734944e-02 5.17053008e-02 1.91268740e+02] [-4.55740998e-02 9.98936748e-01 -6.95522845e-03 -2.36733395e+01] [-5.19693856e-02 4.58217062e-03 9.98638166e-01 -1.26690188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.480714057 meters 0.04833616350928858 Centerline is valid? [True, True] Translation: X:191.33, Y:-23.68, Z:-12.67 [[ 9.97477223e-01 4.83319299e-02 5.19924523e-02 1.91330015e+02] [-4.80323421e-02 9.98821273e-01 -6.99702581e-03 -2.36762919e+01] [-5.22693471e-02 4.48205461e-03 9.98622965e-01 -1.26725931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.540714057 meters 0.041786990709775804 Centerline is valid? [True, True] Translation: X:191.39, Y:-23.67, Z:-12.67 [[ 9.97262216e-01 5.10931542e-02 5.34561632e-02 1.91391913e+02] [-5.07803230e-02 9.98683930e-01 -7.19495145e-03 -2.36730069e+01] [-5.37534239e-02 4.46073200e-03 9.98544276e-01 -1.26741441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.600714057 meters 0.04117044189197486 Centerline is valid? [True, True] Translation: X:191.45, Y:-23.68, Z:-12.68 [[ 9.96954573e-01 5.56399520e-02 5.46422491e-02 1.91451848e+02] [-5.53197678e-02 9.98441592e-01 -7.35597211e-03 -2.36791548e+01] [-5.49663801e-02 4.31077350e-03 9.98478900e-01 -1.26778550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.660714057 meters 0.0410161055156445 Centerline is valid? [True, True] Translation: X:191.51, Y:-23.68, Z:-12.68 [[ 9.96564151e-01 6.23513462e-02 5.45179197e-02 1.91511224e+02] [-6.20425931e-02 9.98046518e-01 -7.33923643e-03 -2.36844484e+01] [-5.48690312e-02 3.93158681e-03 9.98485820e-01 -1.26828885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.720714057 meters 0.036590691847255934 Centerline is valid? [True, True] Translation: X:191.57, Y:-23.68, Z:-12.69 [[ 9.96036369e-01 7.08275351e-02 5.38053230e-02 1.91572205e+02] [-7.05391361e-02 9.97482718e-01 -7.24272735e-03 -2.36833424e+01] [-5.41828644e-02 3.41863885e-03 9.98525178e-01 -1.26878807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.780714057 meters 0.03359463158568201 Centerline is valid? [True, True] Translation: X:191.63, Y:-23.69, Z:-12.69 [[ 9.95467328e-01 7.85522514e-02 5.36128931e-02 1.91632865e+02] [-7.82770769e-02 9.96905522e-01 -7.21655980e-03 -2.36855564e+01] [-5.40138662e-02 2.98718895e-03 9.98535717e-01 -1.26918900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.840714057 meters 0.030680094833006384 Centerline is valid? [True, True] Translation: X:191.69, Y:-23.69, Z:-12.69 [[ 9.94887737e-01 8.47543526e-02 5.49098420e-02 1.91694203e+02] [-8.44750958e-02 9.96398178e-01 -7.39112765e-03 -2.36864686e+01] [-5.53384968e-02 2.71482810e-03 9.98463961e-01 -1.26932299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90071405700002 meters 0.02944653541920741 Centerline is valid? [True, True] Translation: X:191.75, Y:-23.69, Z:-12.70 [[ 9.94358535e-01 9.05399126e-02 5.52596471e-02 1.91753759e+02] [-9.02659240e-02 9.95889913e-01 -7.43931278e-03 -2.36909198e+01] [-5.57060799e-02 2.40928104e-03 9.98444304e-01 -1.26970554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96071405700002 meters 0.025660120611645167 Centerline is valid? [True, True] Translation: X:191.81, Y:-23.69, Z:-12.70 [[ 9.93936914e-01 9.52387759e-02 5.49453125e-02 1.91813914e+02] [-9.49751217e-02 9.95452173e-01 -7.39584599e-03 -2.36927358e+01] [-5.53998020e-02 2.13256660e-03 9.98461974e-01 -1.27006589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02071405700002 meters 0.02629718208011169 Centerline is valid? [True, True] Translation: X:191.87, Y:-23.70, Z:-12.71 [[ 9.93913051e-01 9.55102772e-02 5.49056836e-02 1.91870427e+02] [-9.52474358e-02 9.95426196e-01 -7.39016983e-03 -2.37024644e+01] [-5.53603929e-02 2.11556066e-03 9.98464196e-01 -1.27051168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.080714057 meters 0.027895160714943707 Centerline is valid? [True, True] Translation: X:191.93, Y:-23.72, Z:-12.71 [[ 9.94334817e-01 9.12685169e-02 5.44823708e-02 1.91928903e+02] [-9.10036706e-02 9.95823598e-01 -7.32759441e-03 -2.37168452e+01] [-5.49236091e-02 2.32798652e-03 9.98487846e-01 -1.27100351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.140714057 meters 0.028904115042499876 Centerline is valid? [True, True] Translation: X:191.99, Y:-23.73, Z:-12.71 [[ 9.94743617e-01 8.66910966e-02 5.44957786e-02 1.91988031e+02] [-8.64193206e-02 9.96231898e-01 -7.32842340e-03 -2.37293912e+01] [-5.49257420e-02 2.58041424e-03 9.98487108e-01 -1.27136691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.200714057 meters 0.03227436006221799 Centerline is valid? [True, True] Translation: X:192.04, Y:-23.75, Z:-12.72 [[ 9.94982312e-01 8.31352036e-02 5.56662904e-02 1.92044883e+02] [-8.28461059e-02 9.96534242e-01 -7.48508726e-03 -2.37450087e+01] [-5.60956388e-02 2.83579404e-03 9.98421373e-01 -1.27173021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.260714057 meters 0.03410042157876482 Centerline is valid? [True, True] Translation: X:192.10, Y:-23.76, Z:-12.72 [[ 9.95227283e-01 7.89842191e-02 5.73074891e-02 1.92103271e+02] [-7.86711366e-02 9.96870867e-01 -7.70240311e-03 -2.37593040e+01] [-5.77365346e-02 3.15719641e-03 9.98326863e-01 -1.27197409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.320714057 meters 0.03223848085470716 Centerline is valid? [True, True] Translation: X:192.16, Y:-23.77, Z:-12.72 [[ 9.95458489e-01 7.56322959e-02 5.78113534e-02 1.92162932e+02] [-7.53081043e-02 9.97130047e-01 -7.76911523e-03 -2.37672135e+01] [-5.82330336e-02 3.38016828e-03 9.98297295e-01 -1.27229083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.380714057 meters 0.03329894937519611 Centerline is valid? [True, True] Translation: X:192.22, Y:-23.78, Z:-12.73 [[ 9.96032800e-01 6.86146770e-02 5.66629299e-02 1.92221080e+02] [-6.82920039e-02 9.97636323e-01 -7.61376331e-03 -2.37832593e+01] [-5.70514130e-02 3.71393296e-03 9.98364334e-01 -1.27289093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.440714057 meters 0.03730834761380586 Centerline is valid? [True, True] Translation: X:192.28, Y:-23.80, Z:-12.73 [[ 9.96259413e-01 6.67090769e-02 5.49279679e-02 1.92279065e+02] [-6.64030591e-02 9.97765591e-01 -7.37964348e-03 -2.37988064e+01] [-5.52975256e-02 3.70465418e-03 9.98463049e-01 -1.27345811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.500714057 meters 0.0386756252754409 Centerline is valid? [True, True] Translation: X:192.34, Y:-23.81, Z:-12.74 [[ 9.96384901e-01 6.65824775e-02 5.27626979e-02 1.92338101e+02] [-6.62999637e-02 9.97774556e-01 -7.08870297e-03 -2.38090700e+01] [-5.31172609e-02 3.56491166e-03 9.98581919e-01 -1.27392130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.560714057 meters 0.03621203420957473 Centerline is valid? [True, True] Translation: X:192.40, Y:-23.81, Z:-12.74 [[ 9.96224980e-01 6.82786183e-02 5.36080131e-02 1.92398207e+02] [-6.79895126e-02 9.97660053e-01 -7.20039899e-03 -2.38130551e+01] [-5.39742065e-02 3.52843466e-03 9.98536096e-01 -1.27419200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62071405700001 meters 0.032926534650330415 Centerline is valid? [True, True] Translation: X:192.46, Y:-23.82, Z:-12.74 [[ 9.95962527e-01 7.16141202e-02 5.41300582e-02 1.92458060e+02] [-7.13243725e-02 9.97426692e-01 -7.26828541e-03 -2.38153908e+01] [-5.45112768e-02 3.37814747e-03 9.98507441e-01 -1.27441904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68071405700002 meters 0.03133866989532304 Centerline is valid? [True, True] Translation: X:192.52, Y:-23.82, Z:-12.75 [[ 9.95602120e-01 7.55299283e-02 5.54224572e-02 1.92517787e+02] [-7.52323242e-02 9.97138280e-01 -7.43960668e-03 -2.38197465e+01] [-5.58257666e-02 3.23732791e-03 9.98435278e-01 -1.27474520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74071405700002 meters 0.031384373430501676 Centerline is valid? [True, True] Translation: X:192.58, Y:-23.83, Z:-12.75 [[ 9.95483956e-01 7.70395694e-02 5.54670834e-02 1.92575959e+02] [-7.67438707e-02 9.97023046e-01 -7.44467004e-03 -2.38274804e+01] [-5.58754947e-02 3.15429091e-03 9.98432762e-01 -1.27507237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80071405700002 meters 0.03152620493800564 Centerline is valid? [True, True] Translation: X:192.63, Y:-23.84, Z:-12.75 [[ 9.95379376e-01 7.83898813e-02 5.54520017e-02 1.92633909e+02] [-7.80966582e-02 9.96918041e-01 -7.43857600e-03 -2.38357908e+01] [-5.58642100e-02 3.07358911e-03 9.98433645e-01 -1.27548562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.860714057 meters 0.030088128225411685 Centerline is valid? [True, True] Translation: X:192.69, Y:-23.84, Z:-12.76 [[ 9.95390268e-01 7.90518068e-02 5.43049434e-02 1.92692234e+02] [-7.87717967e-02 9.96866086e-01 -7.28083703e-03 -2.38421095e+01] [-5.47103197e-02 2.96957636e-03 9.98497853e-01 -1.27593055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.920714057 meters 0.03096468343846941 Centerline is valid? [True, True] Translation: X:192.75, Y:-23.85, Z:-12.77 [[ 9.95410356e-01 7.98781620e-02 5.27039068e-02 1.92748572e+02] [-7.96157826e-02 9.96800605e-01 -7.06258319e-03 -2.38518144e+01] [-5.30994324e-02 2.83410566e-03 9.98585208e-01 -1.27650725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.980714057 meters 0.032525068065952255 Centerline is valid? [True, True] Translation: X:192.81, Y:-23.86, Z:-12.77 [[ 9.95280057e-01 8.11248452e-02 5.32575593e-02 1.92805225e+02] [-8.08589580e-02 9.96700038e-01 -7.13190701e-03 -2.38622492e+01] [-5.36603862e-02 2.79189407e-03 9.98555341e-01 -1.27682723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.040714057 meters 0.02875385748473187 Centerline is valid? [True, True] Translation: X:192.86, Y:-23.86, Z:-12.77 [[ 9.95049057e-01 8.29766994e-02 5.47013941e-02 1.92864164e+02] [-8.26992705e-02 9.96547666e-01 -7.31983168e-03 -2.38639441e+01] [-5.51199221e-02 2.75982622e-03 9.98475927e-01 -1.27686440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.100714057 meters 0.031418259406392805 Centerline is valid? [True, True] Translation: X:192.92, Y:-23.88, Z:-12.77 [[ 9.95073573e-01 8.14971837e-02 5.64516905e-02 1.92920478e+02] [-8.11995498e-02 9.96669268e-01 -7.55003624e-03 -2.38769107e+01] [-5.68789717e-02 2.92898968e-03 9.98376784e-01 -1.27720173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.160714057 meters 0.03631839183609513 Centerline is valid? [True, True] Translation: X:192.98, Y:-23.89, Z:-12.78 [[ 9.95458346e-01 7.71008292e-02 5.58403431e-02 1.92977589e+02] [-7.68031131e-02 9.97018360e-01 -7.46131430e-03 -2.38945557e+01] [-5.62491208e-02 3.13871541e-03 9.98411831e-01 -1.27770005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.220714057 meters 0.035888954987914744 Centerline is valid? [True, True] Translation: X:193.04, Y:-23.90, Z:-12.78 [[ 9.95876489e-01 7.19177915e-02 5.52978322e-02 1.93037606e+02] [-7.16178927e-02 9.97404775e-01 -7.38859230e-03 -2.39039711e+01] [-5.56856932e-02 3.39781114e-03 9.98442566e-01 -1.27807487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.280714057 meters 0.03673062359176454 Centerline is valid? [True, True] Translation: X:193.10, Y:-23.91, Z:-12.79 [[ 9.96276676e-01 6.75089979e-02 5.36220050e-02 1.93096550e+02] [-6.72206548e-02 9.97712408e-01 -7.16486357e-03 -2.39147318e+01] [-5.39830325e-02 3.53368018e-03 9.98535600e-01 -1.27853061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.340714057 meters 0.03881667041394717 Centerline is valid? [True, True] Translation: X:193.15, Y:-23.93, Z:-12.79 [[ 9.96448658e-01 6.61185905e-02 5.21383083e-02 1.93154457e+02] [-6.58441464e-02 9.97805605e-01 -6.96587330e-03 -2.39266597e+01] [-5.24844700e-02 3.50813269e-03 9.98615578e-01 -1.27903281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40071405700002 meters 0.03486962423585743 Centerline is valid? [True, True] Translation: X:193.22, Y:-23.93, Z:-12.79 [[ 9.96233488e-01 7.07670678e-02 5.01084784e-02 1.93215032e+02] [-7.05195556e-02 9.97487946e-01 -6.69256544e-03 -2.39271735e+01] [-5.04562164e-02 3.13373019e-03 9.98721358e-01 -1.27936411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46071405700002 meters 0.02920103363475801 Centerline is valid? [True, True] Translation: X:193.28, Y:-23.92, Z:-12.79 [[ 9.95425649e-01 8.09855494e-02 5.06864699e-02 1.93276642e+02] [-8.07454812e-02 9.96711764e-01 -6.76959294e-03 -2.39236471e+01] [-5.10680400e-02 2.64592304e-03 9.98691671e-01 -1.27945688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52071405700002 meters 0.02655791048287333 Centerline is valid? [True, True] Translation: X:193.34, Y:-23.92, Z:-12.80 [[ 9.94347398e-01 9.20067387e-02 5.29906783e-02 1.93337222e+02] [-9.17599205e-02 9.95756010e-01 -7.07718359e-03 -2.39248339e+01] [-5.34169350e-02 2.17475866e-03 9.98569928e-01 -1.27964262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.580714057 meters 0.025183758548254925 Centerline is valid? [True, True] Translation: X:193.40, Y:-23.93, Z:-12.80 [[ 9.93550786e-01 9.98037571e-02 5.38149283e-02 1.93396734e+02] [-9.95606069e-02 9.95005543e-01 -7.18708267e-03 -2.39302541e+01] [-5.42634498e-02 1.78288471e-03 9.98525062e-01 -1.28007382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.640714057 meters 0.023353980697027276 Centerline is valid? [True, True] Translation: X:193.46, Y:-23.94, Z:-12.80 [[ 9.93410342e-01 1.01513873e-01 5.32055107e-02 1.93455042e+02] [-1.01278618e-01 9.94832720e-01 -7.10631733e-03 -2.39353153e+01] [-5.36519727e-02 1.67090851e-03 9.98558298e-01 -1.28041707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.700714057 meters 0.02515316018718832 Centerline is valid? [True, True] Translation: X:193.51, Y:-23.95, Z:-12.81 [[ 9.93850837e-01 9.74997781e-02 5.24814875e-02 1.93511373e+02] [-9.72654954e-02 9.95233812e-01 -7.00593306e-03 -2.39506306e+01] [-5.29144277e-02 1.85821456e-03 9.98597321e-01 -1.28097235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.760714057 meters 0.0266755481053694 Centerline is valid? [True, True] Translation: X:193.57, Y:-23.97, Z:-12.81 [[ 9.94476651e-01 9.10376876e-02 5.22334227e-02 1.93570052e+02] [-9.07969978e-02 9.95845048e-01 -6.96749409e-03 -2.39656634e+01] [-5.26506998e-02 2.18637223e-03 9.98610597e-01 -1.28139250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.820714057 meters 0.028113531686785785 Centerline is valid? [True, True] Translation: X:193.63, Y:-23.98, Z:-12.82 [[ 9.94808276e-01 8.71740144e-02 5.25089077e-02 1.93628582e+02] [-8.69254285e-02 9.96190201e-01 -7.00382572e-03 -2.39782021e+01] [-5.29194109e-02 2.40310449e-03 9.98595895e-01 -1.28179556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.880714057 meters 0.028877472215201018 Centerline is valid? [True, True] Translation: X:193.69, Y:-23.99, Z:-12.82 [[ 9.95181172e-01 8.13569861e-02 5.47309413e-02 1.93687528e+02] [-8.10781804e-02 9.96681018e-01 -7.29907478e-03 -2.39902441e+01] [-5.51431210e-02 2.82641667e-03 9.98474460e-01 -1.28204203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.940714057 meters 0.03061559494214205 Centerline is valid? [True, True] Translation: X:193.75, Y:-24.00, Z:-12.82 [[ 9.95457892e-01 7.71720968e-02 5.57499174e-02 1.93746842e+02] [-7.68762789e-02 9.97012921e-01 -7.43461458e-03 -2.40009525e+01] [-5.61571328e-02 3.11499956e-03 9.98417084e-01 -1.28227740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.000714057 meters 0.031600010743104985 Centerline is valid? [True, True] Translation: X:193.81, Y:-24.01, Z:-12.83 [[ 9.95678043e-01 7.38555173e-02 5.63080632e-02 1.93805804e+02] [-7.35485151e-02 9.97263378e-01 -7.50800399e-03 -2.40111559e+01] [-5.67084769e-02 3.33418028e-03 9.98385212e-01 -1.28271069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.060714057 meters 0.03426563344517316 Centerline is valid? [True, True] Translation: X:193.86, Y:-24.03, Z:-12.83 [[ 9.96043428e-01 6.88645562e-02 5.61708382e-02 1.93864850e+02] [-6.85512119e-02 9.97619493e-01 -7.48857537e-03 -2.40251958e+01] [-5.65528205e-02 3.60836726e-03 9.98393088e-01 -1.28328026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12071405700001 meters 0.03713300540640785 Centerline is valid? [True, True] Translation: X:193.92, Y:-24.04, Z:-12.84 [[ 9.96345261e-01 6.61692987e-02 5.40161621e-02 1.93922593e+02] [-6.58756181e-02 9.97801856e-01 -7.20134669e-03 -2.40358209e+01] [-5.43739348e-02 3.61667958e-03 9.98514093e-01 -1.28389636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18071405700002 meters 0.03677282316114372 Centerline is valid? [True, True] Translation: X:193.98, Y:-24.04, Z:-12.84 [[ 9.96427271e-01 6.60714625e-02 5.26047157e-02 1.93981795e+02] [-6.57929085e-02 9.97808666e-01 -7.01134298e-03 -2.40407354e+01] [-5.29526908e-02 3.52527611e-03 9.98590800e-01 -1.28439179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24071405700002 meters 0.03889455924722174 Centerline is valid? [True, True] Translation: X:194.04, Y:-24.05, Z:-12.85 [[ 9.96294002e-01 6.77051496e-02 5.30497278e-02 1.94039287e+02] [-6.74242536e-02 9.97699354e-01 -7.06892409e-03 -2.40495379e+01] [-5.34062817e-02 3.46588837e-03 9.98566851e-01 -1.28489382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30071405700002 meters 0.03498558788780577 Centerline is valid? [True, True] Translation: X:194.10, Y:-24.05, Z:-12.85 [[ 9.95458375e-01 7.82483812e-02 5.42200652e-02 1.94101326e+02] [-7.79706900e-02 9.96929498e-01 -7.22136838e-03 -2.40458326e+01] [-5.46186428e-02 2.96099573e-03 9.98502898e-01 -1.28515726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.360714057 meters 0.031216528536097094 Centerline is valid? [True, True] Translation: X:194.16, Y:-24.04, Z:-12.86 [[ 9.94598332e-01 8.80472947e-02 5.49711865e-02 1.94162766e+02] [-8.77767370e-02 9.96113265e-01 -7.32169086e-03 -2.40421358e+01] [-5.54021832e-02 2.45695014e-03 9.98461097e-01 -1.28550058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.420714057 meters 0.02871755344203979 Centerline is valid? [True, True] Translation: X:194.22, Y:-24.04, Z:-12.86 [[ 9.93842110e-01 9.55235742e-02 5.61525352e-02 1.94221757e+02] [-9.52531524e-02 9.95424986e-01 -7.47888794e-03 -2.40424667e+01] [-5.66100467e-02 2.08412777e-03 9.98394190e-01 -1.28578956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.480714057 meters 0.024211558367967467 Centerline is valid? [True, True] Translation: X:194.28, Y:-24.04, Z:-12.86 [[ 9.93465925e-01 9.93386117e-02 5.61898278e-02 1.94282600e+02] [-9.90740554e-02 9.95051938e-01 -7.48142597e-03 -2.40387484e+01] [-5.66549915e-02 1.86558766e-03 9.98392073e-01 -1.28607029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.540714057 meters 0.023869817667003777 Centerline is valid? [True, True] Translation: X:194.34, Y:-24.04, Z:-12.87 [[ 9.93435424e-01 9.95455799e-02 5.63625365e-02 1.94340720e+02] [-9.92797593e-02 9.95031267e-01 -7.50382749e-03 -2.40447344e+01] [-5.68294590e-02 1.85890898e-03 9.98382170e-01 -1.28650469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.600714057 meters 0.02506028364670666 Centerline is valid? [True, True] Translation: X:194.40, Y:-24.05, Z:-12.87 [[ 9.93722059e-01 9.74307580e-02 5.49883330e-02 1.94399348e+02] [-9.71747590e-02 9.95240440e-01 -7.31662197e-03 -2.40549986e+01] [-5.54394767e-02 1.92721064e-03 9.98460190e-01 -1.28705925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.660714057 meters 0.026029641234850475 Centerline is valid? [True, True] Translation: X:194.46, Y:-24.07, Z:-12.88 [[ 9.94191155e-01 9.30291100e-02 5.41251538e-02 1.94458168e+02] [-9.27746959e-02 9.95661097e-01 -7.19967801e-03 -2.40660232e+01] [-5.45600896e-02 2.13641152e-03 9.98508203e-01 -1.28750205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.720714057 meters 0.027682781822296144 Centerline is valid? [True, True] Translation: X:194.52, Y:-24.08, Z:-12.88 [[ 9.94715028e-01 8.69368886e-02 5.46259171e-02 1.94516666e+02] [-8.66686300e-02 9.96210703e-01 -7.26523683e-03 -2.40791888e+01] [-5.50505404e-02 2.49248685e-03 9.98480458e-01 -1.28792264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.780714057 meters 0.03552722114987604 Centerline is valid? [True, True] Translation: X:194.57, Y:-24.10, Z:-12.89 [[ 9.95335170e-01 7.98405597e-02 5.41607221e-02 1.94573355e+02] [-7.95664180e-02 9.96803545e-01 -7.20261299e-03 -2.41021488e+01] [-5.45626605e-02 2.85963937e-03 9.98506254e-01 -1.28854732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.840714057 meters 0.03357026480906312 Centerline is valid? [True, True] Translation: X:194.63, Y:-24.11, Z:-12.89 [[ 9.95852475e-01 7.28599744e-02 5.44910290e-02 1.94633230e+02] [-7.25720807e-02 9.97336847e-01 -7.24616445e-03 -2.41094420e+01] [-5.48738665e-02 3.26158345e-03 9.98487967e-01 -1.28885805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90071405700002 meters 0.043714918756710776 Centerline is valid? [True, True] Translation: X:194.69, Y:-24.14, Z:-12.89 [[ 9.96315488e-01 6.60573027e-02 5.46980846e-02 1.94688955e+02] [-6.57570058e-02 9.97809155e-01 -7.27371078e-03 -2.41354340e+01] [-5.50587313e-02 3.65012844e-03 9.98476446e-01 -1.28946288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96071405700002 meters 0.03773528651717709 Centerline is valid? [True, True] Translation: X:194.75, Y:-24.14, Z:-12.90 [[ 9.96790577e-01 5.92176902e-02 5.38684598e-02 1.94749761e+02] [-5.89164741e-02 9.98237209e-01 -7.16403702e-03 -2.41370475e+01] [-5.41977387e-02 3.96730488e-03 9.98522341e-01 -1.28975006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02071405700002 meters 0.039748026157165293 Centerline is valid? [True, True] Translation: X:194.81, Y:-24.15, Z:-12.90 [[ 9.97086488e-01 5.55534954e-02 5.22718255e-02 1.94808929e+02] [-5.52649237e-02 9.98447531e-01 -6.95100345e-03 -2.41491043e+01] [-5.25768277e-02 4.04195317e-03 9.98608702e-01 -1.29027404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.080714057 meters 0.042085153077567085 Centerline is valid? [True, True] Translation: X:194.87, Y:-24.16, Z:-12.91 [[ 9.97357887e-01 5.19329161e-02 5.07958337e-02 1.94867789e+02] [-5.16557570e-02 9.98642105e-01 -6.75488520e-03 -2.41613682e+01] [-5.10776592e-02 4.11314079e-03 9.98686214e-01 -1.29086212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.140714057 meters 0.04336639943782564 Centerline is valid? [True, True] Translation: X:194.93, Y:-24.17, Z:-12.91 [[ 9.97484880e-01 5.02692684e-02 4.99691307e-02 1.94928471e+02] [-4.99990114e-02 9.98727164e-01 -6.64462070e-03 -2.41703809e+01] [-5.02395484e-02 4.12950155e-03 9.98728659e-01 -1.29123120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.200714057 meters 0.042965043008461865 Centerline is valid? [True, True] Translation: X:194.99, Y:-24.18, Z:-12.92 [[ 9.97408811e-01 5.07979073e-02 5.09434580e-02 1.94990423e+02] [-5.05177316e-02 9.98700197e-01 -6.77318376e-03 -2.41773256e+01] [-5.12213051e-02 4.18208522e-03 9.98678571e-01 -1.29155829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.260714057 meters 0.04302154805261316 Centerline is valid? [True, True] Translation: X:195.05, Y:-24.18, Z:-12.92 [[ 9.97378275e-01 5.18689022e-02 5.04598257e-02 1.95052049e+02] [-5.15947382e-02 9.98645484e-01 -6.72166456e-03 -2.41844271e+01] [-5.07401224e-02 4.10058071e-03 9.98703472e-01 -1.29196326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.320714057 meters 0.04382943099875275 Centerline is valid? [True, True] Translation: X:195.11, Y:-24.19, Z:-12.92 [[ 9.97393265e-01 5.20744882e-02 4.99491978e-02 1.95113726e+02] [-5.18054734e-02 9.98634945e-01 -6.66624054e-03 -2.41920796e+01] [-5.02281555e-02 4.06122158e-03 9.98729512e-01 -1.29244876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.380714057 meters 0.046047888705905135 Centerline is valid? [True, True] Translation: X:195.18, Y:-24.20, Z:-12.93 [[ 9.97382040e-01 5.22559479e-02 4.99838148e-02 1.95175513e+02] [-5.19861612e-02 9.98625442e-01 -6.68327388e-03 -2.42005327e+01] [-5.02643500e-02 4.06731068e-03 9.98727667e-01 -1.29285472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.440714057 meters 0.04839152651040392 Centerline is valid? [True, True] Translation: X:195.24, Y:-24.21, Z:-12.93 [[ 9.97354854e-01 5.21948942e-02 5.05864467e-02 1.95235790e+02] [-5.19177542e-02 9.98628362e-01 -6.77805111e-03 -2.42086372e+01] [-5.08708401e-02 4.13378747e-03 9.98696685e-01 -1.29321119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.500714057 meters 0.050425679272271685 Centerline is valid? [True, True] Translation: X:195.30, Y:-24.22, Z:-12.94 [[ 9.97320461e-01 5.21966615e-02 5.12582331e-02 1.95297632e+02] [-5.19115064e-02 9.98627992e-01 -6.87967072e-03 -2.42172660e+01] [-5.15470023e-02 4.20034428e-03 9.98661736e-01 -1.29357531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.560714057 meters 0.050841571902457916 Centerline is valid? [True, True] Translation: X:195.36, Y:-24.22, Z:-12.94 [[ 9.97276730e-01 5.27559567e-02 5.15357459e-02 1.95359323e+02] [-5.24678008e-02 9.98598575e-01 -6.92929424e-03 -2.42245824e+01] [-5.18290840e-02 4.20645665e-03 9.98647111e-01 -1.29394559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62071405700001 meters 0.05353019592515666 Centerline is valid? [True, True] Translation: X:195.42, Y:-24.23, Z:-12.94 [[ 9.97336681e-01 5.16654911e-02 5.14802977e-02 1.95420645e+02] [-5.13757703e-02 9.98655306e-01 -6.93617860e-03 -2.42345084e+01] [-5.17694335e-02 4.27286539e-03 9.98649923e-01 -1.29433117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68071405700002 meters 0.03980546132676271 Centerline is valid? [True, True] Translation: X:195.48, Y:-24.22, Z:-12.95 [[ 9.97379036e-01 5.09647319e-02 5.13581013e-02 1.95484388e+02] [-5.06753338e-02 9.98691190e-01 -6.92224129e-03 -2.42233830e+01] [-5.16436735e-02 4.30150942e-03 9.98656311e-01 -1.29454570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74071405700002 meters 0.0436080768202833 Centerline is valid? [True, True] Translation: X:195.54, Y:-24.24, Z:-12.95 [[ 9.97421376e-01 5.11060178e-02 5.03862386e-02 1.95544628e+02] [-5.08273204e-02 9.98684320e-01 -6.79794321e-03 -2.42351810e+01] [-5.06673623e-02 4.21941637e-03 9.98706671e-01 -1.29514657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80071405700002 meters 0.04405373189596504 Centerline is valid? [True, True] Translation: X:195.61, Y:-24.24, Z:-12.96 [[ 9.97511669e-01 5.13637176e-02 4.82932662e-02 1.95605755e+02] [-5.11077691e-02 9.98671857e-01 -6.52064366e-03 -2.42424705e+01] [-4.85640504e-02 4.03625704e-03 9.98811915e-01 -1.29576538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.860714057 meters 0.04429464833935501 Centerline is valid? [True, True] Translation: X:195.67, Y:-24.25, Z:-12.96 [[ 9.97393315e-01 5.26058648e-02 4.93882371e-02 1.95666862e+02] [-5.23389361e-02 9.98607014e-01 -6.68338434e-03 -2.42497458e+01] [-4.96710252e-02 4.08103507e-03 9.98757295e-01 -1.29604582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.920714057 meters 0.0461536928891068 Centerline is valid? [True, True] Translation: X:195.73, Y:-24.26, Z:-12.96 [[ 9.97152661e-01 5.57716854e-02 5.07551983e-02 1.95725639e+02] [-5.54936967e-02 9.98435396e-01 -6.87096856e-03 -2.42567963e+01] [-5.10589920e-02 4.03481100e-03 9.98687488e-01 -1.29632051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.980714057 meters 0.04569462657211167 Centerline is valid? [True, True] Translation: X:195.79, Y:-24.26, Z:-12.97 [[ 9.96966077e-01 5.84434580e-02 5.14101422e-02 1.95785847e+02] [-5.81618280e-02 9.98282917e-01 -6.95847495e-03 -2.42613002e+01] [-5.17285440e-02 3.94725563e-03 9.98653382e-01 -1.29658176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.040714057 meters 0.04048785746450998 Centerline is valid? [True, True] Translation: X:195.85, Y:-24.26, Z:-12.97 [[ 9.96780372e-01 6.11952733e-02 5.18076172e-02 1.95846464e+02] [-6.09129151e-02 9.98118446e-01 -7.01311881e-03 -2.42596177e+01] [-5.21393081e-02 3.83478619e-03 9.98632458e-01 -1.29686619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.100714057 meters 0.03738202477794898 Centerline is valid? [True, True] Translation: X:195.91, Y:-24.26, Z:-12.97 [[ 9.96631675e-01 6.40492790e-02 5.12151692e-02 1.95906944e+02] [-6.37771621e-02 9.97940092e-01 -6.93160851e-03 -2.42595121e+01] [-5.15536352e-02 3.64190245e-03 9.98663587e-01 -1.29718676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.160714057 meters 0.038466149223025554 Centerline is valid? [True, True] Translation: X:195.97, Y:-24.27, Z:-12.98 [[ 9.96565033e-01 6.51425169e-02 5.11330366e-02 1.95965558e+02] [-6.48727275e-02 9.97869552e-01 -6.92003311e-03 -2.42665106e+01] [-5.14748887e-02 3.57912347e-03 9.98667876e-01 -1.29756855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.220714057 meters 0.040670891426144766 Centerline is valid? [True, True] Translation: X:196.02, Y:-24.27, Z:-12.98 [[ 9.96539569e-01 6.59884887e-02 5.05411463e-02 1.96022474e+02] [-6.57261124e-02 9.97814273e-01 -6.83767958e-03 -2.42741910e+01] [-5.08818853e-02 3.49214519e-03 9.98698572e-01 -1.29803531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.280714057 meters 0.03959157848709669 Centerline is valid? [True, True] Translation: X:196.08, Y:-24.28, Z:-12.98 [[ 9.96468597e-01 6.74603638e-02 4.99943402e-02 1.96081668e+02] [-6.72057384e-02 9.97716247e-01 -6.75862716e-03 -2.42770989e+01] [-5.03361049e-02 3.37485318e-03 9.98726633e-01 -1.29842335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.340714057 meters 0.03878865122245909 Centerline is valid? [True, True] Translation: X:196.14, Y:-24.28, Z:-12.99 [[ 9.96359063e-01 6.87843779e-02 5.03718849e-02 1.96140899e+02] [-6.85277087e-02 9.97625991e-01 -6.80696285e-03 -2.42808475e+01] [-5.07205143e-02 3.33030927e-03 9.98707334e-01 -1.29869873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40071405700002 meters 0.034162633175160606 Centerline is valid? [True, True] Translation: X:196.20, Y:-24.28, Z:-12.99 [[ 9.96240391e-01 6.98377179e-02 5.12618512e-02 1.96200031e+02] [-6.95734053e-02 9.97552800e-01 -6.92473231e-03 -2.42802529e+01] [-5.16200107e-02 3.33223647e-03 9.98661239e-01 -1.29884809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46071405700002 meters 0.03480376141868014 Centerline is valid? [True, True] Translation: X:196.26, Y:-24.29, Z:-12.99 [[ 9.96242551e-01 7.01021797e-02 5.08572876e-02 1.96258702e+02] [-6.98425747e-02 9.97534396e-01 -6.86609028e-03 -2.42877417e+01] [-5.12132216e-02 3.28828738e-03 9.98682328e-01 -1.29928378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52071405700002 meters 0.03655784159311206 Centerline is valid? [True, True] Translation: X:196.32, Y:-24.30, Z:-13.00 [[ 9.96366264e-01 6.90291520e-02 4.98923167e-02 1.96315711e+02] [-6.87780862e-02 9.97609259e-01 -6.73363024e-03 -2.42975222e+01] [-5.02378539e-02 3.27766395e-03 9.98731903e-01 -1.29979342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.580714057 meters 0.03605856923994361 Centerline is valid? [True, True] Translation: X:196.37, Y:-24.31, Z:-13.00 [[ 9.96546330e-01 6.69719292e-02 4.90935204e-02 1.96374261e+02] [-6.67266050e-02 9.97749329e-01 -6.62091754e-03 -2.43057556e+01] [-4.94264427e-02 3.32220713e-03 9.98772241e-01 -1.30011824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.640714057 meters 0.04107214040830285 Centerline is valid? [True, True] Translation: X:196.43, Y:-24.32, Z:-13.01 [[ 9.96733499e-01 6.48792105e-02 4.80938753e-02 1.96430504e+02] [-6.46414728e-02 9.97887489e-01 -6.48380269e-03 -2.43222314e+01] [-4.84129405e-02 3.35376440e-03 9.98821776e-01 -1.30068340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.700714057 meters 0.036347422577508955 Centerline is valid? [True, True] Translation: X:196.49, Y:-24.32, Z:-13.01 [[ 9.96816801e-01 6.40999120e-02 4.74074432e-02 1.96489223e+02] [-6.38682007e-02 9.97937897e-01 -6.38793945e-03 -2.43243324e+01] [-4.77191505e-02 3.33977727e-03 9.98855209e-01 -1.30094560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.760714057 meters 0.04367087461101222 Centerline is valid? [True, True] Translation: X:196.54, Y:-24.34, Z:-13.02 [[ 9.96782080e-01 6.43221683e-02 4.78345538e-02 1.96544664e+02] [-6.40866745e-02 9.97923543e-01 -6.44215020e-03 -2.43432833e+01] [-4.81496005e-02 3.35586239e-03 9.98834498e-01 -1.30150819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.820714057 meters 0.03784179956380156 Centerline is valid? [True, True] Translation: X:196.61, Y:-24.34, Z:-13.01 [[ 9.96536307e-01 6.71496768e-02 4.90541495e-02 1.96605657e+02] [-6.69056979e-02 9.97737470e-01 -6.60069725e-03 -2.43428893e+01] [-4.93863977e-02 3.29583235e-03 9.98774309e-01 -1.30147634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.880714057 meters 0.03442555150486455 Centerline is valid? [True, True] Translation: X:196.67, Y:-24.35, Z:-13.02 [[ 9.96258738e-01 7.03450320e-02 5.02006261e-02 1.96665647e+02] [-7.00935856e-02 9.97517555e-01 -6.75404312e-03 -2.43463593e+01] [-5.05511192e-02 3.21003259e-03 9.98716316e-01 -1.30155750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.940714057 meters 0.03390766053110118 Centerline is valid? [True, True] Translation: X:196.72, Y:-24.35, Z:-13.02 [[ 9.96081070e-01 7.25087155e-02 5.06457066e-02 1.96724522e+02] [-7.22556030e-02 9.97362876e-01 -6.81326631e-03 -2.43542366e+01] [-5.10061688e-02 3.12712953e-03 9.98693442e-01 -1.30189156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.000714057 meters 0.03276233439809623 Centerline is valid? [True, True] Translation: X:196.78, Y:-24.36, Z:-13.02 [[ 9.95736191e-01 7.64713826e-02 5.15903589e-02 1.96783668e+02] [-7.62141347e-02 9.97067333e-01 -6.93822117e-03 -2.43628139e+01] [-5.19696369e-02 2.97672336e-03 9.98644229e-01 -1.30223978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.060714057 meters 0.03097373103350557 Centerline is valid? [True, True] Translation: X:196.84, Y:-24.37, Z:-13.03 [[ 9.95333496e-01 8.20280982e-02 5.08195206e-02 1.96843672e+02] [-8.17857758e-02 9.96626508e-01 -6.83310112e-03 -2.43691653e+01] [-5.12085877e-02 2.64490051e-03 9.98684477e-01 -1.30266289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12071405700001 meters 0.028753746448215264 Centerline is valid? [True, True] Translation: X:196.90, Y:-24.37, Z:-13.03 [[ 9.94845968e-01 8.86256614e-02 4.92645153e-02 1.96903589e+02] [-8.84060244e-02 9.96062498e-01 -6.62385025e-03 -2.43747356e+01] [-4.96575792e-02 2.23443078e-03 9.98763802e-01 -1.30314030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18071405700002 meters 0.028777171204487424 Centerline is valid? [True, True] Translation: X:196.96, Y:-24.38, Z:-13.04 [[ 9.94555800e-01 9.22479753e-02 4.84672301e-02 1.96961689e+02] [-9.20396663e-02 9.95734015e-01 -6.51703930e-03 -2.43828486e+01] [-4.88616533e-02 2.02065155e-03 9.98803512e-01 -1.30366536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24071405700002 meters 0.027065992230236726 Centerline is valid? [True, True] Translation: X:197.02, Y:-24.39, Z:-13.04 [[ 9.94256370e-01 9.51890921e-02 4.89214401e-02 1.97020413e+02] [-9.49804955e-02 9.95457411e-01 -6.57634842e-03 -2.43908619e+01] [-4.93252067e-02 1.89199368e-03 9.98780979e-01 -1.30403308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30071405700002 meters 0.027553960760624552 Centerline is valid? [True, True] Translation: X:197.08, Y:-24.40, Z:-13.04 [[ 9.94268074e-01 9.48951811e-02 4.92534410e-02 1.97077899e+02] [-9.46834453e-02 9.95485422e-01 -6.61969114e-03 -2.44027439e+01] [-4.96592592e-02 1.91826208e-03 9.98764376e-01 -1.30442333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.360714057 meters 0.028943030977342472 Centerline is valid? [True, True] Translation: X:197.14, Y:-24.42, Z:-13.05 [[ 9.94530723e-01 9.22544250e-02 4.89669526e-02 1.97136044e+02] [-9.20421525e-02 9.95733390e-01 -6.57714608e-03 -2.44158748e+01] [-4.93648005e-02 2.03415012e-03 9.98778744e-01 -1.30471389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.420714057 meters 0.03232729475831123 Centerline is valid? [True, True] Translation: X:197.19, Y:-24.44, Z:-13.05 [[ 9.94904065e-01 8.73144021e-02 5.04192110e-02 1.97193082e+02] [-8.70831048e-02 9.96178044e-01 -6.77034257e-03 -2.44352011e+01] [-5.08176594e-02 2.34517991e-03 9.98705195e-01 -1.30514423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.480714057 meters 0.03504951157026091 Centerline is valid? [True, True] Translation: X:197.25, Y:-24.45, Z:-13.06 [[ 9.95257139e-01 8.30324851e-02 5.06836563e-02 1.97250492e+02] [-8.27933194e-02 9.96543514e-01 -6.80381323e-03 -2.44503182e+01] [-5.10734064e-02 2.57527554e-03 9.98691582e-01 -1.30554932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.540714057 meters 0.03225244682164421 Centerline is valid? [True, True] Translation: X:197.31, Y:-24.46, Z:-13.06 [[ 9.95721971e-01 7.67963585e-02 5.13816639e-02 1.97310077e+02] [-7.65423190e-02 9.97042481e-01 -6.89668309e-03 -2.44583367e+01] [-5.17593418e-02 2.93430717e-03 9.98655276e-01 -1.30570388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.600714057 meters 0.03329565441172088 Centerline is valid? [True, True] Translation: X:197.37, Y:-24.47, Z:-13.06 [[ 9.96183484e-01 7.04031839e-02 5.15931970e-02 1.97368741e+02] [-7.01385550e-02 9.97513228e-01 -6.92411360e-03 -2.44725637e+01] [-5.19523761e-02 3.27901532e-03 9.98644180e-01 -1.30607009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.660714057 meters 0.03585306432144352 Centerline is valid? [True, True] Translation: X:197.43, Y:-24.49, Z:-13.07 [[ 9.96661932e-01 6.44034598e-02 5.01715738e-02 1.97427141e+02] [-6.41457060e-02 9.97917834e-01 -6.73245449e-03 -2.44879462e+01] [-5.05007016e-02 3.49169008e-03 9.98717922e-01 -1.30653893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.720714057 meters 0.03613644063006608 Centerline is valid? [True, True] Translation: X:197.49, Y:-24.50, Z:-13.07 [[ 9.96896148e-01 6.12958179e-02 4.94054014e-02 1.97486230e+02] [-6.10421288e-02 9.98113178e-01 -6.62884013e-03 -2.44978738e+01] [-4.97185024e-02 3.59245431e-03 9.98756810e-01 -1.30695487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.780714057 meters 0.037742497748108374 Centerline is valid? [True, True] Translation: X:197.55, Y:-24.51, Z:-13.07 [[ 9.97119708e-01 5.80400584e-02 4.88225318e-02 1.97545232e+02] [-5.77884925e-02 9.98307363e-01 -6.54969832e-03 -2.45096288e+01] [-4.91200378e-02 3.70945277e-03 9.98785994e-01 -1.30736319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.840714057 meters 0.041187473747926924 Centerline is valid? [True, True] Translation: X:197.60, Y:-24.52, Z:-13.08 [[ 9.97189877e-01 5.68146553e-02 4.88307649e-02 1.97603402e+02] [-5.65615816e-02 9.98377626e-01 -6.55005280e-03 -2.45227178e+01] [-4.91236822e-02 3.76970106e-03 9.98785589e-01 -1.30780795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90071405700002 meters 0.041578561720101645 Centerline is valid? [True, True] Translation: X:197.66, Y:-24.53, Z:-13.08 [[ 9.97147663e-01 5.71750390e-02 4.92702151e-02 1.97663398e+02] [-5.69178808e-02 9.98356996e-01 -6.60781284e-03 -2.45312395e+01] [-4.95670659e-02 3.78460890e-03 9.98763627e-01 -1.30817848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96071405700002 meters 0.04075852546366171 Centerline is valid? [True, True] Translation: X:197.72, Y:-24.54, Z:-13.09 [[ 9.97073646e-01 5.83641148e-02 4.93738303e-02 1.97723220e+02] [-5.81072931e-02 9.98288379e-01 -6.62227367e-03 -2.45368407e+01] [-4.96758242e-02 3.73391492e-03 9.98758414e-01 -1.30853749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02071405700002 meters 0.03768677546595061 Centerline is valid? [True, True] Translation: X:197.78, Y:-24.54, Z:-13.09 [[ 9.96968373e-01 5.98589128e-02 4.97088865e-02 1.97783149e+02] [-5.96005331e-02 9.98200055e-01 -6.66527852e-03 -2.45389778e+01] [-5.00183896e-02 3.68239575e-03 9.98741508e-01 -1.30879620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.080714057 meters 0.03808160805199099 Centerline is valid? [True, True] Translation: X:197.84, Y:-24.55, Z:-13.09 [[ 9.96879555e-01 6.10692101e-02 5.00170491e-02 1.97842673e+02] [-6.08092359e-02 9.98126889e-01 -6.70444971e-03 -2.45458459e+01] [-5.03327971e-02 3.64203030e-03 9.98725861e-01 -1.30921679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.140714057 meters 0.04297621264100529 Centerline is valid? [True, True] Translation: X:197.90, Y:-24.56, Z:-13.10 [[ 9.96825811e-01 6.10180727e-02 5.11380259e-02 1.97899568e+02] [-6.07462733e-02 9.98129708e-01 -6.85395935e-03 -2.45584151e+01] [-5.14605982e-02 3.72575909e-03 9.98668076e-01 -1.30962431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.200714057 meters 0.046140403059469 Centerline is valid? [True, True] Translation: X:197.96, Y:-24.57, Z:-13.10 [[ 9.96879159e-01 5.94111630e-02 5.19832300e-02 1.97957532e+02] [-5.91282269e-02 9.98226096e-01 -6.96524894e-03 -2.45695962e+01] [-5.23048303e-02 3.86983528e-03 9.98623667e-01 -1.31001567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.260714057 meters 0.04835848399817648 Centerline is valid? [True, True] Translation: X:198.02, Y:-24.58, Z:-13.10 [[ 9.96964545e-01 5.78949608e-02 5.20564075e-02 1.98016223e+02] [-5.76092771e-02 9.98314854e-01 -6.97306412e-03 -2.45791133e+01] [-5.23723901e-02 3.95296569e-03 9.98619801e-01 -1.31038305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.320714057 meters 0.0412095709046632 Centerline is valid? [True, True] Translation: X:198.08, Y:-24.58, Z:-13.11 [[ 9.97025874e-01 5.70693718e-02 5.17927905e-02 1.98077103e+02] [-5.67855150e-02 9.98362301e-01 -6.93690371e-03 -2.45758751e+01] [-5.21038542e-02 3.97519221e-03 9.98633760e-01 -1.31058146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.380714057 meters 0.04178180266015065 Centerline is valid? [True, True] Translation: X:198.14, Y:-24.58, Z:-13.11 [[ 9.97001887e-01 5.70483681e-02 5.22754257e-02 1.98136961e+02] [-5.67592227e-02 9.98363353e-01 -7.00038254e-03 -2.45828081e+01] [-5.25892297e-02 4.01228207e-03 9.98608169e-01 -1.31096463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.440714057 meters 0.04358445626581692 Centerline is valid? [True, True] Translation: X:198.20, Y:-24.59, Z:-13.11 [[ 9.96886725e-01 5.82170810e-02 5.31754614e-02 1.98195732e+02] [-5.79195220e-02 9.98295857e-01 -7.12110691e-03 -2.45914552e+01] [-5.34994129e-02 4.01903963e-03 9.98559793e-01 -1.31139268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.500714057 meters 0.03936153495893227 Centerline is valid? [True, True] Translation: X:198.26, Y:-24.59, Z:-13.12 [[ 9.96770564e-01 5.92118114e-02 5.42439244e-02 1.98256896e+02] [-5.89036871e-02 9.98237249e-01 -7.26301148e-03 -2.45918655e+01] [-5.45783619e-02 4.04438890e-03 9.98501300e-01 -1.31159682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.560714057 meters 0.03857372584736387 Centerline is valid? [True, True] Translation: X:198.32, Y:-24.60, Z:-13.12 [[ 9.96728566e-01 5.92486691e-02 5.49705382e-02 1.98316622e+02] [-5.89322795e-02 9.98234848e-01 -7.36030171e-03 -2.45979132e+01] [-5.53095949e-02 4.09668386e-03 9.98460848e-01 -1.31194848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62071405700001 meters 0.04041652755794133 Centerline is valid? [True, True] Translation: X:198.38, Y:-24.61, Z:-13.12 [[ 9.96739415e-01 5.84185437e-02 5.56579882e-02 1.98375266e+02] [-5.80928973e-02 9.98283366e-01 -7.45229795e-03 -2.46083736e+01] [-5.59977962e-02 4.19466531e-03 9.98422081e-01 -1.31241171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68071405700002 meters 0.041641683135761734 Centerline is valid? [True, True] Translation: X:198.43, Y:-24.62, Z:-13.13 [[ 9.96827202e-01 5.69300588e-02 5.56282070e-02 1.98434580e+02] [-5.66024373e-02 9.98369010e-01 -7.44869050e-03 -2.46184668e+01] [-5.59615324e-02 4.27636521e-03 9.98423768e-01 -1.31287811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74071405700002 meters 0.04347552646488456 Centerline is valid? [True, True] Translation: X:198.49, Y:-24.63, Z:-13.13 [[ 9.96928121e-01 5.54485690e-02 5.53152577e-02 1.98494652e+02] [-5.51223804e-02 9.98452136e-01 -7.40647404e-03 -2.46290942e+01] [-5.56403156e-02 4.33461357e-03 9.98441469e-01 -1.31342330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80071405700002 meters 0.04560577164769314 Centerline is valid? [True, True] Translation: X:198.56, Y:-24.64, Z:-13.14 [[ 9.96912048e-01 5.53688082e-02 5.56836121e-02 1.98555153e+02] [-5.50381103e-02 9.98456415e-01 -7.45617121e-03 -2.46408336e+01] [-5.60104990e-02 4.36842613e-03 9.98420623e-01 -1.31395435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.860714057 meters 0.04162225273304091 Centerline is valid? [True, True] Translation: X:198.62, Y:-24.64, Z:-13.14 [[ 9.96815258e-01 5.60590939e-02 5.67161247e-02 1.98617339e+02] [-5.57163722e-02 9.98417655e-01 -7.60734540e-03 -2.46440940e+01] [-5.70528411e-02 4.42310126e-03 9.98361362e-01 -1.31426757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.920714057 meters 0.049193651247907526 Centerline is valid? [True, True] Translation: X:198.68, Y:-24.66, Z:-13.15 [[ 9.96759640e-01 5.62332206e-02 5.75156046e-02 1.98677698e+02] [-5.58801775e-02 9.98407562e-01 -7.72950300e-03 -2.46632682e+01] [-5.78586694e-02 4.49047444e-03 9.98314685e-01 -1.31476346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.980714057 meters 0.03799394374942514 Centerline is valid? [True, True] Translation: X:198.74, Y:-24.66, Z:-13.15 [[ 9.96827376e-01 5.51768693e-02 5.73645828e-02 1.98741457e+02] [-5.48229535e-02 9.98466197e-01 -7.72633525e-03 -2.46577144e+01] [-5.77029118e-02 4.55692664e-03 9.98323399e-01 -1.31503988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.040714057 meters 0.04266413691938413 Centerline is valid? [True, True] Translation: X:198.80, Y:-24.67, Z:-13.16 [[ 9.96918815e-01 5.45877662e-02 5.63298476e-02 1.98801078e+02] [-5.42454207e-02 9.98498787e-01 -7.58989863e-03 -2.46743298e+01] [-5.66596001e-02 4.51087647e-03 9.98383364e-01 -1.31561785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.100714057 meters 0.042737645383922815 Centerline is valid? [True, True] Translation: X:198.86, Y:-24.69, Z:-13.16 [[ 9.97089244e-01 5.35741299e-02 5.42480624e-02 1.98861401e+02] [-5.32544787e-02 9.98554130e-01 -7.32193494e-03 -2.46856174e+01] [-5.45618930e-02 4.41167030e-03 9.98500644e-01 -1.31630050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.160714057 meters 0.04375750512880189 Centerline is valid? [True, True] Translation: X:198.92, Y:-24.70, Z:-13.17 [[ 9.97133507e-01 5.39915258e-02 5.30064516e-02 1.98923521e+02] [-5.36863189e-02 9.98532136e-01 -7.16603629e-03 -2.46968496e+01] [-5.33155506e-02 4.29977364e-03 9.98568457e-01 -1.31690233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.220714057 meters 0.0447463649409632 Centerline is valid? [True, True] Translation: X:198.98, Y:-24.71, Z:-13.17 [[ 9.97056103e-01 5.52108803e-02 5.32060761e-02 1.98984165e+02] [-5.49042242e-02 9.98465600e-01 -7.20919345e-03 -2.47069541e+01] [-5.35224626e-02 4.26673199e-03 9.98557530e-01 -1.31730640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.280714057 meters 0.04530070698675635 Centerline is valid? [True, True] Translation: X:199.05, Y:-24.72, Z:-13.18 [[ 9.96960974e-01 5.63876722e-02 5.37517229e-02 1.99045360e+02] [-5.60756123e-02 9.98399857e-01 -7.29738001e-03 -2.47151465e+01] [-5.40771947e-02 4.26104230e-03 9.98527666e-01 -1.31768342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.340714057 meters 0.03989226464660253 Centerline is valid? [True, True] Translation: X:199.11, Y:-24.72, Z:-13.18 [[ 9.96895972e-01 5.70960041e-02 5.42076326e-02 1.99107477e+02] [-5.67794177e-02 9.98359591e-01 -7.36373359e-03 -2.47157642e+01] [-5.45391497e-02 4.26299854e-03 9.98502533e-01 -1.31797237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40071405700002 meters 0.041716641911842246 Centerline is valid? [True, True] Translation: X:199.17, Y:-24.73, Z:-13.18 [[ 9.96825058e-01 5.71672343e-02 5.54230162e-02 1.99167598e+02] [-5.68362655e-02 9.98355109e-01 -7.53092820e-03 -2.47255172e+01] [-5.57623737e-02 4.35698068e-03 9.98434562e-01 -1.31828527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46071405700002 meters 0.048932495572152075 Centerline is valid? [True, True] Translation: X:199.23, Y:-24.74, Z:-13.19 [[ 9.96782911e-01 5.73017749e-02 5.60386919e-02 1.99226870e+02] [-5.69635446e-02 9.98347211e-01 -7.61579712e-03 -2.47433604e+01] [-5.63824705e-02 4.39913389e-03 9.98399552e-01 -1.31868696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52071405700002 meters 0.05080389017988633 Centerline is valid? [True, True] Translation: X:199.29, Y:-24.75, Z:-13.19 [[ 9.96802404e-01 5.74061273e-02 5.55833056e-02 1.99286876e+02] [-5.70731440e-02 9.98341368e-01 -7.56098541e-03 -2.47534706e+01] [-5.59251602e-02 4.36449443e-03 9.98425424e-01 -1.31912321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.580714057 meters 0.04226039348220417 Centerline is valid? [True, True] Translation: X:199.35, Y:-24.75, Z:-13.20 [[ 9.96955857e-01 5.58253531e-02 5.44292978e-02 1.99348732e+02] [-5.55030011e-02 9.98430969e-01 -7.41731579e-03 -2.47499668e+01] [-5.47579708e-02 4.37374705e-03 9.98490078e-01 -1.31951314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.640714057 meters 0.04135956718524278 Centerline is valid? [True, True] Translation: X:199.41, Y:-24.76, Z:-13.20 [[ 9.97090214e-01 5.38192652e-02 5.39869547e-02 1.99409070e+02] [-5.34990451e-02 9.98540775e-01 -7.36023027e-03 -2.47574701e+01] [-5.43042978e-02 4.45056306e-03 9.98514515e-01 -1.31993813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.700714057 meters 0.0435793606135996 Centerline is valid? [True, True] Translation: X:199.47, Y:-24.77, Z:-13.20 [[ 9.97220765e-01 5.19778311e-02 5.33765064e-02 1.99469064e+02] [-5.16621679e-02 9.98638101e-01 -7.27765811e-03 -2.47688987e+01] [-5.36820898e-02 4.49988575e-03 9.98547938e-01 -1.32042856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.760714057 meters 0.045103414426283815 Centerline is valid? [True, True] Translation: X:199.53, Y:-24.78, Z:-13.21 [[ 9.97256777e-01 5.16385506e-02 5.30318937e-02 1.99530300e+02] [-5.13264637e-02 9.98655750e-01 -7.23096417e-03 -2.47788548e+01] [-5.33340021e-02 4.48918845e-03 9.98566638e-01 -1.32087442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.820714057 meters 0.07673032131555803 Centerline is valid? [True, True] Translation: X:199.58, Y:-24.83, Z:-13.22 [[ 9.97062258e-01 5.36024505e-02 5.47140868e-02 1.99583886e+02] [-5.32722367e-02 9.98552033e-01 -7.47703782e-03 -2.48282856e+01] [-5.50356501e-02 4.54033043e-03 9.98474067e-01 -1.32172035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.880714057 meters 0.04788336280558319 Centerline is valid? [True, True] Translation: X:199.65, Y:-24.80, Z:-13.22 [[ 9.97189977e-01 5.29955912e-02 5.29491885e-02 1.99650742e+02] [-5.26855890e-02 9.98584945e-01 -7.23444762e-03 -2.47967273e+01] [-5.32576563e-02 4.42445947e-03 9.98571002e-01 -1.32167227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.940714057 meters 0.043028822500260376 Centerline is valid? [True, True] Translation: X:199.71, Y:-24.80, Z:-13.22 [[ 9.97145627e-01 5.38487796e-02 5.29236091e-02 1.99712916e+02] [-5.35398719e-02 9.98539477e-01 -7.23841708e-03 -2.47978532e+01] [-5.32360929e-02 4.38423268e-03 9.98572329e-01 -1.32190736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.000714057 meters 0.043215383715069146 Centerline is valid? [True, True] Translation: X:199.77, Y:-24.81, Z:-13.22 [[ 9.97008766e-01 5.59305930e-02 5.33412576e-02 1.99772824e+02] [-5.56195496e-02 9.98425355e-01 -7.29910837e-03 -2.48053515e+01] [-5.36655075e-02 4.31045830e-03 9.98549665e-01 -1.32226097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.060714057 meters 0.0422885752243259 Centerline is valid? [True, True] Translation: X:199.83, Y:-24.81, Z:-13.23 [[ 9.96868874e-01 5.84460919e-02 5.32588219e-02 1.99833694e+02] [-5.81395852e-02 9.98281864e-01 -7.28763253e-03 -2.48109712e+01] [-5.35932496e-02 4.16836823e-03 9.98554149e-01 -1.32264381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12071405700001 meters 0.04457584947096183 Centerline is valid? [True, True] Translation: X:199.89, Y:-24.82, Z:-13.23 [[ 9.96681308e-01 6.16659155e-02 5.31383510e-02 1.99892973e+02] [-6.13652736e-02 9.98088882e-01 -7.27240073e-03 -2.48205913e+01] [-5.34852566e-02 3.98741643e-03 9.98560678e-01 -1.32304053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18071405700002 meters 0.04080582760063753 Centerline is valid? [True, True] Translation: X:199.95, Y:-24.82, Z:-13.23 [[ 9.96614431e-01 6.33961411e-02 5.23507865e-02 1.99952656e+02] [-6.31067352e-02 9.97981067e-01 -7.16446926e-03 -2.48230038e+01] [-5.26992935e-02 3.83652623e-03 9.98603057e-01 -1.32343721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24071405700002 meters 0.038880033153106563 Centerline is valid? [True, True] Translation: X:200.01, Y:-24.83, Z:-13.24 [[ 9.96587577e-01 6.48960169e-02 5.10069510e-02 2.00012228e+02] [-6.46233378e-02 9.97885324e-01 -6.97880046e-03 -2.48275196e+01] [-5.13519842e-02 3.65874642e-03 9.98673914e-01 -1.32391426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30071405700002 meters 0.03899027316049782 Centerline is valid? [True, True] Translation: X:200.07, Y:-24.83, Z:-13.24 [[ 9.96475196e-01 6.72415603e-02 5.01573127e-02 2.00071813e+02] [-6.69809568e-02 9.97730667e-01 -6.86051226e-03 -2.48332270e+01] [-5.05048006e-02 3.47674551e-03 9.98717767e-01 -1.32435240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.360714057 meters 0.03878601202165952 Centerline is valid? [True, True] Translation: X:200.13, Y:-24.84, Z:-13.25 [[ 9.96135396e-01 7.22578673e-02 4.99306895e-02 2.00131020e+02] [-7.20059263e-02 9.97380828e-01 -6.82865933e-03 -2.48373295e+01] [-5.02933368e-02 3.20696372e-03 9.98729341e-01 -1.32459357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.420714057 meters 0.03128551119558189 Centerline is valid? [True, True] Translation: X:200.19, Y:-24.83, Z:-13.25 [[ 9.95417444e-01 8.09096559e-02 5.09680211e-02 2.00193333e+02] [-8.06584766e-02 9.96717432e-01 -6.96926794e-03 -2.48294941e+01] [-5.13645961e-02 2.82632795e-03 9.98675969e-01 -1.32453745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.480714057 meters 0.028928434462059553 Centerline is valid? [True, True] Translation: X:200.25, Y:-24.83, Z:-13.25 [[ 9.94833713e-01 8.75208630e-02 5.14391098e-02 2.00253865e+02] [-8.72738203e-02 9.96159530e-01 -7.03361565e-03 -2.48305841e+01] [-5.18571475e-02 2.50799035e-03 9.98651364e-01 -1.32480877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.540714057 meters 0.027149535784808568 Centerline is valid? [True, True] Translation: X:200.31, Y:-24.83, Z:-13.25 [[ 9.94122889e-01 9.54100504e-02 5.11527414e-02 2.00313727e+02] [-9.51762502e-02 9.95435876e-01 -6.99274798e-03 -2.48325161e+01] [-5.15864524e-02 2.08312471e-03 9.98666360e-01 -1.32525216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.600714057 meters 0.024912849008904447 Centerline is valid? [True, True] Translation: X:200.37, Y:-24.83, Z:-13.26 [[ 9.93527323e-01 1.01656683e-01 5.06890300e-02 2.00374042e+02] [-1.01435288e-01 9.94818017e-01 -6.92791855e-03 -2.48347007e+01] [-5.11306295e-02 1.74142002e-03 9.98690456e-01 -1.32566635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.660714057 meters 0.024730941566293806 Centerline is valid? [True, True] Translation: X:200.43, Y:-24.84, Z:-13.26 [[ 9.93186146e-01 1.05178945e-01 5.01863373e-02 2.00431718e+02] [-1.04966417e-01 9.94452113e-01 -6.85908556e-03 -2.48411306e+01] [-5.06293405e-02 1.54446873e-03 9.98716318e-01 -1.32610879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.720714057 meters 0.02466082960131999 Centerline is valid? [True, True] Translation: X:200.49, Y:-24.85, Z:-13.27 [[ 9.93399907e-01 1.03272856e-01 4.99133502e-02 2.00489221e+02] [-1.03060284e-01 9.94651725e-01 -6.82077898e-03 -2.48505431e+01] [-5.03508012e-02 1.63167717e-03 9.98730261e-01 -1.32657548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.780714057 meters 0.025533759860607328 Centerline is valid? [True, True] Translation: X:200.55, Y:-24.86, Z:-13.27 [[ 9.93669465e-01 1.00193618e-01 5.08156865e-02 2.00547753e+02] [-9.99700897e-02 9.94966323e-01 -6.92798627e-03 -2.48615058e+01] [-5.12540368e-02 1.80407967e-03 9.98684019e-01 -1.32692834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.840714057 meters 0.026793754719800965 Centerline is valid? [True, True] Translation: X:200.61, Y:-24.87, Z:-13.27 [[ 9.94062783e-01 9.57111097e-02 5.17548834e-02 2.00605357e+02] [-9.54732423e-02 9.95406998e-01 -7.05462906e-03 -2.48748049e+01] [-5.21923795e-02 2.07153767e-03 9.98634900e-01 -1.32722106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90071405700002 meters 0.029556217498925976 Centerline is valid? [True, True] Translation: X:200.66, Y:-24.89, Z:-13.28 [[ 9.94544987e-01 9.06948721e-02 5.15238692e-02 2.00662754e+02] [-9.04526443e-02 9.95876026e-01 -7.01858825e-03 -2.48901743e+01] [-5.19479360e-02 2.31983155e-03 9.98647100e-01 -1.32756338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96071405700002 meters 0.027785958718481312 Centerline is valid? [True, True] Translation: X:200.72, Y:-24.90, Z:-13.28 [[ 9.94677141e-01 8.92594648e-02 5.14794375e-02 2.00721108e+02] [-8.90158072e-02 9.96005537e-01 -7.01119715e-03 -2.48976885e+01] [-5.18996205e-02 2.39139385e-03 9.98649443e-01 -1.32797052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02071405700002 meters 0.03080715188613632 Centerline is valid? [True, True] Translation: X:200.78, Y:-24.91, Z:-13.29 [[ 9.94378659e-01 9.26657582e-02 5.12263610e-02 2.00778545e+02] [-9.24292185e-02 9.95694845e-01 -6.97249269e-03 -2.49122895e+01] [-5.16519348e-02 2.19848543e-03 9.98662728e-01 -1.32859571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.080714057 meters 0.029687535060148033 Centerline is valid? [True, True] Translation: X:200.84, Y:-24.92, Z:-13.29 [[ 9.94029667e-01 9.57139809e-02 5.23818109e-02 2.00837909e+02] [-9.54709651e-02 9.95406696e-01 -7.12777458e-03 -2.49187498e+01] [-5.28234330e-02 2.08427735e-03 9.98601693e-01 -1.32889471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.140714057 meters 0.02511988515232719 Centerline is valid? [True, True] Translation: X:200.90, Y:-24.92, Z:-13.29 [[ 9.93699819e-01 9.74609279e-02 5.53356872e-02 2.00897186e+02] [-9.71924927e-02 9.95237131e-01 -7.52808791e-03 -2.49195171e+01] [-5.58058250e-02 2.10244622e-03 9.98439427e-01 -1.32884105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.200714057 meters 0.028276828148030474 Centerline is valid? [True, True] Translation: X:200.95, Y:-24.93, Z:-13.29 [[ 9.94071236e-01 9.36189681e-02 5.52979738e-02 2.00953867e+02] [-9.33451948e-02 9.95605414e-01 -7.51887030e-03 -2.49339841e+01] [-5.57588710e-02 2.31249256e-03 9.98441586e-01 -1.32934012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.260714057 meters 0.02919818513490226 Centerline is valid? [True, True] Translation: X:201.01, Y:-24.95, Z:-13.30 [[ 9.94658056e-01 8.81151448e-02 5.37686943e-02 2.01013193e+02] [-8.78485363e-02 9.96107047e-01 -7.30652451e-03 -2.49454415e+01] [-5.42031908e-02 2.54399237e-03 9.98526686e-01 -1.32987928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.320714057 meters 0.030926068132375462 Centerline is valid? [True, True] Translation: X:201.07, Y:-24.96, Z:-13.30 [[ 9.94963890e-01 8.38494290e-02 5.49193038e-02 2.01071505e+02] [-8.35648262e-02 9.96474402e-01 -7.46231147e-03 -2.49570612e+01] [-5.53513910e-02 2.83540837e-03 9.98462911e-01 -1.33017563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.380714057 meters 0.032503384304923326 Centerline is valid? [True, True] Translation: X:201.13, Y:-24.97, Z:-13.31 [[ 9.95243805e-01 8.09161197e-02 5.42434439e-02 2.01129417e+02] [-8.06341677e-02 9.96716516e-01 -7.37005297e-03 -2.49676303e+01] [-5.46616925e-02 2.96112460e-03 9.98500541e-01 -1.33061431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.440714057 meters 0.035697436632060944 Centerline is valid? [True, True] Translation: X:201.19, Y:-24.98, Z:-13.31 [[ 9.95292595e-01 8.03971794e-02 5.41197182e-02 2.01185419e+02] [-8.01158776e-02 9.96758451e-01 -7.35089443e-03 -2.49802434e+01] [-5.45352777e-02 2.98044207e-03 9.98507396e-01 -1.33116465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.500714057 meters 0.03053747147624859 Centerline is valid? [True, True] Translation: X:201.25, Y:-24.98, Z:-13.31 [[ 9.95232748e-01 8.07508593e-02 5.46907263e-02 2.01245113e+02] [-8.04644503e-02 9.96729843e-01 -7.42237909e-03 -2.49792359e+01] [-5.51112426e-02 2.98633551e-03 9.98475755e-01 -1.33130310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.560714057 meters 0.030701157524839623 Centerline is valid? [True, True] Translation: X:201.30, Y:-24.99, Z:-13.32 [[ 9.95202515e-01 8.04388943e-02 5.56914613e-02 2.01302455e+02] [-8.01416261e-02 9.96754861e-01 -7.55431971e-03 -2.49851301e+01] [-5.61183958e-02 3.05487371e-03 9.98419448e-01 -1.33158057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62071405700001 meters 0.03144005036690811 Centerline is valid? [True, True] Translation: X:201.36, Y:-24.99, Z:-13.32 [[ 9.95412067e-01 7.72892738e-02 5.64019910e-02 2.01361682e+02] [-7.69797230e-02 9.97003358e-01 -7.64370597e-03 -2.49937176e+01] [-5.68237509e-02 3.26682752e-03 9.98378881e-01 -1.33196956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68071405700002 meters 0.03216377232463266 Centerline is valid? [True, True] Translation: X:201.42, Y:-25.00, Z:-13.33 [[ 9.95951686e-01 7.16918017e-02 5.42266147e-02 2.01421225e+02] [-7.13974915e-02 9.97420878e-01 -7.34782822e-03 -2.50024721e+01] [-5.46135366e-02 3.44643764e-03 9.98501619e-01 -1.33254221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74071405700002 meters 0.04158376798504584 Centerline is valid? [True, True] Translation: X:201.48, Y:-25.02, Z:-13.33 [[ 9.96268956e-01 6.78699257e-02 5.33089089e-02 2.01478446e+02] [-6.75800815e-02 9.97687707e-01 -7.22305788e-03 -2.50224938e+01] [-5.36758715e-02 3.59348792e-03 9.98551945e-01 -1.33318587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80071405700002 meters 0.035383708891580296 Centerline is valid? [True, True] Translation: X:201.54, Y:-25.02, Z:-13.33 [[ 9.96273258e-01 6.74771276e-02 5.37255331e-02 2.01538337e+02] [-6.71821256e-02 9.97714168e-01 -7.28017254e-03 -2.50212350e+01] [-5.40939707e-02 3.64364571e-03 9.98529201e-01 -1.33338932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.860714057 meters 0.03823540574496548 Centerline is valid? [True, True] Translation: X:201.60, Y:-25.03, Z:-13.34 [[ 9.96191157e-01 6.85528056e-02 5.38859128e-02 2.01595711e+02] [-6.82578194e-02 9.97641023e-01 -7.29791892e-03 -2.50313186e+01] [-5.42590900e-02 3.59198739e-03 9.98520430e-01 -1.33376265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.920714057 meters 0.0378428293145308 Centerline is valid? [True, True] Translation: X:201.65, Y:-25.04, Z:-13.34 [[ 9.96042711e-01 7.18473995e-02 5.23150876e-02 2.01653801e+02] [-7.15741160e-02 9.97410148e-01 -7.08110947e-03 -2.50384457e+01] [-5.26883586e-02 3.30868133e-03 9.98605522e-01 -1.33440719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.980714057 meters 0.03273377641879791 Centerline is valid? [True, True] Translation: X:201.71, Y:-25.04, Z:-13.35 [[ 9.95644126e-01 7.68340193e-02 5.28138973e-02 2.01714802e+02] [-7.65625961e-02 9.97039166e-01 -7.14636607e-03 -2.50374685e+01] [-5.32066082e-02 3.07166831e-03 9.98578801e-01 -1.33466196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.040714057 meters 0.03101306742630858 Centerline is valid? [True, True] Translation: X:201.78, Y:-25.04, Z:-13.35 [[ 9.95041787e-01 8.23091828e-02 5.58304646e-02 2.01775307e+02] [-8.20144201e-02 9.96602512e-01 -7.55435712e-03 -2.50393057e+01] [-5.62625742e-02 2.93799783e-03 9.98411684e-01 -1.33471357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.100714057 meters 0.029824744213273715 Centerline is valid? [True, True] Translation: X:201.83, Y:-25.05, Z:-13.35 [[ 9.94769159e-01 8.48278718e-02 5.69082901e-02 2.01834258e+02] [-8.45257068e-02 9.96391545e-01 -7.70024993e-03 -2.50456070e+01] [-5.73561349e-02 2.84975771e-03 9.98349715e-01 -1.33507196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.160714057 meters 0.028982014659409017 Centerline is valid? [True, True] Translation: X:201.89, Y:-25.05, Z:-13.36 [[ 9.94721220e-01 8.51935696e-02 5.71992173e-02 2.01892295e+02] [-8.48890120e-02 9.96360368e-01 -7.73777549e-03 -2.50541406e+01] [-5.76502419e-02 2.84134443e-03 9.98332798e-01 -1.33563339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.220714057 meters 0.029487039287058803 Centerline is valid? [True, True] Translation: X:201.95, Y:-25.06, Z:-13.36 [[ 9.94903981e-01 8.35875461e-02 5.63843052e-02 2.01950815e+02] [-8.32892926e-02 9.96496252e-01 -7.62317920e-03 -2.50648505e+01] [-5.68239517e-02 2.88812245e-03 9.98380037e-01 -1.33614176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.280714057 meters 0.029470636100666338 Centerline is valid? [True, True] Translation: X:202.01, Y:-25.08, Z:-13.37 [[ 9.95054310e-01 8.18695948e-02 5.62520245e-02 2.02008949e+02] [-8.15701128e-02 9.96638603e-01 -7.60339502e-03 -2.50750665e+01] [-5.66854260e-02 2.97730700e-03 9.98387649e-01 -1.33660121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.340714057 meters 0.030960561199394065 Centerline is valid? [True, True] Translation: X:202.07, Y:-25.09, Z:-13.37 [[ 9.95065590e-01 8.07367128e-02 5.76719505e-02 2.02065061e+02] [-8.04201764e-02 9.96730593e-01 -7.79237234e-03 -2.50872477e+01] [-5.81125279e-02 3.11593316e-03 9.98305176e-01 -1.33686792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40071405700002 meters 0.031234359125822155 Centerline is valid? [True, True] Translation: X:202.12, Y:-25.10, Z:-13.37 [[ 9.95143765e-01 7.95443561e-02 5.79791605e-02 2.02122243e+02] [-7.92227989e-02 9.96826204e-01 -7.82736643e-03 -2.50985227e+01] [-5.84177692e-02 3.19608352e-03 9.98287108e-01 -1.33733891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46071405700002 meters 0.03220218216094178 Centerline is valid? [True, True] Translation: X:202.18, Y:-25.11, Z:-13.38 [[ 9.95263425e-01 7.82132534e-02 5.77356190e-02 2.02179505e+02] [-7.78924772e-02 9.96931337e-01 -7.78911965e-03 -2.51100632e+01] [-5.81676603e-02 3.25505551e-03 9.98301522e-01 -1.33784902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52071405700002 meters 0.034796174288339136 Centerline is valid? [True, True] Translation: X:202.24, Y:-25.13, Z:-13.38 [[ 9.95552173e-01 7.52735035e-02 5.66548402e-02 2.02236653e+02] [-7.49601543e-02 9.97157271e-01 -7.63883333e-03 -2.51250794e+01] [-5.70687876e-02 3.35800156e-03 9.98364601e-01 -1.33838062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.580714057 meters 0.03798131373145253 Centerline is valid? [True, True] Translation: X:202.29, Y:-25.14, Z:-13.39 [[ 9.95756087e-01 7.18619310e-02 5.74950349e-02 2.02294564e+02] [-7.15335719e-02 9.97408071e-01 -7.75163345e-03 -2.51408795e+01] [-5.79030593e-02 3.60591098e-03 9.98315698e-01 -1.33876359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.640714057 meters 0.03988996724044592 Centerline is valid? [True, True] Translation: X:202.35, Y:-25.15, Z:-13.39 [[ 9.95806821e-01 7.07811581e-02 5.79551836e-02 2.02352228e+02] [-7.04457433e-02 9.97485016e-01 -7.81281186e-03 -2.51535275e+01] [-5.83624271e-02 3.69735535e-03 9.98288614e-01 -1.33914540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.700714057 meters 0.041671329626956466 Centerline is valid? [True, True] Translation: X:202.41, Y:-25.16, Z:-13.40 [[ 9.95895966e-01 6.95997872e-02 5.78540809e-02 2.02410652e+02] [-6.92637100e-02 9.97567918e-01 -7.79660548e-03 -2.51647577e+01] [-5.82560172e-02 3.75741966e-03 9.98294605e-01 -1.33957335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.760714057 meters 0.04449659806352144 Centerline is valid? [True, True] Translation: X:202.47, Y:-25.18, Z:-13.40 [[ 9.96075978e-01 6.74060942e-02 5.73503604e-02 2.02468468e+02] [-6.70723450e-02 9.97718195e-01 -7.72680308e-03 -2.51778967e+01] [-5.77403317e-02 3.84985978e-03 9.98324212e-01 -1.33999949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.820714057 meters 0.04576213959881886 Centerline is valid? [True, True] Translation: X:202.53, Y:-25.19, Z:-13.40 [[ 9.96227630e-01 6.52573588e-02 5.72012802e-02 2.02527967e+02] [-6.49219443e-02 9.97860602e-01 -7.70459447e-03 -2.51888624e+01] [-5.75816854e-02 3.96191157e-03 9.98332937e-01 -1.34045113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.880714057 meters 0.03849829506542351 Centerline is valid? [True, True] Translation: X:202.59, Y:-25.19, Z:-13.41 [[ 9.96532378e-01 6.05244612e-02 5.70964929e-02 2.02588676e+02] [-6.01825562e-02 9.98157762e-01 -7.69040106e-03 -2.51878995e+01] [-5.74567650e-02 4.22752076e-03 9.98339045e-01 -1.34076760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.940714057 meters 0.040436862148719034 Centerline is valid? [True, True] Translation: X:202.65, Y:-25.20, Z:-13.41 [[ 9.96665787e-01 5.80445971e-02 5.73422539e-02 2.02649081e+02] [-5.76956320e-02 9.98304339e-01 -7.72398602e-03 -2.51988016e+01] [-5.76933565e-02 4.38983503e-03 9.98324700e-01 -1.34116078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.000714057 meters 0.043625259328589135 Centerline is valid? [True, True] Translation: X:202.71, Y:-25.21, Z:-13.42 [[ 9.96869152e-01 5.47772063e-02 5.70206171e-02 2.02707028e+02] [-5.44267168e-02 9.98488211e-01 -7.68282978e-03 -2.52111673e+01] [-5.73552579e-02 4.55533104e-03 9.98343440e-01 -1.34172832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.060714057 meters 0.04618474834144686 Centerline is valid? [True, True] Translation: X:202.77, Y:-25.22, Z:-13.42 [[ 9.96973101e-01 5.31362341e-02 5.67554069e-02 2.02767104e+02] [-5.27863028e-02 9.98576543e-01 -7.64813371e-03 -2.52234374e+01] [-5.70810110e-02 4.62907549e-03 9.98358818e-01 -1.34225621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12071405700001 meters 0.04673121144028049 Centerline is valid? [True, True] Translation: X:202.83, Y:-25.23, Z:-13.43 [[ 9.97118866e-01 5.23977071e-02 5.48493193e-02 2.02827967e+02] [-5.20698037e-02 9.98616094e-01 -7.39134046e-03 -2.52315719e+01] [-5.51607023e-02 4.51405173e-03 9.98467286e-01 -1.34284698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18071405700002 meters 0.04719195720987449 Centerline is valid? [True, True] Translation: X:202.89, Y:-25.24, Z:-13.43 [[ 9.97110470e-01 5.39742166e-02 5.34555417e-02 2.02889231e+02] [-5.36642916e-02 9.98532951e-01 -7.21733932e-03 -2.52395216e+01] [-5.37666700e-02 4.32783082e-03 9.98544148e-01 -1.34330039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24071405700002 meters 0.041109076376877836 Centerline is valid? [True, True] Translation: X:202.95, Y:-25.24, Z:-13.44 [[ 9.96868797e-01 5.78813593e-02 5.38734578e-02 2.02950418e+02] [-5.75720451e-02 9.98314832e-01 -7.27712966e-03 -2.52372676e+01] [-5.42038821e-02 4.15273835e-03 9.98521254e-01 -1.34353432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30071405700002 meters 0.03748794227444349 Centerline is valid? [True, True] Translation: X:203.01, Y:-25.24, Z:-13.44 [[ 9.96548313e-01 6.22614792e-02 5.49087184e-02 2.03011728e+02] [-6.19467504e-02 9.98051897e-01 -7.41699633e-03 -2.52380198e+01] [-5.52635437e-02 3.98997851e-03 9.98463831e-01 -1.34372243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.360714057 meters 0.034925199124819756 Centerline is valid? [True, True] Translation: X:203.07, Y:-25.24, Z:-13.44 [[ 9.96290663e-01 6.48515734e-02 5.65613592e-02 2.03071805e+02] [-6.45217294e-02 9.97887053e-01 -7.64035601e-03 -2.52422329e+01] [-5.69373372e-02 3.96257865e-03 9.98369890e-01 -1.34404655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.420714057 meters 0.037789282685834494 Centerline is valid? [True, True] Translation: X:203.13, Y:-25.26, Z:-13.44 [[ 9.96013002e-01 6.66755686e-02 5.92660801e-02 2.03129700e+02] [-6.63166566e-02 9.97766520e-01 -8.00454208e-03 -2.52570268e+01] [-5.96674179e-02 4.04229971e-03 9.98210128e-01 -1.34431763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.480714057 meters 0.03375013383509185 Centerline is valid? [True, True] Translation: X:203.19, Y:-25.26, Z:-13.45 [[ 9.95959922e-01 6.68246481e-02 5.99858363e-02 2.03189469e+02] [-6.64572933e-02 9.97756388e-01 -8.10055954e-03 -2.52623242e+01] [-6.03925684e-02 4.08133633e-03 9.98166359e-01 -1.34468214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.540714057 meters 0.04106758525728961 Centerline is valid? [True, True] Translation: X:203.25, Y:-25.29, Z:-13.45 [[ 9.95935440e-01 6.76219178e-02 5.94968550e-02 2.03246490e+02] [-6.72619515e-02 9.97703000e-01 -8.03452692e-03 -2.52858593e+01] [-5.99035009e-02 3.99999553e-03 9.98196158e-01 -1.34534815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.600714057 meters 0.033860697111726616 Centerline is valid? [True, True] Translation: X:203.31, Y:-25.29, Z:-13.46 [[ 9.95671799e-01 7.10939648e-02 5.98608080e-02 2.03307267e+02] [-7.07358140e-02 9.97462329e-01 -8.08369442e-03 -2.52872491e+01] [-6.02836029e-02 3.81440359e-03 9.98174002e-01 -1.34569437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.660714057 meters 0.034053242253912736 Centerline is valid? [True, True] Translation: X:203.37, Y:-25.30, Z:-13.46 [[ 9.95391987e-01 7.48368035e-02 5.99520158e-02 2.03366000e+02] [-7.44843238e-02 9.97189321e-01 -8.09584550e-03 -2.52972831e+01] [-6.03893772e-02 3.59305439e-03 9.98168429e-01 -1.34604882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.720714057 meters 0.031182785673501752 Centerline is valid? [True, True] Translation: X:203.43, Y:-25.30, Z:-13.46 [[ 9.95107636e-01 7.87617739e-02 5.96437425e-02 2.03426204e+02] [-7.84200383e-02 9.96887885e-01 -8.05246776e-03 -2.53024493e+01] [-6.00923509e-02 3.33580759e-03 9.98187248e-01 -1.34645204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.780714057 meters 0.02879243883822082 Centerline is valid? [True, True] Translation: X:203.49, Y:-25.31, Z:-13.47 [[ 9.94523503e-01 8.56706450e-02 5.98626916e-02 2.03485721e+02] [-8.53389161e-02 9.96319209e-01 -8.08101713e-03 -2.53103483e+01] [-6.03346555e-02 2.92814426e-03 9.98173910e-01 -1.34697754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.840714057 meters 0.027726637426514402 Centerline is valid? [True, True] Translation: X:203.54, Y:-25.32, Z:-13.47 [[ 9.94038534e-01 9.08722132e-02 6.02464376e-02 2.03544840e+02] [-9.05458933e-02 9.95859097e-01 -8.13015884e-03 -2.53215381e+01] [-6.07357685e-02 2.62662367e-03 9.98150423e-01 -1.34744009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90071405700002 meters 0.027044972756723854 Centerline is valid? [True, True] Translation: X:203.60, Y:-25.33, Z:-13.48 [[ 9.93962281e-01 9.18013586e-02 6.00957143e-02 2.03602369e+02] [-9.14783671e-02 9.95774041e-01 -8.10978539e-03 -2.53318957e+01] [-6.05862416e-02 2.56336297e-03 9.98159675e-01 -1.34786184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96071405700002 meters 0.028523577763578827 Centerline is valid? [True, True] Translation: X:203.66, Y:-25.35, Z:-13.48 [[ 9.94343765e-01 8.83101688e-02 5.90066984e-02 2.03659227e+02] [-8.79929161e-02 9.96089307e-01 -7.95854206e-03 -2.53529647e+01] [-5.94787615e-02 2.72135522e-03 9.98225862e-01 -1.34839178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02071405700002 meters 0.03200520997204201 Centerline is valid? [True, True] Translation: X:203.72, Y:-25.37, Z:-13.49 [[ 9.94616840e-01 8.56869572e-02 5.82673812e-02 2.03715535e+02] [-8.53733873e-02 9.96318068e-01 -7.85439503e-03 -2.53717479e+01] [-5.87258639e-02 2.83762986e-03 9.98270114e-01 -1.34890478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.080714057 meters 0.030235970010687552 Centerline is valid? [True, True] Translation: X:203.77, Y:-25.38, Z:-13.49 [[ 9.94909805e-01 8.22538046e-02 5.82133210e-02 2.03773944e+02] [-8.19351551e-02 9.96606796e-01 -7.84376213e-03 -2.53846309e+01] [-5.86609706e-02 3.03411837e-03 9.98273352e-01 -1.34935639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.140714057 meters 0.029247524751443297 Centerline is valid? [True, True] Translation: X:203.83, Y:-25.40, Z:-13.50 [[ 9.95130560e-01 8.02577081e-02 5.72177269e-02 2.03832437e+02] [-7.99466421e-02 9.96769336e-01 -7.70872429e-03 -2.53963547e+01] [-5.76515603e-02 3.09682198e-03 9.98331962e-01 -1.34967634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.200714057 meters 0.03001663324979742 Centerline is valid? [True, True] Translation: X:203.89, Y:-25.41, Z:-13.50 [[ 9.95297361e-01 7.95373410e-02 5.52899119e-02 2.03890400e+02] [-7.92459128e-02 9.96827281e-01 -7.44699057e-03 -2.54106402e+01] [-5.57068064e-02 3.03047052e-03 9.98442571e-01 -1.35022190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.260714057 meters 0.031610595612129436 Centerline is valid? [True, True] Translation: X:203.95, Y:-25.43, Z:-13.51 [[ 9.95387052e-01 7.88763878e-02 5.46180575e-02 2.03947454e+02] [-7.85911173e-02 9.96879805e-01 -7.35466464e-03 -2.54250970e+01] [-5.50277479e-02 3.02824379e-03 9.98480234e-01 -1.35060915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.320714057 meters 0.031938711956708936 Centerline is valid? [True, True] Translation: X:204.01, Y:-25.43, Z:-13.51 [[ 9.95524158e-01 7.78091265e-02 5.36413097e-02 2.04005879e+02] [-7.75325920e-02 9.96963673e-01 -7.22025893e-03 -2.54347652e+01] [-5.40402392e-02 3.02899241e-03 9.98534165e-01 -1.35094638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.380714057 meters 0.031098634538787504 Centerline is valid? [True, True] Translation: X:204.06, Y:-25.44, Z:-13.51 [[ 9.95681362e-01 7.76230669e-02 5.09243053e-02 2.04064391e+02] [-7.73737684e-02 9.96978613e-01 -6.85170827e-03 -2.54436584e+01] [-5.13022939e-02 2.88191281e-03 9.98679012e-01 -1.35141452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.440714057 meters 0.030051382985931692 Centerline is valid? [True, True] Translation: X:204.12, Y:-25.45, Z:-13.52 [[ 9.95550583e-01 8.06251828e-02 4.87710553e-02 2.04123995e+02] [-8.04002271e-02 9.96741075e-01 -6.56000503e-03 -2.54506466e+01] [-4.91410156e-02 2.60961292e-03 9.98788441e-01 -1.35185120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.500714057 meters 0.029608529590253146 Centerline is valid? [True, True] Translation: X:204.18, Y:-25.46, Z:-13.52 [[ 9.94994913e-01 8.79685837e-02 4.73988482e-02 2.04183127e+02] [-8.77644595e-02 9.96120858e-01 -6.37463546e-03 -2.54568318e+01] [-4.77757490e-02 2.18279557e-03 9.98855702e-01 -1.35212016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.560714057 meters 0.027329670975730164 Centerline is valid? [True, True] Translation: X:204.24, Y:-25.46, Z:-13.52 [[ 9.94143717e-01 9.61943690e-02 4.92434087e-02 2.04243749e+02] [-9.59841349e-02 9.95360837e-01 -6.62186200e-03 -2.54603241e+01] [-4.96519464e-02 1.85649652e-03 9.98764856e-01 -1.35216829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62071405700001 meters 0.025256474964784444 Centerline is valid? [True, True] Translation: X:204.30, Y:-25.46, Z:-13.52 [[ 9.93686088e-01 9.95304771e-02 5.17845789e-02 2.04304277e+02] [-9.93026053e-02 9.95032931e-01 -6.96124231e-03 -2.54640176e+01] [-5.22202171e-02 1.77494604e-03 9.98634016e-01 -1.35211379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68071405700002 meters 0.025690593164852737 Centerline is valid? [True, True] Translation: X:204.36, Y:-25.48, Z:-13.52 [[ 9.94010578e-01 9.57439198e-02 5.26884557e-02 2.04362718e+02] [-9.55027461e-02 9.95403974e-01 -7.08197698e-03 -2.54754566e+01] [-5.31243544e-02 2.00766783e-03 9.98585886e-01 -1.35235422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74071405700002 meters 0.026569817558136106 Centerline is valid? [True, True] Translation: X:204.42, Y:-25.49, Z:-13.53 [[ 9.94471613e-01 9.10109183e-02 5.23757844e-02 2.04421799e+02] [-9.07661747e-02 9.95847365e-01 -7.03758329e-03 -2.54888933e+01] [-5.27987838e-02 2.24472721e-03 9.98602649e-01 -1.35280287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80071405700002 meters 0.03175348791887625 Centerline is valid? [True, True] Translation: X:204.48, Y:-25.51, Z:-13.53 [[ 9.95129095e-01 8.42931328e-02 5.11150786e-02 2.04479090e+02] [-8.40511976e-02 9.96437767e-01 -6.86820418e-03 -2.55096826e+01] [-5.15119372e-02 2.53846624e-03 9.98669153e-01 -1.35341070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.860714057 meters 0.03167752291635868 Centerline is valid? [True, True] Translation: X:204.54, Y:-25.52, Z:-13.54 [[ 9.95544398e-01 8.00662238e-02 4.98071332e-02 2.04538638e+02] [-7.98312408e-02 9.96785926e-01 -6.69262417e-03 -2.55199763e+01] [-5.01829025e-02 2.68663926e-03 9.98736431e-01 -1.35379491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.920714057 meters 0.033625694238501494 Centerline is valid? [True, True] Translation: X:204.60, Y:-25.53, Z:-13.54 [[ 9.95768877e-01 7.73744246e-02 4.95736122e-02 2.04596343e+02] [-7.71383485e-02 9.96998150e-01 -6.66063224e-03 -2.55322840e+01] [-4.99401622e-02 2.80842371e-03 9.98748263e-01 -1.35421147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.980714057 meters 0.03452230841759415 Centerline is valid? [True, True] Translation: X:204.65, Y:-25.54, Z:-13.54 [[ 9.95706223e-01 7.77655501e-02 5.02158945e-02 2.04654164e+02] [-7.75238740e-02 9.96967675e-01 -6.74559159e-03 -2.55411484e+01] [-5.05881982e-02 2.82369685e-03 9.98715606e-01 -1.35445303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.040714057 meters 0.03452139116634316 Centerline is valid? [True, True] Translation: X:204.71, Y:-25.55, Z:-13.54 [[ 9.95485033e-01 7.94250324e-02 5.19731982e-02 2.04714034e+02] [-7.91686122e-02 9.96836822e-01 -6.97721950e-03 -2.55488495e+01] [-5.23629636e-02 2.83107161e-03 9.98624106e-01 -1.35447116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.100714057 meters 0.03556758500886045 Centerline is valid? [True, True] Translation: X:204.77, Y:-25.56, Z:-13.55 [[ 9.95514063e-01 7.89315157e-02 5.21686295e-02 2.04772331e+02] [-7.86725018e-02 9.96875917e-01 -7.00315763e-03 -2.55577443e+01] [-5.25584202e-02 2.86750531e-03 9.98613734e-01 -1.35474118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.160714057 meters 0.03702282792700173 Centerline is valid? [True, True] Translation: X:204.83, Y:-25.57, Z:-13.55 [[ 9.95589006e-01 7.81697799e-02 5.18846396e-02 2.04830550e+02] [-7.79127465e-02 9.96935878e-01 -6.96129581e-03 -2.55673651e+01] [-5.22698217e-02 2.88811481e-03 9.98628822e-01 -1.35515142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.220714057 meters 0.0383447948146801 Centerline is valid? [True, True] Translation: X:204.89, Y:-25.57, Z:-13.56 [[ 9.95675875e-01 7.78383083e-02 5.07025681e-02 2.04889762e+02] [-7.75925761e-02 9.96961961e-01 -6.79997978e-03 -2.55749595e+01] [-5.10778306e-02 2.83643294e-03 9.98690648e-01 -1.35568566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.280714057 meters 0.03346312090682482 Centerline is valid? [True, True] Translation: X:204.95, Y:-25.57, Z:-13.56 [[ 9.95847071e-01 7.56813252e-02 5.06058032e-02 2.04949687e+02] [-7.54338274e-02 9.97127722e-01 -6.78560960e-03 -2.55739731e+01] [-5.09739932e-02 2.94004002e-03 9.98695653e-01 -1.35598151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.340714057 meters 0.03471678448630493 Centerline is valid? [True, True] Translation: X:205.01, Y:-25.58, Z:-13.56 [[ 9.96213136e-01 7.07626173e-02 5.05177256e-02 2.05009080e+02] [-7.05098582e-02 9.97488106e-01 -6.77034117e-03 -2.55828432e+01] [-5.08699175e-02 3.18270514e-03 9.98700216e-01 -1.35637541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40071405700002 meters 0.03783278204601705 Centerline is valid? [True, True] Translation: X:205.07, Y:-25.59, Z:-13.57 [[ 9.96748778e-01 6.42316146e-02 4.86433170e-02 2.05068371e+02] [-6.39895363e-02 9.97929276e-01 -6.51921968e-03 -2.55938288e+01] [-4.89613301e-02 3.38536095e-03 9.98794938e-01 -1.35690952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46071405700002 meters 0.04535148740365655 Centerline is valid? [True, True] Translation: X:205.13, Y:-25.61, Z:-13.58 [[ 9.97188998e-01 5.77480962e-02 4.77416000e-02 2.05126127e+02] [-5.75075774e-02 9.98324573e-01 -6.39735494e-03 -2.56117218e+01] [-4.80310474e-02 3.63386820e-03 9.98839233e-01 -1.35750292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52071405700002 meters 0.04349343397125934 Centerline is valid? [True, True] Translation: X:205.19, Y:-25.62, Z:-13.58 [[ 9.97342865e-01 5.52323675e-02 4.75036318e-02 2.05186877e+02] [-5.49913429e-02 9.98466532e-01 -6.36681806e-03 -2.56163736e+01] [-4.77824410e-02 3.73761206e-03 9.98850774e-01 -1.35780010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.580714057 meters 0.04523536377526305 Centerline is valid? [True, True] Translation: X:205.25, Y:-25.63, Z:-13.58 [[ 9.97424146e-01 5.39517535e-02 4.72681783e-02 2.05248552e+02] [-5.37116887e-02 9.98536389e-01 -6.33521136e-03 -2.56254449e+01] [-4.75407918e-02 3.78003910e-03 9.98862145e-01 -1.35820299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.640714057 meters 0.04453119006949842 Centerline is valid? [True, True] Translation: X:205.31, Y:-25.63, Z:-13.59 [[ 9.97419131e-01 5.49331777e-02 4.62322800e-02 2.05310549e+02] [-5.47045772e-02 9.98483357e-01 -6.19636014e-03 -2.56303530e+01] [-4.65025479e-02 3.65125081e-03 9.98911498e-01 -1.35856004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.700714057 meters 0.04035476626920754 Centerline is valid? [True, True] Translation: X:205.37, Y:-25.63, Z:-13.59 [[ 9.97153904e-01 5.91969516e-02 4.66884659e-02 2.05371859e+02] [-5.89677068e-02 9.98240178e-01 -6.27342099e-03 -2.56283509e+01] [-4.69776700e-02 3.50245446e-03 9.98889799e-01 -1.35874144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.760714057 meters 0.04391555046224465 Centerline is valid? [True, True] Translation: X:205.43, Y:-25.64, Z:-13.59 [[ 9.96750600e-01 6.40931842e-02 4.87883680e-02 2.05431187e+02] [-6.38486391e-02 9.97938059e-01 -6.55604053e-03 -2.56365929e+01] [-4.91079667e-02 3.41966643e-03 9.98787622e-01 -1.35906692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.820714057 meters 0.04340643293793144 Centerline is valid? [True, True] Translation: X:205.49, Y:-25.64, Z:-13.59 [[ 9.96358155e-01 6.87165249e-02 5.04823295e-02 2.05490589e+02] [-6.84605785e-02 9.97630758e-01 -6.78382132e-03 -2.56388466e+01] [-5.08288852e-02 3.30306621e-03 9.98701915e-01 -1.35934118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.880714057 meters 0.03614590351854355 Centerline is valid? [True, True] Translation: X:205.55, Y:-25.63, Z:-13.59 [[ 9.96159899e-01 7.04806117e-02 5.19416923e-02 2.05551980e+02] [-7.02120737e-02 9.97507674e-01 -6.97895442e-03 -2.56335236e+01] [-5.23041176e-02 3.30522060e-03 9.98625733e-01 -1.35949821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.940714057 meters 0.037548499224286706 Centerline is valid? [True, True] Translation: X:205.61, Y:-25.64, Z:-13.60 [[ 9.96245828e-01 6.95958607e-02 5.14846210e-02 2.05611314e+02] [-6.93308932e-02 9.97569739e-01 -6.91685186e-03 -2.56390847e+01] [-5.18408842e-02 3.32141005e-03 9.98649834e-01 -1.35998125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.000714057 meters 0.04063358610290584 Centerline is valid? [True, True] Translation: X:205.67, Y:-25.65, Z:-13.61 [[ 9.96552338e-01 6.57507782e-02 5.05991373e-02 2.05669658e+02] [-6.54900435e-02 9.97830083e-01 -6.79554169e-03 -2.56478519e+01] [-5.09361535e-02 3.45837326e-03 9.98695924e-01 -1.36051358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.060714057 meters 0.039496654515983165 Centerline is valid? [True, True] Translation: X:205.73, Y:-25.65, Z:-13.61 [[ 9.96901997e-01 6.04933912e-02 5.02688562e-02 2.05730205e+02] [-6.02293719e-02 9.98161728e-01 -6.75183137e-03 -2.56518779e+01] [-5.05848895e-02 3.70325254e-03 9.98712899e-01 -1.36087341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12071405700001 meters 0.042857276508669315 Centerline is valid? [True, True] Translation: X:205.79, Y:-25.66, Z:-13.61 [[ 9.97131505e-01 5.55130079e-02 5.14496599e-02 2.05790640e+02] [-5.52298620e-02 9.98449756e-01 -6.90993419e-03 -2.56617766e+01] [-5.17534916e-02 4.04855546e-03 9.98651684e-01 -1.36112212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18071405700002 meters 0.04478333119861225 Centerline is valid? [True, True] Translation: X:205.85, Y:-25.67, Z:-13.61 [[ 9.97277915e-01 5.18320993e-02 5.24422907e-02 2.05850274e+02] [-5.15327624e-02 9.98646455e-01 -7.04500829e-03 -2.56713573e+01] [-5.27364653e-02 4.32333507e-03 9.98599106e-01 -1.36138310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24071405700002 meters 0.04305679573569665 Centerline is valid? [True, True] Translation: X:205.91, Y:-25.68, Z:-13.62 [[ 9.97365559e-01 5.04818787e-02 5.20914733e-02 2.05911404e+02] [-5.01847210e-02 9.98715438e-01 -6.99767557e-03 -2.56766789e+01] [-5.23778144e-02 4.36504455e-03 9.98617800e-01 -1.36177838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30071405700002 meters 0.044891818887218396 Centerline is valid? [True, True] Translation: X:205.97, Y:-25.68, Z:-13.62 [[ 9.97361352e-01 5.20076854e-02 5.06511120e-02 2.05971064e+02] [-5.17286015e-02 9.98637986e-01 -6.80621489e-03 -2.56849293e+01] [-5.09360999e-02 4.16814449e-03 9.98693216e-01 -1.36232448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.360714057 meters 0.041457737368984525 Centerline is valid? [True, True] Translation: X:206.03, Y:-25.69, Z:-13.63 [[ 9.97148931e-01 5.53805023e-02 5.12543642e-02 2.06031511e+02] [-5.50990870e-02 9.98457130e-01 -6.88842111e-03 -2.56861265e+01] [-5.15567696e-02 4.04471307e-03 9.98661875e-01 -1.36261689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.420714057 meters 0.036746254029249505 Centerline is valid? [True, True] Translation: X:206.09, Y:-25.68, Z:-13.63 [[ 9.96721542e-01 6.30603238e-02 5.06908624e-02 2.06092808e+02] [-6.27949269e-02 9.98003198e-01 -6.81283488e-03 -2.56831002e+01] [-5.10192623e-02 3.60737029e-03 9.98691154e-01 -1.36295722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.480714057 meters 0.0359132659850917 Centerline is valid? [True, True] Translation: X:206.15, Y:-25.69, Z:-13.63 [[ 9.96257427e-01 6.99356883e-02 5.07950634e-02 2.06152485e+02] [-6.96780700e-02 9.97546168e-01 -6.82710285e-03 -2.56854980e+01] [-5.11478790e-02 3.26224994e-03 9.98685763e-01 -1.36330237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.540714057 meters 0.03498209534009679 Centerline is valid? [True, True] Translation: X:206.21, Y:-25.69, Z:-13.64 [[ 9.95950188e-01 7.36011612e-02 5.16342149e-02 2.06212762e+02] [-7.33398818e-02 9.97282862e-01 -6.93934473e-03 -2.56909948e+01] [-5.20046614e-02 3.12439447e-03 9.98641955e-01 -1.36360100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.600714057 meters 0.034012716443361186 Centerline is valid? [True, True] Translation: X:206.27, Y:-25.70, Z:-13.64 [[ 9.95627545e-01 7.69112143e-02 5.30137456e-02 2.06272720e+02] [-7.66404496e-02 9.97033340e-01 -7.12461001e-03 -2.56966307e+01] [-5.34044343e-02 3.03046068e-03 9.98568367e-01 -1.36382833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.660714057 meters 0.03396713017290985 Centerline is valid? [True, True] Translation: X:206.33, Y:-25.70, Z:-13.64 [[ 9.95566360e-01 7.73571903e-02 5.35115669e-02 2.06330746e+02] [-7.70819737e-02 9.96998825e-01 -7.19111586e-03 -2.57034601e+01] [-5.39072539e-02 3.03445584e-03 9.98541336e-01 -1.36410417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.720714057 meters 0.03226080525999775 Centerline is valid? [True, True] Translation: X:206.39, Y:-25.71, Z:-13.65 [[ 9.95845224e-01 7.53169771e-02 5.11824479e-02 2.06389915e+02] [-7.50627377e-02 9.97155118e-01 -6.87423937e-03 -2.57105435e+01] [-5.15545868e-02 3.00378378e-03 9.98665661e-01 -1.36461775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.780714057 meters 0.03526663164813427 Centerline is valid? [True, True] Translation: X:206.45, Y:-25.72, Z:-13.65 [[ 9.96271351e-01 7.16001690e-02 4.81332568e-02 2.06448218e+02] [-7.13711173e-02 9.97428892e-01 -6.46284571e-03 -2.57236925e+01] [-4.84722419e-02 3.00342371e-03 9.98820014e-01 -1.36515465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.840714057 meters 0.03746408660348286 Centerline is valid? [True, True] Translation: X:206.51, Y:-25.73, Z:-13.66 [[ 9.96610338e-01 6.75917629e-02 4.68955004e-02 2.06507348e+02] [-6.73699982e-02 9.97708200e-01 -6.29526121e-03 -2.57336851e+01] [-4.72135331e-02 3.11457262e-03 9.98879964e-01 -1.36566625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90071405700002 meters 0.03820936879169141 Centerline is valid? [True, True] Translation: X:206.57, Y:-25.74, Z:-13.66 [[ 9.96631165e-01 6.69530753e-02 4.73667188e-02 2.06565563e+02] [-6.67260592e-02 9.97751066e-01 -6.35957210e-03 -2.57424881e+01] [-4.76859871e-02 3.17755328e-03 9.98857322e-01 -1.36598578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96071405700002 meters 0.04034134041463275 Centerline is valid? [True, True] Translation: X:206.62, Y:-25.75, Z:-13.66 [[ 9.96733175e-01 6.45495527e-02 4.85420671e-02 2.06624849e+02] [-6.43084859e-02 9.97908812e-01 -6.51323936e-03 -2.57481592e+01] [-4.88609832e-02 3.37029491e-03 9.98799903e-01 -1.36637613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02071405700002 meters 0.042886096637383436 Centerline is valid? [True, True] Translation: X:206.68, Y:-25.76, Z:-13.67 [[ 9.96660167e-01 6.62129855e-02 4.77948974e-02 2.06682558e+02] [-6.59812594e-02 9.97800263e-01 -6.41159018e-03 -2.57580382e+01] [-4.81142918e-02 3.23660901e-03 9.98836593e-01 -1.36666336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08071405700002 meters 0.038244013008817 Centerline is valid? [True, True] Translation: X:206.74, Y:-25.76, Z:-13.67 [[ 9.96579144e-01 6.77180842e-02 4.73737363e-02 2.06742086e+02] [-6.74922220e-02 9.97699574e-01 -6.35294884e-03 -2.57585267e+01] [-4.76949660e-02 3.13385759e-03 9.98857031e-01 -1.36686739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.140714057 meters 0.038790833710970606 Centerline is valid? [True, True] Translation: X:206.80, Y:-25.77, Z:-13.67 [[ 9.96565659e-01 6.81187591e-02 4.70820838e-02 2.06800320e+02] [-6.78962776e-02 9.97672428e-01 -6.31044923e-03 -2.57679329e+01] [-4.74023568e-02 3.09207876e-03 9.98871091e-01 -1.36736673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.200714057 meters 0.04102872138007002 Centerline is valid? [True, True] Translation: X:206.86, Y:-25.78, Z:-13.68 [[ 9.96669527e-01 6.76721035e-02 4.55009878e-02 2.06856868e+02] [-6.74639922e-02 9.97703088e-01 -6.09572235e-03 -2.57796346e+01] [-4.58089864e-02 3.00574243e-03 9.98945695e-01 -1.36798813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.260714057 meters 0.04005711619782157 Centerline is valid? [True, True] Translation: X:206.92, Y:-25.79, Z:-13.68 [[ 9.96613290e-01 6.94661687e-02 4.40045683e-02 2.06915130e+02] [-6.92734525e-02 9.97580314e-01 -5.89118395e-03 -2.57856027e+01] [-4.43073290e-02 2.82288385e-03 9.99013960e-01 -1.36832924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.320714057 meters 0.040136588048330556 Centerline is valid? [True, True] Translation: X:206.97, Y:-25.79, Z:-13.69 [[ 9.96320378e-01 7.35434521e-02 4.40120954e-02 2.06974086e+02] [-7.33548111e-02 9.97288525e-01 -5.88810271e-03 -2.57930736e+01] [-4.43257891e-02 2.63793778e-03 9.99013646e-01 -1.36869454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.380714057 meters 0.039231293545843496 Centerline is valid? [True, True] Translation: X:207.03, Y:-25.80, Z:-13.69 [[ 9.95913515e-01 7.77784109e-02 4.58997813e-02 2.07033611e+02] [-7.75777672e-02 9.96967401e-01 -6.13931783e-03 -2.57999745e+01] [-4.62380920e-02 2.55342705e-03 9.98927184e-01 -1.36887297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.440714057 meters 0.039146361106111506 Centerline is valid? [True, True] Translation: X:207.09, Y:-25.81, Z:-13.69 [[ 9.95752329e-01 7.90362817e-02 4.72288661e-02 2.07092261e+02] [-7.88252188e-02 9.96868432e-01 -6.31772527e-03 -2.58074163e+01] [-4.75802952e-02 2.56806395e-03 9.98864115e-01 -1.36912959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.500714057 meters 0.038940727650213953 Centerline is valid? [True, True] Translation: X:207.15, Y:-25.82, Z:-13.69 [[ 9.95641502e-01 7.96082638e-02 4.85852165e-02 2.07150696e+02] [-7.93856821e-02 9.96822805e-01 -6.49689446e-03 -2.58158359e+01] [-4.89480582e-02 2.61160721e-03 9.98797911e-01 -1.36944587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.560714057 meters 0.03433389569978288 Centerline is valid? [True, True] Translation: X:207.21, Y:-25.82, Z:-13.70 [[ 9.95718724e-01 7.81715971e-02 4.93297528e-02 2.07209190e+02] [-7.79405112e-02 9.96936206e-01 -6.59377217e-03 -2.58185066e+01] [-4.96940623e-02 2.72075626e-03 9.98760781e-01 -1.36964082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62071405700001 meters 0.03659517010813923 Centerline is valid? [True, True] Translation: X:207.27, Y:-25.83, Z:-13.70 [[ 9.96053773e-01 7.44134469e-02 4.83685839e-02 2.07266882e+02] [-7.41871890e-02 9.97223418e-01 -6.45878692e-03 -2.58326421e+01] [-4.87149051e-02 2.84496981e-03 9.98808672e-01 -1.37013863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68071405700002 meters 0.0400408797320955 Centerline is valid? [True, True] Translation: X:207.32, Y:-25.85, Z:-13.71 [[ 9.96360100e-01 7.02979419e-02 4.82156680e-02 2.07324355e+02] [-7.00684248e-02 9.97521425e-01 -6.43609025e-03 -2.58478657e+01] [-4.85486057e-02 3.03426762e-03 9.98816212e-01 -1.37071442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74071405700002 meters 0.0422983031676432 Centerline is valid? [True, True] Translation: X:207.38, Y:-25.86, Z:-13.71 [[ 9.96703611e-01 6.47689910e-02 4.88558133e-02 2.07383046e+02] [-6.45267204e-02 9.97894670e-01 -6.52154962e-03 -2.58631134e+01] [-4.91753498e-02 3.34754665e-03 9.98784551e-01 -1.37119064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80071405700002 meters 0.04051216046950428 Centerline is valid? [True, True] Translation: X:207.44, Y:-25.87, Z:-13.71 [[ 9.96878367e-01 6.11827191e-02 4.99018671e-02 2.07442922e+02] [-6.09254696e-02 9.98120089e-01 -6.66144172e-03 -2.58689291e+01] [-5.02156211e-02 3.60035245e-03 9.98731910e-01 -1.37136452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.860714057 meters 0.04261777186860832 Centerline is valid? [True, True] Translation: X:207.50, Y:-25.88, Z:-13.72 [[ 9.96814942e-01 5.99073124e-02 5.26410933e-02 2.07502128e+02] [-5.96192942e-02 9.98196460e-01 -7.02614337e-03 -2.58803596e+01] [-5.29670703e-02 3.86533987e-03 9.98588779e-01 -1.37164057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.920714057 meters 0.0435085672358187 Centerline is valid? [True, True] Translation: X:207.56, Y:-25.89, Z:-13.72 [[ 9.96831960e-01 5.89059096e-02 5.34428440e-02 2.07562556e+02] [-5.86076304e-02 9.98255613e-01 -7.13277548e-03 -2.58898199e+01] [-5.37697816e-02 3.97802011e-03 9.98545435e-01 -1.37208824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.980714057 meters 0.046521520260604514 Centerline is valid? [True, True] Translation: X:207.62, Y:-25.90, Z:-13.73 [[ 9.96918996e-01 5.72198774e-02 5.36507390e-02 2.07621070e+02] [-5.69167689e-02 9.98353238e-01 -7.16191104e-03 -2.59015634e+01] [-5.39721927e-02 4.08621844e-03 9.98534078e-01 -1.37262007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.040714057 meters 0.049228888752164544 Centerline is valid? [True, True] Translation: X:207.68, Y:-25.91, Z:-13.73 [[ 9.96962585e-01 5.57941405e-02 5.43379929e-02 2.07680532e+02] [-5.54808607e-02 9.98433370e-01 -7.25807866e-03 -2.59128157e+01] [-5.46578236e-02 4.22131425e-03 9.98496221e-01 -1.37310257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.100714057 meters 0.0521499230859836 Centerline is valid? [True, True] Translation: X:207.74, Y:-25.92, Z:-13.74 [[ 9.97121050e-01 5.42210788e-02 5.30064665e-02 2.07739864e+02] [-5.39203879e-02 9.98520085e-01 -7.08748167e-03 -2.59221446e+01] [-5.33123124e-02 4.20894793e-03 9.98569017e-01 -1.37370811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.160714057 meters 0.055426982638723477 Centerline is valid? [True, True] Translation: X:207.80, Y:-25.93, Z:-13.74 [[ 9.97152449e-01 5.20251029e-02 5.45928792e-02 2.07800313e+02] [-5.17028003e-02 9.98635831e-01 -7.30054760e-03 -2.59308666e+01] [-5.48982170e-02 4.45715418e-03 9.98482008e-01 -1.37401187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.220714057 meters 0.05869907601982959 Centerline is valid? [True, True] Translation: X:207.86, Y:-25.94, Z:-13.74 [[ 9.97194496e-01 5.05260294e-02 5.52291353e-02 2.07859372e+02] [-5.01938190e-02 9.98712179e-01 -7.38669846e-03 -2.59383948e+01] [-5.55312306e-02 4.59381383e-03 9.98446383e-01 -1.37436721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.280714057 meters 0.04481080135705353 Centerline is valid? [True, True] Translation: X:207.92, Y:-25.92, Z:-13.75 [[ 9.97215702e-01 5.01572127e-02 5.51824106e-02 2.07924398e+02] [-4.98251308e-02 9.98730704e-01 -7.37817787e-03 -2.59248114e+01] [-5.54824367e-02 4.60816399e-03 9.98449029e-01 -1.37453319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.340714057 meters 0.047566385632649415 Centerline is valid? [True, True] Translation: X:207.99, Y:-25.93, Z:-13.75 [[ 9.97234497e-01 5.01452114e-02 5.48526744e-02 2.07985483e+02] [-4.98162489e-02 9.98731362e-01 -7.34901953e-03 -2.59313218e+01] [-5.51516043e-02 4.59614131e-03 9.98467414e-01 -1.37499567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40071405700002 meters 0.045748133355590956 Centerline is valid? [True, True] Translation: X:208.05, Y:-25.93, Z:-13.75 [[ 9.97224697e-01 5.21656173e-02 5.31192183e-02 2.08047340e+02] [-5.18595515e-02 9.98628971e-01 -7.12493926e-03 -2.59307245e+01] [-5.34180672e-02 4.35042656e-03 9.98562759e-01 -1.37543424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46071405700002 meters 0.04688952307024102 Centerline is valid? [True, True] Translation: X:208.11, Y:-25.93, Z:-13.76 [[ 9.97085618e-01 5.58071895e-02 5.20175680e-02 2.08106594e+02] [-5.55184930e-02 9.98433264e-01 -6.97963056e-03 -2.59333605e+01] [-5.23255837e-02 4.07135227e-03 9.98621779e-01 -1.37584051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52071405700002 meters 0.04036452361467503 Centerline is valid? [True, True] Translation: X:208.17, Y:-25.93, Z:-13.76 [[ 9.96838320e-01 5.92286892e-02 5.29653330e-02 2.08168234e+02] [-5.89342163e-02 9.98236578e-01 -7.10576046e-03 -2.59264619e+01] [-5.32927976e-02 3.96182393e-03 9.98571070e-01 -1.37591285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58071405700002 meters 0.038624635570917804 Centerline is valid? [True, True] Translation: X:208.23, Y:-25.93, Z:-13.76 [[ 9.96664858e-01 6.03541827e-02 5.49229824e-02 2.08228347e+02] [-6.00391992e-02 9.98168823e-01 -7.36856568e-03 -2.59288052e+01] [-5.52671325e-02 4.04645859e-03 9.98463405e-01 -1.37606845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.640714057 meters 0.0401536107191476 Centerline is valid? [True, True] Translation: X:208.29, Y:-25.94, Z:-13.76 [[ 9.96628632e-01 6.07658373e-02 5.51260606e-02 2.08287373e+02] [-6.04492576e-02 9.98143887e-01 -7.39374763e-03 -2.59360354e+01] [-5.54730276e-02 4.03649115e-03 9.98452027e-01 -1.37646890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.700714057 meters 0.04089931692863296 Centerline is valid? [True, True] Translation: X:208.35, Y:-25.94, Z:-13.77 [[ 9.96883845e-01 5.86220063e-02 5.27831341e-02 2.08347530e+02] [-5.83289293e-02 9.98272332e-01 -7.07725352e-03 -2.59424365e+01] [-5.31068252e-02 3.97641601e-03 9.98580920e-01 -1.37704346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.760714057 meters 0.04375984696010644 Centerline is valid? [True, True] Translation: X:208.41, Y:-25.95, Z:-13.78 [[ 9.97117340e-01 5.59451762e-02 5.12557099e-02 2.08407023e+02] [-5.56653208e-02 9.98425832e-01 -6.87245386e-03 -2.59534122e+01] [-5.15595054e-02 3.99947737e-03 9.98661916e-01 -1.37757108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.820714057 meters 0.04305043209616689 Centerline is valid? [True, True] Translation: X:208.47, Y:-25.96, Z:-13.78 [[ 9.97292767e-01 5.35403995e-02 5.04039973e-02 2.08466941e+02] [-5.32667272e-02 9.98557450e-01 -6.75825476e-03 -2.59599397e+01] [-5.06931267e-02 4.05510261e-03 9.98706044e-01 -1.37805819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.880714057 meters 0.04371501804083881 Centerline is valid? [True, True] Translation: X:208.53, Y:-25.97, Z:-13.78 [[ 9.97406087e-01 5.21350421e-02 4.96289681e-02 2.08527238e+02] [-5.18680030e-02 9.98631779e-01 -6.65433752e-03 -2.59659739e+01] [-4.99079889e-02 4.06292128e-03 9.98745556e-01 -1.37843501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.940714057 meters 0.045085782760217914 Centerline is valid? [True, True] Translation: X:208.59, Y:-25.97, Z:-13.79 [[ 9.97381547e-01 5.26286751e-02 4.96011334e-02 2.08587815e+02] [-5.23625549e-02 9.98605996e-01 -6.65034286e-03 -2.59728032e+01] [-4.98819880e-02 4.03568717e-03 9.98746965e-01 -1.37880261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.000714057 meters 0.04560198567059325 Centerline is valid? [True, True] Translation: X:208.65, Y:-25.98, Z:-13.79 [[ 9.97294152e-01 5.35529579e-02 5.03632273e-02 2.08647519e+02] [-5.32796984e-02 9.98556789e-01 -6.75369970e-03 -2.59801829e+01] [-5.06522231e-02 4.05208766e-03 9.98708132e-01 -1.37913786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.060714057 meters 0.04537534679054057 Centerline is valid? [True, True] Translation: X:208.71, Y:-25.98, Z:-13.79 [[ 9.97100762e-01 5.58718724e-02 5.16566041e-02 2.08707649e+02] [-5.55874591e-02 9.98429790e-01 -6.92736312e-03 -2.59839432e+01] [-5.19625371e-02 4.03581968e-03 9.98640880e-01 -1.37939301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12071405700001 meters 0.04487944265767619 Centerline is valid? [True, True] Translation: X:208.77, Y:-25.99, Z:-13.80 [[ 9.96924195e-01 5.98065333e-02 5.06490613e-02 2.08767925e+02] [-5.95382180e-02 9.98202926e-01 -6.79117164e-03 -2.59874798e+01] [-5.09641976e-02 3.75472846e-03 9.98693423e-01 -1.37983600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18071405700002 meters 0.045938412367947566 Centerline is valid? [True, True] Translation: X:208.83, Y:-25.99, Z:-13.80 [[ 9.96693838e-01 6.43582344e-02 4.95924390e-02 2.08827378e+02] [-6.41066196e-02 9.97920903e-01 -6.64929248e-03 -2.59938661e+01] [-4.99172683e-02 3.44810522e-03 9.98747404e-01 -1.38035515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24071405700002 meters 0.03986960397736609 Centerline is valid? [True, True] Translation: X:208.89, Y:-25.99, Z:-13.81 [[ 9.96512974e-01 6.80184871e-02 4.83257426e-02 2.08888470e+02] [-6.77838348e-02 9.97678988e-01 -6.47986994e-03 -2.59895490e+01] [-4.86543289e-02 3.18157031e-03 9.98810610e-01 -1.38071062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30071405700002 meters 0.03730526037558548 Centerline is valid? [True, True] Translation: X:208.95, Y:-25.99, Z:-13.81 [[ 9.96334062e-01 7.03837305e-02 4.86268203e-02 2.08948170e+02] [-7.01490012e-02 9.97515222e-01 -6.51910325e-03 -2.59922995e+01] [-4.89648323e-02 3.08408175e-03 9.98795742e-01 -1.38101736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.360714057 meters 0.03616060086980242 Centerline is valid? [True, True] Translation: X:209.01, Y:-26.00, Z:-13.81 [[ 9.96134349e-01 7.25792709e-02 4.94834142e-02 2.09007532e+02] [-7.23389785e-02 9.97358054e-01 -6.63210481e-03 -2.59968489e+01] [-4.98340350e-02 3.02688777e-03 9.98752926e-01 -1.38128250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.420714057 meters 0.03920074817737475 Centerline is valid? [True, True] Translation: X:209.07, Y:-26.01, Z:-13.82 [[ 9.95968812e-01 7.48637592e-02 4.94119644e-02 2.09065012e+02] [-7.46270373e-02 9.97189535e-01 -6.62097744e-03 -2.60082075e+01] [-4.97687651e-02 2.90681852e-03 9.98756537e-01 -1.38187127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.480714057 meters 0.037077927597440934 Centerline is valid? [True, True] Translation: X:209.12, Y:-26.01, Z:-13.82 [[ 9.95887512e-01 7.55023405e-02 5.00745486e-02 2.09123946e+02] [-7.52601521e-02 9.97141375e-01 -6.70724163e-03 -2.60126832e+01] [-5.04378167e-02 2.91104004e-03 9.98722961e-01 -1.38218589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.540714057 meters 0.03818630737170622 Centerline is valid? [True, True] Translation: X:209.18, Y:-26.02, Z:-13.82 [[ 9.95904562e-01 7.47753594e-02 5.08207487e-02 2.09181360e+02] [-7.45251261e-02 9.97195926e-01 -6.80372966e-03 -2.60225279e+01] [-5.11869949e-02 2.98844270e-03 9.98684615e-01 -1.38249801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.600714057 meters 0.038358432081105905 Centerline is valid? [True, True] Translation: X:209.24, Y:-26.03, Z:-13.83 [[ 9.95995738e-01 7.32570539e-02 5.12434681e-02 2.09240056e+02] [-7.30009084e-02 9.97308315e-01 -6.85502804e-03 -2.60316908e+01] [-5.16077160e-02 3.08675900e-03 9.98662664e-01 -1.38285566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.660714057 meters 0.040578713324315036 Centerline is valid? [True, True] Translation: X:209.30, Y:-26.05, Z:-13.83 [[ 9.96237086e-01 7.04765511e-02 5.04452664e-02 2.09297804e+02] [-7.02248724e-02 9.97508372e-01 -6.74647190e-03 -2.60453610e+01] [-5.07950436e-02 3.17857311e-03 9.98704040e-01 -1.38340749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.720714057 meters 0.04285246854671753 Centerline is valid? [True, True] Translation: X:209.35, Y:-26.06, Z:-13.84 [[ 9.96362573e-01 6.85571325e-02 5.06116855e-02 2.09354584e+02] [-6.83013960e-02 9.97641781e-01 -6.76731246e-03 -2.60586138e+01] [-5.09562796e-02 3.28584808e-03 9.98695480e-01 -1.38385448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.780714057 meters 0.043601621821943076 Centerline is valid? [True, True] Translation: X:209.41, Y:-26.07, Z:-13.84 [[ 9.96195856e-01 6.94006162e-02 5.27007667e-02 2.09411244e+02] [-6.91246495e-02 9.97583166e-01 -7.04348307e-03 -2.60689495e+01] [-5.30622198e-02 3.37376661e-03 9.98585509e-01 -1.38410891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.840714057 meters 0.04061891854348858 Centerline is valid? [True, True] Translation: X:209.47, Y:-26.07, Z:-13.84 [[ 9.96036066e-01 7.09706805e-02 5.36219866e-02 2.09470385e+02] [-7.06875011e-02 9.97472800e-01 -7.16166827e-03 -2.60733569e+01] [-5.39947416e-02 3.34287565e-03 9.98535624e-01 -1.38431686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90071405700002 meters 0.03780204217950583 Centerline is valid? [True, True] Translation: X:209.53, Y:-26.08, Z:-13.85 [[ 9.95861398e-01 7.26257023e-02 5.46404939e-02 2.09528755e+02] [-7.23342759e-02 9.97353766e-01 -7.29503990e-03 -2.60792129e+01] [-5.50257098e-02 3.31246807e-03 9.98479443e-01 -1.38476511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96071405700002 meters 0.0417210445340429 Centerline is valid? [True, True] Translation: X:209.58, Y:-26.10, Z:-13.86 [[ 9.95979152e-01 7.22460962e-02 5.29719726e-02 2.09584260e+02] [-7.19718629e-02 9.97381613e-01 -7.06888877e-03 -2.60955523e+01] [-5.33439710e-02 3.22797430e-03 9.98570979e-01 -1.38550905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02071405700002 meters 0.04320714389054659 Centerline is valid? [True, True] Translation: X:209.64, Y:-26.11, Z:-13.86 [[ 9.96142507e-01 7.09742224e-02 5.16019842e-02 2.09642347e+02] [-7.07125696e-02 9.97472999e-01 -6.88101530e-03 -2.61075059e+01] [-5.19599607e-02 3.20556293e-03 9.98644024e-01 -1.38605854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08071405700002 meters 0.04210429811789149 Centerline is valid? [True, True] Translation: X:209.70, Y:-26.12, Z:-13.86 [[ 9.96432005e-01 6.74069222e-02 5.07894262e-02 2.09701927e+02] [-6.71489413e-02 9.97719990e-01 -6.77068949e-03 -2.61181077e+01] [-5.11300171e-02 3.33607551e-03 9.98686433e-01 -1.38647491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.140714057 meters 0.04376945634778701 Centerline is valid? [True, True] Translation: X:209.76, Y:-26.13, Z:-13.87 [[ 9.96517407e-01 6.58282553e-02 5.11829916e-02 2.09760310e+02] [-6.55641935e-02 9.97825026e-01 -6.82297957e-03 -2.61301987e+01] [-5.15208148e-02 3.44344634e-03 9.98665984e-01 -1.38684655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.200714057 meters 0.0397136668615849 Centerline is valid? [True, True] Translation: X:209.82, Y:-26.13, Z:-13.87 [[ 9.96560212e-01 6.40543399e-02 5.25812320e-02 2.09820020e+02] [-6.37732767e-02 9.97939810e-01 -7.00754877e-03 -2.61332450e+01] [-5.29217686e-02 3.63016682e-03 9.98592063e-01 -1.38694120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.260714057 meters 0.04159585840577881 Centerline is valid? [True, True] Translation: X:209.88, Y:-26.15, Z:-13.87 [[ 9.96617811e-01 6.19572865e-02 5.39836361e-02 2.09878061e+02] [-6.16580521e-02 9.98071416e-01 -7.19262026e-03 -2.61457013e+01] [-5.43251593e-02 3.83976762e-03 9.98515915e-01 -1.38722259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.320714057 meters 0.04110811042134332 Centerline is valid? [True, True] Translation: X:209.94, Y:-26.15, Z:-13.88 [[ 9.96727975e-01 5.98970696e-02 5.42741627e-02 2.09937159e+02] [-5.95917333e-02 9.98196663e-01 -7.22825068e-03 -2.61540775e+01] [-5.46092391e-02 3.97030824e-03 9.98499909e-01 -1.38755910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.380714057 meters 0.046292126996664955 Centerline is valid? [True, True] Translation: X:209.99, Y:-26.17, Z:-13.88 [[ 9.96797536e-01 5.90939316e-02 5.38755947e-02 2.09994442e+02] [-5.87920185e-02 9.98244482e-01 -7.17304368e-03 -2.61705076e+01] [-5.42048985e-02 3.98261731e-03 9.98521891e-01 -1.38809425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.440714057 meters 0.0469969120558255 Centerline is valid? [True, True] Translation: X:210.05, Y:-26.18, Z:-13.89 [[ 9.96786474e-01 5.99222455e-02 5.31606070e-02 2.10053430e+02] [-5.96295140e-02 9.98195490e-01 -7.07708617e-03 -2.61800732e+01] [-5.34887531e-02 3.88440261e-03 9.98560897e-01 -1.38855076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.500714057 meters 0.04212782424965997 Centerline is valid? [True, True] Translation: X:210.11, Y:-26.18, Z:-13.89 [[ 9.96673699e-01 6.16094568e-02 5.33461634e-02 2.10113979e+02] [-6.13171852e-02 9.98093080e-01 -7.09979253e-03 -2.61812097e+01] [-5.36818509e-02 3.80513989e-03 9.98550840e-01 -1.38880783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.560714057 meters 0.041272133249355844 Centerline is valid? [True, True] Translation: X:210.17, Y:-26.19, Z:-13.89 [[ 9.96414847e-01 6.43188072e-02 5.49594777e-02 2.10172850e+02] [-6.40127117e-02 9.97922283e-01 -7.31365451e-03 -2.61892558e+01] [-5.53156930e-02 3.76932873e-03 9.98461800e-01 -1.38924545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62071405700001 meters 0.039729590745978725 Centerline is valid? [True, True] Translation: X:210.23, Y:-26.19, Z:-13.90 [[ 9.96230095e-01 6.77317120e-02 5.42034442e-02 2.10232432e+02] [-6.74391277e-02 9.97697332e-01 -7.21097718e-03 -2.61943044e+01] [-5.45670435e-02 3.52835949e-03 9.98503875e-01 -1.38962819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68071405700002 meters 0.03758813183544202 Centerline is valid? [True, True] Translation: X:210.29, Y:-26.20, Z:-13.90 [[ 9.96031197e-01 7.16873983e-02 5.27519727e-02 2.10292094e+02] [-7.14158660e-02 9.97421946e-01 -7.01687110e-03 -2.61998918e+01] [-5.31189964e-02 3.22169471e-03 9.98582993e-01 -1.39009320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74071405700002 meters 0.03657482054002558 Centerline is valid? [True, True] Translation: X:210.35, Y:-26.21, Z:-13.91 [[ 9.95810247e-01 7.54726663e-02 5.16316691e-02 2.10351336e+02] [-7.52176276e-02 9.97143491e-01 -6.86775597e-03 -2.62071690e+01] [-5.20025106e-02 2.95537012e-03 9.98642581e-01 -1.39059805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80071405700002 meters 0.03285431620102577 Centerline is valid? [True, True] Translation: X:210.41, Y:-26.21, Z:-13.91 [[ 9.95539500e-01 7.89793821e-02 5.16077555e-02 2.10411740e+02] [-7.87293192e-02 9.96872401e-01 -6.86368104e-03 -2.62089586e+01] [-5.19884365e-02 2.77002214e-03 9.98643845e-01 -1.39085418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.860714057 meters 0.03192230196051387 Centerline is valid? [True, True] Translation: X:210.47, Y:-26.21, Z:-13.91 [[ 9.94927240e-01 8.52154076e-02 5.34614040e-02 2.10471575e+02] [-8.49560700e-02 9.96359337e-01 -7.10902917e-03 -2.62146154e+01] [-5.38725679e-02 2.53109599e-03 9.98544611e-01 -1.39101711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.920714057 meters 0.03031173025787967 Centerline is valid? [True, True] Translation: X:210.53, Y:-26.22, Z:-13.91 [[ 9.94305261e-01 9.10922333e-02 5.53105154e-02 2.10531700e+02] [-9.08236975e-02 9.95839828e-01 -7.35472649e-03 -2.62206847e+01] [-5.57503726e-02 2.28933773e-03 9.98442114e-01 -1.39125551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.980714057 meters 0.03047586121391158 Centerline is valid? [True, True] Translation: X:210.59, Y:-26.23, Z:-13.92 [[ 9.93978285e-01 9.42132878e-02 5.59555687e-02 2.10590030e+02] [-9.39433733e-02 9.95549738e-01 -7.44056252e-03 -2.62303827e+01] [-5.64075516e-02 2.13910269e-03 9.98405535e-01 -1.39162266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.040714057 meters 0.0299581556456729 Centerline is valid? [True, True] Translation: X:210.65, Y:-26.24, Z:-13.92 [[ 9.93800949e-01 9.62916669e-02 5.55660778e-02 2.10648255e+02] [-9.60288352e-02 9.95351141e-01 -7.38711447e-03 -2.62397109e+01] [-5.60190765e-02 2.00537564e-03 9.98427685e-01 -1.39206968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.100714057 meters 0.029083055026987083 Centerline is valid? [True, True] Translation: X:210.71, Y:-26.25, Z:-13.93 [[ 9.93859041e-01 9.63569210e-02 5.44017577e-02 2.10705926e+02] [-9.61053002e-02 9.95344924e-01 -7.22864030e-03 -2.62492217e+01] [-5.48450429e-02 1.95595226e-03 9.98492962e-01 -1.39259811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.160714057 meters 0.02938100182088833 Centerline is valid? [True, True] Translation: X:210.76, Y:-26.26, Z:-13.93 [[ 9.93975697e-01 9.54198318e-02 5.39200206e-02 2.10763498e+02] [-9.51714859e-02 9.95435137e-01 -7.16077668e-03 -2.62604992e+01] [-5.43571631e-02 1.98598952e-03 9.98519582e-01 -1.39303919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.220714057 meters 0.029080103228728924 Centerline is valid? [True, True] Translation: X:210.82, Y:-26.27, Z:-13.94 [[ 9.94214638e-01 9.32165427e-02 5.33659985e-02 2.10822031e+02] [-9.29703351e-02 9.95643685e-01 -7.08304917e-03 -2.62735414e+01] [-5.37937768e-02 2.08061640e-03 9.98549899e-01 -1.39354805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.280714057 meters 0.029414793674032318 Centerline is valid? [True, True] Translation: X:210.88, Y:-26.28, Z:-13.94 [[ 9.94376926e-01 9.12571250e-02 5.37277028e-02 2.10879322e+02] [-9.10047863e-02 9.95824933e-01 -7.12966820e-03 -2.62846009e+01] [-5.41540190e-02 2.20009944e-03 9.98530171e-01 -1.39393556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.340714057 meters 0.030548570807437652 Centerline is valid? [True, True] Translation: X:210.94, Y:-26.30, Z:-13.94 [[ 9.94405482e-01 9.01871953e-02 5.49909661e-02 2.10935536e+02] [-8.99214932e-02 9.95922161e-01 -7.29211823e-03 -2.63000299e+01] [-5.54243775e-02 2.30645256e-03 9.98460224e-01 -1.39429651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40071405700002 meters 0.02950415401813417 Centerline is valid? [True, True] Translation: X:210.99, Y:-26.31, Z:-13.95 [[ 9.94386468e-01 8.99366095e-02 5.57400906e-02 2.10992760e+02] [-8.96634957e-02 9.95944726e-01 -7.38651553e-03 -2.63089342e+01] [-5.61783674e-02 2.34719972e-03 9.98417989e-01 -1.39451212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46071405700002 meters 0.02963009559592135 Centerline is valid? [True, True] Translation: X:211.05, Y:-26.32, Z:-13.95 [[ 9.94313766e-01 9.00741591e-02 5.68047634e-02 2.11049798e+02] [-8.97911011e-02 9.95932223e-01 -7.52101855e-03 -2.63219722e+01] [-5.72511437e-02 2.37769002e-03 9.98356977e-01 -1.39485268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52071405700002 meters 0.028482746266179693 Centerline is valid? [True, True] Translation: X:211.11, Y:-26.33, Z:-13.95 [[ 9.94407433e-01 8.87797206e-02 5.72015575e-02 2.11107734e+02] [-8.84907909e-02 9.96048234e-01 -7.56943841e-03 -2.63312362e+01] [-5.76475229e-02 2.46529476e-03 9.98333955e-01 -1.39527373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58071405700002 meters 0.03085455995257301 Centerline is valid? [True, True] Translation: X:211.17, Y:-26.35, Z:-13.96 [[ 9.94804014e-01 8.50424109e-02 5.59710915e-02 2.11165082e+02] [-8.47601453e-02 9.96373889e-01 -7.40212375e-03 -2.63489495e+01] [-5.63976285e-02 2.61954456e-03 9.98404951e-01 -1.39584169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.640714057 meters 0.031362884118559205 Centerline is valid? [True, True] Translation: X:211.22, Y:-26.36, Z:-13.96 [[ 9.95306521e-01 8.01042970e-02 5.42976074e-02 2.11223818e+02] [-7.98314158e-02 9.96782523e-01 -7.17958954e-03 -2.63626571e+01] [-5.46980221e-02 2.81123741e-03 9.98498985e-01 -1.39632412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.700714057 meters 0.03431140255715151 Centerline is valid? [True, True] Translation: X:211.28, Y:-26.38, Z:-13.97 [[ 9.95472146e-01 7.73872011e-02 5.51944445e-02 2.11280011e+02] [-7.71010758e-02 9.96996572e-01 -7.29785042e-03 -2.63786578e+01] [-5.55934322e-02 3.00925577e-03 9.98448954e-01 -1.39673310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.760714057 meters 0.03594063735022006 Centerline is valid? [True, True] Translation: X:211.34, Y:-26.39, Z:-13.97 [[ 9.95515018e-01 7.57525199e-02 5.66692587e-02 2.11337840e+02] [-7.54483993e-02 9.97121576e-01 -7.49008328e-03 -2.63910265e+01] [-5.70735332e-02 3.18088553e-03 9.98364910e-01 -1.39695760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.820714057 meters 0.03701957130207799 Centerline is valid? [True, True] Translation: X:211.40, Y:-26.40, Z:-13.97 [[ 9.95646104e-01 7.37559124e-02 5.69991380e-02 2.11396825e+02] [-7.34451576e-02 9.97270826e-01 -7.53054626e-03 -2.64001746e+01] [-5.73989997e-02 3.31144837e-03 9.98345826e-01 -1.39733084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.880714057 meters 0.036964911376774316 Centerline is valid? [True, True] Translation: X:211.46, Y:-26.41, Z:-13.98 [[ 9.95972389e-01 7.04244252e-02 5.54923407e-02 2.11456457e+02] [-7.01248667e-02 9.97511294e-01 -7.32945423e-03 -2.64080625e+01] [-5.58704092e-02 3.40854105e-03 9.98432211e-01 -1.39784716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.940714057 meters 0.03656447529422328 Centerline is valid? [True, True] Translation: X:211.52, Y:-26.41, Z:-13.98 [[ 9.96366561e-01 6.62428812e-02 5.35309032e-02 2.11516562e+02] [-6.59581995e-02 9.97797345e-01 -7.06931095e-03 -2.64140288e+01] [-5.38812846e-02 3.51282305e-03 9.98541170e-01 -1.39828681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.000714057 meters 0.042029702253183684 Centerline is valid? [True, True] Translation: X:211.57, Y:-26.43, Z:-13.99 [[ 9.96664756e-01 6.14488287e-02 5.36973608e-02 2.11574432e+02] [-6.11554480e-02 9.98103063e-01 -7.09130873e-03 -2.64275902e+01] [-5.40312529e-02 3.78377133e-03 9.98532076e-01 -1.39860341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.060714057 meters 0.03904902192080963 Centerline is valid? [True, True] Translation: X:211.64, Y:-26.43, Z:-13.99 [[ 9.96769032e-01 5.91235575e-02 5.43682061e-02 2.11636008e+02] [-5.88194156e-02 9.98242827e-01 -7.17874052e-03 -2.64270604e+01] [-5.46971044e-02 3.95764013e-03 9.98495150e-01 -1.39872508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12071405700001 meters 0.040642035051997996 Centerline is valid? [True, True] Translation: X:211.70, Y:-26.43, Z:-13.99 [[ 9.96752316e-01 5.84287373e-02 5.54157337e-02 2.11696534e+02] [-5.81116303e-02 9.98283270e-01 -7.31793665e-03 -2.64347605e+01] [-5.57481777e-02 4.07387167e-03 9.98436550e-01 -1.39903435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18071405700002 meters 0.041968592266998214 Centerline is valid? [True, True] Translation: X:211.76, Y:-26.44, Z:-13.99 [[ 9.96867556e-01 5.60504757e-02 5.57980344e-02 2.11757624e+02] [-5.57251474e-02 9.98418941e-01 -7.37060143e-03 -2.64396058e+01] [-5.61229402e-02 4.23815974e-03 9.98414870e-01 -1.39925432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24071405700002 meters 0.04175508137291636 Centerline is valid? [True, True] Translation: X:211.82, Y:-26.44, Z:-14.00 [[ 9.97135998e-01 5.18642342e-02 5.50445493e-02 2.11817892e+02] [-5.15412469e-02 9.98644389e-01 -7.27217851e-03 -2.64446962e+01] [-5.53470962e-02 4.41428627e-03 9.98457417e-01 -1.39974238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30071405700002 meters 0.04545520167754597 Centerline is valid? [True, True] Translation: X:211.88, Y:-26.46, Z:-14.00 [[ 9.97432657e-01 4.78627033e-02 5.32659104e-02 2.11876519e+02] [-4.75546265e-02 9.98843851e-01 -7.03694886e-03 -2.64559419e+01] [-5.35411344e-02 4.48584212e-03 9.98555569e-01 -1.40033373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.360714057 meters 0.046937743358149986 Centerline is valid? [True, True] Translation: X:211.94, Y:-26.46, Z:-14.01 [[ 9.97874379e-01 4.26669255e-02 4.92570563e-02 2.11936739e+02] [-4.23971290e-02 9.99079630e-01 -6.50967272e-03 -2.64623918e+01] [-4.94894694e-02 4.40747785e-03 9.98764921e-01 -1.40101482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.420714057 meters 0.05510216038201587 Centerline is valid? [True, True] Translation: X:212.00, Y:-26.48, Z:-14.02 [[ 9.97859431e-01 4.29454333e-02 4.93178027e-02 2.11997209e+02] [-4.26754786e-02 9.99067749e-01 -6.51425079e-03 -2.64789943e+01] [-4.95515835e-02 4.39564575e-03 9.98761893e-01 -1.40157026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.480714057 meters 0.049270505691622724 Centerline is valid? [True, True] Translation: X:212.06, Y:-26.47, Z:-14.02 [[ 9.97650155e-01 4.58956472e-02 5.08700107e-02 2.12059389e+02] [-4.56113054e-02 9.98936545e-01 -6.73704103e-03 -2.64742756e+01] [-5.11251136e-02 4.40096244e-03 9.98682559e-01 -1.40162497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.540714057 meters 0.04445474670106873 Centerline is valid? [True, True] Translation: X:212.12, Y:-26.47, Z:-14.02 [[ 9.97460713e-01 4.81161044e-02 5.25068313e-02 2.12121507e+02] [-4.78161943e-02 9.98831945e-01 -6.95389343e-03 -2.64720176e+01] [-5.27800947e-02 4.42555865e-03 9.98596353e-01 -1.40173844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.600714057 meters 0.04124203698259709 Centerline is valid? [True, True] Translation: X:212.18, Y:-26.47, Z:-14.02 [[ 9.97191971e-01 5.19044220e-02 5.39824355e-02 2.12182550e+02] [-5.15928418e-02 9.98642604e-01 -7.15046526e-03 -2.64713375e+01] [-5.42803007e-02 4.34527929e-03 9.98516283e-01 -1.40198560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.660714057 meters 0.04029888000016049 Centerline is valid? [True, True] Translation: X:212.24, Y:-26.47, Z:-14.02 [[ 9.97021946e-01 5.40809506e-02 5.49771788e-02 2.12243748e+02] [-5.37610394e-02 9.98527274e-01 -7.28243984e-03 -2.64744959e+01] [-5.52900538e-02 4.30512206e-03 9.98461054e-01 -1.40238477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.720714057 meters 0.04104233890624867 Centerline is valid? [True, True] Translation: X:212.30, Y:-26.48, Z:-14.03 [[ 9.96999445e-01 5.44487690e-02 5.50221532e-02 2.12304685e+02] [-5.41288424e-02 9.98507354e-01 -7.28925315e-03 -2.64817784e+01] [-5.53369155e-02 4.28909589e-03 9.98458527e-01 -1.40286382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.780714057 meters 0.04074837459849893 Centerline is valid? [True, True] Translation: X:212.37, Y:-26.49, Z:-14.03 [[ 9.97073051e-01 5.41078119e-02 5.40155166e-02 2.12365438e+02] [-5.37988971e-02 9.98526136e-01 -7.15783041e-03 -2.64889977e+01] [-5.43231996e-02 4.23090459e-03 9.98514441e-01 -1.40339789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.840714057 meters 0.04322286314223829 Centerline is valid? [True, True] Translation: X:212.42, Y:-26.50, Z:-14.04 [[ 9.97246905e-01 5.20709302e-02 5.27942166e-02 2.12423985e+02] [-5.17728862e-02 9.98634364e-01 -6.99829815e-03 -2.65002380e+01] [-5.30865268e-02 4.24572220e-03 9.98580890e-01 -1.40404740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90071405700002 meters 0.04625766215316959 Centerline is valid? [True, True] Translation: X:212.48, Y:-26.51, Z:-14.05 [[ 9.97410017e-01 4.92971704e-02 5.23741098e-02 2.12483169e+02] [-4.90000645e-02 9.98774647e-01 -6.94252898e-03 -2.65134598e+01] [-5.26521800e-02 4.35821319e-03 9.98603402e-01 -1.40457703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96071405700002 meters 0.04683953459368429 Centerline is valid? [True, True] Translation: X:212.54, Y:-26.52, Z:-14.05 [[ 9.97383778e-01 4.87349019e-02 5.33901474e-02 2.12544165e+02] [-4.84254521e-02 9.98801741e-01 -7.07517242e-03 -2.65224836e+01] [-5.36709800e-02 4.47122018e-03 9.98548664e-01 -1.40486672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02071405700002 meters 0.0485575843518411 Centerline is valid? [True, True] Translation: X:212.60, Y:-26.53, Z:-14.05 [[ 9.97162764e-01 5.03922772e-02 5.59199452e-02 2.12603300e+02] [-5.00544746e-02 9.98718882e-01 -7.42598214e-03 -2.65328554e+01] [-5.62225173e-02 4.60586940e-03 9.98407639e-01 -1.40497416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08071405700002 meters 0.04823994479513668 Centerline is valid? [True, True] Translation: X:212.66, Y:-26.54, Z:-14.05 [[ 9.96921522e-01 5.41301779e-02 5.67221534e-02 2.12663202e+02] [-5.37886049e-02 9.98523934e-01 -7.53251245e-03 -2.65408270e+01] [-5.70461640e-02 4.45831828e-03 9.98361587e-01 -1.40528421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.140714057 meters 0.04746856006450691 Centerline is valid? [True, True] Translation: X:212.72, Y:-26.55, Z:-14.06 [[ 9.96674896e-01 5.92261025e-02 5.59590967e-02 2.12722571e+02] [-5.89016515e-02 9.98236131e-01 -7.43110703e-03 -2.65484274e+01] [-5.63005077e-02 4.11031461e-03 9.98405408e-01 -1.40583676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.200714057 meters 0.046784976318563216 Centerline is valid? [True, True] Translation: X:212.78, Y:-26.56, Z:-14.06 [[ 9.96585445e-01 6.10598532e-02 5.55800856e-02 2.12782478e+02] [-6.07425892e-02 9.98126171e-01 -7.38137109e-03 -2.65552997e+01] [-5.59266434e-02 3.98008868e-03 9.98426947e-01 -1.40623523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.260714057 meters 0.04554841020490602 Centerline is valid? [True, True] Translation: X:212.84, Y:-26.56, Z:-14.07 [[ 9.96194477e-01 6.75209553e-02 5.51133733e-02 2.12842022e+02] [-6.72188330e-02 9.97711409e-01 -7.31940560e-03 -2.65611378e+01] [-5.54814546e-02 3.58689480e-03 9.98453275e-01 -1.40671224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.320714057 meters 0.04286189648838964 Centerline is valid? [True, True] Translation: X:212.90, Y:-26.56, Z:-14.07 [[ 9.95710545e-01 7.41134173e-02 5.53869339e-02 2.12902588e+02] [-7.38184416e-02 9.97244570e-01 -7.35556612e-03 -2.65642186e+01] [-5.57794652e-02 3.23543760e-03 9.98437871e-01 -1.40715630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.380714057 meters 0.04096690452717582 Centerline is valid? [True, True] Translation: X:212.96, Y:-26.57, Z:-14.08 [[ 9.95335784e-01 7.89783389e-02 5.53994501e-02 2.12963330e+02] [-7.86907079e-02 9.96871926e-01 -7.35767887e-03 -2.65682841e+01] [-5.58072538e-02 2.96393911e-03 9.98437162e-01 -1.40758490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.440714057 meters 0.04065304883170188 Centerline is valid? [True, True] Translation: X:213.02, Y:-26.58, Z:-14.08 [[ 9.95199168e-01 8.06678430e-02 5.54194551e-02 2.13021619e+02] [-8.03826161e-02 9.96736907e-01 -7.36029853e-03 -2.65756952e+01] [-5.58323557e-02 2.87020219e-03 9.98436032e-01 -1.40803810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.500714057 meters 0.032323695734975226 Centerline is valid? [True, True] Translation: X:213.08, Y:-26.57, Z:-14.08 [[ 9.94977702e-01 8.19340170e-02 5.74994678e-02 2.13081773e+02] [-8.16292804e-02 9.96633535e-01 -7.63268149e-03 -2.65722383e+01] [-5.79312741e-02 2.90070771e-03 9.98316359e-01 -1.40819472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.560714057 meters 0.034475494660486425 Centerline is valid? [True, True] Translation: X:213.14, Y:-26.59, Z:-14.09 [[ 9.95106932e-01 8.00784825e-02 5.78759898e-02 2.13139051e+02] [-7.97667930e-02 9.96783971e-01 -7.67950717e-03 -2.65851266e+01] [-5.83048222e-02 3.02534872e-03 9.98294243e-01 -1.40857755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62071405700001 meters 0.03706630136214713 Centerline is valid? [True, True] Translation: X:213.20, Y:-26.60, Z:-14.09 [[ 9.95405774e-01 7.65294373e-02 5.75377228e-02 2.13197136e+02] [-7.62156669e-02 9.97062152e-01 -7.63135072e-03 -2.66016494e+01] [-5.79527087e-02 3.21101466e-03 9.98314165e-01 -1.40912977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68071405700002 meters 0.03641023326389365 Centerline is valid? [True, True] Translation: X:213.26, Y:-26.61, Z:-14.10 [[ 9.95888529e-01 7.12929981e-02 5.58868982e-02 2.13256853e+02] [-7.09888415e-02 9.97449576e-01 -7.41135629e-03 -2.66133834e+01] [-5.62727407e-02 3.41353855e-03 9.98409599e-01 -1.40959748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74071405700002 meters 0.04334043395336052 Centerline is valid? [True, True] Translation: X:213.31, Y:-26.63, Z:-14.10 [[ 9.96118441e-01 6.82691435e-02 5.55641613e-02 2.13314163e+02] [-6.79638206e-02 9.97660577e-01 -7.36838273e-03 -2.66335667e+01] [-5.59372063e-02 3.56342922e-03 9.98427930e-01 -1.41005396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80071405700002 meters 0.03849880734824161 Centerline is valid? [True, True] Translation: X:213.37, Y:-26.64, Z:-14.10 [[ 9.96287177e-01 6.50150558e-02 5.64349437e-02 2.13374254e+02] [-6.46949383e-02 9.97877033e-01 -7.48283743e-03 -2.66358340e+01] [-5.68016313e-02 3.80399978e-03 9.98378237e-01 -1.41015751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.860714057 meters 0.0378874033035305 Centerline is valid? [True, True] Translation: X:213.43, Y:-26.65, Z:-14.10 [[ 9.96325703e-01 6.32269857e-02 5.77706009e-02 2.13434298e+02] [-6.28885951e-02 9.97991167e-01 -7.65873179e-03 -2.66453027e+01] [-5.81387879e-02 3.99747941e-03 9.98300507e-01 -1.41043239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.920714057 meters 0.0405181162605988 Centerline is valid? [True, True] Translation: X:213.49, Y:-26.66, Z:-14.11 [[ 9.96341557e-01 6.23441175e-02 5.84526606e-02 2.13493446e+02] [-6.19961910e-02 9.98046306e-01 -7.74874510e-03 -2.66575686e+01] [-5.88215506e-02 4.09655445e-03 9.98260108e-01 -1.41079909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.980714057 meters 0.04209120145766714 Centerline is valid? [True, True] Translation: X:213.55, Y:-26.67, Z:-14.11 [[ 9.96412080e-01 6.14531543e-02 5.81934379e-02 2.13553925e+02] [-6.11065435e-02 9.98101403e-01 -7.71876384e-03 -2.66662328e+01] [-5.85572944e-02 4.13506969e-03 9.98275485e-01 -1.41128056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.040714057 meters 0.04030374357126945 Centerline is valid? [True, True] Translation: X:213.61, Y:-26.67, Z:-14.12 [[ 9.96599508e-01 6.02274103e-02 5.62323697e-02 2.13614648e+02] [-5.99017408e-02 9.98176397e-01 -7.46072025e-03 -2.66692358e+01] [-5.65791641e-02 4.06693329e-03 9.98389833e-01 -1.41173766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.100714057 meters 0.047766342586224655 Centerline is valid? [True, True] Translation: X:213.67, Y:-26.69, Z:-14.12 [[ 9.96871777e-01 5.69093328e-02 5.48451205e-02 2.13672123e+02] [-5.65945103e-02 9.98370722e-01 -7.27761432e-03 -2.66854208e+01] [-5.51699267e-02 4.15091559e-03 9.98468352e-01 -1.41242363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.160714057 meters 0.04363399692746568 Centerline is valid? [True, True] Translation: X:213.73, Y:-26.69, Z:-14.13 [[ 9.97039815e-01 5.47888331e-02 5.39424770e-02 2.13733580e+02] [-5.44811726e-02 9.98489136e-01 -7.15866940e-03 -2.66852453e+01] [-5.42531924e-02 4.19862901e-03 9.98518384e-01 -1.41282558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.220714057 meters 0.05269373226390494 Centerline is valid? [True, True] Translation: X:213.79, Y:-26.70, Z:-14.13 [[ 9.97205336e-01 5.27284080e-02 5.29266806e-02 2.13791485e+02] [-5.24291972e-02 9.98599921e-01 -7.02686901e-03 -2.67020548e+01] [-5.32230947e-02 4.23232789e-03 9.98573678e-01 -1.41346813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.280714057 meters 0.04269842602638233 Centerline is valid? [True, True] Translation: X:213.86, Y:-26.69, Z:-14.13 [[ 9.97011143e-01 5.45776222e-02 5.46814679e-02 2.13855479e+02] [-5.42610188e-02 9.98500399e-01 -7.25908060e-03 -2.66908126e+01] [-5.49956509e-02 4.27031209e-03 9.98477462e-01 -1.41337643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.340714057 meters 0.040663906571610016 Centerline is valid? [True, True] Translation: X:213.92, Y:-26.69, Z:-14.14 [[ 9.96774504e-01 5.84995983e-02 5.49398323e-02 2.13916962e+02] [-5.81856206e-02 9.98279101e-01 -7.29858934e-03 -2.66913369e+01] [-5.52722509e-02 4.07833953e-03 9.98462992e-01 -1.41362983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40071405700002 meters 0.039673788385168114 Centerline is valid? [True, True] Translation: X:213.98, Y:-26.69, Z:-14.14 [[ 9.96585751e-01 6.14559182e-02 5.51362916e-02 2.13977649e+02] [-6.11441778e-02 9.98102067e-01 -7.32480649e-03 -2.66940576e+01] [-5.54817993e-02 3.92853456e-03 9.98451970e-01 -1.41398863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46071405700002 meters 0.03889422439580561 Centerline is valid? [True, True] Translation: X:214.04, Y:-26.70, Z:-14.14 [[ 9.96341036e-01 6.65109986e-02 5.36733346e-02 2.14036860e+02] [-6.62229068e-02 9.97779378e-01 -7.13022995e-03 -2.66955292e+01] [-5.40283851e-02 3.54973646e-03 9.98533091e-01 -1.41444503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52071405700002 meters 0.035111080917762494 Centerline is valid? [True, True] Translation: X:214.10, Y:-26.69, Z:-14.15 [[ 9.96014273e-01 7.18033701e-02 5.29135515e-02 2.14097951e+02] [-7.15308856e-02 9.97413625e-01 -7.02800402e-03 -2.66947485e+01] [-5.32813316e-02 3.21503911e-03 9.98574365e-01 -1.41487515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58071405700002 meters 0.03270476300420851 Centerline is valid? [True, True] Translation: X:214.16, Y:-26.69, Z:-14.15 [[ 9.95499131e-01 7.75610899e-02 5.44587690e-02 2.14158573e+02] [-7.72810121e-02 9.96983112e-01 -7.23329531e-03 -2.66949044e+01] [-5.48554953e-02 2.99211040e-03 9.98489821e-01 -1.41509753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.640714057 meters 0.034552567861937555 Centerline is valid? [True, True] Translation: X:214.22, Y:-26.70, Z:-14.16 [[ 9.95022958e-01 8.29908302e-02 5.51528265e-02 2.14216939e+02] [-8.27119523e-02 9.96546583e-01 -7.32395474e-03 -2.67044005e+01] [-5.55701819e-02 2.72570516e-03 9.98451063e-01 -1.41555987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.700714057 meters 0.029557053892776554 Centerline is valid? [True, True] Translation: X:214.28, Y:-26.70, Z:-14.16 [[ 9.94828686e-01 8.50456084e-02 5.55259320e-02 2.14276458e+02] [-8.47661709e-02 9.96373594e-01 -7.37277074e-03 -2.67033887e+01] [-5.59515942e-02 2.62792318e-03 9.98430024e-01 -1.41580319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.760714057 meters 0.035561468900782954 Centerline is valid? [True, True] Translation: X:214.33, Y:-26.72, Z:-14.16 [[ 9.94966008e-01 8.35875067e-02 5.52790326e-02 2.14331638e+02] [-8.33085166e-02 9.96496799e-01 -7.33624798e-03 -2.67222786e+01] [-5.56985977e-02 2.69410317e-03 9.98443993e-01 -1.41633131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.820714057 meters 0.03299482505508779 Centerline is valid? [True, True] Translation: X:214.39, Y:-26.73, Z:-14.17 [[ 9.95416890e-01 7.82359136e-02 5.49941586e-02 2.14391522e+02] [-7.79520355e-02 9.96930446e-01 -7.29152831e-03 -2.67298026e+01] [-5.53958104e-02 2.97120383e-03 9.98460052e-01 -1.41674122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.880714057 meters 0.033614037866991804 Centerline is valid? [True, True] Translation: X:214.45, Y:-26.74, Z:-14.17 [[ 9.95787191e-01 7.35117389e-02 5.48077944e-02 2.14450602e+02] [-7.32226601e-02 9.97289144e-01 -7.26670702e-03 -2.67411768e+01] [-5.51934066e-02 3.22292128e-03 9.98470481e-01 -1.41711553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.940714057 meters 0.03727091280246726 Centerline is valid? [True, True] Translation: X:214.51, Y:-26.76, Z:-14.18 [[ 9.96335266e-01 6.63004201e-02 5.40397220e-02 2.14508532e+02] [-6.60088397e-02 9.97793315e-01 -7.16475003e-03 -2.67578464e+01] [-5.43954993e-02 3.57139378e-03 9.98513082e-01 -1.41754699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.000714057 meters 0.037833075697043334 Centerline is valid? [True, True] Translation: X:214.57, Y:-26.77, Z:-14.18 [[ 9.96628224e-01 6.11776195e-02 5.46761579e-02 2.14567952e+02] [-6.08715068e-02 9.98119294e-01 -7.24814417e-03 -2.67686667e+01] [-5.50167523e-02 3.89548494e-03 9.98477833e-01 -1.41786619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.060714057 meters 0.039057508659859415 Centerline is valid? [True, True] Translation: X:214.63, Y:-26.78, Z:-14.18 [[ 9.96782487e-01 5.75642164e-02 5.57766426e-02 2.14627326e+02] [-5.72400343e-02 9.98333066e-01 -7.39372029e-03 -2.67792915e+01] [-5.61092804e-02 4.17727397e-03 9.98415895e-01 -1.41816240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12071405700001 meters 0.03927856405754955 Centerline is valid? [True, True] Translation: X:214.69, Y:-26.79, Z:-14.18 [[ 9.96822784e-01 5.70299440e-02 5.56050582e-02 2.14686757e+02] [-5.67069785e-02 9.98363661e-01 -7.37011222e-03 -2.67879327e+01] [-5.59343866e-02 4.19350094e-03 9.98425640e-01 -1.41849593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18071405700002 meters 0.042512203807352 Centerline is valid? [True, True] Translation: X:214.75, Y:-26.80, Z:-14.19 [[ 9.96955174e-01 5.50687340e-02 5.52070169e-02 2.14745668e+02] [-5.47474368e-02 9.98473428e-01 -7.31659136e-03 -2.67996391e+01] [-5.55256549e-02 4.27187094e-03 9.98448122e-01 -1.41898332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24071405700002 meters 0.04493202228612631 Centerline is valid? [True, True] Translation: X:214.81, Y:-26.81, Z:-14.20 [[ 9.97021824e-01 5.52719541e-02 5.37819146e-02 2.14805634e+02] [-5.49671859e-02 9.98462699e-01 -7.13066014e-03 -2.68103391e+01] [-5.40933612e-02 4.15318328e-03 9.98527245e-01 -1.41957861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30071405700002 meters 0.0462331354429241 Centerline is valid? [True, True] Translation: X:214.87, Y:-26.82, Z:-14.20 [[ 9.97123552e-01 5.49272798e-02 5.22265898e-02 2.14865858e+02] [-5.46386839e-02 9.98482082e-01 -6.93872929e-03 -2.68178394e+01] [-5.25284397e-02 4.06517826e-03 9.98611154e-01 -1.42003049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.360714057 meters 0.04712715314310882 Centerline is valid? [True, True] Translation: X:214.93, Y:-26.83, Z:-14.20 [[ 9.97106022e-01 5.52679758e-02 5.22018380e-02 2.14925535e+02] [-5.49800585e-02 9.98463358e-01 -6.93656178e-03 -2.68260391e+01] [-5.25049921e-02 4.04642742e-03 9.98612463e-01 -1.42046000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.420714057 meters 0.040965047228291605 Centerline is valid? [True, True] Translation: X:214.99, Y:-26.82, Z:-14.21 [[ 9.97002399e-01 5.74960264e-02 5.17727985e-02 2.14986650e+02] [-5.72158003e-02 9.98338130e-01 -6.87977715e-03 -2.68228231e+01] [-5.20823186e-02 3.89693223e-03 9.98635192e-01 -1.42073042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.480714057 meters 0.04035732671879751 Centerline is valid? [True, True] Translation: X:215.05, Y:-26.82, Z:-14.21 [[ 9.96795300e-01 6.08360156e-02 5.19433221e-02 2.15047385e+02] [-6.05585037e-02 9.98140791e-01 -6.90130814e-03 -2.68249673e+01] [-5.22665967e-02 3.73358165e-03 9.98626188e-01 -1.42098717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.540714057 meters 0.0413712372397979 Centerline is valid? [True, True] Translation: X:215.11, Y:-26.83, Z:-14.21 [[ 9.96626585e-01 6.30254382e-02 5.25665744e-02 2.15105609e+02] [-6.27442385e-02 9.98005201e-01 -6.98426724e-03 -2.68321198e+01] [-5.29019011e-02 3.66245673e-03 9.98592998e-01 -1.42138457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.600714057 meters 0.03707971439962729 Centerline is valid? [True, True] Translation: X:215.17, Y:-26.83, Z:-14.22 [[ 9.96390868e-01 6.61633712e-02 5.31756174e-02 2.15165851e+02] [-6.58801556e-02 9.97802543e-01 -7.06328602e-03 -2.68302864e+01] [-5.35260971e-02 3.53457574e-03 9.98560195e-01 -1.42164408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.660714057 meters 0.03715568483132779 Centerline is valid? [True, True] Translation: X:215.22, Y:-26.84, Z:-14.22 [[ 9.96331911e-01 6.73707532e-02 5.27627243e-02 2.15223543e+02] [-6.70936820e-02 9.97722075e-01 -7.00705459e-03 -2.68350435e+01] [-5.31146053e-02 3.44130664e-03 9.98582493e-01 -1.42192054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.720714057 meters 0.037948224241298664 Centerline is valid? [True, True] Translation: X:215.28, Y:-26.84, Z:-14.22 [[ 9.96247902e-01 6.77839305e-02 5.38094482e-02 2.15281337e+02] [-6.74966082e-02 9.97693947e-01 -7.14117842e-03 -2.68439895e+01] [-5.41694179e-02 3.48242878e-03 9.98525687e-01 -1.42230161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.780714057 meters 0.03608712854427375 Centerline is valid? [True, True] Translation: X:215.34, Y:-26.85, Z:-14.23 [[ 9.96213249e-01 6.81903320e-02 5.39373864e-02 2.15340297e+02] [-6.79024430e-02 9.97666314e-01 -7.15429204e-03 -2.68491578e+01] [-5.42993670e-02 3.46472021e-03 9.98518690e-01 -1.42262044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.840714057 meters 0.04015398339435598 Centerline is valid? [True, True] Translation: X:215.40, Y:-26.86, Z:-14.23 [[ 9.96077263e-01 7.01453057e-02 5.39418459e-02 2.15397602e+02] [-6.98604562e-02 9.97531145e-01 -7.15057359e-03 -2.68626278e+01] [-5.43102505e-02 3.35412180e-03 9.98518476e-01 -1.42316679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90071405700002 meters 0.04040717908478768 Centerline is valid? [True, True] Translation: X:215.46, Y:-26.87, Z:-14.24 [[ 9.95920929e-01 7.23323747e-02 5.39400702e-02 2.15456892e+02] [-7.20508606e-02 9.97375345e-01 -7.14806513e-03 -2.68711374e+01] [-5.43155327e-02 3.23247918e-03 9.98518590e-01 -1.42362739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96071405700002 meters 0.04087201849060899 Centerline is valid? [True, True] Translation: X:215.51, Y:-26.88, Z:-14.24 [[ 9.95906357e-01 7.24731142e-02 5.40201411e-02 2.15514604e+02] [-7.21909908e-02 9.97365139e-01 -7.15827354e-03 -2.68800241e+01] [-5.43965879e-02 3.22920261e-03 9.98514188e-01 -1.42402896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02071405700002 meters 0.04182030506061146 Centerline is valid? [True, True] Translation: X:215.57, Y:-26.89, Z:-14.25 [[ 9.95975916e-01 7.22405321e-02 5.30403714e-02 2.15572823e+02] [-7.19684195e-02 9.97382172e-01 -7.02495603e-03 -2.68893625e+01] [-5.34090074e-02 3.17945532e-03 9.98567659e-01 -1.42457708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08071405700002 meters 0.03355735754885327 Centerline is valid? [True, True] Translation: X:215.63, Y:-26.88, Z:-14.25 [[ 9.95898262e-01 7.33746586e-02 5.29415899e-02 2.15632846e+02] [-7.31053377e-02 9.97299599e-01 -7.00845728e-03 -2.68846967e+01] [-5.33128696e-02 3.10939761e-03 9.98573017e-01 -1.42469275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.140714057 meters 0.03313965639950529 Centerline is valid? [True, True] Translation: X:215.69, Y:-26.89, Z:-14.25 [[ 9.95669108e-01 7.51821303e-02 5.46870678e-02 2.15692333e+02] [-7.48976938e-02 9.97164976e-01 -7.23511425e-03 -2.68926124e+01] [-5.50759799e-02 3.10784450e-03 9.98477330e-01 -1.42492299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.200714057 meters 0.034838658168236995 Centerline is valid? [True, True] Translation: X:215.75, Y:-26.90, Z:-14.25 [[ 9.95493957e-01 7.65192149e-02 5.60052796e-02 2.15749622e+02] [-7.62231530e-02 9.97063274e-01 -7.40663615e-03 -2.69031444e+01] [-5.64075574e-02 3.10436254e-03 9.98403000e-01 -1.42529170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.260714057 meters 0.035098717691284635 Centerline is valid? [True, True] Translation: X:215.81, Y:-26.91, Z:-14.26 [[ 9.95493944e-01 7.58747296e-02 5.68755938e-02 2.15807160e+02] [-7.55685745e-02 9.97112269e-01 -7.51755655e-03 -2.69128078e+01] [-5.72817450e-02 3.18567447e-03 9.98352970e-01 -1.42565116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.320714057 meters 0.03760830382509399 Centerline is valid? [True, True] Translation: X:215.86, Y:-26.93, Z:-14.26 [[ 9.95657832e-01 7.34201611e-02 5.72272864e-02 2.15864307e+02] [-7.31064094e-02 9.97295494e-01 -7.55979968e-03 -2.69273778e+01] [-5.76275566e-02 3.34329233e-03 9.98332553e-01 -1.42609099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.380714057 meters 0.041514513576445804 Centerline is valid? [True, True] Translation: X:215.92, Y:-26.94, Z:-14.27 [[ 9.96038575e-01 6.86441160e-02 5.65255917e-02 2.15922136e+02] [-6.83305443e-02 9.97634816e-01 -7.46391251e-03 -2.69443907e+01] [-5.69042519e-02 3.57192033e-03 9.98373251e-01 -1.42666224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.440714057 meters 0.04672713716172289 Centerline is valid? [True, True] Translation: X:215.98, Y:-26.96, Z:-14.27 [[ 9.96632613e-01 6.23011357e-02 5.33104462e-02 2.15979026e+02] [-6.20132850e-02 9.98050507e-01 -7.03835555e-03 -2.69608077e+01] [-5.36450154e-02 3.70869879e-03 9.98553182e-01 -1.42744377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.500714057 meters 0.04091398414805489 Centerline is valid? [True, True] Translation: X:216.04, Y:-26.96, Z:-14.28 [[ 9.97058521e-01 5.69226228e-02 5.13236783e-02 2.16039593e+02] [-5.66487750e-02 9.98371175e-01 -6.77585974e-03 -2.69623145e+01] [-5.16257808e-02 3.84850519e-03 9.98659085e-01 -1.42788461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.560714057 meters 0.042354889199085526 Centerline is valid? [True, True] Translation: X:216.10, Y:-26.97, Z:-14.28 [[ 9.97149826e-01 5.46402299e-02 5.20256619e-02 2.16098581e+02] [-5.43557277e-02 9.98498009e-01 -6.86884892e-03 -2.69729059e+01] [-5.23228353e-02 4.02137880e-03 9.98622125e-01 -1.42831134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62071405700001 meters 0.044501039700039796 Centerline is valid? [True, True] Translation: X:216.16, Y:-26.98, Z:-14.29 [[ 9.97149076e-01 5.29158521e-02 5.37924992e-02 2.16157560e+02] [-5.26092461e-02 9.98589928e-01 -7.10091242e-03 -2.69841762e+01] [-5.40923987e-02 4.25068543e-03 9.98526887e-01 -1.42850477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68071405700002 meters 0.04665321098993119 Centerline is valid? [True, True] Translation: X:216.22, Y:-27.00, Z:-14.29 [[ 9.97006936e-01 5.33234097e-02 5.59802150e-02 2.16217527e+02] [-5.29920656e-02 9.98567605e-01 -7.38783396e-03 -2.69956601e+01] [-5.62939737e-02 4.39921447e-03 9.98404545e-01 -1.42878484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74071405700002 meters 0.04058140800729035 Centerline is valid? [True, True] Translation: X:216.28, Y:-26.99, Z:-14.29 [[ 9.96914489e-01 5.43093388e-02 5.66744832e-02 2.16279598e+02] [-5.39704612e-02 9.98514411e-01 -7.49407102e-03 -2.69943817e+01] [-5.69972862e-02 4.41219998e-03 9.98364584e-01 -1.42901300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80071405700002 meters 0.04876822985048448 Centerline is valid? [True, True] Translation: X:216.34, Y:-27.01, Z:-14.30 [[ 9.96975550e-01 5.48246135e-02 5.50818951e-02 2.16339068e+02] [-5.45053283e-02 9.98486916e-01 -7.28333047e-03 -2.70146406e+01] [-5.53978574e-02 4.25904562e-03 9.98455276e-01 -1.42970200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.860714057 meters 0.04348361587119041 Centerline is valid? [True, True] Translation: X:216.40, Y:-27.02, Z:-14.30 [[ 9.97076891e-01 5.50356865e-02 5.29976100e-02 2.16400815e+02] [-5.47395503e-02 9.98475959e-01 -7.02426588e-03 -2.70150047e+01] [-5.33034248e-02 4.10266785e-03 9.98569934e-01 -1.43037115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.920714057 meters 0.041999354307125154 Centerline is valid? [True, True] Translation: X:216.46, Y:-27.02, Z:-14.31 [[ 9.97133053e-01 5.52629529e-02 5.16883107e-02 2.16461580e+02] [-5.49814706e-02 9.98463857e-01 -6.85299024e-03 -2.70174772e+01] [-5.19876265e-02 3.99144374e-03 9.98639752e-01 -1.43072989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.980714057 meters 0.04359573250746371 Centerline is valid? [True, True] Translation: X:216.52, Y:-27.03, Z:-14.31 [[ 9.97110270e-01 5.57990700e-02 5.15516516e-02 2.16520781e+02] [-5.55197877e-02 9.98434193e-01 -6.83487156e-03 -2.70264534e+01] [-5.18523111e-02 3.95298388e-03 9.98646941e-01 -1.43112115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.040714057 meters 0.04642859759095838 Centerline is valid? [True, True] Translation: X:216.58, Y:-27.04, Z:-14.32 [[ 9.96959032e-01 5.70639399e-02 5.30697194e-02 2.16579696e+02] [-5.67697269e-02 9.98362505e-01 -7.03614152e-03 -2.70365028e+01] [-5.33843279e-02 4.00199136e-03 9.98566021e-01 -1.43150762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.100714057 meters 0.04416170612880727 Centerline is valid? [True, True] Translation: X:216.64, Y:-27.04, Z:-14.32 [[ 9.96861153e-01 5.76197301e-02 5.42937206e-02 2.16639564e+02] [-5.73125715e-02 9.98330330e-01 -7.19876982e-03 -2.70380528e+01] [-5.46178591e-02 4.06446124e-03 9.98499058e-01 -1.43174093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.160714057 meters 0.04180792551643596 Centerline is valid? [True, True] Translation: X:216.70, Y:-27.04, Z:-14.32 [[ 9.96701674e-01 5.97020030e-02 5.49676706e-02 2.16699503e+02] [-5.93904167e-02 9.98208240e-01 -7.28616697e-03 -2.70389282e+01] [-5.53041805e-02 3.99758194e-03 9.98461550e-01 -1.43205724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.220714057 meters 0.04251614212925672 Centerline is valid? [True, True] Translation: X:216.76, Y:-27.05, Z:-14.32 [[ 9.96553743e-01 6.20340028e-02 5.50674120e-02 2.16758514e+02] [-6.17249318e-02 9.98066521e-01 -7.29741250e-03 -2.70464591e+01] [-5.54136281e-02 3.87323149e-03 9.98455972e-01 -1.43248137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.280714057 meters 0.03822875593300156 Centerline is valid? [True, True] Translation: X:216.82, Y:-27.05, Z:-14.33 [[ 9.96388827e-01 6.64644405e-02 5.28373342e-02 2.16818903e+02] [-6.61862331e-02 9.97782735e-01 -6.99974952e-03 -2.70491659e+01] [-5.31854143e-02 3.47736809e-03 9.98578600e-01 -1.43315900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.340714057 meters 0.036691398710681326 Centerline is valid? [True, True] Translation: X:216.88, Y:-27.05, Z:-14.34 [[ 9.96208001e-01 6.91986462e-02 5.27367582e-02 2.16878232e+02] [-6.89253002e-02 9.97597359e-01 -6.98661006e-03 -2.70532545e+01] [-5.30935146e-02 3.32521996e-03 9.98584008e-01 -1.43353191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40071405700002 meters 0.03994579134730516 Centerline is valid? [True, True] Translation: X:216.93, Y:-27.07, Z:-14.34 [[ 9.96137785e-01 7.03654057e-02 5.25187863e-02 2.16934425e+02] [-7.00959998e-02 9.97515994e-01 -6.95643827e-03 -2.70650769e+01] [-5.28778219e-02 3.24821418e-03 9.98595707e-01 -1.43407340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46071405700002 meters 0.03492413120646113 Centerline is valid? [True, True] Translation: X:216.99, Y:-27.07, Z:-14.34 [[ 9.96074361e-01 7.04079831e-02 5.36524371e-02 2.16993729e+02] [-7.01271453e-02 9.97512783e-01 -7.10148064e-03 -2.70660429e+01] [-5.40189928e-02 3.31111054e-03 9.98534419e-01 -1.43432598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52071405700002 meters 0.03676002975097861 Centerline is valid? [True, True] Translation: X:217.05, Y:-27.08, Z:-14.34 [[ 9.96260526e-01 6.59788351e-02 5.57831249e-02 2.17052867e+02] [-6.56685785e-02 9.97814208e-01 -7.37869110e-03 -2.70767403e+01] [-5.61480320e-02 3.68790015e-03 9.98415644e-01 -1.43443934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58071405700002 meters 0.03739141103654493 Centerline is valid? [True, True] Translation: X:217.11, Y:-27.09, Z:-14.35 [[ 9.96550030e-01 6.04676273e-02 5.68480725e-02 2.17112493e+02] [-6.01365081e-02 9.98161843e-01 -7.51897682e-03 -2.70886960e+01] [-5.71982315e-02 4.07439200e-03 9.98354527e-01 -1.43484374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.640714057 meters 0.04317744996506443 Centerline is valid? [True, True] Translation: X:217.17, Y:-27.11, Z:-14.35 [[ 9.96790009e-01 5.63669248e-02 5.68546118e-02 2.17170089e+02] [-5.60291020e-02 9.98400818e-01 -7.51978887e-03 -2.71069105e+01] [-5.71875583e-02 4.31013757e-03 9.98354149e-01 -1.43533269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.700714057 meters 0.0440471570379039 Centerline is valid? [True, True] Translation: X:217.23, Y:-27.12, Z:-14.36 [[ 9.97113095e-01 4.97315224e-02 5.73781428e-02 2.17230100e+02] [-4.93764689e-02 9.98751398e-01 -7.59006550e-03 -2.71187461e+01] [-5.76839659e-02 4.73502362e-03 9.98323665e-01 -1.43561044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.760714057 meters 0.04822601027477096 Centerline is valid? [True, True] Translation: X:217.29, Y:-27.14, Z:-14.36 [[ 9.97406617e-01 4.43394090e-02 5.66926604e-02 2.17288639e+02] [-4.39840854e-02 9.99004074e-01 -7.50066109e-03 -2.71360739e+01] [-5.69687736e-02 4.98763418e-03 9.98363502e-01 -1.43616925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.820714057 meters 0.055367683756017014 Centerline is valid? [True, True] Translation: X:217.35, Y:-27.16, Z:-14.37 [[ 9.97608508e-01 4.10806339e-02 5.55845833e-02 2.17345595e+02] [-4.07340535e-02 9.99142958e-01 -7.35433622e-03 -2.71564505e+01] [-5.58390657e-02 5.07256300e-03 9.98426897e-01 -1.43679347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.880714057 meters 0.0501567407965461 Centerline is valid? [True, True] Translation: X:217.41, Y:-27.16, Z:-14.37 [[ 9.97712898e-01 3.90215674e-02 5.51932130e-02 2.17406414e+02] [-3.86767051e-02 9.99225088e-01 -7.30310130e-03 -2.71582939e+01] [-5.54354215e-02 5.15170674e-03 9.98448984e-01 -1.43706551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.940714057 meters 0.05509775427725742 Centerline is valid? [True, True] Translation: X:217.47, Y:-27.17, Z:-14.37 [[ 9.97697822e-01 3.80310390e-02 5.61488797e-02 2.17466265e+02] [-3.76725466e-02 9.99262517e-01 -7.42978351e-03 -2.71740341e+01] [-5.63900332e-02 5.29740753e-03 9.98394762e-01 -1.43747424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.000714057 meters 0.05613037504375678 Centerline is valid? [True, True] Translation: X:217.53, Y:-27.19, Z:-14.38 [[ 9.97682775e-01 3.59732238e-02 5.77495290e-02 2.17526368e+02] [-3.55900997e-02 9.99337196e-01 -7.64943303e-03 -2.71852143e+01] [-5.79864271e-02 5.57639607e-03 9.98301797e-01 -1.43794190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.060714057 meters 0.05932800400438826 Centerline is valid? [True, True] Translation: X:217.59, Y:-27.20, Z:-14.38 [[ 9.97663568e-01 3.58845699e-02 5.81352157e-02 2.17585966e+02] [-3.54960904e-02 9.99340139e-01 -7.70161110e-03 -2.71992468e+01] [-5.83732235e-02 5.62004393e-03 9.98279010e-01 -1.43844255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12071405700001 meters 0.061439537808249754 Centerline is valid? [True, True] Translation: X:217.65, Y:-27.21, Z:-14.39 [[ 9.97580603e-01 3.64243506e-02 5.92132349e-02 2.17647005e+02] [-3.60214427e-02 9.99320123e-01 -7.85793914e-03 -2.72108990e+01] [-5.94591975e-02 5.70598152e-03 9.98214429e-01 -1.43885580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18071405700002 meters 0.05423403580261111 Centerline is valid? [True, True] Translation: X:217.71, Y:-27.21, Z:-14.39 [[ 9.97529529e-01 3.69203240e-02 5.97639382e-02 2.17709450e+02] [-3.65098915e-02 9.99301705e-01 -7.94539212e-03 -2.72109140e+01] [-6.00155518e-02 5.74378837e-03 9.98180917e-01 -1.43924453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24071405700002 meters 0.04794543852876552 Centerline is valid? [True, True] Translation: X:217.77, Y:-27.21, Z:-14.40 [[ 9.97466719e-01 3.93120387e-02 5.92849757e-02 2.17770712e+02] [-3.89114000e-02 9.99211454e-01 -7.89766609e-03 -2.72132321e+01] [-5.95487001e-02 5.57079768e-03 9.98209857e-01 -1.43983742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30071405700002 meters 0.0462675398386482 Centerline is valid? [True, True] Translation: X:217.83, Y:-27.22, Z:-14.40 [[ 9.97379851e-01 4.50979418e-02 5.65650774e-02 2.17830970e+02] [-4.47424339e-02 9.98970129e-01 -7.53635759e-03 -2.72182671e+01] [-5.68466969e-02 4.98575198e-03 9.98370470e-01 -1.44048983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.360714057 meters 0.04086478112674918 Centerline is valid? [True, True] Translation: X:217.89, Y:-27.22, Z:-14.41 [[ 9.96909538e-01 5.52883430e-02 5.58083523e-02 2.17892304e+02] [-5.49580822e-02 9.98460970e-01 -7.43645431e-03 -2.72157213e+01] [-5.61336108e-02 4.34635221e-03 9.98413805e-01 -1.44081162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.420714057 meters 0.036362009281594325 Centerline is valid? [True, True] Translation: X:217.95, Y:-27.21, Z:-14.41 [[ 9.96360182e-01 6.34874107e-02 5.68835345e-02 2.17953176e+02] [-6.31575300e-02 9.97974783e-01 -7.58016994e-03 -2.72141594e+01] [-5.72495784e-02 3.95995596e-03 9.98352044e-01 -1.44098610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.480714057 meters 0.03352669554786405 Centerline is valid? [True, True] Translation: X:218.01, Y:-27.21, Z:-14.41 [[ 9.95318666e-01 7.67386794e-02 5.87531123e-02 2.18013355e+02] [-7.64096750e-02 9.97045768e-01 -7.82936813e-03 -2.72134146e+01] [-5.91803573e-02 3.30341003e-03 9.98241841e-01 -1.44123081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.540714057 meters 0.03184821741656372 Centerline is valid? [True, True] Translation: X:218.07, Y:-27.22, Z:-14.42 [[ 9.94517807e-01 8.51262417e-02 6.07277023e-02 2.18072391e+02] [-8.47903223e-02 9.96365958e-01 -8.09192374e-03 -2.72159614e+01] [-6.11958503e-02 2.89844080e-03 9.98121569e-01 -1.44155815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.600714057 meters 0.03174804087663007 Centerline is valid? [True, True] Translation: X:218.13, Y:-27.22, Z:-14.42 [[ 9.94342320e-01 8.71447905e-02 6.07382660e-02 2.18129342e+02] [-8.68126260e-02 9.96191797e-01 -8.09139939e-03 -2.72230171e+01] [-6.12120856e-02 2.77277247e-03 9.98120931e-01 -1.44193848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.660714057 meters 0.03000722094588137 Centerline is valid? [True, True] Translation: X:218.19, Y:-27.23, Z:-14.42 [[ 9.94504569e-01 8.55751037e-02 6.03122237e-02 2.18188043e+02] [-8.52450355e-02 9.96327664e-01 -8.02931544e-03 -2.72293217e+01] [-6.07778465e-02 2.84387323e-03 9.98147267e-01 -1.44232225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.720714057 meters 0.035592012026931956 Centerline is valid? [True, True] Translation: X:218.24, Y:-27.25, Z:-14.43 [[ 9.94864544e-01 8.19413533e-02 5.94150931e-02 2.18244963e+02] [-8.16148583e-02 9.96632591e-01 -7.90530412e-03 -2.72505687e+01] [-5.98627895e-02 3.01555237e-03 9.98202060e-01 -1.44288994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.780714057 meters 0.03164383977495465 Centerline is valid? [True, True] Translation: X:218.30, Y:-27.26, Z:-14.43 [[ 9.95138359e-01 8.02877598e-02 5.70396572e-02 2.18303898e+02] [-7.99842172e-02 9.96767244e-01 -7.58851813e-03 -2.72559284e+01] [-5.74645270e-02 2.98935315e-03 9.98343073e-01 -1.44335202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.840714057 meters 0.032710832788460695 Centerline is valid? [True, True] Translation: X:218.36, Y:-27.27, Z:-14.44 [[ 9.95180666e-01 8.00623987e-02 5.66167312e-02 2.18361162e+02] [-7.97631529e-02 9.96785408e-01 -7.52927719e-03 -2.72678583e+01] [-5.70375435e-02 2.97706210e-03 9.98367596e-01 -1.44377463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90071405700002 meters 0.03247660687678535 Centerline is valid? [True, True] Translation: X:218.42, Y:-27.28, Z:-14.44 [[ 9.95082465e-01 8.01185266e-02 5.82401074e-02 2.18418744e+02] [-7.98022029e-02 9.96780662e-01 -7.74080420e-03 -2.72778801e+01] [-5.86727946e-02 3.05504965e-03 9.98272593e-01 -1.44401777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96071405700002 meters 0.03264066010200907 Centerline is valid? [True, True] Translation: X:218.48, Y:-27.29, Z:-14.44 [[ 9.94830793e-01 8.16283606e-02 6.04028415e-02 2.18476366e+02] [-8.12911256e-02 9.96658103e-01 -8.02366277e-03 -2.72907518e+01] [-6.08559398e-02 3.07197182e-03 9.98141832e-01 -1.44425610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02071405700002 meters 0.03506506140991666 Centerline is valid? [True, True] Translation: X:218.53, Y:-27.31, Z:-14.45 [[ 9.94775531e-01 8.26104688e-02 5.99762654e-02 2.18532603e+02] [-8.22800219e-02 9.96577439e-01 -7.96276635e-03 -2.73054628e+01] [-6.04288009e-02 2.98631669e-03 9.98168043e-01 -1.44466861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08071405700002 meters 0.036419209086854906 Centerline is valid? [True, True] Translation: X:218.59, Y:-27.32, Z:-14.45 [[ 9.94949826e-01 8.20091628e-02 5.78734974e-02 2.18588399e+02] [-8.17007842e-02 9.96627322e-01 -7.67866780e-03 -2.73209591e+01] [-5.83080299e-02 2.91157907e-03 9.98294394e-01 -1.44525992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.140714057 meters 0.03845461961028982 Centerline is valid? [True, True] Translation: X:218.64, Y:-27.34, Z:-14.46 [[ 9.95228763e-01 7.99669880e-02 5.59016176e-02 2.18644175e+02] [-7.96763581e-02 9.96793228e-01 -7.41210722e-03 -2.73398141e+01] [-5.63150778e-02 2.92270500e-03 9.98408769e-01 -1.44587752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.200714057 meters 0.03189438636005159 Centerline is valid? [True, True] Translation: X:218.70, Y:-27.35, Z:-14.46 [[ 9.95301882e-01 7.88773354e-02 5.61473857e-02 2.18703146e+02] [-7.85825165e-02 9.96879828e-01 -7.44287441e-03 -2.73452554e+01] [-5.65592703e-02 2.99570404e-03 9.98394749e-01 -1.44608583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.260714057 meters 0.03274482823198485 Centerline is valid? [True, True] Translation: X:218.76, Y:-27.36, Z:-14.46 [[ 9.95313392e-01 7.87766756e-02 5.60846490e-02 2.18760699e+02] [-7.84825911e-02 9.96887793e-01 -7.43041788e-03 -2.73587587e+01] [-5.64954456e-02 2.99392585e-03 9.98398368e-01 -1.44649860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.320714057 meters 0.03141522534200271 Centerline is valid? [True, True] Translation: X:218.82, Y:-27.37, Z:-14.47 [[ 9.95238559e-01 8.10370022e-02 5.41591674e-02 2.18818074e+02] [-8.07663278e-02 9.96707264e-01 -7.17154720e-03 -2.73695935e+01] [-5.45619963e-02 2.76316323e-03 9.98506562e-01 -1.44694327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.380714057 meters 0.032384830171215954 Centerline is valid? [True, True] Translation: X:218.88, Y:-27.38, Z:-14.47 [[ 9.95045621e-01 8.37650040e-02 5.35503123e-02 2.18875445e+02] [-8.35045559e-02 9.96482197e-01 -7.08665339e-03 -2.73841883e+01] [-5.39555464e-02 2.57984838e-03 9.98540006e-01 -1.44734918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.440714057 meters 0.030419974868428967 Centerline is valid? [True, True] Translation: X:218.93, Y:-27.39, Z:-14.48 [[ 9.94965297e-01 8.39532344e-02 5.47349288e-02 2.18934027e+02] [-8.36814786e-02 9.96466237e-01 -7.24210996e-03 -2.73933428e+01] [-5.51495071e-02 2.62534831e-03 9.98474656e-01 -1.44753086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.500714057 meters 0.03172206518589091 Centerline is valid? [True, True] Translation: X:218.99, Y:-27.41, Z:-14.48 [[ 9.95056808e-01 8.26365061e-02 5.50741068e-02 2.18989855e+02] [-8.23597142e-02 9.96576074e-01 -7.28056270e-03 -2.74078997e+01] [-5.54871774e-02 2.70868578e-03 9.98455726e-01 -1.44798342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.560714057 meters 0.03707144378299339 Centerline is valid? [True, True] Translation: X:219.05, Y:-27.43, Z:-14.48 [[ 9.95410890e-01 7.80503588e-02 5.53651741e-02 2.19046630e+02] [-7.77638645e-02 9.96944980e-01 -7.31354906e-03 -2.74308728e+01] [-5.57668576e-02 2.97457648e-03 9.98439387e-01 -1.44846741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62071405700001 meters 0.03597069074967346 Centerline is valid? [True, True] Translation: X:219.11, Y:-27.44, Z:-14.49 [[ 9.96065453e-01 6.95763822e-02 5.48884356e-02 2.19105298e+02] [-6.92821011e-02 9.97570774e-01 -7.24848563e-03 -2.74431033e+01] [-5.52594226e-02 3.41717997e-03 9.98466183e-01 -1.44874885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68071405700002 meters 0.03811035630886631 Centerline is valid? [True, True] Translation: X:219.16, Y:-27.46, Z:-14.49 [[ 9.96655892e-01 6.00929691e-02 5.53702829e-02 2.19164106e+02] [-5.97789788e-02 9.98184863e-01 -7.31115604e-03 -2.74613064e+01] [-5.57091273e-02 3.97672778e-03 9.98439121e-01 -1.44914721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74071405700002 meters 0.040946222419329575 Centerline is valid? [True, True] Translation: X:219.22, Y:-27.48, Z:-14.50 [[ 9.97026334e-01 5.35344942e-02 5.54305553e-02 2.19222518e+02] [-5.32097279e-02 9.98556534e-01 -7.31941164e-03 -2.74785228e+01] [-5.57423842e-02 4.34820139e-03 9.98435716e-01 -1.44958337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80071405700002 meters 0.04341298369939821 Centerline is valid? [True, True] Translation: X:219.28, Y:-27.49, Z:-14.50 [[ 9.97118797e-01 5.30775367e-02 5.41929905e-02 2.19282473e+02] [-5.27665356e-02 9.98581246e-01 -7.15458278e-03 -2.74925554e+01] [-5.44958516e-02 4.27439262e-03 9.98504848e-01 -1.45008586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.860714057 meters 0.042190934991208816 Centerline is valid? [True, True] Translation: X:219.34, Y:-27.50, Z:-14.51 [[ 9.96983010e-01 5.63729412e-02 5.33570061e-02 2.19342387e+02] [-5.60757120e-02 9.98401611e-01 -7.05255335e-03 -2.74999401e+01] [-5.36692940e-02 4.03924375e-03 9.98550595e-01 -1.45052175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.920714057 meters 0.04313454094411779 Centerline is valid? [True, True] Translation: X:219.40, Y:-27.51, Z:-14.51 [[ 9.96538827e-01 6.28918700e-02 5.43597254e-02 2.19401890e+02] [-6.25929402e-02 9.98013270e-01 -7.18593748e-03 -2.75081273e+01] [-5.47036643e-02 3.75853066e-03 9.98495560e-01 -1.45079579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.980714057 meters 0.03921816518444162 Centerline is valid? [True, True] Translation: X:219.46, Y:-27.51, Z:-14.51 [[ 9.96049273e-01 6.93507463e-02 5.54645796e-02 2.19463409e+02] [-6.90494998e-02 9.97586293e-01 -7.33170261e-03 -2.75078824e+01] [-5.58391635e-02 3.47293557e-03 9.98433737e-01 -1.45099314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.040714057 meters 0.03834856708389349 Centerline is valid? [True, True] Translation: X:219.52, Y:-27.51, Z:-14.51 [[ 9.95821881e-01 7.22313306e-02 5.58696324e-02 2.19523993e+02] [-7.19301257e-02 9.97382325e-01 -7.38611121e-03 -2.75134692e+01] [-5.62568925e-02 3.33654147e-03 9.98410752e-01 -1.45125827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.100714057 meters 0.03647438682919926 Centerline is valid? [True, True] Translation: X:219.58, Y:-27.52, Z:-14.52 [[ 9.95944335e-01 6.96226065e-02 5.69874844e-02 2.19584598e+02] [-6.93049148e-02 9.97567069e-01 -7.53467529e-03 -2.75178511e+01] [-5.73734216e-02 3.55460442e-03 9.98346461e-01 -1.45156238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.160714057 meters 0.038282215745016855 Centerline is valid? [True, True] Translation: X:219.64, Y:-27.53, Z:-14.52 [[ 9.96131663e-01 6.68633764e-02 5.70175254e-02 2.19644440e+02] [-6.65406914e-02 9.97755212e-01 -7.54141376e-03 -2.75279445e+01] [-5.73937775e-02 3.71825547e-03 9.98344694e-01 -1.45193937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.220714057 meters 0.042187937848371763 Centerline is valid? [True, True] Translation: X:219.70, Y:-27.54, Z:-14.52 [[ 9.96539240e-01 6.17907730e-02 5.56007488e-02 2.19703550e+02] [-6.14759296e-02 9.98081453e-01 -7.35688453e-03 -2.75406085e+01] [-5.59486637e-02 3.91331640e-03 9.98425978e-01 -1.45242129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.280714057 meters 0.044856805668283546 Centerline is valid? [True, True] Translation: X:219.76, Y:-27.55, Z:-14.53 [[ 9.96812275e-01 5.79377270e-02 5.48498634e-02 2.19762790e+02] [-5.76255101e-02 9.98311885e-01 -7.25809604e-03 -2.75523056e+01] [-5.51777882e-02 4.07420787e-03 9.98468233e-01 -1.45301251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.340714057 meters 0.045540490913471454 Centerline is valid? [True, True] Translation: X:219.82, Y:-27.56, Z:-14.54 [[ 9.96975993e-01 5.53458189e-02 5.45500637e-02 2.19823254e+02] [-5.50331536e-02 9.98458435e-01 -7.21844614e-03 -2.75591706e+01] [-5.48654821e-02 4.19455547e-03 9.98484945e-01 -1.45350644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40071405700002 meters 0.04867951298785294 Centerline is valid? [True, True] Translation: X:219.88, Y:-27.57, Z:-14.54 [[ 9.96931968e-01 5.68810091e-02 5.37699002e-02 2.19883046e+02] [-5.65794124e-02 9.98372743e-01 -7.11595430e-03 -2.75680307e+01] [-5.40871654e-02 4.05185297e-03 9.98527997e-01 -1.45398443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46071405700002 meters 0.040003544114178606 Centerline is valid? [True, True] Translation: X:219.95, Y:-27.56, Z:-14.54 [[ 9.96837390e-01 5.90940000e-02 5.31330066e-02 2.19946409e+02] [-5.88025528e-02 9.98244856e-01 -7.03325851e-03 -2.75613713e+01] [-5.34553739e-02 3.88665863e-03 9.98562676e-01 -1.45428575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52071405700002 meters 0.038724387760946194 Centerline is valid? [True, True] Translation: X:220.01, Y:-27.56, Z:-14.55 [[ 9.96468345e-01 6.50483448e-02 5.30994285e-02 2.20007374e+02] [-6.47654904e-02 9.97875734e-01 -7.03216064e-03 -2.75629250e+01] [-5.34440616e-02 3.56831495e-03 9.98564469e-01 -1.45462488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58071405700002 meters 0.034652785066720655 Centerline is valid? [True, True] Translation: X:220.07, Y:-27.56, Z:-14.55 [[ 9.95762111e-01 7.39565427e-02 5.46648792e-02 2.20069352e+02] [-7.36700453e-02 9.97256387e-01 -7.24038671e-03 -2.75593301e+01] [-5.50503739e-02 3.18253862e-03 9.98478506e-01 -1.45473212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.640714057 meters 0.02959410875075398 Centerline is valid? [True, True] Translation: X:220.13, Y:-27.55, Z:-14.55 [[ 9.95048514e-01 8.15589029e-02 5.68031682e-02 2.20130435e+02] [-8.12618438e-02 9.96664389e-01 -7.52382790e-03 -2.75542733e+01] [-5.72273301e-02 2.87064359e-03 9.98357046e-01 -1.45490043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.700714057 meters 0.028945323713501742 Centerline is valid? [True, True] Translation: X:220.19, Y:-27.56, Z:-14.55 [[ 9.94798302e-01 8.43612421e-02 5.70922001e-02 2.20190116e+02] [-8.40658498e-02 9.96431520e-01 -7.56033322e-03 -2.75575080e+01] [-5.75262668e-02 2.72150233e-03 9.98340284e-01 -1.45523405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.760714057 meters 0.03086901075495077 Centerline is valid? [True, True] Translation: X:220.25, Y:-27.57, Z:-14.56 [[ 9.95018847e-01 8.12184464e-02 5.78018949e-02 2.20248017e+02] [-8.09104880e-02 9.96691996e-01 -7.65225841e-03 -2.75661722e+01] [-5.82321906e-02 2.93736181e-03 9.98298745e-01 -1.45561476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.820714057 meters 0.03155610717939759 Centerline is valid? [True, True] Translation: X:220.31, Y:-27.57, Z:-14.56 [[ 9.95140735e-01 7.92517665e-02 5.84300866e-02 2.20306677e+02] [-7.89338865e-02 9.96849866e-01 -7.73209478e-03 -2.75746230e+01] [-5.88588062e-02 3.08240866e-03 9.98261559e-01 -1.45597373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.880714057 meters 0.032922192500037833 Centerline is valid? [True, True] Translation: X:220.37, Y:-27.58, Z:-14.56 [[ 9.95573812e-01 7.36699156e-02 5.83569108e-02 2.20366397e+02] [-7.33434128e-02 9.97276864e-01 -7.72010372e-03 -2.75828913e+01] [-5.87667364e-02 3.40583809e-03 9.98265932e-01 -1.45635958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.940714057 meters 0.03503887969084442 Centerline is valid? [True, True] Translation: X:220.43, Y:-27.59, Z:-14.57 [[ 9.95969604e-01 6.88338204e-02 5.75017744e-02 2.20426260e+02] [-6.85088052e-02 9.97621510e-01 -7.60693655e-03 -2.75931539e+01] [-5.78886216e-02 3.63689971e-03 9.98316423e-01 -1.45691499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.000714057 meters 0.04020226414638516 Centerline is valid? [True, True] Translation: X:220.48, Y:-27.61, Z:-14.58 [[ 9.96112732e-01 6.74397843e-02 5.66683469e-02 2.20484756e+02] [-6.71219009e-02 9.97716620e-01 -7.49648768e-03 -2.76083318e+01] [-5.70445130e-02 3.66365966e-03 9.98364914e-01 -1.45752343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.060714057 meters 0.03685750702333089 Centerline is valid? [True, True] Translation: X:220.55, Y:-27.61, Z:-14.58 [[ 9.96073747e-01 6.85949742e-02 5.59626749e-02 2.20545733e+02] [-6.82867189e-02 9.97638261e-01 -7.40427220e-03 -2.76090223e+01] [-5.63384015e-02 3.55369371e-03 9.98405407e-01 -1.45796233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12071405700001 meters 0.03470617589288281 Centerline is valid? [True, True] Translation: X:220.61, Y:-27.61, Z:-14.58 [[ 9.95591016e-01 7.49318481e-02 5.64246954e-02 2.20605870e+02] [-7.46285903e-02 9.97183453e-01 -7.46561293e-03 -2.76096394e+01] [-5.68251848e-02 3.22180169e-03 9.98378945e-01 -1.45833001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18071405700002 meters 0.032716369750066525 Centerline is valid? [True, True] Translation: X:220.67, Y:-27.61, Z:-14.59 [[ 9.95078171e-01 8.04534593e-02 5.78504550e-02 2.20666146e+02] [-8.01440583e-02 9.96753916e-01 -7.65245040e-03 -2.76115635e+01] [-5.82783337e-02 2.97841611e-03 9.98295931e-01 -1.45856477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24071405700002 meters 0.03152864789793991 Centerline is valid? [True, True] Translation: X:220.72, Y:-27.62, Z:-14.59 [[ 9.94907097e-01 8.11509665e-02 5.97861882e-02 2.20724969e+02] [-8.08217219e-02 9.96697196e-01 -7.90878325e-03 -2.76160498e+01] [-6.02305316e-02 3.03648190e-03 9.98179875e-01 -1.45876679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30071405700002 meters 0.031234520052482718 Centerline is valid? [True, True] Translation: X:220.78, Y:-27.62, Z:-14.59 [[ 9.95130437e-01 7.79314312e-02 6.03498570e-02 2.20783302e+02] [-7.75903086e-02 9.96953399e-01 -7.97893395e-03 -2.76239238e+01] [-6.07878048e-02 3.25751600e-03 9.98145396e-01 -1.45924139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36071405700002 meters 0.034481581409834774 Centerline is valid? [True, True] Translation: X:220.84, Y:-27.64, Z:-14.60 [[ 9.95711780e-01 7.17054021e-02 5.84498635e-02 2.20842022e+02] [-7.13749529e-02 9.97419645e-01 -7.72448892e-03 -2.76366889e+01] [-5.88529297e-02 3.51950835e-03 9.98260460e-01 -1.45986082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.420714057 meters 0.03866982590440179 Centerline is valid? [True, True] Translation: X:220.90, Y:-27.65, Z:-14.60 [[ 9.96273316e-01 6.51543694e-02 5.65189119e-02 2.20899695e+02] [-6.48349719e-02 9.97868051e-01 -7.46849462e-03 -2.76491956e+01] [-5.68850215e-02 3.77625984e-03 9.98373595e-01 -1.46034333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.480714057 meters 0.04335622487442603 Centerline is valid? [True, True] Translation: X:220.96, Y:-27.66, Z:-14.61 [[ 9.96719788e-01 5.87926213e-02 5.56155748e-02 2.20958612e+02] [-5.84736290e-02 9.98261917e-01 -7.34707440e-03 -2.76644847e+01] [-5.59508641e-02 4.07092995e-03 9.98425224e-01 -1.46080903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.540714057 meters 0.04229965208790336 Centerline is valid? [True, True] Translation: X:221.02, Y:-27.67, Z:-14.61 [[ 9.97054072e-01 5.31883554e-02 5.52646034e-02 2.21019683e+02] [-5.28648457e-02 9.98574991e-01 -7.30036626e-03 -2.76706652e+01] [-5.55741453e-02 4.35730518e-03 9.98445055e-01 -1.46117523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.600714057 meters 0.042312918339161995 Centerline is valid? [True, True] Translation: X:221.08, Y:-27.68, Z:-14.61 [[ 9.97253436e-01 4.85808180e-02 5.59060646e-02 2.21080489e+02] [-4.82424534e-02 9.98808340e-01 -7.38692121e-03 -2.76788180e+01] [-5.61983062e-02 4.66958684e-03 9.98408707e-01 -1.46148911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.660714057 meters 0.053754288728898814 Centerline is valid? [True, True] Translation: X:221.14, Y:-27.70, Z:-14.62 [[ 9.97319382e-01 4.62749336e-02 5.66805231e-02 2.21138007e+02] [-4.59233174e-02 9.98916880e-01 -7.49107140e-03 -2.77018171e+01] [-5.69657801e-02 4.86803304e-03 9.98364263e-01 -1.46196357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.720714057 meters 0.04876811166564137 Centerline is valid? [True, True] Translation: X:221.20, Y:-27.70, Z:-14.62 [[ 9.97386946e-01 4.33535727e-02 5.77905555e-02 2.21199642e+02] [-4.29831736e-02 9.99046602e-01 -7.63763677e-03 -2.77017240e+01] [-5.80665769e-02 5.13365773e-03 9.98299513e-01 -1.46214813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.780714057 meters 0.04699329194249013 Centerline is valid? [True, True] Translation: X:221.26, Y:-27.71, Z:-14.63 [[ 9.97493376e-01 4.14221561e-02 5.73687231e-02 2.21260530e+02] [-4.10539195e-02 9.99128157e-01 -7.58304520e-03 -2.77073732e+01] [-5.76328127e-02 5.20882641e-03 9.98324259e-01 -1.46256640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.840714057 meters 0.04806965803718588 Centerline is valid? [True, True] Translation: X:221.32, Y:-27.72, Z:-14.63 [[ 9.97775776e-01 3.85537863e-02 5.43792809e-02 2.21319960e+02] [-3.82186365e-02 9.99243533e-01 -7.19008900e-03 -2.77168028e+01] [-5.46153499e-02 5.09579466e-03 9.98494465e-01 -1.46324810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90071405700002 meters 0.046779998767582494 Centerline is valid? [True, True] Translation: X:221.38, Y:-27.72, Z:-14.64 [[ 9.97882780e-01 3.78204673e-02 5.29109582e-02 2.21381224e+02] [-3.75022394e-02 9.99272063e-01 -6.99472275e-03 -2.77232860e+01] [-5.31369861e-02 4.99563396e-03 9.98574737e-01 -1.46380460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96071405700002 meters 0.047017860103133684 Centerline is valid? [True, True] Translation: X:221.44, Y:-27.73, Z:-14.64 [[ 9.97774313e-01 3.99809785e-02 5.33661120e-02 2.21441450e+02] [-3.96598786e-02 9.99188276e-01 -7.06285144e-03 -2.77301718e+01] [-5.36051731e-02 4.93063822e-03 9.98550036e-01 -1.46413091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02071405700002 meters 0.04652389454721715 Centerline is valid? [True, True] Translation: X:221.50, Y:-27.73, Z:-14.64 [[ 9.97522855e-01 4.50421668e-02 5.40310747e-02 2.21500859e+02] [-4.47202858e-02 9.98973944e-01 -7.15225294e-03 -2.77345611e+01] [-5.42977888e-02 4.71825067e-03 9.98513639e-01 -1.46436402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08071405700002 meters 0.042849120706133774 Centerline is valid? [True, True] Translation: X:221.56, Y:-27.74, Z:-14.65 [[ 9.97142715e-01 5.08228074e-02 5.58878254e-02 2.21562126e+02] [-5.04874794e-02 9.98697304e-01 -7.39657454e-03 -2.77365919e+01] [-5.61909352e-02 4.55380498e-03 9.98409656e-01 -1.46458077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.140714057 meters 0.039710316280720095 Centerline is valid? [True, True] Translation: X:221.62, Y:-27.74, Z:-14.65 [[ 9.96844203e-01 5.55469377e-02 5.67113056e-02 2.21622746e+02] [-5.52091728e-02 9.98446593e-01 -7.50655904e-03 -2.77395290e+01] [-5.70401762e-02 4.35188559e-03 9.98362399e-01 -1.46487519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.200714057 meters 0.038725267040417705 Centerline is valid? [True, True] Translation: X:221.68, Y:-27.75, Z:-14.65 [[ 9.96709945e-01 5.80844831e-02 5.65285680e-02 2.21682591e+02] [-5.77529521e-02 9.98302866e-01 -7.48230836e-03 -2.77458953e+01] [-5.68672374e-02 4.19299947e-03 9.98372944e-01 -1.46527917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.260714057 meters 0.03648192318520375 Centerline is valid? [True, True] Translation: X:221.74, Y:-27.75, Z:-14.66 [[ 9.96457512e-01 6.29905012e-02 5.57191454e-02 2.21742768e+02] [-6.26760312e-02 9.98006674e-01 -7.37517656e-03 -2.77498664e+01] [-5.60726451e-02 3.85679519e-03 9.98419242e-01 -1.46575533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.320714057 meters 0.035009971617866675 Centerline is valid? [True, True] Translation: X:221.80, Y:-27.75, Z:-14.66 [[ 9.96020736e-01 6.94729710e-02 5.58229301e-02 2.21803360e+02] [-6.91674611e-02 9.97577701e-01 -7.38874118e-03 -2.77538477e+01] [-5.62010281e-02 3.49820907e-03 9.98413345e-01 -1.46610323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.380714057 meters 0.03377868836202061 Centerline is valid? [True, True] Translation: X:221.86, Y:-27.76, Z:-14.66 [[ 9.95588788e-01 7.53273667e-02 5.59352658e-02 2.21862594e+02] [-7.50297524e-02 9.97153802e-01 -7.40480746e-03 -2.77586789e+01] [-5.63338476e-02 3.17533414e-03 9.98406939e-01 -1.46648553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.440714057 meters 0.03325082830788474 Centerline is valid? [True, True] Translation: X:221.92, Y:-27.76, Z:-14.67 [[ 9.95441130e-01 7.79410028e-02 5.49741408e-02 2.21921661e+02] [-7.76575860e-02 9.96953538e-01 -7.27620709e-03 -2.77648818e+01] [-5.53737790e-02 2.97387674e-03 9.98461266e-01 -1.46691861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.500714057 meters 0.03383903455930615 Centerline is valid? [True, True] Translation: X:221.98, Y:-27.77, Z:-14.67 [[ 9.95565759e-01 7.69299559e-02 5.41350303e-02 2.21979125e+02] [-7.66537199e-02 9.97032039e-01 -7.16378995e-03 -2.77733298e+01] [-5.45254697e-02 2.98237253e-03 9.98507926e-01 -1.46736363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.560714057 meters 0.03645340888444156 Centerline is valid? [True, True] Translation: X:222.04, Y:-27.79, Z:-14.68 [[ 9.95838528e-01 7.35255519e-02 5.38481219e-02 2.22036731e+02] [-7.32475670e-02 9.97288369e-01 -7.12055508e-03 -2.77875333e+01] [-5.42256484e-02 3.14667917e-03 9.98523749e-01 -1.46778888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62071405700001 meters 0.040778184172277646 Centerline is valid? [True, True] Translation: X:222.09, Y:-27.80, Z:-14.68 [[ 9.96194495e-01 6.87794509e-02 5.35342438e-02 2.22094769e+02] [-6.84979956e-02 9.97626154e-01 -7.07683383e-03 -2.78020816e+01] [-5.38939025e-02 3.38291451e-03 9.98540937e-01 -1.46814697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68071405700002 meters 0.038459935958777634 Centerline is valid? [True, True] Translation: X:222.16, Y:-27.81, Z:-14.68 [[ 9.96369807e-01 6.52746896e-02 5.46481696e-02 2.22155017e+02] [-6.49761291e-02 9.97860668e-01 -7.22425145e-03 -2.78073998e+01] [-5.50028198e-02 3.64719950e-03 9.98479538e-01 -1.46822059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74071405700002 meters 0.03912762619672409 Centerline is valid? [True, True] Translation: X:222.22, Y:-27.82, Z:-14.69 [[ 9.96376385e-01 6.47421562e-02 5.51593321e-02 2.22215101e+02] [-6.44372294e-02 9.97895130e-01 -7.29067223e-03 -2.78166993e+01] [-5.55152427e-02 3.70993911e-03 9.98450947e-01 -1.46857017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80071405700002 meters 0.03783735509395929 Centerline is valid? [True, True] Translation: X:222.28, Y:-27.82, Z:-14.69 [[ 9.96492606e-01 6.30493695e-02 5.50205689e-02 2.22275011e+02] [-6.27434102e-02 9.98003195e-01 -7.27233124e-03 -2.78232753e+01] [-5.53692195e-02 3.79464618e-03 9.98458737e-01 -1.46892383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86071405700002 meters 0.03640120148073468 Centerline is valid? [True, True] Translation: X:222.34, Y:-27.83, Z:-14.69 [[ 9.96693496e-01 6.20161834e-02 5.24982634e-02 2.22335550e+02] [-6.17362516e-02 9.98068379e-01 -6.93872787e-03 -2.78296386e+01] [-5.28271701e-02 3.67473894e-03 9.98596909e-01 -1.46940808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.920714057 meters 0.03850315761887571 Centerline is valid? [True, True] Translation: X:222.39, Y:-27.84, Z:-14.70 [[ 9.96837413e-01 6.19818219e-02 4.97335540e-02 2.22393897e+02] [-6.17305152e-02 9.98071198e-01 -6.57471991e-03 -2.78414128e+01] [-5.00451409e-02 3.48384888e-03 9.98740881e-01 -1.47000298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.980714057 meters 0.03871806501904715 Centerline is valid? [True, True] Translation: X:222.45, Y:-27.85, Z:-14.70 [[ 9.96987621e-01 6.17297968e-02 4.69586604e-02 2.22453319e+02] [-6.15055221e-02 9.98087441e-01 -6.20739100e-03 -2.78488542e+01] [-4.72520302e-02 3.30047506e-03 9.98877546e-01 -1.47044157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.040714057 meters 0.03850002571020739 Centerline is valid? [True, True] Translation: X:222.51, Y:-27.86, Z:-14.71 [[ 9.96950593e-01 6.19644554e-02 4.74333265e-02 2.22512358e+02] [-6.17359672e-02 9.98072832e-01 -6.26838352e-03 -2.78558667e+01] [-4.77303315e-02 3.32092638e-03 9.98854738e-01 -1.47072892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.100714057 meters 0.04373718848713385 Centerline is valid? [True, True] Translation: X:222.57, Y:-27.87, Z:-14.71 [[ 9.96931181e-01 6.24143514e-02 4.72511202e-02 2.22568999e+02] [-6.21881871e-02 9.98044917e-01 -6.24288578e-03 -2.78706373e+01] [-4.75483860e-02 3.28526599e-03 9.98863533e-01 -1.47132472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.160714057 meters 0.03827935581439255 Centerline is valid? [True, True] Translation: X:222.63, Y:-27.87, Z:-14.71 [[ 9.96934900e-01 6.24187558e-02 4.71667779e-02 2.22628762e+02] [-6.21935086e-02 9.98044669e-01 -6.22953880e-03 -2.78692471e+01] [-4.74633913e-02 3.27697723e-03 9.98867603e-01 -1.47143946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.220714057 meters 0.03770768757401852 Centerline is valid? [True, True] Translation: X:222.69, Y:-27.87, Z:-14.72 [[ 9.96973835e-01 6.21635945e-02 4.66782547e-02 2.22687907e+02] [-6.19429021e-02 9.98060679e-01 -6.16104216e-03 -2.78739422e+01] [-4.69707231e-02 3.25101127e-03 9.98890976e-01 -1.47169493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.280714057 meters 0.03896569328664331 Centerline is valid? [True, True] Translation: X:222.75, Y:-27.88, Z:-14.72 [[ 9.97011875e-01 6.18652932e-02 4.62601977e-02 2.22746478e+02] [-6.16482988e-02 9.98079269e-01 -6.10418027e-03 -2.78827328e+01] [-4.65489812e-02 3.23407773e-03 9.98910773e-01 -1.47200803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.340714057 meters 0.0399531877766086 Centerline is valid? [True, True] Translation: X:222.80, Y:-27.89, Z:-14.72 [[ 9.96938524e-01 6.31085988e-02 4.61615081e-02 2.22804402e+02] [-6.28939037e-02 9.98001637e-01 -6.09012682e-03 -2.78885053e+01] [-4.64536001e-02 3.16820459e-03 9.98915425e-01 -1.47224730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40071405700002 meters 0.0397593083063948 Centerline is valid? [True, True] Translation: X:222.86, Y:-27.89, Z:-14.73 [[ 9.96716665e-01 6.67325565e-02 4.58547296e-02 2.22863866e+02] [-6.65247145e-02 9.97766463e-01 -6.04551178e-03 -2.78923296e+01] [-4.61557438e-02 2.97518954e-03 9.98929825e-01 -1.47265806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46071405700002 meters 0.04028078761038435 Centerline is valid? [True, True] Translation: X:222.92, Y:-27.90, Z:-14.73 [[ 9.96568938e-01 6.88565428e-02 4.59252573e-02 2.22922685e+02] [-6.86503417e-02 9.97622413e-01 -6.05401689e-03 -2.78982228e+01] [-4.62329247e-02 2.88046058e-03 9.98926534e-01 -1.47306620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52071405700002 meters 0.040065072712542726 Centerline is valid? [True, True] Translation: X:222.98, Y:-27.90, Z:-14.73 [[ 9.96452993e-01 7.05722579e-02 4.58365530e-02 2.22981921e+02] [-7.03686858e-02 9.97502754e-01 -6.04177265e-03 -2.79021957e+01] [-4.61484694e-02 2.79488444e-03 9.98930682e-01 -1.47344148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58071405700002 meters 0.042064652244589065 Centerline is valid? [True, True] Translation: X:223.04, Y:-27.91, Z:-14.74 [[ 9.96624296e-01 6.89146767e-02 4.46181482e-02 2.23040906e+02] [-6.87203609e-02 9.97618656e-01 -5.87621423e-03 -2.79090957e+01] [-4.49168545e-02 2.79020263e-03 9.98986832e-01 -1.47396303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.640714057 meters 0.04537148217963151 Centerline is valid? [True, True] Translation: X:223.10, Y:-27.92, Z:-14.74 [[ 9.96854481e-01 6.55048642e-02 4.46122939e-02 2.23098666e+02] [-6.53072677e-02 9.97847913e-01 -5.87393164e-03 -2.79191373e+01] [-4.49010555e-02 2.94194805e-03 9.98987107e-01 -1.47445015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.700714057 meters 0.039540470911337736 Centerline is valid? [True, True] Translation: X:223.16, Y:-27.92, Z:-14.75 [[ 9.97049020e-01 6.21735353e-02 4.50300190e-02 2.23159700e+02] [-6.19689169e-02 9.98060480e-01 -5.92716963e-03 -2.79164778e+01] [-4.53111955e-02 3.11921716e-03 9.98968051e-01 -1.47458310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.760714057 meters 0.04171780821483788 Centerline is valid? [True, True] Translation: X:223.22, Y:-27.93, Z:-14.75 [[ 9.97239955e-01 5.84462017e-02 4.57877085e-02 2.23219490e+02] [-5.82307871e-02 9.98284963e-01 -6.02556566e-03 -2.79251994e+01] [-4.60613524e-02 3.34268052e-03 9.98933020e-01 -1.47493300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.820714057 meters 0.04647096682720155 Centerline is valid? [True, True] Translation: X:223.28, Y:-27.94, Z:-14.75 [[ 9.97435911e-01 5.40153790e-02 4.69461687e-02 2.23278297e+02] [-5.37840039e-02 9.98533477e-01 -6.17872141e-03 -2.79380985e+01] [-4.72110670e-02 3.63792570e-03 9.98878311e-01 -1.47524578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.880714057 meters 0.044190781037011496 Centerline is valid? [True, True] Translation: X:223.34, Y:-27.94, Z:-14.75 [[ 9.97546617e-01 5.11628132e-02 4.77819404e-02 2.23338444e+02] [-5.09198686e-02 9.98682942e-01 -6.28869615e-03 -2.79412817e+01] [-4.80407562e-02 3.84021744e-03 9.98837994e-01 -1.47546351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.940714057 meters 0.045880870508262485 Centerline is valid? [True, True] Translation: X:223.40, Y:-27.95, Z:-14.76 [[ 9.97516466e-01 5.05223235e-02 4.90754012e-02 2.23398493e+02] [-5.02653264e-02 9.98715022e-01 -6.45766966e-03 -2.79510377e+01] [-4.93385968e-02 3.97484076e-03 9.98774200e-01 -1.47584700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.000714057 meters 0.0520007764417154 Centerline is valid? [True, True] Translation: X:223.46, Y:-27.97, Z:-14.77 [[ 9.97422643e-01 5.25098881e-02 4.88956345e-02 2.23456808e+02] [-5.22572289e-02 9.98612942e-01 -6.43228216e-03 -2.79664469e+01] [-4.91655718e-02 3.86055351e-03 9.98783181e-01 -1.47655263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.060714057 meters 0.04571550478792616 Centerline is valid? [True, True] Translation: X:223.52, Y:-27.97, Z:-14.77 [[ 9.97357822e-01 5.34418667e-02 4.92071381e-02 2.23518457e+02] [-5.31867508e-02 9.98563556e-01 -6.48033096e-03 -2.79654271e+01] [-4.94827758e-02 3.84604098e-03 9.98767572e-01 -1.47686245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12071405700001 meters 0.042019218459995136 Centerline is valid? [True, True] Translation: X:223.58, Y:-27.97, Z:-14.77 [[ 9.97380988e-01 5.30366595e-02 4.91759915e-02 2.23579112e+02] [-5.27813200e-02 9.98585087e-01 -6.47739136e-03 -2.79691382e+01] [-4.94499509e-02 3.86485324e-03 9.98769125e-01 -1.47726066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18071405700002 meters 0.04447183057215488 Centerline is valid? [True, True] Translation: X:223.64, Y:-27.98, Z:-14.78 [[ 9.97464957e-01 5.13654943e-02 4.92467855e-02 2.23638460e+02] [-5.11073954e-02 9.98672097e-01 -6.48671624e-03 -2.79817551e+01] [-4.95145839e-02 3.95339720e-03 9.98765576e-01 -1.47782137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24071405700002 meters 0.043994379442063136 Centerline is valid? [True, True] Translation: X:223.70, Y:-27.99, Z:-14.78 [[ 9.97499663e-01 5.00029056e-02 4.99412799e-02 2.23698685e+02] [-4.97357851e-02 9.98740748e-01 -6.57793584e-03 -2.79905988e+01] [-5.02073071e-02 4.07762002e-03 9.98730494e-01 -1.47823673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30071405700002 meters 0.04252096620975264 Centerline is valid? [True, True] Translation: X:223.76, Y:-28.00, Z:-14.79 [[ 9.97631392e-01 4.80533755e-02 4.92186863e-02 2.23759485e+02] [-4.77915525e-02 9.98836290e-01 -6.48335576e-03 -2.79976546e+01] [-4.94729571e-02 4.11576180e-03 9.98766983e-01 -1.47862149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36071405700002 meters 0.05313866230413495 Centerline is valid? [True, True] Translation: X:223.82, Y:-28.02, Z:-14.79 [[ 9.97637401e-01 4.68524923e-02 5.02440009e-02 2.23817401e+02] [-4.65781674e-02 9.98892728e-01 -6.61754608e-03 -2.80240940e+01] [-5.04984157e-02 4.26163799e-03 9.98715049e-01 -1.47925082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.420714057 meters 0.052847062056752776 Centerline is valid? [True, True] Translation: X:223.88, Y:-28.03, Z:-14.80 [[ 9.97623287e-01 4.70434823e-02 5.03456915e-02 2.23879875e+02] [-4.67677029e-02 9.98883707e-01 -6.64244531e-03 -2.80333948e+01] [-5.06019747e-02 4.27210578e-03 9.98709762e-01 -1.47960779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.480714057 meters 0.0435391175274213 Centerline is valid? [True, True] Translation: X:223.94, Y:-28.03, Z:-14.80 [[ 9.97625106e-01 4.79434245e-02 4.94527741e-02 2.23943145e+02] [-4.76777733e-02 9.98841370e-01 -6.53820206e-03 -2.80307205e+01] [-4.97089404e-02 4.16487637e-03 9.98755063e-01 -1.47966826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.540714057 meters 0.049854520022697885 Centerline is valid? [True, True] Translation: X:224.00, Y:-28.05, Z:-14.80 [[ 9.97506296e-01 4.94081756e-02 5.03986184e-02 2.24000971e+02] [-4.91333236e-02 9.98769899e-01 -6.67873174e-03 -2.80512021e+01] [-5.06666070e-02 4.18582534e-03 9.98706851e-01 -1.48021955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.600714057 meters 0.05607090898105181 Centerline is valid? [True, True] Translation: X:224.06, Y:-28.07, Z:-14.81 [[ 9.97400916e-01 5.14114011e-02 5.04804890e-02 2.24058188e+02] [-5.11378320e-02 9.98669152e-01 -6.69684118e-03 -2.80699879e+01] [-5.07576011e-02 4.09797277e-03 9.98702595e-01 -1.48073358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.660714057 meters 0.04265918757316534 Centerline is valid? [True, True] Translation: X:224.12, Y:-28.06, Z:-14.81 [[ 9.97388198e-01 5.19961960e-02 5.01316129e-02 2.24122338e+02] [-5.17272524e-02 9.98639120e-01 -6.64818708e-03 -2.80624155e+01] [-5.04090703e-02 4.03765274e-03 9.98720493e-01 -1.48100286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.720714057 meters 0.04555214469721145 Centerline is valid? [True, True] Translation: X:224.18, Y:-28.08, Z:-14.82 [[ 9.97294810e-01 5.50096038e-02 4.87545454e-02 2.24179665e+02] [-5.47585966e-02 9.98478659e-01 -6.47019014e-03 -2.80807104e+01] [-4.90362957e-02 3.78295656e-03 9.98789833e-01 -1.48169510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.780714057 meters 0.04158838961344243 Centerline is valid? [True, True] Translation: X:224.24, Y:-28.08, Z:-14.82 [[ 9.97001589e-01 6.00218334e-02 4.88386272e-02 2.24240524e+02] [-5.97757174e-02 9.98190763e-01 -6.48573544e-03 -2.80845028e+01] [-4.91395523e-02 3.54692456e-03 9.98785625e-01 -1.48194286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.840714057 meters 0.03691424556729728 Centerline is valid? [True, True] Translation: X:224.30, Y:-28.09, Z:-14.82 [[ 9.96141357e-01 7.15103880e-02 5.08788806e-02 2.24301352e+02] [-7.12580909e-02 9.97435018e-01 -6.75788892e-03 -2.80873000e+01] [-5.12316365e-02 3.10628075e-03 9.98681967e-01 -1.48205019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90071405700002 meters 0.03358395166990609 Centerline is valid? [True, True] Translation: X:224.36, Y:-28.10, Z:-14.82 [[ 9.95150216e-01 8.22928289e-02 5.38882039e-02 2.24360169e+02] [-8.20255143e-02 9.96604529e-01 -7.15736889e-03 -2.80957627e+01] [-5.42942282e-02 2.70244955e-03 9.98521324e-01 -1.48237851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96071405700002 meters 0.03282266320347897 Centerline is valid? [True, True] Translation: X:224.42, Y:-28.11, Z:-14.82 [[ 9.94530188e-01 8.69977569e-02 5.78022045e-02 2.24419109e+02] [-8.66981484e-02 9.96205056e-01 -7.67582031e-03 -2.81075861e+01] [-5.82506275e-02 2.62249091e-03 9.98298546e-01 -1.48242775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02071405700002 meters 0.029447292779028342 Centerline is valid? [True, True] Translation: X:224.48, Y:-28.12, Z:-14.83 [[ 9.94608133e-01 8.39302723e-02 6.09128229e-02 2.24477568e+02] [-8.35918426e-02 9.96467257e-01 -8.08765170e-03 -2.81180332e+01] [-6.13764323e-02 2.95222905e-03 9.98110324e-01 -1.48261917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08071405700002 meters 0.033929120545549765 Centerline is valid? [True, True] Translation: X:224.54, Y:-28.15, Z:-14.83 [[ 9.95381309e-01 7.27344796e-02 6.26557676e-02 2.24535142e+02] [-7.23544949e-02 9.97344314e-01 -8.31540056e-03 -2.81451307e+01] [-6.30941899e-02 3.74356788e-03 9.98000556e-01 -1.48307361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.140714057 meters 0.04204146379399095 Centerline is valid? [True, True] Translation: X:224.59, Y:-28.18, Z:-14.83 [[ 9.96229625e-01 5.88521478e-02 6.37413498e-02 2.24590413e+02] [-5.84305966e-02 9.98255633e-01 -8.45913660e-03 -2.81771540e+01] [-6.41279998e-02 4.70279739e-03 9.97930600e-01 -1.48341379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.200714057 meters 0.04968323567194065 Centerline is valid? [True, True] Translation: X:224.65, Y:-28.21, Z:-14.84 [[ 9.96791598e-01 4.67322100e-02 6.49816218e-02 2.24646826e+02] [-4.62683284e-02 9.98891802e-01 -8.62613805e-03 -2.82087989e+01] [-6.53127277e-02 5.59187092e-03 9.97849176e-01 -1.48395751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.260714057 meters 0.047446596254191356 Centerline is valid? [True, True] Translation: X:224.71, Y:-28.23, Z:-14.85 [[ 9.97065121e-01 3.90476337e-02 6.58515553e-02 2.24705234e+02] [-3.85545886e-02 9.99218255e-01 -8.74197756e-03 -2.82261298e+01] [-6.61414297e-02 6.17744128e-03 9.97791136e-01 -1.48452179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.320714057 meters 0.0498746936275337 Centerline is valid? [True, True] Translation: X:224.76, Y:-28.24, Z:-14.85 [[ 9.97149584e-01 3.75961713e-02 6.54158657e-02 2.24764122e+02] [-3.71065055e-02 9.99273577e-01 -8.68480485e-03 -2.82428639e+01] [-6.56948615e-02 6.23269536e-03 9.97820294e-01 -1.48499704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.380714057 meters 0.044421470908671296 Centerline is valid? [True, True] Translation: X:224.82, Y:-28.25, Z:-14.85 [[ 9.97037336e-01 4.05800283e-02 6.53438038e-02 2.24824763e+02] [-4.00975735e-02 9.99158080e-01 -8.67848620e-03 -2.82481787e+01] [-6.56409628e-02 6.03264678e-03 9.97825070e-01 -1.48540779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.440714057 meters 0.043762040558455007 Centerline is valid? [True, True] Translation: X:224.88, Y:-28.26, Z:-14.86 [[ 9.96624280e-01 4.66183226e-02 6.75779359e-02 2.24884494e+02] [-4.61159703e-02 9.98895769e-01 -8.97555580e-03 -2.82587424e+01] [-6.79217395e-02 5.82883475e-03 9.97673625e-01 -1.48582548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.500714057 meters 0.04076355058433557 Centerline is valid? [True, True] Translation: X:224.95, Y:-28.26, Z:-14.86 [[ 9.96108762e-01 5.53425606e-02 6.85896209e-02 2.24945181e+02] [-5.48454817e-02 9.98453288e-01 -9.11065991e-03 -2.82623871e+01] [-6.89877398e-02 5.31337736e-03 9.97603358e-01 -1.48608719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.560714057 meters 0.041304190559606484 Centerline is valid? [True, True] Translation: X:225.00, Y:-28.27, Z:-14.87 [[ 9.95943818e-01 5.83302953e-02 6.85090305e-02 2.25004932e+02] [-5.78413453e-02 9.98284305e-01 -9.10081517e-03 -2.82706357e+01] [-6.89223432e-02 5.10124612e-03 9.97608985e-01 -1.48661734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62071405700001 meters 0.04225150336619668 Centerline is valid? [True, True] Translation: X:225.07, Y:-28.28, Z:-14.87 [[ 9.95828552e-01 6.02762473e-02 6.85001453e-02 2.25065042e+02] [-5.97918752e-02 9.98169372e-01 -9.10140282e-03 -2.82795675e+01] [-6.89233454e-02 4.96768465e-03 9.97609590e-01 -1.48711917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68071405700002 meters 0.04009075189726425 Centerline is valid? [True, True] Translation: X:225.13, Y:-28.28, Z:-14.88 [[ 9.96031387e-01 5.87479621e-02 6.68591992e-02 2.25127100e+02] [-5.82829449e-02 9.98260553e-01 -8.88629678e-03 -2.82811240e+01] [-6.72649531e-02 4.95427949e-03 9.97722848e-01 -1.48758303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74071405700002 meters 0.04382138862991147 Centerline is valid? [True, True] Translation: X:225.19, Y:-28.29, Z:-14.88 [[ 9.96378984e-01 5.60824634e-02 6.39036579e-02 2.25186026e+02] [-5.56513304e-02 9.98414013e-01 -8.50814005e-03 -2.82910558e+01] [-6.42794650e-02 4.92100836e-03 9.97919803e-01 -1.48825791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80071405700002 meters 0.04128707276857847 Centerline is valid? [True, True] Translation: X:225.25, Y:-28.29, Z:-14.89 [[ 9.96645211e-01 5.38067845e-02 6.16697155e-02 2.25247820e+02] [-5.34007307e-02 9.98539372e-01 -8.21489562e-03 -2.82904256e+01] [-6.20216561e-02 4.89412851e-03 9.98062804e-01 -1.48874438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86071405700002 meters 0.04318393002196428 Centerline is valid? [True, True] Translation: X:225.31, Y:-28.29, Z:-14.89 [[ 9.96721030e-01 5.25135304e-02 6.15590558e-02 2.25310353e+02] [-5.21063512e-02 9.98607856e-01 -8.20233545e-03 -2.82928474e+01] [-6.19040903e-02 4.96782246e-03 9.98069739e-01 -1.48898866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.920714057 meters 0.04582221004501294 Centerline is valid? [True, True] Translation: X:225.37, Y:-28.30, Z:-14.89 [[ 9.96856677e-01 4.98691923e-02 6.15615965e-02 2.25370388e+02] [-4.94566828e-02 9.98742547e-01 -8.20738424e-03 -2.82970622e+01] [-6.18934813e-02 5.13695343e-03 9.98069541e-01 -1.48924416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.980714057 meters 0.045414221757983354 Centerline is valid? [True, True] Translation: X:225.43, Y:-28.30, Z:-14.90 [[ 9.97129833e-01 4.70789893e-02 5.92930454e-02 2.25431480e+02] [-4.66914764e-02 9.98878080e-01 -7.90491270e-03 -2.82979351e+01] [-5.95986786e-02 5.11374445e-03 9.98209320e-01 -1.48978311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.040714057 meters 0.04645550004102657 Centerline is valid? [True, True] Translation: X:225.49, Y:-28.30, Z:-14.90 [[ 9.97209363e-01 4.69703690e-02 5.80281980e-02 2.25493703e+02] [-4.65991267e-02 9.98883722e-01 -7.73505971e-03 -2.83024953e+01] [-5.83267410e-02 5.00941061e-03 9.98284978e-01 -1.49020251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.100714057 meters 0.04596764819349807 Centerline is valid? [True, True] Translation: X:225.55, Y:-28.30, Z:-14.90 [[ 9.96816753e-01 5.47132759e-02 5.79898133e-02 2.25554015e+02] [-5.43545631e-02 9.98491650e-01 -7.74635977e-03 -2.82987516e+01] [-5.83261731e-02 4.56969023e-03 9.98287121e-01 -1.49037129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.160714057 meters 0.038403640827088324 Centerline is valid? [True, True] Translation: X:225.62, Y:-28.29, Z:-14.91 [[ 9.96340460e-01 6.18075220e-02 5.90382703e-02 2.25616807e+02] [-6.14481482e-02 9.98079130e-01 -7.88508125e-03 -2.82901324e+01] [-5.94122228e-02 4.22843310e-03 9.98224578e-01 -1.49050309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.220714057 meters 0.03522279089171782 Centerline is valid? [True, True] Translation: X:225.68, Y:-28.29, Z:-14.91 [[ 9.95536427e-01 7.18063445e-02 6.12459967e-02 2.25678707e+02] [-7.14383217e-02 9.97411473e-01 -8.18045788e-03 -2.82858398e+01] [-6.16748685e-02 3.76863260e-03 9.98089178e-01 -1.49056523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.280714057 meters 0.034503125931199315 Centerline is valid? [True, True] Translation: X:225.74, Y:-28.29, Z:-14.91 [[ 9.95145554e-01 7.68484109e-02 6.14788456e-02 2.25738905e+02] [-7.64871197e-02 9.97036750e-01 -8.21213836e-03 -2.82887961e+01] [-6.19277582e-02 3.46993316e-03 9.98074603e-01 -1.49083898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.340714057 meters 0.03482394673071586 Centerline is valid? [True, True] Translation: X:225.80, Y:-28.30, Z:-14.91 [[ 9.95092888e-01 7.82354885e-02 6.05751746e-02 2.25796961e+02] [-7.78873104e-02 9.96929333e-01 -8.09151026e-03 -2.82971664e+01] [-6.10222116e-02 3.33376689e-03 9.98130841e-01 -1.49126752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40071405700002 meters 0.03668447831829771 Centerline is valid? [True, True] Translation: X:225.85, Y:-28.31, Z:-14.92 [[ 9.95189866e-01 7.72686993e-02 6.02219091e-02 2.25853789e+02] [-7.69230164e-02 9.97004610e-01 -8.04097833e-03 -2.83096466e+01] [-6.06628370e-02 3.36984925e-03 9.98152626e-01 -1.49173744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46071405700002 meters 0.0369185006824053 Centerline is valid? [True, True] Translation: X:225.91, Y:-28.32, Z:-14.92 [[ 9.95396835e-01 7.68357679e-02 5.72835515e-02 2.25912080e+02] [-7.65223479e-02 9.97038532e-01 -7.64823918e-03 -2.83219608e+01] [-5.77015665e-02 3.22956121e-03 9.98328653e-01 -1.49239781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52071405700002 meters 0.03826492295723989 Centerline is valid? [True, True] Translation: X:225.97, Y:-28.33, Z:-14.93 [[ 9.95523163e-01 7.63195742e-02 5.57580044e-02 2.25970501e+02] [-7.60219448e-02 9.97078367e-01 -7.44268818e-03 -2.83338684e+01] [-5.61631228e-02 3.17053654e-03 9.98416572e-01 -1.49279498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58071405700002 meters 0.039694006383529844 Centerline is valid? [True, True] Translation: X:226.03, Y:-28.35, Z:-14.93 [[ 9.95614678e-01 7.49583540e-02 5.59701454e-02 2.26028907e+02] [-7.46564183e-02 9.97181344e-01 -7.46909323e-03 -2.83466619e+01] [-5.63722557e-02 3.25780827e-03 9.98404505e-01 -1.49314288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.640714057 meters 0.037556418017670755 Centerline is valid? [True, True] Translation: X:226.09, Y:-28.36, Z:-14.93 [[ 9.95864968e-01 7.03459464e-02 5.74840358e-02 2.26087656e+02] [-7.00199090e-02 9.97516115e-01 -7.66892513e-03 -2.83612241e+01] [-5.78807298e-02 3.61218692e-03 9.98316970e-01 -1.49334379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.700714057 meters 0.036404256527303516 Centerline is valid? [True, True] Translation: X:226.15, Y:-28.37, Z:-14.94 [[ 9.95958843e-01 6.89275568e-02 5.75758268e-02 2.26147691e+02] [-6.85981426e-02 9.97614806e-01 -7.68073206e-03 -2.83722877e+01] [-5.79679114e-02 3.70009824e-03 9.98311590e-01 -1.49371404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.760714057 meters 0.035949813695267716 Centerline is valid? [True, True] Translation: X:226.21, Y:-28.39, Z:-14.94 [[ 9.96094952e-01 6.79385803e-02 5.63843564e-02 2.26208106e+02] [-6.76210284e-02 9.97682715e-01 -7.52304835e-03 -2.83853240e+01] [-5.67648030e-02 3.68090232e-03 9.98380793e-01 -1.49409563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.820714057 meters 0.03927620429434859 Centerline is valid? [True, True] Translation: X:226.27, Y:-28.41, Z:-14.95 [[ 9.96291072e-01 6.73937856e-02 5.34993232e-02 2.26267144e+02] [-6.71068548e-02 9.97720220e-01 -7.14368432e-03 -2.84050483e+01] [-5.38587965e-02 3.52701760e-03 9.98542333e-01 -1.49474334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.880714057 meters 0.03727451471376918 Centerline is valid? [True, True] Translation: X:226.33, Y:-28.42, Z:-14.95 [[ 9.96386617e-01 6.49741866e-02 5.46997740e-02 2.26327033e+02] [-6.46697505e-02 9.97879879e-01 -7.31921762e-03 -2.84165435e+01] [-5.50593641e-02 3.75534974e-03 9.98476021e-01 -1.49494998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.940714057 meters 0.039680801676378934 Centerline is valid? [True, True] Translation: X:226.39, Y:-28.43, Z:-14.95 [[ 9.96657862e-01 6.16022019e-02 5.36495556e-02 2.26385467e+02] [-6.13044427e-02 9.98093291e-01 -7.17973533e-03 -2.84341689e+01] [-5.39895490e-02 3.86678355e-03 9.98534014e-01 -1.49546132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.000714057 meters 0.03987700554674308 Centerline is valid? [True, True] Translation: X:226.44, Y:-28.45, Z:-14.96 [[ 9.96783978e-01 5.96046816e-02 5.35628933e-02 2.26444710e+02] [-5.93049917e-02 9.98214170e-01 -7.16862503e-03 -2.84493947e+01] [-5.38945227e-02 3.96902363e-03 9.98538746e-01 -1.49593605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.060714057 meters 0.039203905070296946 Centerline is valid? [True, True] Translation: X:226.51, Y:-28.46, Z:-14.96 [[ 9.96818859e-01 5.80573503e-02 5.46031781e-02 2.26506124e+02] [-5.77435573e-02 9.98304698e-01 -7.30834015e-03 -2.84601866e+01] [-5.49349120e-02 4.13210954e-03 9.98481387e-01 -1.49617364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12071405700001 meters 0.039294851459712773 Centerline is valid? [True, True] Translation: X:226.57, Y:-28.47, Z:-14.97 [[ 9.96940175e-01 5.51036444e-02 5.54425543e-02 2.26565920e+02] [-5.47753179e-02 9.98471095e-01 -7.42536402e-03 -2.84727247e+01] [-5.57669525e-02 4.36576016e-03 9.98434268e-01 -1.49658443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18071405700002 meters 0.04528368754051209 Centerline is valid? [True, True] Translation: X:226.62, Y:-28.49, Z:-14.97 [[ 9.97225245e-01 5.04338975e-02 5.47561201e-02 2.26623088e+02] [-5.01066501e-02 9.98716946e-01 -7.33382234e-03 -2.84939663e+01] [-5.50557383e-02 4.56982703e-03 9.98472825e-01 -1.49719024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24071405700002 meters 0.04930575694304099 Centerline is valid? [True, True] Translation: X:226.68, Y:-28.51, Z:-14.98 [[ 9.97460007e-01 4.66356880e-02 5.38390853e-02 2.26680769e+02] [-4.63135348e-02 9.98900885e-01 -7.21652836e-03 -2.85102029e+01] [-5.41164577e-02 4.70472008e-03 9.98523547e-01 -1.49773656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30071405700002 meters 0.04300507977942925 Centerline is valid? [True, True] Translation: X:226.74, Y:-28.51, Z:-14.98 [[ 9.97517499e-01 4.44501864e-02 5.46170328e-02 2.26742042e+02] [-4.41154571e-02 9.98999624e-01 -7.31967739e-03 -2.85111643e+01] [-5.48877562e-02 4.89205091e-03 9.98480547e-01 -1.49788858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36071405700002 meters 0.04535742361556314 Centerline is valid? [True, True] Translation: X:226.80, Y:-28.52, Z:-14.98 [[ 9.97389819e-01 4.55349229e-02 5.60367773e-02 2.26801968e+02] [-4.51841839e-02 9.98950437e-01 -7.51089014e-03 -2.85203071e+01] [-5.63199710e-02 4.95930931e-03 9.98400454e-01 -1.49812143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.420714057 meters 0.051283702295195945 Centerline is valid? [True, True] Translation: X:226.86, Y:-28.53, Z:-14.98 [[ 9.97148138e-01 4.88577211e-02 5.75196760e-02 2.26859842e+02] [-4.84934774e-02 9.98793725e-01 -7.71222127e-03 -2.85336586e+01] [-5.78270929e-02 4.90089798e-03 9.98314584e-01 -1.49838510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.480714057 meters 0.04285442601159378 Centerline is valid? [True, True] Translation: X:226.92, Y:-28.52, Z:-14.99 [[ 9.96615868e-01 5.73275811e-02 5.89097666e-02 2.26922083e+02] [-5.69602422e-02 9.98345212e-01 -7.89741432e-03 -2.85240603e+01] [-5.92650231e-02 4.51517385e-03 9.98232072e-01 -1.49879441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.540714057 meters 0.042327878697986494 Centerline is valid? [True, True] Translation: X:226.98, Y:-28.53, Z:-14.99 [[ 9.96308495e-01 6.15198585e-02 5.98722822e-02 2.26982916e+02] [-6.11478812e-02 9.98096440e-01 -8.02705745e-03 -2.85276545e+01] [-6.02521352e-02 4.33636233e-03 9.98173771e-01 -1.49922048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.600714057 meters 0.042706492074134565 Centerline is valid? [True, True] Translation: X:227.04, Y:-28.53, Z:-15.00 [[ 9.96198268e-01 6.36272039e-02 5.95028553e-02 2.27044218e+02] [-6.32635570e-02 9.97964971e-01 -7.97734446e-03 -2.85340265e+01] [-5.98893414e-02 4.18265446e-03 9.98196259e-01 -1.49971800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.660714057 meters 0.042335176746701224 Centerline is valid? [True, True] Translation: X:227.10, Y:-28.54, Z:-15.01 [[ 9.96091361e-01 6.79649724e-02 5.64159849e-02 2.27103634e+02] [-6.76448549e-02 9.97680769e-01 -7.56683286e-03 -2.85366968e+01] [-5.67994228e-02 3.72100572e-03 9.98378676e-01 -1.50058624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.720714057 meters 0.04145290861620382 Centerline is valid? [True, True] Translation: X:227.16, Y:-28.54, Z:-15.01 [[ 9.95749171e-01 7.20317667e-02 5.74022045e-02 2.27163685e+02] [-7.17071268e-02 9.97396024e-01 -7.69805870e-03 -2.85400031e+01] [-5.78072353e-02 3.54918840e-03 9.98321455e-01 -1.50096740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.780714057 meters 0.04039678976486432 Centerline is valid? [True, True] Translation: X:227.22, Y:-28.54, Z:-15.01 [[ 9.95298791e-01 7.67117226e-02 5.91238361e-02 2.27223927e+02] [-7.63754991e-02 9.97047598e-01 -7.92906728e-03 -2.85440217e+01] [-5.95575312e-02 3.37617859e-03 9.98219165e-01 -1.50128019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.840714057 meters 0.03899453126013059 Centerline is valid? [True, True] Translation: X:227.28, Y:-28.55, Z:-15.02 [[ 9.95030727e-01 8.00759408e-02 5.91751388e-02 2.27284222e+02] [-7.97450567e-02 9.96783701e-01 -7.93594853e-03 -2.85479612e+01] [-5.96202924e-02 3.17758784e-03 9.98216071e-01 -1.50156527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90071405700002 meters 0.03804658018621332 Centerline is valid? [True, True] Translation: X:227.34, Y:-28.55, Z:-15.02 [[ 9.94580171e-01 8.44949237e-02 6.05878734e-02 2.27344807e+02] [-8.41561952e-02 9.96419446e-01 -8.12542227e-03 -2.85520020e+01] [-6.10574922e-02 2.98253898e-03 9.98129795e-01 -1.50179522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96071405700002 meters 0.03291176191668269 Centerline is valid? [True, True] Translation: X:227.41, Y:-28.55, Z:-15.02 [[ 9.94404635e-01 8.59031803e-02 6.14822301e-02 2.27405111e+02] [-8.55570540e-02 9.96299155e-01 -8.24522522e-03 -2.85520588e+01] [-6.19629850e-02 2.93885170e-03 9.98074121e-01 -1.50204219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02071405700002 meters 0.034520157346579844 Centerline is valid? [True, True] Translation: X:227.46, Y:-28.56, Z:-15.03 [[ 9.94634263e-01 8.36882380e-02 6.08190983e-02 2.27463511e+02] [-8.33455520e-02 9.96487345e-01 -8.15415593e-03 -2.85644291e+01] [-6.12878687e-02 3.04140155e-03 9.98115498e-01 -1.50261418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08071405700002 meters 0.037076919739649924 Centerline is valid? [True, True] Translation: X:227.52, Y:-28.58, Z:-15.03 [[ 9.94988383e-01 8.07680453e-02 5.89460844e-02 2.27520683e+02] [-8.04411811e-02 9.96728042e-01 -7.90103421e-03 -2.85786779e+01] [-5.93913664e-02 3.11974460e-03 9.98229900e-01 -1.50326730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.140714057 meters 0.03467663827996496 Centerline is valid? [True, True] Translation: X:227.58, Y:-28.59, Z:-15.04 [[ 9.95299124e-01 7.60839009e-02 5.99240630e-02 2.27580191e+02] [-7.57377630e-02 9.97095438e-01 -8.02985058e-03 -2.85869953e+01] [-6.03609522e-02 3.45358877e-03 9.98170641e-01 -1.50361421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.200714057 meters 0.037191641656881935 Centerline is valid? [True, True] Translation: X:227.64, Y:-28.60, Z:-15.04 [[ 9.95437686e-01 7.28616386e-02 6.16035237e-02 2.27638430e+02] [-7.24896482e-02 9.97335002e-01 -8.25496412e-03 -2.86027603e+01] [-6.20408206e-02 3.75168462e-03 9.98066562e-01 -1.50389816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.260714057 meters 0.038046951496573556 Centerline is valid? [True, True] Translation: X:227.70, Y:-28.62, Z:-15.04 [[ 9.95444299e-01 7.22313929e-02 6.22356327e-02 2.27699414e+02] [-7.18502195e-02 9.97380531e-01 -8.34399347e-03 -2.86150110e+01] [-6.26753067e-02 3.83433687e-03 9.98026605e-01 -1.50431426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.320714057 meters 0.038633373288256244 Centerline is valid? [True, True] Translation: X:227.76, Y:-28.63, Z:-15.05 [[ 9.95540770e-01 7.09340081e-02 6.21847331e-02 2.27759603e+02] [-7.05499646e-02 9.97473275e-01 -8.35271354e-03 -2.86278098e+01] [-6.26201009e-02 3.92833615e-03 9.98029705e-01 -1.50489033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.380714057 meters 0.037890116318638985 Centerline is valid? [True, True] Translation: X:227.82, Y:-28.64, Z:-15.05 [[ 9.95740281e-01 6.93946097e-02 6.07098037e-02 2.27820612e+02] [-6.90248768e-02 9.97581494e-01 -8.16883288e-03 -2.86389365e+01] [-6.11298496e-02 3.94354923e-03 9.98122032e-01 -1.50546073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.440714057 meters 0.03923321433126587 Centerline is valid? [True, True] Translation: X:227.88, Y:-28.65, Z:-15.06 [[ 9.95900150e-01 6.77809238e-02 5.99052382e-02 2.27881343e+02] [-6.74178175e-02 9.97692240e-01 -8.06418883e-03 -2.86503361e+01] [-6.03135895e-02 3.99244645e-03 9.98171494e-01 -1.50600515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.500714057 meters 0.041025649511000635 Centerline is valid? [True, True] Translation: X:227.94, Y:-28.66, Z:-15.06 [[ 9.96205200e-01 6.45980046e-02 5.83292087e-02 2.27940896e+02] [-6.42475091e-02 9.97902990e-01 -7.86637276e-03 -2.86624297e+01] [-5.87150437e-02 4.08901508e-03 9.98266409e-01 -1.50647550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.560714057 meters 0.03915486892991244 Centerline is valid? [True, True] Translation: X:228.00, Y:-28.67, Z:-15.07 [[ 9.96393246e-01 6.18683527e-02 5.80758582e-02 2.28001301e+02] [-6.15162126e-02 9.98075344e-01 -7.83352312e-03 -2.86702456e+01] [-5.84487293e-02 4.23266269e-03 9.98281439e-01 -1.50698107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62071405700001 meters 0.0415097272713169 Centerline is valid? [True, True] Translation: X:228.06, Y:-28.68, Z:-15.07 [[ 9.96451407e-01 6.08558517e-02 5.81477287e-02 2.28061107e+02] [-6.05009891e-02 9.98137304e-01 -7.84553470e-03 -2.86813380e+01] [-5.85168639e-02 4.29969899e-03 9.98277161e-01 -1.50729838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68071405700002 meters 0.04815910883932684 Centerline is valid? [True, True] Translation: X:228.12, Y:-28.70, Z:-15.08 [[ 9.96461002e-01 5.93748934e-02 5.94986785e-02 2.28120416e+02] [-5.90005905e-02 9.98225653e-01 -8.02966169e-03 -2.86979199e+01] [-5.98698675e-02 4.49078757e-03 9.98196089e-01 -1.50755423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74071405700002 meters 0.04357690149254889 Centerline is valid? [True, True] Translation: X:228.18, Y:-28.70, Z:-15.08 [[ 9.96514489e-01 5.61312712e-02 6.17102356e-02 2.28181474e+02] [-5.57219147e-02 9.98411529e-01 -8.33594049e-03 -2.86979184e+01] [-6.20801176e-02 4.86827299e-03 9.98059296e-01 -1.50770059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80071405700002 meters 0.0460044135953563 Centerline is valid? [True, True] Translation: X:228.24, Y:-28.71, Z:-15.08 [[ 9.96785948e-01 5.11610681e-02 6.16467253e-02 2.28242038e+02] [-5.07430795e-02 9.98677017e-01 -8.32800416e-03 -2.87068760e+01] [-6.19912373e-02 5.17309284e-03 9.98063287e-01 -1.50801404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86071405700002 meters 0.043746110598065505 Centerline is valid? [True, True] Translation: X:228.30, Y:-28.71, Z:-15.08 [[ 9.96976382e-01 4.79517642e-02 6.11450877e-02 2.28302200e+02] [-4.75344558e-02 9.98835428e-01 -8.26217002e-03 -2.87102835e+01] [-6.14700655e-02 5.33068991e-03 9.98094692e-01 -1.50846580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.920714057 meters 0.04704068706672433 Centerline is valid? [True, True] Translation: X:228.36, Y:-28.72, Z:-15.09 [[ 9.97358375e-01 4.41803469e-02 5.76573348e-02 2.28360699e+02] [-4.38031283e-02 9.99009806e-01 -7.79055901e-03 -2.87204619e+01] [-5.79444325e-02 5.24440764e-03 9.98306035e-01 -1.50915366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.980714057 meters 0.04556559366543479 Centerline is valid? [True, True] Translation: X:228.42, Y:-28.72, Z:-15.10 [[ 9.97594349e-01 4.30562223e-02 5.43293274e-02 2.28422449e+02] [-4.27194456e-02 9.99060105e-01 -7.34550634e-03 -2.87205188e+01] [-5.45945332e-02 5.00691688e-03 9.98496053e-01 -1.50958368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.040714057 meters 0.04625903679190851 Centerline is valid? [True, True] Translation: X:228.48, Y:-28.72, Z:-15.10 [[ 9.97443482e-01 4.59478603e-02 5.47292793e-02 2.28481997e+02] [-4.56102735e-02 9.98931885e-01 -7.40211961e-03 -2.87226480e+01] [-5.50109337e-02 4.88697856e-03 9.98473793e-01 -1.50983357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.100714057 meters 0.044465958577460926 Centerline is valid? [True, True] Translation: X:228.54, Y:-28.72, Z:-15.10 [[ 9.97126150e-01 5.21340663e-02 5.49679855e-02 2.28543641e+02] [-5.18028950e-02 9.98629663e-01 -7.43348548e-03 -2.87199251e+01] [-5.52801986e-02 4.56462197e-03 9.98460447e-01 -1.50998049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.160714057 meters 0.043310818608848486 Centerline is valid? [True, True] Translation: X:228.60, Y:-28.72, Z:-15.10 [[ 9.96785344e-01 5.84010405e-02 5.48479369e-02 2.28604077e+02] [-5.80807113e-02 9.98284333e-01 -7.41763430e-03 -2.87187001e+01] [-5.51870337e-02 4.20818198e-03 9.98467166e-01 -1.51032054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.220714057 meters 0.04455066775252457 Centerline is valid? [True, True] Translation: X:228.66, Y:-28.72, Z:-15.11 [[ 9.96625987e-01 6.15123367e-02 5.43403520e-02 2.28663605e+02] [-6.12025382e-02 9.98098316e-01 -7.34849129e-03 -2.87214389e+01] [-5.46890367e-02 3.99792992e-03 9.98495431e-01 -1.51077138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.280714057 meters 0.04106692340006026 Centerline is valid? [True, True] Translation: X:228.73, Y:-28.72, Z:-15.11 [[ 9.96660713e-01 6.36185579e-02 5.11869277e-02 2.28726106e+02] [-6.33464973e-02 9.97967591e-01 -6.92156869e-03 -2.87163408e+01] [-5.15232352e-02 3.65594301e-03 9.98665104e-01 -1.51134864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.340714057 meters 0.04088798887145354 Centerline is valid? [True, True] Translation: X:228.79, Y:-28.72, Z:-15.12 [[ 9.96631263e-01 6.44615550e-02 5.07033867e-02 2.28786164e+02] [-6.41955836e-02 9.97913768e-01 -6.85847076e-03 -2.87199675e+01] [-5.10397154e-02 3.58043287e-03 9.98690206e-01 -1.51176021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40071405700002 meters 0.03986285427073414 Centerline is valid? [True, True] Translation: X:228.85, Y:-28.72, Z:-15.12 [[ 9.96364662e-01 6.82245077e-02 5.10184031e-02 2.28847338e+02] [-6.79601205e-02 9.97664170e-01 -6.90112403e-03 -2.87192177e+01] [-5.13700586e-02 3.40881929e-03 9.98673869e-01 -1.51215138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46071405700002 meters 0.037240521499279526 Centerline is valid? [True, True] Translation: X:228.91, Y:-28.72, Z:-15.12 [[ 9.95871732e-01 7.43193666e-02 5.21164545e-02 2.28908793e+02] [-7.40517692e-02 9.97229481e-01 -7.04959224e-03 -2.87153187e+01] [-5.24959861e-02 3.16117397e-03 9.98616132e-01 -1.51233324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52071405700002 meters 0.03484199262142956 Centerline is valid? [True, True] Translation: X:228.97, Y:-28.71, Z:-15.13 [[ 9.95596114e-01 7.71491203e-02 5.32577704e-02 2.28969811e+02] [-7.68737242e-02 9.97014815e-01 -7.20335722e-03 -2.87127609e+01] [-5.36545188e-02 3.07751130e-03 9.98554817e-01 -1.51253849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58071405700002 meters 0.03617910041626104 Centerline is valid? [True, True] Translation: X:229.03, Y:-28.72, Z:-15.13 [[ 9.95699251e-01 7.57193824e-02 5.33814257e-02 2.29028126e+02] [-7.54406795e-02 9.97124155e-01 -7.21968541e-03 -2.87189404e+01] [-5.37745791e-02 3.16150433e-03 9.98548096e-01 -1.51298404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.640714057 meters 0.03960292211047219 Centerline is valid? [True, True] Translation: X:229.09, Y:-28.73, Z:-15.14 [[ 9.96145478e-01 7.04899713e-02 5.22048862e-02 2.29087663e+02] [-7.02165148e-02 9.97506818e-01 -7.05610648e-03 -2.87293533e+01] [-5.25721147e-02 3.36326339e-03 9.98611467e-01 -1.51350808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.700714057 meters 0.03913281809162913 Centerline is valid? [True, True] Translation: X:229.15, Y:-28.74, Z:-15.14 [[ 9.96569947e-01 6.48196977e-02 5.14465512e-02 2.29147549e+02] [-6.45466090e-02 9.97890465e-01 -6.95377061e-03 -2.87350917e+01] [-5.17887642e-02 3.60921838e-03 9.98651540e-01 -1.51395598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.760714057 meters 0.04129956363166289 Centerline is valid? [True, True] Translation: X:229.21, Y:-28.74, Z:-15.14 [[ 9.96811686e-01 6.10867511e-02 5.13309924e-02 2.29207477e+02] [-6.08099963e-02 9.98125250e-01 -6.93759763e-03 -2.87426477e+01] [-5.16585549e-02 3.79404093e-03 9.98657598e-01 -1.51436394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.820714057 meters 0.049475457525780184 Centerline is valid? [True, True] Translation: X:229.27, Y:-28.76, Z:-15.15 [[ 9.96927526e-01 5.98526764e-02 5.05288561e-02 2.29265193e+02] [-5.95829354e-02 9.98199998e-01 -6.82922811e-03 -2.87576815e+01] [-5.08466516e-02 3.79758791e-03 9.98699252e-01 -1.51491091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.880714057 meters 0.04535719479588552 Centerline is valid? [True, True] Translation: X:229.33, Y:-28.76, Z:-15.15 [[ 9.96936599e-01 5.95175973e-02 5.07451821e-02 2.29325829e+02] [-5.92451422e-02 9.98219908e-01 -6.85779321e-03 -2.87569314e+01] [-5.10630104e-02 3.83037951e-03 9.98688088e-01 -1.51515313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.940714057 meters 0.045905722394356294 Centerline is valid? [True, True] Translation: X:229.38, Y:-28.76, Z:-15.15 [[ 9.96869442e-01 5.94763696e-02 5.20948822e-02 2.29384810e+02] [-5.91892541e-02 9.98221967e-01 -7.03830963e-03 -2.87620324e+01] [-5.24208689e-02 3.93281857e-03 9.98617337e-01 -1.51541547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.000714057 meters 0.0443822039901825 Centerline is valid? [True, True] Translation: X:229.45, Y:-28.76, Z:-15.16 [[ 9.96887712e-01 5.87229051e-02 5.25976308e-02 2.29445679e+02] [-5.84292918e-02 9.98266273e-01 -7.10398098e-03 -2.87648613e+01] [-5.29236072e-02 4.00862903e-03 9.98590518e-01 -1.51578295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.060714057 meters 0.0433103145198151 Centerline is valid? [True, True] Translation: X:229.51, Y:-28.77, Z:-15.16 [[ 9.96918478e-01 5.79821539e-02 5.28357691e-02 2.29506061e+02] [-5.76848391e-02 9.98309338e-01 -7.13614460e-03 -2.87685452e+01] [-5.31602107e-02 4.06633157e-03 9.98577717e-01 -1.51612370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12071405700001 meters 0.04466698706410891 Centerline is valid? [True, True] Translation: X:229.57, Y:-28.78, Z:-15.16 [[ 9.96887959e-01 5.73240157e-02 5.41142672e-02 2.29566110e+02] [-5.70111565e-02 9.98346788e-01 -7.30882208e-03 -2.87750832e+01] [-5.44437759e-02 4.20095977e-03 9.98508001e-01 -1.51638305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18071405700002 meters 0.04140484714497291 Centerline is valid? [True, True] Translation: X:229.63, Y:-28.78, Z:-15.17 [[ 9.96948980e-01 5.67883848e-02 5.35519499e-02 2.29626754e+02] [-5.64812344e-02 9.98377462e-01 -7.23287395e-03 -2.87751897e+01] [-5.38758030e-02 4.18612607e-03 9.98538870e-01 -1.51666393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24071405700002 meters 0.042532939767725 Centerline is valid? [True, True] Translation: X:229.69, Y:-28.78, Z:-15.17 [[ 9.97036293e-01 5.66164337e-02 5.20884732e-02 2.29687010e+02] [-5.63256282e-02 9.98387665e-01 -7.03521275e-03 -2.87819852e+01] [-5.24027978e-02 4.08044647e-03 9.98617693e-01 -1.51713483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30071405700002 meters 0.041429542692949184 Centerline is valid? [True, True] Translation: X:229.75, Y:-28.79, Z:-15.18 [[ 9.97082504e-01 5.68170132e-02 5.09735938e-02 2.29746504e+02] [-5.65387726e-02 9.98376664e-01 -6.88511720e-03 -2.87860794e+01] [-5.12820383e-02 3.98304547e-03 9.98676268e-01 -1.51757908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36071405700002 meters 0.04127884710985693 Centerline is valid? [True, True] Translation: X:229.81, Y:-28.79, Z:-15.18 [[ 9.97069767e-01 5.70343200e-02 5.09800494e-02 2.29805311e+02] [-5.67563874e-02 9.98364323e-01 -6.88411087e-03 -2.87936851e+01] [-5.12892931e-02 3.97049540e-03 9.98675945e-01 -1.51797025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.420714057 meters 0.044067283998739784 Centerline is valid? [True, True] Translation: X:229.86, Y:-28.80, Z:-15.18 [[ 9.96853820e-01 5.92944678e-02 5.25987416e-02 2.29863566e+02] [-5.90018155e-02 9.98232621e-01 -7.10068150e-03 -2.88033318e+01] [-5.29268108e-02 3.97492023e-03 9.98590483e-01 -1.51823542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.480714057 meters 0.03981669335432891 Centerline is valid? [True, True] Translation: X:229.92, Y:-28.80, Z:-15.18 [[ 9.96653487e-01 6.08112422e-02 5.46243515e-02 2.29923826e+02] [-6.04979622e-02 9.98141097e-01 -7.37207885e-03 -2.88036911e+01] [-5.49711154e-02 4.04274615e-03 9.98479761e-01 -1.51838102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.540714057 meters 0.041915340232618614 Centerline is valid? [True, True] Translation: X:229.98, Y:-28.81, Z:-15.19 [[ 9.96744567e-01 5.95846505e-02 5.43133292e-02 2.29981471e+02] [-5.92732219e-02 9.98214897e-01 -7.32829118e-03 -2.88146759e+01] [-5.46530280e-02 4.08510840e-03 9.98497050e-01 -1.51886332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.600714057 meters 0.041183533125986875 Centerline is valid? [True, True] Translation: X:230.04, Y:-28.82, Z:-15.19 [[ 9.96974034e-01 5.66015756e-02 5.32826135e-02 2.30041187e+02] [-5.62978114e-02 9.98388160e-01 -7.18596095e-03 -2.88225448e+01] [-5.36034672e-02 4.16452196e-03 9.98553617e-01 -1.51931653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.660714057 meters 0.04124107754576132 Centerline is valid? [True, True] Translation: X:230.10, Y:-28.83, Z:-15.20 [[ 9.97152065e-01 5.30267454e-02 5.36276314e-02 2.30100472e+02] [-5.27139446e-02 9.98583469e-01 -7.23158265e-03 -2.88328187e+01] [-5.39351335e-02 4.38406358e-03 9.98534817e-01 -1.51968202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.720714057 meters 0.045880511630224406 Centerline is valid? [True, True] Translation: X:230.16, Y:-28.85, Z:-15.20 [[ 9.97249497e-01 5.10073119e-02 5.37744777e-02 2.30158371e+02] [-5.06898677e-02 9.98688115e-01 -7.25160171e-03 -2.88486040e+01] [-5.40738165e-02 4.50583500e-03 9.98526775e-01 -1.52015623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.780714057 meters 0.044370963162401765 Centerline is valid? [True, True] Translation: X:230.22, Y:-28.85, Z:-15.21 [[ 9.97165101e-01 5.20573513e-02 5.43304048e-02 2.30220151e+02] [-5.17349853e-02 9.98633992e-01 -7.32405208e-03 -2.88547698e+01] [-5.46374598e-02 4.49250644e-03 9.98496152e-01 -1.52053653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.840714057 meters 0.04437163982644056 Centerline is valid? [True, True] Translation: X:230.28, Y:-28.86, Z:-15.21 [[ 9.96992089e-01 5.39051633e-02 5.56866878e-02 2.30279760e+02] [-5.35683903e-02 9.98535838e-01 -7.52381025e-03 -2.88631274e+01] [-5.60107257e-02 4.51813308e-03 9.98419944e-01 -1.52090499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90071405700002 meters 0.04164082565188727 Centerline is valid? [True, True] Translation: X:230.34, Y:-28.87, Z:-15.21 [[ 9.96736937e-01 5.66817685e-02 5.74687350e-02 2.30341010e+02] [-5.63276526e-02 9.98382146e-01 -7.76445996e-03 -2.88670203e+01] [-5.78158623e-02 4.50204510e-03 9.98317113e-01 -1.52115706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96071405700002 meters 0.04187638593977823 Centerline is valid? [True, True] Translation: X:230.40, Y:-28.88, Z:-15.22 [[ 9.96711842e-01 5.80587461e-02 5.65215574e-02 2.30401708e+02] [-5.77183716e-02 9.98303691e-01 -7.63737170e-03 -2.88756339e+01] [-5.68690957e-02 4.34992657e-03 9.98372167e-01 -1.52165562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02071405700002 meters 0.04101794323130912 Centerline is valid? [True, True] Translation: X:230.46, Y:-28.88, Z:-15.22 [[ 9.96857593e-01 5.73739205e-02 5.46184186e-02 2.30461723e+02] [-5.70549746e-02 9.98343744e-01 -7.38230740e-03 -2.88845559e+01] [-5.49515084e-02 4.24285670e-03 9.98480010e-01 -1.52228202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08071405700002 meters 0.04231203330679257 Centerline is valid? [True, True] Translation: X:230.52, Y:-28.89, Z:-15.23 [[ 9.96996378e-01 5.67913386e-02 5.26589580e-02 2.30520811e+02] [-5.64940267e-02 9.98377559e-01 -7.11859883e-03 -2.88945137e+01] [-5.29777967e-02 4.12230067e-03 9.98587182e-01 -1.52287300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.140714057 meters 0.04209885194447122 Centerline is valid? [True, True] Translation: X:230.58, Y:-28.90, Z:-15.23 [[ 9.96914925e-01 5.87088393e-02 5.20951481e-02 2.30580920e+02] [-5.84204792e-02 9.98267227e-01 -7.04216442e-03 -2.89021991e+01] [-5.24183163e-02 3.97701531e-03 9.98617296e-01 -1.52328409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.200714057 meters 0.041775810256255375 Centerline is valid? [True, True] Translation: X:230.64, Y:-28.91, Z:-15.24 [[ 9.96578420e-01 6.29704980e-02 5.35366193e-02 2.30640779e+02] [-6.26719826e-02 9.98007931e-01 -7.23824394e-03 -2.89093166e+01] [-5.38857665e-02 3.85823163e-03 9.98539653e-01 -1.52356513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.260714057 meters 0.03976107739812022 Centerline is valid? [True, True] Translation: X:230.70, Y:-28.91, Z:-15.24 [[ 9.96233324e-01 6.70015599e-02 5.50450277e-02 2.30701134e+02] [-6.66920904e-02 9.97745850e-01 -7.44200546e-03 -2.89132290e+01] [-5.54195739e-02 3.74290587e-03 9.98456139e-01 -1.52383996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.320714057 meters 0.04070256269953405 Centerline is valid? [True, True] Translation: X:230.76, Y:-28.92, Z:-15.24 [[ 9.96066011e-01 6.96020486e-02 5.48457487e-02 2.30759552e+02] [-6.92987329e-02 9.97568394e-01 -7.41518411e-03 -2.89230131e+01] [-5.52284974e-02 3.58527197e-03 9.98467305e-01 -1.52433441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.380714057 meters 0.03813164300206556 Centerline is valid? [True, True] Translation: X:230.82, Y:-28.93, Z:-15.25 [[ 9.95998354e-01 7.01884675e-02 5.53250254e-02 2.30818320e+02] [-6.98808121e-02 9.97527316e-01 -7.47834937e-03 -2.89276101e+01] [-5.57131180e-02 3.58226596e-03 9.98440392e-01 -1.52466510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.440714057 meters 0.0387804939133257 Centerline is valid? [True, True] Translation: X:230.88, Y:-28.94, Z:-15.25 [[ 9.96013918e-01 6.96407179e-02 5.57354983e-02 2.30876133e+02] [-6.93278459e-02 9.97565512e-01 -7.52983301e-03 -2.89378290e+01] [-5.61241939e-02 3.63579644e-03 9.98417175e-01 -1.52507223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.500714057 meters 0.041280706788494305 Centerline is valid? [True, True] Translation: X:230.93, Y:-28.95, Z:-15.26 [[ 9.96149112e-01 6.89305371e-02 5.41805142e-02 2.30932585e+02] [-6.86340581e-02 9.97615077e-01 -7.31604297e-03 -2.89519619e+01] [-5.45555966e-02 3.56924115e-03 9.98504355e-01 -1.52571878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.560714057 meters 0.03924026690576857 Centerline is valid? [True, True] Translation: X:230.99, Y:-28.96, Z:-15.26 [[ 9.96098927e-01 7.01198425e-02 5.35736522e-02 2.30991233e+02] [-6.98318857e-02 9.97532570e-01 -7.23042598e-03 -2.89581133e+01] [-5.39484593e-02 3.46107041e-03 9.98537723e-01 -1.52605685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62071405700001 meters 0.038368616365422964 Centerline is valid? [True, True] Translation: X:231.05, Y:-28.97, Z:-15.26 [[ 9.95684012e-01 7.48315972e-02 5.48960890e-02 2.31050087e+02] [-7.45366008e-02 9.97190788e-01 -7.40449395e-03 -2.89660633e+01] [-5.52959644e-02 3.28076837e-03 9.98464618e-01 -1.52640207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68071405700002 meters 0.03636686529557238 Centerline is valid? [True, True] Translation: X:231.11, Y:-28.97, Z:-15.27 [[ 9.94957180e-01 8.23667814e-02 5.72356780e-02 2.31109227e+02] [-8.20585523e-02 9.96597619e-01 -7.71882888e-03 -2.89727540e+01] [-5.76767155e-02 2.98322734e-03 9.98330855e-01 -1.52666441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74071405700002 meters 0.028190018265260377 Centerline is valid? [True, True] Translation: X:231.17, Y:-28.97, Z:-15.27 [[ 9.94149194e-01 9.12063529e-02 5.78686614e-02 2.31171049e+02] [-9.09062234e-02 9.95828884e-01 -7.80339215e-03 -2.89666453e+01] [-5.83390034e-02 2.49711456e-03 9.98293707e-01 -1.52690582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80071405700002 meters 0.026946051007222593 Centerline is valid? [True, True] Translation: X:231.23, Y:-28.97, Z:-15.27 [[ 9.93571038e-01 9.82062626e-02 5.63215924e-02 2.31230649e+02] [-9.79333303e-02 9.95164016e-01 -7.59243411e-03 -2.89736469e+01] [-5.67948466e-02 2.02786153e-03 9.98383811e-01 -1.52748572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86071405700002 meters 0.02610209921927543 Centerline is valid? [True, True] Translation: X:231.29, Y:-28.98, Z:-15.28 [[ 9.93333306e-01 1.00830224e-01 5.58767250e-02 2.31288323e+02] [-1.00565712e-01 9.94901902e-01 -7.53283911e-03 -2.89831728e+01] [-5.63513978e-02 1.86333733e-03 9.98409259e-01 -1.52796871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.920714057 meters 0.029054098829608518 Centerline is valid? [True, True] Translation: X:231.34, Y:-29.00, Z:-15.28 [[ 9.93554160e-01 9.80857218e-02 5.68271249e-02 2.31343475e+02] [-9.78078855e-02 9.95175860e-01 -7.65674685e-03 -2.90043274e+01] [-5.73040004e-02 2.04925176e-03 9.98354673e-01 -1.52846340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.980714057 meters 0.029028127252272707 Centerline is valid? [True, True] Translation: X:231.40, Y:-29.02, Z:-15.29 [[ 9.94110654e-01 9.23265525e-02 5.67434119e-02 2.31401979e+02] [-9.20404970e-02 9.95725957e-01 -7.63976032e-03 -2.90201680e+01] [-5.72062408e-02 2.37207530e-03 9.98359564e-01 -1.52887934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.040714057 meters 0.030364365710157534 Centerline is valid? [True, True] Translation: X:231.46, Y:-29.04, Z:-15.29 [[ 9.94393587e-01 8.88061683e-02 5.74008601e-02 2.31460115e+02] [-8.85076407e-02 9.96045524e-01 -7.72734255e-03 -2.90363948e+01] [-5.78601055e-02 2.60360517e-03 9.98321306e-01 -1.52926497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.100714057 meters 0.03310455468120575 Centerline is valid? [True, True] Translation: X:231.52, Y:-29.06, Z:-15.30 [[ 9.94844011e-01 8.39987822e-02 5.68295597e-02 2.31516901e+02] [-8.36984762e-02 9.96461775e-01 -7.64826986e-03 -2.90593336e+01] [-5.72709292e-02 2.85228791e-03 9.98354599e-01 -1.52973301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.160714057 meters 0.034339217424545376 Centerline is valid? [True, True] Translation: X:231.57, Y:-29.07, Z:-15.30 [[ 9.95044308e-01 8.18516939e-02 5.64546265e-02 2.31574418e+02] [-8.15519381e-02 9.96640138e-01 -7.59710490e-03 -2.90742940e+01] [-5.68867827e-02 2.95547179e-03 9.98376261e-01 -1.53019338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.220714057 meters 0.03712926707282891 Centerline is valid? [True, True] Translation: X:231.63, Y:-29.10, Z:-15.31 [[ 9.95178871e-01 7.95083503e-02 5.74233200e-02 2.31629820e+02] [-7.91944897e-02 9.96829256e-01 -7.72450636e-03 -2.90956805e+01] [-5.78554081e-02 3.13965499e-03 9.98320036e-01 -1.53073312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.280714057 meters 0.03692356406096404 Centerline is valid? [True, True] Translation: X:231.69, Y:-29.11, Z:-15.31 [[ 9.95161556e-01 8.00736256e-02 5.69358636e-02 2.31687954e+02] [-7.97662231e-02 9.96784204e-01 -7.65504463e-03 -2.91051244e+01] [-5.73657367e-02 3.07644733e-03 9.98348490e-01 -1.53118907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.340714057 meters 0.03651254494964294 Centerline is valid? [True, True] Translation: X:231.75, Y:-29.12, Z:-15.32 [[ 9.94971085e-01 8.31606749e-02 5.58286794e-02 2.31746111e+02] [-8.28701928e-02 9.96532111e-01 -7.50218887e-03 -2.91163589e+01] [-5.62589588e-02 2.83792758e-03 9.98412177e-01 -1.53171744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40071405700002 meters 0.034159413359744234 Centerline is valid? [True, True] Translation: X:231.81, Y:-29.12, Z:-15.32 [[ 9.94392145e-01 8.91322780e-02 5.69183614e-02 2.31805611e+02] [-8.88402026e-02 9.96016541e-01 -7.64645426e-03 -2.91247765e+01] [-5.73731753e-02 2.54693530e-03 9.98349554e-01 -1.53194728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46071405700002 meters 0.030898310992965604 Centerline is valid? [True, True] Translation: X:231.87, Y:-29.13, Z:-15.32 [[ 9.93456251e-01 9.79091585e-02 5.88087917e-02 2.31866157e+02] [-9.76126675e-02 9.95193123e-01 -7.90029122e-03 -2.91284031e+01] [-5.92996160e-02 2.10811067e-03 9.98238003e-01 -1.53201846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52071405700002 meters 0.024197284520000212 Centerline is valid? [True, True] Translation: X:231.93, Y:-29.12, Z:-15.32 [[ 9.92200572e-01 1.08462799e-01 6.14316364e-02 2.31928037e+02] [-1.08159446e-01 9.94099311e-01 -8.25193047e-03 -2.91233153e+01] [-6.19641749e-02 1.54315836e-03 9.98077181e-01 -1.53202800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58071405700002 meters 0.023116389178584454 Centerline is valid? [True, True] Translation: X:231.99, Y:-29.13, Z:-15.32 [[ 9.91403346e-01 1.15040321e-01 6.23308160e-02 2.31986479e+02] [-1.14740991e-01 9.93360159e-01 -8.37256218e-03 -2.91340760e+01] [-6.28801316e-02 1.14868655e-03 9.98020425e-01 -1.53242422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.640714057 meters 0.023179498526543624 Centerline is valid? [True, True] Translation: X:232.04, Y:-29.15, Z:-15.33 [[ 9.91391502e-01 1.15280200e-01 6.20754874e-02 2.32043424e+02] [-1.14983927e-01 9.93332374e-01 -8.33607990e-03 -2.91491517e+01] [-6.26225763e-02 1.12663542e-03 9.98036644e-01 -1.53289281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.700714057 meters 0.02310358021106169 Centerline is valid? [True, True] Translation: X:232.10, Y:-29.17, Z:-15.33 [[ 9.91671415e-01 1.13144153e-01 6.15321413e-02 2.32099928e+02] [-1.12849218e-01 9.93577802e-01 -8.25868638e-03 -2.91664865e+01] [-6.20713918e-02 1.24604915e-03 9.98070934e-01 -1.53332570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.760714057 meters 0.02410670412503538 Centerline is valid? [True, True] Translation: X:232.16, Y:-29.19, Z:-15.34 [[ 9.91912011e-01 1.11491000e-01 6.06656405e-02 2.32155905e+02] [-1.11201501e-01 9.93764559e-01 -8.13805824e-03 -2.91861907e+01] [-6.11946837e-02 1.32612743e-03 9.98124968e-01 -1.53381899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.820714057 meters 0.02428704860074883 Centerline is valid? [True, True] Translation: X:232.21, Y:-29.20, Z:-15.34 [[ 9.91942031e-01 1.11069843e-01 6.09466675e-02 2.32213216e+02] [-1.10777203e-01 9.93811682e-01 -8.17014867e-03 -2.92037697e+01] [-6.14769673e-02 1.35281250e-03 9.98107586e-01 -1.53422055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.880714057 meters 0.024305825894035658 Centerline is valid? [True, True] Translation: X:232.27, Y:-29.22, Z:-15.35 [[ 9.91978960e-01 1.10072705e-01 6.21429134e-02 2.32270013e+02] [-1.09766784e-01 9.93922498e-01 -8.32592900e-03 -2.92225485e+01] [-6.26816972e-02 1.43791866e-03 9.98032533e-01 -1.53460805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.940714057 meters 0.024623380710844453 Centerline is valid? [True, True] Translation: X:232.33, Y:-29.24, Z:-15.35 [[ 9.92085342e-01 1.08238005e-01 6.36491027e-02 2.32326178e+02] [-1.07913588e-01 9.94123743e-01 -8.52300454e-03 -2.92434246e+01] [-6.41975972e-02 1.58694482e-03 9.97935945e-01 -1.53501261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.000714057 meters 0.025174897090376833 Centerline is valid? [True, True] Translation: X:232.38, Y:-29.26, Z:-15.35 [[ 9.92361450e-01 1.04782772e-01 6.51100820e-02 2.32383683e+02] [-1.04436162e-01 9.94493418e-01 -8.71379751e-03 -2.92632938e+01] [-6.56646038e-02 1.84738969e-03 9.97840041e-01 -1.53521387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.060714057 meters 0.026822843539868413 Centerline is valid? [True, True] Translation: X:232.44, Y:-29.29, Z:-15.36 [[ 9.92845575e-01 1.00616298e-01 6.42963876e-02 2.32440566e+02] [-1.00269739e-01 9.94923100e-01 -8.60253732e-03 -2.92870502e+01] [-6.48355168e-02 2.09400908e-03 9.97893767e-01 -1.53581252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12071405700001 meters 0.02880187808334829 Centerline is valid? [True, True] Translation: X:232.50, Y:-29.31, Z:-15.36 [[ 9.93419418e-01 9.58025295e-02 6.27673171e-02 2.32499143e+02] [-9.54627653e-02 9.95397586e-01 -8.39675848e-03 -2.93093420e+01] [-6.32828666e-02 2.34956126e-03 9.97992865e-01 -1.53644058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18071405700002 meters 0.029937959430371672 Centerline is valid? [True, True] Translation: X:232.56, Y:-29.33, Z:-15.37 [[ 9.93982839e-01 9.11253073e-02 6.07807077e-02 2.32557631e+02] [-9.07978793e-02 9.95836129e-01 -8.13316450e-03 -2.93278631e+01] [-6.12687618e-02 2.56546658e-03 9.98118008e-01 -1.53693514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24071405700002 meters 0.031872568997647496 Centerline is valid? [True, True] Translation: X:232.62, Y:-29.35, Z:-15.37 [[ 9.94511684e-01 8.56122841e-02 6.01418851e-02 2.32616268e+02] [-8.52815870e-02 9.96324379e-01 -8.04881655e-03 -2.93483385e+01] [-6.06099039e-02 2.87564669e-03 9.98157388e-01 -1.53737046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30071405700002 meters 0.036176178688296354 Centerline is valid? [True, True] Translation: X:232.67, Y:-29.37, Z:-15.38 [[ 9.95095464e-01 7.89565558e-02 5.95892610e-02 2.32674228e+02] [-7.86200132e-02 9.96872757e-01 -7.97494243e-03 -2.93699165e+01] [-6.00325849e-02 3.25092054e-03 9.98191124e-01 -1.53773477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36071405700002 meters 0.0337172569793485 Centerline is valid? [True, True] Translation: X:232.73, Y:-29.38, Z:-15.38 [[ 9.95540068e-01 7.37996240e-02 5.87672373e-02 2.32733997e+02] [-7.34632131e-02 9.97266895e-01 -7.86747319e-03 -2.93776596e+01] [-5.91872368e-02 3.51515472e-03 9.98240710e-01 -1.53792257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.420714057 meters 0.036611106418396454 Centerline is valid? [True, True] Translation: X:232.79, Y:-29.39, Z:-15.38 [[ 9.95986516e-01 6.76327086e-02 5.86231708e-02 2.32793232e+02] [-6.72873091e-02 9.97702773e-01 -7.84823406e-03 -2.93939573e+01] [-5.90192974e-02 3.87213989e-03 9.98249332e-01 -1.53822021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.480714057 meters 0.03873436025683478 Centerline is valid? [True, True] Translation: X:232.85, Y:-29.41, Z:-15.39 [[ 9.96215095e-01 6.44585420e-02 5.83145066e-02 2.32853246e+02] [-6.41112613e-02 9.97912206e-01 -7.80868461e-03 -2.94055391e+01] [-5.86960944e-02 4.04051291e-03 9.98267721e-01 -1.53862294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.540714057 meters 0.04168879846064845 Centerline is valid? [True, True] Translation: X:232.91, Y:-29.42, Z:-15.39 [[ 9.96500861e-01 6.01880991e-02 5.79950566e-02 2.32912318e+02] [-5.98373532e-02 9.98177921e-01 -7.76717379e-03 -2.94168888e+01] [-5.83568765e-02 4.26972468e-03 9.98286654e-01 -1.53894283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.600714057 meters 0.04556866967172436 Centerline is valid? [True, True] Translation: X:232.97, Y:-29.43, Z:-15.39 [[ 9.96833269e-01 5.47103656e-02 5.77079614e-02 2.32971294e+02] [-5.43540249e-02 9.98491824e-01 -7.72774393e-03 -2.94268445e+01] [-5.80437153e-02 4.56661228e-03 9.98303598e-01 -1.53929850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.660714057 meters 0.04714515645164317 Centerline is valid? [True, True] Translation: X:233.03, Y:-29.43, Z:-15.40 [[ 9.96913590e-01 5.26970646e-02 5.81920360e-02 2.33031555e+02] [-5.23313106e-02 9.98599375e-01 -7.79249328e-03 -2.94340787e+01] [-5.85211723e-02 4.72317694e-03 9.98274994e-01 -1.53962739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.720714057 meters 0.04583020466477227 Centerline is valid? [True, True] Translation: X:233.09, Y:-29.43, Z:-15.40 [[ 9.97234778e-01 4.73933056e-02 5.72422281e-02 2.33092747e+02] [-4.70305849e-02 9.98864018e-01 -7.66798916e-03 -2.94348751e+01] [-5.75406133e-02 4.95465000e-03 9.98330872e-01 -1.54008150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.780714057 meters 0.05573443011792917 Centerline is valid? [True, True] Translation: X:233.15, Y:-29.45, Z:-15.41 [[ 9.97646025e-01 3.98475883e-02 5.58084038e-02 2.33150718e+02] [-3.94910606e-02 9.99191947e-01 -7.47718504e-03 -2.94522055e+01] [-5.60612555e-02 5.25565088e-03 9.98413498e-01 -1.54066788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.840714057 meters 0.051001654545497044 Centerline is valid? [True, True] Translation: X:233.21, Y:-29.45, Z:-15.41 [[ 9.97957575e-01 3.34772348e-02 5.44054618e-02 2.33212686e+02] [-3.31290246e-02 9.99424497e-01 -7.28984737e-03 -2.94479097e+01] [-5.46181952e-02 5.47255851e-03 9.98492315e-01 -1.54092179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90071405700002 meters 0.06475049982434902 Centerline is valid? [True, True] Translation: X:233.27, Y:-29.47, Z:-15.41 [[ 9.98038478e-01 3.06995021e-02 5.45594778e-02 2.33270148e+02] [-3.03451829e-02 9.99512741e-01 -7.31098201e-03 -2.94669574e+01] [-5.47573367e-02 5.64102403e-03 9.98483757e-01 -1.54127374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96071405700002 meters 0.05177875698488521 Centerline is valid? [True, True] Translation: X:233.33, Y:-29.45, Z:-15.42 [[ 9.98155953e-01 3.00758756e-02 5.27269809e-02 2.33334765e+02] [-2.97442223e-02 9.99532584e-01 -7.06365281e-03 -2.94505438e+01] [-5.29147810e-02 5.48230407e-03 9.98583983e-01 -1.54152462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02071405700002 meters 0.05154786067605027 Centerline is valid? [True, True] Translation: X:233.40, Y:-29.45, Z:-15.42 [[ 9.98112094e-01 3.32339122e-02 5.16503108e-02 2.33395951e+02] [-3.29196193e-02 9.99434018e-01 -6.92410609e-03 -2.94502635e+01] [-5.18511927e-02 5.21072547e-03 9.98641228e-01 -1.54191380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08071405700002 meters 0.06694196771788134 Centerline is valid? [True, True] Translation: X:233.45, Y:-29.47, Z:-15.42 [[ 9.97797720e-01 4.01862441e-02 5.27709678e-02 2.33453148e+02] [-3.98677546e-02 9.99179920e-01 -7.07459872e-03 -2.94691622e+01] [-5.30119929e-02 4.95515848e-03 9.98581582e-01 -1.54246400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.140714057 meters 0.04349079019095004 Centerline is valid? [True, True] Translation: X:233.52, Y:-29.44, Z:-15.42 [[ 9.97648363e-01 4.26526045e-02 5.36516377e-02 2.33517971e+02] [-4.23269977e-02 9.99077931e-01 -7.19112956e-03 -2.94430234e+01] [-5.39088876e-02 4.90330589e-03 9.98533820e-01 -1.54240033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.200714057 meters 0.04356126282690302 Centerline is valid? [True, True] Translation: X:233.58, Y:-29.44, Z:-15.43 [[ 9.97026259e-01 5.33796068e-02 5.55810724e-02 2.33578640e+02] [-5.30465779e-02 9.98564241e-01 -7.45101586e-03 -2.94387591e+01] [-5.58990037e-02 4.48047278e-03 9.98426375e-01 -1.54266158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.260714057 meters 0.04084391610547958 Centerline is valid? [True, True] Translation: X:233.64, Y:-29.43, Z:-15.43 [[ 9.96759871e-01 5.81945601e-02 5.55261364e-02 2.33640043e+02] [-5.78696136e-02 9.98296400e-01 -7.44354335e-03 -2.94334723e+01] [-5.58647158e-02 4.20614925e-03 9.98429488e-01 -1.54306460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.320714057 meters 0.04031685327197637 Centerline is valid? [True, True] Translation: X:233.70, Y:-29.43, Z:-15.43 [[ 9.96723331e-01 5.95898846e-02 5.46959516e-02 2.33702901e+02] [-5.92768189e-02 9.98214673e-01 -7.32977118e-03 -2.94336314e+01] [-5.50350816e-02 4.06355193e-03 9.98476153e-01 -1.54348839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.380714057 meters 0.04082223244354162 Centerline is valid? [True, True] Translation: X:233.76, Y:-29.44, Z:-15.44 [[ 9.96894873e-01 5.84589057e-02 5.27557352e-02 2.33764864e+02] [-5.81653118e-02 9.98281825e-01 -7.08476508e-03 -2.94367762e+01] [-5.30792593e-02 3.99421220e-03 9.98582314e-01 -1.54403279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.440714057 meters 0.04387823561205799 Centerline is valid? [True, True] Translation: X:233.82, Y:-29.44, Z:-15.44 [[ 9.97011091e-01 5.68708006e-02 5.22933751e-02 2.33824619e+02] [-5.65799319e-02 9.98373342e-01 -7.02711741e-03 -2.94424628e+01] [-5.26079494e-02 4.04735840e-03 9.98607041e-01 -1.54445209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.500714057 meters 0.04169561093602615 Centerline is valid? [True, True] Translation: X:233.89, Y:-29.44, Z:-15.45 [[ 9.96947080e-01 5.57073937e-02 5.47102043e-02 2.33887155e+02] [-5.53872987e-02 9.98437886e-01 -7.35085394e-03 -2.94423161e+01] [-5.50342377e-02 4.29816194e-03 9.98475217e-01 -1.54459205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.560714057 meters 0.042334512643169404 Centerline is valid? [True, True] Translation: X:233.95, Y:-29.45, Z:-15.45 [[ 9.96950614e-01 5.51146431e-02 5.52435436e-02 2.33949798e+02] [-5.47866325e-02 9.98470398e-01 -7.43566927e-03 -2.94455813e+01] [-5.55688572e-02 4.38638732e-03 9.98445222e-01 -1.54495069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62071405700001 meters 0.043021027453260266 Centerline is valid? [True, True] Translation: X:234.01, Y:-29.45, Z:-15.45 [[ 9.97060997e-01 5.38808870e-02 5.44630058e-02 2.34012276e+02] [-5.35594168e-02 9.98537643e-01 -7.34605926e-03 -2.94486205e+01] [-5.47791736e-02 4.40746234e-03 9.98488766e-01 -1.54537747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68071405700002 meters 0.0471311095992154 Centerline is valid? [True, True] Translation: X:234.07, Y:-29.46, Z:-15.46 [[ 9.97264507e-01 5.13387573e-02 5.31773941e-02 2.34071444e+02] [-5.10284700e-02 9.98671409e-01 -7.17724399e-03 -2.94569545e+01] [-5.34752139e-02 4.44404963e-03 9.98559288e-01 -1.54595589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74071405700002 meters 0.043616632839872625 Centerline is valid? [True, True] Translation: X:234.13, Y:-29.45, Z:-15.46 [[ 9.97408529e-01 4.92652109e-02 5.24324830e-02 2.34133027e+02] [-4.89607506e-02 9.98775637e-01 -7.07618969e-03 -2.94531594e+01] [-5.27168965e-02 4.49071823e-03 9.98599400e-01 -1.54624415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80071405700002 meters 0.046814707875698455 Centerline is valid? [True, True] Translation: X:234.19, Y:-29.46, Z:-15.46 [[ 9.97244620e-01 5.06260156e-02 5.42233735e-02 2.34193601e+02] [-5.03022375e-02 9.98707213e-01 -7.32029683e-03 -2.94584454e+01] [-5.45238717e-02 4.57256962e-03 9.98501998e-01 -1.54649729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86071405700002 meters 0.04374164691095496 Centerline is valid? [True, True] Translation: X:234.26, Y:-29.46, Z:-15.47 [[ 9.97048900e-01 5.26417279e-02 5.58778971e-02 2.34255453e+02] [-5.23008747e-02 9.98602863e-01 -7.54592924e-03 -2.94556070e+01] [-5.61970587e-02 4.60119756e-03 9.98409094e-01 -1.54670865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.920714057 meters 0.04678342864975248 Centerline is valid? [True, True] Translation: X:234.31, Y:-29.46, Z:-15.47 [[ 9.97200499e-01 5.07268435e-02 5.49358869e-02 2.34314985e+02] [-5.03944930e-02 9.98701833e-01 -7.41915818e-03 -2.94613995e+01] [-5.52409214e-02 4.62992208e-03 9.98462320e-01 -1.54717829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.980714057 meters 0.04703684250518874 Centerline is valid? [True, True] Translation: X:234.37, Y:-29.47, Z:-15.48 [[ 9.97562471e-01 4.52988228e-02 5.30766762e-02 2.34374605e+02] [-4.49807374e-02 9.98962103e-01 -7.17286356e-03 -2.94673538e+01] [-5.33465103e-02 4.76795147e-03 9.98564678e-01 -1.54782744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.040714057 meters 0.04874318369487443 Centerline is valid? [True, True] Translation: X:234.43, Y:-29.47, Z:-15.48 [[ 9.97854314e-01 4.04316092e-02 5.14980958e-02 2.34434531e+02] [-4.01257616e-02 9.99170400e-01 -6.95953580e-03 -2.94738977e+01] [-5.17367582e-02 4.87820250e-03 9.98648843e-01 -1.54837386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.100714057 meters 0.051117778579860544 Centerline is valid? [True, True] Translation: X:234.50, Y:-29.48, Z:-15.49 [[ 9.97843904e-01 3.97580505e-02 5.22191537e-02 2.34495920e+02] [-3.94428051e-02 9.99196930e-01 -7.05410536e-03 -2.94803383e+01] [-5.24576755e-02 4.97922613e-03 9.98610735e-01 -1.54865670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.160714057 meters 0.05359827827173459 Centerline is valid? [True, True] Translation: X:234.56, Y:-29.49, Z:-15.49 [[ 9.97674442e-01 4.18911231e-02 5.37665488e-02 2.34555421e+02] [-4.15591194e-02 9.99109534e-01 -7.27867548e-03 -2.94886413e+01] [-5.40235834e-02 5.02725808e-03 9.98527005e-01 -1.54901902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.220714057 meters 0.05004525972913151 Centerline is valid? [True, True] Translation: X:234.62, Y:-29.49, Z:-15.49 [[ 9.97603988e-01 4.22788927e-02 5.47611011e-02 2.34618095e+02] [-4.19351842e-02 9.99092848e-01 -7.41095899e-03 -2.94877424e+01] [-5.50247516e-02 5.09678538e-03 9.98471982e-01 -1.54917396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.280714057 meters 0.05324970598122932 Centerline is valid? [True, True] Translation: X:234.68, Y:-29.50, Z:-15.50 [[ 9.97687783e-01 4.00328648e-02 5.49222824e-02 2.34676587e+02] [-3.96828607e-02 9.99184559e-01 -7.44897957e-03 -2.94994015e+01] [-5.51757006e-02 5.25228263e-03 9.98462846e-01 -1.54957178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.340714057 meters 0.05934532524424451 Centerline is valid? [True, True] Translation: X:234.73, Y:-29.52, Z:-15.50 [[ 9.97891284e-01 3.64850008e-02 5.36826733e-02 2.34734500e+02] [-3.61455620e-02 9.99320013e-01 -7.28075101e-03 -2.95159015e+01] [-5.39118080e-02 5.32500759e-03 9.98531502e-01 -1.55024327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40071405700002 meters 0.05942601623943571 Centerline is valid? [True, True] Translation: X:234.80, Y:-29.52, Z:-15.51 [[ 9.98010359e-01 3.59275449e-02 5.18124991e-02 2.34795379e+02] [-3.56106738e-02 9.99341039e-01 -7.02627307e-03 -2.95239755e+01] [-5.20307934e-02 5.16721530e-03 9.98632113e-01 -1.55080285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46071405700002 meters 0.05914974049988184 Centerline is valid? [True, True] Translation: X:234.85, Y:-29.53, Z:-15.51 [[ 9.97928430e-01 3.83725166e-02 5.16371907e-02 2.34854948e+02] [-3.80606304e-02 9.99250843e-01 -7.01014761e-03 -2.95314402e+01] [-5.18675034e-02 5.03028156e-03 9.98641306e-01 -1.55121430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52071405700002 meters 0.056929555371082324 Centerline is valid? [True, True] Translation: X:234.92, Y:-29.54, Z:-15.51 [[ 9.97741432e-01 4.17504392e-02 5.26206808e-02 2.34915969e+02] [-4.14312309e-02 9.99115825e-01 -7.14298819e-03 -2.95355272e+01] [-5.28723778e-02 4.94671569e-03 9.98589025e-01 -1.55140354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58071405700002 meters 0.047325367014152804 Centerline is valid? [True, True] Translation: X:234.98, Y:-29.53, Z:-15.52 [[ 9.97493004e-01 4.53379246e-02 5.43339627e-02 2.34977959e+02] [-4.50028185e-02 9.98959630e-01 -7.37586077e-03 -2.95309859e+01] [-5.46118415e-02 4.91218805e-03 9.98495577e-01 -1.55158181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64071405700003 meters 0.045904929819630284 Centerline is valid? [True, True] Translation: X:235.04, Y:-29.54, Z:-15.52 [[ 9.97454500e-01 4.67265797e-02 5.38622987e-02 2.35039291e+02] [-4.63993281e-02 9.98896217e-01 -7.31096070e-03 -2.95374944e+01] [-5.41444626e-02 4.79317619e-03 9.98521609e-01 -1.55198441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.700714057 meters 0.0461616277295144 Centerline is valid? [True, True] Translation: X:235.10, Y:-29.55, Z:-15.53 [[ 9.97507109e-01 4.66319633e-02 5.29625095e-02 2.35099913e+02] [-4.63153088e-02 9.98900985e-01 -7.19120627e-03 -2.95488487e+01] [-5.32396430e-02 4.72030440e-03 9.98570608e-01 -1.55253249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.760714057 meters 0.04504212661946891 Centerline is valid? [True, True] Translation: X:235.16, Y:-29.56, Z:-15.53 [[ 9.97564245e-01 4.61201679e-02 5.23307515e-02 2.35161204e+02] [-4.58096962e-02 9.98924828e-01 -7.11753270e-03 -2.95584535e+01] [-5.26027488e-02 4.70294030e-03 9.98604443e-01 -1.55296744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.820714057 meters 0.04551225995958858 Centerline is valid? [True, True] Translation: X:235.22, Y:-29.57, Z:-15.53 [[ 9.97461910e-01 4.79177969e-02 5.26652009e-02 2.35220376e+02] [-4.76049455e-02 9.98840439e-01 -7.17956909e-03 -2.95701669e+01] [-5.29481616e-02 4.65422268e-03 9.98586416e-01 -1.55340649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.880714057 meters 0.04432035700567627 Centerline is valid? [True, True] Translation: X:235.28, Y:-29.58, Z:-15.54 [[ 9.97295526e-01 5.10483145e-02 5.28744036e-02 2.35280297e+02] [-5.07373344e-02 9.98686020e-01 -7.20805219e-03 -2.95788143e+01] [-5.31728866e-02 4.50585190e-03 9.98575156e-01 -1.55376970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.940714057 meters 0.04045088335434247 Centerline is valid? [True, True] Translation: X:235.34, Y:-29.58, Z:-15.54 [[ 9.97066298e-01 5.50610792e-02 5.31702508e-02 2.35340877e+02] [-5.47522545e-02 9.98473659e-01 -7.24859380e-03 -2.95817018e+01] [-5.34882103e-02 4.31613748e-03 9.98559153e-01 -1.55406422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.000714057 meters 0.03968124123112322 Centerline is valid? [True, True] Translation: X:235.40, Y:-29.59, Z:-15.55 [[ 9.96816069e-01 5.94273891e-02 5.31611671e-02 2.35400814e+02] [-5.91248387e-02 9.98224289e-01 -7.24728093e-03 -2.95899002e+01] [-5.34974552e-02 4.08106065e-03 9.98559646e-01 -1.55461594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.060714057 meters 0.0398876250061052 Centerline is valid? [True, True] Translation: X:235.46, Y:-29.60, Z:-15.55 [[ 9.96779405e-01 6.05162103e-02 5.26175450e-02 2.35460920e+02] [-6.02213212e-02 9.98159274e-01 -7.17334491e-03 -2.95987351e+01] [-5.29547941e-02 3.98154440e-03 9.98588973e-01 -1.55507823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12071405700001 meters 0.03936194607359834 Centerline is valid? [True, True] Translation: X:235.52, Y:-29.60, Z:-15.55 [[ 9.96620219e-01 6.37971712e-02 5.17499719e-02 2.35521455e+02] [-6.35162819e-02 9.97955858e-01 -7.05604030e-03 -2.96048872e+01] [-5.20943430e-02 3.74522662e-03 9.98635145e-01 -1.55549716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18071405700002 meters 0.039221569940218644 Centerline is valid? [True, True] Translation: X:235.58, Y:-29.61, Z:-15.56 [[ 9.96425925e-01 6.64771897e-02 5.21167797e-02 2.35581046e+02] [-6.61958799e-02 9.97781335e-01 -7.10727267e-03 -2.96107276e+01] [-5.24736215e-02 3.63195466e-03 9.98615706e-01 -1.55586071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24071405700002 meters 0.038566146689569744 Centerline is valid? [True, True] Translation: X:235.64, Y:-29.62, Z:-15.56 [[ 9.96141793e-01 6.89501269e-02 5.42900347e-02 2.35640630e+02] [-6.86485449e-02 9.97613441e-01 -7.40262613e-03 -2.96163316e+01] [-5.46708803e-02 3.64713338e-03 9.98497768e-01 -1.55597530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30071405700002 meters 0.039826417314053446 Centerline is valid? [True, True] Translation: X:235.70, Y:-29.62, Z:-15.56 [[ 9.95961402e-01 6.94950552e-02 5.68447226e-02 2.35698521e+02] [-6.91653054e-02 9.97575107e-01 -7.75028113e-03 -2.96240963e+01] [-5.72454865e-02 3.78729826e-03 9.98352949e-01 -1.55613743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36071405700002 meters 0.042025377604083355 Centerline is valid? [True, True] Translation: X:235.76, Y:-29.63, Z:-15.57 [[ 9.96009493e-01 6.92154563e-02 5.63410184e-02 2.35756065e+02] [-6.88913173e-02 9.97594628e-01 -7.67755708e-03 -2.96338366e+01] [-5.67369029e-02 3.76551276e-03 9.98382064e-01 -1.55659642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.420714057 meters 0.037341143603343264 Centerline is valid? [True, True] Translation: X:235.82, Y:-29.63, Z:-15.57 [[ 9.96266250e-01 6.74957473e-02 5.38319875e-02 2.35815919e+02] [-6.71975234e-02 9.97712745e-01 -7.33286555e-03 -2.96340770e+01] [-5.42037973e-02 3.68811023e-03 9.98523082e-01 -1.55715143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.480714057 meters 0.040465211062919525 Centerline is valid? [True, True] Translation: X:235.87, Y:-29.65, Z:-15.58 [[ 9.96614506e-01 6.46214169e-02 5.08291164e-02 2.35873454e+02] [-6.43519653e-02 9.97903260e-01 -6.92163122e-03 -2.96456992e+01] [-5.11698266e-02 3.62724454e-03 9.98683379e-01 -1.55781643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.540714057 meters 0.042144232529861714 Centerline is valid? [True, True] Translation: X:235.93, Y:-29.65, Z:-15.58 [[ 9.96680046e-01 6.33362976e-02 5.11605188e-02 2.35931005e+02] [-6.30615903e-02 9.97985315e-01 -6.96760232e-03 -2.96543007e+01] [-5.14987486e-02 3.71820653e-03 9.98666137e-01 -1.55819866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.600714057 meters 0.04374255417422631 Centerline is valid? [True, True] Translation: X:235.99, Y:-29.66, Z:-15.58 [[ 9.96634689e-01 6.34272865e-02 5.19256734e-02 2.35989678e+02] [-6.31446222e-02 9.97979360e-01 -7.06783117e-03 -2.96614979e+01] [-5.22690436e-02 3.76521869e-03 9.98625941e-01 -1.55835368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.660714057 meters 0.0378729032922361 Centerline is valid? [True, True] Translation: X:236.05, Y:-29.66, Z:-15.58 [[ 9.96670377e-01 6.22488331e-02 5.26615926e-02 2.36050312e+02] [-6.19566117e-02 9.98053125e-01 -7.16504983e-03 -2.96585107e+01] [-5.30050831e-02 3.87845907e-03 9.98586711e-01 -1.55839707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.720714057 meters 0.04037551383658727 Centerline is valid? [True, True] Translation: X:236.11, Y:-29.67, Z:-15.59 [[ 9.96700563e-01 6.05530374e-02 5.40492089e-02 2.36108569e+02] [-6.02428467e-02 9.98156679e-01 -7.35143897e-03 -2.96695026e+01] [-5.43947308e-02 4.07110516e-03 9.98511211e-01 -1.55876330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.780714057 meters 0.04350414951543468 Centerline is valid? [True, True] Translation: X:236.17, Y:-29.68, Z:-15.59 [[ 9.97202624e-01 5.29901757e-02 5.27159249e-02 2.36168308e+02] [-5.26846303e-02 9.98585461e-01 -7.16989242e-03 -2.96813516e+01] [-5.30212900e-02 4.37251652e-03 9.98583809e-01 -1.55926072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.840714057 meters 0.0461152841137444 Centerline is valid? [True, True] Translation: X:236.23, Y:-29.69, Z:-15.60 [[ 9.97481304e-01 4.88213291e-02 5.14541188e-02 2.36227883e+02] [-4.85247501e-02 9.98797464e-01 -6.99824744e-03 -2.96928685e+01] [-5.17339071e-02 4.48382272e-03 9.98650839e-01 -1.55973751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90071405700002 meters 0.0439766195364348 Centerline is valid? [True, True] Translation: X:236.29, Y:-29.69, Z:-15.60 [[ 9.97666579e-01 4.55153351e-02 5.08896102e-02 2.36289115e+02] [-4.52209409e-02 9.98953028e-01 -6.92204841e-03 -2.96947154e+01] [-5.11513896e-02 4.60462030e-03 9.98680296e-01 -1.56002245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96071405700002 meters 0.048968623246447365 Centerline is valid? [True, True] Translation: X:236.35, Y:-29.71, Z:-15.60 [[ 9.97532071e-01 4.72020147e-02 5.19782401e-02 2.36347883e+02] [-4.68971337e-02 9.98874701e-01 -7.07033327e-03 -2.97068762e+01] [-5.22534830e-02 4.61525372e-03 9.98623189e-01 -1.56037268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02071405700002 meters 0.043690147203043934 Centerline is valid? [True, True] Translation: X:236.41, Y:-29.70, Z:-15.60 [[ 9.97174396e-01 5.25207788e-02 5.37102541e-02 2.36409350e+02] [-5.22028632e-02 9.98609776e-01 -7.30595193e-03 -2.97028761e+01] [-5.40192991e-02 4.48147916e-03 9.98529835e-01 -1.56045979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08071405700002 meters 0.04143309062983904 Centerline is valid? [True, True] Translation: X:236.47, Y:-29.70, Z:-15.61 [[ 9.96699582e-01 6.04205997e-02 5.42152681e-02 2.36469524e+02] [-6.01082657e-02 9.98164621e-01 -7.37470758e-03 -2.97027896e+01] [-5.45613468e-02 4.09158222e-03 9.98502037e-01 -1.56086410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14071405700003 meters 0.03922683389758946 Centerline is valid? [True, True] Translation: X:236.53, Y:-29.70, Z:-15.61 [[ 9.96238160e-01 6.83789143e-02 5.32339460e-02 2.36530777e+02] [-6.80891475e-02 9.97652970e-01 -7.24011518e-03 -2.97028932e+01] [-5.36040756e-02 3.58822502e-03 9.98555821e-01 -1.56128116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.200714057 meters 0.03385780642678869 Centerline is valid? [True, True] Translation: X:236.59, Y:-29.70, Z:-15.62 [[ 9.95861528e-01 7.39754492e-02 5.27963150e-02 2.36592205e+02] [-7.36982987e-02 9.97254737e-01 -7.17979766e-03 -2.96994750e+01] [-5.31825040e-02 3.25908567e-03 9.98579491e-01 -1.56155623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.260714057 meters 0.0337658004046185 Centerline is valid? [True, True] Translation: X:236.65, Y:-29.70, Z:-15.62 [[ 9.95533128e-01 7.93669664e-02 5.11338978e-02 2.36651100e+02] [-7.91140884e-02 9.96841314e-01 -6.95380615e-03 -2.97048289e+01] [-5.15242844e-02 2.87733268e-03 9.98667597e-01 -1.56208507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.320714057 meters 0.03144266554616473 Centerline is valid? [True, True] Translation: X:236.71, Y:-29.71, Z:-15.62 [[ 9.95049449e-01 8.53304616e-02 5.09441541e-02 2.36711640e+02] [-8.50873123e-02 9.96349422e-01 -6.92666101e-03 -2.97070619e+01] [-5.13492337e-02 2.55766907e-03 9.98677483e-01 -1.56245962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.380714057 meters 0.030758403060752407 Centerline is valid? [True, True] Translation: X:236.77, Y:-29.71, Z:-15.63 [[ 9.94725614e-01 8.88829879e-02 5.11934301e-02 2.36770977e+02] [-8.86421234e-02 9.96039216e-01 -6.96087308e-03 -2.97127040e+01] [-5.16093672e-02 2.38626439e-03 9.98664498e-01 -1.56274561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.440714057 meters 0.03030048560514141 Centerline is valid? [True, True] Translation: X:236.83, Y:-29.72, Z:-15.63 [[ 9.94316924e-01 9.23544567e-02 5.29576144e-02 2.36830002e+02] [-9.21017040e-02 9.95723583e-01 -7.19872918e-03 -2.97196285e+01] [-5.33959803e-02 2.28033173e-03 9.98570813e-01 -1.56299955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.500714057 meters 0.03126765356997176 Centerline is valid? [True, True] Translation: X:236.89, Y:-29.73, Z:-15.63 [[ 9.94386939e-01 9.13267125e-02 5.34232827e-02 2.36888095e+02] [-9.10680956e-02 9.95818200e-01 -7.26046019e-03 -2.97308743e+01] [-5.38629512e-02 2.35455017e-03 9.98545562e-01 -1.56340026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.560714057 meters 0.03387275868012642 Centerline is valid? [True, True] Translation: X:236.95, Y:-29.75, Z:-15.64 [[ 9.94925761e-01 8.62963836e-02 5.17268213e-02 2.36945031e+02] [-8.60473808e-02 9.96266273e-01 -7.02576859e-03 -2.97476368e+01] [-5.21399859e-02 2.53916067e-03 9.98636558e-01 -1.56400915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62071405700001 meters 0.03764154154823128 Centerline is valid? [True, True] Translation: X:237.00, Y:-29.77, Z:-15.65 [[ 9.95572278e-01 7.95793883e-02 5.00295983e-02 2.37002944e+02] [-7.93380798e-02 9.96824614e-01 -6.79398226e-03 -2.97660912e+01] [-5.04113959e-02 2.79464813e-03 9.98724627e-01 -1.56457904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68071405700002 meters 0.04318137417899277 Centerline is valid? [True, True] Translation: X:237.06, Y:-29.79, Z:-15.65 [[ 9.96242416e-01 7.11758278e-02 4.93462253e-02 2.37060025e+02] [-7.09308528e-02 9.97458732e-01 -6.70014421e-03 -2.97876053e+01] [-4.96977116e-02 3.17479802e-03 9.98759259e-01 -1.56502448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74071405700002 meters 0.04927484235923995 Centerline is valid? [True, True] Translation: X:237.12, Y:-29.81, Z:-15.65 [[ 9.96757919e-01 6.35245166e-02 4.93790092e-02 2.37117179e+02] [-6.32698504e-02 9.97973932e-01 -6.70501934e-03 -2.98090630e+01] [-4.97048971e-02 3.55907860e-03 9.98757606e-01 -1.56547914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80071405700002 meters 0.05278677245301005 Centerline is valid? [True, True] Translation: X:237.18, Y:-29.83, Z:-15.66 [[ 9.97089214e-01 5.87406564e-02 4.86069437e-02 2.37175381e+02] [-5.84882937e-02 9.98266282e-01 -6.59925993e-03 -2.98252921e+01] [-4.89103178e-02 3.73711369e-03 9.98796183e-01 -1.56588570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86071405700002 meters 0.041811838679397285 Centerline is valid? [True, True] Translation: X:237.24, Y:-29.82, Z:-15.66 [[ 9.97293755e-01 5.58891410e-02 4.77657765e-02 2.37236981e+02] [-5.56422277e-02 9.98429715e-01 -6.48441011e-03 -2.98197997e+01] [-4.80531787e-02 3.80906750e-03 9.98837516e-01 -1.56590138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.920714057 meters 0.04404708466031995 Centerline is valid? [True, True] Translation: X:237.30, Y:-29.83, Z:-15.66 [[ 9.97461311e-01 5.40056359e-02 4.64146947e-02 2.37295640e+02] [-5.37705199e-02 9.98533444e-01 -6.30016910e-03 -2.98321539e+01] [-4.66868696e-02 3.78843267e-03 9.98902390e-01 -1.56644248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.980714057 meters 0.04365599946148604 Centerline is valid? [True, True] Translation: X:237.35, Y:-29.84, Z:-15.67 [[ 9.97660400e-01 5.09453676e-02 4.55883290e-02 2.37354884e+02] [-5.07154447e-02 9.98693981e-01 -6.18669777e-03 -2.98417178e+01] [-4.58439734e-02 3.86019099e-03 9.98941154e-01 -1.56690965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.040714057 meters 0.04561274940419108 Centerline is valid? [True, True] Translation: X:237.41, Y:-29.85, Z:-15.67 [[ 9.97761006e-01 4.92955145e-02 4.51987513e-02 2.37414382e+02] [-4.90678184e-02 9.98776613e-01 -6.13404586e-03 -2.98535372e+01] [-4.54458367e-02 3.90250765e-03 9.98959182e-01 -1.56732718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.100714057 meters 0.04692120555384573 Centerline is valid? [True, True] Translation: X:237.48, Y:-29.86, Z:-15.68 [[ 9.97809540e-01 4.89405247e-02 4.45078368e-02 2.37475128e+02] [-4.87193722e-02 9.98794239e-01 -6.04072880e-03 -2.98641829e+01] [-4.47498074e-02 3.85910295e-03 9.98990772e-01 -1.56772197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.160714057 meters 0.04720042903514155 Centerline is valid? [True, True] Translation: X:237.54, Y:-29.87, Z:-15.68 [[ 9.97655659e-01 5.09554434e-02 4.56807207e-02 2.37535218e+02] [-5.07244565e-02 9.98693427e-01 -6.20229376e-03 -2.98712724e+01] [-4.59370761e-02 3.87062374e-03 9.98936837e-01 -1.56796728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.220714057 meters 0.0469479350199577 Centerline is valid? [True, True] Translation: X:237.59, Y:-29.88, Z:-15.68 [[ 9.97395045e-01 5.48593219e-02 4.68356535e-02 2.37594192e+02] [-5.46207520e-02 9.98486921e-01 -6.35942691e-03 -2.98766507e+01] [-4.71136613e-02 3.78466228e-03 9.98882365e-01 -1.56818939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.280714057 meters 0.047099598116766846 Centerline is valid? [True, True] Translation: X:237.65, Y:-29.88, Z:-15.69 [[ 9.97266005e-01 5.75710885e-02 4.63258474e-02 2.37653613e+02] [-5.73406304e-02 9.98334861e-01 -6.28943152e-03 -2.98823061e+01] [-4.66107979e-02 3.61588296e-03 9.98906582e-01 -1.56866581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.340714057 meters 0.04860327413943412 Centerline is valid? [True, True] Translation: X:237.71, Y:-29.89, Z:-15.69 [[ 9.97282472e-01 5.76977359e-02 4.58109421e-02 2.37712675e+02] [-5.74725487e-02 9.98327719e-01 -6.21867950e-03 -2.98920911e+01] [-4.60931370e-02 3.56890847e-03 9.98930771e-01 -1.56920150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40071405700002 meters 0.04239814138674212 Centerline is valid? [True, True] Translation: X:237.77, Y:-29.89, Z:-15.69 [[ 9.97456469e-01 5.55684333e-02 4.46401340e-02 2.37774058e+02] [-5.53525964e-02 9.98448494e-01 -6.05762482e-03 -2.98910879e+01] [-4.49074873e-02 3.57126974e-03 9.98984766e-01 -1.56933726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46071405700002 meters 0.044222261661898105 Centerline is valid? [True, True] Translation: X:237.83, Y:-29.90, Z:-15.70 [[ 9.97496089e-01 5.44890542e-02 4.50832061e-02 2.37833172e+02] [-5.42677818e-02 9.98507673e-01 -6.11843140e-03 -2.99007520e+01] [-4.53493147e-02 3.65654580e-03 9.98964499e-01 -1.56972304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52071405700002 meters 0.044100089697218674 Centerline is valid? [True, True] Translation: X:237.89, Y:-29.91, Z:-15.70 [[ 9.97418218e-01 5.49696831e-02 4.62085847e-02 2.37892833e+02] [-5.47378222e-02 9.98481081e-01 -6.26912709e-03 -2.99080672e+01] [-4.64830095e-02 3.72358428e-03 9.98912141e-01 -1.57001801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58071405700002 meters 0.041374911997634406 Centerline is valid? [True, True] Translation: X:237.95, Y:-29.91, Z:-15.70 [[ 9.97376616e-01 5.55438000e-02 4.64195325e-02 2.37952543e+02] [-5.53104566e-02 9.98449347e-01 -6.29723747e-03 -2.99111730e+01] [-4.66973244e-02 3.71323186e-03 9.98902183e-01 -1.57019523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64071405700003 meters 0.042489993179692376 Centerline is valid? [True, True] Translation: X:238.01, Y:-29.92, Z:-15.71 [[ 9.97401177e-01 5.53844292e-02 4.60809753e-02 2.38011543e+02] [-5.51543903e-02 9.98458279e-01 -6.24960835e-03 -2.99207100e+01] [-4.63560623e-02 3.69179863e-03 9.98918158e-01 -1.57056131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.700714057 meters 0.04345936468774275 Centerline is valid? [True, True] Translation: X:238.07, Y:-29.93, Z:-15.71 [[ 9.97463741e-01 5.45121258e-02 4.57658621e-02 2.38069738e+02] [-5.42843747e-02 9.98506233e-01 -6.20554147e-03 -2.99300261e+01] [-4.60357758e-02 3.70543141e-03 9.98932919e-01 -1.57103669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.760714057 meters 0.044873642798861496 Centerline is valid? [True, True] Translation: X:238.13, Y:-29.94, Z:-15.71 [[ 9.97429014e-01 5.41250489e-02 4.69663938e-02 2.38127996e+02] [-5.38848949e-02 9.98526865e-01 -6.36535581e-03 -2.99405345e+01] [-4.72417312e-02 3.81821137e-03 9.98876189e-01 -1.57147683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.820714057 meters 0.04647474796888394 Centerline is valid? [True, True] Translation: X:238.19, Y:-29.95, Z:-15.72 [[ 9.97382890e-01 5.52818265e-02 4.65971137e-02 2.38186655e+02] [-5.50467833e-02 9.98463817e-01 -6.31334536e-03 -2.99491201e+01] [-4.68745453e-02 3.73180142e-03 9.98893814e-01 -1.57178408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.880714057 meters 0.048491728240724154 Centerline is valid? [True, True] Translation: X:238.25, Y:-29.96, Z:-15.72 [[ 9.97371493e-01 5.53338114e-02 4.67790035e-02 2.38245387e+02] [-5.50970099e-02 9.98460894e-01 -6.33745371e-03 -2.99601415e+01] [-4.70576811e-02 3.74341244e-03 9.98885159e-01 -1.57228788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.940714057 meters 0.044017195465872856 Centerline is valid? [True, True] Translation: X:238.30, Y:-29.96, Z:-15.73 [[ 9.97454991e-01 5.40192092e-02 4.65345615e-02 2.38304989e+02] [-5.37835309e-02 9.98532727e-01 -6.30277555e-03 -2.99639396e+01] [-4.68067535e-02 3.78394191e-03 9.98896796e-01 -1.57261351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.000714057 meters 0.04597264915468163 Centerline is valid? [True, True] Translation: X:238.36, Y:-29.98, Z:-15.73 [[ 9.97450744e-01 5.32612198e-02 4.74895427e-02 2.38363365e+02] [-5.30149911e-02 9.98573013e-01 -6.43034921e-03 -2.99751389e+01] [-4.77642639e-02 3.89629892e-03 9.98851037e-01 -1.57292887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.060714057 meters 0.04782428672263894 Centerline is valid? [True, True] Translation: X:238.42, Y:-29.99, Z:-15.73 [[ 9.97396571e-01 5.30647986e-02 4.88283500e-02 2.38421329e+02] [-5.28043443e-02 9.98583004e-01 -6.60956295e-03 -2.99866702e+01] [-4.91098956e-02 4.01400641e-03 9.98785315e-01 -1.57328564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12071405700001 meters 0.051169260244274935 Centerline is valid? [True, True] Translation: X:238.48, Y:-30.00, Z:-15.74 [[ 9.97376251e-01 5.29044066e-02 4.94139373e-02 2.38480517e+02] [-5.26375218e-02 9.98591291e-01 -6.68769845e-03 -2.99998159e+01] [-4.96981361e-02 4.06912441e-03 9.98755995e-01 -1.57368165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18071405700002 meters 0.052054490545948795 Centerline is valid? [True, True] Translation: X:238.54, Y:-30.01, Z:-15.74 [[ 9.97461836e-01 5.16523596e-02 4.90093858e-02 2.38540408e+02] [-5.13883441e-02 9.98656721e-01 -6.63268768e-03 -3.00095721e+01] [-4.92861465e-02 4.09734165e-03 9.98776295e-01 -1.57406182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24071405700002 meters 0.053879243664349284 Centerline is valid? [True, True] Translation: X:238.60, Y:-30.02, Z:-15.75 [[ 9.97558653e-01 5.01032832e-02 4.86456015e-02 2.38600086e+02] [-4.98413083e-02 9.98735446e-01 -6.58428569e-03 -3.00213711e+01] [-4.89139809e-02 4.14365075e-03 9.98794400e-01 -1.57456462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30071405700002 meters 0.055598474051523926 Centerline is valid? [True, True] Translation: X:238.66, Y:-30.03, Z:-15.75 [[ 9.97590998e-01 4.90637938e-02 4.90402417e-02 2.38660563e+02] [-4.87963343e-02 9.98786698e-01 -6.63701361e-03 -3.00330524e+01] [-4.93063781e-02 4.22804100e-03 9.98774752e-01 -1.57492095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36071405700002 meters 0.0471423141354553 Centerline is valid? [True, True] Translation: X:238.72, Y:-30.03, Z:-15.75 [[ 9.97566523e-01 4.98008640e-02 4.87945301e-02 2.38723346e+02] [-4.95366135e-02 9.98750430e-01 -6.61072217e-03 -3.00287639e+01] [-4.90627776e-02 4.17751935e-03 9.98786960e-01 -1.57510406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.420714057 meters 0.04720586024037683 Centerline is valid? [True, True] Translation: X:238.78, Y:-30.04, Z:-15.75 [[ 9.97521551e-01 5.00780296e-02 4.94261676e-02 2.38784326e+02] [-4.98071330e-02 9.98736394e-01 -6.69811426e-03 -3.00372881e+01] [-4.96991407e-02 4.21973762e-03 9.98755320e-01 -1.57545155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.480714057 meters 0.04527873471349678 Centerline is valid? [True, True] Translation: X:238.85, Y:-30.04, Z:-15.76 [[ 9.97637527e-01 4.81248802e-02 4.90240916e-02 2.38845416e+02] [-4.78559527e-02 9.98832142e-01 -6.64536340e-03 -3.00429031e+01] [-4.92866457e-02 4.28356930e-03 9.98775489e-01 -1.57572473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.540714057 meters 0.0482093929196649 Centerline is valid? [True, True] Translation: X:238.90, Y:-30.06, Z:-15.76 [[ 9.97828681e-01 4.46541062e-02 4.84141972e-02 2.38904143e+02] [-4.43876778e-02 9.98992811e-01 -6.56487482e-03 -3.00555197e+01] [-4.86585836e-02 4.40162659e-03 9.98805771e-01 -1.57612616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.600714057 meters 0.050024877023554425 Centerline is valid? [True, True] Translation: X:238.96, Y:-30.07, Z:-15.77 [[ 9.98008921e-01 4.13496739e-02 4.76277024e-02 2.38963055e+02] [-4.10880877e-02 9.99134653e-01 -6.45872009e-03 -3.00673755e+01] [-4.78535538e-02 4.48892905e-03 9.98844276e-01 -1.57662113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.660714057 meters 0.055507887676410635 Centerline is valid? [True, True] Translation: X:239.02, Y:-30.08, Z:-15.77 [[ 9.98114807e-01 4.06510185e-02 4.59817994e-02 2.39022356e+02] [-4.04066707e-02 9.99163885e-01 -6.23144896e-03 -3.00829285e+01] [-4.61966681e-02 4.36173005e-03 9.98922841e-01 -1.57720249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.720714057 meters 0.060386526485349305 Centerline is valid? [True, True] Translation: X:239.08, Y:-30.10, Z:-15.78 [[ 9.98097838e-01 4.03586168e-02 4.66035209e-02 2.39081982e+02] [-4.01067647e-02 9.99175368e-01 -6.32700360e-03 -3.00977622e+01] [-4.68204393e-02 4.44585216e-03 9.98893428e-01 -1.57756935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.780714057 meters 0.05292431252978913 Centerline is valid? [True, True] Translation: X:239.15, Y:-30.10, Z:-15.78 [[ 9.98018364e-01 4.04384304e-02 4.82086902e-02 2.39145852e+02] [-4.01684918e-02 9.99171416e-01 -6.55548447e-03 -3.00977165e+01] [-4.84338388e-02 4.60602351e-03 9.98815773e-01 -1.57769490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.840714057 meters 0.07985692984426046 Centerline is valid? [True, True] Translation: X:239.20, Y:-30.14, Z:-15.79 [[ 9.97907114e-01 4.18714382e-02 4.92765155e-02 2.39200266e+02] [-4.15902029e-02 9.99112159e-01 -6.71930162e-03 -3.01421553e+01] [-4.95141126e-02 4.65581861e-03 9.98762572e-01 -1.57857025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90071405700002 meters 0.05284475236086606 Centerline is valid? [True, True] Translation: X:239.27, Y:-30.11, Z:-15.78 [[ 9.97849292e-01 4.32142532e-02 4.92881134e-02 2.39266041e+02] [-4.29344774e-02 9.99055280e-01 -6.72149778e-03 -3.01149857e+01] [-4.95320145e-02 4.59088241e-03 9.98761985e-01 -1.57839065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96071405700002 meters 0.05298705062985836 Centerline is valid? [True, True] Translation: X:239.33, Y:-30.12, Z:-15.79 [[ 9.97784694e-01 4.50410890e-02 4.89592134e-02 2.39325459e+02] [-4.47671059e-02 9.98975124e-01 -6.67891572e-03 -3.01243524e+01] [-4.92098620e-02 4.47235759e-03 9.98778448e-01 -1.57890140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02071405700002 meters 0.054217586638944666 Centerline is valid? [True, True] Translation: X:239.38, Y:-30.13, Z:-15.79 [[ 9.97646693e-01 4.91099787e-02 4.78464892e-02 2.39383939e+02] [-4.88529450e-02 9.98784653e-01 -6.52741947e-03 -3.01335046e+01] [-4.81089005e-02 4.17461654e-03 9.98833373e-01 -1.57940235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08071405700002 meters 0.04198424119588333 Centerline is valid? [True, True] Translation: X:239.45, Y:-30.12, Z:-15.80 [[ 9.97420944e-01 5.34196863e-02 4.79353387e-02 2.39446370e+02] [-5.31666895e-02 9.98564246e-01 -6.53837173e-03 -3.01241294e+01] [-4.82157931e-02 3.97294563e-03 9.98829041e-01 -1.57951302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14071405700003 meters 0.04163675877749203 Centerline is valid? [True, True] Translation: X:239.51, Y:-30.13, Z:-15.80 [[ 9.97289028e-01 5.64210487e-02 4.72362047e-02 2.39505773e+02] [-5.61787262e-02 9.98399939e-01 -6.44303029e-03 -3.01313424e+01] [-4.75241464e-02 3.77189360e-03 9.98862968e-01 -1.57998344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.200714057 meters 0.04225706864237374 Centerline is valid? [True, True] Translation: X:239.56, Y:-30.14, Z:-15.80 [[ 9.96893853e-01 6.25581561e-02 4.78447809e-02 2.39564339e+02] [-6.23165487e-02 9.98035097e-01 -6.52633452e-03 -3.01377287e+01] [-4.81590460e-02 3.52454114e-03 9.98833462e-01 -1.58035752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.260714057 meters 0.038717221135189064 Centerline is valid? [True, True] Translation: X:239.63, Y:-30.14, Z:-15.81 [[ 9.96624551e-01 6.56195093e-02 4.93313677e-02 2.39625086e+02] [-6.53664819e-02 9.97838651e-01 -6.72679355e-03 -3.01399904e+01] [-4.96661543e-02 3.47946965e-03 9.98759814e-01 -1.58051880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.320714057 meters 0.038762632889153055 Centerline is valid? [True, True] Translation: X:239.68, Y:-30.15, Z:-15.81 [[ 9.96053118e-01 7.25946878e-02 5.10705163e-02 2.39684047e+02] [-7.23326070e-02 9.97356255e-01 -6.96384589e-03 -3.01458077e+01] [-5.14410371e-02 3.24229682e-03 9.98670770e-01 -1.58090141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.380714057 meters 0.03751650128326181 Centerline is valid? [True, True] Translation: X:239.74, Y:-30.15, Z:-15.81 [[ 9.95804258e-01 7.60276761e-02 5.09281101e-02 2.39744071e+02] [-7.57715646e-02 9.97101026e-01 -6.94365461e-03 -3.01506615e+01] [-5.13083808e-02 3.05561824e-03 9.98678183e-01 -1.58127445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.440714057 meters 0.03102967552586437 Centerline is valid? [True, True] Translation: X:239.81, Y:-30.15, Z:-15.81 [[ 9.95297673e-01 8.17549979e-02 5.19486570e-02 2.39805833e+02] [-8.14963922e-02 9.96648486e-01 -7.08055451e-03 -3.01466458e+01] [-5.23534211e-02 2.81363130e-03 9.98624656e-01 -1.58142530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.500714057 meters 0.037330678284481514 Centerline is valid? [True, True] Translation: X:239.86, Y:-30.17, Z:-15.82 [[ 9.95051104e-01 8.38385881e-02 5.33328331e-02 2.39862385e+02] [-8.35689519e-02 9.96475479e-01 -7.26980667e-03 -3.01655105e+01] [-5.37543507e-02 2.77686019e-03 9.98550329e-01 -1.58200279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.560714057 meters 0.03133719525313306 Centerline is valid? [True, True] Translation: X:239.92, Y:-30.16, Z:-15.82 [[ 9.94986619e-01 8.52229626e-02 5.23323497e-02 2.39921569e+02] [-8.49654058e-02 9.96358385e-01 -7.13080172e-03 -3.01639512e+01] [-5.27494835e-02 2.64861297e-03 9.98604264e-01 -1.58222564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62071405700001 meters 0.031232381149076754 Centerline is valid? [True, True] Translation: X:239.98, Y:-30.17, Z:-15.83 [[ 9.94757887e-01 8.86867415e-02 5.09058762e-02 2.39979419e+02] [-8.84477663e-02 9.96056691e-01 -6.93258148e-03 -3.01723559e+01] [-5.13199667e-02 2.39372906e-03 9.98679394e-01 -1.58270405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68071405700002 meters 0.028974670890091692 Centerline is valid? [True, True] Translation: X:240.04, Y:-30.18, Z:-15.83 [[ 9.94301964e-01 9.34892264e-02 5.12188334e-02 2.40039147e+02] [-9.32538209e-02 9.95617957e-01 -6.97195340e-03 -3.01769712e+01] [-5.16461928e-02 2.15587504e-03 9.98663118e-01 -1.58290912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74071405700002 meters 0.02749541674880327 Centerline is valid? [True, True] Translation: X:240.10, Y:-30.18, Z:-15.83 [[ 9.93599009e-01 1.00510427e-01 5.15622337e-02 2.40099405e+02] [-1.00281338e-01 9.94934373e-01 -7.01756275e-03 -3.01829901e+01] [-5.20063769e-02 1.80191363e-03 9.98645127e-01 -1.58322456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80071405700002 meters 0.02635565581896329 Centerline is valid? [True, True] Translation: X:240.16, Y:-30.19, Z:-15.84 [[ 9.92903707e-01 1.07097453e-01 5.16949149e-02 2.40159009e+02] [-1.06876087e-01 9.94247455e-01 -7.03563148e-03 -3.01910101e+01] [-5.21510358e-02 1.46075434e-03 9.98638141e-01 -1.58360130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86071405700002 meters 0.025492692845288586 Centerline is valid? [True, True] Translation: X:240.22, Y:-30.20, Z:-15.84 [[ 9.92672306e-01 1.09488537e-01 5.11268304e-02 2.40216103e+02] [-1.09275067e-01 9.93987178e-01 -6.96051893e-03 -3.02031138e+01] [-5.15815110e-02 1.32262653e-03 9.98667912e-01 -1.58403650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.920714057 meters 0.025500776310243074 Centerline is valid? [True, True] Translation: X:240.27, Y:-30.22, Z:-15.84 [[ 9.92792656e-01 1.08397825e-01 5.11141338e-02 2.40272580e+02] [-1.08183701e-01 9.94106657e-01 -6.94554436e-03 -3.02197090e+01] [-5.15657826e-02 1.36576925e-03 9.98668666e-01 -1.58443202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.980714057 meters 0.02601734197209544 Centerline is valid? [True, True] Translation: X:240.33, Y:-30.24, Z:-15.85 [[ 9.93028138e-01 1.06495234e-01 5.05359449e-02 2.40329753e+02] [-1.06284258e-01 9.94312181e-01 -6.85155513e-03 -3.02373948e+01] [-5.09781635e-02 1.43261164e-03 9.98698741e-01 -1.58482062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.040714057 meters 0.02609999156767961 Centerline is valid? [True, True] Translation: X:240.39, Y:-30.26, Z:-15.85 [[ 9.93098074e-01 1.05421088e-01 5.14063099e-02 2.40386871e+02] [-1.05201539e-01 9.94426526e-01 -6.96569706e-03 -3.02556322e+01] [-5.18541295e-02 1.50959742e-03 9.98653529e-01 -1.58523482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.100714057 meters 0.02621913693440101 Centerline is valid? [True, True] Translation: X:240.44, Y:-30.27, Z:-15.85 [[ 9.93296039e-01 1.03282843e-01 5.19194931e-02 2.40443338e+02] [-1.03056154e-01 9.94650685e-01 -7.03166333e-03 -3.02722788e+01] [-5.23680095e-02 1.63390004e-03 9.98626518e-01 -1.58547887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.160714057 meters 0.02710077869959166 Centerline is valid? [True, True] Translation: X:240.50, Y:-30.29, Z:-15.86 [[ 9.93697844e-01 9.96919587e-02 5.12455775e-02 2.40500517e+02] [-9.94666157e-02 9.95016730e-01 -6.93533374e-03 -3.02895945e+01] [-5.16816039e-02 1.79440202e-03 9.98662001e-01 -1.58598376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.220714057 meters 0.031188303195069825 Centerline is valid? [True, True] Translation: X:240.56, Y:-30.31, Z:-15.87 [[ 9.94432700e-01 9.26768919e-02 5.01457733e-02 2.40557058e+02] [-9.24523791e-02 9.95694001e-01 -6.78334924e-03 -3.03132817e+01] [-5.05585054e-02 2.10948826e-03 9.98718873e-01 -1.58665378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.280714057 meters 0.03142683035132403 Centerline is valid? [True, True] Translation: X:240.62, Y:-30.33, Z:-15.87 [[ 9.95088618e-01 8.53411518e-02 5.01550636e-02 2.40615785e+02] [-8.51073218e-02 9.96348699e-01 -6.78333090e-03 -3.03289419e+01] [-5.05508296e-02 2.48145223e-03 9.98718407e-01 -1.58685540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.340714057 meters 0.03351151980631713 Centerline is valid? [True, True] Translation: X:240.67, Y:-30.35, Z:-15.87 [[ 9.95446059e-01 8.08233409e-02 5.05443435e-02 2.40674181e+02] [-8.05800419e-02 9.96724697e-01 -6.83626960e-03 -3.03457438e+01] [-5.09313257e-02 2.73227232e-03 9.98698420e-01 -1.58718365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40071405700002 meters 0.03570812147514465 Centerline is valid? [True, True] Translation: X:240.73, Y:-30.36, Z:-15.88 [[ 9.95514693e-01 7.89188071e-02 5.21758399e-02 2.40730449e+02] [-7.86569424e-02 9.96876768e-01 -7.05658930e-03 -3.03625675e+01] [-5.25697802e-02 2.92094629e-03 9.98612981e-01 -1.58751086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46071405700002 meters 0.032916908422551475 Centerline is valid? [True, True] Translation: X:240.79, Y:-30.37, Z:-15.88 [[ 9.95483326e-01 7.95855229e-02 5.17599440e-02 2.40789407e+02] [-7.93289069e-02 9.96823941e-01 -6.99673336e-03 -3.03670582e+01] [-5.21523900e-02 2.85907162e-03 9.98635045e-01 -1.58780556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52071405700002 meters 0.03373471916916454 Centerline is valid? [True, True] Translation: X:240.85, Y:-30.38, Z:-15.88 [[ 9.95236582e-01 8.25537815e-02 5.18557576e-02 2.40846912e+02] [-8.23004698e-02 9.96582943e-01 -7.00505171e-03 -3.03777221e+01] [-5.22568570e-02 2.70393050e-03 9.98630016e-01 -1.58818248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58071405700002 meters 0.03610861196991292 Centerline is valid? [True, True] Translation: X:240.90, Y:-30.39, Z:-15.89 [[ 9.94985572e-01 8.53248193e-02 5.21860689e-02 2.40904873e+02] [-8.50720707e-02 9.96349861e-01 -7.04956070e-03 -3.03902155e+01] [-5.25970850e-02 2.57463425e-03 9.98612496e-01 -1.58874086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64071405700003 meters 0.03020831383040376 Centerline is valid? [True, True] Translation: X:240.97, Y:-30.39, Z:-15.89 [[ 9.94839931e-01 8.72733411e-02 5.17385333e-02 2.40965260e+02] [-8.70275897e-02 9.96181391e-01 -6.98815897e-03 -3.03856508e+01] [-5.21508441e-02 2.44941973e-03 9.98636215e-01 -1.58889209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.700714057 meters 0.030376914531823142 Centerline is valid? [True, True] Translation: X:241.02, Y:-30.39, Z:-15.89 [[ 9.94738133e-01 8.80425177e-02 5.23885666e-02 2.41023587e+02] [-8.77919191e-02 9.96113745e-01 -7.07009832e-03 -3.03942464e+01] [-5.28074405e-02 2.43360360e-03 9.98601748e-01 -1.58917979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.760714057 meters 0.03087509237773149 Centerline is valid? [True, True] Translation: X:241.08, Y:-30.40, Z:-15.90 [[ 9.94774275e-01 8.76334495e-02 5.23881741e-02 2.41082081e+02] [-8.73824921e-02 9.96149772e-01 -7.06620534e-03 -3.04021583e+01] [-5.28057036e-02 2.45147009e-03 9.98601797e-01 -1.58951810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.820714057 meters 0.03173765400942376 Centerline is valid? [True, True] Translation: X:241.14, Y:-30.41, Z:-15.90 [[ 9.94825038e-01 8.69935824e-02 5.24905693e-02 2.41139069e+02] [-8.67409388e-02 9.96205768e-01 -7.07652404e-03 -3.04102368e+01] [-5.29070201e-02 2.48682204e-03 9.98596346e-01 -1.58981455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.880714057 meters 0.031274137528780506 Centerline is valid? [True, True] Translation: X:241.20, Y:-30.42, Z:-15.90 [[ 9.95218288e-01 8.21100368e-02 5.29008554e-02 2.41199136e+02] [-8.18468917e-02 9.96619444e-01 -7.12532337e-03 -3.04175982e+01] [-5.33070817e-02 2.76148154e-03 9.98574348e-01 -1.59007506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.940714057 meters 0.03295492438797331 Centerline is valid? [True, True] Translation: X:241.26, Y:-30.43, Z:-15.90 [[ 9.95466442e-01 7.85817380e-02 5.35861367e-02 2.41258009e+02] [-7.83066182e-02 9.96903193e-01 -7.21781790e-03 -3.04284212e+01] [-5.39873795e-02 2.98894635e-03 9.98537145e-01 -1.59039568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.000714057 meters 0.03713799125312181 Centerline is valid? [True, True] Translation: X:241.32, Y:-30.44, Z:-15.91 [[ 9.95794151e-01 7.32066265e-02 5.50890142e-02 2.41316037e+02] [-7.29077128e-02 9.97311097e-01 -7.41902861e-03 -3.04426698e+01] [-5.54840072e-02 3.37141126e-03 9.98453884e-01 -1.59071270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.060714057 meters 0.037386751100786556 Centerline is valid? [True, True] Translation: X:241.38, Y:-30.45, Z:-15.91 [[ 9.96059981e-01 6.70749005e-02 5.80126916e-02 2.41375932e+02] [-6.67330140e-02 9.97740279e-01 -7.81286291e-03 -3.04504864e+01] [-5.84056461e-02 3.91071831e-03 9.98285273e-01 -1.59084802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12071405700001 meters 0.03807417979913048 Centerline is valid? [True, True] Translation: X:241.44, Y:-30.46, Z:-15.91 [[ 9.96388923e-01 6.26451733e-02 5.73122657e-02 2.41435998e+02] [-6.23042105e-02 9.98027358e-01 -7.71862013e-03 -3.04569036e+01] [-5.76827434e-02 4.11995214e-03 9.98326463e-01 -1.59136492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18071405700002 meters 0.04060960647999063 Centerline is valid? [True, True] Translation: X:241.50, Y:-30.47, Z:-15.92 [[ 9.96698712e-01 5.72768400e-02 5.75416389e-02 2.41495854e+02] [-5.69242421e-02 9.98348423e-01 -7.74958957e-03 -3.04672609e+01] [-5.78904765e-02 4.44849176e-03 9.98313029e-01 -1.59193581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24071405700002 meters 0.04150127940310705 Centerline is valid? [True, True] Translation: X:241.56, Y:-30.47, Z:-15.92 [[ 9.96980155e-01 5.19162916e-02 5.77517937e-02 2.41556925e+02] [-5.15521464e-02 9.98640011e-01 -7.77844396e-03 -3.04728070e+01] [-5.80770799e-02 4.77772534e-03 9.98300669e-01 -1.59230213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30071405700002 meters 0.04444219174371496 Centerline is valid? [True, True] Translation: X:241.62, Y:-30.48, Z:-15.93 [[ 9.97274276e-01 4.79875524e-02 5.60465288e-02 2.41617216e+02] [-4.76383568e-02 9.98836109e-01 -7.55073174e-03 -3.04802452e+01] [-5.63436379e-02 4.86018599e-03 9.98399606e-01 -1.59281350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36071405700002 meters 0.04791229960821627 Centerline is valid? [True, True] Translation: X:241.68, Y:-30.49, Z:-15.93 [[ 9.97434770e-01 4.51665105e-02 5.55325756e-02 2.41676647e+02] [-4.48193532e-02 9.98967092e-01 -7.48166912e-03 -3.04880959e+01] [-5.58131364e-02 4.97354280e-03 9.98428845e-01 -1.59326887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.420714057 meters 0.05665420767264354 Centerline is valid? [True, True] Translation: X:241.73, Y:-30.50, Z:-15.94 [[ 9.97472116e-01 4.37453621e-02 5.59975058e-02 2.41734942e+02] [-4.33901247e-02 9.99029718e-01 -7.54457266e-03 -3.05016042e+01] [-5.62732125e-02 5.09576209e-03 9.98402403e-01 -1.59369681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.480714057 meters 0.052376482876248985 Centerline is valid? [True, True] Translation: X:241.80, Y:-30.50, Z:-15.94 [[ 9.97450611e-01 4.35758000e-02 5.65104201e-02 2.41798208e+02] [-4.32138527e-02 9.99036848e-01 -7.61180099e-03 -3.04981216e+01] [-5.67876823e-02 5.15036258e-03 9.98372993e-01 -1.59396548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.540714057 meters 0.053167428249916694 Centerline is valid? [True, True] Translation: X:241.86, Y:-30.50, Z:-15.94 [[ 9.97546565e-01 4.17655065e-02 5.61826720e-02 2.41859003e+02] [-4.14040356e-02 9.99113709e-01 -7.58306035e-03 -3.05026003e+01] [-5.64495882e-02 5.23826645e-03 9.98391709e-01 -1.59434846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.600714057 meters 0.0507460837607203 Centerline is valid? [True, True] Translation: X:241.92, Y:-30.50, Z:-15.95 [[ 9.97697862e-01 3.82367563e-02 5.60082646e-02 2.41919986e+02] [-3.78718695e-02 9.99253989e-01 -7.56224090e-03 -3.05033535e+01] [-5.62556373e-02 5.42369389e-03 9.98401666e-01 -1.59467077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.660714057 meters 0.051552864767356064 Centerline is valid? [True, True] Translation: X:241.98, Y:-30.51, Z:-15.95 [[ 9.97842901e-01 3.53449464e-02 5.53197921e-02 2.41980251e+02] [-3.49845798e-02 9.99359938e-01 -7.46945894e-03 -3.05092089e+01] [-5.55483917e-02 5.51800690e-03 9.98440748e-01 -1.59516481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.720714057 meters 0.055413555794227555 Centerline is valid? [True, True] Translation: X:242.04, Y:-30.52, Z:-15.96 [[ 9.97918584e-01 3.40140518e-02 5.47863533e-02 2.42039690e+02] [-3.36586250e-02 9.99406011e-01 -7.39746973e-03 -3.05196139e+01] [-5.50054287e-02 5.53803919e-03 9.98470697e-01 -1.59572384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.780714057 meters 0.05490659492956611 Centerline is valid? [True, True] Translation: X:242.10, Y:-30.52, Z:-15.96 [[ 9.97913739e-01 3.45724115e-02 5.45244689e-02 2.42101403e+02] [-3.42212726e-02 9.99387173e-01 -7.36085089e-03 -3.05240666e+01] [-5.47455372e-02 5.47959752e-03 9.98485303e-01 -1.59607571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.840714057 meters 0.05630285863637488 Centerline is valid? [True, True] Translation: X:242.16, Y:-30.53, Z:-15.96 [[ 9.97889283e-01 3.49327931e-02 5.47419364e-02 2.42162953e+02] [-3.45786167e-02 9.99374554e-01 -7.40407565e-03 -3.05316238e+01] [-5.49663433e-02 5.49554730e-03 9.98473084e-01 -1.59632958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90071405700002 meters 0.049011216191652315 Centerline is valid? [True, True] Translation: X:242.23, Y:-30.53, Z:-15.97 [[ 9.97843715e-01 3.47089742e-02 5.57064439e-02 2.42225665e+02] [-3.43410584e-02 9.99381664e-01 -7.54855493e-03 -3.05294509e+01] [-5.59340012e-02 5.61925986e-03 9.98418655e-01 -1.59669896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96071405700002 meters 0.060504170478566204 Centerline is valid? [True, True] Translation: X:242.28, Y:-30.55, Z:-15.97 [[ 9.97906349e-01 3.46621109e-02 5.46027083e-02 2.42283678e+02] [-3.43077826e-02 9.99383818e-01 -7.41352627e-03 -3.05518790e+01] [-5.48260315e-02 5.52470709e-03 9.98480638e-01 -1.59734670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02071405700002 meters 0.05111541885872647 Centerline is valid? [True, True] Translation: X:242.35, Y:-30.55, Z:-15.98 [[ 9.97983007e-01 3.53528867e-02 5.27265623e-02 2.42346791e+02] [-3.50229607e-02 9.99360798e-01 -7.16848187e-03 -3.05458912e+01] [-5.29462860e-02 5.30738277e-03 9.98583258e-01 -1.59776093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08071405700002 meters 0.052814449165595516 Centerline is valid? [True, True] Translation: X:242.41, Y:-30.56, Z:-15.98 [[ 9.97921095e-01 3.66143358e-02 5.30365838e-02 2.42406997e+02] [-3.62814104e-02 9.99315482e-01 -7.22685754e-03 -3.05558489e+01] [-5.32648859e-02 5.28759152e-03 9.98566419e-01 -1.59825462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14071405700003 meters 0.05292104871644839 Centerline is valid? [True, True] Translation: X:242.47, Y:-30.56, Z:-15.99 [[ 9.97820354e-01 3.88567302e-02 5.33356853e-02 2.42467859e+02] [-3.85230881e-02 9.99231266e-01 -7.26977156e-03 -3.05620773e+01] [-5.35771639e-02 5.19927073e-03 9.98550177e-01 -1.59857194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.200714057 meters 0.05356836577021508 Centerline is valid? [True, True] Translation: X:242.53, Y:-30.57, Z:-15.99 [[ 9.97658182e-01 4.30104757e-02 5.31813065e-02 2.42526631e+02] [-4.26845348e-02 9.99062294e-01 -7.25008625e-03 -3.05691518e+01] [-5.34432677e-02 4.96308854e-03 9.98558554e-01 -1.59899441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.260714057 meters 0.05302920230187506 Centerline is valid? [True, True] Translation: X:242.59, Y:-30.57, Z:-15.99 [[ 9.97390982e-01 4.81484157e-02 5.37862297e-02 2.42587106e+02] [-4.78224883e-02 9.98828947e-01 -7.33111042e-03 -3.05733548e+01] [-5.40762245e-02 4.73979208e-03 9.98525561e-01 -1.59925055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.320714057 meters 0.05246964895974589 Centerline is valid? [True, True] Translation: X:242.65, Y:-30.58, Z:-16.00 [[ 9.97147620e-01 5.31399284e-02 5.35982496e-02 2.42646639e+02] [-5.28233633e-02 9.98577140e-01 -7.30670845e-03 -3.05770456e+01] [-5.39102648e-02 4.45462713e-03 9.98535848e-01 -1.59959466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.380714057 meters 0.04929479066876811 Centerline is valid? [True, True] Translation: X:242.71, Y:-30.58, Z:-16.00 [[ 9.96766575e-01 5.96668466e-02 5.38169316e-02 2.42707552e+02] [-5.93571415e-02 9.98209852e-01 -7.33634284e-03 -3.05796549e+01] [-5.41583277e-02 4.11820210e-03 9.98523869e-01 -1.59995198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.440714057 meters 0.04853762498894714 Centerline is valid? [True, True] Translation: X:242.77, Y:-30.58, Z:-16.00 [[ 9.96419277e-01 6.56196108e-02 5.33168879e-02 2.42766738e+02] [-6.53240724e-02 9.97837627e-01 -7.26883429e-03 -3.05831177e+01] [-5.36785749e-02 3.75993036e-03 9.98551187e-01 -1.60023544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.500714057 meters 0.04723685834628409 Centerline is valid? [True, True] Translation: X:242.83, Y:-30.59, Z:-16.01 [[ 9.96175711e-01 6.92889844e-02 5.32258423e-02 2.42826773e+02] [-6.89997612e-02 9.97590299e-01 -7.25460527e-03 -3.05876606e+01] [-5.36002481e-02 3.55429115e-03 9.98556148e-01 -1.60063041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.560714057 meters 0.032942463041359775 Centerline is valid? [True, True] Translation: X:242.89, Y:-30.57, Z:-16.01 [[ 9.95674708e-01 7.66935777e-02 5.24401578e-02 2.42890402e+02] [-7.64230650e-02 9.97049864e-01 -7.14735120e-03 -3.05709217e+01] [-5.28336081e-02 3.10879924e-03 9.98598491e-01 -1.60069553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62071405700001 meters 0.032740099613339214 Centerline is valid? [True, True] Translation: X:242.95, Y:-30.58, Z:-16.01 [[ 9.95418945e-01 7.96549697e-02 5.28791957e-02 2.42950357e+02] [-7.93840824e-02 9.96818052e-01 -7.20684361e-03 -3.05765089e+01] [-5.32849978e-02 2.97606223e-03 9.98574911e-01 -1.60106490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68071405700002 meters 0.03144453547431658 Centerline is valid? [True, True] Translation: X:243.01, Y:-30.58, Z:-16.01 [[ 9.95233299e-01 8.18611609e-02 5.30040635e-02 2.43010303e+02] [-8.15921600e-02 9.96639629e-01 -7.22288932e-03 -3.05816597e+01] [-5.34172243e-02 2.86374394e-03 9.98568175e-01 -1.60133700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74071405700002 meters 0.03061976574949049 Centerline is valid? [True, True] Translation: X:243.07, Y:-30.59, Z:-16.02 [[ 9.95049650e-01 8.31505496e-02 5.44259058e-02 2.43069095e+02] [-8.28688286e-02 9.96532865e-01 -7.41662487e-03 -3.05887141e+01] [-5.48539002e-02 2.86969893e-03 9.98490268e-01 -1.60166745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80071405700002 meters 0.03181545414056649 Centerline is valid? [True, True] Translation: X:243.13, Y:-30.60, Z:-16.02 [[ 9.95010381e-01 8.32517960e-02 5.49861843e-02 2.43125631e+02] [-8.29647900e-02 9.96524363e-01 -7.48580283e-03 -3.05983235e+01] [-5.54182788e-02 2.88653430e-03 9.98459054e-01 -1.60197925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86071405700002 meters 0.03128884703779776 Centerline is valid? [True, True] Translation: X:243.18, Y:-30.61, Z:-16.02 [[ 9.94895879e-01 8.44443349e-02 5.52389787e-02 2.43183357e+02] [-8.41568025e-02 9.96424185e-01 -7.51501268e-03 -3.06061147e+01] [-5.56760546e-02 2.82791932e-03 9.98444881e-01 -1.60242054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.920714057 meters 0.029393791687184118 Centerline is valid? [True, True] Translation: X:243.24, Y:-30.61, Z:-16.03 [[ 9.94784424e-01 8.60016664e-02 5.48421718e-02 2.43242188e+02] [-8.57208351e-02 9.96291288e-01 -7.45702559e-03 -3.06114338e+01] [-5.52800946e-02 2.71701614e-03 9.98467190e-01 -1.60266367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.980714057 meters 0.029164042855728843 Centerline is valid? [True, True] Translation: X:243.30, Y:-30.62, Z:-16.03 [[ 9.94643945e-01 8.73186036e-02 5.53071766e-02 2.43300095e+02] [-8.70352489e-02 9.96176879e-01 -7.51603623e-03 -3.06200367e+01] [-5.57520203e-02 2.66210606e-03 9.98441098e-01 -1.60301505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.040714057 meters 0.03252257401646646 Centerline is valid? [True, True] Translation: X:243.36, Y:-30.63, Z:-16.04 [[ 9.94570000e-01 8.83597082e-02 5.49825137e-02 2.43356339e+02] [-8.80814764e-02 9.96085279e-01 -7.46802156e-03 -3.06344407e+01] [-5.54271446e-02 2.58452923e-03 9.98459389e-01 -1.60357840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.100714057 meters 0.029762650550711218 Centerline is valid? [True, True] Translation: X:243.42, Y:-30.64, Z:-16.04 [[ 9.94558087e-01 8.90223906e-02 5.41223255e-02 2.43415429e+02] [-8.87540598e-02 9.96026481e-01 -7.34614542e-03 -3.06367836e+01] [-5.45612409e-02 2.50259222e-03 9.98507290e-01 -1.60387926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.160714057 meters 0.029535540319658486 Centerline is valid? [True, True] Translation: X:243.47, Y:-30.65, Z:-16.04 [[ 9.94835434e-01 8.59084439e-02 5.40573686e-02 2.43473784e+02] [-8.56363822e-02 9.96299468e-01 -7.33349710e-03 -3.06461495e+01] [-5.44873369e-02 2.66634530e-03 9.98510902e-01 -1.60422921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.220714057 meters 0.03179069477815734 Centerline is valid? [True, True] Translation: X:243.53, Y:-30.66, Z:-16.05 [[ 9.95421669e-01 7.95857966e-02 5.29320505e-02 2.43532527e+02] [-7.93163101e-02 9.96823671e-01 -7.17584470e-03 -3.06604462e+01] [-5.33350162e-02 2.94461638e-03 9.98572334e-01 -1.60475535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.280714057 meters 0.03525095572545424 Centerline is valid? [True, True] Translation: X:243.59, Y:-30.68, Z:-16.05 [[ 9.95983488e-01 7.25465614e-02 5.24775019e-02 2.43591297e+02] [-7.22719517e-02 9.97359590e-01 -7.11425226e-03 -3.06760039e+01] [-5.28550544e-02 3.29302629e-03 9.98596765e-01 -1.60531624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.340714057 meters 0.0355654023816336 Centerline is valid? [True, True] Translation: X:243.65, Y:-30.69, Z:-16.06 [[ 9.96395530e-01 6.69612694e-02 5.20781815e-02 2.43650798e+02] [-6.66832291e-02 9.97749217e-01 -7.06020698e-03 -3.06857839e+01] [-5.24337252e-02 3.56201736e-03 9.98618053e-01 -1.60562377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40071405700002 meters 0.04048235276621883 Centerline is valid? [True, True] Translation: X:243.71, Y:-30.70, Z:-16.06 [[ 9.96582639e-01 6.36396366e-02 5.26596651e-02 2.43707888e+02] [-6.33507079e-02 9.97965789e-01 -7.13951474e-03 -3.07017629e+01] [-5.30069003e-02 3.77908938e-03 9.98586995e-01 -1.60599280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46071405700002 meters 0.04270931812640755 Centerline is valid? [True, True] Translation: X:243.77, Y:-30.71, Z:-16.06 [[ 9.96911525e-01 5.88114555e-02 5.20444452e-02 2.43766709e+02] [-5.85228170e-02 9.98261149e-01 -7.05397945e-03 -3.07134510e+01] [-5.23688024e-02 3.98640587e-03 9.98619856e-01 -1.60634875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52071405700002 meters 0.04694474586408716 Centerline is valid? [True, True] Translation: X:243.82, Y:-30.73, Z:-16.07 [[ 9.97056192e-01 5.70113435e-02 5.12704292e-02 2.43823997e+02] [-5.67289041e-02 9.98365439e-01 -6.94844829e-03 -3.07271539e+01] [-5.15827649e-02 4.01947813e-03 9.98660634e-01 -1.60689579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58071405700002 meters 0.04846301670672539 Centerline is valid? [True, True] Translation: X:243.88, Y:-30.74, Z:-16.07 [[ 9.97038674e-01 5.69881269e-02 5.16355988e-02 2.43883938e+02] [-5.67017338e-02 9.98366653e-01 -6.99564090e-03 -3.07361897e+01] [-5.19499285e-02 4.04709655e-03 9.98641490e-01 -1.60723478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64071405700003 meters 0.045366610895153474 Centerline is valid? [True, True] Translation: X:243.94, Y:-30.74, Z:-16.07 [[ 9.96940157e-01 5.78302119e-02 5.25926744e-02 2.43944114e+02] [-5.75342269e-02 9.98318103e-01 -7.12582506e-03 -3.07389827e+01] [-5.29163069e-02 4.07814229e-03 9.98590623e-01 -1.60748402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.700714057 meters 0.04669148782575709 Centerline is valid? [True, True] Translation: X:244.00, Y:-30.75, Z:-16.08 [[ 9.96991045e-01 5.69662505e-02 5.25709374e-02 2.44003800e+02] [-5.66694704e-02 9.98367606e-01 -7.11999175e-03 -3.07493298e+01] [-5.28907202e-02 4.11940083e-03 9.98591810e-01 -1.60797974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.760714057 meters 0.049969361608056866 Centerline is valid? [True, True] Translation: X:244.06, Y:-30.76, Z:-16.09 [[ 9.97258168e-01 5.44814011e-02 5.00791681e-02 2.44063340e+02] [-5.42090097e-02 9.98506576e-01 -6.78245198e-03 -3.07616494e+01] [-5.03738961e-02 4.04911353e-03 9.98722221e-01 -1.60861442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.820714057 meters 0.053215750422484734 Centerline is valid? [True, True] Translation: X:244.12, Y:-30.77, Z:-16.09 [[ 9.97538963e-01 5.09022484e-02 4.82180275e-02 2.44122536e+02] [-5.06455848e-02 9.98695337e-01 -6.53062690e-03 -3.07745268e+01] [-4.84875428e-02 4.07252459e-03 9.98815485e-01 -1.60909902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.880714057 meters 0.04656405413916174 Centerline is valid? [True, True] Translation: X:244.18, Y:-30.77, Z:-16.09 [[ 9.97700196e-01 4.81704614e-02 4.76856879e-02 2.44184114e+02] [-4.79163381e-02 9.98830471e-01 -6.45863976e-03 -3.07717832e+01] [-4.79410338e-02 4.15886261e-03 9.98841510e-01 -1.60911994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.940714057 meters 0.04901414238394424 Centerline is valid? [True, True] Translation: X:244.24, Y:-30.78, Z:-16.10 [[ 9.97660137e-01 4.88434623e-02 4.78389626e-02 2.44243273e+02] [-4.85884681e-02 9.98797866e-01 -6.47940818e-03 -3.07811675e+01] [-4.80979305e-02 4.13982535e-03 9.98834046e-01 -1.60950036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.000714057 meters 0.05440790416143395 Centerline is valid? [True, True] Translation: X:244.30, Y:-30.79, Z:-16.10 [[ 9.97634536e-01 4.95603459e-02 4.76351152e-02 2.44301735e+02] [-4.93082921e-02 9.98762762e-01 -6.45265222e-03 -3.07946256e+01] [-4.78959749e-02 4.08858253e-03 9.98843961e-01 -1.61001898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.060714057 meters 0.047403911616452514 Centerline is valid? [True, True] Translation: X:244.36, Y:-30.79, Z:-16.10 [[ 9.97659929e-01 4.92456553e-02 4.74292335e-02 2.44363195e+02] [-4.89953713e-02 9.98778335e-01 -6.42588931e-03 -3.07910788e+01] [-4.76877380e-02 4.08703937e-03 9.98853931e-01 -1.61018930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12071405700001 meters 0.04769512187335083 Centerline is valid? [True, True] Translation: X:244.42, Y:-30.80, Z:-16.11 [[ 9.97643951e-01 4.99489175e-02 4.70282194e-02 2.44422788e+02] [-4.97036272e-02 9.98743687e-01 -6.37155842e-03 -3.07984631e+01] [-4.72873897e-02 4.01907363e-03 9.98873240e-01 -1.61062821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18071405700002 meters 0.046395330649353986 Centerline is valid? [True, True] Translation: X:244.48, Y:-30.80, Z:-16.11 [[ 9.97542739e-01 5.32146051e-02 4.55707120e-02 2.44483509e+02] [-5.29876752e-02 9.98576079e-01 -6.17416302e-03 -3.08015401e+01] [-4.58343786e-02 3.74430540e-03 9.98942035e-01 -1.61098433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24071405700002 meters 0.0461760759903589 Centerline is valid? [True, True] Translation: X:244.54, Y:-30.81, Z:-16.11 [[ 9.97383566e-01 5.71882534e-02 4.42213275e-02 2.44542026e+02] [-5.69784456e-02 9.98357430e-01 -5.99150797e-03 -3.08077515e+01] [-4.44913348e-02 3.45616908e-03 9.99003792e-01 -1.61147671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30071405700002 meters 0.046481183279885034 Centerline is valid? [True, True] Translation: X:244.60, Y:-30.82, Z:-16.12 [[ 9.97169161e-01 6.01886314e-02 4.50665382e-02 2.44600792e+02] [-5.99738070e-02 9.98181281e-01 -6.10507112e-03 -3.08154405e+01] [-4.53520308e-02 3.38497678e-03 9.98965332e-01 -1.61174736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36071405700002 meters 0.04646332032009572 Centerline is valid? [True, True] Translation: X:244.66, Y:-30.82, Z:-16.12 [[ 9.96861813e-01 6.32575839e-02 4.75920529e-02 2.44659565e+02] [-6.30215118e-02 9.97991351e-01 -6.44609834e-03 -3.08234283e+01] [-4.79042218e-02 3.42654616e-03 9.98846056e-01 -1.61197396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.420714057 meters 0.04597896985867263 Centerline is valid? [True, True] Translation: X:244.72, Y:-30.83, Z:-16.12 [[ 9.96636530e-01 6.61104893e-02 4.84255038e-02 2.44719099e+02] [-6.58694738e-02 9.97806698e-01 -6.55780950e-03 -3.08304019e+01] [-4.87528321e-02 3.34599005e-03 9.98805269e-01 -1.61227636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.480714057 meters 0.04011743086175914 Centerline is valid? [True, True] Translation: X:244.78, Y:-30.83, Z:-16.13 [[ 9.96264960e-01 7.16946552e-02 4.81249032e-02 2.44779948e+02] [-7.14631234e-02 9.97421954e-01 -6.51673623e-03 -3.08289962e+01] [-4.84680501e-02 3.05324006e-03 9.98820067e-01 -1.61263204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.540714057 meters 0.03471257007008833 Centerline is valid? [True, True] Translation: X:244.84, Y:-30.83, Z:-16.13 [[ 9.96207356e-01 7.25483503e-02 4.80379182e-02 2.44839394e+02] [-7.23186172e-02 9.97360364e-01 -6.50549945e-03 -3.08282986e+01] [-4.83830788e-02 3.00679059e-03 9.98824327e-01 -1.61290026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.600714057 meters 0.04146274731089437 Centerline is valid? [True, True] Translation: X:244.90, Y:-30.85, Z:-16.14 [[ 9.96189305e-01 7.31756869e-02 4.74572178e-02 2.44895079e+02] [-7.29523398e-02 9.97314741e-01 -6.42369032e-03 -3.08469562e+01] [-4.77998409e-02 2.93709651e-03 9.98852616e-01 -1.61382536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.660714057 meters 0.036644573268911566 Centerline is valid? [True, True] Translation: X:244.95, Y:-30.85, Z:-16.14 [[ 9.96153922e-01 7.31154454e-02 4.82855523e-02 2.44954162e+02] [-7.28843896e-02 9.97319012e-01 -6.53100479e-03 -3.08478427e+01] [-4.86336166e-02 2.98662304e-03 9.98812220e-01 -1.61400245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.720714057 meters 0.03718470160481476 Centerline is valid? [True, True] Translation: X:245.01, Y:-30.86, Z:-16.14 [[ 9.95951299e-01 7.40330983e-02 5.09912764e-02 2.45012375e+02] [-7.37767921e-02 9.97250957e-01 -6.89306439e-03 -3.08560706e+01] [-5.13614140e-02 3.10318364e-03 9.98675310e-01 -1.61421443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.780714057 meters 0.03466665145927233 Centerline is valid? [True, True] Translation: X:245.07, Y:-30.86, Z:-16.14 [[ 9.95733078e-01 7.56188931e-02 5.28906481e-02 2.45071927e+02] [-7.53455726e-02 9.97131880e-01 -7.14549970e-03 -3.08599893e+01] [-5.32792861e-02 3.12993424e-03 9.98574745e-01 -1.61446622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.840714057 meters 0.035297802587268536 Centerline is valid? [True, True] Translation: X:245.13, Y:-30.87, Z:-16.15 [[ 9.95633322e-01 7.61011598e-02 5.40638601e-02 2.45129818e+02] [-7.58163645e-02 9.97095058e-01 -7.30231791e-03 -3.08697773e+01] [-5.44625225e-02 3.17150572e-03 9.98510779e-01 -1.61484412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90071405700002 meters 0.03408409079605953 Centerline is valid? [True, True] Translation: X:245.19, Y:-30.88, Z:-16.15 [[ 9.95758737e-01 7.46872979e-02 5.37247104e-02 2.45188717e+02] [-7.44042465e-02 9.97201791e-01 -7.25231850e-03 -3.08781582e+01] [-5.41160335e-02 3.22421292e-03 9.98529448e-01 -1.61537369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96071405700002 meters 0.03549966814345453 Centerline is valid? [True, True] Translation: X:245.25, Y:-30.89, Z:-16.16 [[ 9.95873170e-01 7.36291112e-02 5.30601900e-02 2.45245782e+02] [-7.33516016e-02 9.97280431e-01 -7.16129655e-03 -3.08888816e+01] [-5.34431691e-02 3.23969318e-03 9.98565637e-01 -1.61592723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02071405700002 meters 0.036322020108779655 Centerline is valid? [True, True] Translation: X:245.30, Y:-30.90, Z:-16.16 [[ 9.95758956e-01 7.49734624e-02 5.33205570e-02 2.45302610e+02] [-7.46954013e-02 9.97180464e-01 -7.19154770e-03 -3.08984615e+01] [-5.37093930e-02 3.17824763e-03 9.98551551e-01 -1.61634853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08071405700002 meters 0.03586535926451997 Centerline is valid? [True, True] Translation: X:245.36, Y:-30.91, Z:-16.17 [[ 9.95526071e-01 7.75260751e-02 5.40143500e-02 2.45361875e+02] [-7.72447622e-02 9.96985583e-01 -7.27963318e-03 -3.09052035e+01] [-5.44158897e-02 3.07473899e-03 9.98513624e-01 -1.61671035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14071405700003 meters 0.03241007847785498 Centerline is valid? [True, True] Translation: X:245.42, Y:-30.91, Z:-16.17 [[ 9.94963738e-01 8.31808617e-02 5.59294509e-02 2.45422975e+02] [-8.28882570e-02 9.96530359e-01 -7.53527672e-03 -3.09072393e+01] [-5.63621866e-02 2.86143239e-03 9.98406288e-01 -1.61693744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.200714057 meters 0.03200127087815221 Centerline is valid? [True, True] Translation: X:245.48, Y:-30.91, Z:-16.17 [[ 9.94368508e-01 8.86186096e-02 5.81206727e-02 2.45482032e+02] [-8.83117852e-02 9.96062094e-01 -7.83163264e-03 -3.09139317e+01] [-5.85858273e-02 2.65478850e-03 9.98278845e-01 -1.61720980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.260714057 meters 0.02868041606552436 Centerline is valid? [True, True] Translation: X:245.54, Y:-30.92, Z:-16.17 [[ 9.94140814e-01 9.01156092e-02 5.96926963e-02 2.45541005e+02] [-8.97946928e-02 9.95927825e-01 -8.04241808e-03 -3.09156487e+01] [-6.01743646e-02 2.63520873e-03 9.98184403e-01 -1.61749667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.320714057 meters 0.0301443395811701 Centerline is valid? [True, True] Translation: X:245.60, Y:-30.93, Z:-16.18 [[ 9.94462816e-01 8.67567827e-02 5.93040381e-02 2.45598912e+02] [-8.64343434e-02 9.96225543e-01 -7.98567041e-03 -3.09279225e+01] [-5.97730086e-02 2.81554669e-03 9.98208024e-01 -1.61800833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.380714057 meters 0.033202419212357885 Centerline is valid? [True, True] Translation: X:245.66, Y:-30.94, Z:-16.19 [[ 9.94947016e-01 8.14708968e-02 5.86764803e-02 2.45656568e+02] [-8.11463800e-02 9.96670916e-01 -7.89625962e-03 -3.09422960e+01] [-5.91244567e-02 3.09497598e-03 9.98245821e-01 -1.61853691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.440714057 meters 0.03309801279557306 Centerline is valid? [True, True] Translation: X:245.72, Y:-30.95, Z:-16.19 [[ 9.95162700e-01 7.73722511e-02 6.05370556e-02 2.45715432e+02] [-7.70193297e-02 9.96996328e-01 -8.14519476e-03 -3.09528570e+01] [-6.09854342e-02 3.44327056e-03 9.98132717e-01 -1.61884890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.500714057 meters 0.037003057275632426 Centerline is valid? [True, True] Translation: X:245.77, Y:-30.97, Z:-16.19 [[ 9.95256793e-01 7.56002584e-02 6.12251340e-02 2.45771955e+02] [-7.52359787e-02 9.97131738e-01 -8.23678431e-03 -3.09676872e+01] [-6.16722273e-02 3.59138265e-03 9.98089995e-01 -1.61923036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.560714057 meters 0.036099841206722126 Centerline is valid? [True, True] Translation: X:245.83, Y:-30.98, Z:-16.20 [[ 9.95361134e-01 7.38904939e-02 6.16150038e-02 2.45830757e+02] [-7.35185788e-02 9.97259437e-01 -8.28461190e-03 -3.09761692e+01] [-6.20582980e-02 3.71633318e-03 9.98065607e-01 -1.61976379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62071405700001 meters 0.03707406483506294 Centerline is valid? [True, True] Translation: X:245.89, Y:-30.99, Z:-16.20 [[ 9.95345910e-01 7.34212969e-02 6.24166028e-02 2.45888761e+02] [-7.30388469e-02 9.97293804e-01 -8.39018746e-03 -3.09861246e+01] [-6.28637096e-02 3.79230209e-03 9.98014916e-01 -1.62018712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68071405700002 meters 0.034090153565779685 Centerline is valid? [True, True] Translation: X:245.95, Y:-30.99, Z:-16.21 [[ 9.95191773e-01 7.61081957e-02 6.16512594e-02 2.45948337e+02] [-7.57404872e-02 9.97093161e-01 -8.28290794e-03 -3.09890809e+01] [-6.21024463e-02 3.57358541e-03 9.98063383e-01 -1.62067968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74071405700002 meters 0.03168822244551811 Centerline is valid? [True, True] Translation: X:246.01, Y:-30.99, Z:-16.21 [[ 9.94800710e-01 8.08729167e-02 6.18960331e-02 2.46008955e+02] [-8.05116051e-02 9.96719001e-01 -8.31346993e-03 -3.09932744e+01] [-6.23652869e-02 3.28689681e-03 9.98047978e-01 -1.62115253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80071405700002 meters 0.031228875505697303 Centerline is valid? [True, True] Translation: X:246.07, Y:-31.00, Z:-16.22 [[ 9.94567208e-01 8.30524538e-02 6.27563481e-02 2.46067386e+02] [-8.26853617e-02 9.96540059e-01 -8.42859634e-03 -3.09986183e+01] [-6.32392304e-02 3.19377419e-03 9.97993286e-01 -1.62157575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86071405700002 meters 0.031177513867882527 Centerline is valid? [True, True] Translation: X:246.13, Y:-31.01, Z:-16.22 [[ 9.94482969e-01 8.34811192e-02 6.35179258e-02 2.46125477e+02] [-8.31062194e-02 9.96504220e-01 -8.52621907e-03 -3.10052496e+01] [-6.40076594e-02 3.20044498e-03 9.97944275e-01 -1.62208573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.920714057 meters 0.0331070056054234 Centerline is valid? [True, True] Translation: X:246.18, Y:-31.02, Z:-16.23 [[ 9.94714292e-01 7.97515253e-02 6.46774390e-02 2.46183992e+02] [-7.93552469e-02 9.96808634e-01 -8.67707141e-03 -3.10169629e+01] [-6.51630393e-02 3.49871281e-03 9.97868497e-01 -1.62261611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.980714057 meters 0.03568165805089891 Centerline is valid? [True, True] Translation: X:246.24, Y:-31.03, Z:-16.23 [[ 9.94990967e-01 7.51424682e-02 6.59286305e-02 2.46243310e+02] [-7.47206835e-02 9.97165286e-01 -8.84373965e-03 -3.10300827e+01] [-6.64062821e-02 3.87320873e-03 9.97785149e-01 -1.62306420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.040714057 meters 0.03665588788154934 Centerline is valid? [True, True] Translation: X:246.30, Y:-31.04, Z:-16.24 [[ 9.95546376e-01 6.65097035e-02 6.68122217e-02 2.46302152e+02] [-6.60571840e-02 9.97775592e-01 -8.96196295e-03 -3.10416625e+01] [-6.72596615e-02 4.50862251e-03 9.97725318e-01 -1.62353429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.100714057 meters 0.043733667550270514 Centerline is valid? [True, True] Translation: X:246.36, Y:-31.06, Z:-16.24 [[ 9.96249595e-01 5.52158451e-02 6.66179718e-02 2.46359382e+02] [-5.47408678e-02 9.98460610e-01 -8.93571170e-03 -3.10620086e+01] [-6.70088136e-02 5.25547358e-03 9.97738542e-01 -1.62417495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.160714057 meters 0.04975964286364067 Centerline is valid? [True, True] Translation: X:246.42, Y:-31.08, Z:-16.25 [[ 9.96445589e-01 5.18912523e-02 6.63587745e-02 2.46417209e+02] [-5.14125884e-02 9.98637823e-01 -8.90191693e-03 -3.10791090e+01] [-6.67303137e-02 5.45859950e-03 9.97756117e-01 -1.62464749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.220714057 meters 0.04829577835085847 Centerline is valid? [True, True] Translation: X:246.48, Y:-31.08, Z:-16.25 [[ 9.96573255e-01 5.12844042e-02 6.48972792e-02 2.46478967e+02] [-5.08254092e-02 9.98669615e-01 -8.70502939e-03 -3.10816147e+01] [-6.52573731e-02 5.37676870e-03 9.97853980e-01 -1.62526889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.280714057 meters 0.04896416422401023 Centerline is valid? [True, True] Translation: X:246.54, Y:-31.09, Z:-16.26 [[ 9.96351327e-01 5.24938394e-02 6.72936106e-02 2.46540626e+02] [-5.20024028e-02 9.98606087e-01 -9.03510117e-03 -3.10877117e+01] [-6.76740963e-02 5.50270560e-03 9.97692306e-01 -1.62551757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.340714057 meters 0.05121312896948685 Centerline is valid? [True, True] Translation: X:246.60, Y:-31.10, Z:-16.26 [[ 9.96241635e-01 5.27054882e-02 6.87367233e-02 2.46601857e+02] [-5.21928845e-02 9.98594335e-01 -9.23345431e-03 -3.10966399e+01] [-6.91267562e-02 5.61118375e-03 9.97592104e-01 -1.62591943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40071405700002 meters 0.05452566613536228 Centerline is valid? [True, True] Translation: X:246.66, Y:-31.11, Z:-16.27 [[ 9.96379197e-01 5.04142131e-02 6.84609555e-02 2.46661902e+02] [-4.98992249e-02 9.98711766e-01 -9.21281529e-03 -3.11070191e+01] [-6.88372186e-02 5.76330888e-03 9.97611258e-01 -1.62656788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46071405700002 meters 0.05982011270246001 Centerline is valid? [True, True] Translation: X:246.72, Y:-31.12, Z:-16.27 [[ 9.96697448e-01 4.64720906e-02 6.65923582e-02 2.46721236e+02] [-4.59760862e-02 9.98902334e-01 -8.96246994e-03 -3.11209489e+01] [-6.69357667e-02 5.87121491e-03 9.97740012e-01 -1.62726397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52071405700002 meters 0.059953685763000995 Centerline is valid? [True, True] Translation: X:246.78, Y:-31.13, Z:-16.28 [[ 9.96762097e-01 4.56261204e-02 6.62086062e-02 2.46782914e+02] [-4.51338605e-02 9.98941190e-01 -8.91258205e-03 -3.11293682e+01] [-6.65451504e-02 5.89547397e-03 9.97765998e-01 -1.62775822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58071405700002 meters 0.050588949377674094 Centerline is valid? [True, True] Translation: X:246.84, Y:-31.12, Z:-16.28 [[ 9.96975394e-01 4.30907886e-02 6.46780278e-02 2.46844465e+02] [-4.26155054e-02 9.99053573e-01 -8.71077936e-03 -3.11240972e+01] [-6.49921691e-02 5.92814584e-03 9.97868165e-01 -1.62831327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64071405700003 meters 0.04855163261154777 Centerline is valid? [True, True] Translation: X:246.91, Y:-31.13, Z:-16.29 [[ 9.96998607e-01 4.42693128e-02 6.35138171e-02 2.46905872e+02] [-4.38133176e-02 9.99003105e-01 -8.55505696e-03 -3.11277398e+01] [-6.38292270e-02 5.74662883e-03 9.97944290e-01 -1.62881168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.700714057 meters 0.05142447057120123 Centerline is valid? [True, True] Translation: X:246.96, Y:-31.14, Z:-16.29 [[ 9.96739518e-01 4.88462518e-02 6.42213155e-02 2.46964732e+02] [-4.83892824e-02 9.98791073e-01 -8.65273817e-03 -3.11378605e+01] [-6.45663304e-02 5.51690271e-03 9.97898168e-01 -1.62913399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.760714057 meters 0.04641605849996835 Centerline is valid? [True, True] Translation: X:247.03, Y:-31.14, Z:-16.29 [[ 9.96459103e-01 5.33505288e-02 6.49844342e-02 2.47025829e+02] [-5.28920717e-02 9.98561845e-01 -8.75618999e-03 -3.11360870e+01] [-6.53581239e-02 5.28802387e-03 9.97847860e-01 -1.62938206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.820714057 meters 0.04514450807333875 Centerline is valid? [True, True] Translation: X:247.09, Y:-31.14, Z:-16.30 [[ 9.96222387e-01 5.83466734e-02 6.43165675e-02 2.47086032e+02] [-5.79079467e-02 9.98284312e-01 -8.66613133e-03 -3.11416644e+01] [-6.47118602e-02 4.90895368e-03 9.97891917e-01 -1.62985682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.880714057 meters 0.04515063830262062 Centerline is valid? [True, True] Translation: X:247.15, Y:-31.15, Z:-16.30 [[ 9.95981831e-01 6.42262144e-02 6.24114210e-02 2.47145186e+02] [-6.38246085e-02 9.97925700e-01 -8.40934970e-03 -3.11476142e+01] [-6.28220617e-02 4.39217499e-03 9.98015079e-01 -1.63038191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.940714057 meters 0.03719390662690543 Centerline is valid? [True, True] Translation: X:247.21, Y:-31.14, Z:-16.31 [[ 9.95531081e-01 7.17230235e-02 6.14302378e-02 2.47206698e+02] [-7.13481597e-02 9.97417130e-01 -8.27705818e-03 -3.11427909e+01] [-6.18652271e-02 3.85713426e-03 9.98077059e-01 -1.63075939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.000714057 meters 0.034817057474174885 Centerline is valid? [True, True] Translation: X:247.27, Y:-31.15, Z:-16.31 [[ 9.94977371e-01 7.83660717e-02 6.22799363e-02 2.47266420e+02] [-7.79937264e-02 9.96918536e-01 -8.39109233e-03 -3.11457438e+01] [-6.27455999e-02 3.49150267e-03 9.98023446e-01 -1.63109354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.060714057 meters 0.03343419891389123 Centerline is valid? [True, True] Translation: X:247.33, Y:-31.15, Z:-16.31 [[ 9.94688112e-01 8.29331198e-02 6.09725962e-02 2.47326801e+02] [-8.25849245e-02 9.96550187e-01 -8.21308945e-03 -3.11490890e+01] [-6.14433893e-02 3.13404518e-03 9.98105650e-01 -1.63144721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12071405700001 meters 0.029810755989524335 Centerline is valid? [True, True] Translation: X:247.39, Y:-31.15, Z:-16.32 [[ 9.94580654e-01 8.48598039e-02 6.00677648e-02 2.47385726e+02] [-8.45253786e-02 9.96388474e-01 -8.09126525e-03 -3.11506045e+01] [-6.05374517e-02 2.97016533e-03 9.98161508e-01 -1.63175943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18071405700002 meters 0.03163900358723287 Centerline is valid? [True, True] Translation: X:247.44, Y:-31.16, Z:-16.32 [[ 9.94776899e-01 8.31640885e-02 5.91832296e-02 2.47442623e+02] [-8.28367062e-02 9.96531279e-01 -7.96802995e-03 -3.11625790e+01] [-5.96405934e-02 3.02386832e-03 9.98215335e-01 -1.63212166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24071405700002 meters 0.03280462814569748 Centerline is valid? [True, True] Translation: X:247.50, Y:-31.17, Z:-16.32 [[ 9.94982139e-01 8.08300197e-02 5.89665228e-02 2.47501160e+02] [-8.05014275e-02 9.96722942e-01 -7.93081435e-03 -3.11743566e+01] [-5.94143340e-02 3.14412936e-03 9.98228457e-01 -1.63249485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30071405700002 meters 0.033563267570198924 Centerline is valid? [True, True] Translation: X:247.56, Y:-31.18, Z:-16.33 [[ 9.95137120e-01 7.84692359e-02 5.95373077e-02 2.47559971e+02] [-7.81301631e-02 9.96911025e-01 -8.00541578e-03 -3.11846653e+01] [-5.99815773e-02 3.31482685e-03 9.98193980e-01 -1.63279076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36071405700002 meters 0.03478414867326308 Centerline is valid? [True, True] Translation: X:247.62, Y:-31.20, Z:-16.33 [[ 9.95470988e-01 7.46359609e-02 5.88811166e-02 2.47619198e+02] [-7.42977824e-02 9.97204689e-01 -7.91498884e-03 -3.11961118e+01] [-5.93072684e-02 3.50440537e-03 9.98233624e-01 -1.63317502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.420714057 meters 0.03806373121054673 Centerline is valid? [True, True] Translation: X:247.68, Y:-31.21, Z:-16.34 [[ 9.95813975e-01 7.09663783e-02 5.76046884e-02 2.47677048e+02] [-7.06366690e-02 9.97472063e-01 -7.74238407e-03 -3.12111190e+01] [-5.80085164e-02 3.64097094e-03 9.98309449e-01 -1.63368492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.480714057 meters 0.03933213178588914 Centerline is valid? [True, True] Translation: X:247.74, Y:-31.22, Z:-16.34 [[ 9.96200066e-01 6.66483099e-02 5.60663034e-02 2.47735930e+02] [-6.63292551e-02 9.97769343e-01 -7.53450788e-03 -3.12230482e+01] [-5.64434009e-02 3.78704112e-03 9.98398618e-01 -1.63416249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.540714057 meters 0.044686412778515996 Centerline is valid? [True, True] Translation: X:247.79, Y:-31.24, Z:-16.35 [[ 9.96504863e-01 6.30511442e-02 5.47960961e-02 2.47793411e+02] [-6.27409823e-02 9.98002676e-01 -7.36396671e-03 -3.12403719e+01] [-5.51509571e-02 3.90026774e-03 9.98470410e-01 -1.63473482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.600714057 meters 0.046959639528241 Centerline is valid? [True, True] Translation: X:247.85, Y:-31.25, Z:-16.35 [[ 9.96740464e-01 5.93695911e-02 5.46232486e-02 2.47852832e+02] [-5.90559667e-02 9.98227693e-01 -7.33933491e-03 -3.12529814e+01] [-5.49621727e-02 4.08958334e-03 9.98480062e-01 -1.63513225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.660714057 meters 0.043731703358063014 Centerline is valid? [True, True] Translation: X:247.91, Y:-31.26, Z:-16.35 [[ 9.96848424e-01 5.57280000e-02 5.64589183e-02 2.47913070e+02] [-5.53871155e-02 9.98436138e-01 -7.58587562e-03 -3.12569988e+01] [-5.67933700e-02 4.43487153e-03 9.98376104e-01 -1.63532255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.720714057 meters 0.0463747477759789 Centerline is valid? [True, True] Translation: X:247.97, Y:-31.27, Z:-16.36 [[ 9.96976763e-01 5.31139439e-02 5.67119369e-02 2.47972747e+02] [-5.27658019e-02 9.98577844e-01 -7.61972312e-03 -3.12693364e+01] [-5.70359972e-02 4.60423606e-03 9.98361506e-01 -1.63571554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.780714057 meters 0.042898324017408805 Centerline is valid? [True, True] Translation: X:248.03, Y:-31.27, Z:-16.36 [[ 9.97110010e-01 5.13752493e-02 5.59661607e-02 2.48033723e+02] [-5.10334431e-02 9.98668629e-01 -7.52048811e-03 -3.12734132e+01] [-5.62780159e-02 4.64260810e-03 9.98404343e-01 -1.63612269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.840714057 meters 0.051641474710685156 Centerline is valid? [True, True] Translation: X:248.09, Y:-31.29, Z:-16.37 [[ 9.97227856e-01 4.99160206e-02 5.51814711e-02 2.48091546e+02] [-4.95814724e-02 9.98742549e-01 -7.41604457e-03 -3.12942886e+01] [-5.54822626e-02 4.65950764e-03 9.98448801e-01 -1.63677426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90071405700002 meters 0.046439053503585695 Centerline is valid? [True, True] Translation: X:248.15, Y:-31.30, Z:-16.37 [[ 9.97527662e-01 4.61046039e-02 5.30370464e-02 2.48151708e+02] [-4.57901719e-02 9.98925641e-01 -7.12912740e-03 -3.12959886e+01] [-5.33087512e-02 4.68292632e-03 9.98567097e-01 -1.63725327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96071405700002 meters 0.049264931072249406 Centerline is valid? [True, True] Translation: X:248.21, Y:-31.31, Z:-16.38 [[ 9.97609132e-01 4.41107403e-02 5.32002060e-02 2.48210709e+02] [-4.37916341e-02 9.99015103e-01 -7.14962788e-03 -3.13087275e+01] [-5.34631846e-02 4.80281011e-03 9.98558271e-01 -1.63770366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02071405700002 meters 0.04756222167482839 Centerline is valid? [True, True] Translation: X:248.27, Y:-31.31, Z:-16.38 [[ 9.97585149e-01 4.34492345e-02 5.41851813e-02 2.48272217e+02] [-4.31172007e-02 9.99043480e-01 -7.28234851e-03 -3.13143149e+01] [-5.44497645e-02 4.92844939e-03 9.98504348e-01 -1.63793787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08071405700002 meters 0.04722916189850165 Centerline is valid? [True, True] Translation: X:248.33, Y:-31.32, Z:-16.38 [[ 9.97467212e-01 4.39022548e-02 5.59620624e-02 2.48333896e+02] [-4.35479921e-02 9.99022922e-01 -7.53482955e-03 -3.13213726e+01] [-5.62381791e-02 5.07870997e-03 9.98404464e-01 -1.63821936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14071405700003 meters 0.04978186175859219 Centerline is valid? [True, True] Translation: X:248.39, Y:-31.33, Z:-16.39 [[ 9.97504394e-01 4.37688830e-02 5.54009892e-02 2.48394144e+02] [-4.34207016e-02 9.99028923e-01 -7.47350322e-03 -3.13327764e+01] [-5.56742975e-02 5.04930248e-03 9.98436216e-01 -1.63869014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.200714057 meters 0.051820295692299706 Centerline is valid? [True, True] Translation: X:248.45, Y:-31.34, Z:-16.39 [[ 9.97661247e-01 4.37670967e-02 5.25021576e-02 2.48454855e+02] [-4.34538317e-02 9.99030250e-01 -7.09398726e-03 -3.13429347e+01] [-5.27617269e-02 4.79597626e-03 9.98595613e-01 -1.63938184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.260714057 meters 0.05432290918301493 Centerline is valid? [True, True] Translation: X:248.51, Y:-31.35, Z:-16.40 [[ 9.97683856e-01 4.44665469e-02 5.14747415e-02 2.48514782e+02] [-4.41657585e-02 9.98999925e-01 -6.96677016e-03 -3.13540291e+01] [-5.17330511e-02 4.67721311e-03 9.98649996e-01 -1.63996533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.320714057 meters 0.055210521920660935 Centerline is valid? [True, True] Translation: X:248.58, Y:-31.36, Z:-16.40 [[ 9.97624823e-01 4.55444057e-02 5.16761117e-02 2.48576548e+02] [-4.52420860e-02 9.98951488e-01 -7.00563149e-03 -3.13622643e+01] [-5.19409960e-02 4.65105679e-03 9.98639325e-01 -1.64035531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.380714057 meters 0.05503842235391157 Centerline is valid? [True, True] Translation: X:248.64, Y:-31.37, Z:-16.41 [[ 9.97497068e-01 4.68539665e-02 5.29556848e-02 2.48637465e+02] [-4.65374784e-02 9.98890636e-01 -7.19450754e-03 -3.13688562e+01] [-5.32340289e-02 4.71207614e-03 9.98570946e-01 -1.64067461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.440714057 meters 0.04713179355044237 Centerline is valid? [True, True] Translation: X:248.70, Y:-31.36, Z:-16.41 [[ 9.97329767e-01 4.81881712e-02 5.48747315e-02 2.48700746e+02] [-4.78502013e-02 9.98826687e-01 -7.45700919e-03 -3.13643543e+01] [-5.51696859e-02 4.81133028e-03 9.98465401e-01 -1.64079112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.500714057 meters 0.04957078404395518 Centerline is valid? [True, True] Translation: X:248.76, Y:-31.38, Z:-16.41 [[ 9.97323785e-01 4.77795227e-02 5.53388276e-02 2.48761853e+02] [-4.74351056e-02 9.98846004e-01 -7.52141379e-03 -3.13756910e+01] [-5.56343364e-02 4.87628174e-03 9.98439303e-01 -1.64132142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.560714057 meters 0.051605460075879614 Centerline is valid? [True, True] Translation: X:248.82, Y:-31.39, Z:-16.42 [[ 9.97470833e-01 4.52469358e-02 5.48147161e-02 2.48821848e+02] [-4.49043634e-02 9.98963392e-01 -7.46587360e-03 -3.13869482e+01] [-5.50957027e-02 4.98557122e-03 9.98468631e-01 -1.64186523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62071405700001 meters 0.0469861364850975 Centerline is valid? [True, True] Translation: X:248.88, Y:-31.39, Z:-16.42 [[ 9.97652119e-01 4.24588074e-02 5.37354554e-02 2.48882560e+02] [-4.21255224e-02 9.99085508e-01 -7.32035278e-03 -3.13877180e+01] [-5.39971282e-02 5.03953133e-03 9.98528374e-01 -1.64231964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68071405700002 meters 0.05671446284561637 Centerline is valid? [True, True] Translation: X:248.94, Y:-31.41, Z:-16.43 [[ 9.97639855e-01 4.12603646e-02 5.48844368e-02 2.48940495e+02] [-4.09109097e-02 9.99134830e-01 -7.47595019e-03 -3.14094526e+01] [-5.51454128e-02 5.21293363e-03 9.98464726e-01 -1.64289436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74071405700002 meters 0.04876473423229415 Centerline is valid? [True, True] Translation: X:249.00, Y:-31.41, Z:-16.43 [[ 9.97629536e-01 4.02303605e-02 5.58285458e-02 2.49003149e+02] [-3.98668079e-02 9.99176016e-01 -7.61091480e-03 -3.14071636e+01] [-5.60887338e-02 5.36716750e-03 9.98411362e-01 -1.64310873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80071405700002 meters 0.050915836803195294 Centerline is valid? [True, True] Translation: X:249.07, Y:-31.42, Z:-16.43 [[ 9.97595687e-01 4.03624531e-02 5.63357523e-02 2.49065696e+02] [-3.99917037e-02 9.99170393e-01 -7.69346244e-03 -3.14184015e+01] [-5.65995428e-02 5.42200224e-03 9.98382238e-01 -1.64349505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86071405700002 meters 0.05409344621683811 Centerline is valid? [True, True] Translation: X:249.12, Y:-31.43, Z:-16.44 [[ 9.97564280e-01 4.27406775e-02 5.51247823e-02 2.49124134e+02] [-4.23882694e-02 9.99072710e-01 -7.54689607e-03 -3.14303529e+01] [-5.53962250e-02 5.19186983e-03 9.98450952e-01 -1.64406759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.920714057 meters 0.046547034738015705 Centerline is valid? [True, True] Translation: X:249.19, Y:-31.43, Z:-16.44 [[ 9.97296305e-01 4.84513818e-02 5.52498322e-02 2.49186179e+02] [-4.81060626e-02 9.98813594e-01 -7.56383070e-03 -3.14268420e+01] [-5.55507615e-02 4.88552852e-03 9.98443912e-01 -1.64442939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.980714057 meters 0.04206785711376059 Centerline is valid? [True, True] Translation: X:249.25, Y:-31.43, Z:-16.45 [[ 9.96825521e-01 5.68461825e-02 5.57439814e-02 2.49247007e+02] [-5.65075950e-02 9.98372993e-01 -7.63276099e-03 -3.14271342e+01] [-5.60871788e-02 4.45857263e-03 9.98415920e-01 -1.64475687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.040714057 meters 0.04066475405407918 Centerline is valid? [True, True] Translation: X:249.31, Y:-31.43, Z:-16.45 [[ 9.96203026e-01 6.49712481e-02 5.79505640e-02 2.49306774e+02] [-6.46188912e-02 9.97878462e-01 -7.93562754e-03 -3.14301935e+01] [-5.83432073e-02 4.16079498e-03 9.98287913e-01 -1.64496986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.100714057 meters 0.039082840623904186 Centerline is valid? [True, True] Translation: X:249.37, Y:-31.44, Z:-16.45 [[ 9.95756472e-01 7.06435917e-02 5.89790736e-02 2.49366055e+02] [-7.02885545e-02 9.97494014e-01 -8.07535220e-03 -3.14356276e+01] [-5.94017448e-02 3.89553039e-03 9.98226556e-01 -1.64533484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.160714057 meters 0.03748466752229931 Centerline is valid? [True, True] Translation: X:249.43, Y:-31.44, Z:-16.46 [[ 9.95531115e-01 7.42174009e-02 5.83915779e-02 2.49426111e+02] [-7.38756313e-02 9.97235429e-01 -7.99313971e-03 -3.14414260e+01] [-5.88233803e-02 3.64370461e-03 9.98261756e-01 -1.64578849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.220714057 meters 0.03346316533146858 Centerline is valid? [True, True] Translation: X:249.49, Y:-31.44, Z:-16.46 [[ 9.95315238e-01 7.77165575e-02 5.75127250e-02 2.49485929e+02] [-7.73908914e-02 9.96969752e-01 -7.87170955e-03 -3.14428969e+01] [-5.79502094e-02 3.38387141e-03 9.98313740e-01 -1.64612559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.280714057 meters 0.037765399987800846 Centerline is valid? [True, True] Translation: X:249.54, Y:-31.46, Z:-16.47 [[ 9.95109059e-01 8.04959588e-02 5.72569734e-02 2.49542836e+02] [-8.01778822e-02 9.96749780e-01 -7.83472028e-03 -3.14589432e+01] [-5.77015389e-02 3.20565827e-03 9.98328732e-01 -1.64664936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.340714057 meters 0.0365889121408606 Centerline is valid? [True, True] Translation: X:249.60, Y:-31.47, Z:-16.47 [[ 9.95030595e-01 8.15906470e-02 5.70708390e-02 2.49600954e+02] [-8.12766039e-02 9.96661014e-01 -7.80625260e-03 -3.14666365e+01] [-5.75171975e-02 3.12893620e-03 9.98339612e-01 -1.64709842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40071405700002 meters 0.034865025884931164 Centerline is valid? [True, True] Translation: X:249.66, Y:-31.47, Z:-16.47 [[ 9.94904711e-01 8.31916547e-02 5.69540621e-02 2.49659495e+02] [-8.28817336e-02 9.96528971e-01 -7.78639592e-03 -3.14738833e+01] [-5.74041361e-02 3.02627057e-03 9.98346436e-01 -1.64737283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46071405700002 meters 0.031847159764930695 Centerline is valid? [True, True] Translation: X:249.72, Y:-31.48, Z:-16.48 [[ 9.94796125e-01 8.41303441e-02 5.74696044e-02 2.49718308e+02] [-8.38165731e-02 9.96450257e-01 -7.85286217e-03 -3.14788858e+01] [-5.79262661e-02 2.99509156e-03 9.98316371e-01 -1.64759560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52071405700002 meters 0.03216470158675159 Centerline is valid? [True, True] Translation: X:249.78, Y:-31.49, Z:-16.48 [[ 9.94765980e-01 8.44856704e-02 5.74701440e-02 2.49776233e+02] [-8.41727277e-02 9.96420267e-01 -7.84874328e-03 -3.14883351e+01] [-5.79275226e-02 2.97024401e-03 9.98316373e-01 -1.64800126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58071405700002 meters 0.032646237198492425 Centerline is valid? [True, True] Translation: X:249.83, Y:-31.50, Z:-16.48 [[ 9.94947653e-01 8.20399101e-02 5.78672723e-02 2.49833860e+02] [-8.17187539e-02 9.96624130e-01 -7.89862122e-03 -3.15012616e+01] [-5.83199221e-02 3.12987327e-03 9.98293038e-01 -1.64836085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64071405700003 meters 0.03411097212011745 Centerline is valid? [True, True] Translation: X:249.89, Y:-31.52, Z:-16.49 [[ 9.95216469e-01 7.93565469e-02 5.69799794e-02 2.49892220e+02] [-7.90409784e-02 9.96841052e-01 -7.77431529e-03 -3.15151695e+01] [-5.74169255e-02 3.23337329e-03 9.98345052e-01 -1.64883965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.700714057 meters 0.03172963635059169 Centerline is valid? [True, True] Translation: X:249.95, Y:-31.52, Z:-16.49 [[ 9.95422006e-01 7.82977568e-02 5.48132319e-02 2.49950794e+02] [-7.80042456e-02 9.96924987e-01 -7.47716430e-03 -3.15208353e+01] [-5.52301257e-02 3.16726908e-03 9.98468628e-01 -1.64934304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.760714057 meters 0.034936649988733186 Centerline is valid? [True, True] Translation: X:250.01, Y:-31.53, Z:-16.50 [[ 9.95395699e-01 7.91312852e-02 5.40892092e-02 2.50007526e+02] [-7.88469310e-02 9.96859459e-01 -7.37437589e-03 -3.15346319e+01] [-5.45028836e-02 3.07565390e-03 9.98508876e-01 -1.64986645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.820714057 meters 0.03515984970391358 Centerline is valid? [True, True] Translation: X:250.07, Y:-31.54, Z:-16.50 [[ 9.95205802e-01 8.13943793e-02 5.42251490e-02 2.50067050e+02] [-8.11121884e-02 9.96677594e-01 -7.38833557e-03 -3.15429784e+01] [-5.46463600e-02 2.95459393e-03 9.98501400e-01 -1.65020935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.880714057 meters 0.03503366499656774 Centerline is valid? [True, True] Translation: X:250.13, Y:-31.55, Z:-16.51 [[ 9.95111333e-01 8.23587174e-02 5.45020712e-02 2.50125126e+02] [-8.20750997e-02 9.96598484e-01 -7.42560779e-03 -3.15504871e+01] [-5.49282450e-02 2.91604354e-03 9.98486046e-01 -1.65050756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.940714057 meters 0.03251270411109477 Centerline is valid? [True, True] Translation: X:250.18, Y:-31.56, Z:-16.51 [[ 9.95129255e-01 8.14450885e-02 5.55379541e-02 2.50183653e+02] [-8.11493759e-02 9.96673258e-01 -7.56282417e-03 -3.15552972e+01] [-5.59691485e-02 3.01911727e-03 9.98427934e-01 -1.65073886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.000714057 meters 0.03520686565216784 Centerline is valid? [True, True] Translation: X:250.24, Y:-31.57, Z:-16.51 [[ 9.95607397e-01 7.53136782e-02 5.56215860e-02 2.50242425e+02] [-7.50077923e-02 9.97154216e-01 -7.56970300e-03 -3.15683770e+01] [-5.60334011e-02 3.36439993e-03 9.98423226e-01 -1.65112672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.060714057 meters 0.03911375462790386 Centerline is valid? [True, True] Translation: X:250.30, Y:-31.59, Z:-16.52 [[ 9.96253203e-01 6.67283581e-02 5.50171075e-02 2.50300625e+02] [-6.64161176e-02 9.97763927e-01 -7.48637637e-03 -3.15850663e+01] [-5.53936389e-02 3.80430375e-03 9.98457346e-01 -1.65158161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12071405700001 meters 0.04336047754847894 Centerline is valid? [True, True] Translation: X:250.36, Y:-31.60, Z:-16.52 [[ 9.96755014e-01 5.86321537e-02 5.51517321e-02 2.50359077e+02] [-5.83060738e-02 9.98270547e-01 -7.50440216e-03 -3.16024003e+01] [-5.54963490e-02 4.26436952e-03 9.98449784e-01 -1.65192067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18071405700002 meters 0.046723365665426925 Centerline is valid? [True, True] Translation: X:250.42, Y:-31.62, Z:-16.52 [[ 9.97147909e-01 5.31725018e-02 5.35605461e-02 2.50417486e+02] [-5.28571798e-02 9.98575490e-01 -7.28765478e-03 -3.16172634e+01] [-5.38717514e-02 4.43581031e-03 9.98538010e-01 -1.65248398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24071405700002 meters 0.04822334001134347 Centerline is valid? [True, True] Translation: X:250.48, Y:-31.63, Z:-16.53 [[ 9.97247432e-01 5.18166917e-02 5.30338619e-02 2.50477905e+02] [-5.15056896e-02 9.98646637e-01 -7.21516792e-03 -3.16285078e+01] [-5.33359539e-02 4.46376205e-03 9.98566648e-01 -1.65295722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30071405700002 meters 0.04825669056857101 Centerline is valid? [True, True] Translation: X:250.54, Y:-31.64, Z:-16.53 [[ 9.97233672e-01 5.20900074e-02 5.30248531e-02 2.50540263e+02] [-5.17795403e-02 9.98632490e-01 -7.21308456e-03 -3.16373367e+01] [-5.33280707e-02 4.44752828e-03 9.98567142e-01 -1.65332152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36071405700002 meters 0.048007122250738284 Centerline is valid? [True, True] Translation: X:250.60, Y:-31.64, Z:-16.53 [[ 9.96950816e-01 5.54730196e-02 5.48799998e-02 2.50600040e+02] [-5.51444781e-02 9.98450337e-01 -7.48401469e-03 -3.16439448e+01] [-5.52101152e-02 4.43486560e-03 9.98464909e-01 -1.65346069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42071405700003 meters 0.04179103568721992 Centerline is valid? [True, True] Translation: X:250.66, Y:-31.64, Z:-16.54 [[ 9.96676664e-01 5.88041311e-02 5.63711077e-02 2.50661517e+02] [-5.84627419e-02 9.98259990e-01 -7.68763991e-03 -3.16406522e+01] [-5.67250864e-02 4.36648178e-03 9.98380287e-01 -1.65359184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.480714057 meters 0.04924955974647233 Centerline is valid? [True, True] Translation: X:250.72, Y:-31.66, Z:-16.54 [[ 9.96577464e-01 6.09379893e-02 5.58562404e-02 2.50719295e+02] [-6.06061345e-02 9.98132691e-01 -7.61761672e-03 -3.16575510e+01] [-5.62161417e-02 4.20631433e-03 9.98409762e-01 -1.65423343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.540714057 meters 0.03956420867799367 Centerline is valid? [True, True] Translation: X:250.78, Y:-31.65, Z:-16.55 [[ 9.96619238e-01 6.16027535e-02 5.43617017e-02 2.50781586e+02] [-6.12894346e-02 9.98092502e-01 -7.41361542e-03 -3.16516865e+01] [-5.47147060e-02 4.05675379e-03 9.98493788e-01 -1.65462749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.600714057 meters 0.03980901000147776 Centerline is valid? [True, True] Translation: X:250.84, Y:-31.66, Z:-16.55 [[ 9.96728494e-01 6.13437061e-02 5.26237409e-02 2.50840903e+02] [-6.10497054e-02 9.98108919e-01 -7.17773251e-03 -3.16607658e+01] [-5.29645338e-02 3.94158664e-03 9.98588615e-01 -1.65527273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.660714057 meters 0.04053714270536334 Centerline is valid? [True, True] Translation: X:250.90, Y:-31.67, Z:-16.56 [[ 9.96686925e-01 6.27890130e-02 5.16983013e-02 2.50899984e+02] [-6.25071828e-02 9.98019600e-01 -7.05195067e-03 -3.16691852e+01] [-5.20387030e-02 3.79707185e-03 9.98637850e-01 -1.65573792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.720714057 meters 0.03633647903505934 Centerline is valid? [True, True] Translation: X:250.96, Y:-31.67, Z:-16.56 [[ 9.96419203e-01 6.58443033e-02 5.30405469e-02 2.50960720e+02] [-6.55520501e-02 9.97822937e-01 -7.23285611e-03 -3.16693611e+01] [-5.34013167e-02 3.73004013e-03 9.98566165e-01 -1.65583283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.780714057 meters 0.03736111658634967 Centerline is valid? [True, True] Translation: X:251.02, Y:-31.68, Z:-16.56 [[ 9.96169565e-01 6.87523778e-02 5.40306228e-02 2.51019506e+02] [-6.84533894e-02 9.97627114e-01 -7.36717604e-03 -3.16779026e+01] [-5.44089252e-02 3.64037729e-03 9.98512101e-01 -1.65608364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.840714057 meters 0.03650444972289417 Centerline is valid? [True, True] Translation: X:251.08, Y:-31.68, Z:-16.56 [[ 9.95847089e-01 7.22863822e-02 5.53466758e-02 2.51079898e+02] [-7.19781908e-02 9.97377674e-01 -7.54430045e-03 -3.16841769e+01] [-5.57468889e-02 3.52921605e-03 9.98438696e-01 -1.65637687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90071405700002 meters 0.03547563723009476 Centerline is valid? [True, True] Translation: X:251.14, Y:-31.69, Z:-16.57 [[ 9.95557993e-01 7.64965516e-02 5.48867948e-02 2.51139980e+02] [-7.61998654e-02 9.97064499e-01 -7.48104856e-03 -3.16895236e+01] [-5.52979490e-02 3.26545131e-03 9.98464558e-01 -1.65675330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96071405700002 meters 0.03511240989493862 Centerline is valid? [True, True] Translation: X:251.20, Y:-31.70, Z:-16.57 [[ 9.95315314e-01 8.08374848e-02 5.30351528e-02 2.51199252e+02] [-8.05666479e-02 9.96723013e-01 -7.22847077e-03 -3.16951968e+01] [-5.34456887e-02 2.92174318e-03 9.98566483e-01 -1.65723922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02071405700002 meters 0.029894334729808653 Centerline is valid? [True, True] Translation: X:251.26, Y:-31.69, Z:-16.57 [[ 9.94889824e-01 8.62282165e-02 5.25255385e-02 2.51260025e+02] [-8.59701273e-02 9.96272005e-01 -7.15753140e-03 -3.16937691e+01] [-5.29469047e-02 2.60532793e-03 9.98593930e-01 -1.65746487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08071405700002 meters 0.028564587970874245 Centerline is valid? [True, True] Translation: X:251.32, Y:-31.70, Z:-16.58 [[ 9.94326213e-01 9.19882253e-02 5.34186096e-02 2.51319816e+02] [-9.17295699e-02 9.95757351e-01 -7.27903013e-03 -3.16989680e+01] [-5.38615583e-02 2.33766438e-03 9.98545676e-01 -1.65775321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14071405700003 meters 0.027802815338871485 Centerline is valid? [True, True] Translation: X:251.38, Y:-31.71, Z:-16.58 [[ 9.93854395e-01 9.63151226e-02 5.45604126e-02 2.51379455e+02] [-9.60517842e-02 9.95348573e-01 -7.43454862e-03 -3.17057629e+01] [-5.50226883e-02 2.14823384e-03 9.98482793e-01 -1.65800495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.200714057 meters 0.026811568934898285 Centerline is valid? [True, True] Translation: X:251.44, Y:-31.71, Z:-16.58 [[ 9.93713547e-01 9.73356974e-02 5.53095775e-02 2.51437666e+02] [-9.70666752e-02 9.95249349e-01 -7.53611607e-03 -3.17125763e+01] [-5.57803541e-02 2.12002383e-03 9.98440813e-01 -1.65835720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.260714057 meters 0.030447892386826787 Centerline is valid? [True, True] Translation: X:251.49, Y:-31.73, Z:-16.59 [[ 9.94061322e-01 9.46608225e-02 5.36788379e-02 2.51494253e+02] [-9.44037716e-02 9.95507154e-01 -7.30992156e-03 -3.17303746e+01] [-5.41296303e-02 2.19902554e-03 9.98531495e-01 -1.65907612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.320714057 meters 0.03284543625537897 Centerline is valid? [True, True] Translation: X:251.55, Y:-31.75, Z:-16.60 [[ 9.94532796e-01 9.11251142e-02 5.09973647e-02 2.51551453e+02] [-9.08886365e-02 9.95836867e-01 -6.94189676e-03 -3.17453281e+01] [-5.14176370e-02 2.26886305e-03 9.98674661e-01 -1.65981975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.380714057 meters 0.03057446015651804 Centerline is valid? [True, True] Translation: X:251.61, Y:-31.75, Z:-16.60 [[ 9.94669470e-01 9.05553519e-02 4.93191059e-02 2.51609632e+02] [-9.03335499e-02 9.95888946e-01 -6.71240384e-03 -3.17516668e+01] [-4.97241965e-02 2.22145325e-03 9.98760517e-01 -1.66021498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.440714057 meters 0.027762092921144996 Centerline is valid? [True, True] Translation: X:251.67, Y:-31.75, Z:-16.60 [[ 9.94483428e-01 9.23472833e-02 4.97462576e-02 2.51669017e+02] [-9.21239095e-02 9.95724540e-01 -6.76944997e-03 -3.17546013e+01] [-5.01587098e-02 2.14928608e-03 9.98738947e-01 -1.66030052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.500714057 meters 0.027594672469132605 Centerline is valid? [True, True] Translation: X:251.73, Y:-31.76, Z:-16.60 [[ 9.94220822e-01 9.37656473e-02 5.22777307e-02 2.51727639e+02] [-9.35216976e-02 9.95591935e-01 -7.09868622e-03 -3.17619188e+01] [-5.27129000e-02 2.16855952e-03 9.98607354e-01 -1.66039952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.560714057 meters 0.02752511949783122 Centerline is valid? [True, True] Translation: X:251.79, Y:-31.77, Z:-16.61 [[ 9.94069517e-01 9.38903526e-02 5.48670859e-02 2.51785541e+02] [-9.36220350e-02 9.95579967e-01 -7.44604959e-03 -3.17698429e+01] [-5.53236838e-02 2.26512268e-03 9.98465903e-01 -1.66060414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62071405700001 meters 0.028863972484425994 Centerline is valid? [True, True] Translation: X:251.84, Y:-31.78, Z:-16.61 [[ 9.94152886e-01 9.21598853e-02 5.62725046e-02 2.51843387e+02] [-9.18751048e-02 9.95741286e-01 -7.63254065e-03 -3.17820859e+01] [-5.67362702e-02 2.41787005e-03 9.98386273e-01 -1.66097138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68071405700002 meters 0.032018153185764515 Centerline is valid? [True, True] Translation: X:251.90, Y:-31.80, Z:-16.62 [[ 9.94952061e-01 8.48159853e-02 5.36343580e-02 2.51901027e+02] [-8.45468913e-02 9.96392976e-01 -7.27049331e-03 -3.17981911e+01] [-5.40575517e-02 2.69917407e-03 9.98534173e-01 -1.66169648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74071405700002 meters 0.0371616054488337 Centerline is valid? [True, True] Translation: X:251.96, Y:-31.82, Z:-16.62 [[ 9.95826069e-01 7.55268380e-02 5.12458510e-02 2.51957881e+02] [-7.52689915e-02 9.97139076e-01 -6.94568509e-03 -3.18162263e+01] [-5.16238261e-02 3.05947076e-03 9.98661915e-01 -1.66232836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80071405700002 meters 0.03918781481670492 Centerline is valid? [True, True] Translation: X:252.02, Y:-31.83, Z:-16.63 [[ 9.96363635e-01 6.85808035e-02 5.05586814e-02 2.52016824e+02] [-6.83209121e-02 9.97639861e-01 -6.85284699e-03 -3.18276527e+01] [-5.09093296e-02 3.37371231e-03 9.98697581e-01 -1.66273376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86071405700002 meters 0.03860015132447292 Centerline is valid? [True, True] Translation: X:252.08, Y:-31.83, Z:-16.63 [[ 9.96501642e-01 6.61218666e-02 5.11114021e-02 2.52076231e+02] [-6.58530695e-02 9.97805286e-01 -6.92714537e-03 -3.18341581e+01] [-5.14572629e-02 3.53706903e-03 9.98668934e-01 -1.66299146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92071405700003 meters 0.03980409009394211 Centerline is valid? [True, True] Translation: X:252.13, Y:-31.84, Z:-16.63 [[ 9.96438130e-01 6.55224218e-02 5.30835738e-02 2.52134110e+02] [-6.52316844e-02 9.97844220e-01 -7.19304046e-03 -3.18409685e+01] [-5.34404427e-02 3.70468886e-03 9.98564166e-01 -1.66321508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.980714057 meters 0.03985386513940744 Centerline is valid? [True, True] Translation: X:252.19, Y:-31.85, Z:-16.63 [[ 9.96326892e-01 6.55758842e-02 5.50683981e-02 2.52192378e+02] [-6.52633438e-02 9.97840214e-01 -7.45672494e-03 -3.18468848e+01] [-5.54384435e-02 3.83538778e-03 9.98454740e-01 -1.66347842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04071405700006 meters 0.04056523680647657 Centerline is valid? [True, True] Translation: X:252.25, Y:-31.85, Z:-16.64 [[ 9.96479333e-01 6.26864154e-02 5.56718328e-02 2.52252406e+02] [-6.23627538e-02 9.98025114e-01 -7.53382143e-03 -3.18541201e+01] [-5.60341556e-02 4.03544855e-03 9.98420697e-01 -1.66382836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10071405700006 meters 0.04751062227682703 Centerline is valid? [True, True] Translation: X:252.31, Y:-31.87, Z:-16.64 [[ 9.96823685e-01 5.83459994e-02 5.42059573e-02 2.52310484e+02] [-5.80328024e-02 9.98287727e-01 -7.33541478e-03 -3.18699053e+01] [-5.45411340e-02 4.16639158e-03 9.98502832e-01 -1.66441745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16071405700006 meters 0.04989940050028249 Centerline is valid? [True, True] Translation: X:252.37, Y:-31.88, Z:-16.65 [[ 9.97201145e-01 5.37818147e-02 5.19364379e-02 2.52370541e+02] [-5.34881825e-02 9.98543749e-01 -7.02816918e-03 -3.18800260e+01] [-5.22387931e-02 4.23051268e-03 9.98625661e-01 -1.66511895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22071405700007 meters 0.05218282396141519 Centerline is valid? [True, True] Translation: X:252.43, Y:-31.89, Z:-16.66 [[ 9.97294045e-01 5.26868892e-02 5.12706490e-02 2.52431017e+02] [-5.23992383e-02 9.98602105e-01 -6.93945200e-03 -3.18903325e+01] [-5.15645962e-02 4.23413120e-03 9.98660685e-01 -1.66559089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28071405700007 meters 0.045469232819591934 Centerline is valid? [True, True] Translation: X:252.49, Y:-31.88, Z:-16.66 [[ 9.97377127e-01 5.17503039e-02 5.06040791e-02 2.52493657e+02] [-5.14688122e-02 9.98651104e-01 -6.85087269e-03 -3.18841506e+01] [-5.08903541e-02 4.22837188e-03 9.98695295e-01 -1.66580042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.340714057 meters 0.04202880210884471 Centerline is valid? [True, True] Translation: X:252.55, Y:-31.88, Z:-16.66 [[ 9.97157587e-01 5.37707723e-02 5.27773695e-02 2.52554972e+02] [-5.34672319e-02 9.98544024e-01 -7.14752300e-03 -3.18829296e+01] [-5.30848547e-02 4.30534694e-03 9.98580724e-01 -1.66590918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.400714057 meters 0.042205817202069174 Centerline is valid? [True, True] Translation: X:252.62, Y:-31.89, Z:-16.66 [[ 9.96939316e-01 5.55399260e-02 5.50210642e-02 2.52615647e+02] [-5.52126770e-02 9.98446814e-01 -7.45121470e-03 -3.18876186e+01] [-5.53494462e-02 4.39054864e-03 9.98457391e-01 -1.66611729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.460714057 meters 0.045029127680656596 Centerline is valid? [True, True] Translation: X:252.68, Y:-31.90, Z:-16.67 [[ 9.96931212e-01 5.51789942e-02 5.55287005e-02 2.52675056e+02] [-5.48450568e-02 9.98466551e-01 -7.52099510e-03 -3.18975240e+01] [-5.58585511e-02 4.45244003e-03 9.98428765e-01 -1.66652207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.520714057 meters 0.046982985871149734 Centerline is valid? [True, True] Translation: X:252.73, Y:-31.91, Z:-16.67 [[ 9.97154014e-01 5.22214022e-02 5.43764343e-02 2.52734164e+02] [-5.18967718e-02 9.98625288e-01 -7.36603004e-03 -3.19073519e+01] [-5.46863468e-02 4.52310503e-03 9.98493337e-01 -1.66707314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.580714057 meters 0.04916724468635537 Centerline is valid? [True, True] Translation: X:252.79, Y:-31.92, Z:-16.68 [[ 9.97400241e-01 4.97994915e-02 5.20842578e-02 2.52793915e+02] [-4.94984007e-02 9.98749281e-01 -7.05567376e-03 -3.19170799e+01] [-5.23704840e-02 4.45924325e-03 9.98617769e-01 -1.66770021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.640714057 meters 0.049949504540590814 Centerline is valid? [True, True] Translation: X:252.86, Y:-31.93, Z:-16.68 [[ 9.97434012e-01 5.02645589e-02 5.09790705e-02 2.52855793e+02] [-4.99768696e-02 9.98726518e-01 -6.90319320e-03 -3.19254433e+01] [-5.12611356e-02 4.33770533e-03 9.98675863e-01 -1.66828486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.700714057 meters 0.04928625255756343 Centerline is valid? [True, True] Translation: X:252.92, Y:-31.93, Z:-16.69 [[ 9.97216144e-01 5.50777178e-02 5.02633698e-02 2.52915740e+02] [-5.48033350e-02 9.98473864e-01 -6.82189133e-03 -3.19280313e+01] [-5.05623952e-02 4.04829988e-03 9.98712699e-01 -1.66867433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76071405700003 meters 0.04662683658711502 Centerline is valid? [True, True] Translation: X:252.98, Y:-31.93, Z:-16.69 [[ 9.96589094e-01 6.45790422e-02 5.13782492e-02 2.52975516e+02] [-6.43048687e-02 9.97905936e-01 -6.97335259e-03 -3.19262906e+01] [-5.17209923e-02 3.64569557e-03 9.98654919e-01 -1.66897103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82071405700003 meters 0.0369333422464204 Centerline is valid? [True, True] Translation: X:253.04, Y:-31.91, Z:-16.69 [[ 9.95712578e-01 7.55572654e-02 5.33625479e-02 2.53038263e+02] [-7.52772173e-02 9.97136351e-01 -7.24148072e-03 -3.19138488e+01] [-5.37568827e-02 3.19344933e-03 9.98548947e-01 -1.66899325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88071405700003 meters 0.03202296134013784 Centerline is valid? [True, True] Translation: X:253.10, Y:-31.91, Z:-16.69 [[ 9.94778714e-01 8.52852018e-02 5.60512688e-02 2.53099984e+02] [-8.49915796e-02 9.96352639e-01 -7.60592210e-03 -3.19086379e+01] [-5.64955022e-02 2.80232353e-03 9.98398921e-01 -1.66916834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94071405700004 meters 0.03100735300674224 Centerline is valid? [True, True] Translation: X:253.16, Y:-31.91, Z:-16.70 [[ 9.94506449e-01 8.78815041e-02 5.68661975e-02 2.53159183e+02] [-8.75834990e-02 9.96127294e-01 -7.71654090e-03 -3.19126872e+01] [-5.73241126e-02 2.69360914e-03 9.98351987e-01 -1.66960332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00071405700004 meters 0.03192249285272993 Centerline is valid? [True, True] Translation: X:253.22, Y:-31.92, Z:-16.70 [[ 9.94770790e-01 8.58077559e-02 5.53904803e-02 2.53217557e+02] [-8.55219393e-02 9.96307951e-01 -7.51433005e-03 -3.19226902e+01] [-5.58307637e-02 2.73793474e-03 9.98436493e-01 -1.67021475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06071405700004 meters 0.03267276449973531 Centerline is valid? [True, True] Translation: X:253.28, Y:-31.93, Z:-16.71 [[ 9.95365808e-01 8.05722301e-02 5.24883188e-02 2.53277065e+02] [-8.03084672e-02 9.96744640e-01 -7.11846251e-03 -3.19330707e+01] [-5.28910008e-02 2.87021776e-03 9.98596167e-01 -1.67088428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12071405700004 meters 0.03423039276254697 Centerline is valid? [True, True] Translation: X:253.34, Y:-31.94, Z:-16.71 [[ 9.95647263e-01 7.65194402e-02 5.32099938e-02 2.53335726e+02] [-7.62426017e-02 9.97063183e-01 -7.21629353e-03 -3.19439560e+01] [-5.36059125e-02 3.12801453e-03 9.98557270e-01 -1.67119453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18071405700005 meters 0.036479136860399455 Centerline is valid? [True, True] Translation: X:253.39, Y:-31.95, Z:-16.71 [[ 9.95551625e-01 7.55185006e-02 5.63375285e-02 2.53393129e+02] [-7.52065627e-02 9.97138710e-01 -7.63974788e-03 -3.19538615e+01] [-5.67532728e-02 3.36881155e-03 9.98382551e-01 -1.67132900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24071405700005 meters 0.0351331499528914 Centerline is valid? [True, True] Translation: X:253.45, Y:-31.96, Z:-16.72 [[ 9.95501565e-01 7.52430534e-02 5.75770597e-02 2.53450620e+02] [-7.49171892e-02 9.97159249e-01 -7.80046086e-03 -3.19588699e+01] [-5.80004281e-02 3.45185952e-03 9.98310590e-01 -1.67165581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30071405700005 meters 0.03915669729616257 Centerline is valid? [True, True] Translation: X:253.51, Y:-31.97, Z:-16.72 [[ 9.95596163e-01 7.41870682e-02 5.73110800e-02 2.53506124e+02] [-7.38628286e-02 9.97238233e-01 -7.75822008e-03 -3.19745049e+01] [-5.77283597e-02 3.49089566e-03 9.98326224e-01 -1.67225532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36071405700005 meters 0.036944523809083425 Centerline is valid? [True, True] Translation: X:253.57, Y:-31.98, Z:-16.73 [[ 9.95935144e-01 7.16890884e-02 5.45331383e-02 2.53565901e+02] [-7.13921763e-02 9.97421051e-01 -7.37585641e-03 -3.19800187e+01] [-5.49212686e-02 3.45263519e-03 9.98484719e-01 -1.67277610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42071405700005 meters 0.0404545502624087 Centerline is valid? [True, True] Translation: X:253.62, Y:-31.99, Z:-16.73 [[ 9.96039715e-01 7.07310321e-02 5.38702743e-02 2.53622393e+02] [-7.04399310e-02 9.97489415e-01 -7.28578098e-03 -3.19947258e+01] [-5.42503592e-02 3.46230881e-03 9.98521362e-01 -1.67332060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48071405700006 meters 0.04466651475660256 Centerline is valid? [True, True] Translation: X:253.68, Y:-32.01, Z:-16.74 [[ 9.96059925e-01 7.03517566e-02 5.39931073e-02 2.53678725e+02] [-7.00590365e-02 9.97516154e-01 -7.29750548e-03 -3.20096184e+01] [-5.43723891e-02 3.48604769e-03 9.98514642e-01 -1.67377755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54071405700006 meters 0.040329610165861486 Centerline is valid? [True, True] Translation: X:253.74, Y:-32.01, Z:-16.74 [[ 9.95914007e-01 7.10846480e-02 5.56979637e-02 2.53738016e+02] [-7.07745491e-02 9.97463969e-01 -7.52290258e-03 -3.20120525e+01] [-5.60914748e-02 3.55016579e-03 9.98419322e-01 -1.67392554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60071405700006 meters 0.039951436611295424 Centerline is valid? [True, True] Translation: X:253.80, Y:-32.02, Z:-16.74 [[ 9.95763941e-01 7.17674691e-02 5.74769815e-02 2.53797003e+02] [-7.14385753e-02 9.97414820e-01 -7.75927851e-03 -3.20188022e+01] [-5.78852570e-02 3.62033607e-03 9.98316678e-01 -1.67400061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66071405700006 meters 0.036811681230084256 Centerline is valid? [True, True] Translation: X:253.86, Y:-32.02, Z:-16.74 [[ 9.95714258e-01 7.21793119e-02 5.78209558e-02 2.53855915e+02] [-7.18475284e-02 9.97385133e-01 -7.79931900e-03 -3.20216714e+01] [-5.82327112e-02 3.61160037e-03 9.98296503e-01 -1.67428586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72071405700007 meters 0.03866084183107468 Centerline is valid? [True, True] Translation: X:253.91, Y:-32.03, Z:-16.75 [[ 9.95735271e-01 7.19843111e-02 5.77020772e-02 2.53912049e+02] [-7.16537985e-02 9.97399226e-01 -7.77929927e-03 -3.20334453e+01] [-5.81119946e-02 3.61154965e-03 9.98303537e-01 -1.67472791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78071405700007 meters 0.04070156185572562 Centerline is valid? [True, True] Translation: X:253.97, Y:-32.05, Z:-16.75 [[ 9.95926871e-01 7.04123852e-02 5.63184063e-02 2.53970366e+02] [-7.00953809e-02 9.97511441e-01 -7.58697755e-03 -3.20460702e+01] [-5.67124719e-02 3.60841468e-03 9.98384032e-01 -1.67529407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.840714057 meters 0.04311835777942262 Centerline is valid? [True, True] Translation: X:254.03, Y:-32.06, Z:-16.76 [[ 9.96064169e-01 6.89393828e-02 5.57093640e-02 2.54026874e+02] [-6.86270183e-02 9.97614172e-01 -7.50307222e-03 -3.20601382e+01] [-5.60937082e-02 3.65037385e-03 9.98418835e-01 -1.67579512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.900714057 meters 0.04464039497411232 Centerline is valid? [True, True] Translation: X:254.08, Y:-32.07, Z:-16.76 [[ 9.96103126e-01 6.89434949e-02 5.50032365e-02 2.54084577e+02] [-6.86391239e-02 9.97614065e-01 -7.40600690e-03 -3.20727640e+01] [-5.53825983e-02 3.60177267e-03 9.98458710e-01 -1.67616968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.960714057 meters 0.043255665151362484 Centerline is valid? [True, True] Translation: X:254.14, Y:-32.08, Z:-16.76 [[ 9.95976837e-01 7.01003688e-02 5.58218416e-02 2.54143050e+02] [-6.97888833e-02 9.97533496e-01 -7.51237681e-03 -3.20801978e+01] [-5.62107772e-02 3.58640930e-03 9.98412483e-01 -1.67643549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.020714057 meters 0.03488794427928642 Centerline is valid? [True, True] Translation: X:254.20, Y:-32.08, Z:-16.77 [[ 9.95718090e-01 7.28273157e-02 5.69356396e-02 2.54204231e+02] [-7.25079478e-02 9.97338435e-01 -7.65787050e-03 -3.20786673e+01] [-5.73418038e-02 3.49679380e-03 9.98348481e-01 -1.67654281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.080714057 meters 0.032155196920505696 Centerline is valid? [True, True] Translation: X:254.26, Y:-32.08, Z:-16.77 [[ 9.95580906e-01 7.55079628e-02 5.58319549e-02 2.54264121e+02] [-7.52051252e-02 9.97139816e-01 -7.50841408e-03 -3.20845439e+01] [-5.62392103e-02 3.27638453e-03 9.98411947e-01 -1.67686659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.140714057 meters 0.03302517209167557 Centerline is valid? [True, True] Translation: X:254.32, Y:-32.09, Z:-16.77 [[ 9.95566433e-01 7.61604171e-02 5.52002523e-02 2.54321101e+02] [-7.58654208e-02 9.97090435e-01 -7.42310004e-03 -3.20946599e+01] [-5.56049900e-02 3.20239886e-03 9.98447710e-01 -1.67732829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.200714057 meters 0.04108581063182753 Centerline is valid? [True, True] Translation: X:254.38, Y:-32.12, Z:-16.78 [[ 9.95455904e-01 7.90104890e-02 5.31496488e-02 2.54377141e+02] [-7.87413564e-02 9.96869495e-01 -7.14206184e-03 -3.21184307e+01] [-5.35475613e-02 2.92453219e-03 9.98561018e-01 -1.67820666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26071405700003 meters 0.03225220261562318 Centerline is valid? [True, True] Translation: X:254.44, Y:-32.12, Z:-16.78 [[ 9.95191422e-01 8.32933912e-02 5.15387623e-02 2.54437807e+02] [-8.30461681e-02 9.96521649e-01 -6.92359310e-03 -3.21154679e+01] [-5.19361820e-02 2.61020374e-03 9.98646995e-01 -1.67838949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32071405700003 meters 0.03036555356511293 Centerline is valid? [True, True] Translation: X:254.50, Y:-32.12, Z:-16.79 [[ 9.94744715e-01 8.82218650e-02 5.19601233e-02 2.54497871e+02] [-8.79773365e-02 9.96098027e-01 -6.97910712e-03 -3.21239054e+01] [-5.23730861e-02 2.37111668e-03 9.98624773e-01 -1.67876727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38071405700003 meters 0.03057187955722827 Centerline is valid? [True, True] Translation: X:254.56, Y:-32.13, Z:-16.79 [[ 9.94401701e-01 9.15555447e-02 5.27526202e-02 2.54555550e+02] [-9.13081518e-02 9.95797475e-01 -7.08587959e-03 -3.21335727e+01] [-5.31796775e-02 2.22946647e-03 9.98582471e-01 -1.67911052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44071405700004 meters 0.02954502828904474 Centerline is valid? [True, True] Translation: X:254.61, Y:-32.14, Z:-16.79 [[ 9.94088958e-01 9.41265356e-02 5.41048799e-02 2.54614165e+02] [-9.38702492e-02 9.95557936e-01 -7.26443229e-03 -3.21437695e+01] [-5.45483184e-02 2.14265337e-03 9.98508833e-01 -1.67934255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50071405700004 meters 0.03042041850561778 Centerline is valid? [True, True] Translation: X:254.67, Y:-32.16, Z:-16.80 [[ 9.94125652e-01 9.38476365e-02 5.39148413e-02 2.54670477e+02] [-9.35928124e-02 9.95584252e-01 -7.23758706e-03 -3.21598992e+01] [-5.43559974e-02 2.14902932e-03 9.98519307e-01 -1.67983464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56071405700004 meters 0.031188746598200225 Centerline is valid? [True, True] Translation: X:254.73, Y:-32.18, Z:-16.80 [[ 9.94407209e-01 9.14910564e-02 5.27606865e-02 2.54728611e+02] [-9.12439885e-02 9.95803414e-01 -7.07774048e-03 -3.21756464e+01] [-5.31868217e-02 2.22406068e-03 9.98582103e-01 -1.68030170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62071405700004 meters 0.03316427416602861 Centerline is valid? [True, True] Translation: X:254.79, Y:-32.19, Z:-16.81 [[ 9.94764289e-01 8.83727491e-02 5.13251071e-02 2.54787005e+02] [-8.81349239e-02 9.96084765e-01 -6.88306588e-03 -3.21929909e+01] [-5.17324327e-02 2.32349373e-03 9.98658278e-01 -1.68078510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68071405700005 meters 0.03524661757663847 Centerline is valid? [True, True] Translation: X:254.84, Y:-32.21, Z:-16.81 [[ 9.94852606e-01 8.71936305e-02 5.16290873e-02 2.54843173e+02] [-8.69513403e-02 9.96188492e-01 -6.92485240e-03 -3.22086428e+01] [-5.20361056e-02 2.39998912e-03 9.98642320e-01 -1.68122435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74071405700005 meters 0.02911935249729193 Centerline is valid? [True, True] Translation: X:254.90, Y:-32.21, Z:-16.81 [[ 9.94913566e-01 8.62634538e-02 5.20155059e-02 2.54902151e+02] [-8.60164829e-02 9.96269317e-01 -6.97227640e-03 -3.22111926e+01] [-5.24229051e-02 2.46262151e-03 9.98621938e-01 -1.68125534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80071405700005 meters 0.03190508918933078 Centerline is valid? [True, True] Translation: X:254.96, Y:-32.23, Z:-16.82 [[ 9.94904205e-01 8.55736180e-02 5.33177248e-02 2.54958164e+02] [-8.53133293e-02 9.96328567e-01 -7.14303002e-03 -3.22293758e+01] [-5.37332272e-02 2.55791799e-03 9.98552050e-01 -1.68171446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86071405700005 meters 0.0282282306383867 Centerline is valid? [True, True] Translation: X:255.02, Y:-32.24, Z:-16.82 [[ 9.95098753e-01 8.29646741e-02 5.38083108e-02 2.55016861e+02] [-8.26960477e-02 9.96548781e-01 -7.20355036e-03 -3.22362749e+01] [-5.42202467e-02 2.71850935e-03 9.98525300e-01 -1.68182301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92071405700005 meters 0.03203337650785229 Centerline is valid? [True, True] Translation: X:255.07, Y:-32.25, Z:-16.82 [[ 9.95336569e-01 7.97034534e-02 5.43366660e-02 2.55073027e+02] [-7.94248360e-02 9.96814337e-01 -7.27135820e-03 -3.22540469e+01] [-5.47431201e-02 2.92176794e-03 9.98496196e-01 -1.68235147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98071405700006 meters 0.03278841467349968 Centerline is valid? [True, True] Translation: X:255.13, Y:-32.27, Z:-16.83 [[ 9.95789608e-01 7.46958870e-02 5.31373816e-02 2.55131255e+02] [-7.44225787e-02 9.97201473e-01 -7.10644966e-03 -3.22693793e+01] [-5.35194978e-02 3.12190776e-03 9.98561925e-01 -1.68283055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04071405700006 meters 0.0348336705842217 Centerline is valid? [True, True] Translation: X:255.19, Y:-32.28, Z:-16.83 [[ 9.96069142e-01 7.14318409e-02 5.23808742e-02 2.55189686e+02] [-7.11618286e-02 9.97440191e-01 -7.00422543e-03 -3.22849608e+01] [-5.27471139e-02 3.24917402e-03 9.98602616e-01 -1.68333134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10071405700006 meters 0.03569773672069727 Centerline is valid? [True, True] Translation: X:255.25, Y:-32.30, Z:-16.84 [[ 9.96148914e-01 7.04828605e-02 5.21489023e-02 2.55247919e+02] [-7.02139744e-02 9.97507584e-01 -6.97260192e-03 -3.22959182e+01] [-5.25103745e-02 3.28416814e-03 9.98614978e-01 -1.68367315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16071405700006 meters 0.03692050905977492 Centerline is valid? [True, True] Translation: X:255.31, Y:-32.31, Z:-16.84 [[ 9.96024701e-01 7.14877763e-02 5.31440709e-02 2.55305970e+02] [-7.12100812e-02 9.97436049e-01 -7.10305489e-03 -3.23077920e+01] [-5.35155937e-02 3.29042452e-03 9.98561593e-01 -1.68404526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22071405700007 meters 0.037759268023854584 Centerline is valid? [True, True] Translation: X:255.36, Y:-32.32, Z:-16.84 [[ 9.95830076e-01 7.32289554e-02 5.44056982e-02 2.55363853e+02] [-7.29405886e-02 9.97309791e-01 -7.26986942e-03 -3.23170008e+01] [-5.47917004e-02 3.27117097e-03 9.98492448e-01 -1.68432936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28071405700007 meters 0.03470521453342377 Centerline is valid? [True, True] Translation: X:255.42, Y:-32.32, Z:-16.85 [[ 9.95763057e-01 7.42330175e-02 5.42714865e-02 2.55423472e+02] [-7.39477205e-02 9.97235773e-01 -7.24897041e-03 -3.23210156e+01] [-5.46595808e-02 3.20500421e-03 9.98499904e-01 -1.68467576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.340714057 meters 0.03394103639562082 Centerline is valid? [True, True] Translation: X:255.48, Y:-32.33, Z:-16.85 [[ 9.95648460e-01 7.44131816e-02 5.60965515e-02 2.55482155e+02] [-7.41087154e-02 9.97222031e-01 -7.49129372e-03 -3.23287567e+01] [-5.64981680e-02 3.30145168e-03 9.98397244e-01 -1.68494285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.400714057 meters 0.03294643557293941 Centerline is valid? [True, True] Translation: X:255.54, Y:-32.34, Z:-16.85 [[ 9.95543594e-01 7.55078442e-02 5.64935141e-02 2.55541309e+02] [-7.52012074e-02 9.97139894e-01 -7.53720923e-03 -3.23355244e+01] [-5.69010551e-02 3.25523990e-03 9.98374516e-01 -1.68533293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.460714057 meters 0.0365760286243478 Centerline is valid? [True, True] Translation: X:255.60, Y:-32.35, Z:-16.86 [[ 9.95454398e-01 7.70508981e-02 5.59794604e-02 2.55598450e+02] [-7.67523754e-02 9.97022229e-01 -7.46646048e-03 -3.23486318e+01] [-5.63880638e-02 3.13596437e-03 9.98404002e-01 -1.68588650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.520714057 meters 0.03619642677539906 Centerline is valid? [True, True] Translation: X:255.66, Y:-32.36, Z:-16.86 [[ 9.95231355e-01 7.95203630e-02 5.64894840e-02 2.55657639e+02] [-7.92203861e-02 9.96828660e-01 -7.53351939e-03 -3.23553679e+01] [-5.69094048e-02 3.02247598e-03 9.98374771e-01 -1.68629335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.580714057 meters 0.030497378703655122 Centerline is valid? [True, True] Translation: X:255.72, Y:-32.35, Z:-16.86 [[ 9.95120136e-01 8.02656575e-02 5.73876162e-02 2.55717317e+02] [-7.99573866e-02 9.96768915e-01 -7.65159673e-03 -3.23535118e+01] [-5.78163524e-02 3.02569417e-03 9.98322651e-01 -1.68649398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.640714057 meters 0.03250734178866973 Centerline is valid? [True, True] Translation: X:255.77, Y:-32.36, Z:-16.87 [[ 9.95259783e-01 7.88733398e-02 5.68942967e-02 2.55774457e+02] [-7.85683246e-02 9.96879901e-01 -7.58166483e-03 -3.23636843e+01] [-5.73147721e-02 3.07563652e-03 9.98351420e-01 -1.68691952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.700714057 meters 0.033184419927446286 Centerline is valid? [True, True] Translation: X:255.83, Y:-32.37, Z:-16.87 [[ 9.95354820e-01 7.71704048e-02 5.75631044e-02 2.55832590e+02] [-7.68555827e-02 9.97012761e-01 -7.66643273e-03 -3.23731130e+01] [-5.79827713e-02 3.20677484e-03 9.98312433e-01 -1.68744383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76071405700003 meters 0.03147167538076071 Centerline is valid? [True, True] Translation: X:255.89, Y:-32.38, Z:-16.88 [[ 9.95363521e-01 7.68713078e-02 5.78123011e-02 2.55891775e+02] [-7.65534359e-02 9.97035775e-01 -7.69639707e-03 -3.23780638e+01] [-5.82325646e-02 3.23498260e-03 9.98297803e-01 -1.68781635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82071405700003 meters 0.03248413357257007 Centerline is valid? [True, True] Translation: X:255.95, Y:-32.39, Z:-16.88 [[ 9.95146028e-01 7.76329372e-02 6.04773458e-02 2.55949607e+02] [-7.72865784e-02 9.96976429e-01 -8.04891385e-03 -3.23870423e+01] [-6.09193491e-02 3.33575752e-03 9.98137118e-01 -1.68816015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88071405700003 meters 0.033547100979082575 Centerline is valid? [True, True] Translation: X:256.01, Y:-32.39, Z:-16.89 [[ 9.95002048e-01 7.78839201e-02 6.24901481e-02 2.56007735e+02] [-7.75148009e-02 9.96956541e-01 -8.31327755e-03 -3.23949464e+01] [-6.29474325e-02 3.42781681e-03 9.98010957e-01 -1.68853224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94071405700004 meters 0.03230591735684887 Centerline is valid? [True, True] Translation: X:256.07, Y:-32.40, Z:-16.89 [[ 9.95007059e-01 7.69844184e-02 6.35165419e-02 2.56067056e+02] [-7.66014498e-02 9.97026016e-01 -8.44637815e-03 -3.23998316e+01] [-6.39778843e-02 3.53874669e-03 9.97945042e-01 -1.68886077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00071405700004 meters 0.03419834592707689 Centerline is valid? [True, True] Translation: X:256.13, Y:-32.41, Z:-16.89 [[ 9.95047576e-01 7.62852134e-02 6.37250918e-02 2.56125459e+02] [-7.58984430e-02 9.97079563e-01 -8.47178790e-03 -3.24100125e+01] [-6.41852588e-02 3.59319677e-03 9.97931531e-01 -1.68919131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06071405700004 meters 0.03380508331531873 Centerline is valid? [True, True] Translation: X:256.19, Y:-32.42, Z:-16.90 [[ 9.95352799e-01 7.21183084e-02 6.38103115e-02 2.56185096e+02] [-7.17220477e-02 9.97388592e-01 -8.48197136e-03 -3.24166118e+01] [-6.42553821e-02 3.86594773e-03 9.97925999e-01 -1.68966672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12071405700004 meters 0.036852937770697806 Centerline is valid? [True, True] Translation: X:256.25, Y:-32.43, Z:-16.90 [[ 9.95862116e-01 6.67197541e-02 6.17018711e-02 2.56245079e+02] [-6.63389577e-02 9.97763434e-01 -8.20195928e-03 -3.24283893e+01] [-6.21111036e-02 4.07478271e-03 9.98060923e-01 -1.69030357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18071405700005 meters 0.03837764846040633 Centerline is valid? [True, True] Translation: X:256.31, Y:-32.44, Z:-16.91 [[ 9.96004058e-01 6.52357559e-02 6.09935397e-02 2.56306266e+02] [-6.48608112e-02 9.97861371e-01 -8.10921396e-03 -3.24385511e+01] [-6.13921078e-02 4.12071955e-03 9.98105219e-01 -1.69080166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24071405700005 meters 0.03993035077509206 Centerline is valid? [True, True] Translation: X:256.37, Y:-32.45, Z:-16.91 [[ 9.95950739e-01 6.61416877e-02 6.08884434e-02 2.56367223e+02] [-6.57694833e-02 9.97801974e-01 -8.09909051e-03 -3.24465937e+01] [-6.12902965e-02 4.06169372e-03 9.98111718e-01 -1.69111681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30071405700005 meters 0.037786009971870066 Centerline is valid? [True, True] Translation: X:256.43, Y:-32.45, Z:-16.91 [[ 9.95721465e-01 6.85315196e-02 6.19854413e-02 2.56427977e+02] [-6.81494337e-02 9.97640932e-01 -8.25992539e-03 -3.24482175e+01] [-6.24052787e-02 4.00031229e-03 9.98042874e-01 -1.69140581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36071405700005 meters 0.03496783558955261 Centerline is valid? [True, True] Translation: X:256.49, Y:-32.45, Z:-16.92 [[ 9.95551317e-01 7.07231915e-02 6.22559688e-02 2.56489147e+02] [-7.03420231e-02 9.97488435e-01 -8.29594098e-03 -3.24498752e+01] [-6.26863243e-02 3.87982417e-03 9.98025737e-01 -1.69179906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42071405700005 meters 0.03228052331527933 Centerline is valid? [True, True] Translation: X:256.55, Y:-32.45, Z:-16.92 [[ 9.95446755e-01 7.27774175e-02 6.15565199e-02 2.56550071e+02] [-7.24086165e-02 9.97341310e-01 -8.20388438e-03 -3.24500715e+01] [-6.19899177e-02 3.70930764e-03 9.98069883e-01 -1.69215444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48071405700006 meters 0.0321636635668977 Centerline is valid? [True, True] Translation: X:256.61, Y:-32.46, Z:-16.93 [[ 9.95437284e-01 7.35097046e-02 6.08353225e-02 2.56610300e+02] [-7.31508690e-02 9.97287930e-01 -8.10776751e-03 -3.24562710e+01] [-6.12663324e-02 3.62061737e-03 9.98114887e-01 -1.69266698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54071405700006 meters 0.03154736362714607 Centerline is valid? [True, True] Translation: X:256.67, Y:-32.46, Z:-16.93 [[ 9.95392980e-01 7.56373126e-02 5.89220954e-02 2.56669576e+02] [-7.53044236e-02 9.97129668e-01 -7.85297651e-03 -3.24596901e+01] [-5.93469474e-02 3.37970326e-03 9.98231695e-01 -1.69312740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60071405700006 meters 0.0314723409601395 Centerline is valid? [True, True] Translation: X:256.73, Y:-32.46, Z:-16.93 [[ 9.95125961e-01 7.89723373e-02 5.90566753e-02 2.56728542e+02] [-7.86439025e-02 9.96871717e-01 -7.86871791e-03 -3.24631363e+01] [-5.94933403e-02 3.18591807e-03 9.98223618e-01 -1.69345495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66071405700006 meters 0.030321241220512708 Centerline is valid? [True, True] Translation: X:256.79, Y:-32.47, Z:-16.94 [[ 9.94853783e-01 8.20583106e-02 5.94338577e-02 2.56788812e+02] [-8.17312755e-02 9.96622959e-01 -7.91682852e-03 -3.24653028e+01] [-5.98827887e-02 3.01848181e-03 9.98200852e-01 -1.69373478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72071405700007 meters 0.030273461887638013 Centerline is valid? [True, True] Translation: X:256.85, Y:-32.47, Z:-16.94 [[ 9.94755010e-01 8.29642140e-02 5.98281575e-02 2.56847312e+02] [-8.26346017e-02 9.96548068e-01 -7.96686949e-03 -3.24703777e+01] [-6.02825999e-02 2.98120738e-03 9.98176898e-01 -1.69408460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78071405700007 meters 0.029686299583338027 Centerline is valid? [True, True] Translation: X:256.91, Y:-32.47, Z:-16.94 [[ 9.94749370e-01 8.31711274e-02 5.96343419e-02 2.56906497e+02] [-8.28442839e-02 9.96530899e-01 -7.93668805e-03 -3.24747791e+01] [-6.00875677e-02 2.95465108e-03 9.98188737e-01 -1.69439017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.840714057 meters 0.03327239187559848 Centerline is valid? [True, True] Translation: X:256.96, Y:-32.49, Z:-16.95 [[ 9.95004531e-01 8.14256140e-02 5.77568420e-02 2.56963736e+02] [-8.11162954e-02 9.96675025e-01 -7.68384076e-03 -3.24864687e+01] [-5.81904634e-02 2.96043531e-03 9.98301110e-01 -1.69495593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.900714057 meters 0.030347656160061662 Centerline is valid? [True, True] Translation: X:257.02, Y:-32.49, Z:-16.95 [[ 9.95146464e-01 7.95604145e-02 5.79107564e-02 2.57023471e+02] [-7.92465309e-02 9.96825307e-01 -7.70029048e-03 -3.24889738e+01] [-5.83395458e-02 3.07369030e-03 9.98292066e-01 -1.69528961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.960714057 meters 0.033486603762743816 Centerline is valid? [True, True] Translation: X:257.08, Y:-32.50, Z:-16.96 [[ 9.95238118e-01 7.82623734e-02 5.81041217e-02 2.57079767e+02] [-7.79442837e-02 9.96927793e-01 -7.72428643e-03 -3.24998917e+01] [-5.85301347e-02 3.15862015e-03 9.98280645e-01 -1.69565138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.020714057 meters 0.03079950941132969 Centerline is valid? [True, True] Translation: X:257.14, Y:-32.50, Z:-16.96 [[ 9.95288647e-01 7.79265868e-02 5.76884417e-02 2.57138966e+02] [-7.76128543e-02 9.96954127e-01 -7.66253278e-03 -3.25029744e+01] [-5.81098451e-02 3.14906727e-03 9.98305229e-01 -1.69604525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.080714057 meters 0.03492782910774208 Centerline is valid? [True, True] Translation: X:257.20, Y:-32.52, Z:-16.97 [[ 9.95313207e-01 7.75773777e-02 5.77353551e-02 2.57195055e+02] [-7.72627910e-02 9.96981301e-01 -7.66460584e-03 -3.25167706e+01] [-5.81556695e-02 3.16788874e-03 9.98302501e-01 -1.69659272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.140714057 meters 0.03175125341358647 Centerline is valid? [True, True] Translation: X:257.25, Y:-32.52, Z:-16.97 [[ 9.95530329e-01 7.61834807e-02 5.58161317e-02 2.57254472e+02] [-7.58875954e-02 9.97088885e-01 -7.40465024e-03 -3.25184700e+01] [-5.62177566e-02 3.13580187e-03 9.98413607e-01 -1.69702619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.200714057 meters 0.03236080647490608 Centerline is valid? [True, True] Translation: X:257.31, Y:-32.52, Z:-16.97 [[ 9.95655333e-01 7.53286487e-02 5.47362059e-02 2.57313134e+02] [-7.50429824e-02 9.97153882e-01 -7.25860917e-03 -3.25245986e+01] [-5.51272014e-02 3.11950480e-03 9.98474467e-01 -1.69745329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26071405700003 meters 0.032281790568298704 Centerline is valid? [True, True] Translation: X:257.37, Y:-32.53, Z:-16.98 [[ 9.95699569e-01 7.46144918e-02 5.49094300e-02 2.57371658e+02] [-7.43261538e-02 9.97207431e-01 -7.27755301e-03 -3.25290237e+01] [-5.52991026e-02 3.16504965e-03 9.98464817e-01 -1.69786204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32071405700003 meters 0.03339288051089828 Centerline is valid? [True, True] Translation: X:257.43, Y:-32.53, Z:-16.98 [[ 9.95696308e-01 7.47919393e-02 5.47268411e-02 2.57430134e+02] [-7.45060065e-02 9.97194215e-01 -7.24934233e-03 -3.25346830e+01] [-5.51154817e-02 3.14066501e-03 9.98475047e-01 -1.69833424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38071405700003 meters 0.03444160025452294 Centerline is valid? [True, True] Translation: X:257.49, Y:-32.54, Z:-16.99 [[ 9.95724989e-01 7.49091964e-02 5.40403395e-02 2.57489165e+02] [-7.46307835e-02 9.97185569e-01 -7.15453576e-03 -3.25382473e+01] [-5.44241872e-02 3.09087717e-03 9.98513122e-01 -1.69882251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44071405700004 meters 0.03377788505640984 Centerline is valid? [True, True] Translation: X:257.55, Y:-32.54, Z:-16.99 [[ 9.95676466e-01 7.49219868e-02 5.49096599e-02 2.57548025e+02] [-7.46347746e-02 9.97184467e-01 -7.26562237e-03 -3.25400781e+01] [-5.52994148e-02 3.13603912e-03 9.98464892e-01 -1.69913458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50071405700004 meters 0.036949385406759606 Centerline is valid? [True, True] Translation: X:257.61, Y:-32.55, Z:-16.99 [[ 9.95739439e-01 7.30664631e-02 5.62517722e-02 2.57606192e+02] [-7.27623119e-02 9.97321567e-01 -7.43898024e-03 -3.25484162e+01] [-5.66446456e-02 3.31427701e-03 9.98388902e-01 -1.69940426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56071405700004 meters 0.03611917804911679 Centerline is valid? [True, True] Translation: X:257.67, Y:-32.55, Z:-17.00 [[ 9.95845783e-01 7.07357791e-02 5.73378325e-02 2.57665366e+02] [-7.04161277e-02 9.97488913e-01 -7.57879457e-03 -3.25511045e+01] [-5.77299441e-02 3.50980248e-03 9.98326066e-01 -1.69971031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62071405700004 meters 0.03419046191806574 Centerline is valid? [True, True] Translation: X:257.72, Y:-32.55, Z:-17.00 [[ 9.95940102e-01 6.97616623e-02 5.68913363e-02 2.57723866e+02] [-6.94456122e-02 9.97557425e-01 -7.51598074e-03 -3.25535559e+01] [-5.72767022e-02 3.53461295e-03 9.98352085e-01 -1.70009544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68071405700005 meters 0.034838371454728304 Centerline is valid? [True, True] Translation: X:257.78, Y:-32.56, Z:-17.01 [[ 9.95844568e-01 7.01601161e-02 5.80616477e-02 2.57782091e+02] [-6.98318429e-02 9.97529320e-01 -7.66618773e-03 -3.25592889e+01] [-5.84560566e-02 3.57977954e-03 9.98283564e-01 -1.70054605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74071405700005 meters 0.03446905593204734 Centerline is valid? [True, True] Translation: X:257.84, Y:-32.56, Z:-17.01 [[ 9.95776432e-01 7.11397844e-02 5.80381644e-02 2.57840147e+02] [-7.08136812e-02 9.97460157e-01 -7.65885163e-03 -3.25645703e+01] [-5.84356056e-02 3.51660787e-03 9.98284986e-01 -1.70100415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80071405700005 meters 0.03269020443182397 Centerline is valid? [True, True] Translation: X:257.90, Y:-32.57, Z:-17.01 [[ 9.95523313e-01 7.41153891e-02 5.86535787e-02 2.57899686e+02] [-7.37877328e-02 9.97243968e-01 -7.73552875e-03 -3.25684598e+01] [-5.90652493e-02 3.37298461e-03 9.98248426e-01 -1.70144770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86071405700005 meters 0.03220513351501837 Centerline is valid? [True, True] Translation: X:257.96, Y:-32.57, Z:-17.02 [[ 9.95203290e-01 7.72857472e-02 5.99777040e-02 2.57959695e+02] [-7.69489831e-02 9.97003671e-01 -7.90781463e-03 -3.25740169e+01] [-6.04091525e-02 3.25465980e-03 9.98168393e-01 -1.70176795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92071405700005 meters 0.03308832803404763 Centerline is valid? [True, True] Translation: X:258.02, Y:-32.58, Z:-17.02 [[ 9.95118808e-01 7.81912392e-02 6.02053746e-02 2.58016610e+02] [-7.78536108e-02 9.96933207e-01 -7.93700659e-03 -3.25830297e+01] [-6.06413415e-02 3.21105874e-03 9.98154455e-01 -1.70219653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98071405700006 meters 0.03132892332081657 Centerline is valid? [True, True] Translation: X:258.08, Y:-32.59, Z:-17.03 [[ 9.94981954e-01 7.96387330e-02 6.05688316e-02 2.58075073e+02] [-7.93000223e-02 9.96818858e-01 -7.97934729e-03 -3.25884752e+01] [-6.10116187e-02 3.13619686e-03 9.98132129e-01 -1.70263502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04071405700006 meters 0.03180999024318817 Centerline is valid? [True, True] Translation: X:258.13, Y:-32.60, Z:-17.03 [[ 9.94999452e-01 7.98064265e-02 6.00585185e-02 2.58132995e+02] [-7.94739761e-02 9.96805575e-01 -7.90775698e-03 -3.25976607e+01] [-6.04977559e-02 3.09512460e-03 9.98163535e-01 -1.70305605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10071405700006 meters 0.03220104639439178 Centerline is valid? [True, True] Translation: X:258.19, Y:-32.61, Z:-17.03 [[ 9.94979160e-01 8.03715653e-02 5.96396081e-02 2.58191515e+02] [-8.00450116e-02 9.96760352e-01 -7.84832976e-03 -3.26061319e+01] [-6.00771793e-02 3.03507143e-03 9.98189121e-01 -1.70340899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16071405700006 meters 0.030505688307616543 Centerline is valid? [True, True] Translation: X:258.25, Y:-32.61, Z:-17.04 [[ 9.95019447e-01 8.02208022e-02 5.91685969e-02 2.58249796e+02] [-7.98993766e-02 9.96772555e-01 -7.78217616e-03 -3.26114725e+01] [-5.96019259e-02 3.01588261e-03 9.98217669e-01 -1.70380254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22071405700007 meters 0.034476361056486535 Centerline is valid? [True, True] Translation: X:258.31, Y:-32.63, Z:-17.04 [[ 9.95093810e-01 7.95292939e-02 5.88506636e-02 2.58306212e+02] [-7.92103584e-02 9.96827904e-01 -7.73622442e-03 -3.26259301e+01] [-5.92792401e-02 3.03668688e-03 9.98236821e-01 -1.70433065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28071405700007 meters 0.031103250744659503 Centerline is valid? [True, True] Translation: X:258.37, Y:-32.63, Z:-17.05 [[ 9.95280050e-01 7.81608923e-02 5.75195369e-02 2.58365434e+02] [-7.78543376e-02 9.96936120e-01 -7.55478293e-03 -3.26265295e+01] [-5.79337925e-02 3.04097929e-03 9.98315796e-01 -1.70467182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.340714057 meters 0.037492165666024715 Centerline is valid? [True, True] Translation: X:258.42, Y:-32.65, Z:-17.05 [[ 9.95390411e-01 7.66011894e-02 5.77077716e-02 2.58420715e+02] [-7.62902547e-02 9.97056875e-01 -7.57531443e-03 -3.26455957e+01] [-5.81182085e-02 3.13785475e-03 9.98304777e-01 -1.70520339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.400714057 meters 0.03360676709531988 Centerline is valid? [True, True] Translation: X:258.48, Y:-32.65, Z:-17.05 [[ 9.95595647e-01 7.32921576e-02 5.84599588e-02 2.58480652e+02] [-7.29677145e-02 9.97304824e-01 -7.66821258e-03 -3.26478662e+01] [-5.88644187e-02 3.36874949e-03 9.98260303e-01 -1.70542662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.460714057 meters 0.0341937192894016 Centerline is valid? [True, True] Translation: X:258.54, Y:-32.66, Z:-17.06 [[ 9.95737801e-01 7.12068334e-02 5.86158496e-02 2.58539409e+02] [-7.08771144e-02 9.97455430e-01 -7.68769185e-03 -3.26567086e+01] [-5.90141136e-02 3.50040310e-03 9.98251011e-01 -1.70575011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.520714057 meters 0.035183069865904755 Centerline is valid? [True, True] Translation: X:258.60, Y:-32.67, Z:-17.06 [[ 9.95948343e-01 6.90823861e-02 5.75718791e-02 2.58597593e+02] [-6.87609014e-02 9.97604608e-01 -7.54883915e-03 -3.26673282e+01] [-5.79554637e-02 3.55955954e-03 9.98312824e-01 -1.70617855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.580714057 meters 0.03640428979571814 Centerline is valid? [True, True] Translation: X:258.66, Y:-32.68, Z:-17.07 [[ 9.96071288e-01 6.75030298e-02 5.73178038e-02 2.58655910e+02] [-6.71819798e-02 9.97712459e-01 -7.51202470e-03 -3.26781336e+01] [-5.76937714e-02 3.63178858e-03 9.98327721e-01 -1.70669429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.640714057 meters 0.03820855100483385 Centerline is valid? [True, True] Translation: X:258.71, Y:-32.69, Z:-17.07 [[ 9.96185040e-01 6.65129175e-02 5.64924606e-02 2.58713689e+02] [-6.61995820e-02 9.97778947e-01 -7.40196981e-03 -3.26894756e+01] [-5.68593144e-02 3.63395431e-03 9.98375587e-01 -1.70715731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.700714057 meters 0.036883527114482735 Centerline is valid? [True, True] Translation: X:258.77, Y:-32.70, Z:-17.08 [[ 9.96332195e-01 6.50747237e-02 5.55647219e-02 2.58772797e+02] [-6.47695537e-02 9.97873712e-01 -7.27736029e-03 -3.26961020e+01] [-5.59201475e-02 3.65176611e-03 9.98428566e-01 -1.70758712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76071405700003 meters 0.04111808612456695 Centerline is valid? [True, True] Translation: X:258.83, Y:-32.71, Z:-17.08 [[ 9.96429021e-01 6.46540559e-02 5.43052474e-02 2.58829454e+02] [-6.43620549e-02 9.97901280e-01 -7.11065410e-03 -3.27110506e+01] [-5.46510085e-02 3.59006479e-03 9.98499063e-01 -1.70818736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82071405700003 meters 0.03843912601085132 Centerline is valid? [True, True] Translation: X:258.89, Y:-32.71, Z:-17.09 [[ 9.96373176e-01 6.58389775e-02 5.39047694e-02 2.58888273e+02] [-6.55531438e-02 9.97824135e-01 -7.05553092e-03 -3.27142002e+01] [-5.42520089e-02 3.49631465e-03 9.98521154e-01 -1.70853689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88071405700003 meters 0.03562353007406154 Centerline is valid? [True, True] Translation: X:258.95, Y:-32.72, Z:-17.09 [[ 9.96202413e-01 6.80888403e-02 5.42647502e-02 2.58948089e+02] [-6.78027231e-02 9.97673495e-01 -7.09843820e-03 -3.27153575e+01] [-5.46218274e-02 3.39218343e-03 9.98501352e-01 -1.70866837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94071405700004 meters 0.03442774105024016 Centerline is valid? [True, True] Translation: X:259.01, Y:-32.72, Z:-17.09 [[ 9.96093938e-01 6.90128158e-02 5.50826513e-02 2.59006922e+02] [-6.87194982e-02 9.97610012e-01 -7.20372998e-03 -3.27199072e+01] [-5.54481542e-02 3.39033961e-03 9.98455812e-01 -1.70892462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00071405700004 meters 0.03582552473043668 Centerline is valid? [True, True] Translation: X:259.06, Y:-32.73, Z:-17.09 [[ 9.96038726e-01 6.92096978e-02 5.58289719e-02 2.59064629e+02] [-6.89089106e-02 9.97596268e-01 -7.29715554e-03 -3.27291333e+01] [-5.61998079e-02 3.42113588e-03 9.98413681e-01 -1.70936522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06071405700004 meters 0.05403567864320341 Centerline is valid? [True, True] Translation: X:259.12, Y:-32.76, Z:-17.10 [[ 9.95814580e-01 7.10387521e-02 5.75049385e-02 2.59119155e+02] [-7.07229029e-02 9.97467716e-01 -7.51177212e-03 -3.27632048e+01] [-5.78929466e-02 3.41341602e-03 9.98316961e-01 -1.71002137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12071405700004 meters 0.03687115133097289 Centerline is valid? [True, True] Translation: X:259.18, Y:-32.74, Z:-17.10 [[ 9.96124192e-01 7.01829230e-02 5.30184064e-02 2.59181171e+02] [-6.99134231e-02 9.97529039e-01 -6.92309847e-03 -3.27446998e+01] [-5.33732833e-02 3.18956759e-03 9.98569537e-01 -1.71025345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18071405700005 meters 0.03465842789335255 Centerline is valid? [True, True] Translation: X:259.24, Y:-32.75, Z:-17.11 [[ 9.96066067e-01 7.14967005e-02 5.23508593e-02 2.59240144e+02] [-7.12359031e-02 9.97436090e-01 -6.83319390e-03 -3.27500763e+01] [-5.27051872e-02 3.07705184e-03 9.98605375e-01 -1.71077089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24071405700005 meters 0.033844092113445925 Centerline is valid? [True, True] Translation: X:259.30, Y:-32.76, Z:-17.11 [[ 9.95869475e-01 7.40831675e-02 5.24945024e-02 2.59299612e+02] [-7.38246776e-02 9.97247718e-01 -6.84884647e-03 -3.27557007e+01] [-5.28574069e-02 2.94516743e-03 9.98597727e-01 -1.71113790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30071405700005 meters 0.033230494031447906 Centerline is valid? [True, True] Translation: X:259.36, Y:-32.76, Z:-17.12 [[ 9.95512978e-01 7.79425503e-02 5.36551015e-02 2.59359389e+02] [-7.76781836e-02 9.96953923e-01 -6.99824191e-03 -3.27614129e+01] [-5.40371247e-02 2.79900981e-03 9.98535004e-01 -1.71154031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36071405700005 meters 0.032272102982040515 Centerline is valid? [True, True] Translation: X:259.42, Y:-32.77, Z:-17.12 [[ 9.95332418e-01 8.04062534e-02 5.33686492e-02 2.59418370e+02] [-8.01483313e-02 9.96758655e-01 -6.95907942e-03 -3.27675546e+01] [-5.37552165e-02 2.64918916e-03 9.98550629e-01 -1.71193187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42071405700005 meters 0.0329398689386749 Centerline is valid? [True, True] Translation: X:259.47, Y:-32.78, Z:-17.12 [[ 9.95327851e-01 8.12140962e-02 5.22182020e-02 2.59474968e+02] [-8.09683571e-02 9.96693422e-01 -6.80786831e-03 -3.27758824e+01] [-5.25984333e-02 2.54803890e-03 9.98612494e-01 -1.71236041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48071405700006 meters 0.03409125182648307 Centerline is valid? [True, True] Translation: X:259.53, Y:-32.79, Z:-17.13 [[ 9.95511825e-01 7.99258258e-02 5.06761216e-02 2.59532466e+02] [-7.96929796e-02 9.96797593e-01 -6.60206839e-03 -3.27862320e+01] [-5.10415118e-02 2.53390603e-03 9.98693318e-01 -1.71286765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54071405700006 meters 0.0366578846582566 Centerline is valid? [True, True] Translation: X:259.59, Y:-32.80, Z:-17.13 [[ 9.95861597e-01 7.63617433e-02 4.92804666e-02 2.59589941e+02] [-7.61373429e-02 9.97076687e-01 -6.41751681e-03 -3.27985459e+01] [-4.96264572e-02 2.63887476e-03 9.98764362e-01 -1.71336569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60071405700006 meters 0.03916582361567679 Centerline is valid? [True, True] Translation: X:259.65, Y:-32.81, Z:-17.14 [[ 9.96150242e-01 7.29655712e-02 4.85872413e-02 2.59648856e+02] [-7.27435116e-02 9.97330623e-01 -6.32536281e-03 -3.28102583e+01] [-4.89190774e-02 2.76660515e-03 9.98798914e-01 -1.71381948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66071405700006 meters 0.039138268288957015 Centerline is valid? [True, True] Translation: X:259.71, Y:-32.82, Z:-17.14 [[ 9.96446841e-01 6.84340647e-02 4.90965652e-02 2.59709084e+02] [-6.82018905e-02 9.97651072e-01 -6.39066555e-03 -3.28189041e+01] [-4.94185802e-02 3.01947993e-03 9.98773591e-01 -1.71402471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72071405700007 meters 0.03591328276394547 Centerline is valid? [True, True] Translation: X:259.77, Y:-32.82, Z:-17.14 [[ 9.96735997e-01 6.39892640e-02 4.92212041e-02 2.59769808e+02] [-6.37505274e-02 9.97945302e-01 -6.40658715e-03 -3.28215311e+01] [-4.95300222e-02 3.24779831e-03 9.98767355e-01 -1.71407064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78071405700007 meters 0.03705653778719293 Centerline is valid? [True, True] Translation: X:259.83, Y:-32.83, Z:-17.14 [[ 9.96995841e-01 6.00709112e-02 4.88955910e-02 2.59829646e+02] [-5.98306419e-02 9.98188255e-01 -6.36410909e-03 -3.28311487e+01] [-4.91893025e-02 3.41953570e-03 9.98783620e-01 -1.71441416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.840714057 meters 0.03904548137480561 Centerline is valid? [True, True] Translation: X:259.89, Y:-32.84, Z:-17.15 [[ 9.97074583e-01 5.88592878e-02 4.87633022e-02 2.59888176e+02] [-5.86188729e-02 9.98260258e-01 -6.34697830e-03 -3.28414956e+01] [-4.90520453e-02 3.46996093e-03 9.98790196e-01 -1.71486737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.900714057 meters 0.040434007647073424 Centerline is valid? [True, True] Translation: X:259.95, Y:-32.85, Z:-17.15 [[ 9.97248600e-01 5.74411403e-02 4.68587722e-02 2.59946641e+02] [-5.72176604e-02 9.98343106e-01 -6.09778325e-03 -3.28496961e+01] [-4.71313958e-02 3.39985649e-03 9.98882912e-01 -1.71542011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.960714057 meters 0.04164729122062263 Centerline is valid? [True, True] Translation: X:260.00, Y:-32.86, Z:-17.16 [[ 9.97224925e-01 5.92167860e-02 4.51200704e-02 2.60004757e+02] [-5.90115102e-02 9.98240048e-01 -5.86919361e-03 -3.28554618e+01] [-4.53882161e-02 3.19030266e-03 9.98964330e-01 -1.71601635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.020714057 meters 0.03773875982004442 Centerline is valid? [True, True] Translation: X:260.07, Y:-32.85, Z:-17.16 [[ 9.97004529e-01 6.27656900e-02 4.51933266e-02 2.60066111e+02] [-6.25635174e-02 9.98023689e-01 -5.87554314e-03 -3.28531078e+01] [-4.54727931e-02 3.03048965e-03 9.98960981e-01 -1.71619292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.080714057 meters 0.0388956920030583 Centerline is valid? [True, True] Translation: X:260.13, Y:-32.86, Z:-17.17 [[ 9.96761686e-01 6.58818106e-02 4.61056208e-02 2.60125009e+02] [-6.56747099e-02 9.97823083e-01 -5.99399453e-03 -3.28593295e+01] [-4.64001479e-02 2.94661083e-03 9.98918587e-01 -1.71651742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.140714057 meters 0.03484640312536628 Centerline is valid? [True, True] Translation: X:260.19, Y:-32.86, Z:-17.17 [[ 9.96443043e-01 6.98821091e-02 4.70930298e-02 2.60186294e+02] [-6.96705837e-02 9.97551278e-01 -6.12020186e-03 -3.28574719e+01] [-4.74054047e-02 2.81743369e-03 9.98871758e-01 -1.71676254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.200714057 meters 0.03349323086394163 Centerline is valid? [True, True] Translation: X:260.25, Y:-32.86, Z:-17.17 [[ 9.96267671e-01 7.18346475e-02 4.78592765e-02 2.60245870e+02] [-7.16184153e-02 9.97412711e-01 -6.21987500e-03 -3.28600732e+01] [-4.81822533e-02 2.76905484e-03 9.98834722e-01 -1.71708528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26071405700003 meters 0.038881292298504996 Centerline is valid? [True, True] Translation: X:260.30, Y:-32.87, Z:-17.18 [[ 9.96227211e-01 7.21095630e-02 4.82861863e-02 2.60302408e+02] [-7.18898200e-02 9.97392844e-01 -6.27441055e-03 -3.28740139e+01] [-4.86127417e-02 2.77945328e-03 9.98813835e-01 -1.71765777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32071405700003 meters 0.036718216896203276 Centerline is valid? [True, True] Translation: X:260.36, Y:-32.88, Z:-17.18 [[ 9.96375722e-01 7.02931721e-02 4.78987564e-02 2.60361693e+02] [-7.00750921e-02 9.97522333e-01 -6.21912782e-03 -3.28768645e+01] [-4.82172414e-02 2.84007821e-03 9.98832835e-01 -1.71798180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38071405700003 meters 0.03737448751580402 Centerline is valid? [True, True] Translation: X:260.42, Y:-32.88, Z:-17.18 [[ 9.96462278e-01 6.86037660e-02 4.85432889e-02 2.60420526e+02] [-6.83779196e-02 9.97639600e-01 -6.29986362e-03 -3.28842448e+01] [-4.88609017e-02 2.95828735e-03 9.98801212e-01 -1.71839391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44071405700004 meters 0.03664965983309001 Centerline is valid? [True, True] Translation: X:260.48, Y:-32.89, Z:-17.19 [[ 9.96509804e-01 6.76681080e-02 4.88798322e-02 2.60478879e+02] [-6.74380553e-02 9.97703304e-01 -6.34232300e-03 -3.28906190e+01] [-4.91967431e-02 3.02382622e-03 9.98784530e-01 -1.71870732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50071405700004 meters 0.03693302721266311 Centerline is valid? [True, True] Translation: X:260.54, Y:-32.90, Z:-17.19 [[ 9.96489046e-01 6.67360560e-02 5.05557032e-02 2.60537058e+02] [-6.64889448e-02 9.97765624e-01 -6.55588454e-03 -3.28991256e+01] [-5.08802566e-02 3.17147178e-03 9.98699725e-01 -1.71902871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56071405700004 meters 0.03838900726584383 Centerline is valid? [True, True] Translation: X:260.59, Y:-32.91, Z:-17.19 [[ 9.96434352e-01 6.69374333e-02 5.13611011e-02 2.60593682e+02] [-6.66828313e-02 9.97752017e-01 -6.65669890e-03 -3.29091215e+01] [-5.16912246e-02 3.20805982e-03 9.98657962e-01 -1.71946536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62071405700004 meters 0.03926516020922674 Centerline is valid? [True, True] Translation: X:260.65, Y:-32.92, Z:-17.20 [[ 9.96404407e-01 6.69485413e-02 5.19244768e-02 2.60650922e+02] [-6.66885880e-02 9.97751176e-01 -6.72482272e-03 -3.29209053e+01] [-5.22579249e-02 3.23787295e-03 9.98628372e-01 -1.71996811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68071405700005 meters 0.0372678797444542 Centerline is valid? [True, True] Translation: X:260.71, Y:-32.93, Z:-17.20 [[ 9.96583787e-01 6.42433881e-02 5.18993561e-02 2.60710520e+02] [-6.39802572e-02 9.97928557e-01 -6.71732084e-03 -3.29294123e+01] [-5.22233930e-02 3.37383889e-03 9.98629728e-01 -1.72036900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74071405700005 meters 0.03806064039890341 Centerline is valid? [True, True] Translation: X:260.77, Y:-32.94, Z:-17.21 [[ 9.96777477e-01 6.17199855e-02 5.12377305e-02 2.60769716e+02] [-6.14602699e-02 9.98087507e-01 -6.63053774e-03 -3.29419414e+01] [-5.15489754e-02 3.46008593e-03 9.98664474e-01 -1.72088441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80071405700005 meters 0.04073910626999142 Centerline is valid? [True, True] Translation: X:260.83, Y:-32.96, Z:-17.21 [[ 9.97007198e-01 5.80004327e-02 5.11135622e-02 2.60827090e+02] [-5.77370967e-02 9.98309908e-01 -6.61479245e-03 -3.29604408e+01] [-5.14108364e-02 3.64384701e-03 9.98670941e-01 -1.72140050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86071405700005 meters 0.04196217347939665 Centerline is valid? [True, True] Translation: X:260.89, Y:-32.97, Z:-17.22 [[ 9.97019000e-01 5.74206721e-02 5.15362079e-02 2.60885690e+02] [-5.71522481e-02 9.98343204e-01 -6.66833322e-03 -3.29731068e+01] [-5.18337231e-02 3.70304478e-03 9.98648864e-01 -1.72181996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92071405700005 meters 0.04287176702221131 Centerline is valid? [True, True] Translation: X:260.94, Y:-32.99, Z:-17.22 [[ 9.97016840e-01 5.75273910e-02 5.14589225e-02 2.60944342e+02] [-5.72600200e-02 9.98337109e-01 -6.65628289e-03 -3.29877381e+01] [-5.17562705e-02 3.68988720e-03 9.98652929e-01 -1.72220738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98071405700006 meters 0.043481800640444365 Centerline is valid? [True, True] Translation: X:261.00, Y:-33.00, Z:-17.23 [[ 9.96942692e-01 5.86962482e-02 5.15753759e-02 2.61003007e+02] [-5.84292494e-02 9.98269264e-01 -6.67076761e-03 -3.30017525e+01] [-5.18776615e-02 3.63686252e-03 9.98646825e-01 -1.72258738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04071405700006 meters 0.03954799830243014 Centerline is valid? [True, True] Translation: X:261.06, Y:-33.01, Z:-17.23 [[ 9.96918862e-01 5.95428113e-02 5.10630692e-02 2.61062989e+02] [-5.92823428e-02 9.98219425e-01 -6.60174207e-03 -3.30097509e+01] [-5.13652339e-02 3.55426281e-03 9.98673610e-01 -1.72289173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10071405700006 meters 0.03666431650412185 Centerline is valid? [True, True] Translation: X:261.12, Y:-33.02, Z:-17.23 [[ 9.96921214e-01 5.94924544e-02 5.10758324e-02 2.61122346e+02] [-5.92317898e-02 9.98222415e-01 -6.60339216e-03 -3.30196558e+01] [-5.13778927e-02 3.55774877e-03 9.98672947e-01 -1.72323379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16071405700006 meters 0.040396508549191266 Centerline is valid? [True, True] Translation: X:261.18, Y:-33.04, Z:-17.24 [[ 9.96937041e-01 5.99104928e-02 5.02719466e-02 2.61179677e+02] [-5.96584934e-02 9.98197685e-01 -6.49971476e-03 -3.30366212e+01] [-5.05707418e-02 3.48065781e-03 9.98714416e-01 -1.72376353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22071405700007 meters 0.03847794752483996 Centerline is valid? [True, True] Translation: X:261.24, Y:-33.05, Z:-17.24 [[ 9.96841329e-01 6.13194198e-02 5.04707258e-02 2.61238993e+02] [-6.10672774e-02 9.98112329e-01 -6.52423718e-03 -3.30488540e+01] [-5.07755162e-02 3.42151945e-03 9.98704231e-01 -1.72418611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28071405700007 meters 0.03782092667375619 Centerline is valid? [True, True] Translation: X:261.30, Y:-33.06, Z:-17.25 [[ 9.96773027e-01 6.21481522e-02 5.08049172e-02 2.61298145e+02] [-6.18937016e-02 9.98061136e-01 -6.56792839e-03 -3.30581702e+01] [-5.11145980e-02 3.40222948e-03 9.98686999e-01 -1.72454030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.340714057 meters 0.03814178958179779 Centerline is valid? [True, True] Translation: X:261.36, Y:-33.07, Z:-17.25 [[ 9.96645727e-01 6.37516127e-02 5.13130356e-02 2.61356742e+02] [-6.34942668e-02 9.97960170e-01 -6.63146624e-03 -3.30691415e+01] [-5.16311324e-02 3.35113892e-03 9.98660601e-01 -1.72497333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.400714057 meters 0.036869645093423886 Centerline is valid? [True, True] Translation: X:261.42, Y:-33.08, Z:-17.25 [[ 9.96452481e-01 6.65063619e-02 5.15689478e-02 2.61415699e+02] [-6.62501481e-02 9.97780793e-01 -6.66381749e-03 -3.30765952e+01] [-5.18976919e-02 3.22372704e-03 9.98647204e-01 -1.72534131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.460714057 meters 0.03252365147585275 Centerline is valid? [True, True] Translation: X:261.48, Y:-33.08, Z:-17.26 [[ 9.96158018e-01 6.99428327e-02 5.26991760e-02 2.61476220e+02] [-6.96801525e-02 9.97546155e-01 -6.80772070e-03 -3.30789464e+01] [-5.30460116e-02 3.10947895e-03 9.98587228e-01 -1.72554492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.520714057 meters 0.03171636098778519 Centerline is valid? [True, True] Translation: X:261.54, Y:-33.09, Z:-17.26 [[ 9.95830926e-01 7.43654558e-02 5.28256086e-02 2.61536173e+02] [-7.41077692e-02 9.97226898e-01 -6.82290934e-03 -3.30863630e+01] [-5.31865066e-02 2.87967612e-03 9.98580444e-01 -1.72591087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.580714057 meters 0.03107803056070939 Centerline is valid? [True, True] Translation: X:261.60, Y:-33.09, Z:-17.26 [[ 9.95463174e-01 7.89123012e-02 5.31593651e-02 2.61596109e+02] [-7.86578155e-02 9.96878031e-01 -6.86578513e-03 -3.30926777e+01] [-5.35351982e-02 2.65323672e-03 9.98562438e-01 -1.72626179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.640714057 meters 0.02935546139854107 Centerline is valid? [True, True] Translation: X:261.66, Y:-33.10, Z:-17.27 [[ 9.95186786e-01 8.22593503e-02 5.32603153e-02 2.61655402e+02] [-8.20086695e-02 9.96607876e-01 -6.87889764e-03 -3.30970732e+01] [-5.36455034e-02 2.47798043e-03 9.98556969e-01 -1.72653886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.700714057 meters 0.03073184271001498 Centerline is valid? [True, True] Translation: X:261.71, Y:-33.11, Z:-17.27 [[ 9.94965177e-01 8.56814722e-02 5.19902020e-02 2.61713712e+02] [-8.54473720e-02 9.96320070e-01 -6.71301132e-03 -3.31066764e+01] [-5.23740624e-02 2.23678637e-03 9.98625032e-01 -1.72708304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76071405700003 meters 0.028447621974503078 Centerline is valid? [True, True] Translation: X:261.77, Y:-33.11, Z:-17.27 [[ 9.94821222e-01 8.71220609e-02 5.23496141e-02 2.61773067e+02] [-8.68867871e-02 9.96195272e-01 -6.75774563e-03 -3.31099623e+01] [-5.27391868e-02 2.17425899e-03 9.98605954e-01 -1.72731966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82071405700003 meters 0.031146061344352903 Centerline is valid? [True, True] Translation: X:261.83, Y:-33.12, Z:-17.28 [[ 9.94667167e-01 8.81355790e-02 5.35662826e-02 2.61830053e+02] [-8.78908368e-02 9.96106130e-01 -6.91219943e-03 -3.31214052e+01] [-5.39669132e-02 2.16735242e-03 9.98540372e-01 -1.72770757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88071405700003 meters 0.02927152101888248 Centerline is valid? [True, True] Translation: X:261.89, Y:-33.13, Z:-17.28 [[ 9.94570515e-01 8.80837580e-02 5.54142835e-02 2.61888967e+02] [-8.78220319e-02 9.96110553e-01 -7.14540226e-03 -3.31260264e+01] [-5.58281465e-02 2.24001142e-03 9.98437880e-01 -1.72789708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94071405700004 meters 0.02960972493109219 Centerline is valid? [True, True] Translation: X:261.95, Y:-33.14, Z:-17.28 [[ 9.94757287e-01 8.53001006e-02 5.64077312e-02 2.61947164e+02] [-8.50246668e-02 9.96352329e-01 -7.26933930e-03 -3.31360198e+01] [-5.68220497e-02 2.43517969e-03 9.98381352e-01 -1.72826249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00071405700004 meters 0.031135394749925265 Centerline is valid? [True, True] Translation: X:262.01, Y:-33.15, Z:-17.29 [[ 9.95062354e-01 8.18509185e-02 5.61367885e-02 2.62005546e+02] [-8.15728288e-02 9.96641150e-01 -7.23130900e-03 -3.31479525e+01] [-5.65401228e-02 2.61636671e-03 9.98396900e-01 -1.72881351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06071405700004 meters 0.03536060402952486 Centerline is valid? [True, True] Translation: X:262.06, Y:-33.17, Z:-17.29 [[ 9.95209326e-01 8.01682366e-02 5.59593776e-02 2.62062068e+02] [-7.98893534e-02 9.96777686e-01 -7.20665358e-03 -3.31651256e+01] [-5.63568036e-02 2.70157035e-03 9.98407037e-01 -1.72929089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12071405700004 meters 0.031138235146248444 Centerline is valid? [True, True] Translation: X:262.12, Y:-33.17, Z:-17.29 [[ 9.95097550e-01 8.10329011e-02 5.66968642e-02 2.62121331e+02] [-8.07481723e-02 9.96707811e-01 -7.29876494e-03 -3.31681717e+01] [-5.71016475e-02 2.68481496e-03 9.98364760e-01 -1.72942440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18071405700005 meters 0.030344621791033033 Centerline is valid? [True, True] Translation: X:262.18, Y:-33.18, Z:-17.30 [[ 9.94613458e-01 8.59970001e-02 5.78669631e-02 2.62179979e+02] [-8.57090177e-02 9.96292396e-01 -7.44491858e-03 -3.31772989e+01] [-5.82926559e-02 2.44509566e-03 9.98296543e-01 -1.72980197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24071405700005 meters 0.029155362393604542 Centerline is valid? [True, True] Translation: X:262.24, Y:-33.18, Z:-17.30 [[ 9.94252901e-01 9.00477960e-02 5.79013200e-02 2.62239102e+02] [-8.97663942e-02 9.95934998e-01 -7.44807949e-03 -3.31847589e+01] [-5.83366342e-02 2.20768192e-03 9.98294527e-01 -1.73018175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30071405700005 meters 0.027913449568155342 Centerline is valid? [True, True] Translation: X:262.30, Y:-33.19, Z:-17.30 [[ 9.93624197e-01 9.53998866e-02 6.00817477e-02 2.62297892e+02] [-9.51067507e-02 9.95437094e-01 -7.72642359e-03 -3.31935389e+01] [-6.05447003e-02 1.96298163e-03 9.98163557e-01 -1.73040385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36071405700005 meters 0.024332321869069362 Centerline is valid? [True, True] Translation: X:262.36, Y:-33.20, Z:-17.31 [[ 9.93467883e-01 9.63865727e-02 6.10834964e-02 2.62357086e+02] [-9.60855527e-02 9.95342099e-01 -7.85323351e-03 -3.31981256e+01] [-6.15559217e-02 1.93269377e-03 9.98101765e-01 -1.73068496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42071405700005 meters 0.025417007161251233 Centerline is valid? [True, True] Translation: X:262.41, Y:-33.21, Z:-17.31 [[ 9.93632425e-01 9.49292695e-02 6.06880329e-02 2.62412984e+02] [-9.46296269e-02 9.95481998e-01 -7.79911802e-03 -3.32149466e+01] [-6.11542088e-02 2.00657064e-03 9.98126313e-01 -1.73123643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48071405700006 meters 0.025853406210861966 Centerline is valid? [True, True] Translation: X:262.47, Y:-33.23, Z:-17.32 [[ 9.93918049e-01 9.18124829e-02 6.08060809e-02 2.62471255e+02] [-9.15062073e-02 9.95773891e-01 -7.80846717e-03 -3.32281660e+01] [-6.12660225e-02 2.19684261e-03 9.98119055e-01 -1.73172533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54071405700006 meters 0.028219170801036256 Centerline is valid? [True, True] Translation: X:262.53, Y:-33.25, Z:-17.32 [[ 9.94533806e-01 8.47626158e-02 6.09738364e-02 2.62528985e+02] [-8.44415647e-02 9.96397686e-01 -7.82767771e-03 -3.32486385e+01] [-6.14176840e-02 2.63616395e-03 9.98108671e-01 -1.73222827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60071405700006 meters 0.03221706781580665 Centerline is valid? [True, True] Translation: X:262.59, Y:-33.27, Z:-17.33 [[ 9.95275600e-01 7.54077768e-02 6.11567494e-02 2.62586362e+02] [-7.50671967e-02 9.97147572e-01 -7.85084861e-03 -3.32700385e+01] [-6.15743192e-02 3.22289233e-03 9.98097298e-01 -1.73263748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66071405700006 meters 0.03697454296323277 Centerline is valid? [True, True] Translation: X:262.64, Y:-33.29, Z:-17.33 [[ 9.95946803e-01 6.55995005e-02 6.15359413e-02 2.62644064e+02] [-6.52360855e-02 9.97838597e-01 -7.89851879e-03 -3.32921948e+01] [-6.19210763e-02 3.85214060e-03 9.98073615e-01 -1.73313328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72071405700007 meters 0.043490625248052854 Centerline is valid? [True, True] Translation: X:262.70, Y:-33.31, Z:-17.34 [[ 9.96649083e-01 5.49965121e-02 6.05474040e-02 2.62701373e+02] [-5.46252182e-02 9.98476682e-01 -7.77178436e-03 -3.33133027e+01] [-6.08825920e-02 4.43832661e-03 9.98135067e-01 -1.73367375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78071405700007 meters 0.04788670978849976 Centerline is valid? [True, True] Translation: X:262.76, Y:-33.33, Z:-17.34 [[ 9.97090024e-01 4.66231795e-02 6.03138737e-02 2.62760411e+02] [-4.62394344e-02 9.98900373e-01 -7.74337066e-03 -3.33299012e+01] [-6.06085715e-02 4.93195823e-03 9.98149426e-01 -1.73412014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.840714057 meters 0.04907445202871868 Centerline is valid? [True, True] Translation: X:262.82, Y:-33.34, Z:-17.35 [[ 9.97204080e-01 4.35381550e-02 6.07326252e-02 2.62820100e+02] [-4.31433465e-02 9.99038462e-01 -7.79762631e-03 -3.33386317e+01] [-6.10137228e-02 5.15561608e-03 9.98123612e-01 -1.73450943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.900714057 meters 0.046096915697171496 Centerline is valid? [True, True] Translation: X:262.88, Y:-33.34, Z:-17.35 [[ 9.97265068e-01 4.42169314e-02 5.92220234e-02 2.62882773e+02] [-4.38427504e-02 9.99009510e-01 -7.60344695e-03 -3.33409025e+01] [-5.94995657e-02 4.98619565e-03 9.98215878e-01 -1.73496767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.960714057 meters 0.046633274506044854 Centerline is valid? [True, True] Translation: X:262.94, Y:-33.35, Z:-17.35 [[ 9.97129059e-01 4.74489262e-02 5.90105038e-02 2.62941973e+02] [-4.70826878e-02 9.98862219e-01 -7.58209960e-03 -3.33451677e+01] [-5.93031252e-02 4.78195871e-03 9.98228567e-01 -1.73542135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.020714057 meters 0.04281652657905507 Centerline is valid? [True, True] Translation: X:263.00, Y:-33.34, Z:-17.36 [[ 9.96784950e-01 5.18023710e-02 6.11250987e-02 2.63003490e+02] [-5.14175568e-02 9.98646368e-01 -7.85279612e-03 -3.33420934e+01] [-6.14491512e-02 4.68464576e-03 9.98099221e-01 -1.73555194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.080714057 meters 0.038979678308536714 Centerline is valid? [True, True] Translation: X:263.06, Y:-33.34, Z:-17.36 [[ 9.96597470e-01 5.49245940e-02 6.14554428e-02 2.63064828e+02] [-5.45415056e-02 9.98480291e-01 -7.89511991e-03 -3.33387963e+01] [-6.17956847e-02 4.51638415e-03 9.98078602e-01 -1.73590597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.140714057 meters 0.03944670041179385 Centerline is valid? [True, True] Translation: X:263.13, Y:-33.34, Z:-17.36 [[ 9.96569034e-01 5.53275322e-02 6.15550517e-02 2.63127422e+02] [-5.49439368e-02 9.98458122e-01 -7.90833344e-03 -3.33432772e+01] [-6.18976899e-02 4.49912334e-03 9.98072359e-01 -1.73634878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.200714057 meters 0.04182149980606735 Centerline is valid? [True, True] Translation: X:263.19, Y:-33.35, Z:-17.37 [[ 9.96760572e-01 5.31660822e-02 6.03467460e-02 2.63187708e+02] [-5.27923709e-02 9.98575270e-01 -7.77143914e-03 -3.33518525e+01] [-6.06739451e-02 4.56041633e-03 9.98147221e-01 -1.73685583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26071405700003 meters 0.04464633909607169 Centerline is valid? [True, True] Translation: X:263.25, Y:-33.36, Z:-17.38 [[ 9.97257513e-01 4.80477351e-02 5.62926966e-02 2.63247922e+02] [-4.77144610e-02 9.98834703e-01 -7.25032821e-03 -3.33595065e+01] [-5.65754608e-02 4.54446860e-03 9.98387983e-01 -1.73764182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32071405700003 meters 0.04347537153746489 Centerline is valid? [True, True] Translation: X:263.31, Y:-33.36, Z:-17.38 [[ 9.97631326e-01 4.26264194e-02 5.39881956e-02 2.63308661e+02] [-4.23119838e-02 9.99080244e-01 -6.95435274e-03 -3.33612786e+01] [-5.42349788e-02 4.65353249e-03 9.98517357e-01 -1.73812978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38071405700003 meters 0.044368216483389726 Centerline is valid? [True, True] Translation: X:263.37, Y:-33.36, Z:-17.38 [[ 9.97721804e-01 3.90840505e-02 5.49876300e-02 2.63369674e+02] [-3.87525154e-02 9.99223735e-01 -7.08307117e-03 -3.33646560e+01] [-5.52217802e-02 4.93602556e-03 9.98461912e-01 -1.73836424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44071405700004 meters 0.04634567205584263 Centerline is valid? [True, True] Translation: X:263.43, Y:-33.37, Z:-17.38 [[ 9.97484304e-01 3.98092376e-02 5.86539668e-02 2.63431007e+02] [-3.94332232e-02 9.99193648e-01 -7.55475112e-03 -3.33696914e+01] [-5.89074200e-02 5.22283070e-03 9.98249787e-01 -1.73848550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50071405700004 meters 0.048336471411388415 Centerline is valid? [True, True] Translation: X:263.49, Y:-33.37, Z:-17.39 [[ 9.97291787e-01 4.16129977e-02 6.06419907e-02 2.63490652e+02] [-4.12137272e-02 9.99119746e-01 -7.82058846e-03 -3.33747848e+01] [-6.09140485e-02 5.30012617e-03 9.98128943e-01 -1.73868736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56071405700004 meters 0.04513094325915352 Centerline is valid? [True, True] Translation: X:263.55, Y:-33.37, Z:-17.39 [[ 9.97356592e-01 4.28383943e-02 5.86915667e-02 2.63553264e+02] [-4.24666204e-02 9.99069225e-01 -7.56765624e-03 -3.33720846e+01] [-5.89611243e-02 5.05521936e-03 9.98247480e-01 -1.73925681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62071405700004 meters 0.04548970265009517 Centerline is valid? [True, True] Translation: X:263.62, Y:-33.38, Z:-17.40 [[ 9.97495728e-01 4.35953597e-02 5.56930662e-02 2.63615237e+02] [-4.32610720e-02 9.99037897e-01 -7.19446761e-03 -3.33766624e+01] [-5.59531292e-02 4.76710895e-03 9.98422016e-01 -1.73996096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68071405700005 meters 0.04501530881259711 Centerline is valid? [True, True] Translation: X:263.68, Y:-33.38, Z:-17.41 [[ 9.97538549e-01 4.52836590e-02 5.35372083e-02 2.63676447e+02] [-4.49763715e-02 9.98964005e-01 -6.93127323e-03 -3.33795837e+01] [-5.37956175e-02 4.50630287e-03 9.98541799e-01 -1.74057332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74071405700005 meters 0.04323004478974843 Centerline is valid? [True, True] Translation: X:263.74, Y:-33.38, Z:-17.41 [[ 9.97470477e-01 4.72301300e-02 5.31221419e-02 2.63738017e+02] [-4.69302314e-02 9.98874480e-01 -6.87945164e-03 -3.33798989e+01] [-5.33872693e-02 4.36901549e-03 9.98564325e-01 -1.74098724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80071405700005 meters 0.03804289525888737 Centerline is valid? [True, True] Translation: X:263.80, Y:-33.37, Z:-17.41 [[ 9.97065015e-01 5.26563887e-02 5.55757138e-02 2.63801189e+02] [-5.23363453e-02 9.98603562e-01 -7.19951711e-03 -3.33688176e+01] [-5.58772063e-02 4.26975689e-03 9.98428519e-01 -1.74102973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86071405700005 meters 0.040782229993031965 Centerline is valid? [True, True] Translation: X:263.86, Y:-33.38, Z:-17.41 [[ 9.96854891e-01 5.44557531e-02 5.75751498e-02 2.63860862e+02] [-5.41151913e-02 9.98506840e-01 -7.45892670e-03 -3.33756686e+01] [-5.78953623e-02 4.31977732e-03 9.98313311e-01 -1.74132889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92071405700005 meters 0.03931449994372698 Centerline is valid? [True, True] Translation: X:263.92, Y:-33.38, Z:-17.42 [[ 9.96831552e-01 5.47122361e-02 5.77358407e-02 2.63924004e+02] [-5.43698877e-02 9.98492809e-01 -7.48503366e-03 -3.33774160e+01] [-5.80583447e-02 4.32222655e-03 9.98303835e-01 -1.74180471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98071405700006 meters 0.045073504381828965 Centerline is valid? [True, True] Translation: X:263.98, Y:-33.39, Z:-17.42 [[ 9.97168195e-01 4.96303802e-02 5.65014652e-02 2.63982591e+02] [-4.92933875e-02 9.98757347e-01 -7.34332422e-03 -3.33919917e+01] [-5.67957054e-02 4.53738074e-03 9.98375511e-01 -1.74241240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04071405700006 meters 0.04562277853871784 Centerline is valid? [True, True] Translation: X:264.04, Y:-33.40, Z:-17.43 [[ 9.97631121e-01 4.35927093e-02 5.32148672e-02 2.64042707e+02] [-4.32851806e-02 9.99038802e-01 -6.91845813e-03 -3.34002724e+01] [-5.34653115e-02 4.59865400e-03 9.98559118e-01 -1.74305685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10071405700006 meters 0.04947259781886021 Centerline is valid? [True, True] Translation: X:264.10, Y:-33.41, Z:-17.44 [[ 9.97804523e-01 4.17788719e-02 5.13873452e-02 2.64101292e+02] [-4.14897801e-02 9.99116597e-01 -6.68012947e-03 -3.34131438e+01] [-5.16210378e-02 4.53341375e-03 9.98656456e-01 -1.74360954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16071405700006 meters 0.04707880344715399 Centerline is valid? [True, True] Translation: X:264.16, Y:-33.42, Z:-17.44 [[ 9.97716311e-01 4.42830812e-02 5.10016813e-02 2.64162367e+02] [-4.40013370e-02 9.99009443e-01 -6.63438236e-03 -3.34161496e+01] [-5.12449521e-02 4.37508933e-03 9.98676531e-01 -1.74394466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22071405700007 meters 0.04368620514427375 Centerline is valid? [True, True] Translation: X:264.22, Y:-33.42, Z:-17.44 [[ 9.97241968e-01 5.22749893e-02 5.26856919e-02 2.64223233e+02] [-5.19853099e-02 9.98624324e-01 -6.85466963e-03 -3.34152271e+01] [-5.29715413e-02 4.09688221e-03 9.98587618e-01 -1.74416276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28071405700007 meters 0.041221008951026886 Centerline is valid? [True, True] Translation: X:264.28, Y:-33.42, Z:-17.44 [[ 9.96538498e-01 6.20441789e-02 5.53311987e-02 2.64283352e+02] [-6.17396087e-02 9.98066331e-01 -7.19863308e-03 -3.34155041e+01] [-5.56708397e-02 3.75758844e-03 9.98442106e-01 -1.74420383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.340714057 meters 0.03852788804870798 Centerline is valid? [True, True] Translation: X:264.34, Y:-33.42, Z:-17.44 [[ 9.95899892e-01 7.04868117e-02 5.67010916e-02 2.64342762e+02] [-7.01805161e-02 9.97507025e-01 -7.37766027e-03 -3.34160754e+01] [-5.70797650e-02 3.36809920e-03 9.98363940e-01 -1.74440597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.400714057 meters 0.03721601016029846 Centerline is valid? [True, True] Translation: X:264.40, Y:-33.42, Z:-17.45 [[ 9.95535548e-01 7.60628392e-02 5.58875334e-02 2.64401848e+02] [-7.57740964e-02 9.97098503e-01 -7.27061122e-03 -3.34219525e+01] [-5.62783992e-02 3.00332458e-03 9.98410598e-01 -1.74493284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.460714057 meters 0.03209052976401296 Centerline is valid? [True, True] Translation: X:264.46, Y:-33.42, Z:-17.45 [[ 9.95415751e-01 7.94862971e-02 5.31922101e-02 2.64462130e+02] [-7.92296895e-02 9.96832375e-01 -6.91893510e-03 -3.34215634e+01] [-5.35736777e-02 2.67281468e-03 9.98560322e-01 -1.74539927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.520714057 meters 0.031223501876868977 Centerline is valid? [True, True] Translation: X:264.52, Y:-33.43, Z:-17.46 [[ 9.95281545e-01 8.20148794e-02 5.18479197e-02 2.64520555e+02] [-8.17745238e-02 9.96628039e-01 -6.74383987e-03 -3.34284084e+01] [-5.22261857e-02 2.47218042e-03 9.98632222e-01 -1.74586160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.580714057 meters 0.03010031253898998 Centerline is valid? [True, True] Translation: X:264.58, Y:-33.44, Z:-17.46 [[ 9.94997003e-01 8.56155978e-02 5.14872118e-02 2.64580097e+02] [-8.53836130e-02 9.96325674e-01 -6.69251849e-03 -3.34363197e+01] [-5.18710149e-02 2.26287168e-03 9.98651229e-01 -1.74622543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.640714057 meters 0.02896474642203038 Centerline is valid? [True, True] Translation: X:264.64, Y:-33.44, Z:-17.47 [[ 9.94710837e-01 8.87828603e-02 5.16522421e-02 2.64639660e+02] [-8.85536918e-02 9.96048783e-01 -6.71303019e-03 -3.34444934e+01] [-5.20441549e-02 2.10352715e-03 9.98642569e-01 -1.74652633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.700714057 meters 0.029099909922386653 Centerline is valid? [True, True] Translation: X:264.70, Y:-33.45, Z:-17.47 [[ 9.94542102e-01 9.07054199e-02 5.15609790e-02 2.64696625e+02] [-9.04796406e-02 9.95875760e-01 -6.70113408e-03 -3.34545263e+01] [-5.19561583e-02 1.99934112e-03 9.98647365e-01 -1.74686566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76071405700003 meters 0.028513451473386832 Centerline is valid? [True, True] Translation: X:264.75, Y:-33.47, Z:-17.47 [[ 9.94700957e-01 8.90197692e-02 5.14343006e-02 2.64754276e+02] [-8.87931019e-02 9.96027693e-01 -6.67982123e-03 -3.34673631e+01] [-5.18246239e-02 2.07741348e-03 9.98654041e-01 -1.74716185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82071405700003 meters 0.03192073484615069 Centerline is valid? [True, True] Translation: X:264.81, Y:-33.49, Z:-17.48 [[ 9.95248481e-01 8.29894612e-02 5.09235704e-02 2.64810844e+02] [-8.27596241e-02 9.96547623e-01 -6.60912291e-03 -3.34877788e+01] [-5.12962505e-02 2.36330400e-03 9.98680684e-01 -1.74771213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88071405700003 meters 0.03413267003066048 Centerline is valid? [True, True] Translation: X:264.87, Y:-33.51, Z:-17.48 [[ 9.95916780e-01 7.50530945e-02 5.01677140e-02 2.64869136e+02] [-7.48200520e-02 9.97175803e-01 -6.50985339e-03 -3.35059437e+01] [-5.05146151e-02 2.72972126e-03 9.98719591e-01 -1.74813713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94071405700004 meters 0.036761276735173334 Centerline is valid? [True, True] Translation: X:264.93, Y:-33.52, Z:-17.48 [[ 9.96145476e-01 7.14735712e-02 5.08499784e-02 2.64926858e+02] [-7.12295237e-02 9.97438130e-01 -6.59779029e-03 -3.35219636e+01] [-5.11912750e-02 2.95033920e-03 9.98684509e-01 -1.74846700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00071405700004 meters 0.038633221533288506 Centerline is valid? [True, True] Translation: X:264.98, Y:-33.54, Z:-17.49 [[ 9.96317662e-01 6.88412933e-02 5.11076530e-02 2.64984542e+02] [-6.85913972e-02 9.97622809e-01 -6.62961218e-03 -3.35374469e+01] [-5.14425514e-02 3.09965438e-03 9.98671145e-01 -1.74874326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06071405700004 meters 0.034548837573922374 Centerline is valid? [True, True] Translation: X:265.04, Y:-33.54, Z:-17.49 [[ 9.96286718e-01 6.82956724e-02 5.24259082e-02 2.65043051e+02] [-6.80320829e-02 9.97659973e-01 -6.79812900e-03 -3.35424381e+01] [-5.27675129e-02 3.20624190e-03 9.98601677e-01 -1.74893019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12071405700004 meters 0.04051154328582585 Centerline is valid? [True, True] Translation: X:265.10, Y:-33.56, Z:-17.49 [[ 9.96181507e-01 6.89811399e-02 5.35164263e-02 2.65099900e+02] [-6.87076807e-02 9.97612730e-01 -6.93511222e-03 -3.35615525e+01] [-5.38670601e-02 3.23164101e-03 9.98542887e-01 -1.74948111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18071405700005 meters 0.042020756520093634 Centerline is valid? [True, True] Translation: X:265.16, Y:-33.58, Z:-17.50 [[ 9.96048718e-01 6.99999232e-02 5.46531002e-02 2.65156614e+02] [-6.97163408e-02 9.97541727e-01 -7.08052089e-03 -3.35760846e+01] [-5.50143839e-02 3.24232960e-03 9.98480298e-01 -1.74994685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24071405700005 meters 0.03514431858374201 Centerline is valid? [True, True] Translation: X:265.22, Y:-33.58, Z:-17.50 [[ 9.96031098e-01 7.01551883e-02 5.47750030e-02 2.65216400e+02] [-6.98707300e-02 9.97530834e-01 -7.09344724e-03 -3.35755791e+01] [-5.51373965e-02 3.23812460e-03 9.98473526e-01 -1.75022205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30071405700005 meters 0.03722780404977026 Centerline is valid? [True, True] Translation: X:265.27, Y:-33.59, Z:-17.51 [[ 9.96008654e-01 7.06971917e-02 5.44854941e-02 2.65273927e+02] [-7.04166505e-02 9.97492725e-01 -7.05400726e-03 -3.35901429e+01] [-5.48475825e-02 3.18916628e-03 9.98489645e-01 -1.75075324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36071405700005 meters 0.03480480600582443 Centerline is valid? [True, True] Translation: X:265.33, Y:-33.60, Z:-17.51 [[ 9.95998798e-01 7.15577318e-02 5.35339606e-02 2.65333056e+02] [-7.12882528e-02 9.97431689e-01 -6.92896929e-03 -3.35962518e+01] [-5.38922901e-02 3.08490257e-03 9.98541989e-01 -1.75112041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42071405700005 meters 0.03328737970894582 Centerline is valid? [True, True] Translation: X:265.39, Y:-33.60, Z:-17.51 [[ 9.95853751e-01 7.32153377e-02 5.39890802e-02 2.65391962e+02] [-7.29437837e-02 9.97311587e-01 -6.98593133e-03 -3.36039717e+01] [-5.43554126e-02 3.01879813e-03 9.98517088e-01 -1.75134599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48071405700006 meters 0.03527327364782178 Centerline is valid? [True, True] Translation: X:265.45, Y:-33.62, Z:-17.52 [[ 9.95938566e-01 7.15997143e-02 5.45880298e-02 2.65449383e+02] [-7.13197780e-02 9.97428505e-01 -7.06159421e-03 -3.36168132e+01] [-5.49532651e-02 3.13970785e-03 9.98483991e-01 -1.75155173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54071405700006 meters 0.03611847866850624 Centerline is valid? [True, True] Translation: X:265.51, Y:-33.63, Z:-17.52 [[ 9.96049219e-01 6.98924328e-02 5.47813878e-02 2.65508844e+02] [-6.96081259e-02 9.97549266e-01 -7.08316265e-03 -3.36268806e+01] [-5.51421926e-02 3.24194889e-03 9.98473249e-01 -1.75190466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60071405700006 meters 0.03931604732331621 Centerline is valid? [True, True] Translation: X:265.57, Y:-33.64, Z:-17.52 [[ 9.96505776e-01 6.31292810e-02 5.46894228e-02 2.65567782e+02] [-6.28357885e-02 9.97998828e-01 -7.07124513e-03 -3.36434957e+01] [-5.50263825e-02 3.61008361e-03 9.98478375e-01 -1.75225872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66071405700006 meters 0.03648435917656664 Centerline is valid? [True, True] Translation: X:265.63, Y:-33.65, Z:-17.53 [[ 9.96756395e-01 5.88253871e-02 5.49205163e-02 2.65627990e+02] [-5.85228981e-02 9.98260809e-01 -7.10127260e-03 -3.36491273e+01] [-5.52427341e-02 3.86413110e-03 9.98465477e-01 -1.75251855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72071405700007 meters 0.041089074328247474 Centerline is valid? [True, True] Translation: X:265.69, Y:-33.67, Z:-17.53 [[ 9.97083588e-01 5.39659802e-02 5.39628804e-02 2.65686436e+02] [-5.36668780e-02 9.98534516e-01 -6.97758629e-03 -3.36664235e+01] [-5.42603509e-02 4.06121745e-03 9.98518563e-01 -1.75299234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78071405700007 meters 0.03983882110122066 Centerline is valid? [True, True] Translation: X:265.75, Y:-33.67, Z:-17.53 [[ 9.97258943e-01 5.12237318e-02 5.33922255e-02 2.65747254e+02] [-5.09270053e-02 9.98678513e-01 -6.90416614e-03 -3.36724736e+01] [-5.36753255e-02 4.16613528e-03 9.98549750e-01 -1.75336020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.840714057 meters 0.04181666330071468 Centerline is valid? [True, True] Translation: X:265.81, Y:-33.68, Z:-17.54 [[ 9.97217453e-01 5.19508573e-02 5.34645605e-02 2.65807068e+02] [-5.16544359e-02 9.98641097e-01 -6.91217014e-03 -3.36833331e+01] [-5.37510006e-02 4.13125499e-03 9.98545824e-01 -1.75386207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.900714057 meters 0.043174075136261834 Centerline is valid? [True, True] Translation: X:265.87, Y:-33.69, Z:-17.54 [[ 9.97185772e-01 5.28407022e-02 5.31826650e-02 2.65869140e+02] [-5.25478975e-02 9.98594636e-01 -6.88995369e-03 -3.36914767e+01] [-5.34719940e-02 4.07592656e-03 9.98561031e-01 -1.75430302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.960714057 meters 0.044260758812387925 Centerline is valid? [True, True] Translation: X:265.93, Y:-33.70, Z:-17.55 [[ 9.97184550e-01 5.34010663e-02 5.26431231e-02 2.65930845e+02] [-5.31148041e-02 9.98565103e-01 -6.82290768e-03 -3.37003143e+01] [-5.29319362e-02 4.00756896e-03 9.98590081e-01 -1.75483544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.020714057 meters 0.041391360392429216 Centerline is valid? [True, True] Translation: X:265.99, Y:-33.70, Z:-17.55 [[ 9.97223336e-01 5.34084469e-02 5.18956312e-02 2.65992634e+02] [-5.31296216e-02 9.98564888e-01 -6.73854958e-03 -3.37036720e+01] [-5.21810506e-02 3.96264364e-03 9.98629779e-01 -1.75530556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.080714057 meters 0.04493587842555147 Centerline is valid? [True, True] Translation: X:266.05, Y:-33.72, Z:-17.56 [[ 9.97273785e-01 5.24797773e-02 5.18736091e-02 2.66052885e+02] [-5.21992366e-02 9.98613884e-01 -6.74917236e-03 -3.37153704e+01] [-5.21559013e-02 4.02300987e-03 9.98630851e-01 -1.75575235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.140714057 meters 0.04046059025116734 Centerline is valid? [True, True] Translation: X:266.12, Y:-33.72, Z:-17.56 [[ 9.97395091e-01 5.16383800e-02 5.03637797e-02 2.66115559e+02] [-5.13722007e-02 9.98657990e-01 -6.56622737e-03 -3.37152229e+01] [-5.06352604e-02 3.96182475e-03 9.98709354e-01 -1.75612540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.200714057 meters 0.042798434295404295 Centerline is valid? [True, True] Translation: X:266.18, Y:-33.72, Z:-17.57 [[ 9.97540131e-01 4.97791534e-02 4.93530488e-02 2.66175797e+02] [-4.95211028e-02 9.98752325e-01 -6.43846467e-03 -3.37242884e+01] [-4.96119735e-02 3.97860949e-03 9.98760643e-01 -1.75664160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26071405700003 meters 0.043318617411205886 Centerline is valid? [True, True] Translation: X:266.24, Y:-33.73, Z:-17.57 [[ 9.97596295e-01 4.85361044e-02 4.94558290e-02 2.66237728e+02] [-4.82753701e-02 9.98813215e-01 -6.45367968e-03 -3.37307009e+01] [-4.97103720e-02 4.05066849e-03 9.98755461e-01 -1.75702642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32071405700003 meters 0.04640128153214253 Centerline is valid? [True, True] Translation: X:266.30, Y:-33.74, Z:-17.57 [[ 9.97556203e-01 4.76002943e-02 5.11452137e-02 2.66298393e+02] [-4.73201063e-02 9.98857467e-01 -6.67596851e-03 -3.37377302e+01] [-5.14045567e-02 4.23945686e-03 9.98668913e-01 -1.75729810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38071405700003 meters 0.047785702676896656 Centerline is valid? [True, True] Translation: X:266.36, Y:-33.74, Z:-17.58 [[ 9.97516219e-01 4.72385512e-02 5.22485581e-02 2.66360368e+02] [-4.69449873e-02 9.98874110e-01 -6.83233279e-03 -3.37442420e+01] [-5.25124815e-02 4.36255488e-03 9.98610739e-01 -1.75755410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44071405700004 meters 0.044392696196858955 Centerline is valid? [True, True] Translation: X:266.42, Y:-33.74, Z:-17.58 [[ 9.97559036e-01 4.58633345e-02 5.26547680e-02 2.66423299e+02] [-4.55624804e-02 9.98937657e-01 -6.90056872e-03 -3.37428114e+01] [-5.29153136e-02 4.48464284e-03 9.98588933e-01 -1.75776425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50071405700004 meters 0.04653775118620508 Centerline is valid? [True, True] Translation: X:266.48, Y:-33.75, Z:-17.58 [[ 9.97677792e-01 4.47084313e-02 5.13826847e-02 2.66484412e+02] [-4.44202242e-02 9.98990212e-01 -6.73795228e-03 -3.37494833e+01] [-5.16320424e-02 4.43987498e-03 9.98656307e-01 -1.75827571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56071405700004 meters 0.045562523763460344 Centerline is valid? [True, True] Translation: X:266.55, Y:-33.75, Z:-17.59 [[ 9.97724307e-01 4.49003521e-02 5.03007614e-02 2.66546622e+02] [-4.46244739e-02 9.98982064e-01 -6.59481422e-03 -3.37516790e+01] [-5.05456679e-02 4.33516143e-03 9.98712342e-01 -1.75869321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62071405700004 meters 0.042812853091335104 Centerline is valid? [True, True] Translation: X:266.61, Y:-33.75, Z:-17.59 [[ 9.97804676e-01 4.57052305e-02 4.79255691e-02 2.66609783e+02] [-4.54551908e-02 9.98946546e-01 -6.29476546e-03 -3.37506852e+01] [-4.81627854e-02 4.10248053e-03 9.98831075e-01 -1.75908664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68071405700005 meters 0.043338763261474886 Centerline is valid? [True, True] Translation: X:266.67, Y:-33.75, Z:-17.60 [[ 9.97763965e-01 4.70998994e-02 4.74201394e-02 2.66671153e+02] [-4.68559156e-02 9.98882141e-01 -6.24427125e-03 -3.37546323e+01] [-4.76612349e-02 4.00839479e-03 9.98855515e-01 -1.75951481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74071405700005 meters 0.04474752429519144 Centerline is valid? [True, True] Translation: X:266.73, Y:-33.76, Z:-17.60 [[ 9.97630221e-01 4.95142394e-02 4.77732462e-02 2.66730427e+02] [-4.92692368e-02 9.98765707e-01 -6.29316226e-03 -3.37605819e+01] [-4.80258812e-02 3.92449747e-03 9.98838382e-01 -1.75982858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80071405700005 meters 0.04477794887966397 Centerline is valid? [True, True] Translation: X:266.79, Y:-33.76, Z:-17.60 [[ 9.97425247e-01 5.29830137e-02 4.83288362e-02 2.66791288e+02] [-5.27363167e-02 9.98588179e-01 -6.36633292e-03 -3.37626028e+01] [-4.85979120e-02 3.80125637e-03 9.98811190e-01 -1.75996360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86071405700005 meters 0.043196073013535764 Centerline is valid? [True, True] Translation: X:266.85, Y:-33.76, Z:-17.60 [[ 9.97212416e-01 5.64145906e-02 4.88343359e-02 2.66851852e+02] [-5.61667918e-02 9.98400676e-01 -6.43283761e-03 -3.37640658e+01] [-4.91191398e-02 3.67203756e-03 9.98786176e-01 -1.76022101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92071405700005 meters 0.03906052662840245 Centerline is valid? [True, True] Translation: X:266.91, Y:-33.76, Z:-17.61 [[ 9.97089445e-01 5.87722499e-02 4.85639937e-02 2.66912635e+02] [-5.85299234e-02 9.98265151e-01 -6.39815792e-03 -3.37646444e+01] [-4.88557766e-02 3.53708890e-03 9.98799581e-01 -1.76052908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98071405700006 meters 0.04334557528538138 Centerline is valid? [True, True] Translation: X:266.97, Y:-33.78, Z:-17.61 [[ 9.97001162e-01 6.12544044e-02 4.72925086e-02 2.66969743e+02] [-6.10274001e-02 9.98116646e-01 -6.23041250e-03 -3.37765711e+01] [-4.75850802e-02 3.32558966e-03 9.98861652e-01 -1.76115921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04071405700006 meters 0.04346493093090509 Centerline is valid? [True, True] Translation: X:267.03, Y:-33.78, Z:-17.62 [[ 9.96888684e-01 6.34969691e-02 4.67021013e-02 2.67028812e+02] [-6.32781845e-02 9.97976980e-01 -6.14977313e-03 -3.37829845e+01] [-4.69981139e-02 3.17541506e-03 9.98889931e-01 -1.76156910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10071405700006 meters 0.03576195706252544 Centerline is valid? [True, True] Translation: X:267.09, Y:-33.78, Z:-17.62 [[ 9.96652281e-01 6.77847566e-02 4.57105785e-02 2.67090106e+02] [-6.75797539e-02 9.97695731e-01 -6.01712726e-03 -3.37770751e+01] [-4.60131185e-02 2.90787396e-03 9.98936603e-01 -1.76177989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16071405700006 meters 0.035265851549658965 Centerline is valid? [True, True] Translation: X:267.15, Y:-33.78, Z:-17.62 [[ 9.96245405e-01 7.21305556e-02 4.78777265e-02 2.67150187e+02] [-7.19106412e-02 9.97391168e-01 -6.30216224e-03 -3.37827155e+01] [-4.82074000e-02 2.83558216e-03 9.98833322e-01 -1.76214803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22071405700007 meters 0.03558282739072534 Centerline is valid? [True, True] Translation: X:267.21, Y:-33.79, Z:-17.62 [[ 9.95898623e-01 7.54201949e-02 4.99772735e-02 2.67209406e+02] [-7.51846574e-02 9.97147926e-01 -6.57887355e-03 -3.37883602e+01] [-5.03309145e-02 2.79436692e-03 9.98728687e-01 -1.76238574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28071405700007 meters 0.03479319467749054 Centerline is valid? [True, True] Translation: X:267.27, Y:-33.79, Z:-17.63 [[ 9.95645817e-01 7.78139454e-02 5.13263791e-02 2.67269417e+02] [-7.75687819e-02 9.96964123e-01 -6.75439374e-03 -3.37936909e+01] [-5.16961446e-02 2.74365916e-03 9.98659091e-01 -1.76268432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.340714057 meters 0.03428078619201473 Centerline is valid? [True, True] Translation: X:267.33, Y:-33.80, Z:-17.63 [[ 9.95547501e-01 7.84718730e-02 5.22239282e-02 2.67328097e+02] [-7.82189688e-02 9.96912517e-01 -6.87220405e-03 -3.38004983e+01] [-5.26019624e-02 2.75670376e-03 9.98611753e-01 -1.76303547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.400714057 meters 0.03389808070100187 Centerline is valid? [True, True] Translation: X:267.39, Y:-33.81, Z:-17.63 [[ 9.95545863e-01 7.87258444e-02 5.18717261e-02 2.67386535e+02] [-7.84768767e-02 9.96892590e-01 -6.82223236e-03 -3.38077826e+01] [-5.22476254e-02 2.72111414e-03 9.98630453e-01 -1.76341471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.460714057 meters 0.035773787830257864 Centerline is valid? [True, True] Translation: X:267.44, Y:-33.82, Z:-17.64 [[ 9.95488333e-01 7.91634488e-02 5.23080076e-02 2.67443146e+02] [-7.89110602e-02 9.96857946e-01 -6.87606266e-03 -3.38183063e+01] [-5.26879859e-02 2.71735982e-03 9.98607326e-01 -1.76383898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.520714057 meters 0.03585063806196408 Centerline is valid? [True, True] Translation: X:267.50, Y:-33.83, Z:-17.64 [[ 9.95356460e-01 8.08783059e-02 5.21940320e-02 2.67501296e+02] [-8.06296172e-02 9.96720550e-01 -6.85632588e-03 -3.38261804e+01] [-5.25773923e-02 2.61610344e-03 9.98613426e-01 -1.76427140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.580714057 meters 0.032116106027184524 Centerline is valid? [True, True] Translation: X:267.56, Y:-33.83, Z:-17.65 [[ 9.95331888e-01 8.18309317e-02 5.11676714e-02 2.67560385e+02] [-8.15933626e-02 9.96643060e-01 -6.71819753e-03 -3.38273029e+01] [-5.15456610e-02 2.51189387e-03 9.98667480e-01 -1.76460028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.640714057 meters 0.03395380322599702 Centerline is valid? [True, True] Translation: X:267.62, Y:-33.84, Z:-17.65 [[ 9.95292832e-01 8.21088521e-02 5.14812053e-02 2.67616810e+02] [-8.18688891e-02 9.96620207e-01 -6.75630423e-03 -3.38380776e+01] [-5.18619619e-02 2.50979208e-03 9.98651109e-01 -1.76505346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.700714057 meters 0.031068777279582103 Centerline is valid? [True, True] Translation: X:267.68, Y:-33.84, Z:-17.65 [[ 9.95337749e-01 8.07403766e-02 5.27613202e-02 2.67675140e+02] [-8.04867809e-02 9.96731674e-01 -6.91717763e-03 -3.38408448e+01] [-5.31473745e-02 2.63833919e-03 9.98583194e-01 -1.76532792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76071405700003 meters 0.03264094514235315 Centerline is valid? [True, True] Translation: X:267.73, Y:-33.85, Z:-17.66 [[ 9.95429835e-01 7.90831544e-02 5.35284752e-02 2.67731777e+02] [-7.88200067e-02 9.96864198e-01 -7.01269536e-03 -3.38515839e+01] [-5.39152065e-02 2.76153141e-03 9.98541699e-01 -1.76574861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82071405700003 meters 0.03261201141645805 Centerline is valid? [True, True] Translation: X:267.79, Y:-33.86, Z:-17.66 [[ 9.95595038e-01 7.48708925e-02 5.64346481e-02 2.67791350e+02] [-7.45719557e-02 9.97188272e-01 -7.38742624e-03 -3.38603874e+01] [-5.68290724e-02 3.14644283e-03 9.98378964e-01 -1.76607695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88071405700003 meters 0.038828267964424366 Centerline is valid? [True, True] Translation: X:267.85, Y:-33.88, Z:-17.66 [[ 9.95812827e-01 6.98185410e-02 5.90100488e-02 2.67848930e+02] [-6.94828895e-02 9.97553245e-01 -7.72342233e-03 -3.38798432e+01] [-5.94049037e-02 3.59089433e-03 9.98227511e-01 -1.76646828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94071405700004 meters 0.04191670627994432 Centerline is valid? [True, True] Translation: X:267.91, Y:-33.89, Z:-17.67 [[ 9.96025001e-01 6.61089556e-02 5.96975984e-02 2.67907760e+02] [-6.57588703e-02 9.97804962e-01 -7.81212391e-03 -3.38938376e+01] [-6.00830112e-02 3.85542409e-03 9.98185938e-01 -1.76702684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00071405700004 meters 0.03696355779931282 Centerline is valid? [True, True] Translation: X:267.97, Y:-33.90, Z:-17.68 [[ 9.96163732e-01 6.41841761e-02 5.94828612e-02 2.67968276e+02] [-6.38332707e-02 9.97930229e-01 -7.78275334e-03 -3.38950130e+01] [-5.98592749e-02 3.95591104e-03 9.98198987e-01 -1.76750611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06071405700004 meters 0.03605024071286893 Centerline is valid? [True, True] Translation: X:268.03, Y:-33.90, Z:-17.68 [[ 9.96146522e-01 6.45322039e-02 5.93944636e-02 2.68027848e+02] [-6.41829576e-02 9.97907890e-01 -7.77118739e-03 -3.39006265e+01] [-5.97716957e-02 3.92912895e-03 9.98204341e-01 -1.76807726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12071405700004 meters 0.03717605545119986 Centerline is valid? [True, True] Translation: X:268.09, Y:-33.91, Z:-17.68 [[ 9.96069097e-01 6.52318666e-02 5.99262680e-02 2.68086315e+02] [-6.48775954e-02 9.97862426e-01 -7.84064828e-03 -3.39087601e+01] [-6.03096313e-02 3.92195529e-03 9.98172013e-01 -1.76848968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18071405700005 meters 0.037582604177773635 Centerline is valid? [True, True] Translation: X:268.15, Y:-33.91, Z:-17.69 [[ 9.95847636e-01 6.75413356e-02 6.10381321e-02 2.68145342e+02] [-6.71779725e-02 9.97709031e-01 -7.98804652e-03 -3.39141958e+01] [-6.14378190e-02 3.85445928e-03 9.98103470e-01 -1.76890636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24071405700005 meters 0.03728996127340506 Centerline is valid? [True, True] Translation: X:268.21, Y:-33.92, Z:-17.69 [[ 9.95664790e-01 6.99904023e-02 6.12614917e-02 2.68205134e+02] [-6.96290518e-02 9.97540744e-01 -8.01617437e-03 -3.39178243e+01] [-6.16718892e-02 3.71584299e-03 9.98089560e-01 -1.76927458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30071405700005 meters 0.032729223222586236 Centerline is valid? [True, True] Translation: X:268.26, Y:-33.92, Z:-17.70 [[ 9.95494480e-01 7.12595775e-02 6.25524841e-02 2.68264893e+02] [-7.08853708e-02 9.97450894e-01 -8.18407136e-03 -3.39156316e+01] [-6.29762246e-02 3.71314183e-03 9.98008120e-01 -1.76957101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36071405700005 meters 0.03352780778192218 Centerline is valid? [True, True] Translation: X:268.32, Y:-33.92, Z:-17.70 [[ 9.95386021e-01 7.22048192e-02 6.31912449e-02 2.68323594e+02] [-7.18251163e-02 9.97383014e-01 -8.26290869e-03 -3.39237214e+01] [-6.36224961e-02 3.68606529e-03 9.97967229e-01 -1.76995771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42071405700005 meters 0.03393202058084002 Centerline is valid? [True, True] Translation: X:268.38, Y:-33.93, Z:-17.70 [[ 9.95406110e-01 7.20630350e-02 6.30364664e-02 2.68381458e+02] [-7.16853240e-02 9.97393293e-01 -8.23615792e-03 -3.39299631e+01] [-6.34656713e-02 3.67953239e-03 9.97977239e-01 -1.77042699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48071405700006 meters 0.03242967241618552 Centerline is valid? [True, True] Translation: X:268.44, Y:-33.93, Z:-17.71 [[ 9.95379122e-01 7.20971136e-02 6.34224705e-02 2.68439529e+02] [-7.17151222e-02 9.97390771e-01 -8.28192866e-03 -3.39349721e+01] [-6.38540899e-02 3.69530866e-03 9.97952404e-01 -1.77077911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54071405700006 meters 0.03395179053925394 Centerline is valid? [True, True] Translation: X:268.50, Y:-33.94, Z:-17.71 [[ 9.95329783e-01 7.32520159e-02 6.28710241e-02 2.68496158e+02] [-7.28792355e-02 9.97307019e-01 -8.20530569e-03 -3.39439328e+01] [-6.33027688e-02 3.58499296e-03 9.97987929e-01 -1.77120995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60071405700006 meters 0.03202860659661864 Centerline is valid? [True, True] Translation: X:268.56, Y:-33.95, Z:-17.72 [[ 9.95068296e-01 7.57950550e-02 6.39859001e-02 2.68556213e+02] [-7.54145349e-02 9.97117351e-01 -8.34483330e-03 -3.39492896e+01] [-6.44339483e-02 3.47821216e-03 9.97915912e-01 -1.77156854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66071405700006 meters 0.03169478749680914 Centerline is valid? [True, True] Translation: X:268.61, Y:-33.96, Z:-17.72 [[ 9.94925876e-01 7.75218697e-02 6.41315838e-02 2.68614288e+02] [-7.71432615e-02 9.96984946e-01 -8.36265031e-03 -3.39563245e+01] [-6.45865120e-02 3.37289765e-03 9.97906411e-01 -1.77196286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72071405700007 meters 0.032327783586780214 Centerline is valid? [True, True] Translation: X:268.67, Y:-33.97, Z:-17.72 [[ 9.94690534e-01 8.04465099e-02 6.41802242e-02 2.68672336e+02] [-8.00736943e-02 9.96753852e-01 -8.36430438e-03 -3.39658590e+01] [-6.46447648e-02 3.18074673e-03 9.97903270e-01 -1.77236775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78071405700007 meters 0.030279004873249336 Centerline is valid? [True, True] Translation: X:268.73, Y:-33.97, Z:-17.73 [[ 9.94528285e-01 8.26618255e-02 6.38788893e-02 2.68731162e+02] [-8.22972080e-02 9.96573079e-01 -8.32276226e-03 -3.39724450e+01] [-6.43479561e-02 3.02016824e-03 9.97922953e-01 -1.77288573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.840714057 meters 0.03091782272436191 Centerline is valid? [True, True] Translation: X:268.79, Y:-33.98, Z:-17.73 [[ 9.94397145e-01 8.51361685e-02 6.26590057e-02 2.68788208e+02] [-8.47906540e-02 9.96365394e-01 -8.15761183e-03 -3.39838216e+01] [-6.31257727e-02 2.79900784e-03 9.98001655e-01 -1.77344424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.900714057 meters 0.02973859025800994 Centerline is valid? [True, True] Translation: X:268.85, Y:-33.99, Z:-17.74 [[ 9.94318348e-01 8.77335025e-02 6.02814744e-02 2.68846192e+02] [-8.74187544e-02 9.96140770e-01 -7.84399124e-03 -3.39914949e+01] [-6.07370152e-02 2.52969300e-03 9.98150598e-01 -1.77392945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.960714057 meters 0.02839173340519901 Centerline is valid? [True, True] Translation: X:268.90, Y:-34.00, Z:-17.74 [[ 9.94259766e-01 8.92930656e-02 5.89428995e-02 2.68903916e+02] [-8.89951338e-02 9.96002562e-01 -7.66574331e-03 -3.40000331e+01] [-5.93917766e-02 2.37610893e-03 9.98231922e-01 -1.77442193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.020714057 meters 0.026816703370575033 Centerline is valid? [True, True] Translation: X:268.96, Y:-34.01, Z:-17.75 [[ 9.93998350e-01 9.15969793e-02 5.98103185e-02 2.68961780e+02] [-9.12946251e-02 9.95793580e-01 -7.77419646e-03 -3.40082913e+01] [-6.02708241e-02 2.26717784e-03 9.98179487e-01 -1.77464650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.080714057 meters 0.027809595975995673 Centerline is valid? [True, True] Translation: X:269.02, Y:-34.02, Z:-17.75 [[ 9.93795463e-01 9.37279437e-02 5.98803059e-02 2.69018548e+02] [-9.34290005e-02 9.95595555e-01 -7.77897326e-03 -3.40199020e+01] [-6.03456735e-02 2.13615120e-03 9.98175253e-01 -1.77504256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.140714057 meters 0.025964213860377082 Centerline is valid? [True, True] Translation: X:269.08, Y:-34.03, Z:-17.75 [[ 9.93651307e-01 9.55739005e-02 5.93524166e-02 2.69076431e+02] [-9.52838189e-02 9.95420326e-01 -7.70502882e-03 -3.40277889e+01] [-5.98170016e-02 2.00078705e-03 9.98207355e-01 -1.77542146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.200714057 meters 0.026503519681332587 Centerline is valid? [True, True] Translation: X:269.13, Y:-34.04, Z:-17.76 [[ 9.93827010e-01 9.43997982e-02 5.82799519e-02 2.69132922e+02] [-9.41183403e-02 9.95532299e-01 -7.56176773e-03 -3.40418164e+01] [-5.87334038e-02 2.02987667e-03 9.98271640e-01 -1.77587029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26071405700003 meters 0.02906694703965115 Centerline is valid? [True, True] Translation: X:269.19, Y:-34.06, Z:-17.76 [[ 9.94187525e-01 9.22250455e-02 5.55491305e-02 2.69188839e+02] [-9.19662575e-02 9.95736074e-01 -7.20261126e-03 -3.40597905e+01] [-5.59765343e-02 2.05210062e-03 9.98429976e-01 -1.77649662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32071405700003 meters 0.02818775878309414 Centerline is valid? [True, True] Translation: X:269.25, Y:-34.07, Z:-17.77 [[ 9.94479819e-01 9.01199342e-02 5.37427856e-02 2.69247692e+02] [-8.98748686e-02 9.95928715e-01 -6.96441862e-03 -3.40704390e+01] [-5.41516163e-02 2.09584798e-03 9.98530525e-01 -1.77700236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38071405700003 meters 0.028497146315019112 Centerline is valid? [True, True] Translation: X:269.31, Y:-34.08, Z:-17.77 [[ 9.94769231e-01 8.76662105e-02 5.24291147e-02 2.69305665e+02] [-8.74296728e-02 9.96147536e-01 -6.79262191e-03 -3.40814305e+01] [-5.28226169e-02 2.17323093e-03 9.98601546e-01 -1.77746785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44071405700004 meters 0.031016504350349073 Centerline is valid? [True, True] Translation: X:269.36, Y:-34.10, Z:-17.78 [[ 9.95093451e-01 8.38124943e-02 5.25784064e-02 2.69363078e+02] [-8.35693983e-02 9.96478697e-01 -6.80895653e-03 -3.40985501e+01] [-5.29639376e-02 2.38160226e-03 9.98593586e-01 -1.77797197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50071405700004 meters 0.03234932451649233 Centerline is valid? [True, True] Translation: X:269.42, Y:-34.11, Z:-17.78 [[ 9.95233694e-01 8.09257659e-02 5.44142959e-02 2.69421422e+02] [-8.06611826e-02 9.96716683e-01 -7.04473393e-03 -3.41124226e+01] [-5.48057370e-02 2.62203511e-03 9.98493593e-01 -1.77828373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56071405700004 meters 0.03571296319292357 Centerline is valid? [True, True] Translation: X:269.48, Y:-34.13, Z:-17.78 [[ 9.95504785e-01 7.56726879e-02 5.69549522e-02 2.69479892e+02] [-7.53743464e-02 9.97128061e-01 -7.37140431e-03 -3.41286992e+01] [-5.73491950e-02 3.04532597e-03 9.98349536e-01 -1.77848499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62071405700004 meters 0.03448018714237203 Centerline is valid? [True, True] Translation: X:269.54, Y:-34.14, Z:-17.79 [[ 9.95867191e-01 6.92736864e-02 5.87340921e-02 2.69539404e+02] [-6.89453202e-02 9.97591481e-01 -7.60132702e-03 -3.41394805e+01] [-5.91192018e-02 3.52047141e-03 9.98244723e-01 -1.77875610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68071405700005 meters 0.03847618743096149 Centerline is valid? [True, True] Translation: X:269.60, Y:-34.16, Z:-17.79 [[ 9.96411436e-01 6.16832552e-02 5.79605542e-02 2.69598551e+02] [-6.13507127e-02 9.98088084e-01 -7.50113984e-03 -3.41563491e+01] [-5.83124332e-02 3.91830021e-03 9.98290693e-01 -1.77933463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74071405700005 meters 0.03633212774835784 Centerline is valid? [True, True] Translation: X:269.66, Y:-34.16, Z:-17.80 [[ 9.96851889e-01 5.62453754e-02 5.58817446e-02 2.69659528e+02] [-5.59277405e-02 9.98408619e-01 -7.23302222e-03 -3.41623410e+01] [-5.61996395e-02 4.08491215e-03 9.98411195e-01 -1.77989763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80071405700005 meters 0.038845542659973455 Centerline is valid? [True, True] Translation: X:269.72, Y:-34.17, Z:-17.80 [[ 9.96898557e-01 5.54941752e-02 5.58002055e-02 2.69719552e+02] [-5.51762892e-02 9.98450505e-01 -7.22262934e-03 -3.41741851e+01] [-5.61145572e-02 4.12138050e-03 9.98415831e-01 -1.78036344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86071405700005 meters 0.04074631834714058 Centerline is valid? [True, True] Translation: X:269.78, Y:-34.18, Z:-17.81 [[ 9.96675547e-01 5.83788667e-02 5.68309933e-02 2.69778760e+02] [-5.80528764e-02 9.98286293e-01 -7.37168264e-03 -3.41826864e+01] [-5.71639521e-02 4.04797320e-03 9.98356598e-01 -1.78073149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92071405700005 meters 0.03629124463433726 Centerline is valid? [True, True] Translation: X:269.84, Y:-34.18, Z:-17.81 [[ 9.96168341e-01 6.58342697e-02 5.75715736e-02 2.69840059e+02] [-6.55120971e-02 9.97823832e-01 -7.46768155e-03 -3.41801181e+01] [-5.79379175e-02 3.66743342e-03 9.98313452e-01 -1.78098852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98071405700006 meters 0.03265599323224109 Centerline is valid? [True, True] Translation: X:269.90, Y:-34.18, Z:-17.81 [[ 9.95562205e-01 7.39010497e-02 5.82626026e-02 2.69901090e+02] [-7.35847929e-02 9.97260325e-01 -7.55795541e-03 -3.41785796e+01] [-5.86615228e-02 3.23717321e-03 9.98272681e-01 -1.78134312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04071405700006 meters 0.03069972967709417 Centerline is valid? [True, True] Translation: X:269.96, Y:-34.18, Z:-17.82 [[ 9.94969359e-01 8.13223234e-02 5.85034511e-02 2.69961607e+02] [-8.10162146e-02 9.96683890e-01 -7.58926857e-03 -3.41792755e+01] [-5.89266242e-02 2.81136153e-03 9.98258358e-01 -1.78173364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10071405700006 meters 0.02916237320515404 Centerline is valid? [True, True] Translation: X:270.02, Y:-34.18, Z:-17.82 [[ 9.94579568e-01 8.51945879e-02 5.96101064e-02 2.70021575e+02] [-8.48838461e-02 9.96360865e-01 -7.73047144e-03 -3.41831103e+01] [-6.00517715e-02 2.62863385e-03 9.98191803e-01 -1.78215854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16071405700006 meters 0.028917902105353176 Centerline is valid? [True, True] Translation: X:270.08, Y:-34.19, Z:-17.83 [[ 9.94104884e-01 8.97252315e-02 6.08675797e-02 2.70080685e+02] [-8.94097536e-02 9.95963656e-01 -7.89249159e-03 -3.41879166e+01] [-6.13300528e-02 2.40380914e-03 9.98114646e-01 -1.78258927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22071405700007 meters 0.027790811487358427 Centerline is valid? [True, True] Translation: X:270.14, Y:-34.19, Z:-17.83 [[ 9.93676611e-01 9.32292780e-02 6.25707234e-02 2.70140819e+02] [-9.29029445e-02 9.95642131e-01 -8.11104649e-03 -3.41915748e+01] [-6.30542354e-02 2.24675274e-03 9.98007573e-01 -1.78302787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28071405700007 meters 0.027986328929492262 Centerline is valid? [True, True] Translation: X:270.20, Y:-34.20, Z:-17.83 [[ 9.93409523e-01 9.45335012e-02 6.48146356e-02 2.70198440e+02] [-9.41861539e-02 9.95519159e-01 -8.40071739e-03 -3.41974248e+01] [-6.53183608e-02 2.24071141e-03 9.97861960e-01 -1.78342465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.340714057 meters 0.02645782920612965 Centerline is valid? [True, True] Translation: X:270.26, Y:-34.20, Z:-17.84 [[ 9.93436595e-01 9.24892147e-02 6.73013881e-02 2.70257321e+02] [-9.21103792e-02 9.95710646e-01 -8.71711881e-03 -3.42007033e+01] [-6.78189481e-02 2.46074845e-03 9.97694610e-01 -1.78378857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.400714057 meters 0.028241643625372667 Centerline is valid? [True, True] Translation: X:270.32, Y:-34.21, Z:-17.84 [[ 9.93818723e-01 8.72784334e-02 6.86062683e-02 2.70316378e+02] [-8.68726879e-02 9.96179833e-01 -8.88127895e-03 -3.42128830e+01] [-6.91193250e-02 2.86637037e-03 9.97604282e-01 -1.78435036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.460714057 meters 0.028281583845088394 Centerline is valid? [True, True] Translation: X:270.38, Y:-34.22, Z:-17.85 [[ 9.94210322e-01 8.28889285e-02 6.83758840e-02 2.70376123e+02] [-8.24756357e-02 9.96553783e-01 -8.85029714e-03 -3.42219770e+01] [-6.88738375e-02 3.15971227e-03 9.97620374e-01 -1.78490096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.520714057 meters 0.030956584865798484 Centerline is valid? [True, True] Translation: X:270.44, Y:-34.23, Z:-17.85 [[ 9.94857635e-01 7.55030076e-02 6.75098666e-02 2.70435195e+02] [-7.50831825e-02 9.97138987e-01 -8.73820702e-03 -3.42343429e+01] [-6.79764809e-02 3.62441633e-03 9.97680340e-01 -1.78538016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.580714057 meters 0.03570957013057362 Centerline is valid? [True, True] Translation: X:270.49, Y:-34.25, Z:-17.86 [[ 9.95396149e-01 6.76519025e-02 6.78949643e-02 2.70493243e+02] [-6.72090709e-02 9.97700211e-01 -8.78808910e-03 -3.42505791e+01] [-6.83333511e-02 4.18447258e-03 9.97653769e-01 -1.78584124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.640714057 meters 0.036542127978299394 Centerline is valid? [True, True] Translation: X:270.55, Y:-34.26, Z:-17.86 [[ 9.95757839e-01 6.29791496e-02 6.70816825e-02 2.70553360e+02] [-6.25363700e-02 9.98004920e-01 -8.68225827e-03 -3.42599104e+01] [-6.74946505e-02 4.45038182e-03 9.97709710e-01 -1.78634687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.700714057 meters 0.04194290315127404 Centerline is valid? [True, True] Translation: X:270.61, Y:-34.28, Z:-17.87 [[ 9.96150961e-01 5.82053903e-02 6.55392645e-02 2.70611439e+02] [-5.77724885e-02 9.98293735e-01 -8.48280049e-03 -3.42755478e+01] [-6.59211818e-02 4.66378345e-03 9.97813934e-01 -1.78698557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76071405700003 meters 0.042144273802569965 Centerline is valid? [True, True] Translation: X:270.67, Y:-34.28, Z:-17.87 [[ 9.96409364e-01 5.52407576e-02 6.41625946e-02 2.70671875e+02] [-5.48198346e-02 9.98461734e-01 -8.30368654e-03 -3.42813719e+01] [-6.45225974e-02 4.75648820e-03 9.97904910e-01 -1.78742112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82071405700003 meters 0.042790164135904245 Centerline is valid? [True, True] Translation: X:270.73, Y:-34.29, Z:-17.88 [[ 9.96428368e-01 5.41195792e-02 6.48195853e-02 2.70733179e+02] [-5.36875344e-02 9.98522537e-01 -8.39001342e-03 -3.42873263e+01] [-6.51778808e-02 4.88004366e-03 9.97861728e-01 -1.78770971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88071405700003 meters 0.04097264367640812 Centerline is valid? [True, True] Translation: X:270.80, Y:-34.29, Z:-17.88 [[ 9.96390607e-01 5.43858467e-02 6.51762084e-02 2.70795678e+02] [-5.39485907e-02 9.98507948e-01 -8.45141404e-03 -3.42918545e+01] [-6.55385994e-02 4.90474497e-03 9.97837981e-01 -1.78811815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94071405700004 meters 0.03921790429602921 Centerline is valid? [True, True] Translation: X:270.86, Y:-34.30, Z:-17.89 [[ 9.96382247e-01 5.50699788e-02 6.47280104e-02 2.70857911e+02] [-5.46389350e-02 9.98470742e-01 -8.41208919e-03 -3.42955713e+01] [-6.50922782e-02 4.84498678e-03 9.97867487e-01 -1.78850205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00071405700004 meters 0.0404343358881364 Centerline is valid? [True, True] Translation: X:270.92, Y:-34.30, Z:-17.89 [[ 9.96354106e-01 5.74635374e-02 6.30590021e-02 2.70917465e+02] [-5.70582077e-02 9.98337085e-01 -8.21137138e-03 -3.43020631e+01] [-6.34259947e-02 4.58339996e-03 9.97976020e-01 -1.78892986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06071405700004 meters 0.037249655145235136 Centerline is valid? [True, True] Translation: X:270.98, Y:-34.30, Z:-17.89 [[ 9.96168267e-01 6.17927793e-02 6.18905152e-02 2.70977771e+02] [-6.14106605e-02 9.98080047e-01 -8.05921227e-03 -3.43032435e+01] [-6.22696895e-02 4.22759411e-03 9.98050406e-01 -1.78939426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12071405700004 meters 0.03495098326086336 Centerline is valid? [True, True] Translation: X:271.04, Y:-34.30, Z:-17.90 [[ 9.95896903e-01 6.86446664e-02 5.89683681e-02 2.71039319e+02] [-6.83097782e-02 9.97634609e-01 -7.67866518e-03 -3.43026133e+01] [-5.93559842e-02 3.61904273e-03 9.98230319e-01 -1.78986544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18071405700005 meters 0.0342564729497885 Centerline is valid? [True, True] Translation: X:271.10, Y:-34.31, Z:-17.90 [[ 9.95487842e-01 7.52526720e-02 5.78013181e-02 2.71098690e+02] [-7.49419446e-02 9.97159484e-01 -7.52787094e-03 -3.43064152e+01] [-5.82036249e-02 3.16216082e-03 9.98299724e-01 -1.79028411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24071405700005 meters 0.030569155704889907 Centerline is valid? [True, True] Translation: X:271.16, Y:-34.30, Z:-17.91 [[ 9.94999703e-01 8.22100118e-02 5.67195354e-02 2.71159728e+02] [-8.19221394e-02 9.96611364e-01 -7.38595025e-03 -3.43047319e+01] [-5.71345326e-02 2.70243262e-03 9.98362831e-01 -1.79061157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30071405700005 meters 0.028211362861549447 Centerline is valid? [True, True] Translation: X:271.22, Y:-34.30, Z:-17.91 [[ 9.93985501e-01 9.34301556e-02 5.71281813e-02 2.71219124e+02] [-9.31567185e-02 9.95623684e-01 -7.43675386e-03 -3.43044185e+01] [-5.75729874e-02 2.07015161e-03 9.98339154e-01 -1.79090004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36071405700005 meters 0.02620317697237846 Centerline is valid? [True, True] Translation: X:271.28, Y:-34.30, Z:-17.91 [[ 9.93437938e-01 9.90155239e-02 5.72449959e-02 2.71279584e+02] [-9.87503438e-02 9.95084354e-01 -7.44974567e-03 -3.43045274e+01] [-5.77012402e-02 1.74789696e-03 9.98332365e-01 -1.79112637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42071405700005 meters 0.025996306059667174 Centerline is valid? [True, True] Translation: X:271.34, Y:-34.31, Z:-17.91 [[ 9.93013758e-01 1.02652503e-01 5.81905431e-02 2.71336772e+02] [-1.02384751e-01 9.94716053e-01 -7.57213536e-03 -3.43113873e+01] [-5.86603660e-02 1.56141034e-03 9.98276777e-01 -1.79138572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48071405700006 meters 0.026224036494530742 Centerline is valid? [True, True] Translation: X:271.39, Y:-34.32, Z:-17.92 [[ 9.93333738e-01 9.98429480e-02 5.76148443e-02 2.71394330e+02] [-9.95760591e-02 9.95001748e-01 -7.49197089e-03 -3.43219953e+01] [-5.80748913e-02 1.70496830e-03 9.98310773e-01 -1.79181416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54071405700006 meters 0.02829815263998405 Centerline is valid? [True, True] Translation: X:271.45, Y:-34.34, Z:-17.92 [[ 9.94618250e-01 8.80740238e-02 5.45665016e-02 2.71452622e+02] [-8.78172034e-02 9.96111366e-01 -7.09121989e-03 -3.43405180e+01] [-5.49788647e-02 2.26117915e-03 9.98484958e-01 -1.79236458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60071405700006 meters 0.03048840270009797 Centerline is valid? [True, True] Translation: X:271.51, Y:-34.36, Z:-17.93 [[ 9.95294166e-01 8.09822428e-02 5.32108936e-02 2.71511422e+02] [-8.07279191e-02 9.96712187e-01 -6.91515184e-03 -3.43566793e+01] [-5.35959507e-02 2.58700556e-03 9.98559353e-01 -1.79273627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66071405700006 meters 0.03531329661649259 Centerline is valid? [True, True] Translation: X:271.57, Y:-34.38, Z:-17.93 [[ 9.96117581e-01 7.04845091e-02 5.27418158e-02 2.71568896e+02] [-7.02199798e-02 9.97507982e-01 -6.85422171e-03 -3.43775354e+01] [-5.30934987e-02 3.12408151e-03 9.98584659e-01 -1.79307525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72071405700007 meters 0.03826176793257057 Centerline is valid? [True, True] Translation: X:271.63, Y:-34.39, Z:-17.93 [[ 9.96622393e-01 6.28007500e-02 5.29138132e-02 2.71627537e+02] [-6.25236954e-02 9.98019788e-01 -6.87677173e-03 -3.43942307e+01] [-5.32408990e-02 3.54517756e-03 9.98575404e-01 -1.79328134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78071405700007 meters 0.036705479442518105 Centerline is valid? [True, True] Translation: X:271.69, Y:-34.40, Z:-17.94 [[ 9.96810011e-01 6.02635039e-02 5.23269734e-02 2.71687388e+02] [-5.99891431e-02 9.98175871e-01 -6.79949638e-03 -3.44020067e+01] [-5.26412837e-02 3.63875576e-03 9.98606857e-01 -1.79359072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84071405700007 meters 0.04113648050463945 Centerline is valid? [True, True] Translation: X:271.75, Y:-34.42, Z:-17.94 [[ 9.96891762e-01 5.99737878e-02 5.10877644e-02 2.71745662e+02] [-5.97119162e-02 9.98193579e-01 -6.63823461e-03 -3.44194654e+01] [-5.13935984e-02 3.56705309e-03 9.98672105e-01 -1.79408190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.900714057 meters 0.03533519260539741 Centerline is valid? [True, True] Translation: X:271.81, Y:-34.42, Z:-17.94 [[ 9.96913680e-01 6.11069856e-02 4.92854129e-02 2.71806269e+02] [-6.08646061e-02 9.98125480e-01 -6.40515895e-03 -3.44202650e+01] [-4.95844263e-02 3.38565334e-03 9.98764197e-01 -1.79426751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.960714057 meters 0.03426096654710611 Centerline is valid? [True, True] Translation: X:271.87, Y:-34.43, Z:-17.95 [[ 9.96783467e-01 6.49546018e-02 4.69427350e-02 2.71865593e+02] [-6.47389618e-02 9.97883582e-01 -6.10113365e-03 -3.44268915e+01] [-4.72396813e-02 3.04248522e-03 9.98878950e-01 -1.79467638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.020714057 meters 0.032694453392983894 Centerline is valid? [True, True] Translation: X:271.93, Y:-34.43, Z:-17.95 [[ 9.96481001e-01 6.92880707e-02 4.71675614e-02 2.71925959e+02] [-6.90752614e-02 9.97592625e-01 -6.12884597e-03 -3.44322811e+01] [-4.74786673e-02 2.84916693e-03 9.98868189e-01 -1.79500905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.080714057 meters 0.032367351526479286 Centerline is valid? [True, True] Translation: X:271.99, Y:-34.44, Z:-17.95 [[ 9.95846565e-01 7.71235734e-02 4.83898167e-02 2.71985092e+02] [-7.69087995e-02 9.97018307e-01 -6.28749564e-03 -3.44368790e+01] [-4.87304473e-02 2.53977822e-03 9.98808737e-01 -1.79541102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.140714057 meters 0.02936985852535593 Centerline is valid? [True, True] Translation: X:272.05, Y:-34.44, Z:-17.96 [[ 9.95318397e-01 8.35653181e-02 4.85605426e-02 2.72045952e+02] [-8.33567096e-02 9.96499804e-01 -6.30875493e-03 -3.44390274e+01] [-4.89177643e-02 2.23137280e-03 9.98800317e-01 -1.79584315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.200714057 meters 0.030188900516223225 Centerline is valid? [True, True] Translation: X:272.10, Y:-34.45, Z:-17.96 [[ 9.95083943e-01 8.67006984e-02 4.78637094e-02 2.72104233e+02] [-8.65016381e-02 9.96232300e-01 -6.21859530e-03 -3.44478763e+01] [-4.82225298e-02 2.04773507e-03 9.98834518e-01 -1.79631768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26071405700003 meters 0.030219852486338284 Centerline is valid? [True, True] Translation: X:272.16, Y:-34.46, Z:-17.97 [[ 9.95181953e-01 8.52351201e-02 4.84546699e-02 2.72162199e+02] [-8.50294348e-02 9.96358559e-01 -6.29418142e-03 -3.44560795e+01] [-4.88147104e-02 2.14378256e-03 9.98805551e-01 -1.79653172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32071405700003 meters 0.031979358599835056 Centerline is valid? [True, True] Translation: X:272.22, Y:-34.47, Z:-17.97 [[ 9.95423161e-01 8.23881366e-02 4.84244324e-02 2.72220469e+02] [-8.21795379e-02 9.96597715e-01 -6.28635740e-03 -3.44683492e+01] [-4.87776000e-02 2.27808827e-03 9.98807066e-01 -1.79693353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38071405700003 meters 0.03698784541046165 Centerline is valid? [True, True] Translation: X:272.28, Y:-34.49, Z:-17.97 [[ 9.96057241e-01 7.41809132e-02 4.86535222e-02 2.72278038e+02] [-7.39606661e-02 9.97241170e-01 -6.31410919e-03 -3.44870316e+01] [-4.89876818e-02 2.69076727e-03 9.98795758e-01 -1.79738416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44071405700004 meters 0.0345057471028885 Centerline is valid? [True, True] Translation: X:272.34, Y:-34.49, Z:-17.97 [[ 9.96652637e-01 6.50154593e-02 4.95632111e-02 2.72338489e+02] [-6.47756410e-02 9.97879128e-01 -6.43131241e-03 -3.44920927e+01] [-4.98762286e-02 3.19929571e-03 9.98750282e-01 -1.79745260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50071405700004 meters 0.04833127269233971 Centerline is valid? [True, True] Translation: X:272.39, Y:-34.52, Z:-17.98 [[ 9.97028492e-01 5.82157659e-02 5.04490841e-02 2.72393854e+02] [-5.79586223e-02 9.98297523e-01 -6.54634517e-03 -3.45208853e+01] [-5.07442962e-02 3.60293324e-03 9.98705179e-01 -1.79817604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56071405700004 meters 0.05378476408276842 Centerline is valid? [True, True] Translation: X:272.45, Y:-34.54, Z:-17.99 [[ 9.97349886e-01 5.24015473e-02 5.04706102e-02 2.72451764e+02] [-5.21368786e-02 9.98618485e-01 -6.54725279e-03 -3.45360373e+01] [-5.07439705e-02 3.89852175e-03 9.98704086e-01 -1.79871230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62071405700004 meters 0.044365422667752036 Centerline is valid? [True, True] Translation: X:272.51, Y:-34.53, Z:-17.99 [[ 9.97566833e-01 4.87483439e-02 4.98398716e-02 2.72513575e+02] [-4.84857874e-02 9.98802955e-01 -6.46423275e-03 -3.45306955e+01] [-5.00953316e-02 4.03197877e-03 9.98736302e-01 -1.79890174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68071405700005 meters 0.04830823034892559 Centerline is valid? [True, True] Translation: X:272.57, Y:-34.54, Z:-17.99 [[ 9.97736384e-01 4.54104819e-02 4.95983389e-02 2.72571296e+02] [-4.51463397e-02 9.98959667e-01 -6.43356598e-03 -3.45431117e+01] [-4.98388915e-02 4.17981941e-03 9.98748524e-01 -1.79939262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74071405700005 meters 0.043274640298986755 Centerline is valid? [True, True] Translation: X:272.63, Y:-34.54, Z:-18.00 [[ 9.97562638e-01 4.66145033e-02 5.19217749e-02 2.72633787e+02] [-4.63267706e-02 9.98903654e-01 -6.73209157e-03 -3.45424370e+01] [-5.21786637e-02 4.31031487e-03 9.98628464e-01 -1.79950651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80071405700005 meters 0.043617682248170794 Centerline is valid? [True, True] Translation: X:272.69, Y:-34.55, Z:-18.00 [[ 9.97312268e-01 5.05104072e-02 5.30748429e-02 2.72693488e+02] [-5.02150232e-02 9.98714697e-01 -6.88513399e-03 -3.45472555e+01] [-5.33543965e-02 4.20147413e-03 9.98566801e-01 -1.79985011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86071405700005 meters 0.042910510337364774 Centerline is valid? [True, True] Translation: X:272.75, Y:-34.55, Z:-18.00 [[ 9.97151567e-01 5.40921503e-02 5.25622561e-02 2.72753479e+02] [-5.38073754e-02 9.98528051e-01 -6.81897347e-03 -3.45513088e+01] [-5.28537401e-02 3.97131303e-03 9.98594368e-01 -1.80036633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92071405700005 meters 0.04383853398430865 Centerline is valid? [True, True] Translation: X:272.81, Y:-34.56, Z:-18.01 [[ 9.97093075e-01 5.52005549e-02 5.25195089e-02 2.72814853e+02] [-5.49179120e-02 9.98467644e-01 -6.81076794e-03 -3.45580494e+01] [-5.28149885e-02 3.90670778e-03 9.98596673e-01 -1.80079805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98071405700006 meters 0.04548478373716459 Centerline is valid? [True, True] Translation: X:272.88, Y:-34.57, Z:-18.01 [[ 9.97079434e-01 5.52943250e-02 5.26795884e-02 2.72875955e+02] [-5.50093564e-02 9.98462374e-01 -6.84525177e-03 -3.45668671e+01] [-5.29770905e-02 3.92738951e-03 9.98588005e-01 -1.80122553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04071405700006 meters 0.0462431033690175 Centerline is valid? [True, True] Translation: X:272.94, Y:-34.57, Z:-18.02 [[ 9.97128585e-01 5.50660574e-02 5.19837966e-02 2.72937344e+02] [-5.47878497e-02 9.98475115e-01 -6.76281821e-03 -3.45738904e+01] [-5.22769291e-02 3.89531892e-03 9.98625029e-01 -1.80180028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10071405700006 meters 0.0444237027959018 Centerline is valid? [True, True] Translation: X:273.00, Y:-34.58, Z:-18.02 [[ 9.97146461e-01 5.53272723e-02 5.13597964e-02 2.72999998e+02] [-5.50554334e-02 9.98460863e-01 -6.69367023e-03 -3.45765487e+01] [-5.16510892e-02 3.84693373e-03 9.98657782e-01 -1.80216713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16071405700006 meters 0.04499819405115384 Centerline is valid? [True, True] Translation: X:273.06, Y:-34.58, Z:-18.03 [[ 9.97092580e-01 5.56672801e-02 5.20340434e-02 2.73060545e+02] [-5.53879008e-02 9.98441777e-01 -6.79695711e-03 -3.45842234e+01] [-5.23313309e-02 3.89513906e-03 9.98622181e-01 -1.80254733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22071405700007 meters 0.04502685172971679 Centerline is valid? [True, True] Translation: X:273.12, Y:-34.59, Z:-18.03 [[ 9.96915057e-01 5.64913970e-02 5.44893771e-02 2.73121907e+02] [-5.61861088e-02 9.98394928e-01 -7.11966951e-03 -3.45885164e+01] [-5.48041178e-02 4.03615967e-03 9.98488967e-01 -1.80263859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28071405700007 meters 0.04670325968443301 Centerline is valid? [True, True] Translation: X:273.18, Y:-34.60, Z:-18.03 [[ 9.96764729e-01 5.67570114e-02 5.69097279e-02 2.73183189e+02] [-5.64243493e-02 9.98379181e-01 -7.43664342e-03 -3.45958769e+01] [-5.72395692e-02 4.20148949e-03 9.98351631e-01 -1.80276577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34071405700007 meters 0.0417814992961841 Centerline is valid? [True, True] Translation: X:273.25, Y:-34.60, Z:-18.03 [[ 9.96743272e-01 5.64520880e-02 5.75848204e-02 2.73245966e+02] [-5.61102354e-02 9.98396127e-01 -7.53751588e-03 -3.45955463e+01] [-5.79179702e-02 4.28187041e-03 9.98312163e-01 -1.80310303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.400714057 meters 0.03861983961068647 Centerline is valid? [True, True] Translation: X:273.31, Y:-34.60, Z:-18.04 [[ 9.96888918e-01 5.45918082e-02 5.68526134e-02 2.73306825e+02] [-5.42547151e-02 9.98499283e-01 -7.45712622e-03 -3.45974035e+01] [-5.71743917e-02 4.34940415e-03 9.98354732e-01 -1.80363246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.460714057 meters 0.04975204165484505 Centerline is valid? [True, True] Translation: X:273.36, Y:-34.62, Z:-18.04 [[ 9.97147645e-01 5.23882177e-02 5.43327529e-02 2.73363858e+02] [-5.20769898e-02 9.98617625e-01 -7.12921365e-03 -3.46195448e+01] [-5.46311315e-02 4.27939239e-03 9.98497434e-01 -1.80444219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.520714057 meters 0.04366587037080058 Centerline is valid? [True, True] Translation: X:273.43, Y:-34.62, Z:-18.05 [[ 9.97275894e-01 4.98468810e-02 5.43698344e-02 2.73425635e+02] [-4.95312338e-02 9.98747064e-01 -7.13852634e-03 -3.46187781e+01] [-5.46575457e-02 4.42607526e-03 9.98495349e-01 -1.80475081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.580714057 meters 0.04532487332778955 Centerline is valid? [True, True] Translation: X:273.49, Y:-34.63, Z:-18.05 [[ 9.97218473e-01 4.97090602e-02 5.55367101e-02 2.73486402e+02] [-4.93795341e-02 9.98753475e-01 -7.29090725e-03 -3.46281882e+01] [-5.58299063e-02 4.52825053e-03 9.98430026e-01 -1.80503264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.640714057 meters 0.0444175669641128 Centerline is valid? [True, True] Translation: X:273.55, Y:-34.63, Z:-18.05 [[ 9.97090431e-01 5.06778951e-02 5.69422831e-02 2.73548648e+02] [-5.03321748e-02 9.98704445e-01 -7.49020275e-03 -3.46344808e+01] [-5.72480990e-02 4.60238054e-03 9.98349374e-01 -1.80533911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.700714057 meters 0.04546526927596075 Centerline is valid? [True, True] Translation: X:273.61, Y:-34.64, Z:-18.06 [[ 9.97007631e-01 5.20363392e-02 5.71664578e-02 2.73609734e+02] [-5.16897964e-02 9.98634838e-01 -7.52503737e-03 -3.46441223e+01] [-5.74799917e-02 4.54759711e-03 9.98336301e-01 -1.80581566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76071405700003 meters 0.04383636604064132 Centerline is valid? [True, True] Translation: X:273.67, Y:-34.65, Z:-18.06 [[ 9.97012781e-01 5.23477530e-02 5.67910775e-02 2.73672356e+02] [-5.20061817e-02 9.98618773e-01 -7.47689472e-03 -3.46504849e+01] [-5.71040348e-02 4.50107250e-03 9.98358087e-01 -1.80630153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82071405700003 meters 0.04578316755574874 Centerline is valid? [True, True] Translation: X:273.73, Y:-34.66, Z:-18.07 [[ 9.97131560e-01 5.02313026e-02 5.66168512e-02 2.73732254e+02] [-4.98873992e-02 9.98726896e-01 -7.47220563e-03 -3.46629027e+01] [-5.69201107e-02 4.62630461e-03 9.98368017e-01 -1.80673084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88071405700003 meters 0.04509491828066858 Centerline is valid? [True, True] Translation: X:273.79, Y:-34.67, Z:-18.07 [[ 9.97352799e-01 4.60894726e-02 5.62419362e-02 2.73792277e+02] [-4.57435277e-02 9.98925632e-01 -7.42364487e-03 -3.46720997e+01] [-5.65236636e-02 4.83128842e-03 9.98389570e-01 -1.80708936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94071405700004 meters 0.04613109328270656 Centerline is valid? [True, True] Translation: X:273.85, Y:-34.69, Z:-18.08 [[ 9.97542462e-01 4.29790285e-02 5.53338881e-02 2.73851862e+02] [-4.26393436e-02 9.99063820e-01 -7.30540790e-03 -3.46851843e+01] [-5.55960650e-02 4.92805392e-03 9.98441181e-01 -1.80767184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00071405700004 meters 0.08609899157633291 Centerline is valid? [True, True] Translation: X:273.90, Y:-34.75, Z:-18.09 [[ 9.97547799e-01 4.50063657e-02 5.35986538e-02 2.73904049e+02] [-4.46905810e-02 9.98975814e-01 -7.07630092e-03 -3.47476607e+01] [-5.38622374e-02 4.66359343e-03 9.98537486e-01 -1.80880957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06071405700004 meters 0.04506093879538069 Centerline is valid? [True, True] Translation: X:273.97, Y:-34.70, Z:-18.08 [[ 9.97394201e-01 4.56094207e-02 5.58980126e-02 2.73973030e+02] [-4.52668478e-02 9.98947670e-01 -7.38010225e-03 -3.47022675e+01] [-5.61757916e-02 4.83054436e-03 9.98409208e-01 -1.80837356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12071405700004 meters 0.043524707681495 Centerline is valid? [True, True] Translation: X:274.03, Y:-34.71, Z:-18.09 [[ 9.97006209e-01 5.09084594e-02 5.81974851e-02 2.74033584e+02] [-5.05450413e-02 9.98692094e-01 -7.70060565e-03 -3.47091694e+01] [-5.85133942e-02 4.73595736e-03 9.98275390e-01 -1.80857349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18071405700005 meters 0.04440867991133464 Centerline is valid? [True, True] Translation: X:274.09, Y:-34.72, Z:-18.09 [[ 9.96638683e-01 5.58668714e-02 5.99185205e-02 2.74092444e+02] [-5.54904364e-02 9.98427732e-01 -7.92940582e-03 -3.47194976e+01] [-6.02673036e-02 4.57784772e-03 9.98171777e-01 -1.80901604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24071405700005 meters 0.039384262469001875 Centerline is valid? [True, True] Translation: X:274.15, Y:-34.72, Z:-18.10 [[ 9.96548103e-01 5.90211256e-02 5.83813855e-02 2.74153435e+02] [-5.86691736e-02 9.98247585e-01 -7.72579207e-03 -3.47227087e+01] [-5.87350620e-02 4.27393579e-03 9.98264457e-01 -1.80958900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30071405700005 meters 0.040173632410689636 Centerline is valid? [True, True] Translation: X:274.22, Y:-34.73, Z:-18.10 [[ 9.96585981e-01 5.93888772e-02 5.73527966e-02 2.74215743e+02] [-5.90498870e-02 9.98226187e-01 -7.58886991e-03 -3.47342426e+01] [-5.77017580e-02 4.17628521e-03 9.98325130e-01 -1.81020748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36071405700005 meters 0.04732306480239739 Centerline is valid? [True, True] Translation: X:274.27, Y:-34.76, Z:-18.11 [[ 9.96646268e-01 5.87139136e-02 5.69990579e-02 2.74274539e+02] [-5.83770430e-02 9.98265990e-01 -7.55873937e-03 -3.47550979e+01] [-5.73440242e-02 4.20595293e-03 9.98345618e-01 -1.81085290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42071405700005 meters 0.03846470659342688 Centerline is valid? [True, True] Translation: X:274.34, Y:-34.75, Z:-18.11 [[ 9.96723702e-01 5.80725470e-02 5.62977891e-02 2.74337172e+02] [-5.77421996e-02 9.98303518e-01 -7.47825225e-03 -3.47533703e+01] [-5.66365621e-02 4.20299309e-03 9.98386015e-01 -1.81122099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48071405700006 meters 0.04031534486072685 Centerline is valid? [True, True] Translation: X:274.40, Y:-34.77, Z:-18.12 [[ 9.96719990e-01 5.76513353e-02 5.67942409e-02 2.74396698e+02] [-5.73135756e-02 9.98327606e-01 -7.55944647e-03 -3.47659342e+01] [-5.71350708e-02 4.27957038e-03 9.98357285e-01 -1.81154557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54071405700006 meters 0.041131016957673495 Centerline is valid? [True, True] Translation: X:274.46, Y:-34.78, Z:-18.12 [[ 9.96628894e-01 5.77192921e-02 5.83037784e-02 2.74459094e+02] [-5.73627467e-02 9.98323150e-01 -7.77196015e-03 -3.47783963e+01] [-5.86546038e-02 4.40129517e-03 9.98268634e-01 -1.81186092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60071405700006 meters 0.04261152180315197 Centerline is valid? [True, True] Translation: X:274.52, Y:-34.79, Z:-18.12 [[ 9.96406714e-01 5.86521569e-02 6.11030613e-02 2.74519666e+02] [-5.82610887e-02 9.98267999e-01 -8.16377067e-03 -3.47919366e+01] [-6.14760536e-02 4.57450504e-03 9.98098076e-01 -1.81200237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66071405700006 meters 0.043580011066973186 Centerline is valid? [True, True] Translation: X:274.58, Y:-34.81, Z:-18.12 [[ 9.96110282e-01 5.94811649e-02 6.50099788e-02 2.74581114e+02] [-5.90390294e-02 9.98217739e-01 -8.70281420e-03 -3.48053962e+01] [-6.54117675e-02 4.83083666e-03 9.97846663e-01 -1.81209331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72071405700007 meters 0.043312043983263 Centerline is valid? [True, True] Translation: X:274.64, Y:-34.82, Z:-18.13 [[ 9.96146474e-01 5.96984244e-02 6.42518511e-02 2.74643305e+02] [-5.92664602e-02 9.98205068e-01 -8.60978206e-03 -3.48179069e+01] [-6.46505138e-02 4.76862427e-03 9.97896573e-01 -1.81261668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78071405700007 meters 0.046722252490138255 Centerline is valid? [True, True] Translation: X:274.70, Y:-34.83, Z:-18.13 [[ 9.95924996e-01 6.09544089e-02 6.64677496e-02 2.74703304e+02] [-6.04935688e-02 9.98128677e-01 -8.92592626e-03 -3.48315937e+01] [-6.68874415e-02 4.86868170e-03 9.97748649e-01 -1.81265001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84071405700007 meters 0.04055005605145954 Centerline is valid? [True, True] Translation: X:274.76, Y:-34.83, Z:-18.13 [[ 9.95242650e-01 6.62882567e-02 7.13998165e-02 2.74764199e+02] [-6.57688517e-02 9.97788668e-01 -9.60373633e-03 -3.48328899e+01] [-7.18785428e-02 4.86216405e-03 9.97401541e-01 -1.81254760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.900714057 meters 0.03774843885060377 Centerline is valid? [True, True] Translation: X:274.82, Y:-34.84, Z:-18.13 [[ 9.94934004e-01 7.42956698e-02 6.77235674e-02 2.74824518e+02] [-7.38469207e-02 9.97227985e-01 -9.10921600e-03 -3.48391607e+01] [-6.82126120e-02 4.06189183e-03 9.97662538e-01 -1.81335543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.960714057 meters 0.03442548218296544 Centerline is valid? [True, True] Translation: X:274.88, Y:-34.84, Z:-18.14 [[ 9.94182481e-01 8.48334424e-02 6.63662628e-02 2.74884778e+02] [-8.44258716e-02 9.96389774e-01 -8.92700455e-03 -3.48399152e+01] [-6.68839741e-02 3.27204195e-03 9.97755395e-01 -1.81400925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.020714057 meters 0.02856875998883385 Centerline is valid? [True, True] Translation: X:274.95, Y:-34.84, Z:-18.14 [[ 9.93281272e-01 9.35532694e-02 6.81182870e-02 2.74945665e+02] [-9.31442858e-02 9.95610461e-01 -9.16257671e-03 -3.48395048e+01] [-6.86764681e-02 2.75618665e-03 9.97635177e-01 -1.81407082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.080714057 meters 0.028643555320217628 Centerline is valid? [True, True] Translation: X:275.00, Y:-34.85, Z:-18.14 [[ 9.93105691e-01 9.57114513e-02 6.76786885e-02 2.75004275e+02] [-9.53128054e-02 9.95405754e-01 -9.10242093e-03 -3.48469643e+01] [-6.82389619e-02 2.58902036e-03 9.97665646e-01 -1.81448742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.140714057 meters 0.03358156896304987 Centerline is valid? [True, True] Translation: X:275.06, Y:-34.86, Z:-18.15 [[ 9.93015422e-01 9.75042468e-02 6.64326267e-02 2.75060111e+02] [-9.71245688e-02 9.95232181e-01 -8.92888727e-03 -3.48639831e+01] [-6.69864923e-02 2.41428254e-03 9.97750961e-01 -1.81523767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.200714057 meters 0.031170795195287634 Centerline is valid? [True, True] Translation: X:275.12, Y:-34.87, Z:-18.16 [[ 9.93170085e-01 9.68254590e-02 6.51000150e-02 2.75117494e+02] [-9.64597556e-02 9.95298470e-01 -8.74481230e-03 -3.48708601e+01] [-6.56406657e-02 2.40555444e-03 9.97840426e-01 -1.81593196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26071405700003 meters 0.036015010970192766 Centerline is valid? [True, True] Translation: X:275.17, Y:-34.90, Z:-18.17 [[ 9.93828239e-01 9.12334851e-02 6.31021546e-02 2.75174788e+02] [-9.08790492e-02 9.95825914e-01 -8.47044260e-03 -3.48960281e+01] [-6.36115488e-02 2.68350124e-03 9.97971127e-01 -1.81678254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32071405700003 meters 0.04143384574816981 Centerline is valid? [True, True] Translation: X:275.23, Y:-34.92, Z:-18.18 [[ 9.94837380e-01 8.24136868e-02 5.92163063e-02 2.75230650e+02] [-8.20859528e-02 9.96593544e-01 -7.95007370e-03 -3.49228790e+01] [-5.96697835e-02 3.04820357e-03 9.98213517e-01 -1.81755831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38071405700003 meters 0.04391285840216534 Centerline is valid? [True, True] Translation: X:275.29, Y:-34.95, Z:-18.18 [[ 9.95319875e-01 7.88296321e-02 5.58948657e-02 2.75288911e+02] [-7.85321732e-02 9.96883353e-01 -7.50185488e-03 -3.49499434e+01] [-5.63120296e-02 3.07719998e-03 9.98408477e-01 -1.81793908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44071405700004 meters 0.046264044756624614 Centerline is valid? [True, True] Translation: X:275.35, Y:-34.97, Z:-18.18 [[ 9.95650277e-01 7.56425159e-02 5.43942595e-02 2.75346197e+02] [-7.53559764e-02 9.97129956e-01 -7.30260382e-03 -3.49696820e+01] [-5.47905329e-02 3.17190698e-03 9.98492832e-01 -1.81845695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50071405700004 meters 0.040383983982606 Centerline is valid? [True, True] Translation: X:275.41, Y:-34.98, Z:-18.18 [[ 9.95220352e-01 7.96884376e-02 5.64464704e-02 2.75405992e+02] [-7.93863213e-02 9.96815120e-01 -7.57809901e-03 -3.49831170e+01] [-5.68705821e-02 3.06080073e-03 9.98376867e-01 -1.81834539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56071405700004 meters 0.03911928945639259 Centerline is valid? [True, True] Translation: X:275.47, Y:-34.99, Z:-18.19 [[ 9.95234218e-01 7.98080486e-02 5.60314794e-02 2.75465999e+02] [-7.95105582e-02 9.96805641e-01 -7.52228657e-03 -3.49915599e+01] [-5.64528338e-02 3.03134278e-03 9.98400665e-01 -1.81929649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62071405700004 meters 0.04468041377569538 Centerline is valid? [True, True] Translation: X:275.52, Y:-35.02, Z:-18.20 [[ 9.95352998e-01 7.95023642e-02 5.43303215e-02 2.75523625e+02] [-7.92222316e-02 9.96830295e-01 -7.29388979e-03 -3.50188744e+01] [-5.47379919e-02 2.95582576e-03 9.98496377e-01 -1.82003329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68071405700005 meters 0.041590513390964104 Centerline is valid? [True, True] Translation: X:275.58, Y:-35.02, Z:-18.21 [[ 9.96079995e-01 7.23322557e-02 5.09184482e-02 2.75583532e+02] [-7.20762404e-02 9.97375612e-01 -6.84872883e-03 -3.50228995e+01] [-5.12802024e-02 3.15187146e-03 9.98679331e-01 -1.82095802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74071405700005 meters 0.04598396201538103 Centerline is valid? [True, True] Translation: X:275.64, Y:-35.04, Z:-18.22 [[ 9.96423728e-01 6.79958910e-02 5.01628659e-02 2.75640504e+02] [-6.77419455e-02 9.97680060e-01 -6.74727633e-03 -3.50427772e+01] [-5.05052782e-02 3.32501610e-03 9.98718259e-01 -1.82152659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80071405700005 meters 0.04665778079106724 Centerline is valid? [True, True] Translation: X:275.70, Y:-35.06, Z:-18.22 [[ 9.96324267e-01 6.81050821e-02 5.19581875e-02 2.75699695e+02] [-6.78328926e-02 9.97672236e-01 -6.98624401e-03 -3.50585131e+01] [-5.23130399e-02 3.43609029e-03 9.98624824e-01 -1.82213964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86071405700005 meters 0.04007940145895451 Centerline is valid? [True, True] Translation: X:275.76, Y:-35.06, Z:-18.23 [[ 9.95931334e-01 6.92830347e-02 5.76249896e-02 2.75761363e+02] [-6.89495858e-02 9.97589986e-01 -7.75720139e-03 -3.50581707e+01] [-5.80235550e-02 3.75242076e-03 9.98308162e-01 -1.82269675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92071405700005 meters 0.04343176459595025 Centerline is valid? [True, True] Translation: X:275.82, Y:-35.07, Z:-18.24 [[ 9.95512006e-01 7.25762734e-02 6.07332679e-02 2.75819327e+02] [-7.22117744e-02 9.97355794e-01 -8.17802755e-03 -3.50732597e+01] [-6.11662073e-02 3.75566758e-03 9.98120529e-01 -1.82362956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98071405700006 meters 0.039552756309289935 Centerline is valid? [True, True] Translation: X:275.88, Y:-35.09, Z:-18.23 [[ 9.95135377e-01 7.27825932e-02 6.63948467e-02 2.75880972e+02] [-7.23472533e-02 9.97339427e-01 -8.94103462e-03 -3.50882088e+01] [-6.68689501e-02 4.09405506e-03 9.97753367e-01 -1.82339126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04071405700006 meters 0.04635292459827256 Centerline is valid? [True, True] Translation: X:275.94, Y:-35.10, Z:-18.24 [[ 9.95303107e-01 6.78770089e-02 6.90249064e-02 2.75938456e+02] [-6.73933765e-02 9.97683006e-01 -9.31404754e-03 -3.51044447e+01] [-6.94971858e-02 4.61847895e-03 9.97571457e-01 -1.82390807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10071405700006 meters 0.04867606969289328 Centerline is valid? [True, True] Translation: X:276.00, Y:-35.13, Z:-18.24 [[ 9.95589443e-01 5.95186108e-02 7.25203171e-02 2.75996083e+02] [-5.89626599e-02 9.98212232e-01 -9.78489343e-03 -3.51284903e+01] [-7.29730509e-02 5.46574580e-03 9.97318936e-01 -1.82413656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16071405700006 meters 0.05113464193532369 Centerline is valid? [True, True] Translation: X:276.05, Y:-35.15, Z:-18.24 [[ 9.95738935e-01 5.54967534e-02 7.36483841e-02 2.76054301e+02] [-5.49123644e-02 9.98441723e-01 -9.93769099e-03 -3.51476693e+01] [-7.40851291e-02 5.85113894e-03 9.97234756e-01 -1.82444026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22071405700007 meters 0.052284151049543016 Centerline is valid? [True, True] Translation: X:276.11, Y:-35.17, Z:-18.25 [[ 9.95637650e-01 5.49402497e-02 7.54137911e-02 2.76113655e+02] [-5.43256228e-02 9.98471390e-01 -1.01789348e-02 -3.51650336e+01] [-7.58577461e-02 6.03762950e-03 9.97100371e-01 -1.82490957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28071405700007 meters 0.04864573496728495 Centerline is valid? [True, True] Translation: X:276.17, Y:-35.17, Z:-18.25 [[ 9.95364239e-01 5.75841952e-02 7.70330585e-02 2.76174514e+02] [-5.69495056e-02 9.98322760e-01 -1.04125596e-02 -3.51692109e+01] [-7.75034545e-02 5.97729486e-03 9.96974165e-01 -1.82545420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34071405700007 meters 0.0497845487904719 Centerline is valid? [True, True] Translation: X:276.23, Y:-35.18, Z:-18.26 [[ 9.95054527e-01 5.99727310e-02 7.91818141e-02 2.76233593e+02] [-5.93093220e-02 9.98182243e-01 -1.07058150e-02 -3.51812019e+01] [-7.96799377e-02 5.95664998e-03 9.96802702e-01 -1.82560165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.400714057 meters 0.05254238372484787 Centerline is valid? [True, True] Translation: X:276.29, Y:-35.20, Z:-18.26 [[ 9.94873265e-01 6.08690594e-02 8.07597887e-02 2.76293950e+02] [-6.01808970e-02 9.98127642e-01 -1.09302556e-02 -3.51952149e+01] [-8.12738918e-02 6.01402253e-03 9.96673661e-01 -1.82588216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.460714057 meters 0.053184481768136595 Centerline is valid? [True, True] Translation: X:276.35, Y:-35.20, Z:-18.26 [[ 9.95027402e-01 5.83650988e-02 8.07092608e-02 2.76354122e+02] [-5.76683183e-02 9.98275861e-01 -1.09394171e-02 -3.52041508e+01] [-8.12085869e-02 6.23065248e-03 9.96677653e-01 -1.82641513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.520714057 meters 0.05652093054093842 Centerline is valid? [True, True] Translation: X:276.42, Y:-35.22, Z:-18.27 [[ 9.95138958e-01 5.68882453e-02 8.03876962e-02 2.76415095e+02] [-5.61920513e-02 9.98360498e-01 -1.08981536e-02 -3.52177534e+01] [-8.08758773e-02 6.32802767e-03 9.96704093e-01 -1.82676513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.580714057 meters 0.05242542089628414 Centerline is valid? [True, True] Translation: X:276.47, Y:-35.23, Z:-18.27 [[ 9.95044023e-01 5.51203424e-02 8.27595298e-02 2.76474621e+02] [-5.43758446e-02 9.98457446e-01 -1.12247757e-02 -3.52283999e+01] [-8.32505823e-02 6.66902667e-03 9.96506329e-01 -1.82720833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.640714057 meters 0.057989146105758865 Centerline is valid? [True, True] Translation: X:276.53, Y:-35.24, Z:-18.27 [[ 9.94810128e-01 5.99227544e-02 8.22318176e-02 2.76533506e+02] [-5.92039564e-02 9.98183590e-01 -1.11540109e-02 -3.52365870e+01] [-8.27508300e-02 6.22767410e-03 9.96550810e-01 -1.82743083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.700714057 meters 0.05424258636521205 Centerline is valid? [True, True] Translation: X:276.59, Y:-35.24, Z:-18.28 [[ 9.94391184e-01 6.51579618e-02 8.33103371e-02 2.76594300e+02] [-6.44384729e-02 9.97857713e-01 -1.12990225e-02 -3.52396257e+01] [-8.38680837e-02 5.86725743e-03 9.96459593e-01 -1.82766793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76071405700003 meters 0.05107225597783986 Centerline is valid? [True, True] Translation: X:276.66, Y:-35.24, Z:-18.28 [[ 9.94105058e-01 6.78014276e-02 8.46055606e-02 2.76655866e+02] [-6.70686976e-02 9.97682357e-01 -1.14762734e-02 -3.52443329e+01] [-8.51875828e-02 5.73423670e-03 9.96348430e-01 -1.82818945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82071405700003 meters 0.05236141580956789 Centerline is valid? [True, True] Translation: X:276.71, Y:-35.26, Z:-18.29 [[ 9.94334679e-01 6.44116377e-02 8.45558197e-02 2.76714205e+02] [-6.36671677e-02 9.97905220e-01 -1.14745112e-02 -3.52578681e+01] [-8.51177859e-02 6.02607484e-03 9.96352673e-01 -1.82851228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88071405700003 meters 0.04960131958727571 Centerline is valid? [True, True] Translation: X:276.77, Y:-35.27, Z:-18.29 [[ 9.94632358e-01 6.07041949e-02 8.37942341e-02 2.76774115e+02] [-5.99600804e-02 9.98136010e-01 -1.13707905e-02 -3.52657517e+01] [-8.43282971e-02 6.28544713e-03 9.96418201e-01 -1.82902601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94071405700004 meters 0.05519613412150782 Centerline is valid? [True, True] Translation: X:276.83, Y:-35.28, Z:-18.29 [[ 9.95064386e-01 5.62875356e-02 8.17225838e-02 2.76832876e+02] [-5.55650330e-02 9.98393476e-01 -1.10902369e-02 -3.52813564e+01] [-8.22155367e-02 6.49458170e-03 9.96593411e-01 -1.82941845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00071405700004 meters 0.05622970134831383 Centerline is valid? [True, True] Translation: X:276.89, Y:-35.29, Z:-18.30 [[ 9.95255368e-01 5.33168612e-02 8.13883529e-02 2.76892667e+02] [-5.25903750e-02 9.98555082e-01 -1.10454327e-02 -3.52935946e+01] [-8.18596611e-02 6.71278217e-03 9.96621259e-01 -1.82970220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06071405700004 meters 0.06396663193583436 Centerline is valid? [True, True] Translation: X:276.95, Y:-35.32, Z:-18.30 [[ 9.95282499e-01 5.19204305e-02 8.19574067e-02 2.76950271e+02] [-5.11788412e-02 9.98627540e-01 -1.11248867e-02 -3.53154394e+01] [-8.24225323e-02 6.87791989e-03 9.96573741e-01 -1.82972359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12071405700004 meters 0.05263450897248861 Centerline is valid? [True, True] Translation: X:277.01, Y:-35.30, Z:-18.30 [[ 9.95293509e-01 5.39883463e-02 8.04741547e-02 2.77013458e+02] [-5.32796646e-02 9.98519818e-01 -1.09293401e-02 -3.53003569e+01] [-8.09450953e-02 6.59026529e-03 9.96696774e-01 -1.83036229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18071405700005 meters 0.05261043102943655 Centerline is valid? [True, True] Translation: X:277.07, Y:-35.31, Z:-18.31 [[ 9.95383332e-01 5.38063076e-02 7.94789478e-02 2.77074694e+02] [-5.31141142e-02 9.98530053e-01 -1.07992272e-02 -3.53079460e+01] [-7.99431845e-02 6.52791681e-03 9.96778046e-01 -1.83076497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24071405700005 meters 0.06999007548603207 Centerline is valid? [True, True] Translation: X:277.13, Y:-35.34, Z:-18.31 [[ 9.95691800e-01 5.02697562e-02 7.79152766e-02 2.77130448e+02] [-4.95926311e-02 9.98713251e-01 -1.06024845e-02 -3.53381949e+01] [-7.83480036e-02 6.69278327e-03 9.96903605e-01 -1.83085384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30071405700005 meters 0.05459541087591972 Centerline is valid? [True, True] Translation: X:277.19, Y:-35.32, Z:-18.32 [[ 9.95979378e-01 4.68977115e-02 7.63261582e-02 2.77194139e+02] [-4.62382380e-02 9.98876452e-01 -1.03855362e-02 -3.53205185e+01] [-7.67274599e-02 6.81459278e-03 9.97028815e-01 -1.83158287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36071405700005 meters 0.0565094772477324 Centerline is valid? [True, True] Translation: X:277.25, Y:-35.33, Z:-18.32 [[ 9.96135173e-01 4.53789791e-02 7.52028302e-02 2.77254211e+02] [-4.47344666e-02 9.98946495e-01 -1.02336118e-02 -3.53286530e+01] [-7.55879945e-02 6.82990220e-03 9.97115744e-01 -1.83200045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42071405700005 meters 0.05701194028192556 Centerline is valid? [True, True] Translation: X:277.32, Y:-35.33, Z:-18.32 [[ 9.96012905e-01 4.78196687e-02 7.53098427e-02 2.77315550e+02] [-4.71799563e-02 9.98833797e-01 -1.02517276e-02 -3.53320759e+01] [-7.57122504e-02 6.65773787e-03 9.97107482e-01 -1.83221110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48071405700006 meters 0.05221390169907649 Centerline is valid? [True, True] Translation: X:277.38, Y:-35.33, Z:-18.33 [[ 9.95896332e-01 5.19511534e-02 7.41051522e-02 2.77377473e+02] [-5.13430329e-02 9.98630114e-01 -1.00890165e-02 -3.53285742e+01] [-7.45277727e-02 6.24283124e-03 9.97199397e-01 -1.83268083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54071405700006 meters 0.052030747307323585 Centerline is valid? [True, True] Translation: X:277.44, Y:-35.33, Z:-18.33 [[ 9.95784024e-01 5.53414812e-02 7.31539292e-02 2.77436444e+02] [-5.47579142e-02 9.98449979e-01 -9.96043011e-03 -3.53342751e+01] [-7.35917640e-02 5.91268060e-03 9.97270922e-01 -1.83303786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60071405700006 meters 0.04664963189598206 Centerline is valid? [True, True] Translation: X:277.50, Y:-35.33, Z:-18.33 [[ 9.95706446e-01 5.71869912e-02 7.27895733e-02 2.77498267e+02] [-5.66141815e-02 9.98346946e-01 -9.91010876e-03 -3.53319559e+01] [-7.32359775e-02 5.74663706e-03 9.97298084e-01 -1.83347396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66071405700006 meters 0.04720956119100767 Centerline is valid? [True, True] Translation: X:277.56, Y:-35.34, Z:-18.34 [[ 9.95509411e-01 6.07902609e-02 7.25641532e-02 2.77559023e+02] [-6.02303289e-02 9.98135591e-01 -9.88178998e-03 -3.53364469e+01] [-7.30295805e-02 5.46685211e-03 9.97314792e-01 -1.83363847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72071405700007 meters 0.05237112484577634 Centerline is valid? [True, True] Translation: X:277.62, Y:-35.35, Z:-18.34 [[ 9.95672759e-01 6.05774024e-02 7.04708132e-02 2.77618476e+02] [-6.00487315e-02 9.98149298e-01 -9.59837812e-03 -3.53535909e+01] [-7.09218376e-02 5.32516068e-03 9.97467661e-01 -1.83410312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78071405700007 meters 0.05234110119126851 Centerline is valid? [True, True] Translation: X:277.68, Y:-35.36, Z:-18.34 [[ 9.96005690e-01 5.71817531e-02 6.85777900e-02 2.77678437e+02] [-5.66721683e-02 9.98349012e-01 -9.35499144e-03 -3.53599331e+01] [-6.89995037e-02 5.43117264e-03 9.97601910e-01 -1.83447722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84071405700007 meters 0.050088163579569064 Centerline is valid? [True, True] Translation: X:277.74, Y:-35.37, Z:-18.35 [[ 9.96137142e-01 5.51200549e-02 6.83562323e-02 2.77739390e+02] [-5.46089171e-02 9.98464274e-01 -9.32519258e-03 -3.53650258e+01] [-6.87652610e-02 5.55631086e-03 9.97617395e-01 -1.83487847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.900714057 meters 0.053022632460612694 Centerline is valid? [True, True] Translation: X:277.80, Y:-35.38, Z:-18.35 [[ 9.96155260e-01 5.44803581e-02 6.86045779e-02 2.77799760e+02] [-5.39637582e-02 9.98499003e-01 -9.36237231e-03 -3.53779811e+01] [-6.90116681e-02 5.62421556e-03 9.97599999e-01 -1.83509774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.960714057 meters 0.05496307311461088 Centerline is valid? [True, True] Translation: X:277.86, Y:-35.39, Z:-18.35 [[ 9.96289485e-01 5.27291337e-02 6.80213205e-02 2.77860586e+02] [-5.22162510e-02 9.98592521e-01 -9.29733171e-03 -3.53871545e+01] [-6.84158222e-02 5.71101548e-03 9.97640546e-01 -1.83528874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.020714057 meters 0.05446614708573877 Centerline is valid? [True, True] Translation: X:277.92, Y:-35.39, Z:-18.36 [[ 9.96407102e-01 5.04431392e-02 6.80321713e-02 2.77921758e+02] [-4.99246484e-02 9.98709677e-01 -9.30114259e-03 -3.53934272e+01] [-6.84135666e-02 5.87124230e-03 9.97639771e-01 -1.83555953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.080714057 meters 0.055837139604864555 Centerline is valid? [True, True] Translation: X:277.98, Y:-35.41, Z:-18.36 [[ 9.96535474e-01 4.94742814e-02 6.68531542e-02 2.77982826e+02] [-4.89713206e-02 9.98758343e-01 -9.14232317e-03 -3.54056455e+01] [-6.72224554e-02 5.83676210e-03 9.97720940e-01 -1.83610132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.140714057 meters 0.06065175412134781 Centerline is valid? [True, True] Translation: X:278.04, Y:-35.42, Z:-18.36 [[ 9.96772527e-01 4.58256303e-02 6.59131385e-02 2.78041137e+02] [-4.53285455e-02 9.98931427e-01 -9.01813341e-03 -3.54187925e+01] [-6.62559672e-02 6.00128092e-03 9.97784612e-01 -1.83648759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.200714057 meters 0.06449733303431017 Centerline is valid? [True, True] Translation: X:278.10, Y:-35.43, Z:-18.37 [[ 9.97011695e-01 4.19942890e-02 6.48394988e-02 2.78100924e+02] [-4.15053032e-02 9.99098904e-01 -8.87075712e-03 -3.54303406e+01] [-6.51535933e-02 6.15306553e-03 9.97856277e-01 -1.83687634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26071405700003 meters 0.06710412282694529 Centerline is valid? [True, True] Translation: X:278.16, Y:-35.44, Z:-18.37 [[ 9.97096473e-01 4.02778069e-02 6.46244629e-02 2.78161078e+02] [-3.97884529e-02 9.99169004e-01 -8.84200975e-03 -3.54421630e+01] [-6.49268970e-02 6.24502934e-03 9.97870481e-01 -1.83722247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32071405700003 meters 0.07061310509416034 Centerline is valid? [True, True] Translation: X:278.22, Y:-35.45, Z:-18.38 [[ 9.97384350e-01 3.68697899e-02 6.21697391e-02 2.78221342e+02] [-3.64102954e-02 9.99300707e-01 -8.50813106e-03 -3.54520597e+01] [-6.24399572e-02 6.22225821e-03 9.98029326e-01 -1.83784059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38071405700003 meters 0.07417677977796337 Centerline is valid? [True, True] Translation: X:278.28, Y:-35.46, Z:-18.38 [[ 9.97506927e-01 3.39730032e-02 6.18527753e-02 2.78280435e+02] [-3.35125792e-02 9.99402435e-01 -8.46642946e-03 -3.54625594e+01] [-6.21034443e-02 6.37247599e-03 9.98049374e-01 -1.83826169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44071405700004 meters 0.0702692803738864 Centerline is valid? [True, True] Translation: X:278.34, Y:-35.46, Z:-18.39 [[ 9.97624032e-01 3.30302067e-02 6.04590499e-02 2.78342570e+02] [-3.25886749e-02 9.99434593e-01 -8.27479026e-03 -3.54648506e+01] [-6.06981840e-02 6.28484930e-03 9.98136379e-01 -1.83880039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50071405700004 meters 0.07854848762995299 Centerline is valid? [True, True] Translation: X:278.40, Y:-35.48, Z:-18.39 [[ 9.97683312e-01 3.47057934e-02 5.85108300e-02 2.78400830e+02] [-3.42949071e-02 9.99379639e-01 -8.01230731e-03 -3.54772192e+01] [-5.87526057e-02 5.98712181e-03 9.98254620e-01 -1.83924132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56071405700004 meters 0.05857983285690102 Centerline is valid? [True, True] Translation: X:278.47, Y:-35.46, Z:-18.40 [[ 9.97658968e-01 3.57731458e-02 5.82826368e-02 2.78466461e+02] [-3.53674107e-02 9.99342528e-01 -7.97855838e-03 -3.54570210e+01] [-5.85297357e-02 5.89857437e-03 9.98268239e-01 -1.83951827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62071405700004 meters 0.0592244270209872 Centerline is valid? [True, True] Translation: X:278.53, Y:-35.46, Z:-18.40 [[ 9.97627639e-01 3.66943577e-02 5.82461860e-02 2.78527424e+02] [-3.62897556e-02 9.99309373e-01 -7.98940533e-03 -3.54644523e+01] [-5.84991257e-02 5.85671172e-03 9.98270280e-01 -1.83998838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68071405700005 meters 0.05899485374934623 Centerline is valid? [True, True] Translation: X:278.59, Y:-35.47, Z:-18.41 [[ 9.97741440e-01 3.72095084e-02 5.59237933e-02 2.78590101e+02] [-3.68373643e-02 9.99291831e-01 -7.67102564e-03 -3.54666660e+01] [-5.61696249e-02 5.59361503e-03 9.98405571e-01 -1.84061813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74071405700005 meters 0.061340143769030894 Centerline is valid? [True, True] Translation: X:278.65, Y:-35.47, Z:-18.41 [[ 9.97686607e-01 3.92351174e-02 5.55161136e-02 2.78649511e+02] [-3.88706088e-02 9.99215115e-01 -7.63087434e-03 -3.54743341e+01] [-5.57719381e-02 5.45527599e-03 9.98428631e-01 -1.84102125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80071405700005 meters 0.05919463531570184 Centerline is valid? [True, True] Translation: X:278.71, Y:-35.47, Z:-18.41 [[ 9.97621825e-01 4.08927930e-02 5.54840037e-02 2.78710650e+02] [-4.05312439e-02 9.99149166e-01 -7.62646072e-03 -3.54722941e+01] [-5.57486632e-02 5.35948797e-03 9.98430449e-01 -1.84126635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86071405700005 meters 0.059173488215782166 Centerline is valid? [True, True] Translation: X:278.77, Y:-35.48, Z:-18.42 [[ 9.97596250e-01 4.14574376e-02 5.55247956e-02 2.78772906e+02] [-4.10962633e-02 9.99126048e-01 -7.63132363e-03 -3.54783944e+01] [-5.57926447e-02 5.33111822e-03 9.98428145e-01 -1.84165766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92071405700005 meters 0.06217550656851458 Centerline is valid? [True, True] Translation: X:278.83, Y:-35.48, Z:-18.42 [[ 9.97541951e-01 4.31074221e-02 5.52431608e-02 2.78832225e+02] [-4.27520960e-02 9.99056817e-01 -7.59831024e-03 -3.54828086e+01] [-5.55185999e-02 5.21787230e-03 9.98444019e-01 -1.84214031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98071405700006 meters 0.0575754941720057 Centerline is valid? [True, True] Translation: X:278.89, Y:-35.48, Z:-18.43 [[ 9.97435699e-01 4.60383058e-02 5.47950801e-02 2.78893987e+02] [-4.56931700e-02 9.98927099e-01 -7.53557400e-03 -3.54788164e+01] [-5.50832155e-02 5.01248961e-03 9.98469185e-01 -1.84262039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04071405700006 meters 0.05840217338204582 Centerline is valid? [True, True] Translation: X:278.95, Y:-35.48, Z:-18.43 [[ 9.97340950e-01 4.78822011e-02 5.49392783e-02 2.78954760e+02] [-4.75380180e-02 9.98840855e-01 -7.55537248e-03 -3.54817980e+01] [-5.52373635e-02 4.92357797e-03 9.98461112e-01 -1.84308189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10071405700006 meters 0.05763356074280459 Centerline is valid? [True, True] Translation: X:279.02, Y:-35.49, Z:-18.43 [[ 9.97327668e-01 4.88013394e-02 5.43686682e-02 2.79017569e+02] [-4.84656183e-02 9.98796864e-01 -7.47715000e-03 -3.54853669e+01] [-5.46681503e-02 4.82215744e-03 9.98492934e-01 -1.84339984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16071405700006 meters 0.05979032412382032 Centerline is valid? [True, True] Translation: X:279.08, Y:-35.49, Z:-18.44 [[ 9.97237924e-01 4.91852484e-02 5.56536968e-02 2.79077967e+02] [-4.88338299e-02 9.98777562e-01 -7.65762810e-03 -3.54927110e+01] [-5.59623059e-02 4.91869399e-03 9.98420766e-01 -1.84377568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22071405700007 meters 0.0567326545395592 Centerline is valid? [True, True] Translation: X:279.14, Y:-35.50, Z:-18.44 [[ 9.97221005e-01 4.83530689e-02 5.66767003e-02 2.79140324e+02] [-4.79864806e-02 9.98817435e-01 -7.81206246e-03 -3.54958592e+01] [-5.69874136e-02 5.07063740e-03 9.98362020e-01 -1.84413230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28071405700007 meters 0.05667081111086153 Centerline is valid? [True, True] Translation: X:279.20, Y:-35.50, Z:-18.44 [[ 9.97282539e-01 4.69072992e-02 5.68088288e-02 2.79200920e+02] [-4.65364267e-02 9.98885870e-01 -7.83456732e-03 -3.55015594e+01] [-5.71130347e-02 5.16959729e-03 9.98354334e-01 -1.84447761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34071405700007 meters 0.06740989586544721 Centerline is valid? [True, True] Translation: X:279.26, Y:-35.52, Z:-18.45 [[ 9.97221443e-01 4.67855439e-02 5.79698809e-02 2.79259221e+02] [-4.63991426e-02 9.98890989e-01 -7.99446680e-03 -3.55243149e+01] [-5.82796171e-02 5.28250094e-03 9.98286322e-01 -1.84492213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.400714057 meters 0.06835894474231549 Centerline is valid? [True, True] Translation: X:279.32, Y:-35.53, Z:-18.45 [[ 9.97182181e-01 4.76643474e-02 5.79293295e-02 2.79320125e+02] [-4.72791475e-02 9.98849658e-01 -8.00274445e-03 -3.55331183e+01] [-5.82441365e-02 5.24134486e-03 9.98288610e-01 -1.84534874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.460714057 meters 0.05082347595017604 Centerline is valid? [True, True] Translation: X:279.38, Y:-35.52, Z:-18.46 [[ 9.96981230e-01 4.94559624e-02 5.98542850e-02 2.79383354e+02] [-4.90477052e-02 9.98762184e-01 -8.27181345e-03 -3.55168496e+01] [-6.01892869e-02 5.31112741e-03 9.98172852e-01 -1.84553318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.520714057 meters 0.050711612859563625 Centerline is valid? [True, True] Translation: X:279.44, Y:-35.53, Z:-18.46 [[ 9.96583739e-01 5.34452918e-02 6.29638995e-02 2.79443132e+02] [-5.30013273e-02 9.98556529e-01 -8.70156055e-03 -3.55256157e+01] [-6.33380704e-02 5.33466350e-03 9.97977871e-01 -1.84568493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.580714057 meters 0.046238506480980754 Centerline is valid? [True, True] Translation: X:279.50, Y:-35.53, Z:-18.46 [[ 9.96208463e-01 5.81105160e-02 6.47446202e-02 2.79504474e+02] [-5.76508124e-02 9.98296711e-01 -8.94761219e-03 -3.55281062e+01] [-6.51542918e-02 5.18110704e-03 9.97861751e-01 -1.84591306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.640714057 meters 0.043890653909678314 Centerline is valid? [True, True] Translation: X:279.57, Y:-35.53, Z:-18.46 [[ 9.95574945e-01 6.66256807e-02 6.62687483e-02 2.79565025e+02] [-6.61626873e-02 9.97766809e-01 -9.15935597e-03 -3.55323285e+01] [-6.67310058e-02 4.73430685e-03 9.97759770e-01 -1.84624916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.700714057 meters 0.041033104143315374 Centerline is valid? [True, True] Translation: X:279.62, Y:-35.54, Z:-18.47 [[ 9.94827239e-01 7.76546333e-02 6.54868172e-02 2.79624413e+02] [-7.72262751e-02 9.96972507e-01 -9.05117211e-03 -3.55372503e+01] [-6.59914218e-02 3.94704960e-03 9.97812384e-01 -1.84685446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76071405700003 meters 0.03726031985211554 Centerline is valid? [True, True] Translation: X:279.69, Y:-35.54, Z:-18.47 [[ 9.93925656e-01 8.96935085e-02 6.37719812e-02 2.79685317e+02] [-8.93119364e-02 9.95964696e-01 -8.81488982e-03 -3.55394776e+01] [-6.43052802e-02 3.06574602e-03 9.97925564e-01 -1.84730596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82071405700003 meters 0.03351395036391304 Centerline is valid? [True, True] Translation: X:279.75, Y:-35.54, Z:-18.48 [[ 9.92769882e-01 1.01065686e-01 6.47586940e-02 2.79745682e+02] [-1.00696246e-01 9.94876941e-01 -8.95199588e-03 -3.55423328e+01] [-6.53316710e-02 2.36631449e-03 9.97860799e-01 -1.84760124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88071405700003 meters 0.03558509158200453 Centerline is valid? [True, True] Translation: X:279.80, Y:-35.56, Z:-18.48 [[ 9.91541854e-01 1.12474599e-01 6.47627734e-02 2.79802332e+02] [-1.12129379e-01 9.93653288e-01 -8.95240464e-03 -3.55616250e+01] [-6.53586608e-02 1.61487430e-03 9.97860530e-01 -1.84799346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94071405700004 meters 0.03037707974977242 Centerline is valid? [True, True] Translation: X:279.86, Y:-35.56, Z:-18.49 [[ 9.91613734e-01 1.10197474e-01 6.75182872e-02 2.79860768e+02] [-1.09817156e-01 9.93908015e-01 -9.33009414e-03 -3.55626866e+01] [-6.81351196e-02 1.83718318e-03 9.97674411e-01 -1.84854027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00071405700004 meters 0.03147437113146167 Centerline is valid? [True, True] Translation: X:279.92, Y:-35.58, Z:-18.49 [[ 9.91986299e-01 1.06786724e-01 6.75261369e-02 2.79918866e+02] [-1.06398819e-01 9.94279803e-01 -9.32545307e-03 -3.55786925e+01] [-6.81357087e-02 2.06602044e-03 9.97673923e-01 -1.84897253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06071405700004 meters 0.03671065486401422 Centerline is valid? [True, True] Translation: X:279.98, Y:-35.61, Z:-18.49 [[ 9.92714678e-01 9.96646969e-02 6.77090585e-02 2.79975268e+02] [-9.92583017e-02 9.95017787e-01 -9.34842623e-03 -3.56079055e+01] [-6.83034256e-02 2.55963377e-03 9.97661310e-01 -1.84940312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12071405700004 meters 0.03771394104166218 Centerline is valid? [True, True] Translation: X:280.03, Y:-35.63, Z:-18.50 [[ 9.93500980e-01 9.10621820e-02 6.82896837e-02 2.80034180e+02] [-9.06285495e-02 9.95840139e-01 -9.42782507e-03 -3.56262990e+01] [-6.88641264e-02 3.17755847e-03 9.97620988e-01 -1.84973851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18071405700005 meters 0.039673690423366895 Centerline is valid? [True, True] Translation: X:280.09, Y:-35.65, Z:-18.50 [[ 9.94260093e-01 8.32186448e-02 6.72422814e-02 2.80093392e+02] [-8.27802273e-02 9.96524572e-01 -9.28504808e-03 -3.56452920e+01] [-6.77812748e-02 3.66542142e-03 9.97693472e-01 -1.85030179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24071405700005 meters 0.039609677244350855 Centerline is valid? [True, True] Translation: X:280.15, Y:-35.66, Z:-18.51 [[ 9.94872161e-01 7.62055540e-02 6.64988495e-02 2.80153142e+02] [-7.57610600e-02 9.97083703e-01 -9.18431684e-03 -3.56594460e+01] [-6.70048150e-02 4.09919781e-03 9.97744231e-01 -1.85083222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30071405700005 meters 0.04214936725101224 Centerline is valid? [True, True] Translation: X:280.21, Y:-35.68, Z:-18.51 [[ 9.95269175e-01 7.10999371e-02 6.62122935e-02 2.80211583e+02] [-7.06478996e-02 9.97459379e-01 -9.14667523e-03 -3.56772844e+01] [-6.66944012e-02 4.42564445e-03 9.97763635e-01 -1.85131517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36071405700005 meters 0.04408095462723569 Centerline is valid? [True, True] Translation: X:280.27, Y:-35.69, Z:-18.52 [[ 9.95471771e-01 6.99665672e-02 6.43477521e-02 2.80271069e+02] [-6.95373018e-02 9.97539745e-01 -8.88936548e-03 -3.56915422e+01] [-6.48113986e-02 4.37454333e-03 9.97887943e-01 -1.85184663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42071405700005 meters 0.045237347433462256 Centerline is valid? [True, True] Translation: X:280.33, Y:-35.70, Z:-18.52 [[ 9.95409602e-01 7.11001610e-02 6.40663051e-02 2.80330935e+02] [-7.06760331e-02 9.97459927e-01 -8.86518234e-03 -3.57039597e+01] [-6.45338879e-02 4.29653532e-03 9.97906267e-01 -1.85233396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48071405700006 meters 0.045475405481847565 Centerline is valid? [True, True] Translation: X:280.39, Y:-35.71, Z:-18.53 [[ 9.95443149e-01 7.29628555e-02 6.13951030e-02 2.80390658e+02] [-7.25764074e-02 9.97326599e-01 -8.50408313e-03 -3.57124640e+01] [-6.18514515e-02 4.00949528e-03 9.98077313e-01 -1.85274689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54071405700006 meters 0.045258016236892205 Centerline is valid? [True, True] Translation: X:280.45, Y:-35.72, Z:-18.53 [[ 9.95295483e-01 7.51932938e-02 6.10972181e-02 2.80451812e+02] [-7.48147142e-02 9.97161533e-01 -8.46377277e-03 -3.57219819e+01] [-6.15602146e-02 3.85298389e-03 9.98095935e-01 -1.85320344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60071405700006 meters 0.044883282595743305 Centerline is valid? [True, True] Translation: X:280.51, Y:-35.73, Z:-18.53 [[ 9.95005641e-01 7.85725306e-02 6.15640390e-02 2.80512520e+02] [-7.81943703e-02 9.96901626e-01 -8.53166744e-03 -3.57286526e+01] [-6.20436452e-02 3.67509597e-03 9.98066671e-01 -1.85342351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66071405700006 meters 0.03750748304292407 Centerline is valid? [True, True] Translation: X:280.57, Y:-35.72, Z:-18.54 [[ 9.94272009e-01 8.82894477e-02 6.02340898e-02 2.80574401e+02] [-8.79451342e-02 9.96090333e-01 -8.34876230e-03 -3.57220657e+01] [-6.07357022e-02 3.00364555e-03 9.98149364e-01 -1.85368813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72071405700007 meters 0.03928581552599074 Centerline is valid? [True, True] Translation: X:280.63, Y:-35.73, Z:-18.54 [[ 9.93783461e-01 9.35378355e-02 6.03747152e-02 2.80633211e+02] [-9.32015464e-02 9.95612093e-01 -8.36848484e-03 -3.57338293e+01] [-6.08925666e-02 2.68944500e-03 9.98140703e-01 -1.85416976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78071405700007 meters 0.033677589254728885 Centerline is valid? [True, True] Translation: X:280.70, Y:-35.73, Z:-18.54 [[ 9.93485082e-01 9.63804658e-02 6.08128036e-02 2.80695791e+02] [-9.60446434e-02 9.95341345e-01 -8.42819058e-03 -3.57312709e+01] [-6.13418106e-02 2.53253757e-03 9.98113605e-01 -1.85447944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84071405700007 meters 0.032354253532116926 Centerline is valid? [True, True] Translation: X:280.76, Y:-35.74, Z:-18.55 [[ 9.92873667e-01 1.02197988e-01 6.12980585e-02 2.80756522e+02] [-1.01867617e-01 9.94761659e-01 -8.49888243e-03 -3.57356483e+01] [-6.18455270e-02 2.19402941e-03 9.98083322e-01 -1.85475383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.900714057 meters 0.03219342506186502 Centerline is valid? [True, True] Translation: X:280.82, Y:-35.75, Z:-18.55 [[ 9.92466078e-01 1.05800777e-01 6.17841317e-02 2.80815527e+02] [-1.05472031e-01 9.94385363e-01 -8.56742629e-03 -3.57451695e+01] [-6.23436766e-02 1.98638209e-03 9.98052764e-01 -1.85523965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.960714057 meters 0.03157180459978358 Centerline is valid? [True, True] Translation: X:280.87, Y:-35.76, Z:-18.56 [[ 9.92516856e-01 1.05774303e-01 6.10089151e-02 2.80874720e+02] [-1.05453715e-01 9.94388226e-01 -8.45992925e-03 -3.57575635e+01] [-6.15613899e-02 1.96300561e-03 9.98101369e-01 -1.85569139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.020714057 meters 0.032410662008223345 Centerline is valid? [True, True] Translation: X:280.93, Y:-35.77, Z:-18.56 [[ 9.92792789e-01 1.02373215e-01 6.23073241e-02 2.80934529e+02] [-1.02032134e-01 9.94743583e-01 -8.63994411e-03 -3.57705672e+01] [-6.28643097e-02 2.22032498e-03 9.98019613e-01 -1.85578058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.080714057 meters 0.03392110577025476 Centerline is valid? [True, True] Translation: X:280.99, Y:-35.79, Z:-18.56 [[ 9.93378518e-01 9.66819541e-02 6.20622245e-02 2.80993044e+02] [-9.63323991e-02 9.95312005e-01 -8.60706815e-03 -3.57894133e+01] [-6.26034252e-02 2.57147363e-03 9.98035169e-01 -1.85624757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.140714057 meters 0.03757905116628147 Centerline is valid? [True, True] Translation: X:281.05, Y:-35.81, Z:-18.57 [[ 9.94102460e-01 9.03322667e-02 6.00031712e-02 2.81049942e+02] [-8.99939422e-02 9.95907538e-01 -8.32266009e-03 -3.58126021e+01] [-6.05094153e-02 2.87365495e-03 9.98163490e-01 -1.85686740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.200714057 meters 0.040037593691099396 Centerline is valid? [True, True] Translation: X:281.11, Y:-35.83, Z:-18.57 [[ 9.94493615e-01 8.58502608e-02 6.01014391e-02 2.81108680e+02] [-8.55027268e-02 9.96303070e-01 -8.33528347e-03 -3.58272962e+01] [-6.05948346e-02 3.15054926e-03 9.98157473e-01 -1.85707314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26071405700003 meters 0.03882279830766697 Centerline is valid? [True, True] Translation: X:281.17, Y:-35.84, Z:-18.57 [[ 9.94745169e-01 8.12806036e-02 6.22536113e-02 2.81168184e+02] [-8.08987270e-02 9.96684925e-01 -8.63459100e-03 -3.58394656e+01] [-6.27490607e-02 3.55297977e-03 9.98023012e-01 -1.85723902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32071405700003 meters 0.03765567199955061 Centerline is valid? [True, True] Translation: X:281.23, Y:-35.85, Z:-18.58 [[ 9.95150889e-01 7.68349866e-02 6.14092304e-02 2.81227770e+02] [-7.64549698e-02 9.97036652e-01 -8.51772203e-03 -3.58495507e+01] [-6.18817126e-02 3.78137780e-03 9.98076327e-01 -1.85775188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38071405700003 meters 0.04096695988035493 Centerline is valid? [True, True] Translation: X:281.29, Y:-35.87, Z:-18.58 [[ 9.95477451e-01 7.28440688e-02 6.09785781e-02 2.81285627e+02] [-7.24619088e-02 9.97335315e-01 -8.45815239e-03 -3.58666082e+01] [-6.14322156e-02 4.00127581e-03 9.98103237e-01 -1.85811196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44071405700004 meters 0.04745872026251501 Centerline is valid? [True, True] Translation: X:281.34, Y:-35.89, Z:-18.59 [[ 9.95906512e-01 6.73841298e-02 6.02461475e-02 2.81343087e+02] [-6.70010963e-02 9.97717896e-01 -8.35777971e-03 -3.58873274e+01] [-6.06718413e-02 4.28700930e-03 9.98148561e-01 -1.85856161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50071405700004 meters 0.043460812735323075 Centerline is valid? [True, True] Translation: X:281.40, Y:-35.89, Z:-18.59 [[ 9.96137276e-01 6.41512946e-02 5.99594765e-02 2.81404163e+02] [-6.37657694e-02 9.97930184e-01 -8.32317805e-03 -3.58888077e+01] [-6.03693140e-02 4.46766576e-03 9.98166111e-01 -1.85883387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56071405700004 meters 0.04462522940650675 Centerline is valid? [True, True] Translation: X:281.46, Y:-35.90, Z:-18.59 [[ 9.96291245e-01 6.22456833e-02 5.94073305e-02 2.81463895e+02] [-6.18638430e-02 9.98050526e-01 -8.24699236e-03 -3.58984882e+01] [-5.98048571e-02 4.54124051e-03 9.98199758e-01 -1.85926313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62071405700004 meters 0.04463974910537657 Centerline is valid? [True, True] Translation: X:281.53, Y:-35.90, Z:-18.60 [[ 9.96415501e-01 6.10701818e-02 5.85370205e-02 2.81525154e+02] [-6.06974591e-02 9.98123132e-01 -8.12600375e-03 -3.59048560e+01] [-5.89234107e-02 4.54382769e-03 9.98252165e-01 -1.85962767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68071405700005 meters 0.043983603578455786 Centerline is valid? [True, True] Translation: X:281.59, Y:-35.91, Z:-18.60 [[ 9.96440343e-01 6.04228651e-02 5.87853828e-02 2.81586755e+02] [-6.00450210e-02 9.98162198e-01 -8.17445677e-03 -3.59112090e+01] [-5.91712710e-02 4.61558896e-03 9.98237175e-01 -1.85990133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74071405700005 meters 0.0701943339050395 Centerline is valid? [True, True] Translation: X:281.64, Y:-35.96, Z:-18.60 [[ 9.96464744e-01 6.08252834e-02 5.79508288e-02 2.81642938e+02] [-6.04579229e-02 9.98138099e-01 -8.07312130e-03 -3.59567707e+01] [-5.83339800e-02 4.54099401e-03 9.98286796e-01 -1.86049926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80071405700005 meters 0.04801610388527679 Centerline is valid? [True, True] Translation: X:281.71, Y:-35.93, Z:-18.61 [[ 9.96826941e-01 5.50978919e-02 5.74480008e-02 2.81708174e+02] [-5.47264459e-02 9.98469174e-01 -8.02031352e-03 -3.59315660e+01] [-5.78019602e-02 4.85093968e-03 9.98316283e-01 -1.86065967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86071405700005 meters 0.05250063628294027 Centerline is valid? [True, True] Translation: X:281.77, Y:-35.94, Z:-18.61 [[ 9.97001378e-01 5.29643260e-02 5.64183694e-02 2.81766964e+02] [-5.26026303e-02 9.98584449e-01 -7.87788411e-03 -3.59447876e+01] [-5.67557532e-02 4.88650668e-03 9.98376135e-01 -1.86113598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92071405700005 meters 0.05053707839292065 Centerline is valid? [True, True] Translation: X:281.83, Y:-35.95, Z:-18.61 [[ 9.97015451e-01 5.26908631e-02 5.64257332e-02 2.81829604e+02] [-5.23287479e-02 9.98598846e-01 -7.87698865e-03 -3.59477356e+01] [-5.67617173e-02 4.90079142e-03 9.98375726e-01 -1.86143762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98071405700006 meters 0.053164060212591284 Centerline is valid? [True, True] Translation: X:281.89, Y:-35.96, Z:-18.62 [[ 9.96977562e-01 5.33479875e-02 5.64777194e-02 2.81889992e+02] [-5.29854298e-02 9.98564047e-01 -7.89864787e-03 -3.59553793e+01] [-5.68179970e-02 4.88227847e-03 9.98372615e-01 -1.86190432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04071405700006 meters 0.05511293823237866 Centerline is valid? [True, True] Translation: X:281.95, Y:-35.96, Z:-18.62 [[ 9.96884240e-01 5.44299056e-02 5.70893876e-02 2.81950051e+02] [-5.40603495e-02 9.98505631e-01 -7.99897919e-03 -3.59607326e+01] [-5.74394587e-02 4.88778404e-03 9.98337026e-01 -1.86212368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10071405700006 meters 0.05454279925041744 Centerline is valid? [True, True] Translation: X:282.01, Y:-35.96, Z:-18.62 [[ 9.96622076e-01 5.73769560e-02 5.87564626e-02 2.82010577e+02] [-5.69904821e-02 9.98340769e-01 -8.23367866e-03 -3.59642099e+01] [-5.91313954e-02 4.85730680e-03 9.98238391e-01 -1.86241553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16071405700006 meters 0.05102341258776932 Centerline is valid? [True, True] Translation: X:282.07, Y:-35.96, Z:-18.63 [[ 9.96557380e-01 5.90270987e-02 5.82167493e-02 2.82072758e+02] [-5.86504985e-02 9.98245243e-01 -8.15802114e-03 -3.59628418e+01] [-5.85961374e-02 4.71549481e-03 9.98270633e-01 -1.86270896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22071405700007 meters 0.04406857157691373 Centerline is valid? [True, True] Translation: X:282.14, Y:-35.96, Z:-18.63 [[ 9.96436323e-01 6.21954851e-02 5.69769790e-02 2.82135354e+02] [-6.18397998e-02 9.98054135e-01 -7.98635472e-03 -3.59556155e+01] [-5.73628247e-02 4.43444895e-03 9.98343549e-01 -1.86310290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28071405700007 meters 0.050927205087057996 Centerline is valid? [True, True] Translation: X:282.19, Y:-35.97, Z:-18.64 [[ 9.96356062e-01 6.38227180e-02 5.65796644e-02 2.82194426e+02] [-6.34745396e-02 9.97951940e-01 -7.93152300e-03 -3.59697117e+01] [-5.69699971e-02 4.31125287e-03 9.98366582e-01 -1.86362900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34071405700007 meters 0.05101385042936801 Centerline is valid? [True, True] Translation: X:282.26, Y:-35.98, Z:-18.64 [[ 9.96295967e-01 6.50756217e-02 5.62095215e-02 2.82256040e+02] [-6.47339448e-02 9.97871445e-01 -7.88009762e-03 -3.59760383e+01] [-5.66026787e-02 4.21224541e-03 9.98387897e-01 -1.86399604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.400714057 meters 0.04608106205027658 Centerline is valid? [True, True] Translation: X:282.32, Y:-35.97, Z:-18.64 [[ 9.96224904e-01 6.58168476e-02 5.66046187e-02 2.82319265e+02] [-6.54707705e-02 9.97822827e-01 -7.94883641e-03 -3.59725956e+01] [-5.70045480e-02 4.21288079e-03 9.98365030e-01 -1.86421497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.460714057 meters 0.04438493560205333 Centerline is valid? [True, True] Translation: X:282.38, Y:-35.98, Z:-18.65 [[ 9.96170203e-01 6.60652426e-02 5.72739951e-02 2.82382673e+02] [-6.57105156e-02 9.97806201e-01 -8.05690377e-03 -3.59757514e+01] [-5.76806287e-02 4.26254371e-03 9.98325987e-01 -1.86455497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.520714057 meters 0.04985680954718285 Centerline is valid? [True, True] Translation: X:282.44, Y:-35.99, Z:-18.65 [[ 9.96218520e-01 6.57846206e-02 5.67542367e-02 2.82442412e+02] [-6.54349074e-02 9.97824767e-01 -8.00040838e-03 -3.59897104e+01] [-5.71570869e-02 4.25644677e-03 9.98356124e-01 -1.86509944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.580714057 meters 0.0478831457442493 Centerline is valid? [True, True] Translation: X:282.50, Y:-35.99, Z:-18.65 [[ 9.96325948e-01 6.54711332e-02 5.52099305e-02 2.82504589e+02] [-6.51390510e-02 9.97845750e-01 -7.79506964e-03 -3.59907856e+01] [-5.56013466e-02 4.17010767e-03 9.98444340e-01 -1.86540688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.640714057 meters 0.049010110029446226 Centerline is valid? [True, True] Translation: X:282.57, Y:-36.00, Z:-18.66 [[ 9.96237175e-01 6.66324081e-02 5.54221337e-02 2.82565728e+02] [-6.62988516e-02 9.97769029e-01 -7.83752809e-03 -3.59985608e+01] [-5.58207219e-02 4.13361303e-03 9.98432251e-01 -1.86579899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.700714057 meters 0.048097515417445565 Centerline is valid? [True, True] Translation: X:282.63, Y:-36.00, Z:-18.66 [[ 9.96159716e-01 6.72175390e-02 5.61036850e-02 2.82628120e+02] [-6.68757981e-02 9.97729645e-01 -7.94877187e-03 -3.60048667e+01] [-5.65106066e-02 4.16626761e-03 9.98393306e-01 -1.86612482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76071405700003 meters 0.04933527425713266 Centerline is valid? [True, True] Translation: X:282.69, Y:-36.01, Z:-18.66 [[ 9.96024406e-01 6.94742413e-02 5.57558380e-02 2.82688023e+02] [-6.91399348e-02 9.97575652e-01 -7.90498392e-03 -3.60090977e+01] [-5.61698592e-02 4.01860190e-03 9.98413140e-01 -1.86639379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82071405700003 meters 0.0500105954609501 Centerline is valid? [True, True] Translation: X:282.75, Y:-36.02, Z:-18.67 [[ 9.95895161e-01 7.07494458e-02 5.64565642e-02 2.82749901e+02] [-7.04088090e-02 9.97486119e-01 -8.00257564e-03 -3.60155986e+01] [-5.68808170e-02 3.99468691e-03 9.98372984e-01 -1.86671177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88071405700003 meters 0.0429058592398748 Centerline is valid? [True, True] Translation: X:282.81, Y:-36.01, Z:-18.67 [[ 9.95917507e-01 7.02250725e-02 5.67164726e-02 2.82812701e+02] [-6.98796881e-02 9.97522924e-01 -8.05259670e-03 -3.60119062e+01] [-5.71414758e-02 4.05639262e-03 9.98357850e-01 -1.86702362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94071405700004 meters 0.046152466742699155 Centerline is valid? [True, True] Translation: X:282.87, Y:-36.02, Z:-18.67 [[ 9.96243419e-01 6.60147090e-02 5.60456001e-02 2.82872077e+02] [-6.56700028e-02 9.97809549e-01 -7.97206221e-03 -3.60207564e+01] [-5.64491083e-02 4.26159979e-03 9.98396383e-01 -1.86739140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00071405700004 meters 0.04918705309543136 Centerline is valid? [True, True] Translation: X:282.93, Y:-36.03, Z:-18.68 [[ 9.96588121e-01 6.15195090e-02 5.50224268e-02 2.82931768e+02] [-6.11804812e-02 9.98096034e-01 -7.82657606e-03 -3.60304103e+01] [-5.53991531e-02 4.43357419e-03 9.98454444e-01 -1.86780306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06071405700004 meters 0.05369006998136076 Centerline is valid? [True, True] Translation: X:282.99, Y:-36.04, Z:-18.68 [[ 9.96790482e-01 5.79019369e-02 5.52820107e-02 2.82989486e+02] [-5.75540425e-02 9.98311404e-01 -7.86588858e-03 -3.60443913e+01] [-5.56441120e-02 4.65893967e-03 9.98439796e-01 -1.86831629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12071405700004 meters 0.05647631789375275 Centerline is valid? [True, True] Translation: X:283.05, Y:-36.05, Z:-18.69 [[ 9.96981069e-01 5.52590008e-02 5.45453165e-02 2.83049301e+02] [-5.49163774e-02 9.98460790e-01 -7.76156436e-03 -3.60543830e+01] [-5.48902561e-02 4.74270155e-03 9.98481130e-01 -1.86862637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18071405700005 meters 0.059628892679910506 Centerline is valid? [True, True] Translation: X:283.11, Y:-36.06, Z:-18.69 [[ 9.97100128e-01 5.26936835e-02 5.49063871e-02 2.83108904e+02] [-5.23426164e-02 9.98598618e-01 -7.81348082e-03 -3.60634708e+01] [-5.52411633e-02 4.91687876e-03 9.98460935e-01 -1.86888027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24071405700005 meters 0.05574490571051225 Centerline is valid? [True, True] Translation: X:283.17, Y:-36.06, Z:-18.69 [[ 9.97169337e-01 5.02387885e-02 5.59408479e-02 2.83170576e+02] [-4.98705110e-02 9.98723964e-01 -7.96086750e-03 -3.60637752e+01] [-5.62694097e-02 5.14853429e-03 9.98402347e-01 -1.86905346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30071405700005 meters 0.05009805059922547 Centerline is valid? [True, True] Translation: X:283.23, Y:-36.06, Z:-18.69 [[ 9.97262953e-01 4.87271684e-02 5.56081519e-02 2.83232404e+02] [-4.83608840e-02 9.98798571e-01 -7.91445521e-03 -3.60601886e+01] [-5.59269917e-02 5.20353358e-03 9.98421301e-01 -1.86926316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36071405700005 meters 0.06415986392193028 Centerline is valid? [True, True] Translation: X:283.29, Y:-36.08, Z:-18.70 [[ 9.97253257e-01 4.86647930e-02 5.58361852e-02 2.83290542e+02] [-4.82954394e-02 9.98801486e-01 -7.94616213e-03 -3.60845848e+01] [-5.61559631e-02 5.22770296e-03 9.98408323e-01 -1.86978631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42071405700005 meters 0.052570899484000656 Centerline is valid? [True, True] Translation: X:283.35, Y:-36.07, Z:-18.70 [[ 9.97303369e-01 4.85356279e-02 5.50480073e-02 2.83354720e+02] [-4.81757504e-02 9.98808054e-01 -7.84656583e-03 -3.60748731e+01] [-5.53632311e-02 5.17342747e-03 9.98452877e-01 -1.87010105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48071405700006 meters 0.048844521212457845 Centerline is valid? [True, True] Translation: X:283.42, Y:-36.07, Z:-18.70 [[ 9.97468572e-01 4.68729800e-02 5.34730843e-02 2.83417118e+02] [-4.65302366e-02 9.98887685e-01 -7.63737273e-03 -3.60711613e+01] [-5.37715919e-02 5.12992401e-03 9.98540084e-01 -1.87030408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54071405700006 meters 0.05682850868727305 Centerline is valid? [True, True] Translation: X:283.48, Y:-36.09, Z:-18.71 [[ 9.97533282e-01 4.58535881e-02 5.31488512e-02 2.83476160e+02] [-4.55135091e-02 9.98934873e-01 -7.59203801e-03 -3.60872151e+01] [-5.34403631e-02 5.15431987e-03 9.98557740e-01 -1.87082479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60071405700006 meters 0.05692593377650948 Centerline is valid? [True, True] Translation: X:283.54, Y:-36.09, Z:-18.71 [[ 9.97414293e-01 4.61389071e-02 5.50992608e-02 2.83538739e+02] [-4.57733741e-02 9.98920782e-01 -7.87842792e-03 -3.60926109e+01] [-5.54032987e-02 5.33597755e-03 9.98449799e-01 -1.87096068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66071405700006 meters 0.051712593637600605 Centerline is valid? [True, True] Translation: X:283.60, Y:-36.09, Z:-18.71 [[ 9.97345434e-01 4.70652852e-02 5.55602758e-02 2.83602072e+02] [-4.66948281e-02 9.98877582e-01 -7.94785053e-03 -3.60905241e+01] [-5.58719819e-02 5.33237491e-03 9.98423701e-01 -1.87116415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72071405700007 meters 0.05123696820355131 Centerline is valid? [True, True] Translation: X:283.66, Y:-36.10, Z:-18.72 [[ 9.97332795e-01 4.76739868e-02 5.52674056e-02 2.83663651e+02] [-4.73075747e-02 9.98848971e-01 -7.91998486e-03 -3.60972553e+01] [-5.55813685e-02 5.28429373e-03 9.98440177e-01 -1.87175657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78071405700007 meters 0.05118745024886105 Centerline is valid? [True, True] Translation: X:283.72, Y:-36.10, Z:-18.72 [[ 9.97489272e-01 4.64096128e-02 5.34911191e-02 2.83724409e+02] [-4.60637706e-02 9.98908971e-01 -7.68093009e-03 -3.61047432e+01] [-5.37892277e-02 5.19764273e-03 9.98538784e-01 -1.87225648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84071405700007 meters 0.058180737136927216 Centerline is valid? [True, True] Translation: X:283.78, Y:-36.12, Z:-18.73 [[ 9.97710725e-01 4.34053530e-02 5.18583113e-02 2.83782212e+02] [-4.30761968e-02 9.99044022e-01 -7.44865794e-03 -3.61199951e+01] [-5.21320475e-02 5.19774709e-03 9.98626674e-01 -1.87282173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.900714057 meters 0.051968991991343146 Centerline is valid? [True, True] Translation: X:283.85, Y:-36.12, Z:-18.73 [[ 9.97676679e-01 4.45185002e-02 5.15688514e-02 2.83845023e+02] [-4.41944957e-02 9.98995488e-01 -7.40685828e-03 -3.61174585e+01] [-5.18467921e-02 5.11059040e-03 9.98641974e-01 -1.87312208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.960714057 meters 0.05564919339343715 Centerline is valid? [True, True] Translation: X:283.90, Y:-36.13, Z:-18.74 [[ 9.97540461e-01 4.79396370e-02 5.11353100e-02 2.83903709e+02] [-4.76253186e-02 9.98838241e-01 -7.34835477e-03 -3.61284487e+01] [-5.14281806e-02 4.89494577e-03 9.98664699e-01 -1.87351155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.020714057 meters 0.049517174343213365 Centerline is valid? [True, True] Translation: X:283.97, Y:-36.12, Z:-18.74 [[ 9.97235560e-01 5.38713851e-02 5.11772492e-02 2.83965571e+02] [-5.35643502e-02 9.98537326e-01 -7.35315175e-03 -3.61229155e+01] [-5.14985180e-02 4.59154831e-03 9.98662516e-01 -1.87363864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.080714057 meters 0.05175135796392982 Centerline is valid? [True, True] Translation: X:284.02, Y:-36.13, Z:-18.74 [[ 9.96735723e-01 6.02860848e-02 5.36981027e-02 2.84023826e+02] [-5.99572283e-02 9.98171127e-01 -7.71568944e-03 -3.61328105e+01] [-5.40650444e-02 4.47091389e-03 9.98527407e-01 -1.87391049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.140714057 meters 0.049126499368244946 Centerline is valid? [True, True] Translation: X:284.08, Y:-36.13, Z:-18.74 [[ 9.96387305e-01 6.53452548e-02 5.42433003e-02 2.84084897e+02] [-6.50171821e-02 9.97853715e-01 -7.79285900e-03 -3.61339510e+01] [-5.46361051e-02 4.23795925e-03 9.98497339e-01 -1.87409622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.200714057 meters 0.042712305399079935 Centerline is valid? [True, True] Translation: X:284.15, Y:-36.13, Z:-18.75 [[ 9.96165545e-01 6.95448986e-02 5.30821532e-02 2.84146064e+02] [-6.92366656e-02 9.97571115e-01 -7.62594086e-03 -3.61313519e+01] [-5.34835680e-02 3.92146824e-03 9.98561030e-01 -1.87462381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26071405700003 meters 0.04441756999894782 Centerline is valid? [True, True] Translation: X:284.20, Y:-36.14, Z:-18.75 [[ 9.95924805e-01 7.36461420e-02 5.20579430e-02 2.84204228e+02] [-7.33552573e-02 9.97277830e-01 -7.47905756e-03 -3.61431649e+01] [-5.24670362e-02 3.62985513e-03 9.98616060e-01 -1.87519950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32071405700003 meters 0.0395247936343815 Centerline is valid? [True, True] Translation: X:284.27, Y:-36.14, Z:-18.75 [[ 9.95173891e-01 8.31371687e-02 5.21261685e-02 2.84266677e+02] [-8.28585353e-02 9.96533191e-01 -7.48754278e-03 -3.61381371e+01] [-5.25679501e-02 3.13230910e-03 9.98612437e-01 -1.87526150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38071405700003 meters 0.03699719961291997 Centerline is valid? [True, True] Translation: X:284.33, Y:-36.14, Z:-18.76 [[ 9.94278396e-01 9.17999282e-02 5.46190830e-02 2.84327219e+02] [-9.15069879e-02 9.95773528e-01 -7.84555746e-03 -3.61389610e+01] [-5.51084586e-02 2.80264052e-03 9.98476441e-01 -1.87551417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44071405700004 meters 0.033740992624189246 Centerline is valid? [True, True] Translation: X:284.39, Y:-36.14, Z:-18.76 [[ 9.94034059e-01 9.33773147e-02 5.63645827e-02 2.84386470e+02] [-9.30678445e-02 9.95626849e-01 -8.09647446e-03 -3.61421073e+01] [-5.68741190e-02 2.80244115e-03 9.98377424e-01 -1.87576408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50071405700004 meters 0.03498629504255079 Centerline is valid? [True, True] Translation: X:284.45, Y:-36.15, Z:-18.76 [[ 9.94379849e-01 8.95056940e-02 5.65459758e-02 2.84445660e+02] [-8.91881764e-02 9.95981701e-01 -8.11919868e-03 -3.61516114e+01] [-5.70454717e-02 3.03033509e-03 9.98366982e-01 -1.87600218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56071405700004 meters 0.03813358319942619 Centerline is valid? [True, True] Translation: X:284.50, Y:-36.17, Z:-18.76 [[ 9.94914058e-01 8.30754604e-02 5.69603747e-02 2.84504377e+02] [-8.27428317e-02 9.96537381e-01 -8.17753066e-03 -3.61692312e+01] [-5.74424947e-02 3.42287752e-03 9.98342949e-01 -1.87647000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62071405700004 meters 0.03839617077877388 Centerline is valid? [True, True] Translation: X:284.56, Y:-36.18, Z:-18.77 [[ 9.95167590e-01 8.02915280e-02 5.65220133e-02 2.84563335e+02] [-7.99595232e-02 9.96765080e-01 -8.11480728e-03 -3.61793258e+01] [-5.69907194e-02 3.55611997e-03 9.98368375e-01 -1.87688534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68071405700005 meters 0.042495541404219406 Centerline is valid? [True, True] Translation: X:284.62, Y:-36.20, Z:-18.77 [[ 9.95772777e-01 7.42013873e-02 5.41362177e-02 2.84620147e+02] [-7.38879570e-02 9.97236271e-01 -7.77111326e-03 -3.61967811e+01] [-5.45632273e-02 3.73824851e-03 9.98503320e-01 -1.87745314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74071405700005 meters 0.04141112301367682 Centerline is valid? [True, True] Translation: X:284.68, Y:-36.21, Z:-18.78 [[ 9.96088127e-01 7.07872035e-02 5.28924933e-02 2.84679752e+02] [-7.04832122e-02 9.97484066e-01 -7.59307550e-03 -3.62055337e+01] [-5.32969118e-02 3.83533952e-03 9.98571344e-01 -1.87793720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80071405700005 meters 0.04366333237828011 Centerline is valid? [True, True] Translation: X:284.74, Y:-36.22, Z:-18.78 [[ 9.96198310e-01 6.88317600e-02 5.33958377e-02 2.84738539e+02] [-6.85191800e-02 9.97620354e-01 -7.66489353e-03 -3.62179360e+01] [-5.37963627e-02 3.97711497e-03 9.98544007e-01 -1.87830303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86071405700005 meters 0.04677339622057822 Centerline is valid? [True, True] Translation: X:284.80, Y:-36.23, Z:-18.79 [[ 9.96144707e-01 6.81845497e-02 5.51959238e-02 2.84796627e+02] [-6.78495536e-02 9.97664106e-01 -7.92276050e-03 -3.62305660e+01] [-5.56072019e-02 4.14719714e-03 9.98444110e-01 -1.87852303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92071405700005 meters 0.049384192533046004 Centerline is valid? [True, True] Translation: X:284.86, Y:-36.24, Z:-18.79 [[ 9.96234804e-01 6.57244816e-02 5.65376746e-02 2.84855627e+02] [-6.53690076e-02 9.97828154e-01 -8.11596299e-03 -3.62432876e+01] [-5.69483009e-02 4.38959312e-03 9.98367479e-01 -1.87882481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98071405700006 meters 0.04442622631045194 Centerline is valid? [True, True] Translation: X:284.92, Y:-36.25, Z:-18.79 [[ 9.96387045e-01 6.24219199e-02 5.75878519e-02 2.84917027e+02] [-6.20475636e-02 9.98038950e-01 -8.26769481e-03 -3.62453364e+01] [-5.79910046e-02 4.66463809e-03 9.98306208e-01 -1.87907080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04071405700006 meters 0.04688022968379734 Centerline is valid? [True, True] Translation: X:284.98, Y:-36.26, Z:-18.80 [[ 9.96752904e-01 5.81224829e-02 5.57263406e-02 2.84976904e+02] [-5.77652361e-02 9.98298128e-01 -8.00158509e-03 -3.62579730e+01] [-5.60965735e-02 4.75655796e-03 9.98414017e-01 -1.87967626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10071405700006 meters 0.0466820731702376 Centerline is valid? [True, True] Translation: X:285.04, Y:-36.27, Z:-18.80 [[ 9.96888935e-01 5.63171127e-02 5.51437523e-02 2.85037218e+02] [-5.59644847e-02 9.98401352e-01 -7.91940886e-03 -3.62674896e+01] [-5.55015950e-02 4.80867938e-03 9.98447019e-01 -1.88019300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16071405700006 meters 0.048925296708370855 Centerline is valid? [True, True] Translation: X:285.10, Y:-36.28, Z:-18.81 [[ 9.96902861e-01 5.67142532e-02 5.44810054e-02 2.85097929e+02] [-5.63706643e-02 9.98379254e-01 -7.82396162e-03 -3.62795614e+01] [-5.48364356e-02 4.72859926e-03 9.98484154e-01 -1.88078519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22071405700007 meters 0.04694885761772529 Centerline is valid? [True, True] Translation: X:285.16, Y:-36.28, Z:-18.81 [[ 9.96500089e-01 6.31493913e-02 5.47697552e-02 2.85158333e+02] [-6.28108259e-02 9.97994319e-01 -7.88282069e-03 -3.62823274e+01] [-5.51576999e-02 4.41509797e-03 9.98467894e-01 -1.88102593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28071405700007 meters 0.040576282642198945 Centerline is valid? [True, True] Translation: X:285.22, Y:-36.28, Z:-18.81 [[ 9.95883493e-01 7.15475094e-02 5.56508985e-02 2.85220346e+02] [-7.12109600e-02 9.97429117e-01 -8.00974502e-03 -3.62767836e+01] [-5.60809038e-02 4.01381894e-03 9.98418160e-01 -1.88119346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34071405700007 meters 0.04314437011945772 Centerline is valid? [True, True] Translation: X:285.28, Y:-36.29, Z:-18.82 [[ 9.95299604e-01 7.86412168e-02 5.65177701e-02 2.85278521e+02] [-7.83054071e-02 9.96896223e-01 -8.13534113e-03 -3.62859812e+01] [-5.69821246e-02 3.67145481e-03 9.98368448e-01 -1.88158377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.400714057 meters 0.03712444857161863 Centerline is valid? [True, True] Translation: X:285.34, Y:-36.28, Z:-18.82 [[ 9.94984362e-01 8.22332898e-02 5.69544139e-02 2.85339480e+02] [-8.18982473e-02 9.96606995e-01 -8.19596712e-03 -3.62807846e+01] [-5.74351487e-02 3.49039244e-03 9.98343138e-01 -1.88178553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.460714057 meters 0.03554133587769966 Centerline is valid? [True, True] Translation: X:285.40, Y:-36.28, Z:-18.82 [[ 9.94787180e-01 8.56547869e-02 5.53328555e-02 2.85399729e+02] [-8.53439525e-02 9.96319747e-01 -7.96065635e-03 -3.62832218e+01] [-5.58110849e-02 3.19683428e-03 9.98436229e-01 -1.88232682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.520714057 meters 0.03586813125724268 Centerline is valid? [True, True] Translation: X:285.46, Y:-36.29, Z:-18.83 [[ 9.94547305e-01 8.88217291e-02 5.46475798e-02 2.85458260e+02] [-8.85233614e-02 9.96043079e-01 -7.86124534e-03 -3.62908950e+01] [-5.51295931e-02 2.98079291e-03 9.98474758e-01 -1.88283694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.580714057 meters 0.03649947703255144 Centerline is valid? [True, True] Translation: X:285.52, Y:-36.30, Z:-18.83 [[ 9.94148244e-01 9.23665843e-02 5.60150288e-02 2.85517070e+02] [-9.20588016e-02 9.95720985e-01 -8.05588012e-03 -3.62959061e+01] [-5.65194337e-02 2.85206266e-03 9.98397426e-01 -1.88302631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.640714057 meters 0.033284490417587104 Centerline is valid? [True, True] Translation: X:285.58, Y:-36.30, Z:-18.83 [[ 9.93740075e-01 9.51204514e-02 5.85897791e-02 2.85576925e+02] [-9.47885830e-02 9.95461783e-01 -8.42400323e-03 -3.62992811e+01] [-5.91251809e-02 2.81762747e-03 9.98246600e-01 -1.88323563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.700714057 meters 0.03373130782996919 Centerline is valid? [True, True] Translation: X:285.63, Y:-36.31, Z:-18.84 [[ 9.93843499e-01 9.48959071e-02 5.71827435e-02 2.85634443e+02] [-9.45795391e-02 9.95483372e-01 -8.21991805e-03 -3.63084974e+01] [-5.77045069e-02 2.76099459e-03 9.98329889e-01 -1.88372281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76071405700003 meters 0.03361374726271224 Centerline is valid? [True, True] Translation: X:285.69, Y:-36.32, Z:-18.84 [[ 9.94105290e-01 9.33000659e-02 5.52247163e-02 2.85693031e+02] [-9.30027937e-02 9.95634234e-01 -7.93431570e-03 -3.63167723e+01] [-5.57238902e-02 2.75149232e-03 9.98442426e-01 -1.88422101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82071405700003 meters 0.03585343117452741 Centerline is valid? [True, True] Translation: X:285.75, Y:-36.33, Z:-18.85 [[ 9.94473427e-01 9.00170130e-02 5.40327715e-02 2.85751015e+02] [-8.97277327e-02 9.95936093e-01 -7.76096377e-03 -3.63302107e+01] [-5.45118062e-02 2.86983416e-03 9.98509002e-01 -1.88471405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88071405700003 meters 0.035559911096163396 Centerline is valid? [True, True] Translation: X:285.81, Y:-36.34, Z:-18.85 [[ 9.94616558e-01 8.87097175e-02 5.35582748e-02 2.85808726e+02] [-8.84236341e-02 9.96053255e-01 -7.69241205e-03 -3.63391407e+01] [-5.40292857e-02 2.91518310e-03 9.98535096e-01 -1.88508507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94071405700004 meters 0.03501944639790346 Centerline is valid? [True, True] Translation: X:285.87, Y:-36.35, Z:-18.85 [[ 9.94634435e-01 8.82448106e-02 5.39925408e-02 2.85867352e+02] [-8.79535928e-02 9.96094418e-01 -7.75090657e-03 -3.63467897e+01] [-5.44656457e-02 2.96048063e-03 9.98511256e-01 -1.88546797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00071405700004 meters 0.034993950088728534 Centerline is valid? [True, True] Translation: X:285.93, Y:-36.36, Z:-18.86 [[ 9.94521794e-01 8.88307850e-02 5.50953092e-02 2.85925826e+02] [-8.85286673e-02 9.96042261e-01 -7.90497360e-03 -3.63552688e+01] [-5.55794614e-02 2.98415423e-03 9.98449808e-01 -1.88587400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06071405700004 meters 0.03478506341104708 Centerline is valid? [True, True] Translation: X:285.98, Y:-36.36, Z:-18.86 [[ 9.94369293e-01 8.95053909e-02 5.67317705e-02 2.85984253e+02] [-8.91863053e-02 9.95981725e-01 -8.13671604e-03 -3.63635776e+01] [-5.72320866e-02 3.03120357e-03 9.98356299e-01 -1.88619071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12071405700004 meters 0.036114451287937006 Centerline is valid? [True, True] Translation: X:286.04, Y:-36.38, Z:-18.86 [[ 9.94468511e-01 8.79935048e-02 5.73543743e-02 2.86041571e+02] [-8.76651081e-02 9.96116073e-01 -8.22177743e-03 -3.63762212e+01] [-5.78550772e-02 3.14832132e-03 9.98320028e-01 -1.88645903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18071405700005 meters 0.03836505724644472 Centerline is valid? [True, True] Translation: X:286.10, Y:-36.39, Z:-18.87 [[ 9.94929701e-01 8.33683271e-02 5.62548896e-02 2.86098870e+02] [-8.30452966e-02 9.96513180e-01 -8.05982706e-03 -3.63925748e+01] [-5.67306732e-02 3.34725734e-03 9.98383907e-01 -1.88684293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24071405700005 meters 0.04078294231536613 Centerline is valid? [True, True] Translation: X:286.16, Y:-36.41, Z:-18.87 [[ 9.95451978e-01 7.75785127e-02 5.52895412e-02 2.86157710e+02] [-7.72576671e-02 9.96979700e-01 -7.92020896e-03 -3.64068671e+01] [-5.57369883e-02 3.61264671e-03 9.98438950e-01 -1.88722979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30071405700005 meters 0.0449615931770373 Centerline is valid? [True, True] Translation: X:286.22, Y:-36.42, Z:-18.87 [[ 9.95579967e-01 7.42587383e-02 5.74992957e-02 2.86215259e+02] [-7.39061806e-02 9.97231182e-01 -8.23691048e-03 -3.64229108e+01] [-5.79517532e-02 3.95094974e-03 9.98311567e-01 -1.88745622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36071405700005 meters 0.04086509763234702 Centerline is valid? [True, True] Translation: X:286.28, Y:-36.43, Z:-18.88 [[ 9.95655678e-01 7.22309470e-02 5.87576418e-02 2.86275216e+02] [-7.18592841e-02 9.97379267e-01 -8.41668930e-03 -3.64268497e+01] [-5.92115992e-02 4.15784242e-03 9.98236795e-01 -1.88763089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42071405700005 meters 0.04580356863182862 Centerline is valid? [True, True] Translation: X:286.33, Y:-36.44, Z:-18.88 [[ 9.95893844e-01 6.94918430e-02 5.80201353e-02 2.86332734e+02] [-6.91249715e-02 9.97573406e-01 -8.30885625e-03 -3.64438361e+01] [-5.84567417e-02 4.26409859e-03 9.98280836e-01 -1.88814774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48071405700006 meters 0.046070884631620165 Centerline is valid? [True, True] Translation: X:286.39, Y:-36.45, Z:-18.89 [[ 9.96076134e-01 6.69916542e-02 5.78312432e-02 2.86392268e+02] [-6.66230567e-02 9.97743855e-01 -8.28055138e-03 -3.64546790e+01] [-5.82554953e-02 4.39516542e-03 9.98292031e-01 -1.88860075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54071405700006 meters 0.04417868343744067 Centerline is valid? [True, True] Translation: X:286.45, Y:-36.46, Z:-18.89 [[ 9.96197640e-01 6.50576784e-02 5.79461794e-02 2.86452951e+02] [-6.46843092e-02 9.97871277e-01 -8.29791287e-03 -3.64629629e+01] [-5.83626709e-02 4.51815264e-03 9.98285222e-01 -1.88900596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60071405700006 meters 0.04853413142082555 Centerline is valid? [True, True] Translation: X:286.51, Y:-36.48, Z:-18.89 [[ 9.96465216e-01 6.08468232e-02 5.79200994e-02 2.86511058e+02] [-6.04665868e-02 9.98135742e-01 -8.29657571e-03 -3.64790470e+01] [-5.83169416e-02 4.76501839e-03 9.98286747e-01 -1.88937032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66071405700006 meters 0.04690811186092308 Centerline is valid? [True, True] Translation: X:286.57, Y:-36.49, Z:-18.90 [[ 9.96544159e-01 5.66431654e-02 6.07560007e-02 2.86570600e+02] [-5.62170308e-02 9.98380651e-01 -8.70180162e-03 -3.64885300e+01] [-6.11505131e-02 5.25620761e-03 9.98114716e-01 -1.88960838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72071405700007 meters 0.04900241657045041 Centerline is valid? [True, True] Translation: X:286.63, Y:-36.50, Z:-18.90 [[ 9.96851704e-01 5.21495084e-02 5.97252746e-02 2.86630589e+02] [-5.17297326e-02 9.98624484e-01 -8.55423029e-03 -3.65019580e+01] [-6.00892204e-02 5.43772655e-03 9.98178199e-01 -1.89015425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78071405700007 meters 0.05001775579260794 Centerline is valid? [True, True] Translation: X:286.69, Y:-36.51, Z:-18.91 [[ 9.97112251e-01 4.84207401e-02 5.85029061e-02 2.86690657e+02] [-4.80115367e-02 9.98811620e-01 -8.38089033e-03 -3.65114597e+01] [-5.88391913e-02 5.54787401e-03 9.98252058e-01 -1.89071533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84071405700007 meters 0.05685667318006416 Centerline is valid? [True, True] Translation: X:286.75, Y:-36.53, Z:-18.91 [[ 9.97199151e-01 4.57039832e-02 5.92030405e-02 2.86747522e+02] [-4.52800542e-02 9.98938313e-01 -8.48314976e-03 -3.65311388e+01] [-5.95278992e-02 5.77867286e-03 9.98209916e-01 -1.89125550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.900714057 meters 0.051794817745547894 Centerline is valid? [True, True] Translation: X:286.81, Y:-36.53, Z:-18.92 [[ 9.97336746e-01 4.29120786e-02 5.89743037e-02 2.86808270e+02] [-4.24865187e-02 9.99061292e-01 -8.45165344e-03 -3.65328522e+01] [-5.92816221e-02 5.92353168e-03 9.98223723e-01 -1.89162980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.960714057 meters 0.0582414511412684 Centerline is valid? [True, True] Translation: X:286.87, Y:-36.55, Z:-18.92 [[ 9.97274795e-01 4.41703371e-02 5.90928434e-02 2.86867075e+02] [-4.37452451e-02 9.99006824e-01 -8.46867128e-03 -3.65499290e+01] [-5.94082178e-02 5.86056150e-03 9.98216568e-01 -1.89219741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.020714057 meters 0.05138172189219225 Centerline is valid? [True, True] Translation: X:286.93, Y:-36.55, Z:-18.92 [[ 9.97097536e-01 4.68611615e-02 6.00044599e-02 2.86928409e+02] [-4.64275089e-02 9.98884627e-01 -8.60167849e-03 -3.65468397e+01] [-6.03406171e-02 5.79085483e-03 9.98161047e-01 -1.89244967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.080714057 meters 0.05335288422275197 Centerline is valid? [True, True] Translation: X:286.99, Y:-36.55, Z:-18.93 [[ 9.96833878e-01 5.07826303e-02 6.11828823e-02 2.86987160e+02] [-5.03390385e-02 9.98693672e-01 -8.77096001e-03 -3.65549334e+01] [-6.15483699e-02 5.66330260e-03 9.98088035e-01 -1.89273973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.140714057 meters 0.049551977544442634 Centerline is valid? [True, True] Translation: X:287.05, Y:-36.56, Z:-18.93 [[ 9.96757768e-01 5.31947963e-02 6.03677615e-02 2.87047904e+02] [-5.27674217e-02 9.98569340e-01 -8.65288205e-03 -3.65561411e+01] [-6.07416840e-02 5.43937627e-03 9.98138698e-01 -1.89322422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.200714057 meters 0.04798533198015021 Centerline is valid? [True, True] Translation: X:287.11, Y:-36.56, Z:-18.94 [[ 9.96552614e-01 5.88911274e-02 5.84356253e-02 2.87107800e+02] [-5.85004197e-02 9.98252245e-01 -8.37595050e-03 -3.65578492e+01] [-5.88267633e-02 4.92856676e-03 9.98256040e-01 -1.89384734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26071405700003 meters 0.04557275812708448 Centerline is valid? [True, True] Translation: X:287.17, Y:-36.55, Z:-18.94 [[ 9.96129742e-01 6.73602144e-02 5.64636133e-02 2.87169380e+02] [-6.70089758e-02 9.97719549e-01 -8.09315849e-03 -3.65543255e+01] [-5.68800077e-02 4.27826698e-03 9.98371855e-01 -1.89432238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32071405700003 meters 0.044142726777423626 Centerline is valid? [True, True] Translation: X:287.23, Y:-36.55, Z:-18.95 [[ 9.95414615e-01 7.57414322e-02 5.84207116e-02 2.87229466e+02] [-7.53797331e-02 9.97119742e-01 -8.37355917e-03 -3.65535257e+01] [-5.88866702e-02 3.93142553e-03 9.98256933e-01 -1.89450636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38071405700003 meters 0.042670660715324445 Centerline is valid? [True, True] Translation: X:287.29, Y:-36.55, Z:-18.95 [[ 9.94977723e-01 7.93583963e-02 6.10047143e-02 2.87290937e+02] [-7.89707260e-02 9.96838590e-01 -8.74356518e-03 -3.65518797e+01] [-6.15057287e-02 3.88206599e-03 9.98099181e-01 -1.89461496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44071405700004 meters 0.04387262776454558 Centerline is valid? [True, True] Translation: X:287.35, Y:-36.56, Z:-18.95 [[ 9.94899699e-01 7.94509408e-02 6.21460917e-02 2.87348892e+02] [-7.90487901e-02 9.96830955e-01 -8.90707167e-03 -3.65585423e+01] [-6.26568232e-02 3.94906957e-03 9.98027318e-01 -1.89501747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50071405700004 meters 0.045612590018061436 Centerline is valid? [True, True] Translation: X:287.41, Y:-36.57, Z:-18.96 [[ 9.95356839e-01 7.53993506e-02 5.98306048e-02 2.87408483e+02] [-7.50196188e-02 9.97145222e-01 -8.57105848e-03 -3.65666110e+01] [-6.03060540e-02 4.04279251e-03 9.98171747e-01 -1.89573284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56071405700004 meters 0.04854281065834594 Centerline is valid? [True, True] Translation: X:287.47, Y:-36.58, Z:-18.96 [[ 9.95676709e-01 7.22188086e-02 5.84151900e-02 2.87467930e+02] [-7.18514243e-02 9.97380242e-01 -8.36808318e-03 -3.65777360e+01] [-5.88664893e-02 4.13469093e-03 9.98257302e-01 -1.89619368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62071405700004 meters 0.049337481586453714 Centerline is valid? [True, True] Translation: X:287.53, Y:-36.59, Z:-18.97 [[ 9.96094888e-01 6.69588871e-02 5.75454657e-02 2.87527134e+02] [-6.65936893e-02 9.97746128e-01 -8.24281793e-03 -3.65875876e+01] [-5.79676955e-02 4.37846395e-03 9.98308858e-01 -1.89684623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68071405700005 meters 0.047713031693016224 Centerline is valid? [True, True] Translation: X:287.59, Y:-36.59, Z:-18.97 [[ 9.96242046e-01 6.39626963e-02 5.83999972e-02 2.87587387e+02] [-6.35815023e-02 9.97941598e-01 -8.36420278e-03 -3.65933256e+01] [-5.88147835e-02 4.61961092e-03 9.98258223e-01 -1.89698249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74071405700005 meters 0.04795780077677713 Centerline is valid? [True, True] Translation: X:287.65, Y:-36.60, Z:-18.97 [[ 9.96285784e-01 6.19654408e-02 5.97906474e-02 2.87648360e+02] [-6.15622945e-02 9.98066510e-01 -8.56308518e-03 -3.66014054e+01] [-6.02056581e-02 4.85043059e-03 9.98174209e-01 -1.89713431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80071405700005 meters 0.04732796078989889 Centerline is valid? [True, True] Translation: X:287.71, Y:-36.61, Z:-18.97 [[ 9.96171560e-01 6.21722193e-02 6.14559934e-02 2.87709332e+02] [-6.17465163e-02 9.98053035e-01 -8.80383933e-03 -3.66113264e+01] [-6.18836950e-02 4.97544086e-03 9.98070966e-01 -1.89736388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86071405700005 meters 0.05083484913727725 Centerline is valid? [True, True] Translation: X:287.77, Y:-36.63, Z:-18.98 [[ 9.96131495e-01 6.26974220e-02 6.15717380e-02 2.87769139e+02] [-6.22709868e-02 9.98020285e-01 -8.82235703e-03 -3.66272312e+01] [-6.20029826e-02 4.95409480e-03 9.98063669e-01 -1.89774729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92071405700005 meters 0.05182735902849174 Centerline is valid? [True, True] Translation: X:287.83, Y:-36.64, Z:-18.98 [[ 9.96262799e-01 6.28332936e-02 5.92656098e-02 2.87829980e+02] [-6.24380408e-02 9.98012651e-01 -8.49944147e-03 -3.66398720e+01] [-5.96818762e-02 4.76724879e-03 9.98206064e-01 -1.89836345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98071405700006 meters 0.04810886593422651 Centerline is valid? [True, True] Translation: X:287.89, Y:-36.65, Z:-18.99 [[ 9.96323052e-01 6.23987208e-02 5.87092506e-02 2.87891004e+02] [-6.20092257e-02 9.98039935e-01 -8.43468900e-03 -3.66450166e+01] [-5.91204904e-02 4.76315992e-03 9.98239490e-01 -1.89886032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04071405700006 meters 0.043979086947299136 Centerline is valid? [True, True] Translation: X:287.95, Y:-36.65, Z:-18.99 [[ 9.96393200e-01 6.20010622e-02 5.79349548e-02 2.87951654e+02] [-6.16210026e-02 9.98064897e-01 -8.32547114e-03 -3.66509498e+01] [-5.83390327e-02 4.72543283e-03 9.98285644e-01 -1.89922791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10071405700006 meters 0.049419823301180006 Centerline is valid? [True, True] Translation: X:288.01, Y:-36.67, Z:-19.00 [[ 9.96366137e-01 6.30926284e-02 5.72174928e-02 2.88010982e+02] [-6.27236816e-02 9.97997054e-01 -8.22309588e-03 -3.66681520e+01] [-5.76217060e-02 4.60432248e-03 9.98327872e-01 -1.89968488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16071405700006 meters 0.04710776981534077 Centerline is valid? [True, True] Translation: X:288.07, Y:-36.68, Z:-19.00 [[ 9.96208645e-01 6.43453938e-02 5.85491755e-02 2.88071634e+02] [-6.39602925e-02 9.97916840e-01 -8.42976428e-03 -3.66750742e+01] [-5.89696247e-02 4.65298166e-03 9.98248933e-01 -1.89999196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22071405700007 meters 0.04437506567438084 Centerline is valid? [True, True] Translation: X:288.13, Y:-36.68, Z:-19.00 [[ 9.96062989e-01 6.63320932e-02 5.88096620e-02 2.88132186e+02] [-6.59469342e-02 9.97787197e-01 -8.46821677e-03 -3.66837632e+01] [-5.92412424e-02 4.55656039e-03 9.98233296e-01 -1.90039038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28071405700007 meters 0.04517050301852671 Centerline is valid? [True, True] Translation: X:288.19, Y:-36.69, Z:-19.01 [[ 9.95945944e-01 6.82474084e-02 5.86000636e-02 2.88190941e+02] [-6.78681493e-02 9.97658596e-01 -8.44035962e-03 -3.66948789e+01] [-5.90388899e-02 4.42906406e-03 9.98245858e-01 -1.90073893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34071405700007 meters 0.043702849066469464 Centerline is valid? [True, True] Translation: X:288.25, Y:-36.71, Z:-19.01 [[ 9.95853150e-01 7.11117293e-02 5.67417438e-02 2.88250803e+02] [-7.07608070e-02 9.97459833e-01 -8.17248532e-03 -3.67056231e+01] [-5.71787699e-02 4.12350367e-03 9.98355440e-01 -1.90141909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.400714057 meters 0.04365040060566003 Centerline is valid? [True, True] Translation: X:288.31, Y:-36.72, Z:-19.02 [[ 9.95759263e-01 7.25945963e-02 5.65111898e-02 2.88309542e+02] [-7.22487751e-02 9.97353414e-01 -8.14142105e-03 -3.67152392e+01] [-5.69526512e-02 4.02403118e-03 9.98368771e-01 -1.90188205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.460714057 meters 0.04254888812554337 Centerline is valid? [True, True] Translation: X:288.37, Y:-36.73, Z:-19.02 [[ 9.95407121e-01 7.72458810e-02 5.65485346e-02 2.88369268e+02] [-7.69071906e-02 9.97004990e-01 -8.14457269e-03 -3.67261582e+01] [-5.70083059e-02 3.75817672e-03 9.98366631e-01 -1.90231320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.520714057 meters 0.04121461513001767 Centerline is valid? [True, True] Translation: X:288.43, Y:-36.74, Z:-19.03 [[ 9.94879300e-01 8.26967232e-02 5.81070649e-02 2.88428813e+02] [-8.23483323e-02 9.96568469e-01 -8.36895887e-03 -3.67358802e+01] [-5.85997542e-02 3.54108405e-03 9.98275277e-01 -1.90262994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.580714057 meters 0.03989235089213392 Centerline is valid? [True, True] Translation: X:288.49, Y:-36.75, Z:-19.03 [[ 9.94456476e-01 8.78190632e-02 5.78284572e-02 2.88488090e+02] [-8.74827655e-02 9.96131234e-01 -8.32650712e-03 -3.67460256e+01] [-5.83359584e-02 3.22135556e-03 9.98291810e-01 -1.90309949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.640714057 meters 0.037424254270413085 Centerline is valid? [True, True] Translation: X:288.55, Y:-36.75, Z:-19.03 [[ 9.94307418e-01 8.96756892e-02 5.75415410e-02 2.88546681e+02] [-8.93457979e-02 9.95966203e-01 -8.28559824e-03 -3.67543488e+01] [-5.80524469e-02 3.09733690e-03 9.98308730e-01 -1.90345971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.700714057 meters 0.03726540510109632 Centerline is valid? [True, True] Translation: X:288.60, Y:-36.77, Z:-19.04 [[ 9.94251108e-01 8.96908320e-02 5.84832351e-02 2.88604315e+02] [-8.93503826e-02 9.95964700e-01 -8.41584100e-03 -3.67668812e+01] [-5.90020614e-02 3.14195981e-03 9.98252916e-01 -1.90386898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76071405700003 meters 0.04252487504835328 Centerline is valid? [True, True] Translation: X:288.66, Y:-36.79, Z:-19.04 [[ 9.94299048e-01 8.94064081e-02 5.81024728e-02 2.88659497e+02] [-8.90701223e-02 9.95990296e-01 -8.35725299e-03 -3.67886028e+01] [-5.86166910e-02 3.13441434e-03 9.98275643e-01 -1.90446010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82071405700003 meters 0.03442091854789286 Centerline is valid? [True, True] Translation: X:288.72, Y:-36.79, Z:-19.05 [[ 9.94179003e-01 9.08226357e-02 5.79599685e-02 2.88719638e+02] [-9.04907435e-02 9.95862452e-01 -8.33084397e-03 -3.67876034e+01] [-5.84767855e-02 3.03750951e-03 9.98284147e-01 -1.90468245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88071405700003 meters 0.0344939442542703 Centerline is valid? [True, True] Translation: X:288.78, Y:-36.80, Z:-19.05 [[ 9.93894435e-01 9.30842652e-02 5.92382562e-02 2.88777716e+02] [-9.27417540e-02 9.95653818e-01 -8.51123631e-03 -3.68009495e+01] [-5.97730582e-02 2.96541062e-03 9.98207588e-01 -1.90509510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94071405700004 meters 0.03487663771896717 Centerline is valid? [True, True] Translation: X:288.83, Y:-36.81, Z:-19.06 [[ 9.93662077e-01 9.43604889e-02 6.10882483e-02 2.88834017e+02] [-9.39987515e-02 9.95533643e-01 -8.77495520e-03 -3.68139643e+01] [-6.16434155e-02 2.97712114e-03 9.98093796e-01 -1.90553620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00071405700004 meters 0.03595355689441408 Centerline is valid? [True, True] Translation: X:288.89, Y:-36.83, Z:-19.06 [[ 9.93792444e-01 9.32923930e-02 6.06061667e-02 2.88891348e+02] [-9.29346962e-02 9.95634193e-01 -8.70039400e-03 -3.68263491e+01] [-6.11532524e-02 3.01397013e-03 9.98123838e-01 -1.90599075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06071405700004 meters 0.037748714444826165 Centerline is valid? [True, True] Translation: X:288.95, Y:-36.84, Z:-19.07 [[ 9.94198414e-01 8.97822583e-02 5.92339406e-02 2.88949369e+02] [-8.94346397e-02 9.95956429e-01 -8.49918852e-03 -3.68432292e+01] [-5.97575004e-02 3.15231361e-03 9.98207946e-01 -1.90671617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12071405700004 meters 0.03703716775189487 Centerline is valid? [True, True] Translation: X:289.01, Y:-36.85, Z:-19.07 [[ 9.94657105e-01 8.51238521e-02 5.84052575e-02 2.89008464e+02] [-8.47779646e-02 9.96364635e-01 -8.37922878e-03 -3.68529972e+01] [-5.89062052e-02 3.38298059e-03 9.98257790e-01 -1.90721910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18071405700005 meters 0.03835178397749375 Centerline is valid? [True, True] Translation: X:289.07, Y:-36.86, Z:-19.08 [[ 9.95059015e-01 7.97872063e-02 5.90894047e-02 2.89067844e+02] [-7.94238023e-02 9.96804895e-01 -8.47710819e-03 -3.68647121e+01] [-5.95769726e-02 3.74211774e-03 9.98216700e-01 -1.90761865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24071405700005 meters 0.042270725834965696 Centerline is valid? [True, True] Translation: X:289.13, Y:-36.88, Z:-19.08 [[ 9.95382350e-01 7.50791905e-02 5.98088039e-02 2.89125926e+02] [-7.46984158e-02 9.97169256e-01 -8.58027351e-03 -3.68805018e+01] [-6.02837005e-02 4.07302990e-03 9.98172974e-01 -1.90803588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30071405700005 meters 0.04399622461775131 Centerline is valid? [True, True] Translation: X:289.19, Y:-36.89, Z:-19.08 [[ 9.95437726e-01 7.35405028e-02 6.07908507e-02 2.89186815e+02] [-7.31442265e-02 9.97283238e-01 -8.72151349e-03 -3.68924187e+01] [-6.12670809e-02 4.23522381e-03 9.98112422e-01 -1.90840001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36071405700005 meters 0.04220708364715771 Centerline is valid? [True, True] Translation: X:289.25, Y:-36.90, Z:-19.09 [[ 9.95474046e-01 7.23934220e-02 6.15679827e-02 2.89248936e+02] [-7.19844817e-02 9.97366600e-01 -8.83735343e-03 -3.68967256e+01] [-6.20456158e-02 4.36541665e-03 9.98063768e-01 -1.90868950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42071405700005 meters 0.04397447733808166 Centerline is valid? [True, True] Translation: X:289.31, Y:-36.91, Z:-19.09 [[ 9.95558271e-01 7.04107394e-02 6.24984508e-02 2.89308456e+02] [-6.99851487e-02 9.97507653e-01 -8.97554783e-03 -3.69081951e+01] [-6.29746579e-02 4.56171752e-03 9.98004701e-01 -1.90918854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48071405700006 meters 0.04703702497491734 Centerline is valid? [True, True] Translation: X:289.37, Y:-36.92, Z:-19.10 [[ 9.95854633e-01 6.63973618e-02 6.21686381e-02 2.89367654e+02] [-6.59684169e-02 9.97781757e-01 -8.92930524e-03 -3.69217637e+01] [-6.26236153e-02 4.79112336e-03 9.98025715e-01 -1.90972973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54071405700006 meters 0.05189281761391865 Centerline is valid? [True, True] Translation: X:289.43, Y:-36.94, Z:-19.10 [[ 9.96026554e-01 6.30867627e-02 6.28582825e-02 2.89425331e+02] [-6.26416711e-02 9.97995243e-01 -9.02858409e-03 -3.69364775e+01] [-6.33018511e-02 5.05516164e-03 9.97981624e-01 -1.91012872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60071405700006 meters 0.052636227887600286 Centerline is valid? [True, True] Translation: X:289.49, Y:-36.94, Z:-19.11 [[ 9.96099081e-01 6.19525401e-02 6.28371204e-02 2.89486336e+02] [-6.15055825e-02 9.98065942e-01 -9.02438043e-03 -3.69448262e+01] [-6.32746731e-02 5.12434336e-03 9.97982994e-01 -1.91060313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66071405700006 meters 0.05422246301519291 Centerline is valid? [True, True] Translation: X:289.55, Y:-36.95, Z:-19.11 [[ 9.96030841e-01 6.25984822e-02 6.32771218e-02 2.89546910e+02] [-6.21456276e-02 9.98025591e-01 -9.10163886e-03 -3.69534157e+01] [-6.37219357e-02 5.13311656e-03 9.97954491e-01 -1.91095790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72071405700007 meters 0.05462464626271805 Centerline is valid? [True, True] Translation: X:289.61, Y:-36.96, Z:-19.11 [[ 9.95923361e-01 6.31259777e-02 6.44342323e-02 2.89608192e+02] [-6.26565468e-02 9.97991982e-01 -9.28234772e-03 -3.69620069e+01] [-6.48908045e-02 5.20728044e-03 9.97878784e-01 -1.91126930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78071405700007 meters 0.056983820331932916 Centerline is valid? [True, True] Translation: X:289.67, Y:-36.97, Z:-19.12 [[ 9.95884428e-01 6.27891017e-02 6.53585063e-02 2.89668354e+02] [-6.23043533e-02 9.98012639e-01 -9.43078261e-03 -3.69731443e+01] [-6.58207657e-02 5.31985009e-03 9.97817281e-01 -1.91159672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84071405700007 meters 0.04535002632736201 Centerline is valid? [True, True] Translation: X:289.73, Y:-36.97, Z:-19.12 [[ 9.96025113e-01 6.12636646e-02 6.46586307e-02 2.89731363e+02] [-6.07855625e-02 9.98107171e-01 -9.33759678e-03 -3.69653435e+01] [-6.51082983e-02 5.37016965e-03 9.97863754e-01 -1.91220288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.900714057 meters 0.04500543907566681 Centerline is valid? [True, True] Translation: X:289.79, Y:-36.97, Z:-19.13 [[ 9.96087852e-01 6.06680455e-02 6.42524633e-02 2.89792555e+02] [-6.01945576e-02 9.98143513e-01 -9.28133164e-03 -3.69742690e+01] [-6.46962596e-02 5.37737309e-03 9.97890514e-01 -1.91274496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.960714057 meters 0.04460309766490478 Centerline is valid? [True, True] Translation: X:289.85, Y:-36.98, Z:-19.13 [[ 9.96018902e-01 6.21376106e-02 6.39160741e-02 2.89853220e+02] [-6.16710168e-02 9.98053675e-01 -9.24919444e-03 -3.69818949e+01] [-6.43663955e-02 5.27060321e-03 9.97912415e-01 -1.91306109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.020714057 meters 0.04790148221957092 Centerline is valid? [True, True] Translation: X:289.91, Y:-36.99, Z:-19.13 [[ 9.95882047e-01 6.42563678e-02 6.39536340e-02 2.89912136e+02] [-6.37934062e-02 9.97920192e-01 -9.25700203e-03 -3.69936297e+01] [-6.44154441e-02 5.13906198e-03 9.97909936e-01 -1.91337794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.080714057 meters 0.042096285277488134 Centerline is valid? [True, True] Translation: X:289.97, Y:-36.99, Z:-19.14 [[ 9.95557941e-01 6.83780763e-02 6.47211361e-02 2.89973085e+02] [-6.79125607e-02 9.97647294e-01 -9.36809456e-03 -3.69923259e+01] [-6.52094386e-02 4.93110284e-03 9.97859416e-01 -1.91370017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.140714057 meters 0.042147527450056066 Centerline is valid? [True, True] Translation: X:290.03, Y:-37.00, Z:-19.14 [[ 9.95093010e-01 7.47098689e-02 6.48716911e-02 2.90032089e+02] [-7.42555438e-02 9.97195038e-01 -9.38988857e-03 -3.69998937e+01] [-6.53912459e-02 4.52672978e-03 9.97849434e-01 -1.91413620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.200714057 meters 0.03814804645441684 Centerline is valid? [True, True] Translation: X:290.09, Y:-37.00, Z:-19.14 [[ 9.94712201e-01 7.97967110e-02 6.46538571e-02 2.90093077e+02] [-7.93561268e-02 9.96802402e-01 -9.35822859e-03 -3.69997535e+01] [-6.51938759e-02 4.17806448e-03 9.97863870e-01 -1.91442771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26071405700003 meters 0.03642388317662866 Centerline is valid? [True, True] Translation: X:290.15, Y:-37.01, Z:-19.15 [[ 9.94363827e-01 8.41911206e-02 6.44393902e-02 2.90152876e+02] [-8.37626410e-02 9.96442083e-01 -9.32714175e-03 -3.70058324e+01] [-6.49953827e-02 3.87695886e-03 9.97878033e-01 -1.91485769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32071405700003 meters 0.03642776863741911 Centerline is valid? [True, True] Translation: X:290.21, Y:-37.01, Z:-19.15 [[ 9.94304315e-01 8.49334917e-02 6.43834696e-02 2.90212653e+02] [-8.45072813e-02 9.96379279e-01 -9.31942393e-03 -3.70147831e+01] [-6.49418862e-02 3.82547145e-03 9.97881715e-01 -1.91530146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38071405700003 meters 0.03511573519617275 Centerline is valid? [True, True] Translation: X:290.27, Y:-37.02, Z:-19.16 [[ 9.94028495e-01 8.81594780e-02 6.43059753e-02 2.90272668e+02] [-8.77410137e-02 9.96099830e-01 -9.30820674e-03 -3.70210110e+01] [-6.48757778e-02 3.61035127e-03 9.97886817e-01 -1.91559924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44071405700004 meters 0.034154554135934774 Centerline is valid? [True, True] Translation: X:290.33, Y:-37.03, Z:-19.16 [[ 9.93799031e-01 9.18730573e-02 6.26324857e-02 2.90331868e+02] [-9.14834635e-02 9.95765325e-01 -9.06602127e-03 -3.70273656e+01] [-6.32001806e-02 3.27996643e-03 9.97995480e-01 -1.91602363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50071405700004 meters 0.03329558345508341 Centerline is valid? [True, True] Translation: X:290.39, Y:-37.03, Z:-19.16 [[ 9.93657593e-01 9.41791948e-02 6.14399433e-02 2.90390973e+02] [-9.38088438e-02 9.95550524e-01 -8.89123293e-03 -3.70344052e+01] [-6.20039370e-02 3.07123106e-03 9.98071180e-01 -1.91646712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56071405700004 meters 0.033956958881121636 Centerline is valid? [True, True] Translation: X:290.45, Y:-37.04, Z:-19.17 [[ 9.93742485e-01 9.38139453e-02 6.06202768e-02 2.90448645e+02] [-9.34528713e-02 9.95585073e-01 -8.77058268e-03 -3.70437209e+01] [-6.11754457e-02 3.05056170e-03 9.98122367e-01 -1.91681863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62071405700004 meters 0.034789173559554055 Centerline is valid? [True, True] Translation: X:290.51, Y:-37.05, Z:-19.17 [[ 9.93865837e-01 9.24026581e-02 6.07655029e-02 2.90506104e+02] [-9.20374879e-02 9.95716770e-01 -8.78724199e-03 -3.70539960e+01] [-6.13171948e-02 3.14063537e-03 9.98113389e-01 -1.91723420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68071405700005 meters 0.03476544439964798 Centerline is valid? [True, True] Translation: X:290.57, Y:-37.06, Z:-19.18 [[ 9.94405703e-01 8.74798916e-02 5.91993772e-02 2.90565236e+02] [-8.71248970e-02 9.96160650e-01 -8.55636089e-03 -3.70632569e+01] [-5.97205996e-02 3.35075442e-03 9.98209508e-01 -1.91760970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74071405700005 meters 0.03664454635842631 Centerline is valid? [True, True] Translation: X:290.62, Y:-37.08, Z:-19.18 [[ 9.94702656e-01 8.39581039e-02 5.93098919e-02 2.90624188e+02] [-8.35955525e-02 9.96462895e-01 -8.57221484e-03 -3.70753427e+01] [-5.98198135e-02 3.56876169e-03 9.98202812e-01 -1.91795549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80071405700005 meters 0.039388087705003794 Centerline is valid? [True, True] Translation: X:290.68, Y:-37.09, Z:-19.18 [[ 9.94843441e-01 8.15431232e-02 6.03095961e-02 2.90682197e+02] [-8.11638815e-02 9.96662663e-01 -8.71554700e-03 -3.70896728e+01] [-6.08190156e-02 3.77564385e-03 9.98141669e-01 -1.91819428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86071405700005 meters 0.03960225557039245 Centerline is valid? [True, True] Translation: X:290.74, Y:-37.10, Z:-19.19 [[ 9.94962338e-01 8.07348373e-02 5.94292154e-02 2.90741569e+02] [-8.03651797e-02 9.96728490e-01 -8.58812165e-03 -3.70970357e+01] [-5.99281527e-02 3.76881802e-03 9.98195578e-01 -1.91857444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92071405700005 meters 0.037053904223491356 Centerline is valid? [True, True] Translation: X:290.80, Y:-37.10, Z:-19.19 [[ 9.95002490e-01 8.15744773e-02 5.75816772e-02 2.90800851e+02] [-8.12289901e-02 9.96660746e-01 -8.31917416e-03 -3.71004619e+01] [-5.80680296e-02 3.60029752e-03 9.98306136e-01 -1.91902718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98071405700006 meters 0.037684629481345974 Centerline is valid? [True, True] Translation: X:290.86, Y:-37.11, Z:-19.19 [[ 9.95300956e-01 7.92608315e-02 5.56212926e-02 2.90860410e+02] [-7.89350236e-02 9.96847391e-01 -8.03376871e-03 -3.71079299e+01] [-5.60827036e-02 3.60554963e-03 9.98419616e-01 -1.91949913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04071405700006 meters 0.039680040004580704 Centerline is valid? [True, True] Translation: X:290.92, Y:-37.12, Z:-19.20 [[ 9.95524405e-01 7.67721233e-02 5.51107918e-02 2.90919859e+02] [-7.64485130e-02 9.97041760e-01 -7.95946683e-03 -3.71178821e+01] [-5.55588260e-02 3.71070541e-03 9.98448520e-01 -1.91989673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10071405700006 meters 0.043629725009476754 Centerline is valid? [True, True] Translation: X:290.98, Y:-37.13, Z:-19.20 [[ 9.96074891e-01 7.04417618e-02 5.35982187e-02 2.90979106e+02] [-7.01265732e-02 9.97508065e-01 -7.74105368e-03 -3.71294466e+01] [-5.40099489e-02 3.95200979e-03 9.98532577e-01 -1.92042761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16071405700006 meters 0.04695739829321934 Centerline is valid? [True, True] Translation: X:291.04, Y:-37.14, Z:-19.21 [[ 9.96612380e-01 6.35855684e-02 5.21597559e-02 2.91038303e+02] [-6.32777737e-02 9.97967523e-01 -7.53300285e-03 -3.71417411e+01] [-5.25327327e-02 4.20693067e-03 9.98610341e-01 -1.92093790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22071405700007 meters 0.04481545970057609 Centerline is valid? [True, True] Translation: X:291.10, Y:-37.14, Z:-19.21 [[ 9.96824793e-01 5.94033322e-02 5.30242942e-02 2.91099405e+02] [-5.90793511e-02 9.98223915e-01 -7.65809158e-03 -3.71429647e+01] [-5.33850347e-02 4.50113467e-03 9.98563858e-01 -1.92099395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28071405700007 meters 0.047058583718903854 Centerline is valid? [True, True] Translation: X:291.16, Y:-37.15, Z:-19.21 [[ 9.96771138e-01 5.79715928e-02 5.55571084e-02 2.91160928e+02] [-5.76137065e-02 9.98306710e-01 -8.02328149e-03 -3.71535673e+01] [-5.59281565e-02 4.79652449e-03 9.98423274e-01 -1.92125892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34071405700007 meters 0.04878377631523146 Centerline is valid? [True, True] Translation: X:291.22, Y:-37.16, Z:-19.22 [[ 9.96880043e-01 5.61817133e-02 5.54418142e-02 2.91221480e+02] [-5.58223156e-02 9.98408579e-01 -8.01113965e-03 -3.71611493e+01] [-5.58036625e-02 4.89125479e-03 9.98429781e-01 -1.92153529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.400714057 meters 0.04957645268492885 Centerline is valid? [True, True] Translation: X:291.28, Y:-37.17, Z:-19.22 [[ 9.97078329e-01 5.36615507e-02 5.43621488e-02 2.91281671e+02] [-5.33122607e-02 9.98546986e-01 -7.85620047e-03 -3.71670706e+01] [-5.47047357e-02 4.93507819e-03 9.98490379e-01 -1.92202223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.460714057 meters 0.05687713909750944 Centerline is valid? [True, True] Translation: X:291.34, Y:-37.18, Z:-19.23 [[ 9.97228979e-01 5.18303364e-02 5.33664607e-02 2.91339371e+02] [-5.14911206e-02 9.98643670e-01 -7.71270480e-03 -3.71843958e+01] [-5.36938303e-02 4.94343387e-03 9.98545209e-01 -1.92274432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.520714057 meters 0.04832022060554029 Centerline is valid? [True, True] Translation: X:291.40, Y:-37.18, Z:-19.23 [[ 9.97479292e-01 4.94219099e-02 5.09169551e-02 2.91401741e+02] [-4.91100489e-02 9.98766266e-01 -7.35864035e-03 -3.71781366e+01] [-5.12178152e-02 4.83955721e-03 9.98675780e-01 -1.92314707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.580714057 meters 0.049857274127923255 Centerline is valid? [True, True] Translation: X:291.46, Y:-37.18, Z:-19.24 [[ 9.97471579e-01 4.98735564e-02 5.06268496e-02 2.91463167e+02] [-4.95659832e-02 9.98744074e-01 -7.31350020e-03 -3.71838388e+01] [-5.09280163e-02 4.78563901e-03 9.98690860e-01 -1.92364378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.640714057 meters 0.05105696159115953 Centerline is valid? [True, True] Translation: X:291.52, Y:-37.19, Z:-19.24 [[ 9.97325105e-01 5.14071452e-02 5.19609595e-02 2.91523571e+02] [-5.10843208e-02 9.98666010e-01 -7.52282123e-03 -3.71916104e+01] [-5.22783708e-02 4.84830815e-03 9.98620782e-01 -1.92397279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.700714057 meters 0.04960670806521299 Centerline is valid? [True, True] Translation: X:291.59, Y:-37.19, Z:-19.24 [[ 9.97176422e-01 5.29967260e-02 5.32027334e-02 2.91585655e+02] [-5.26604107e-02 9.98582757e-01 -7.70443268e-03 -3.71946314e+01] [-5.35356419e-02 4.88100083e-03 9.98554010e-01 -1.92404962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76071405700003 meters 0.04851926848290775 Centerline is valid? [True, True] Translation: X:291.65, Y:-37.20, Z:-19.24 [[ 9.97085106e-01 5.36716142e-02 5.42277513e-02 2.91647289e+02] [-5.33231286e-02 9.98546423e-01 -7.85393078e-03 -3.72013617e+01] [-5.45704603e-02 4.93944405e-03 9.98497705e-01 -1.92433500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82071405700003 meters 0.05186005089447395 Centerline is valid? [True, True] Translation: X:291.71, Y:-37.21, Z:-19.25 [[ 9.97094186e-01 5.36788578e-02 5.40533531e-02 2.91707018e+02] [-5.33318593e-02 9.98546045e-01 -7.84270259e-03 -3.72141725e+01] [-5.43957493e-02 4.93714733e-03 9.98507249e-01 -1.92487306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88071405700003 meters 0.052221250996214545 Centerline is valid? [True, True] Translation: X:291.77, Y:-37.22, Z:-19.25 [[ 9.97276804e-01 5.18488253e-02 5.24468742e-02 2.91767070e+02] [-5.15189029e-02 9.98642918e-01 -7.62400755e-03 -3.72218384e+01] [-5.27709953e-02 4.90124047e-03 9.98594612e-01 -1.92536123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94071405700004 meters 0.052784590686947214 Centerline is valid? [True, True] Translation: X:291.83, Y:-37.23, Z:-19.26 [[ 9.97294385e-01 5.11471464e-02 5.28003780e-02 2.91828001e+02] [-5.08118597e-02 9.98678760e-01 -7.67392913e-03 -3.72320883e+01] [-5.31231157e-02 4.97028103e-03 9.98575601e-01 -1.92579348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00071405700004 meters 0.05214212159603061 Centerline is valid? [True, True] Translation: X:291.89, Y:-37.24, Z:-19.26 [[ 9.97387587e-01 5.02902309e-02 5.18545559e-02 2.91889256e+02] [-4.99649933e-02 9.98722430e-01 -7.55030293e-03 -3.72401182e+01] [-5.21680145e-02 4.93966588e-03 9.98626105e-01 -1.92621882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06071405700004 meters 0.05027026783217454 Centerline is valid? [True, True] Translation: X:291.95, Y:-37.24, Z:-19.27 [[ 9.97336575e-01 5.11236284e-02 5.20204919e-02 2.91951356e+02] [-5.07973415e-02 9.98680246e-01 -7.57607570e-03 -3.72447338e+01] [-5.23391541e-02 4.91339470e-03 9.98617280e-01 -1.92651861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12071405700004 meters 0.04986445939668186 Centerline is valid? [True, True] Translation: X:292.01, Y:-37.25, Z:-19.27 [[ 9.97108616e-01 5.50707623e-02 5.23604705e-02 2.92012010e+02] [-5.47447212e-02 9.98471140e-01 -7.64190285e-03 -3.72512303e+01] [-5.27012641e-02 4.75334781e-03 9.98599010e-01 -1.92688654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18071405700005 meters 0.04972072615915437 Centerline is valid? [True, True] Translation: X:292.07, Y:-37.26, Z:-19.27 [[ 9.96717483e-01 6.03658988e-02 5.39464374e-02 2.92071447e+02] [-6.00274166e-02 9.98165670e-01 -7.87433332e-03 -3.72570081e+01] [-5.43228230e-02 4.61022042e-03 9.98512782e-01 -1.92715338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24071405700005 meters 0.04802565313939942 Centerline is valid? [True, True] Translation: X:292.13, Y:-37.26, Z:-19.27 [[ 9.96605802e-01 6.22037378e-02 5.39218885e-02 2.92132572e+02] [-6.18681994e-02 9.98053289e-01 -7.87135999e-03 -3.72628635e+01] [-5.43065462e-02 4.50859289e-03 9.98514132e-01 -1.92747949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30071405700005 meters 0.045240627579573776 Centerline is valid? [True, True] Translation: X:292.19, Y:-37.27, Z:-19.28 [[ 9.96395153e-01 6.52800091e-02 5.41776717e-02 2.92193154e+02] [-6.49456655e-02 9.97857443e-01 -7.91094659e-03 -3.72668298e+01] [-5.45780196e-02 4.36382389e-03 9.98499973e-01 -1.92783515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36071405700005 meters 0.05106911261936004 Centerline is valid? [True, True] Translation: X:292.25, Y:-37.28, Z:-19.28 [[ 9.96335773e-01 6.62995639e-02 5.40314225e-02 2.92250612e+02] [-6.59684776e-02 9.97790511e-01 -7.89025155e-03 -3.72829206e+01] [-5.44351609e-02 4.29696919e-03 9.98508062e-01 -1.92836727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42071405700005 meters 0.051092624860611176 Centerline is valid? [True, True] Translation: X:292.31, Y:-37.29, Z:-19.29 [[ 9.96148281e-01 6.88441572e-02 5.43054733e-02 2.92310770e+02] [-6.85135076e-02 9.97618677e-01 -7.92929823e-03 -3.72892722e+01] [-5.47220403e-02 4.17809835e-03 9.98492885e-01 -1.92859990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48071405700006 meters 0.04793548816399069 Centerline is valid? [True, True] Translation: X:292.37, Y:-37.29, Z:-19.29 [[ 9.96022022e-01 7.07994365e-02 5.41070386e-02 2.92370936e+02] [-7.04741133e-02 9.97482329e-01 -7.89948897e-03 -3.72926498e+01] [-5.45300943e-02 4.05491940e-03 9.98503894e-01 -1.92899845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54071405700006 meters 0.04521283238770354 Centerline is valid? [True, True] Translation: X:292.43, Y:-37.30, Z:-19.29 [[ 9.95773213e-01 7.42639409e-02 5.40423410e-02 2.92431573e+02] [-7.39445608e-02 9.97231155e-01 -7.88830863e-03 -3.72956491e+01] [-5.44785230e-02 3.85882926e-03 9.98507486e-01 -1.92942585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60071405700006 meters 0.04216633889811369 Centerline is valid? [True, True] Translation: X:292.49, Y:-37.30, Z:-19.30 [[ 9.95723343e-01 7.49935370e-02 5.39536163e-02 2.92490998e+02] [-7.46762530e-02 9.97176730e-01 -7.87568497e-03 -3.72990039e+01] [-5.43919161e-02 3.81294947e-03 9.98512384e-01 -1.92972313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66071405700006 meters 0.04562832079790837 Centerline is valid? [True, True] Translation: X:292.55, Y:-37.31, Z:-19.30 [[ 9.95409904e-01 7.91158171e-02 5.38498966e-02 2.92548596e+02] [-7.88059263e-02 9.96859011e-01 -7.85731850e-03 -3.73127734e+01] [-5.43023929e-02 3.57756167e-03 9.98518128e-01 -1.93024865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72071405700007 meters 0.04222435468953423 Centerline is valid? [True, True] Translation: X:292.61, Y:-37.32, Z:-19.30 [[ 9.95103976e-01 8.24064649e-02 5.45641902e-02 2.92609523e+02] [-8.20932794e-02 9.96592859e-01 -7.96027046e-03 -3.73157775e+01] [-5.50342601e-02 3.44194348e-03 9.98478534e-01 -1.93040207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78071405700007 meters 0.03909016838178851 Centerline is valid? [True, True] Translation: X:292.67, Y:-37.32, Z:-19.31 [[ 9.94531571e-01 8.86481176e-02 5.52129121e-02 2.92669888e+02] [-8.83370313e-02 9.96058078e-01 -8.05440593e-03 -3.73189782e+01] [-5.57092751e-02 3.13301624e-03 9.98442117e-01 -1.93073867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84071405700007 meters 0.03523048166633219 Centerline is valid? [True, True] Translation: X:292.73, Y:-37.32, Z:-19.31 [[ 9.94046485e-01 9.40804093e-02 5.49587385e-02 2.92731069e+02] [-9.37804995e-02 9.95560623e-01 -8.01646878e-03 -3.73211006e+01] [-5.54689486e-02 2.81468466e-03 9.98456445e-01 -1.93113182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.900714057 meters 0.03542264426179333 Centerline is valid? [True, True] Translation: X:292.79, Y:-37.33, Z:-19.32 [[ 9.93972768e-01 9.52028309e-02 5.43558330e-02 2.92788643e+02] [-9.49110556e-02 9.95454170e-01 -7.93015675e-03 -3.73312430e+01] [-5.48637140e-02 2.72339037e-03 9.98490138e-01 -1.93159479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.960714057 meters 0.03837056391781072 Centerline is valid? [True, True] Translation: X:292.84, Y:-37.35, Z:-19.32 [[ 9.94075658e-01 9.39599979e-02 5.46361232e-02 2.92844020e+02] [-9.36635270e-02 9.95572028e-01 -7.96750275e-03 -3.73469414e+01] [-5.51428225e-02 2.80288854e-03 9.98474543e-01 -1.93201311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.020714057 meters 0.034730538046497034 Centerline is valid? [True, True] Translation: X:292.90, Y:-37.35, Z:-19.32 [[ 9.94189057e-01 9.34612326e-02 5.34145845e-02 2.92903112e+02] [-9.31774769e-02 9.95619090e-01 -7.78363357e-03 -3.73499785e+01] [-5.39080480e-02 2.76136710e-03 9.98542086e-01 -1.93235936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.080714057 meters 0.03531150002469021 Centerline is valid? [True, True] Translation: X:292.96, Y:-37.36, Z:-19.33 [[ 9.94070031e-01 9.50341420e-02 5.28515444e-02 2.92959890e+02] [-9.47587496e-02 9.95470502e-01 -7.69801275e-03 -3.73595605e+01] [-5.33437275e-02 2.64421750e-03 9.98572709e-01 -1.93288673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.140714057 meters 0.036263018361749916 Centerline is valid? [True, True] Translation: X:293.02, Y:-37.37, Z:-19.33 [[ 9.94135236e-01 9.43161978e-02 5.29111294e-02 2.93017580e+02] [-9.40394329e-02 9.95538682e-01 -7.70177237e-03 -3.73708797e+01] [-5.34014779e-02 2.68087068e-03 9.98569524e-01 -1.93327965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.200714057 meters 0.03678494161494887 Centerline is valid? [True, True] Translation: X:293.08, Y:-37.38, Z:-19.33 [[ 9.94398089e-01 9.11393306e-02 5.35356236e-02 2.93076302e+02] [-9.08516216e-02 9.95833983e-01 -7.78852759e-03 -3.73828607e+01] [-5.40224345e-02 2.88109873e-03 9.98535566e-01 -1.93349008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26071405700003 meters 0.037511178359296925 Centerline is valid? [True, True] Translation: X:293.13, Y:-37.40, Z:-19.34 [[ 9.94842143e-01 8.60832669e-02 5.36542865e-02 2.93134945e+02] [-8.57870703e-02 9.96282933e-01 -7.80360407e-03 -3.73962764e+01] [-5.41266097e-02 3.16051014e-03 9.98529079e-01 -1.93386460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32071405700003 meters 0.037147621780665344 Centerline is valid? [True, True] Translation: X:293.19, Y:-37.41, Z:-19.34 [[ 9.95348382e-01 7.98080777e-02 5.39654510e-02 2.93193631e+02] [-7.94992468e-02 9.96804026e-01 -7.84884373e-03 -3.74088840e+01] [-5.44193799e-02 3.52212119e-03 9.98511956e-01 -1.93413746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38071405700003 meters 0.040363621043361136 Centerline is valid? [True, True] Translation: X:293.25, Y:-37.42, Z:-19.35 [[ 9.95680384e-01 7.61206508e-02 5.31621909e-02 2.93251349e+02] [-7.58157505e-02 9.97091869e-01 -7.73155389e-03 -3.74240909e+01] [-5.35961192e-02 3.66762515e-03 9.98555960e-01 -1.93450727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44071405700004 meters 0.04233623587347357 Centerline is valid? [True, True] Translation: X:293.31, Y:-37.44, Z:-19.35 [[ 9.96124073e-01 7.03480982e-02 5.28012915e-02 2.93309665e+02] [-7.00392628e-02 9.97514678e-01 -7.67906992e-03 -3.74391500e+01] [-5.32102713e-02 3.95114287e-03 9.98575513e-01 -1.93495655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50071405700004 meters 0.04494235433753248 Centerline is valid? [True, True] Translation: X:293.37, Y:-37.45, Z:-19.35 [[ 9.96348069e-01 6.70204209e-02 5.29035741e-02 2.93368281e+02] [-6.67057660e-02 9.97743031e-01 -7.69317928e-03 -3.74546937e+01] [-5.32997725e-02 4.13611089e-03 9.98569991e-01 -1.93542215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56071405700004 meters 0.04539601476846062 Centerline is valid? [True, True] Translation: X:293.43, Y:-37.46, Z:-19.36 [[ 9.96428124e-01 6.69080242e-02 5.15199947e-02 2.93427650e+02] [-6.66095036e-02 9.97750996e-01 -7.49156027e-03 -3.74644762e+01] [-5.19053715e-02 4.03308007e-03 9.98643864e-01 -1.93592719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62071405700004 meters 0.04585506369888955 Centerline is valid? [True, True] Translation: X:293.49, Y:-37.47, Z:-19.36 [[ 9.96291283e-01 6.94559100e-02 5.07893232e-02 2.93486197e+02] [-6.91690777e-02 9.97577612e-01 -7.38563958e-03 -3.74743647e+01] [-5.11792681e-02 3.84519769e-03 9.98682080e-01 -1.93642619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68071405700005 meters 0.04325545027263679 Centerline is valid? [True, True] Translation: X:293.55, Y:-37.48, Z:-19.37 [[ 9.95950319e-01 7.45419349e-02 5.02639180e-02 2.93545999e+02] [-7.42675089e-02 9.97211577e-01 -7.30805146e-03 -3.74781381e+01] [-5.06685172e-02 3.54548021e-03 9.98709232e-01 -1.93676242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74071405700005 meters 0.040779684607708144 Centerline is valid? [True, True] Translation: X:293.61, Y:-37.48, Z:-19.37 [[ 9.95416150e-01 8.10189910e-02 5.08193996e-02 2.93607051e+02] [-8.07469408e-02 9.96707260e-01 -7.38709181e-03 -3.74808840e+01] [-5.12505592e-02 3.24971944e-03 9.98680539e-01 -1.93708677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80071405700005 meters 0.03422918873340488 Centerline is valid? [True, True] Translation: X:293.67, Y:-37.48, Z:-19.37 [[ 9.94841322e-01 8.72275052e-02 5.17890608e-02 2.93668277e+02] [-8.69533331e-02 9.96183942e-01 -7.52805874e-03 -3.74764514e+01] [-5.22480845e-02 2.98599245e-03 9.98629672e-01 -1.93712075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86071405700005 meters 0.03529030886299821 Centerline is valid? [True, True] Translation: X:293.73, Y:-37.49, Z:-19.38 [[ 9.94530636e-01 9.03125686e-02 5.24638376e-02 2.93726530e+02] [-9.00355517e-02 9.95909365e-01 -7.62465104e-03 -3.74852145e+01] [-5.29378290e-02 2.85933848e-03 9.98593716e-01 -1.93752108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92071405700005 meters 0.03559272363698103 Centerline is valid? [True, True] Translation: X:293.78, Y:-37.49, Z:-19.38 [[ 9.94755733e-01 8.75069070e-02 5.29487832e-02 2.93784911e+02] [-8.72208731e-02 9.96159290e-01 -7.69337389e-03 -3.74929748e+01] [-5.34186456e-02 3.03478869e-03 9.98567593e-01 -1.93798136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98071405700006 meters 0.03803053604809139 Centerline is valid? [True, True] Translation: X:293.84, Y:-37.51, Z:-19.38 [[ 9.95045490e-01 8.33911357e-02 5.41330832e-02 2.93843736e+02] [-8.30862660e-02 9.96511345e-01 -7.86207744e-03 -3.75056316e+01] [-5.45998591e-02 3.32540896e-03 9.98502778e-01 -1.93834629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04071405700006 meters 0.0403075512654519 Centerline is valid? [True, True] Translation: X:293.90, Y:-37.52, Z:-19.39 [[ 9.95415695e-01 7.80275962e-02 5.53108293e-02 2.93903316e+02] [-7.77011221e-02 9.96944343e-01 -8.03195691e-03 -3.75181966e+01] [-5.57685327e-02 3.69742247e-03 9.98436878e-01 -1.93856328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10071405700006 meters 0.04249333583100821 Centerline is valid? [True, True] Translation: X:293.96, Y:-37.53, Z:-19.39 [[ 9.95640872e-01 7.50377562e-02 5.53948539e-02 2.93961861e+02] [-7.47056727e-02 9.97173180e-01 -8.04437279e-03 -3.75308086e+01] [-5.58418943e-02 3.87099651e-03 9.98432120e-01 -1.93900048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16071405700006 meters 0.04167968887675372 Centerline is valid? [True, True] Translation: X:294.02, Y:-37.54, Z:-19.39 [[ 9.95908042e-01 7.22342874e-02 5.43081903e-02 2.94021075e+02] [-7.19110442e-02 9.97379879e-01 -7.88532377e-03 -3.75387710e+01] [-5.47354870e-02 3.94769869e-03 9.98493086e-01 -1.93948002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22071405700007 meters 0.043247443482774414 Centerline is valid? [True, True] Translation: X:294.08, Y:-37.55, Z:-19.40 [[ 9.95966173e-01 7.20687652e-02 5.34553584e-02 2.94078970e+02] [-7.17554010e-02 9.97392065e-01 -7.76091393e-03 -3.75493645e+01] [-5.38752698e-02 3.89389706e-03 9.98540081e-01 -1.93992746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28071405700007 meters 0.044526425616187165 Centerline is valid? [True, True] Translation: X:294.14, Y:-37.56, Z:-19.40 [[ 9.95904276e-01 7.37848149e-02 5.22539437e-02 2.94137151e+02] [-7.34878972e-02 9.97267275e-01 -7.58354750e-03 -3.75578347e+01] [-5.26706988e-02 3.71245493e-03 9.98605035e-01 -1.94028908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34071405700007 meters 0.04169734958251833 Centerline is valid? [True, True] Translation: X:294.20, Y:-37.56, Z:-19.41 [[ 9.95704934e-01 7.57212480e-02 5.32726618e-02 2.94197003e+02] [-7.54154842e-02 9.97122239e-01 -7.72949255e-03 -3.75607360e+01] [-5.37046426e-02 3.67871028e-03 9.98550088e-01 -1.94052537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.400714057 meters 0.03991223810518284 Centerline is valid? [True, True] Translation: X:294.26, Y:-37.57, Z:-19.41 [[ 9.95567298e-01 7.68150158e-02 5.42697827e-02 2.94255335e+02] [-7.64993892e-02 9.97038548e-01 -7.87255094e-03 -3.75653708e+01] [-5.47137955e-02 3.68604903e-03 9.98495275e-01 -1.94080195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.460714057 meters 0.04206978846056507 Centerline is valid? [True, True] Translation: X:294.31, Y:-37.58, Z:-19.41 [[ 9.95601699e-01 7.66345006e-02 5.38925887e-02 2.94312541e+02] [-7.63231897e-02 9.97052511e-01 -7.81413375e-03 -3.75755857e+01] [-5.43325731e-02 3.66651056e-03 9.98516163e-01 -1.94122261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.520714057 meters 0.04293240277947875 Centerline is valid? [True, True] Translation: X:294.37, Y:-37.59, Z:-19.42 [[ 9.95836764e-01 7.41065665e-02 5.30787819e-02 2.94371250e+02] [-7.38013160e-02 9.97243310e-01 -7.69071870e-03 -3.75864482e+01] [-5.35023929e-02 3.74141646e-03 9.98560712e-01 -1.94172823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.580714057 meters 0.0450701472671899 Centerline is valid? [True, True] Translation: X:294.43, Y:-37.60, Z:-19.42 [[ 9.95932017e-01 7.33156339e-02 5.23854491e-02 2.94428966e+02] [-7.30172585e-02 9.97301798e-01 -7.58966602e-03 -3.75980279e+01] [-5.28005438e-02 3.73374951e-03 9.98598098e-01 -1.94210376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.640714057 meters 0.04628893708510583 Centerline is valid? [True, True] Translation: X:294.49, Y:-37.61, Z:-19.42 [[ 9.96077787e-01 7.15589986e-02 5.20418302e-02 2.94487927e+02] [-7.12622743e-02 9.97429133e-01 -7.53742609e-03 -3.76082383e+01] [-5.24474082e-02 3.79924352e-03 9.98616460e-01 -1.94241160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.700714057 meters 0.044897725492475365 Centerline is valid? [True, True] Translation: X:294.55, Y:-37.62, Z:-19.43 [[ 9.96203842e-01 7.03225097e-02 5.13093482e-02 2.94546432e+02] [-7.00325367e-02 9.97517038e-01 -7.42982318e-03 -3.76152034e+01] [-5.17044329e-02 3.80829458e-03 9.98655170e-01 -1.94290082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76071405700003 meters 0.044695714394396825 Centerline is valid? [True, True] Translation: X:294.61, Y:-37.62, Z:-19.43 [[ 9.96356867e-01 6.84130167e-02 5.09181016e-02 2.94605383e+02] [-6.81251252e-02 9.97649561e-01 -7.37026408e-03 -3.76229931e+01] [-5.13026437e-02 3.87461119e-03 9.98675636e-01 -1.94317535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82071405700003 meters 0.04545947509012692 Centerline is valid? [True, True] Translation: X:294.66, Y:-37.63, Z:-19.43 [[ 9.96548034e-01 6.55257293e-02 5.09744527e-02 2.94664150e+02] [-6.52335511e-02 9.97842760e-01 -7.37639024e-03 -3.76332439e+01] [-5.13478319e-02 4.02568262e-03 9.98672716e-01 -1.94349418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88071405700003 meters 0.04603168032627008 Centerline is valid? [True, True] Translation: X:294.72, Y:-37.64, Z:-19.44 [[ 9.96838174e-01 6.19404719e-02 4.97697944e-02 2.94723930e+02] [-6.16575793e-02 9.98071386e-01 -7.20083201e-03 -3.76434458e+01] [-5.01198306e-02 4.10937919e-03 9.98734757e-01 -1.94396677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94071405700004 meters 0.0484629382944994 Centerline is valid? [True, True] Translation: X:294.78, Y:-37.65, Z:-19.44 [[ 9.97069701e-01 5.84823605e-02 4.93135294e-02 2.94782926e+02] [-5.82004501e-02 9.98279422e-01 -7.13458661e-03 -3.76547950e+01] [-4.96459291e-02 4.24361053e-03 9.98757865e-01 -1.94429619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00071405700004 meters 0.05112678902451895 Centerline is valid? [True, True] Translation: X:294.84, Y:-37.67, Z:-19.45 [[ 9.97211094e-01 5.65181914e-02 4.87414320e-02 2.94842015e+02] [-5.62404323e-02 9.98392346e-01 -7.05245309e-03 -3.76669439e+01] [-4.90616645e-02 4.29154526e-03 9.98786532e-01 -1.94468158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06071405700004 meters 0.04920148765790033 Centerline is valid? [True, True] Translation: X:294.90, Y:-37.67, Z:-19.45 [[ 9.97227737e-01 5.52570275e-02 4.98347431e-02 2.94903485e+02] [-5.49650599e-02 9.98462237e-01 -7.21129407e-03 -3.76725052e+01] [-5.01565838e-02 4.45213282e-03 9.98731443e-01 -1.94495594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12071405700004 meters 0.049929512044697415 Centerline is valid? [True, True] Translation: X:294.96, Y:-37.68, Z:-19.45 [[ 9.97165230e-01 5.56631113e-02 5.06272935e-02 2.94964402e+02] [-5.53622080e-02 9.98439448e-01 -7.32761516e-03 -3.76825659e+01] [-5.09561648e-02 4.50400430e-03 9.98690735e-01 -1.94527949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18071405700005 meters 0.0503732444087683 Centerline is valid? [True, True] Translation: X:295.03, Y:-37.69, Z:-19.46 [[ 9.97279041e-01 5.55978529e-02 4.84085968e-02 2.95025966e+02] [-5.53227267e-02 9.98443946e-01 -7.00585866e-03 -3.76911892e+01] [-4.87227811e-02 4.30870044e-03 9.98803047e-01 -1.94577497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24071405700005 meters 0.04850719270843797 Centerline is valid? [True, True] Translation: X:295.09, Y:-37.70, Z:-19.46 [[ 9.97348725e-01 5.66506240e-02 4.56752506e-02 2.95086825e+02] [-5.64061450e-02 9.98385927e-01 -6.62479091e-03 -3.76957291e+01] [-4.59768259e-02 4.03086195e-03 9.98934374e-01 -1.94626304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30071405700005 meters 0.05076955138865603 Centerline is valid? [True, True] Translation: X:295.15, Y:-37.71, Z:-19.47 [[ 9.97381158e-01 5.73033968e-02 4.41264915e-02 2.95145836e+02] [-5.70757641e-02 9.98349321e-01 -6.40240318e-03 -3.77060945e+01] [-4.44205322e-02 3.86708308e-03 9.99005436e-01 -1.94684510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36071405700005 meters 0.05437235081816145 Centerline is valid? [True, True] Translation: X:295.20, Y:-37.72, Z:-19.47 [[ 9.97224857e-01 5.88304228e-02 4.56241806e-02 2.95203681e+02] [-5.85886163e-02 9.98260259e-01 -6.62036240e-03 -3.77179396e+01] [-4.59342851e-02 3.92893234e-03 9.98936737e-01 -1.94724355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42071405700005 meters 0.04878035253697143 Centerline is valid? [True, True] Translation: X:295.26, Y:-37.72, Z:-19.47 [[ 9.96962210e-01 6.15272184e-02 4.77572408e-02 2.95264789e+02] [-6.12654322e-02 9.98097468e-01 -6.92754095e-03 -3.77179427e+01] [-4.80926134e-02 3.98062853e-03 9.98834949e-01 -1.94719683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48071405700006 meters 0.04782704577962328 Centerline is valid? [True, True] Translation: X:295.32, Y:-37.72, Z:-19.47 [[ 9.96878550e-01 6.23896251e-02 4.83806915e-02 2.95324716e+02] [-6.21219565e-02 9.98043892e-01 -7.01805386e-03 -3.77243454e+01] [-4.87239074e-02 3.99064415e-03 9.98804313e-01 -1.94748358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54071405700006 meters 0.049983058496511086 Centerline is valid? [True, True] Translation: X:295.38, Y:-37.74, Z:-19.48 [[ 9.96920896e-01 6.17142826e-02 4.83743153e-02 2.95382083e+02] [-6.14459109e-02 9.98085750e-01 -7.01681205e-03 -3.77373152e+01] [-4.87147523e-02 4.02280269e-03 9.98804631e-01 -1.94803443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60071405700006 meters 0.0472145989994291 Centerline is valid? [True, True] Translation: X:295.44, Y:-37.74, Z:-19.48 [[ 9.97022192e-01 6.10280746e-02 4.71415178e-02 2.95441188e+02] [-6.07725712e-02 9.98128233e-01 -6.83563274e-03 -3.77409407e+01] [-4.74704453e-02 3.95036630e-03 9.98864831e-01 -1.94848391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66071405700006 meters 0.048478767626589696 Centerline is valid? [True, True] Translation: X:295.50, Y:-37.75, Z:-19.49 [[ 9.97089138e-01 6.04887295e-02 4.64151412e-02 2.95500004e+02] [-6.02405961e-02 9.98161215e-01 -6.72754143e-03 -3.77512821e+01] [-4.67367341e-02 3.91188271e-03 9.98899582e-01 -1.94900084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72071405700007 meters 0.04492581780775659 Centerline is valid? [True, True] Translation: X:295.56, Y:-37.75, Z:-19.49 [[ 9.96961556e-01 6.16372301e-02 4.76288624e-02 2.95559555e+02] [-6.13773216e-02 9.98090773e-01 -6.90171136e-03 -3.77548814e+01] [-4.79633305e-02 3.95740888e-03 9.98841258e-01 -1.94919721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78071405700007 meters 0.045724019164326904 Centerline is valid? [True, True] Translation: X:295.62, Y:-37.76, Z:-19.49 [[ 9.96908574e-01 6.17506177e-02 4.85814359e-02 2.95618894e+02] [-6.14804211e-02 9.98083476e-01 -7.03791776e-03 -3.77625660e+01] [-4.89229242e-02 4.02935342e-03 9.98794429e-01 -1.94948928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84071405700007 meters 0.04786867014357944 Centerline is valid? [True, True] Translation: X:295.68, Y:-37.77, Z:-19.50 [[ 9.96838868e-01 6.21605711e-02 4.94806574e-02 2.95676722e+02] [-6.18808488e-02 9.98057814e-01 -7.16660785e-03 -3.77725492e+01] [-4.98300372e-02 4.08204818e-03 9.98749370e-01 -1.94985267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.900714057 meters 0.04637463522124182 Centerline is valid? [True, True] Translation: X:295.74, Y:-37.78, Z:-19.50 [[ 9.96685069e-01 6.32662131e-02 5.11493763e-02 2.95736683e+02] [-6.29688991e-02 9.97988018e-01 -7.40499855e-03 -3.77780506e+01] [-5.15149509e-02 4.15963157e-03 9.98663561e-01 -1.94984008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.960714057 meters 0.04623915539276456 Centerline is valid? [True, True] Translation: X:295.80, Y:-37.79, Z:-19.50 [[ 9.96730120e-01 6.32814278e-02 5.02446810e-02 2.95795595e+02] [-6.29946007e-02 9.97987364e-01 -7.27339329e-03 -3.77866392e+01] [-5.06038274e-02 4.08446656e-03 9.98710453e-01 -1.95026737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.020714057 meters 0.04610139389410292 Centerline is valid? [True, True] Translation: X:295.85, Y:-37.79, Z:-19.51 [[ 9.96735042e-01 6.32513133e-02 5.01849343e-02 2.95854485e+02] [-6.29652213e-02 9.97989294e-01 -7.26295645e-03 -3.77949769e+01] [-5.05434186e-02 4.07933771e-03 9.98713533e-01 -1.95067948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.080714057 meters 0.0445966744997341 Centerline is valid? [True, True] Translation: X:295.91, Y:-37.80, Z:-19.51 [[ 9.96791749e-01 6.29767103e-02 4.93978107e-02 2.95913927e+02] [-6.26992826e-02 9.98006872e-01 -7.14732316e-03 -3.78002858e+01] [-4.97494694e-02 4.02718546e-03 9.98753609e-01 -1.95107437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.140714057 meters 0.047945891594501515 Centerline is valid? [True, True] Translation: X:295.97, Y:-37.81, Z:-19.51 [[ 9.96814878e-01 6.26742339e-02 4.93157125e-02 2.95971121e+02] [-6.23974370e-02 9.98025885e-01 -7.13391713e-03 -3.78119625e+01] [-4.96654704e-02 4.03402067e-03 9.98757762e-01 -1.95149116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.200714057 meters 0.04578033697884926 Centerline is valid? [True, True] Translation: X:296.03, Y:-37.82, Z:-19.52 [[ 9.96849569e-01 6.13546351e-02 5.02647534e-02 2.96030226e+02] [-6.10655560e-02 9.98107294e-01 -7.26822775e-03 -3.78180855e+01] [-5.06155565e-02 4.17588459e-03 9.98709481e-01 -1.95180131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26071405700003 meters 0.04765488053522408 Centerline is valid? [True, True] Translation: X:296.09, Y:-37.83, Z:-19.52 [[ 9.96907024e-01 6.01309049e-02 5.06029630e-02 2.96088473e+02] [-5.98364354e-02 9.98181388e-01 -7.31552757e-03 -3.78285033e+01] [-5.09508252e-02 4.26499989e-03 9.98692056e-01 -1.95205504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32071405700003 meters 0.05026353210998181 Centerline is valid? [True, True] Translation: X:296.15, Y:-37.84, Z:-19.52 [[ 9.96997614e-01 5.85996910e-02 5.06145597e-02 2.96147060e+02] [-5.83032912e-02 9.98272123e-01 -7.31401745e-03 -3.78409905e+01] [-5.09557031e-02 4.34106253e-03 9.98691480e-01 -1.95241010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38071405700003 meters 0.051765962084252694 Centerline is valid? [True, True] Translation: X:296.21, Y:-37.85, Z:-19.53 [[ 9.96911918e-01 5.88377311e-02 5.20072010e-02 2.96206219e+02] [-5.85251583e-02 9.98257654e-01 -7.51410564e-03 -3.78520679e+01] [-5.23586994e-02 4.44717179e-03 9.98618440e-01 -1.95266820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44071405700004 meters 0.04969119231484161 Centerline is valid? [True, True] Translation: X:296.27, Y:-37.86, Z:-19.53 [[ 9.96930045e-01 5.93281937e-02 5.10945203e-02 2.96266484e+02] [-5.90271470e-02 9.98229081e-01 -7.38223968e-03 -3.78563668e+01] [-5.14420110e-02 4.34361278e-03 9.98666537e-01 -1.95303565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50071405700004 meters 0.05260445290013352 Centerline is valid? [True, True] Translation: X:296.32, Y:-37.87, Z:-19.54 [[ 9.96866287e-01 6.08254169e-02 5.05754432e-02 2.96324630e+02] [-6.05323626e-02 9.98139486e-01 -7.30747530e-03 -3.78684825e+01] [-5.09258271e-02 4.22312470e-03 9.98693509e-01 -1.95350984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56071405700004 meters 0.046693337685278585 Centerline is valid? [True, True] Translation: X:296.39, Y:-37.87, Z:-19.54 [[ 9.96851799e-01 6.18951264e-02 4.95528354e-02 2.96385049e+02] [-6.16151558e-02 9.98074305e-01 -7.15915371e-03 -3.78679909e+01] [-4.99005285e-02 4.08340958e-03 9.98745845e-01 -1.95374140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62071405700004 meters 0.04918905992669961 Centerline is valid? [True, True] Translation: X:296.44, Y:-37.88, Z:-19.54 [[ 9.96974741e-01 5.98610313e-02 4.95784410e-02 2.96444065e+02] [-5.95783766e-02 9.98197946e-01 -7.16081227e-03 -3.78801265e+01] [-4.99177515e-02 4.18534593e-03 9.98744562e-01 -1.95415191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68071405700005 meters 0.049960703150799 Centerline is valid? [True, True] Translation: X:296.50, Y:-37.89, Z:-19.55 [[ 9.97033643e-01 5.86077770e-02 4.98903131e-02 2.96503569e+02] [-5.83200516e-02 9.98271939e-01 -7.20471880e-03 -3.78900043e+01] [-5.02263521e-02 4.27374140e-03 9.98728716e-01 -1.95451581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74071405700005 meters 0.05418371678438221 Centerline is valid? [True, True] Translation: X:296.56, Y:-37.91, Z:-19.55 [[ 9.97142775e-01 5.71356695e-02 4.94145907e-02 2.96561276e+02] [-5.68516178e-02 9.98357136e-01 -7.13601917e-03 -3.79061276e+01] [-4.97411305e-02 4.30633053e-03 9.98752860e-01 -1.95508881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80071405700005 meters 0.05303922099536748 Centerline is valid? [True, True] Translation: X:296.62, Y:-37.91, Z:-19.55 [[ 9.97224142e-01 5.59738844e-02 4.91012759e-02 2.96621614e+02] [-5.56920305e-02 9.98422816e-01 -7.09077302e-03 -3.79126458e+01] [-4.94207323e-02 4.33654028e-03 9.98768635e-01 -1.95542364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86071405700005 meters 0.052654030243762244 Centerline is valid? [True, True] Translation: X:296.68, Y:-37.92, Z:-19.56 [[ 9.97288363e-01 5.46736531e-02 4.92616729e-02 2.96682061e+02] [-5.43884057e-02 9.98494517e-01 -7.11341649e-03 -3.79216083e+01] [-4.95764267e-02 4.41486364e-03 9.98760575e-01 -1.95578166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92071405700005 meters 0.05404056120130025 Centerline is valid? [True, True] Translation: X:296.74, Y:-37.93, Z:-19.56 [[ 9.97315445e-01 5.40147688e-02 4.94399364e-02 2.96742441e+02] [-5.37265609e-02 9.98530152e-01 -7.14091272e-03 -3.79339143e+01] [-4.97529819e-02 4.46550479e-03 9.98751571e-01 -1.95628068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98071405700006 meters 0.050192353988249214 Centerline is valid? [True, True] Translation: X:296.80, Y:-37.94, Z:-19.57 [[ 9.97245012e-01 5.59814312e-02 4.86668924e-02 2.96803664e+02] [-5.57044025e-02 9.98422547e-01 -7.03117803e-03 -3.79355547e+01] [-4.89837380e-02 4.30084706e-03 9.98790316e-01 -1.95659284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04071405700006 meters 0.05299661593857903 Centerline is valid? [True, True] Translation: X:296.86, Y:-37.95, Z:-19.57 [[ 9.97121233e-01 5.80812630e-02 4.87423092e-02 2.96862456e+02] [-5.78058058e-02 9.98303001e-01 -7.04322057e-03 -3.79462953e+01] [-4.90686727e-02 4.20535632e-03 9.98786554e-01 -1.95716506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10071405700006 meters 0.0509274406624624 Centerline is valid? [True, True] Translation: X:296.92, Y:-37.95, Z:-19.57 [[ 9.97018828e-01 5.88710311e-02 4.98764307e-02 2.96922081e+02] [-5.85835472e-02 9.98256489e-01 -7.20759762e-03 -3.79516207e+01] [-5.02137893e-02 4.26417231e-03 9.98729389e-01 -1.95744463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16071405700006 meters 0.051944897757193687 Centerline is valid? [True, True] Translation: X:296.98, Y:-37.96, Z:-19.58 [[ 9.96943474e-01 5.93291025e-02 5.08307801e-02 2.96982190e+02] [-5.90312074e-02 9.98229129e-01 -7.34321435e-03 -3.79590097e+01] [-5.11764317e-02 4.32016729e-03 9.98680284e-01 -1.95771942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22071405700007 meters 0.05181397839535526 Centerline is valid? [True, True] Translation: X:297.04, Y:-37.97, Z:-19.58 [[ 9.96743914e-01 6.17078978e-02 5.19009232e-02 2.97041987e+02] [-6.14005052e-02 9.98085046e-01 -7.49794137e-03 -3.79659348e+01] [-5.22642175e-02 4.28678452e-03 9.98624091e-01 -1.95804150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28071405700007 meters 0.04603147191404624 Centerline is valid? [True, True] Translation: X:297.10, Y:-37.96, Z:-19.58 [[ 9.96612112e-01 6.33794804e-02 5.24150783e-02 2.97102557e+02] [-6.30682716e-02 9.97980491e-01 -7.57189606e-03 -3.79649555e+01] [-5.27891283e-02 4.24051493e-03 9.98596678e-01 -1.95829153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34071405700007 meters 0.04202849435061345 Centerline is valid? [True, True] Translation: X:297.16, Y:-37.97, Z:-19.59 [[ 9.96097239e-01 7.03067787e-02 5.33596028e-02 2.97163835e+02] [-6.99942089e-02 9.97517630e-01 -7.70644728e-03 -3.79662948e+01] [-5.37689600e-02 3.94150768e-03 9.98545624e-01 -1.95859671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.400714057 meters 0.040109715785030454 Centerline is valid? [True, True] Translation: X:297.22, Y:-37.97, Z:-19.59 [[ 9.95837978e-01 7.42815771e-02 5.28106933e-02 2.97223838e+02] [-7.39810232e-02 9.97230490e-01 -7.62612665e-03 -3.79704143e+01] [-5.32309142e-02 3.68739742e-03 9.98575422e-01 -1.95905477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.460714057 meters 0.037280142952035966 Centerline is valid? [True, True] Translation: X:297.28, Y:-37.97, Z:-19.59 [[ 9.95217034e-01 8.32443208e-02 5.11218083e-02 2.97284947e+02] [-8.29744703e-02 9.96524331e-01 -7.38207405e-03 -3.79698215e+01] [-5.15586416e-02 3.10496087e-03 9.98665142e-01 -1.95936719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.520714057 meters 0.03863938236095785 Centerline is valid? [True, True] Translation: X:297.34, Y:-37.98, Z:-19.60 [[ 9.94946961e-01 8.65450965e-02 5.08968695e-02 2.97343179e+02] [-8.62819058e-02 9.96243651e-01 -7.34982295e-03 -3.79796889e+01] [-5.13417742e-02 2.92120511e-03 9.98676869e-01 -1.95997359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.580714057 meters 0.035527814040854755 Centerline is valid? [True, True] Translation: X:297.40, Y:-37.98, Z:-19.60 [[ 9.94505848e-01 9.15666308e-02 5.07313611e-02 2.97403250e+02] [-9.13117716e-02 9.95795423e-01 -7.32369508e-03 -3.79831984e+01] [-5.11886632e-02 2.65108713e-03 9.98685482e-01 -1.96042374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.640714057 meters 0.03595395478279992 Centerline is valid? [True, True] Translation: X:297.46, Y:-37.99, Z:-19.61 [[ 9.94150138e-01 9.54102056e-02 5.06201100e-02 2.97461934e+02] [-9.51614149e-02 9.95435030e-01 -7.30790960e-03 -3.79890310e+01] [-5.10862799e-02 2.44807806e-03 9.98691243e-01 -1.96067679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.700714057 meters 0.035330685361171024 Centerline is valid? [True, True] Translation: X:297.52, Y:-38.00, Z:-19.61 [[ 9.93838700e-01 9.72966273e-02 5.30848847e-02 2.97520765e+02] [-9.70257795e-02 9.95252378e-01 -7.66178698e-03 -3.79991802e+01] [-5.35783237e-02 2.46397809e-03 9.98560610e-01 -1.96075339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76071405700003 meters 0.03784341317636291 Centerline is valid? [True, True] Translation: X:297.58, Y:-38.01, Z:-19.61 [[ 9.93972400e-01 9.55551064e-02 5.37409584e-02 2.97577393e+02] [-9.52750505e-02 9.95420777e-01 -7.75512254e-03 -3.80130690e+01] [-5.42359081e-02 2.58820524e-03 9.98524796e-01 -1.96111408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82071405700003 meters 0.0379357178885387 Centerline is valid? [True, True] Translation: X:297.64, Y:-38.03, Z:-19.62 [[ 9.94596421e-01 8.98474295e-02 5.20134444e-02 2.97636877e+02] [-8.95775986e-02 9.95951603e-01 -7.50060629e-03 -3.80259349e+01] [-5.24767835e-02 2.80083673e-03 9.98618217e-01 -1.96159629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88071405700003 meters 0.042070416759095584 Centerline is valid? [True, True] Translation: X:297.69, Y:-38.05, Z:-19.62 [[ 9.95301469e-01 8.23555298e-02 5.09171224e-02 2.97693310e+02] [-8.20871724e-02 9.96598102e-01 -7.34294253e-03 -3.80480950e+01] [-5.13486395e-02 3.12879888e-03 9.98675887e-01 -1.96216437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94071405700004 meters 0.043331096127959184 Centerline is valid? [True, True] Translation: X:297.75, Y:-38.06, Z:-19.62 [[ 9.95451403e-01 8.04030275e-02 5.11063353e-02 2.97751332e+02] [-8.01301809e-02 9.96757169e-01 -7.36881388e-03 -3.80591040e+01] [-5.15330811e-02 3.24013622e-03 9.98666032e-01 -1.96245752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00071405700004 meters 0.04461888084362135 Centerline is valid? [True, True] Translation: X:297.81, Y:-38.07, Z:-19.63 [[ 9.95865453e-01 7.45972295e-02 5.18387239e-02 2.97810015e+02] [-7.43088313e-02 9.97207289e-01 -7.47130837e-03 -3.80735802e+01] [-5.22512923e-02 3.58834290e-03 9.98627521e-01 -1.96273624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06071405700004 meters 0.044426439555179234 Centerline is valid? [True, True] Translation: X:297.87, Y:-38.09, Z:-19.63 [[ 9.96275820e-01 6.99586386e-02 5.04011825e-02 2.97868887e+02] [-6.96801739e-02 9.97542941e-01 -7.26319752e-03 -3.80857192e+01] [-5.07854673e-02 3.72418490e-03 9.98702642e-01 -1.96315943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12071405700004 meters 0.04582191804070344 Centerline is valid? [True, True] Translation: X:297.93, Y:-38.10, Z:-19.64 [[ 9.96462265e-01 6.75122691e-02 5.00504610e-02 2.97927396e+02] [-6.72346088e-02 9.97711124e-01 -7.21254637e-03 -3.80992354e+01] [-5.04228370e-02 3.82190713e-03 9.98720647e-01 -1.96368751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18071405700005 meters 0.04364632414077899 Centerline is valid? [True, True] Translation: X:297.99, Y:-38.11, Z:-19.64 [[ 9.96361551e-01 6.77640882e-02 5.16883717e-02 2.97985820e+02] [-6.74682877e-02 9.97693617e-01 -7.44829943e-03 -3.81055695e+01] [-5.20738857e-02 3.93387325e-03 9.98635487e-01 -1.96387322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24071405700005 meters 0.04403665282684798 Centerline is valid? [True, True] Translation: X:298.04, Y:-38.12, Z:-19.64 [[ 9.96193347e-01 6.87169894e-02 5.36357265e-02 2.98044261e+02] [-6.84000629e-02 9.97628069e-01 -7.72451310e-03 -3.81157516e+01] [-5.40393115e-02 4.02642149e-03 9.98530691e-01 -1.96415865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30071405700005 meters 0.04515750392019214 Centerline is valid? [True, True] Translation: X:298.10, Y:-38.13, Z:-19.65 [[ 9.96179700e-01 6.94173680e-02 5.29833332e-02 2.98103042e+02] [-6.91091971e-02 9.97579933e-01 -7.62870113e-03 -3.81275189e+01] [-5.33846744e-02 3.93792159e-03 9.98566257e-01 -1.96464256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36071405700005 meters 0.046128484299218564 Centerline is valid? [True, True] Translation: X:298.16, Y:-38.14, Z:-19.65 [[ 9.96334347e-01 6.83777441e-02 5.14038165e-02 2.98161789e+02] [-6.80864082e-02 9.97651987e-01 -7.39955181e-03 -3.81367057e+01] [-5.17890844e-02 3.87252639e-03 9.98650537e-01 -1.96519911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42071405700005 meters 0.0474452956929212 Centerline is valid? [True, True] Translation: X:298.22, Y:-38.15, Z:-19.66 [[ 9.96313218e-01 6.85038483e-02 5.16448898e-02 2.98218705e+02] [-6.82100001e-02 9.97643296e-01 -7.43307534e-03 -3.81459452e+01] [-5.20323723e-02 3.88297327e-03 9.98637850e-01 -1.96558495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48071405700006 meters 0.04706611784574945 Centerline is valid? [True, True] Translation: X:298.28, Y:-38.15, Z:-19.66 [[ 9.96141472e-01 7.13755000e-02 5.10657084e-02 2.98278228e+02] [-7.10922336e-02 9.97442707e-01 -7.34445361e-03 -3.81505085e+01] [-5.14593325e-02 3.68573956e-03 9.98668290e-01 -1.96604973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54071405700006 meters 0.041592862936606564 Centerline is valid? [True, True] Translation: X:298.34, Y:-38.15, Z:-19.66 [[ 9.95877312e-01 7.48509905e-02 5.12416601e-02 2.98339804e+02] [-7.45703905e-02 9.97188527e-01 -7.36878579e-03 -3.81462450e+01] [-5.16491565e-02 3.51729598e-03 9.98659098e-01 -1.96623095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60071405700006 meters 0.03965556893315518 Centerline is valid? [True, True] Translation: X:298.40, Y:-38.15, Z:-19.66 [[ 9.95439432e-01 7.96014350e-02 5.25732670e-02 2.98401008e+02] [-7.93126604e-02 9.96821123e-01 -7.55977784e-03 -3.81476236e+01] [-5.30079122e-02 3.35557529e-03 9.98588454e-01 -1.96639715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66071405700006 meters 0.037575390724887185 Centerline is valid? [True, True] Translation: X:298.46, Y:-38.15, Z:-19.67 [[ 9.94714965e-01 8.71376304e-02 5.43062733e-02 2.98461514e+02] [-8.68406564e-02 9.96191608e-01 -7.80896240e-03 -3.81485656e+01] [-5.47799082e-02 3.05169934e-03 9.98493790e-01 -1.96662911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72071405700007 meters 0.03220352311047691 Centerline is valid? [True, True] Translation: X:298.52, Y:-38.14, Z:-19.67 [[ 9.93867937e-01 9.69094657e-02 5.32454574e-02 2.98523101e+02] [-9.66380174e-02 9.95290154e-01 -7.65530105e-03 -3.81429262e+01] [-5.37365507e-02 2.46282282e-03 9.98552111e-01 -1.96693088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78071405700007 meters 0.030574242231935677 Centerline is valid? [True, True] Translation: X:298.58, Y:-38.15, Z:-19.67 [[ 9.92871673e-01 1.06370477e-01 5.37695388e-02 2.98582629e+02] [-1.06107469e-01 9.94324615e-01 -7.73083080e-03 -3.81451360e+01] [-5.42867081e-02 1.97037324e-03 9.98523445e-01 -1.96742297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84071405700007 meters 0.035107745806725335 Centerline is valid? [True, True] Translation: X:298.64, Y:-38.16, Z:-19.68 [[ 9.91751468e-01 1.15648390e-01 5.52673179e-02 2.98640071e+02] [-1.15384973e-01 9.93289079e-01 -7.94442043e-03 -3.81617962e+01] [-5.58151827e-02 1.50187265e-03 9.98439988e-01 -1.96811330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.900714057 meters 0.029561252484779674 Centerline is valid? [True, True] Translation: X:298.70, Y:-38.16, Z:-19.68 [[ 9.92119378e-01 1.13467189e-01 5.31444832e-02 2.98700573e+02] [-1.13220560e-01 9.93540517e-01 -7.63838621e-03 -3.81579175e+01] [-5.36679036e-02 1.56114283e-03 9.98557619e-01 -1.96821461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.960714057 meters 0.028825646587915116 Centerline is valid? [True, True] Translation: X:298.76, Y:-38.17, Z:-19.68 [[ 9.92218791e-01 1.11994048e-01 5.43985712e-02 2.98758037e+02] [-1.11733470e-01 9.93707460e-01 -7.81770565e-03 -3.81676954e+01] [-5.49318025e-02 1.67873332e-03 9.98488697e-01 -1.96845852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.020714057 meters 0.02975552491706903 Centerline is valid? [True, True] Translation: X:298.82, Y:-38.18, Z:-19.69 [[ 9.92583956e-01 1.08220020e-01 5.53671164e-02 2.98816164e+02] [-1.07945105e-01 9.94125141e-01 -7.94088408e-03 -3.81805248e+01] [-5.59012051e-02 1.90538496e-03 9.98434487e-01 -1.96878149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.080714057 meters 0.03281496682882631 Centerline is valid? [True, True] Translation: X:298.87, Y:-38.20, Z:-19.69 [[ 9.93315517e-01 1.01238906e-01 5.54523933e-02 2.98872869e+02] [-1.00952400e-01 9.94859485e-01 -7.95098327e-03 -3.82002999e+01] [-5.59722883e-02 2.29978289e-03 9.98429674e-01 -1.96928767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.140714057 meters 0.035432177774486186 Centerline is valid? [True, True] Translation: X:298.93, Y:-38.22, Z:-19.70 [[ 9.94151693e-01 9.23668390e-02 5.59533594e-02 2.98930896e+02] [-9.20611875e-02 9.95721043e-01 -8.02132184e-03 -3.82205889e+01] [-5.64548415e-02 2.82327798e-03 9.98401162e-01 -1.96972262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.200714057 meters 0.04042034242628372 Centerline is valid? [True, True] Translation: X:298.99, Y:-38.24, Z:-19.70 [[ 9.94898445e-01 8.32577375e-02 5.69669517e-02 2.98987106e+02] [-8.29260064e-02 9.96522244e-01 -8.16671004e-03 -3.82433235e+01] [-5.74487763e-02 3.40100531e-03 9.98342662e-01 -1.97008261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26071405700003 meters 0.044674389376688696 Centerline is valid? [True, True] Translation: X:299.04, Y:-38.26, Z:-19.71 [[ 9.95406219e-01 7.68077872e-02 5.71578809e-02 2.99043908e+02] [-7.64632224e-02 9.97038730e-01 -8.19434592e-03 -3.82638112e+01] [-5.76180106e-02 3.78622713e-03 9.98331523e-01 -1.97057210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32071405700003 meters 0.04230263352603163 Centerline is valid? [True, True] Translation: X:299.10, Y:-38.27, Z:-19.71 [[ 9.95603475e-01 7.40726675e-02 5.73320162e-02 2.99103562e+02] [-7.37216007e-02 9.97245006e-01 -8.21732449e-03 -3.82722826e+01] [-5.77827459e-02 3.95458881e-03 9.98321349e-01 -1.97089768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38071405700003 meters 0.04351104996233711 Centerline is valid? [True, True] Translation: X:299.16, Y:-38.29, Z:-19.71 [[ 9.95671209e-01 7.35616889e-02 5.68112843e-02 2.99161025e+02] [-7.32161876e-02 9.97282857e-01 -8.14206653e-03 -3.82854583e+01] [-5.72558640e-02 3.94731558e-03 9.98351734e-01 -1.97147665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44071405700004 meters 0.045241667287945764 Centerline is valid? [True, True] Translation: X:299.22, Y:-38.30, Z:-19.72 [[ 9.95789179e-01 7.27042408e-02 5.58391004e-02 2.99218655e+02] [-7.23693631e-02 9.97345825e-01 -7.99874063e-03 -3.82982705e+01] [-5.62724361e-02 3.92401923e-03 9.98407740e-01 -1.97203139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50071405700004 meters 0.047468511243600686 Centerline is valid? [True, True] Translation: X:299.28, Y:-38.31, Z:-19.72 [[ 9.95917268e-01 7.12795333e-02 5.53897385e-02 2.99275835e+02] [-7.09479999e-02 9.97448481e-01 -7.93150502e-03 -3.83099508e+01] [-5.58137645e-02 3.96933166e-03 9.98433307e-01 -1.97247183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56071405700004 meters 0.0421586289741361 Centerline is valid? [True, True] Translation: X:299.34, Y:-38.31, Z:-19.73 [[ 9.96014206e-01 6.99531879e-02 5.53376192e-02 2.99335761e+02] [-6.96204094e-02 9.97542107e-01 -7.92107808e-03 -3.83099715e+01] [-5.57557099e-02 4.03687860e-03 9.98436280e-01 -1.97276935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62071405700004 meters 0.04316017014514289 Centerline is valid? [True, True] Translation: X:299.39, Y:-38.32, Z:-19.73 [[ 9.95942355e-01 6.96185538e-02 5.70270358e-02 2.99394726e+02] [-6.92646965e-02 9.97564937e-01 -8.16075044e-03 -3.83190731e+01] [-5.74563111e-02 4.17767668e-03 9.98339281e-01 -1.97292581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68071405700005 meters 0.04455156328734012 Centerline is valid? [True, True] Translation: X:299.45, Y:-38.33, Z:-19.73 [[ 9.96024104e-01 6.78335578e-02 5.77459328e-02 2.99453789e+02] [-6.74678631e-02 9.97687245e-01 -8.26131690e-03 -3.83298286e+01] [-5.81727751e-02 4.33247607e-03 9.98297129e-01 -1.97330112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74071405700005 meters 0.04558334449608737 Centerline is valid? [True, True] Translation: X:299.51, Y:-38.34, Z:-19.74 [[ 9.96152641e-01 6.58977368e-02 5.77702719e-02 2.99513055e+02] [-6.55285182e-02 9.97816472e-01 -8.26447265e-03 -3.83419240e+01] [-5.81887390e-02 4.44707594e-03 9.98295695e-01 -1.97380566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80071405700005 meters 0.04154480846216774 Centerline is valid? [True, True] Translation: X:299.57, Y:-38.34, Z:-19.74 [[ 9.96307320e-01 6.47269811e-02 5.64104724e-02 2.99574148e+02] [-6.43731070e-02 9.97893272e-01 -8.06980059e-03 -3.83446316e+01] [-5.68139647e-02 4.40868403e-03 9.98375048e-01 -1.97425066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86071405700005 meters 0.044041071743264125 Centerline is valid? [True, True] Translation: X:299.63, Y:-38.36, Z:-19.75 [[ 9.96304157e-01 6.56469855e-02 5.53940362e-02 2.99632989e+02] [-6.53071619e-02 9.97833741e-01 -7.92468248e-03 -3.83561906e+01] [-5.57942699e-02 4.27776681e-03 9.98433123e-01 -1.97475202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92071405700005 meters 0.0481000334687794 Centerline is valid? [True, True] Translation: X:299.69, Y:-38.37, Z:-19.75 [[ 9.96343280e-01 6.60315431e-02 5.42208790e-02 2.99690548e+02] [-6.57061831e-02 9.97808812e-01 -7.76346090e-03 -3.83697420e+01] [-5.46147042e-02 4.17242509e-03 9.98498786e-01 -1.97527555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98071405700006 meters 0.04388011361231004 Centerline is valid? [True, True] Translation: X:299.75, Y:-38.37, Z:-19.75 [[ 9.96315044e-01 6.59905745e-02 5.47866529e-02 2.99751135e+02] [-6.56583640e-02 9.97811333e-01 -7.84364995e-03 -3.83691747e+01] [-5.51843501e-02 4.21754445e-03 9.98467275e-01 -1.97549389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04071405700006 meters 0.046295940862965276 Centerline is valid? [True, True] Translation: X:299.81, Y:-38.38, Z:-19.76 [[ 9.96413330e-01 6.46917936e-02 5.45476720e-02 2.99809922e+02] [-6.43606633e-02 9.97896163e-01 -7.80729467e-03 -3.83787717e+01] [-5.49379804e-02 4.26856813e-03 9.98480645e-01 -1.97588282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10071405700006 meters 0.04827468645689363 Centerline is valid? [True, True] Translation: X:299.87, Y:-38.39, Z:-19.76 [[ 9.96601038e-01 6.17703108e-02 5.45050447e-02 2.99869249e+02] [-6.14354295e-02 9.98080583e-01 -7.79991971e-03 -3.83886538e+01] [-5.48822303e-02 4.42486724e-03 9.98483030e-01 -1.97633033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16071405700006 meters 0.04840129857265629 Centerline is valid? [True, True] Translation: X:299.93, Y:-38.40, Z:-19.77 [[ 9.96896088e-01 5.56140397e-02 5.57249430e-02 2.99929474e+02] [-5.52543865e-02 9.98440457e-01 -7.97534298e-03 -3.83956492e+01] [-5.60815786e-02 4.87154068e-03 9.98414305e-01 -1.97654298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22071405700007 meters 0.055663620020000804 Centerline is valid? [True, True] Translation: X:299.99, Y:-38.41, Z:-19.77 [[ 9.97090583e-01 5.30457267e-02 5.47404792e-02 2.99987047e+02] [-5.26948359e-02 9.98579928e-01 -7.83466508e-03 -3.84137382e+01] [-5.50783393e-02 4.92733021e-03 9.98469878e-01 -1.97713428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28071405700007 meters 0.05246580563157923 Centerline is valid? [True, True] Translation: X:300.05, Y:-38.41, Z:-19.78 [[ 9.97279919e-01 5.13040836e-02 5.29212154e-02 3.00048128e+02] [-5.09736574e-02 9.98671266e-01 -7.57558548e-03 -3.84138082e+01] [-5.32395557e-02 4.85739136e-03 9.98569955e-01 -1.97760197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34071405700007 meters 0.05457648291743409 Centerline is valid? [True, True] Translation: X:300.11, Y:-38.42, Z:-19.78 [[ 9.97304417e-01 5.16310068e-02 5.21357693e-02 3.00109918e+02] [-5.13108000e-02 9.98654851e-01 -7.46259107e-03 -3.84227747e+01] [-5.24509400e-02 4.76734701e-03 9.98612123e-01 -1.97807237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4007140570001 meters 0.05329746903451947 Centerline is valid? [True, True] Translation: X:300.17, Y:-38.43, Z:-19.78 [[ 9.97218201e-01 5.25755540e-02 5.28362731e-02 3.00171053e+02] [-5.22470956e-02 9.98605423e-01 -7.57961747e-03 -3.84269399e+01] [-5.31610914e-02 4.79799068e-03 9.98574423e-01 -1.97844872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.460714057 meters 0.05473799051810449 Centerline is valid? [True, True] Translation: X:300.23, Y:-38.43, Z:-19.79 [[ 9.97160189e-01 5.34755665e-02 5.30275513e-02 3.00232148e+02] [-5.31460050e-02 9.98557780e-01 -7.60666148e-03 -3.84347484e+01] [-5.33578444e-02 4.76685750e-03 9.98564078e-01 -1.97877012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.520714057 meters 0.04981350976838997 Centerline is valid? [True, True] Translation: X:300.29, Y:-38.43, Z:-19.79 [[ 9.97144105e-01 5.44622639e-02 5.23210896e-02 3.00294817e+02] [-5.41420054e-02 9.98504928e-01 -7.52005349e-03 -3.84321440e+01] [-5.26524250e-02 4.66580829e-03 9.98601999e-01 -1.97908617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.580714057 meters 0.04842712230754035 Centerline is valid? [True, True] Translation: X:300.36, Y:-38.44, Z:-19.79 [[ 9.97079737e-01 5.50431705e-02 5.29362631e-02 3.00356190e+02] [-5.47159726e-02 9.98472947e-01 -7.61158874e-03 -3.84369455e+01] [-5.32743926e-02 4.69290177e-03 9.98568884e-01 -1.97941721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.640714057 meters 0.05060319156493398 Centerline is valid? [True, True] Translation: X:300.42, Y:-38.45, Z:-19.80 [[ 9.97011366e-01 5.60528340e-02 5.31640524e-02 3.00415730e+02] [-5.57241190e-02 9.98416924e-01 -7.64648507e-03 -3.84454808e+01] [-5.35084968e-02 4.66111253e-03 9.98556516e-01 -1.97984817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.700714057 meters 0.05082860874895284 Centerline is valid? [True, True] Translation: X:300.48, Y:-38.45, Z:-19.80 [[ 9.96954988e-01 5.70508867e-02 5.31596463e-02 3.00476658e+02] [-5.67235928e-02 9.98360638e-01 -7.64660616e-03 -3.84532229e+01] [-5.35087440e-02 4.60791602e-03 9.98556749e-01 -1.98033569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76071405700003 meters 0.05036198903652358 Centerline is valid? [True, True] Translation: X:300.54, Y:-38.46, Z:-19.81 [[ 9.96789172e-01 6.06116406e-02 5.23218529e-02 3.00537243e+02] [-6.02993408e-02 9.98151949e-01 -7.52834992e-03 -3.84571298e+01] [-5.26814651e-02 4.34920444e-03 9.98601896e-01 -1.98082630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82071405700003 meters 0.04468729361737673 Centerline is valid? [True, True] Translation: X:300.60, Y:-38.45, Z:-19.81 [[ 9.96704808e-01 6.27352462e-02 5.14180420e-02 3.00598223e+02] [-6.24364458e-02 9.98021519e-01 -7.39857000e-03 -3.84534600e+01] [-5.17804635e-02 4.16383049e-03 9.98649812e-01 -1.98114857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88071405700003 meters 0.04441431537634759 Centerline is valid? [True, True] Translation: X:300.66, Y:-38.46, Z:-19.82 [[ 9.96644530e-01 6.37099689e-02 5.13879338e-02 3.00656539e+02] [-6.34128180e-02 9.97959991e-01 -7.39398958e-03 -3.84598607e+01] [-5.17541728e-02 4.11052558e-03 9.98651395e-01 -1.98154702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94071405700004 meters 0.04570866006020577 Centerline is valid? [True, True] Translation: X:300.71, Y:-38.47, Z:-19.82 [[ 9.96472357e-01 6.58139544e-02 5.20707776e-02 3.00714559e+02] [-6.55119119e-02 9.97823690e-01 -7.48814762e-03 -3.84670466e+01] [-5.24502800e-02 4.05047592e-03 9.98615322e-01 -1.98206523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00071405700004 meters 0.04414461592853913 Centerline is valid? [True, True] Translation: X:300.77, Y:-38.47, Z:-19.82 [[ 9.96177051e-01 6.86568751e-02 5.40140484e-02 3.00775000e+02] [-6.83361780e-02 9.97632139e-01 -7.76414515e-03 -3.84710712e+01] [-5.44192126e-02 4.04334959e-03 9.98509990e-01 -1.98225774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06071405700004 meters 0.04466312921870339 Centerline is valid? [True, True] Translation: X:300.83, Y:-38.48, Z:-19.83 [[ 9.95994551e-01 7.01502733e-02 5.54418071e-02 3.00834617e+02] [-6.98147096e-02 9.97528148e-01 -7.96874923e-03 -3.84787926e+01] [-5.58637731e-02 4.06617715e-03 9.98430120e-01 -1.98253521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12071405700004 meters 0.04507865067906608 Centerline is valid? [True, True] Translation: X:300.89, Y:-38.49, Z:-19.83 [[ 9.95697888e-01 7.30567929e-02 5.69949272e-02 3.00893116e+02] [-7.27069270e-02 9.97319713e-01 -8.19101034e-03 -3.84876485e+01] [-5.74405734e-02 4.01184568e-03 9.98340866e-01 -1.98287652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18071405700005 meters 0.04209447032637309 Centerline is valid? [True, True] Translation: X:300.95, Y:-38.49, Z:-19.83 [[ 9.95677255e-01 7.37316626e-02 5.64840347e-02 3.00952425e+02] [-7.33891991e-02 9.97270350e-01 -8.11635773e-03 -3.84905489e+01] [-5.69282856e-02 3.93595471e-03 9.98370512e-01 -1.98325581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24071405700005 meters 0.042743478561902436 Centerline is valid? [True, True] Translation: X:301.01, Y:-38.50, Z:-19.84 [[ 9.95623432e-01 7.50414688e-02 5.57024278e-02 3.01009016e+02] [-7.47106163e-02 9.97173155e-01 -8.00141070e-03 -3.85010340e+01] [-5.61454033e-02 3.80482927e-03 9.98415353e-01 -1.98367940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30071405700005 meters 0.04313058240831149 Centerline is valid? [True, True] Translation: X:301.07, Y:-38.51, Z:-19.84 [[ 9.95842606e-01 7.30814378e-02 5.43746919e-02 3.01066947e+02] [-7.27635556e-02 9.97318673e-01 -7.80572129e-03 -3.85110091e+01] [-5.47993489e-02 3.81677391e-03 9.98490092e-01 -1.98424351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36071405700005 meters 0.04397951111980041 Centerline is valid? [True, True] Translation: X:301.13, Y:-38.52, Z:-19.85 [[ 9.95977455e-01 7.14412897e-02 5.40837500e-02 3.01125143e+02] [-7.11245560e-02 9.97437248e-01 -7.76109441e-03 -3.85214389e+01] [-5.44996093e-02 3.88319235e-03 9.98506241e-01 -1.98458748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42071405700005 meters 0.04606393958874854 Centerline is valid? [True, True] Translation: X:301.18, Y:-38.53, Z:-19.85 [[ 9.96110659e-01 6.81809683e-02 5.58113773e-02 3.01184226e+02] [-6.78387532e-02 9.97664179e-01 -8.00561799e-03 -3.85349296e+01] [-5.62268427e-02 4.18830717e-03 9.98409235e-01 -1.98485399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48071405700006 meters 0.04828756018470299 Centerline is valid? [True, True] Translation: X:301.24, Y:-38.55, Z:-19.85 [[ 9.96353182e-01 6.39854008e-02 5.64464858e-02 3.01243526e+02] [-6.36287177e-02 9.97940804e-01 -8.09557955e-03 -3.85475337e+01] [-5.68482503e-02 4.47443893e-03 9.98372804e-01 -1.98513987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54071405700006 meters 0.04645461582073958 Centerline is valid? [True, True] Translation: X:301.30, Y:-38.56, Z:-19.86 [[ 9.96685245e-01 5.88802697e-02 5.61394294e-02 3.01303563e+02] [-5.85194211e-02 9.98253800e-01 -8.05155038e-03 -3.85555578e+01] [-5.65154762e-02 4.73961456e-03 9.98390473e-01 -1.98564829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60071405700006 meters 0.05011057257845636 Centerline is valid? [True, True] Translation: X:301.36, Y:-38.57, Z:-19.86 [[ 9.96797729e-01 5.67409801e-02 5.63449102e-02 3.01362159e+02] [-5.63741191e-02 9.98377015e-01 -8.08052489e-03 -3.85702701e+01] [-5.67119602e-02 4.87825418e-03 9.98378664e-01 -1.98609237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66071405700006 meters 0.05136725951645394 Centerline is valid? [True, True] Translation: X:301.42, Y:-38.58, Z:-19.86 [[ 9.96924149e-01 5.48278288e-02 5.60013385e-02 3.01422728e+02] [-5.44621708e-02 9.98483497e-01 -8.03603869e-03 -3.85800597e+01] [-5.63570109e-02 4.96136657e-03 9.98398353e-01 -1.98644066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72071405700007 meters 0.05229641266285041 Centerline is valid? [True, True] Translation: X:301.48, Y:-38.59, Z:-19.87 [[ 9.96877745e-01 5.50389069e-02 5.66169551e-02 3.01483881e+02] [-5.46654642e-02 9.98471669e-01 -8.12485526e-03 -3.85905739e+01] [-5.69776088e-02 5.00449527e-03 9.98362914e-01 -1.98680943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78071405700007 meters 0.054888420837677636 Centerline is valid? [True, True] Translation: X:301.54, Y:-38.60, Z:-19.87 [[ 9.96791334e-01 5.57534390e-02 5.74333631e-02 3.01544356e+02] [-5.53694756e-02 9.98431797e-01 -8.25639935e-03 -3.86028123e+01] [-5.78036185e-02 5.04985212e-03 9.98315201e-01 -1.98729216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84071405700007 meters 0.050766007744792216 Centerline is valid? [True, True] Translation: X:301.61, Y:-38.60, Z:-19.88 [[ 9.96778945e-01 5.65304552e-02 5.68862318e-02 3.01606662e+02] [-5.61541776e-02 9.98388495e-01 -8.19274216e-03 -3.86041960e+01] [-5.72576988e-02 4.97195332e-03 9.98347052e-01 -1.98761779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9007140570001 meters 0.04634642404563788 Centerline is valid? [True, True] Translation: X:301.67, Y:-38.61, Z:-19.88 [[ 9.96715254e-01 5.82822238e-02 5.62306384e-02 3.01668013e+02] [-5.79171616e-02 9.98288519e-01 -8.10156981e-03 -3.86059666e+01] [-5.66065782e-02 4.81823924e-03 9.98384936e-01 -1.98803773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.960714057 meters 0.045775483034331266 Centerline is valid? [True, True] Translation: X:301.73, Y:-38.61, Z:-19.88 [[ 9.96562544e-01 5.98777975e-02 5.72515951e-02 3.01728211e+02] [-5.95018889e-02 9.98194103e-01 -8.24973762e-03 -3.86139302e+01] [-5.76421807e-02 4.81480146e-03 9.98325697e-01 -1.98832099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.020714057 meters 0.04559668203292809 Centerline is valid? [True, True] Translation: X:301.79, Y:-38.62, Z:-19.89 [[ 9.96360985e-01 6.26685367e-02 5.77705929e-02 3.01788138e+02] [-6.22903582e-02 9.98023344e-01 -8.32568739e-03 -3.86207805e+01] [-5.81781589e-02 4.69683917e-03 9.98295168e-01 -1.98865590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.080714057 meters 0.04657810208109282 Centerline is valid? [True, True] Translation: X:301.85, Y:-38.63, Z:-19.89 [[ 9.96313030e-01 6.50887745e-02 5.58909529e-02 3.01847167e+02] [-6.47386075e-02 9.97869746e-01 -8.05498364e-03 -3.86308341e+01] [-5.62961799e-02 4.40698269e-03 9.98404386e-01 -1.98936384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.140714057 meters 0.04661635320908101 Centerline is valid? [True, True] Translation: X:301.91, Y:-38.64, Z:-19.90 [[ 9.96296482e-01 6.62844015e-02 5.47694926e-02 3.01905514e+02] [-6.59499308e-02 9.97791709e-01 -7.89385034e-03 -3.86393717e+01] [-5.51717847e-02 4.25257108e-03 9.98467821e-01 -1.98986485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.200714057 meters 0.04741063497218345 Centerline is valid? [True, True] Translation: X:301.96, Y:-38.65, Z:-19.90 [[ 9.96089600e-01 6.85017104e-02 5.57944796e-02 3.01964031e+02] [-6.81582203e-02 9.97642141e-01 -8.03840494e-03 -3.86477146e+01] [-5.62135685e-02 4.20411913e-03 9.98409916e-01 -1.99004121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26071405700003 meters 0.047387747947320744 Centerline is valid? [True, True] Translation: X:302.02, Y:-38.66, Z:-19.91 [[ 9.95891547e-01 7.17303735e-02 5.52700743e-02 3.02023083e+02] [-7.13983711e-02 9.97416111e-01 -7.96083640e-03 -3.86561284e+01] [-5.56982963e-02 3.98193640e-03 9.98439705e-01 -1.99057015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32071405700003 meters 0.04687227280141718 Centerline is valid? [True, True] Translation: X:302.08, Y:-38.66, Z:-19.91 [[ 9.95813648e-01 7.32084453e-02 5.47330132e-02 3.02080813e+02] [-7.28851315e-02 9.97309190e-01 -7.88275028e-03 -3.86639154e+01] [-5.51628210e-02 3.86052744e-03 9.98469909e-01 -1.99110685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38071405700003 meters 0.04473276216233379 Centerline is valid? [True, True] Translation: X:302.14, Y:-38.67, Z:-19.91 [[ 9.95734582e-01 7.36528582e-02 5.55688724e-02 3.02139430e+02] [-7.33204835e-02 9.97276350e-01 -7.99930900e-03 -3.86693972e+01] [-5.60066942e-02 3.89085201e-03 9.98422812e-01 -1.99130400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44071405700004 meters 0.040536293169159944 Centerline is valid? [True, True] Translation: X:302.20, Y:-38.67, Z:-19.92 [[ 9.95792712e-01 7.22280123e-02 5.63913862e-02 3.02199075e+02] [-7.18836805e-02 9.97380022e-01 -8.11349685e-03 -3.86734913e+01] [-5.68296638e-02 4.02574064e-03 9.98375772e-01 -1.99165282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50071405700004 meters 0.04531820779342856 Centerline is valid? [True, True] Translation: X:302.26, Y:-38.69, Z:-19.92 [[ 9.96076821e-01 6.88910525e-02 5.55426862e-02 3.02255768e+02] [-6.85519793e-02 9.97615556e-01 -7.98931557e-03 -3.86912606e+01] [-5.59606401e-02 4.15041097e-03 9.98424349e-01 -1.99219845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56071405700004 meters 0.04581018145944259 Centerline is valid? [True, True] Translation: X:302.31, Y:-38.70, Z:-19.93 [[ 9.96414344e-01 6.51326385e-02 5.40018036e-02 3.02314665e+02] [-6.48067510e-02 9.97867614e-01 -7.76593157e-03 -3.87038912e+01] [-5.43924666e-02 4.23840417e-03 9.98510639e-01 -1.99284939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62071405700004 meters 0.04966396098177666 Centerline is valid? [True, True] Translation: X:302.37, Y:-38.72, Z:-19.93 [[ 9.96659504e-01 6.20022760e-02 5.31559115e-02 3.02372245e+02] [-6.16821122e-02 9.98066572e-01 -7.64422492e-03 -3.87217551e+01] [-5.35270978e-02 4.33992052e-03 9.98556966e-01 -1.99340654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68071405700005 meters 0.048473499715868576 Centerline is valid? [True, True] Translation: X:302.43, Y:-38.73, Z:-19.94 [[ 9.96759568e-01 6.10977926e-02 5.23203963e-02 3.02431716e+02] [-6.07863643e-02 9.98122437e-01 -7.52454999e-03 -3.87297073e+01] [-5.26818949e-02 4.31980052e-03 9.98602001e-01 -1.99382812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74071405700005 meters 0.05292152461529525 Centerline is valid? [True, True] Translation: X:302.49, Y:-38.75, Z:-19.94 [[ 9.96623348e-01 6.15276358e-02 5.43714214e-02 3.02488838e+02] [-6.11919958e-02 9.98095395e-01 -7.81804572e-03 -3.87476992e+01] [-5.47488912e-02 4.46455112e-03 9.98490174e-01 -1.99425476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80071405700005 meters 0.051296732081793445 Centerline is valid? [True, True] Translation: X:302.55, Y:-38.76, Z:-19.94 [[ 9.96621160e-01 6.08611490e-02 5.51559917e-02 3.02548993e+02] [-6.05146148e-02 9.98135788e-01 -7.93286960e-03 -3.87558965e+01] [-5.55359728e-02 4.56832212e-03 9.98446236e-01 -1.99443765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86071405700005 meters 0.05018304745145763 Centerline is valid? [True, True] Translation: X:302.61, Y:-38.77, Z:-19.95 [[ 9.96700356e-01 5.87126963e-02 5.60465880e-02 3.02609138e+02] [-5.83515027e-02 9.98263555e-01 -8.06081879e-03 -3.87657247e+01] [-5.64225386e-02 4.76381832e-03 9.98395615e-01 -1.99469624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92071405700005 meters 0.05457571369796871 Centerline is valid? [True, True] Translation: X:302.67, Y:-38.79, Z:-19.95 [[ 9.96956404e-01 5.42657372e-02 5.59746248e-02 3.02666377e+02] [-5.38984906e-02 9.98513963e-01 -8.05098696e-03 -3.87861444e+01] [-5.63283372e-02 5.00953522e-03 9.98399731e-01 -1.99529267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98071405700006 meters 0.05476407259950786 Centerline is valid? [True, True] Translation: X:302.73, Y:-38.80, Z:-19.96 [[ 9.97246276e-01 5.00173382e-02 5.47551896e-02 3.02725490e+02] [-4.96593459e-02 9.98735127e-01 -7.88007161e-03 -3.88004013e+01] [-5.50800714e-02 5.13926517e-03 9.98468714e-01 -1.99583164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04071405700006 meters 0.05575886414848969 Centerline is valid? [True, True] Translation: X:302.79, Y:-38.81, Z:-19.96 [[ 9.97495348e-01 4.65936221e-02 5.32171530e-02 3.02785042e+02] [-4.62505565e-02 9.98900496e-01 -7.66063675e-03 -3.88146921e+01] [-5.35155773e-02 5.18012657e-03 9.98553579e-01 -1.99642491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10071405700006 meters 0.055030468935555674 Centerline is valid? [True, True] Translation: X:302.84, Y:-38.83, Z:-19.97 [[ 9.97675767e-01 4.43174430e-02 5.17593354e-02 3.02844511e+02] [-4.39898248e-02 9.99004183e-01 -7.45235126e-03 -3.88272810e+01] [-5.20380617e-02 5.15814616e-03 9.98631781e-01 -1.99699406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16071405700006 meters 0.06093285235046407 Centerline is valid? [True, True] Translation: X:302.90, Y:-38.85, Z:-19.97 [[ 9.97635087e-01 4.42681569e-02 5.25791216e-02 3.02903216e+02] [-4.39301202e-02 9.99005940e-01 -7.56806855e-03 -3.88474541e+01] [-5.28618792e-02 5.24036359e-03 9.98588083e-01 -1.99742532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22071405700007 meters 0.05655362370933008 Centerline is valid? [True, True] Translation: X:302.96, Y:-38.85, Z:-19.98 [[ 9.97423545e-01 4.81328165e-02 5.31930766e-02 3.02963768e+02] [-4.77914663e-02 9.98827876e-01 -7.67139448e-03 -3.88498602e+01] [-5.34999735e-02 5.10945435e-03 9.98554779e-01 -1.99764950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28071405700007 meters 0.04880146052909105 Centerline is valid? [True, True] Translation: X:303.03, Y:-38.85, Z:-19.98 [[ 9.97041429e-01 5.48689164e-02 5.38311310e-02 3.03025873e+02] [-5.45290555e-02 9.98482006e-01 -7.76313402e-03 -3.88468053e+01] [-5.41753704e-02 4.80480551e-03 9.98519876e-01 -1.99790655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34071405700007 meters 0.046604366587716606 Centerline is valid? [True, True] Translation: X:303.09, Y:-38.85, Z:-19.98 [[ 9.96525695e-01 6.22386339e-02 5.53433916e-02 3.03086889e+02] [-6.18905912e-02 9.98051020e-01 -7.98230086e-03 -3.88506335e+01] [-5.57323360e-02 4.52933269e-03 9.98435472e-01 -1.99819769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4007140570001 meters 0.0440908035116521 Centerline is valid? [True, True] Translation: X:303.15, Y:-38.85, Z:-19.99 [[ 9.96153415e-01 6.83755446e-02 5.48010783e-02 3.03147985e+02] [-6.80435059e-02 9.97651043e-01 -7.90427143e-03 -3.88538507e+01] [-5.52128118e-02 4.14500949e-03 9.98466006e-01 -1.99857642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.460714057 meters 0.043649169976396285 Centerline is valid? [True, True] Translation: X:303.21, Y:-38.86, Z:-19.99 [[ 9.95881899e-01 7.23931938e-02 5.45753453e-02 3.03208496e+02] [-7.20697888e-02 9.97368515e-01 -7.87340980e-03 -3.88596697e+01] [-5.50017124e-02 3.90775270e-03 9.98478613e-01 -1.99909510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.520714057 meters 0.040492105317281105 Centerline is valid? [True, True] Translation: X:303.27, Y:-38.86, Z:-19.99 [[ 9.95725031e-01 7.44040380e-02 5.47330099e-02 3.03269277e+02] [-7.40818087e-02 9.97220911e-01 -7.89562517e-03 -3.88585229e+01] [-5.51683683e-02 3.80715125e-03 9.98469808e-01 -1.99936344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.580714057 meters 0.04243289021455114 Centerline is valid? [True, True] Translation: X:303.33, Y:-38.87, Z:-20.00 [[ 9.95778860e-01 7.34657735e-02 5.50203721e-02 3.03326551e+02] [-7.31387828e-02 9.97290198e-01 -7.93600505e-03 -3.88681339e+01] [-5.54543025e-02 3.87838302e-03 9.98453694e-01 -1.99989838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.640714057 meters 0.04241050148008784 Centerline is valid? [True, True] Translation: X:303.39, Y:-38.88, Z:-20.00 [[ 9.95819902e-01 7.20511192e-02 5.61369682e-02 3.03385468e+02] [-7.17084951e-02 9.97392770e-01 -8.09660307e-03 -3.88763069e+01] [-5.65739755e-02 4.03726097e-03 9.98390247e-01 -2.00026522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.700714057 meters 0.04178797288656998 Centerline is valid? [True, True] Translation: X:303.44, Y:-38.88, Z:-20.00 [[ 9.95807140e-01 7.20037979e-02 5.64233428e-02 3.03444904e+02] [-7.16576891e-02 9.97396099e-01 -8.13614875e-03 -3.88793182e+01] [-5.68622556e-02 4.05886866e-03 9.98373782e-01 -2.00048203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76071405700003 meters 0.04156560250263196 Centerline is valid? [True, True] Translation: X:303.50, Y:-38.89, Z:-20.01 [[ 9.95720304e-01 7.18762391e-02 5.80937364e-02 3.03503546e+02] [-7.15093435e-02 9.97404789e-01 -8.37267173e-03 -3.88850409e+01] [-5.85447670e-02 4.18259430e-03 9.98276022e-01 -2.00070686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82071405700003 meters 0.04304483504006981 Centerline is valid? [True, True] Translation: X:303.56, Y:-38.89, Z:-20.01 [[ 9.95758784e-01 7.10408515e-02 5.84605970e-02 3.03562838e+02] [-7.06681345e-02 9.97464335e-01 -8.42105747e-03 -3.88922087e+01] [-5.89105996e-02 4.25404062e-03 9.98254198e-01 -2.00111787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88071405700003 meters 0.044854210689190675 Centerline is valid? [True, True] Translation: X:303.62, Y:-38.90, Z:-20.02 [[ 9.95832905e-01 7.13185908e-02 5.68373505e-02 3.03621208e+02] [-7.09668686e-02 9.97445088e-01 -8.18537901e-03 -3.88994040e+01] [-5.72759058e-02 4.11770097e-03 9.98349896e-01 -2.00165946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94071405700004 meters 0.04537633791139031 Centerline is valid? [True, True] Translation: X:303.68, Y:-38.90, Z:-20.02 [[ 9.95831506e-01 7.21224379e-02 5.58387540e-02 3.03679418e+02] [-7.17843942e-02 9.97387777e-01 -8.03880134e-03 -3.89043432e+01] [-5.62726687e-02 3.99694051e-03 9.98407437e-01 -2.00210538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00071405700004 meters 0.045352536992687216 Centerline is valid? [True, True] Translation: X:303.74, Y:-38.91, Z:-20.02 [[ 9.95490678e-01 7.54516813e-02 5.74922015e-02 3.03739130e+02] [-7.50990702e-02 9.97141764e-01 -8.27239523e-03 -3.89093361e+01] [-5.79520413e-02 3.91748146e-03 9.98311682e-01 -2.00241583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06071405700004 meters 0.045145102149578245 Centerline is valid? [True, True] Translation: X:303.80, Y:-38.91, Z:-20.03 [[ 9.95155078e-01 7.91137131e-02 5.83728705e-02 3.03798364e+02] [-7.87565381e-02 9.96858507e-01 -8.39789379e-03 -3.89135493e+01] [-5.88538811e-02 3.75996145e-03 9.98259527e-01 -2.00279846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12071405700004 meters 0.039121501611104254 Centerline is valid? [True, True] Translation: X:303.86, Y:-38.91, Z:-20.03 [[ 9.94771006e-01 8.25270272e-02 6.01659073e-02 3.03860166e+02] [-8.21538252e-02 9.96582082e-01 -8.65462533e-03 -3.89088015e+01] [-6.06745056e-02 3.66651091e-03 9.98150871e-01 -2.00294746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18071405700005 meters 0.0413491492848809 Centerline is valid? [True, True] Translation: X:303.92, Y:-38.92, Z:-20.03 [[ 9.94557629e-01 8.49907583e-02 6.02635343e-02 3.03917752e+02] [-8.46209599e-02 9.96375522e-01 -8.66676541e-03 -3.89193866e+01] [-6.07817054e-02 3.52003954e-03 9.98144876e-01 -2.00341519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24071405700005 meters 0.038807970908593475 Centerline is valid? [True, True] Translation: X:303.98, Y:-38.92, Z:-20.04 [[ 9.94820527e-01 8.34890854e-02 5.79800951e-02 3.03977249e+02] [-8.31444528e-02 9.96502645e-01 -8.33537838e-03 -3.89224467e+01] [-5.84732312e-02 3.47148224e-03 9.98282941e-01 -2.00409535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30071405700005 meters 0.038357629630107914 Centerline is valid? [True, True] Translation: X:304.04, Y:-38.93, Z:-20.05 [[ 9.95076878e-01 8.06381429e-02 5.76150825e-02 3.04036206e+02] [-8.02932085e-02 9.96736891e-01 -8.28076067e-03 -3.89324742e+01] [-5.80948234e-02 3.61389364e-03 9.98304528e-01 -2.00455830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36071405700005 meters 0.04326602536322093 Centerline is valid? [True, True] Translation: X:304.09, Y:-38.95, Z:-20.05 [[ 9.95327911e-01 7.69508752e-02 5.83173395e-02 3.04093488e+02] [-7.65912323e-02 9.97027356e-01 -8.38063527e-03 -3.89489276e+01] [-5.87888800e-02 3.87488330e-03 9.98262918e-01 -2.00490722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42071405700005 meters 0.045392958625992436 Centerline is valid? [True, True] Translation: X:304.15, Y:-38.96, Z:-20.05 [[ 9.95644828e-01 7.22947160e-02 5.88629802e-02 3.04152725e+02] [-7.19202826e-02 9.97374523e-01 -8.45778552e-03 -3.89609488e+01] [-5.93198900e-02 4.18750823e-03 9.98230242e-01 -2.00521382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48071405700006 meters 0.04990371897640567 Centerline is valid? [True, True] Translation: X:304.21, Y:-38.98, Z:-20.06 [[ 9.95957331e-01 6.71819166e-02 5.96287334e-02 3.04209610e+02] [-6.67885449e-02 9.97730364e-01 -8.56797083e-03 -3.89781168e+01] [-6.00690106e-02 4.55081701e-03 9.98183853e-01 -2.00568793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54071405700006 meters 0.047551403289329 Centerline is valid? [True, True] Translation: X:304.27, Y:-38.99, Z:-20.06 [[ 9.96306200e-01 6.38616743e-02 5.74076824e-02 3.04269929e+02] [-6.34917443e-02 9.97948290e-01 -8.24680652e-03 -3.89853392e+01] [-5.78165533e-02 4.57143057e-03 9.98316757e-01 -2.00627186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60071405700006 meters 0.053233021756583725 Centerline is valid? [True, True] Translation: X:304.33, Y:-39.00, Z:-20.07 [[ 9.96431271e-01 6.24718261e-02 5.67626059e-02 3.04327987e+02] [-6.21079428e-02 9.98036129e-01 -8.15401401e-03 -3.90043363e+01] [-5.71605277e-02 4.59950586e-03 9.98354405e-01 -2.00676789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66071405700006 meters 0.04647221057737509 Centerline is valid? [True, True] Translation: X:304.39, Y:-39.00, Z:-20.07 [[ 9.96382927e-01 6.35629950e-02 5.63986538e-02 3.04389097e+02] [-6.32054409e-02 9.97967643e-01 -8.10285363e-03 -3.90041749e+01] [-5.67990732e-02 4.50884324e-03 9.98375448e-01 -2.00706340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72071405700007 meters 0.04822265219103614 Centerline is valid? [True, True] Translation: X:304.45, Y:-39.02, Z:-20.08 [[ 9.96354096e-01 6.45245071e-02 5.58131094e-02 3.04447851e+02] [-6.41758467e-02 9.97906389e-01 -8.01872786e-03 -3.90160356e+01] [-5.62136629e-02 4.40763879e-03 9.98409033e-01 -2.00766844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78071405700007 meters 0.04594184076438442 Centerline is valid? [True, True] Translation: X:304.51, Y:-39.02, Z:-20.08 [[ 9.96344674e-01 6.45877925e-02 5.59080374e-02 3.04507178e+02] [-6.42380260e-02 9.97902276e-01 -8.03265713e-03 -3.90211069e+01] [-5.63095693e-02 4.41187319e-03 9.98403610e-01 -2.00797585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84071405700007 meters 0.04555345481972987 Centerline is valid? [True, True] Translation: X:304.57, Y:-39.03, Z:-20.08 [[ 9.96328102e-01 6.40661613e-02 5.67964880e-02 3.04566940e+02] [-6.37044513e-02 9.97935462e-01 -8.15823763e-03 -3.90274595e+01] [-5.72018964e-02 4.51009231e-03 9.98352444e-01 -2.00817018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9007140570001 meters 0.05033249098522576 Centerline is valid? [True, True] Translation: X:304.62, Y:-39.04, Z:-20.09 [[ 9.96429231e-01 6.37434156e-02 5.53675448e-02 3.04624997e+02] [-6.33993236e-02 9.97956567e-01 -7.95088454e-03 -3.90418960e+01] [-5.57612215e-02 4.41222888e-03 9.98434384e-01 -2.00872757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.960714057 meters 0.05280414249255242 Centerline is valid? [True, True] Translation: X:304.68, Y:-39.05, Z:-20.09 [[ 9.96471985e-01 6.40115965e-02 5.42779677e-02 3.04683040e+02] [-6.36813782e-02 9.97939850e-01 -7.79346896e-03 -3.90516302e+01] [-5.46650193e-02 4.30947769e-03 9.98495450e-01 -2.00921750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.020714057 meters 0.04893693477900696 Centerline is valid? [True, True] Translation: X:304.74, Y:-39.05, Z:-20.10 [[ 9.96431997e-01 6.41942364e-02 5.47939360e-02 3.04743250e+02] [-6.38580195e-02 9.97927987e-01 -7.86676877e-03 -3.90533793e+01] [-5.51854035e-02 4.33966788e-03 9.98466694e-01 -2.00956701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.080714057 meters 0.04767475076341323 Centerline is valid? [True, True] Translation: X:304.80, Y:-39.06, Z:-20.10 [[ 9.96373522e-01 6.58242575e-02 5.39163336e-02 3.04802836e+02] [-6.55012062e-02 9.97822479e-01 -7.73895783e-03 -3.90585479e+01] [-5.43083408e-02 4.17930778e-03 9.98515467e-01 -2.01004455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.140714057 meters 0.046806154456233706 Centerline is valid? [True, True] Translation: X:304.86, Y:-39.06, Z:-20.10 [[ 9.96096688e-01 6.97571582e-02 5.40862843e-02 3.04862764e+02] [-6.94379574e-02 9.97556083e-01 -7.76089786e-03 -3.90635163e+01] [-5.44954800e-02 3.97496356e-03 9.98506105e-01 -2.01035228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.200714057 meters 0.043357499243855485 Centerline is valid? [True, True] Translation: X:304.92, Y:-39.06, Z:-20.11 [[ 9.95612204e-01 7.59789960e-02 5.46217094e-02 3.04923979e+02] [-7.56627476e-02 9.97102663e-01 -7.83762146e-03 -3.90639419e+01] [-5.50589465e-02 3.67040297e-03 9.98476360e-01 -2.01065499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26071405700003 meters 0.041207358817719114 Centerline is valid? [True, True] Translation: X:304.98, Y:-39.07, Z:-20.11 [[ 9.95154208e-01 8.25442576e-02 5.34279638e-02 3.04984491e+02] [-8.22510987e-02 9.96582150e-01 -7.66652312e-03 -3.90659932e+01] [-5.38781825e-02 3.23486402e-03 9.98542276e-01 -2.01108096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32071405700003 meters 0.034454948354868946 Centerline is valid? [True, True] Translation: X:305.05, Y:-39.06, Z:-20.11 [[ 9.94602394e-01 8.97687781e-02 5.20350379e-02 3.05045996e+02] [-8.95005400e-02 9.95958782e-01 -7.46711347e-03 -3.90589305e+01] [-5.24950666e-02 2.76964494e-03 9.98617343e-01 -2.01127932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38071405700003 meters 0.03348166427566452 Centerline is valid? [True, True] Translation: X:305.11, Y:-39.06, Z:-20.11 [[ 9.93831630e-01 9.67988970e-02 5.41171338e-02 3.05106211e+02] [-9.65192138e-02 9.95300838e-01 -7.76419026e-03 -3.90616870e+01] [-5.46143937e-02 2.49295466e-03 9.98504408e-01 -2.01130684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44071405700004 meters 0.032937521441953645 Centerline is valid? [True, True] Translation: X:305.17, Y:-39.07, Z:-20.11 [[ 9.93240322e-01 1.00298919e-01 5.84276440e-02 3.05165452e+02] [-9.99789930e-02 9.94954252e-01 -8.38076455e-03 -3.90709181e+01] [-5.89734145e-02 2.48257627e-03 9.98256467e-01 -2.01126438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50071405700004 meters 0.0334019494872257 Centerline is valid? [True, True] Translation: X:305.22, Y:-39.08, Z:-20.12 [[ 9.93630787e-01 9.66452501e-02 5.79444173e-02 3.05223431e+02] [-9.63244421e-02 9.95315293e-01 -8.31079627e-03 -3.90840696e+01] [-5.84761636e-02 2.67639938e-03 9.98285217e-01 -2.01170905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56071405700004 meters 0.03540695881783896 Centerline is valid? [True, True] Translation: X:305.28, Y:-39.10, Z:-20.12 [[ 9.93802111e-01 9.52421965e-02 5.73261561e-02 3.05279627e+02] [-9.49261372e-02 9.95450400e-01 -8.21766291e-03 -3.90981879e+01] [-5.78480132e-02 2.72498019e-03 9.98321683e-01 -2.01220701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62071405700004 meters 0.03848824802257821 Centerline is valid? [True, True] Translation: X:305.34, Y:-39.12, Z:-20.13 [[ 9.94293447e-01 9.19916586e-02 5.40192162e-02 3.05336496e+02] [-9.17065555e-02 9.95756007e-01 -7.73834829e-03 -3.91185571e+01] [-5.45018225e-02 2.74027275e-03 9.98509911e-01 -2.01302027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68071405700005 meters 0.03542400814764385 Centerline is valid? [True, True] Translation: X:305.39, Y:-39.13, Z:-20.13 [[ 9.94376091e-01 9.23195826e-02 5.18968579e-02 3.05393711e+02] [-9.20568970e-02 9.95725994e-01 -7.43456814e-03 -3.91261952e+01] [-5.23614067e-02 2.61529311e-03 9.98624776e-01 -2.01336127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74071405700005 meters 0.03805879476362513 Centerline is valid? [True, True] Translation: X:305.45, Y:-39.14, Z:-20.14 [[ 9.94197570e-01 9.36895228e-02 5.28532414e-02 3.05450195e+02] [-9.34193238e-02 9.95598110e-01 -7.56523367e-03 -3.91424999e+01] [-5.33293704e-02 2.58382286e-03 9.98573634e-01 -2.01383969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80071405700005 meters 0.03502329105102836 Centerline is valid? [True, True] Translation: X:305.51, Y:-39.15, Z:-20.14 [[ 9.94213781e-01 9.30462221e-02 5.36782829e-02 3.05508313e+02] [-9.27667893e-02 9.95658249e-01 -7.67942320e-03 -3.91487563e+01] [-5.41597665e-02 2.65542642e-03 9.98528752e-01 -2.01403361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86071405700005 meters 0.04255173833778511 Centerline is valid? [True, True] Translation: X:305.56, Y:-39.18, Z:-20.15 [[ 9.94554610e-01 8.86082393e-02 5.48608107e-02 3.05563481e+02] [-8.83098601e-02 9.96062166e-01 -7.84414851e-03 -3.91768365e+01] [-5.53398341e-02 2.95668355e-03 9.98463200e-01 -2.01451599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92071405700005 meters 0.04064572138883101 Centerline is valid? [True, True] Translation: X:305.62, Y:-39.19, Z:-20.15 [[ 9.94979412e-01 8.41498926e-02 5.41734738e-02 3.05623179e+02] [-8.38524886e-02 9.96448090e-01 -7.74364147e-03 -3.91865646e+01] [-5.46326811e-02 3.16218324e-03 9.98501513e-01 -2.01491923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98071405700006 meters 0.04228659270320695 Centerline is valid? [True, True] Translation: X:305.68, Y:-39.20, Z:-20.15 [[ 9.95739036e-01 7.58160357e-02 5.24947638e-02 3.05681971e+02] [-7.55252742e-02 9.97115656e-01 -7.50346172e-03 -3.92039738e+01] [-5.29122336e-02 3.50680831e-03 9.98593009e-01 -2.01546620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04071405700006 meters 0.04781210485620234 Centerline is valid? [True, True] Translation: X:305.74, Y:-39.23, Z:-20.16 [[ 9.96296209e-01 6.89733457e-02 5.13472710e-02 3.05739156e+02] [-6.86861408e-02 9.97611322e-01 -7.33922079e-03 -3.92250240e+01] [-5.17308295e-02 3.78519197e-03 9.98653891e-01 -2.01602463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10071405700006 meters 0.04541745470236279 Centerline is valid? [True, True] Translation: X:305.80, Y:-39.23, Z:-20.16 [[ 9.96480529e-01 6.56877708e-02 5.20737183e-02 3.05799172e+02] [-6.53879320e-02 9.97832162e-01 -7.44270425e-03 -3.92311810e+01] [-5.24497256e-02 4.01151712e-03 9.98615509e-01 -2.01621754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16071405700006 meters 0.047199611253442166 Centerline is valid? [True, True] Translation: X:305.86, Y:-39.24, Z:-20.17 [[ 9.96449950e-01 6.53921723e-02 5.30222770e-02 3.05857183e+02] [-6.50809222e-02 9.97851219e-01 -7.57751677e-03 -3.92407166e+01] [-5.34038540e-02 4.09987752e-03 9.98564579e-01 -2.01650595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22071405700007 meters 0.043779215363827936 Centerline is valid? [True, True] Translation: X:305.92, Y:-39.24, Z:-20.17 [[ 9.96446998e-01 6.51713342e-02 5.33486405e-02 3.05917526e+02] [-6.48560294e-02 9.97865521e-01 -7.62215422e-03 -3.92412411e+01] [-5.37315150e-02 4.13509169e-03 9.98546857e-01 -2.01680118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28071405700007 meters 0.0445182354938322 Centerline is valid? [True, True] Translation: X:305.98, Y:-39.25, Z:-20.17 [[ 9.96488617e-01 6.40717582e-02 5.39003297e-02 3.05976849e+02] [-6.37484010e-02 9.97936304e-01 -7.69898109e-03 -3.92475229e+01] [-5.42823831e-02 4.23588719e-03 9.98516640e-01 -2.01720339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34071405700007 meters 0.046236864072793316 Centerline is valid? [True, True] Translation: X:306.04, Y:-39.26, Z:-20.18 [[ 9.96579388e-01 6.39455745e-02 5.23496685e-02 3.06035700e+02] [-6.36405127e-02 9.97944890e-01 -7.47542733e-03 -3.92556419e+01] [-5.27201046e-02 4.11829705e-03 9.98600836e-01 -2.01773881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4007140570001 meters 0.0474090799875699 Centerline is valid? [True, True] Translation: X:306.09, Y:-39.26, Z:-20.18 [[ 9.96409737e-01 6.64923109e-02 5.24061798e-02 3.06094142e+02] [-6.61901271e-02 9.97778971e-01 -7.48275131e-03 -3.92612285e+01] [-5.27873296e-02 3.98711456e-03 9.98597817e-01 -2.01812314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.460714057 meters 0.04133942900100312 Centerline is valid? [True, True] Translation: X:306.16, Y:-39.26, Z:-20.18 [[ 9.95977761e-01 7.18033999e-02 5.35963673e-02 3.06155116e+02] [-7.14950649e-02 9.97411611e-01 -7.65070585e-03 -3.92567022e+01] [-5.40069857e-02 3.78805713e-03 9.98533373e-01 -2.01828169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.520714057 meters 0.044125338791983215 Centerline is valid? [True, True] Translation: X:306.21, Y:-39.26, Z:-20.18 [[ 9.95316191e-01 7.81757109e-02 5.68703683e-02 3.06213796e+02] [-7.78389565e-02 9.96932909e-01 -8.11609455e-03 -3.92648527e+01] [-5.73304232e-02 3.65135019e-03 9.98348582e-01 -2.01847488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.580714057 meters 0.038614077906572924 Centerline is valid? [True, True] Translation: X:306.28, Y:-39.26, Z:-20.19 [[ 9.94875090e-01 8.34379471e-02 5.71109792e-02 3.06275215e+02] [-8.31070148e-02 9.96507306e-01 -8.14948492e-03 -3.92595064e+01] [-5.75914843e-02 3.36139655e-03 9.98334574e-01 -2.01871538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.640714057 meters 0.03875737657503322 Centerline is valid? [True, True] Translation: X:306.33, Y:-39.27, Z:-20.19 [[ 9.94723676e-01 8.58235131e-02 5.62061712e-02 3.06333936e+02] [-8.55067836e-02 9.96305306e-01 -8.02046072e-03 -3.92655030e+01] [-5.66868507e-02 3.17213325e-03 9.98386968e-01 -2.01919753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.700714057 meters 0.0416970086899101 Centerline is valid? [True, True] Translation: X:306.39, Y:-39.28, Z:-20.20 [[ 9.94806467e-01 8.49649164e-02 5.60451329e-02 3.06389994e+02] [-8.46487317e-02 9.96378772e-01 -7.99593732e-03 -3.92774890e+01] [-5.65215549e-02 3.21026074e-03 9.98396218e-01 -2.01973509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76071405700003 meters 0.039491043183349284 Centerline is valid? [True, True] Translation: X:306.45, Y:-39.28, Z:-20.20 [[ 9.94991389e-01 8.28517314e-02 5.59260787e-02 3.06448773e+02] [-8.25338523e-02 9.96556361e-01 -7.97387597e-03 -3.92829275e+01] [-5.63941389e-02 3.31814321e-03 9.98403070e-01 -2.02016506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82071405700003 meters 0.039119539533662935 Centerline is valid? [True, True] Translation: X:306.51, Y:-39.29, Z:-20.20 [[ 9.95155444e-01 8.00668842e-02 5.70520458e-02 3.06507094e+02] [-7.97316791e-02 9.96783196e-01 -8.13135110e-03 -3.92919847e+01] [-5.75195726e-02 3.54310291e-03 9.98338092e-01 -2.02037299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88071405700003 meters 0.03965235581264574 Centerline is valid? [True, True] Translation: X:306.57, Y:-39.30, Z:-20.21 [[ 9.95440781e-01 7.67830420e-02 5.65863655e-02 3.06565969e+02] [-7.64481988e-02 9.97040963e-01 -8.06172015e-03 -3.93032848e+01] [-5.70379277e-02 3.69903928e-03 9.98365160e-01 -2.02083796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94071405700004 meters 0.041823719698777274 Centerline is valid? [True, True] Translation: X:306.62, Y:-39.32, Z:-20.21 [[ 9.95759305e-01 7.33688525e-02 5.55015156e-02 3.06624848e+02] [-7.30415199e-02 9.97297563e-01 -7.90617444e-03 -3.93164448e+01] [-5.59315932e-02 3.81873171e-03 9.98427300e-01 -2.02133910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00071405700004 meters 0.04470546852466387 Centerline is valid? [True, True] Translation: X:306.68, Y:-39.33, Z:-20.22 [[ 9.95971368e-01 7.14256403e-02 5.42163419e-02 3.06681276e+02] [-7.11104682e-02 9.97438550e-01 -7.72270397e-03 -3.93296307e+01] [-5.46290685e-02 3.83624259e-03 9.98499348e-01 -2.02185549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06071405700004 meters 0.04366284419405395 Centerline is valid? [True, True] Translation: X:306.74, Y:-39.34, Z:-20.22 [[ 9.96150405e-01 6.90636271e-02 5.39869090e-02 3.06740635e+02] [-6.87479072e-02 9.97604458e-01 -7.68569087e-03 -3.93387084e+01] [-5.43883828e-02 3.94461706e-03 9.98512065e-01 -2.02217245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12071405700004 meters 0.04309767332006384 Centerline is valid? [True, True] Translation: X:306.80, Y:-39.35, Z:-20.22 [[ 9.96164459e-01 6.84635562e-02 5.44895689e-02 3.06798728e+02] [-6.81410559e-02 9.97645543e-01 -7.75678173e-03 -3.93465088e+01] [-5.48923324e-02 4.01405351e-03 9.98484211e-01 -2.02246671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18071405700005 meters 0.04613792172321057 Centerline is valid? [True, True] Translation: X:306.86, Y:-39.36, Z:-20.23 [[ 9.96226252e-01 6.68990708e-02 5.52970964e-02 3.06856283e+02] [-6.65647701e-02 9.97751088e-01 -7.86748742e-03 -3.93592070e+01] [-5.56990657e-02 4.15695900e-03 9.98438948e-01 -2.02283420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24071405700005 meters 0.047430935753043135 Centerline is valid? [True, True] Translation: X:306.91, Y:-39.37, Z:-20.23 [[ 9.96349699e-01 6.43483645e-02 5.60942592e-02 3.06914819e+02] [-6.40005166e-02 9.97917979e-01 -7.97754459e-03 -3.93712985e+01] [-5.64908117e-02 4.35836259e-03 9.98393606e-01 -2.02318473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30071405700005 meters 0.04861085417763774 Centerline is valid? [True, True] Translation: X:306.97, Y:-39.38, Z:-20.24 [[ 9.96576227e-01 6.16863124e-02 5.50510920e-02 3.06973699e+02] [-6.13473226e-02 9.98085781e-01 -7.82814573e-03 -3.93817870e+01] [-5.54286016e-02 4.42410683e-03 9.98452852e-01 -2.02365703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36071405700005 meters 0.05235328815567317 Centerline is valid? [True, True] Translation: X:307.03, Y:-39.40, Z:-20.24 [[ 9.96756388e-01 5.94533532e-02 5.42402158e-02 3.07031962e+02] [-5.91210305e-02 9.98221029e-01 -7.71240455e-03 -3.93975004e+01] [-5.46022523e-02 4.48065105e-03 9.98498131e-01 -2.02422513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42071405700005 meters 0.04762424901799546 Centerline is valid? [True, True] Translation: X:307.09, Y:-39.40, Z:-20.25 [[ 9.97017668e-01 5.60380228e-02 5.30613830e-02 3.07092122e+02] [-5.57152078e-02 9.98418195e-01 -7.54475293e-03 -3.94023053e+01] [-5.34002433e-02 4.56592599e-03 9.98562750e-01 -2.02461489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48071405700006 meters 0.053342893222199726 Centerline is valid? [True, True] Translation: X:307.15, Y:-39.42, Z:-20.25 [[ 9.97074313e-01 5.53486401e-02 5.27194630e-02 3.07151497e+02] [-5.50290891e-02 9.98456622e-01 -7.49485957e-03 -3.94202541e+01] [-5.30529272e-02 4.57182793e-03 9.98581236e-01 -2.02505000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54071405700006 meters 0.049677733155304424 Centerline is valid? [True, True] Translation: X:307.21, Y:-39.42, Z:-20.25 [[ 9.97049832e-01 5.52666023e-02 5.32657112e-02 3.07213875e+02] [-5.49399645e-02 9.98460901e-01 -7.57821781e-03 -3.94243603e+01] [-5.36025524e-02 4.62944451e-03 9.98551618e-01 -2.02532397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60071405700006 meters 0.04896922689809645 Centerline is valid? [True, True] Translation: X:307.28, Y:-39.44, Z:-20.26 [[ 9.96964734e-01 5.64359675e-02 5.36311485e-02 3.07275244e+02] [-5.61057706e-02 9.98395570e-01 -7.64379243e-03 -3.94353635e+01] [-5.39764860e-02 4.61157457e-03 9.98531558e-01 -2.02594221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66071405700006 meters 0.05095945822146009 Centerline is valid? [True, True] Translation: X:307.33, Y:-39.45, Z:-20.26 [[ 9.96922901e-01 5.78439811e-02 5.29037268e-02 3.07334596e+02] [-5.75238315e-02 9.98315542e-01 -7.55561905e-03 -3.94479171e+01] [-5.32516598e-02 4.48914459e-03 9.98571033e-01 -2.02641143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72071405700007 meters 0.05317144659027988 Centerline is valid? [True, True] Translation: X:307.39, Y:-39.46, Z:-20.27 [[ 9.96894082e-01 5.74945654e-02 5.38197330e-02 3.07394851e+02] [-5.71626605e-02 9.98335281e-01 -7.68742483e-03 -3.94614076e+01] [-5.41721235e-02 4.58706920e-03 9.98521076e-01 -2.02668651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78071405700007 meters 0.04854993874212663 Centerline is valid? [True, True] Translation: X:307.46, Y:-39.47, Z:-20.27 [[ 9.97092013e-01 5.47922257e-02 5.29653600e-02 3.07455213e+02] [-5.44665686e-02 9.98486872e-01 -7.57358207e-03 -3.94670646e+01] [-5.33001901e-02 4.66671677e-03 9.98567630e-01 -2.02713480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84071405700007 meters 0.05108715966270162 Centerline is valid? [True, True] Translation: X:307.51, Y:-39.48, Z:-20.28 [[ 9.97359784e-01 5.02045891e-02 5.24686717e-02 3.07514812e+02] [-4.98787273e-02 9.98727102e-01 -7.50251692e-03 -3.94811260e+01] [-5.27785452e-02 4.86563808e-03 9.98594388e-01 -2.02758702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9007140570001 meters 0.05270090051997701 Centerline is valid? [True, True] Translation: X:307.57, Y:-39.50, Z:-20.28 [[ 9.97482412e-01 4.69221076e-02 5.31709857e-02 3.07573789e+02] [-4.65827289e-02 9.98885486e-01 -7.60488948e-03 -3.94958295e+01] [-5.34685634e-02 5.10889389e-03 9.98556464e-01 -2.02795121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.960714057 meters 0.05491805281220459 Centerline is valid? [True, True] Translation: X:307.63, Y:-39.51, Z:-20.28 [[ 9.97572890e-01 4.41458331e-02 5.38467785e-02 3.07633035e+02] [-4.37937504e-02 9.99010907e-01 -7.70167823e-03 -3.95102490e+01] [-5.41335160e-02 5.32483303e-03 9.98519508e-01 -2.02832322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.020714057 meters 0.057245950295568136 Centerline is valid? [True, True] Translation: X:307.69, Y:-39.52, Z:-20.29 [[ 9.97669493e-01 4.20049241e-02 5.37695941e-02 3.07692779e+02] [-4.16507600e-02 9.99102629e-01 -7.69091841e-03 -3.95243662e+01] [-5.40443993e-02 5.43345022e-03 9.98523751e-01 -2.02875600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.080714057 meters 0.055243965446923775 Centerline is valid? [True, True] Translation: X:307.75, Y:-39.53, Z:-20.29 [[ 9.97785959e-01 3.99204800e-02 5.31933744e-02 3.07752611e+02] [-3.95708971e-02 9.99187791e-01 -7.60941976e-03 -3.95348046e+01] [-5.34539419e-02 5.48766265e-03 9.98555237e-01 -2.02919676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.140714057 meters 0.06571137889508029 Centerline is valid? [True, True] Translation: X:307.81, Y:-39.56, Z:-20.30 [[ 9.97836563e-01 3.97129495e-02 5.23934586e-02 3.07810382e+02] [-3.93736152e-02 9.99196461e-01 -7.49341078e-03 -3.95607234e+01] [-5.26489439e-02 5.41427938e-03 9.98598405e-01 -2.02988204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.200714057 meters 0.060942680169502765 Centerline is valid? [True, True] Translation: X:307.87, Y:-39.56, Z:-20.30 [[ 9.97767892e-01 4.16081056e-02 5.22302599e-02 3.07871174e+02] [-4.12726824e-02 9.99119885e-01 -7.48471178e-03 -3.95644520e+01] [-5.24957160e-02 5.31232217e-03 9.98607019e-01 -2.03026785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26071405700003 meters 0.05301913314398196 Centerline is valid? [True, True] Translation: X:307.93, Y:-39.56, Z:-20.31 [[ 9.97627151e-01 4.48599059e-02 5.22269660e-02 3.07932522e+02] [-4.45288577e-02 9.98980053e-01 -7.48566683e-03 -3.95645981e+01] [-5.25095035e-02 5.14229734e-03 9.98607184e-01 -2.03061352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32071405700003 meters 0.051509245907682924 Centerline is valid? [True, True] Translation: X:307.99, Y:-39.57, Z:-20.31 [[ 9.97477343e-01 4.73399125e-02 5.28950190e-02 3.07992767e+02] [-4.70037900e-02 9.98865941e-01 -7.58125755e-03 -3.95717369e+01] [-5.31939290e-02 5.07586628e-03 9.98571300e-01 -2.03095535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38071405700003 meters 0.05163721326789202 Centerline is valid? [True, True] Translation: X:308.05, Y:-39.58, Z:-20.31 [[ 9.97369614e-01 4.91689462e-02 5.32566191e-02 3.08052419e+02] [-4.88307422e-02 9.98777894e-01 -7.63394335e-03 -3.95812001e+01] [-5.35668868e-02 5.01330290e-03 9.98551679e-01 -2.03132448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44071405700004 meters 0.05162978995142353 Centerline is valid? [True, True] Translation: X:308.11, Y:-39.59, Z:-20.32 [[ 9.97193076e-01 5.28427500e-02 5.30435101e-02 3.08112477e+02] [-5.25124095e-02 9.98591327e-01 -7.60320650e-03 -3.95906827e+01] [-5.33705634e-02 4.79642236e-03 9.98563257e-01 -2.03177697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50071405700004 meters 0.05263992149202608 Centerline is valid? [True, True] Translation: X:308.17, Y:-39.60, Z:-20.32 [[ 9.97020320e-01 5.60336505e-02 5.30161531e-02 3.08171484e+02] [-5.57080542e-02 9.98418171e-01 -7.60056783e-03 -3.95999072e+01] [-5.33581782e-02 4.62449383e-03 9.98564729e-01 -2.03215274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56071405700004 meters 0.04746126808911258 Centerline is valid? [True, True] Translation: X:308.23, Y:-39.60, Z:-20.32 [[ 9.96618264e-01 6.19803628e-02 5.39487767e-02 3.08232820e+02] [-6.16518995e-02 9.98067754e-01 -7.73312070e-03 -3.96015187e+01] [-5.43238360e-02 4.38092477e-03 9.98513760e-01 -2.03240693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62071405700004 meters 0.05017474148317361 Centerline is valid? [True, True] Translation: X:308.29, Y:-39.61, Z:-20.33 [[ 9.96282646e-01 6.70123776e-02 5.41316083e-02 3.08291621e+02] [-6.66890249e-02 9.97743634e-01 -7.75988242e-03 -3.96113505e+01] [-5.45294757e-02 4.12105202e-03 9.98503657e-01 -2.03286941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68071405700005 meters 0.047714562509050366 Centerline is valid? [True, True] Translation: X:308.35, Y:-39.61, Z:-20.33 [[ 9.96055520e-01 7.02831034e-02 5.41635133e-02 3.08352208e+02] [-6.99641785e-02 9.97519287e-01 -7.76435950e-03 -3.96130182e+01] [-5.45748524e-02 3.94422743e-03 9.98501892e-01 -2.03320037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74071405700005 meters 0.04211613690638937 Centerline is valid? [True, True] Translation: X:308.41, Y:-39.61, Z:-20.33 [[ 9.95887373e-01 7.26107986e-02 5.41849847e-02 3.08412665e+02] [-7.22950280e-02 9.97353042e-01 -7.76774927e-03 -3.96100763e+01] [-5.46055818e-02 3.81849843e-03 9.98500701e-01 -2.03343686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80071405700005 meters 0.043151240804336743 Centerline is valid? [True, True] Translation: X:308.47, Y:-39.62, Z:-20.34 [[ 9.95855926e-01 7.27310871e-02 5.46000283e-02 3.08471522e+02] [-7.24107339e-02 9.97344197e-01 -7.82543902e-03 -3.96167712e+01] [-5.50241741e-02 3.83938170e-03 9.98477641e-01 -2.03378003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86071405700005 meters 0.04103967205217862 Centerline is valid? [True, True] Translation: X:308.53, Y:-39.62, Z:-20.34 [[ 9.95908341e-01 7.18981067e-02 5.47470435e-02 3.08531315e+02] [-7.15749418e-02 9.97404385e-01 -7.84344436e-03 -3.96195500e+01] [-5.51688701e-02 3.89283521e-03 9.98469450e-01 -2.03411360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92071405700005 meters 0.04527089458492573 Centerline is valid? [True, True] Translation: X:308.59, Y:-39.63, Z:-20.34 [[ 9.96037736e-01 7.02002090e-02 5.45963265e-02 3.08589249e+02] [-6.98764307e-02 9.97525009e-01 -7.81925016e-03 -3.96313848e+01] [-5.50101141e-02 3.97327180e-03 9.98477892e-01 -2.03444971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98071405700006 meters 0.045025748103637867 Centerline is valid? [True, True] Translation: X:308.65, Y:-39.64, Z:-20.35 [[ 9.96056547e-01 6.88034326e-02 5.60128734e-02 3.08648851e+02] [-6.84602887e-02 9.97621570e-01 -8.02439868e-03 -3.96381343e+01] [-5.64317569e-02 4.15809736e-03 9.98397800e-01 -2.03471660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04071405700006 meters 0.047255004717310874 Centerline is valid? [True, True] Translation: X:308.71, Y:-39.65, Z:-20.35 [[ 9.95961492e-01 6.96546299e-02 5.66474920e-02 3.08706420e+02] [-6.93051334e-02 9.97562515e-01 -8.11339889e-03 -3.96481325e+01] [-5.70745504e-02 4.15467088e-03 9.98361275e-01 -2.03503052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10071405700006 meters 0.04344410929677975 Centerline is valid? [True, True] Translation: X:308.77, Y:-39.65, Z:-20.35 [[ 9.95810909e-01 7.21427018e-02 5.61788535e-02 3.08766671e+02] [-7.18030794e-02 9.97386397e-01 -8.04323320e-03 -3.96479728e+01] [-5.66122849e-02 3.97572468e-03 9.98388323e-01 -2.03538228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16071405700006 meters 0.04438191826956602 Centerline is valid? [True, True] Translation: X:308.82, Y:-39.66, Z:-20.36 [[ 9.95683033e-01 7.40385463e-02 5.59784854e-02 3.08824518e+02] [-7.37044289e-02 9.97247940e-01 -8.01269343e-03 -3.96560558e+01] [-5.64176774e-02 3.85224060e-03 9.98399823e-01 -2.03582578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22071405700007 meters 0.04232099348125577 Centerline is valid? [True, True] Translation: X:308.88, Y:-39.66, Z:-20.36 [[ 9.95679869e-01 7.44865107e-02 5.54378855e-02 3.08883457e+02] [-7.41596464e-02 9.97214829e-01 -7.93295198e-03 -3.96610383e+01] [-5.58743795e-02 3.78742659e-03 9.98430623e-01 -2.03631128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28071405700007 meters 0.04704602942309516 Centerline is valid? [True, True] Translation: X:308.94, Y:-39.68, Z:-20.37 [[ 9.95741908e-01 7.34182423e-02 5.57477714e-02 3.08940402e+02] [-7.30864288e-02 9.97293761e-01 -7.97045176e-03 -3.96754249e+01] [-5.61820811e-02 3.86210732e-03 9.98413070e-01 -2.03684787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34071405700007 meters 0.04781269580744247 Centerline is valid? [True, True] Translation: X:309.00, Y:-39.68, Z:-20.37 [[ 9.95845538e-01 7.27353630e-02 5.47835012e-02 3.08999085e+02] [-7.24140832e-02 9.97343922e-01 -7.82955791e-03 -3.96845208e+01] [-5.52074777e-02 3.82993329e-03 9.98467559e-01 -2.03728300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4007140570001 meters 0.04502305678274907 Centerline is valid? [True, True] Translation: X:309.06, Y:-39.69, Z:-20.38 [[ 9.95985333e-01 7.14229890e-02 5.39627054e-02 3.09058318e+02] [-7.11094492e-02 9.97438716e-01 -7.71062328e-03 -3.96874431e+01] [-5.43752073e-02 3.84240944e-03 9.98513181e-01 -2.03761468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.460714057 meters 0.04599803156882668 Centerline is valid? [True, True] Translation: X:309.12, Y:-39.70, Z:-20.38 [[ 9.96077549e-01 7.03151557e-02 5.37149514e-02 3.09117393e+02] [-7.00030444e-02 9.97517272e-01 -7.67237888e-03 -3.96967513e+01] [-5.41210763e-02 3.88207423e-03 9.98526834e-01 -2.03800063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.520714057 meters 0.04370059570099824 Centerline is valid? [True, True] Translation: X:309.18, Y:-39.70, Z:-20.38 [[ 9.96154849e-01 6.90245155e-02 5.39549148e-02 3.09176985e+02] [-6.87078264e-02 9.97607072e-01 -7.70477297e-03 -3.97023251e+01] [-5.43576229e-02 3.96802203e-03 9.98513647e-01 -2.03834547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.580714057 meters 0.044871116545295735 Centerline is valid? [True, True] Translation: X:309.24, Y:-39.71, Z:-20.39 [[ 9.95947887e-01 7.11064358e-02 5.50606959e-02 3.09235114e+02] [-7.07798821e-02 9.97460985e-01 -7.86080673e-03 -3.97095044e+01] [-5.54798499e-02 3.93176429e-03 9.98452066e-01 -2.03853314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.640714057 meters 0.04545881627186813 Centerline is valid? [True, True] Translation: X:309.29, Y:-39.72, Z:-20.39 [[ 9.95839290e-01 7.22290588e-02 5.55614268e-02 3.09294145e+02] [-7.18984438e-02 9.97380440e-01 -7.92915729e-03 -3.97173188e+01] [-5.59885959e-02 3.90138625e-03 9.98423786e-01 -2.03893887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.700714057 meters 0.04700224352646482 Centerline is valid? [True, True] Translation: X:309.35, Y:-39.73, Z:-20.39 [[ 9.95838559e-01 7.19532766e-02 5.59311275e-02 3.09352061e+02] [-7.16179041e-02 9.97400216e-01 -7.98023117e-03 -3.97275847e+01] [-5.63599225e-02 3.94135178e-03 9.98402737e-01 -2.03948030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76071405700003 meters 0.04513390533744197 Centerline is valid? [True, True] Translation: X:309.41, Y:-39.73, Z:-20.40 [[ 9.96182813e-01 6.83322427e-02 5.43185815e-02 3.09412627e+02] [-6.80108327e-02 9.97654513e-01 -7.74592541e-03 -3.97314359e+01] [-5.47204745e-02 4.02210580e-03 9.98493612e-01 -2.03988768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82071405700003 meters 0.04617628485214977 Centerline is valid? [True, True] Translation: X:309.47, Y:-39.74, Z:-20.40 [[ 9.96428651e-01 6.58127174e-02 5.29020717e-02 3.09471798e+02] [-6.55043409e-02 9.97823767e-01 -7.54396724e-03 -3.97414821e+01] [-5.32834334e-02 4.05170976e-03 9.98571209e-01 -2.04035775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88071405700003 meters 0.07136927913411381 Centerline is valid? [True, True] Translation: X:309.53, Y:-39.79, Z:-20.41 [[ 9.96292063e-01 6.71048313e-02 5.38429844e-02 3.09525112e+02] [-6.67873021e-02 9.97737700e-01 -7.67715597e-03 -3.97853266e+01] [-5.42363496e-02 4.05266190e-03 9.98519902e-01 -2.04125585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94071405700004 meters 0.04921690767313571 Centerline is valid? [True, True] Translation: X:309.59, Y:-39.76, Z:-20.41 [[ 9.96724541e-01 6.15775706e-02 5.24251056e-02 3.09589958e+02] [-6.12690197e-02 9.98093306e-01 -7.47400455e-03 -3.97601511e+01] [-5.27853780e-02 4.23748893e-03 9.98596889e-01 -2.04139368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00071405700004 meters 0.05112010782383027 Centerline is valid? [True, True] Translation: X:309.65, Y:-39.77, Z:-20.42 [[ 9.96829589e-01 5.96703491e-02 5.26328819e-02 3.09649028e+02] [-5.93567268e-02 9.98208636e-01 -7.50322069e-03 -3.97702055e+01] [-5.29863171e-02 4.35531680e-03 9.98585741e-01 -2.04180953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06071405700004 meters 0.05352252649291878 Centerline is valid? [True, True] Translation: X:309.71, Y:-39.78, Z:-20.42 [[ 9.96967206e-01 5.68259524e-02 5.31714261e-02 3.09708361e+02] [-5.65019240e-02 9.98373725e-01 -7.57874248e-03 -3.97820938e+01] [-5.35156241e-02 4.55146984e-03 9.98556639e-01 -2.04221185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12071405700004 meters 0.051957067345105475 Centerline is valid? [True, True] Translation: X:309.77, Y:-39.79, Z:-20.42 [[ 9.97031075e-01 5.50426759e-02 5.38455192e-02 3.09769690e+02] [-5.47077696e-02 9.98472910e-01 -7.67518806e-03 -3.97876156e+01] [-5.41857551e-02 4.70663274e-03 9.98519780e-01 -2.04247812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18071405700005 meters 0.053126960991315995 Centerline is valid? [True, True] Translation: X:309.83, Y:-39.80, Z:-20.43 [[ 9.96985294e-01 5.58131971e-02 5.39000013e-02 3.09831152e+02] [-5.54787394e-02 9.98430310e-01 -7.68275172e-03 -3.97969939e+01] [-5.42441940e-02 4.66928635e-03 9.98516783e-01 -2.04299738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24071405700005 meters 0.05402399683543232 Centerline is valid? [True, True] Translation: X:309.89, Y:-39.80, Z:-20.43 [[ 9.96847591e-01 5.86857006e-02 5.33935241e-02 3.09889899e+02] [-5.83607425e-02 9.98266428e-01 -7.62637611e-03 -3.98034709e+01] [-5.37485218e-02 4.48624894e-03 9.98544426e-01 -2.04332323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30071405700005 meters 0.05458269315613336 Centerline is valid? [True, True] Translation: X:309.95, Y:-39.81, Z:-20.44 [[ 9.96661652e-01 6.08728071e-02 5.44063628e-02 3.09950785e+02] [-6.05387300e-02 9.98135614e-01 -7.76905347e-03 -3.98099647e+01] [-5.47778524e-02 4.44942556e-03 9.98488653e-01 -2.04366704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36071405700005 meters 0.047269678572845676 Centerline is valid? [True, True] Translation: X:310.01, Y:-39.80, Z:-20.44 [[ 9.96556276e-01 6.21969524e-02 5.48372933e-02 3.10012782e+02] [-6.18594852e-02 9.98054141e-01 -7.83167320e-03 -3.98044381e+01] [-5.52176939e-02 4.41249635e-03 9.98464589e-01 -2.04394922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42071405700005 meters 0.04525328373322793 Centerline is valid? [True, True] Translation: X:310.07, Y:-39.81, Z:-20.44 [[ 9.96565908e-01 6.26018671e-02 5.41977552e-02 3.10072588e+02] [-6.22728102e-02 9.98029147e-01 -7.74069526e-03 -3.98055279e+01] [-5.45755214e-02 4.33906648e-03 9.98500218e-01 -2.04432519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48071405700006 meters 0.04885312097423163 Centerline is valid? [True, True] Translation: X:310.13, Y:-39.82, Z:-20.45 [[ 9.96541726e-01 6.18859766e-02 5.54501061e-02 3.10130205e+02] [-6.15405239e-02 9.98073181e-01 -7.91763338e-03 -3.98163330e+01] [-5.58332543e-02 4.47782345e-03 9.98430066e-01 -2.04475974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54071405700006 meters 0.048032749644548386 Centerline is valid? [True, True] Translation: X:310.19, Y:-39.82, Z:-20.45 [[ 9.96569466e-01 6.20065040e-02 5.48132619e-02 3.10189721e+02] [-6.16693205e-02 9.98065975e-01 -7.82329252e-03 -3.98231779e+01] [-5.51923467e-02 4.41615783e-03 9.98465975e-01 -2.04529746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60071405700006 meters 0.046280394129205905 Centerline is valid? [True, True] Translation: X:310.25, Y:-39.83, Z:-20.46 [[ 9.96171196e-01 6.85793688e-02 5.42200907e-02 3.10249641e+02] [-6.82591081e-02 9.97637612e-01 -7.73883461e-03 -3.98271451e+01] [-5.46227262e-02 4.00818909e-03 9.98499020e-01 -2.04559703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66071405700006 meters 0.043434452381949 Centerline is valid? [True, True] Translation: X:310.31, Y:-39.83, Z:-20.46 [[ 9.96050441e-01 7.12703405e-02 5.29533514e-02 3.10309046e+02] [-7.09687144e-02 9.97449914e-01 -7.55713558e-03 -3.98308531e+01] [-5.33569155e-02 3.76925695e-03 9.98568391e-01 -2.04611113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72071405700007 meters 0.03977905427421152 Centerline is valid? [True, True] Translation: X:310.37, Y:-39.84, Z:-20.47 [[ 9.95641459e-01 7.72499599e-02 5.22544692e-02 3.10368408e+02] [-7.69645408e-02 9.97005955e-01 -7.45548425e-03 -3.98370426e+01] [-5.26739528e-02 3.40124799e-03 9.98605971e-01 -2.04676219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78071405700007 meters 0.03966775848512996 Centerline is valid? [True, True] Translation: X:310.43, Y:-39.84, Z:-20.47 [[ 9.95397765e-01 7.98558183e-02 5.29748782e-02 3.10428396e+02] [-7.95662317e-02 9.96800940e-01 -7.55651630e-03 -3.98427299e+01] [-5.34088402e-02 3.30672800e-03 9.98567254e-01 -2.04691106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84071405700007 meters 0.04120206800347016 Centerline is valid? [True, True] Translation: X:310.49, Y:-39.86, Z:-20.47 [[ 9.95179451e-01 8.19196504e-02 5.39168875e-02 3.10485644e+02] [-8.16227103e-02 9.96633630e-01 -7.69025345e-03 -3.98550861e+01] [-5.43653662e-02 3.25233972e-03 9.98515813e-01 -2.04727087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9007140570001 meters 0.03980528031667701 Centerline is valid? [True, True] Translation: X:310.55, Y:-39.86, Z:-20.47 [[ 9.95386481e-01 7.85968079e-02 5.50299487e-02 3.10545284e+02] [-7.82825929e-02 9.96900336e-01 -7.84571823e-03 -3.98620422e+01] [-5.54760228e-02 3.50163478e-03 9.98453879e-01 -2.04740284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.960714057 meters 0.047901177375479324 Centerline is valid? [True, True] Translation: X:310.60, Y:-39.89, Z:-20.48 [[ 9.95750109e-01 7.25435115e-02 5.67376345e-02 3.10602058e+02] [-7.21997484e-02 9.97357398e-01 -8.08811481e-03 -3.98860868e+01] [-5.71744398e-02 3.95729827e-03 9.98356361e-01 -2.04776569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.020714057 meters 0.050966099659906866 Centerline is valid? [True, True] Translation: X:310.66, Y:-39.90, Z:-20.48 [[ 9.96260942e-01 6.46549877e-02 5.73050434e-02 3.10660612e+02] [-6.42913918e-02 9.97897741e-01 -8.16793092e-03 -3.99049456e+01] [-5.77126709e-02 4.45316956e-03 9.98323303e-01 -2.04821434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.080714057 meters 0.05403432225426418 Centerline is valid? [True, True] Translation: X:310.72, Y:-39.92, Z:-20.49 [[ 9.96812549e-01 5.56277317e-02 5.71865157e-02 3.10718612e+02] [-5.52508892e-02 9.98439232e-01 -8.15104734e-03 -3.99227756e+01] [-5.75506850e-02 4.96546043e-03 9.98330237e-01 -2.04870936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.140714057 meters 0.05976433843041128 Centerline is valid? [True, True] Translation: X:310.78, Y:-39.95, Z:-20.49 [[ 9.97255534e-01 4.86923833e-02 5.57714215e-02 3.10775534e+02] [-4.83232045e-02 9.98800114e-01 -7.94985786e-03 -3.99460386e+01] [-5.60915996e-02 5.23298595e-03 9.98411913e-01 -2.04932659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.200714057 meters 0.06799924914548972 Centerline is valid? [True, True] Translation: X:310.83, Y:-39.97, Z:-20.50 [[ 9.97531885e-01 4.48168150e-02 5.40517545e-02 3.10832570e+02] [-4.44644969e-02 9.98981261e-01 -7.70382008e-03 -3.99713219e+01] [-5.43419506e-02 5.28142209e-03 9.98508417e-01 -2.04996962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26071405700003 meters 0.05478380742603939 Centerline is valid? [True, True] Translation: X:310.90, Y:-39.96, Z:-20.50 [[ 9.97562831e-01 4.44012839e-02 5.38230828e-02 3.10896370e+02] [-4.40514453e-02 9.98999825e-01 -7.66939286e-03 -3.99639410e+01] [-5.41097812e-02 5.27971666e-03 9.98521034e-01 -2.05021389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32071405700003 meters 0.05383394208773714 Centerline is valid? [True, True] Translation: X:310.96, Y:-39.97, Z:-20.51 [[ 9.97515501e-01 4.52624143e-02 5.39827585e-02 3.10957749e+02] [-4.49109976e-02 9.98961272e-01 -7.70584181e-03 -3.99736718e+01] [-5.42754701e-02 5.26227711e-03 9.98512134e-01 -2.05060715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38071405700003 meters 0.052241803328143384 Centerline is valid? [True, True] Translation: X:311.02, Y:-39.98, Z:-20.51 [[ 9.97230400e-01 4.92308476e-02 5.57481209e-02 3.11017448e+02] [-4.88612337e-02 9.98773741e-01 -7.97462066e-03 -3.99834557e+01] [-5.60723566e-02 5.22861219e-03 9.98413017e-01 -2.05102613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44071405700004 meters 0.053403229229714286 Centerline is valid? [True, True] Translation: X:311.08, Y:-39.99, Z:-20.51 [[ 9.96916893e-01 5.60007615e-02 5.49601946e-02 3.11075664e+02] [-5.56517236e-02 9.98419288e-01 -7.86199962e-03 -3.99934575e+01] [-5.53135963e-02 4.77913067e-03 9.98457593e-01 -2.05142855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50071405700004 meters 0.05298037094110832 Centerline is valid? [True, True] Translation: X:311.13, Y:-40.00, Z:-20.52 [[ 9.96627559e-01 6.15055275e-02 5.43192244e-02 3.11134102e+02] [-6.11727585e-02 9.98096955e-01 -7.76930720e-03 -4.00024726e+01] [-5.46937078e-02 4.42024888e-03 9.98493395e-01 -2.05188984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56071405700004 meters 0.04466518558241027 Centerline is valid? [True, True] Translation: X:311.19, Y:-40.00, Z:-20.52 [[ 9.96411800e-01 6.50892826e-02 5.41009168e-02 3.11194905e+02] [-6.47644983e-02 9.97870583e-01 -7.73683667e-03 -4.00010835e+01] [-5.44892986e-02 4.20525662e-03 9.98505499e-01 -2.05219490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62071405700004 meters 0.04209742448916058 Centerline is valid? [True, True] Translation: X:311.26, Y:-40.01, Z:-20.52 [[ 9.96127772e-01 6.91214626e-02 5.43294120e-02 3.11255305e+02] [-6.87998744e-02 9.97600225e-01 -7.76966115e-03 -4.00061002e+01] [-5.47360840e-02 4.00171853e-03 9.98492838e-01 -2.05245929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68071405700005 meters 0.043140844072230726 Centerline is valid? [True, True] Translation: X:311.31, Y:-40.02, Z:-20.53 [[ 9.95910970e-01 7.22937458e-02 5.41752124e-02 3.11313216e+02] [-7.19786420e-02 9.97376082e-01 -7.74770768e-03 -4.00163202e+01] [-5.45931719e-02 3.81656885e-03 9.98501387e-01 -2.05290987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74071405700005 meters 0.040723810044956815 Centerline is valid? [True, True] Translation: X:311.37, Y:-40.02, Z:-20.53 [[ 9.95683157e-01 7.40682737e-02 5.59369484e-02 3.11372698e+02] [-7.37351903e-02 9.97245784e-01 -7.99805075e-03 -4.00224302e+01] [-5.63752877e-02 3.83900289e-03 9.98402268e-01 -2.05312767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80071405700005 meters 0.04423975352579452 Centerline is valid? [True, True] Translation: X:311.43, Y:-40.04, Z:-20.54 [[ 9.95638124e-01 7.53809058e-02 5.49767689e-02 3.11430063e+02] [-7.50612717e-02 9.97147955e-01 -7.85881518e-03 -4.00367363e+01] [-5.54123773e-02 3.69790981e-03 9.98456706e-01 -2.05367031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86071405700005 meters 0.04002815372800628 Centerline is valid? [True, True] Translation: X:311.49, Y:-40.04, Z:-20.54 [[ 9.95599857e-01 7.67540635e-02 5.37562881e-02 3.11489482e+02] [-7.64505625e-02 9.97043774e-01 -7.68267539e-03 -4.00385897e+01] [-5.41870489e-02 3.53917205e-03 9.98524531e-01 -2.05400153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92071405700005 meters 0.04426945106715668 Centerline is valid? [True, True] Translation: X:311.55, Y:-40.05, Z:-20.54 [[ 9.95306265e-01 7.96879440e-02 5.49114754e-02 3.11546383e+02] [-7.93758616e-02 9.96813892e-01 -7.84457468e-03 -4.00544709e+01] [-5.53616395e-02 3.44910866e-03 9.98460411e-01 -2.05442300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98071405700006 meters 0.03924908439788852 Centerline is valid? [True, True] Translation: X:311.61, Y:-40.06, Z:-20.55 [[ 9.94977598e-01 8.30334289e-02 5.59019658e-02 3.11606468e+02] [-8.27153489e-02 9.96541233e-01 -7.98391308e-03 -4.00574287e+01] [-5.63715456e-02 3.31986404e-03 9.98404341e-01 -2.05453768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04071405700006 meters 0.036672856967657604 Centerline is valid? [True, True] Translation: X:311.67, Y:-40.06, Z:-20.55 [[ 9.94786147e-01 8.47948440e-02 5.66600068e-02 3.11665721e+02] [-8.44709538e-02 9.96393088e-01 -8.09145380e-03 -4.00627761e+01] [-5.71417527e-02 3.26314134e-03 9.98360742e-01 -2.05478546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10071405700006 meters 0.03550349089790421 Centerline is valid? [True, True] Translation: X:311.73, Y:-40.07, Z:-20.55 [[ 9.94478128e-01 8.71289640e-02 5.84961285e-02 3.11725337e+02] [-8.67879364e-02 9.96191813e-01 -8.35022951e-03 -4.00720861e+01] [-5.90009111e-02 3.22736233e-03 9.98252712e-01 -2.05503524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16071405700006 meters 0.033503960840188855 Centerline is valid? [True, True] Translation: X:311.79, Y:-40.08, Z:-20.55 [[ 9.94033911e-01 9.21601451e-02 5.83360137e-02 3.11785508e+02] [-9.18296798e-02 9.95739918e-01 -8.32623661e-03 -4.00797340e+01] [-5.88548447e-02 2.91958408e-03 9.98262282e-01 -2.05530673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22071405700007 meters 0.03251372047908538 Centerline is valid? [True, True] Translation: X:311.85, Y:-40.09, Z:-20.56 [[ 9.93647190e-01 9.66973142e-02 5.75750986e-02 3.11845103e+02] [-9.63830137e-02 9.95310396e-01 -8.21763937e-03 -4.00889302e+01] [-5.80997178e-02 2.61617275e-03 9.98307357e-01 -2.05579097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28071405700007 meters 0.034089287252618485 Centerline is valid? [True, True] Translation: X:311.90, Y:-40.10, Z:-20.56 [[ 9.93411057e-01 9.95771106e-02 5.67351014e-02 3.11902879e+02] [-9.92767232e-02 9.95026930e-01 -8.09573197e-03 -4.01012723e+01] [-5.72591034e-02 2.40991469e-03 9.98356443e-01 -2.05623287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34071405700007 meters 0.03222164292135621 Centerline is valid? [True, True] Translation: X:311.96, Y:-40.11, Z:-20.56 [[ 9.92899849e-01 1.03950881e-01 5.78282327e-02 3.11962254e+02] [-1.03646312e-01 9.94580005e-01 -8.24961771e-03 -4.01075970e+01] [-5.83723590e-02 2.19736115e-03 9.98292462e-01 -2.05647764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4007140570001 meters 0.031171786595740734 Centerline is valid? [True, True] Translation: X:312.02, Y:-40.12, Z:-20.57 [[ 9.92581858e-01 1.06137639e-01 5.92963526e-02 3.12020495e+02] [-1.05821401e-01 9.94349189e-01 -8.45705430e-03 -4.01178334e+01] [-5.98588918e-02 2.11949558e-03 9.98204599e-01 -2.05668730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.460714057 meters 0.032520120407316125 Centerline is valid? [True, True] Translation: X:312.08, Y:-40.13, Z:-20.57 [[ 9.92758496e-01 1.04554636e-01 5.91514801e-02 3.12076135e+02] [-1.04237307e-01 9.94516696e-01 -8.43357893e-03 -4.01326880e+01] [-5.97089043e-02 2.20671615e-03 9.98213393e-01 -2.05709805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.520714057 meters 0.0309480578323231 Centerline is valid? [True, True] Translation: X:312.13, Y:-40.14, Z:-20.57 [[ 9.93155019e-01 1.00460649e-01 5.95883132e-02 3.12134754e+02] [-1.00131644e-01 9.94937980e-01 -8.48942305e-03 -4.01449129e+01] [-6.01395289e-02 2.46463732e-03 9.98186938e-01 -2.05746162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.580714057 meters 0.036286332517786964 Centerline is valid? [True, True] Translation: X:312.19, Y:-40.17, Z:-20.58 [[ 9.93781347e-01 9.53450991e-02 5.75147544e-02 3.12191044e+02] [-9.50301960e-02 9.95440684e-01 -8.19188988e-03 -4.01696549e+01] [-5.80335830e-02 2.67530897e-03 9.98311047e-01 -2.05814954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.640714057 meters 0.03536449831035757 Centerline is valid? [True, True] Translation: X:312.25, Y:-40.18, Z:-20.59 [[ 9.94380322e-01 8.94142331e-02 5.66821936e-02 3.12249655e+02] [-8.90988472e-02 9.95990078e-01 -8.07217788e-03 -4.01821765e+01] [-5.71766700e-02 2.97649673e-03 9.98359639e-01 -2.05864813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.700714057 meters 0.03710771350659448 Centerline is valid? [True, True] Translation: X:312.31, Y:-40.20, Z:-20.59 [[ 9.94782520e-01 8.46849415e-02 5.68875950e-02 3.12308241e+02] [-8.43595507e-02 9.96402445e-01 -8.10152638e-03 -4.01986357e+01] [-5.73690160e-02 3.26024488e-03 9.98347718e-01 -2.05911731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76071405700003 meters 0.038579246034050954 Centerline is valid? [True, True] Translation: X:312.37, Y:-40.21, Z:-20.59 [[ 9.95278306e-01 7.87852900e-02 5.66919012e-02 3.12367140e+02] [-7.84526239e-02 9.96885153e-01 -8.07330945e-03 -4.02137957e+01] [-5.71513726e-02 3.58756135e-03 9.98359079e-01 -2.05947667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82071405700003 meters 0.04221509094531259 Centerline is valid? [True, True] Translation: X:312.43, Y:-40.23, Z:-20.60 [[ 9.95833302e-01 7.10915643e-02 5.71141289e-02 3.12425816e+02] [-7.07413236e-02 9.97461534e-01 -8.13344997e-03 -4.02311643e+01] [-5.75473663e-02 4.05923127e-03 9.98334525e-01 -2.05990668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88071405700003 meters 0.042419322807579936 Centerline is valid? [True, True] Translation: X:312.49, Y:-40.24, Z:-20.60 [[ 9.96359703e-01 6.31520526e-02 5.72639574e-02 3.12485841e+02] [-6.27869095e-02 9.97993635e-01 -8.15521752e-03 -4.02416665e+01] [-5.76640838e-02 4.53010319e-03 9.98325764e-01 -2.06018202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94071405700004 meters 0.07497338842040352 Centerline is valid? [True, True] Translation: X:312.54, Y:-40.30, Z:-20.61 [[ 9.96524825e-01 6.03549470e-02 5.74069063e-02 3.12537894e+02] [-5.99833528e-02 9.98165895e-01 -8.17583751e-03 -4.02960285e+01] [-5.77950682e-02 4.70396634e-03 9.98317386e-01 -2.06088191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00071405700004 meters 0.04750800292632977 Centerline is valid? [True, True] Translation: X:312.60, Y:-40.26, Z:-20.61 [[ 9.96911196e-01 5.50088694e-02 5.60543662e-02 3.12603551e+02] [-5.46462168e-02 9.98473865e-01 -7.98319742e-03 -4.02647631e+01] [-5.64079663e-02 4.89537984e-03 9.98395802e-01 -2.06095439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06071405700004 meters 0.04641452751269473 Centerline is valid? [True, True] Translation: X:312.66, Y:-40.27, Z:-20.61 [[ 9.96766792e-01 5.71017525e-02 5.65274463e-02 3.12664145e+02] [-5.67362865e-02 9.98356742e-01 -8.05048370e-03 -4.02679414e+01] [-5.68942539e-02 4.81729742e-03 9.98368588e-01 -2.06120214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12071405700004 meters 0.044402125853759515 Centerline is valid? [True, True] Translation: X:312.73, Y:-40.27, Z:-20.62 [[ 9.96385886e-01 6.33560927e-02 5.65789029e-02 3.12725019e+02] [-6.29999674e-02 9.97981000e-01 -8.05774604e-03 -4.02693230e+01] [-5.69751774e-02 4.46415539e-03 9.98365615e-01 -2.06164368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18071405700005 meters 0.04344004426776623 Centerline is valid? [True, True] Translation: X:312.79, Y:-40.27, Z:-20.62 [[ 9.96268010e-01 6.55237452e-02 5.61844414e-02 3.12785854e+02] [-6.51759743e-02 9.97841701e-01 -8.00198764e-03 -4.02739277e+01] [-5.65874988e-02 4.31024860e-03 9.98388340e-01 -2.06197047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24071405700005 meters 0.040208009466447536 Centerline is valid? [True, True] Translation: X:312.85, Y:-40.27, Z:-20.62 [[ 9.95345261e-01 7.78809118e-02 5.67659671e-02 3.12846614e+02] [-7.75457811e-02 9.96956000e-01 -8.08612407e-03 -4.02688688e+01] [-5.72229262e-02 3.64652401e-03 9.98354766e-01 -2.06206916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30071405700005 meters 0.03821473525228018 Centerline is valid? [True, True] Translation: X:312.91, Y:-40.27, Z:-20.62 [[ 9.94847194e-01 8.40387737e-02 5.67145967e-02 3.12906197e+02] [-8.37142628e-02 9.96457059e-01 -8.07781270e-03 -4.02721730e+01] [-5.71925097e-02 3.28836865e-03 9.98357753e-01 -2.06246351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36071405700005 meters 0.03636623722080841 Centerline is valid? [True, True] Translation: X:312.97, Y:-40.27, Z:-20.63 [[ 9.94254244e-01 9.13583639e-02 5.57866344e-02 3.12966690e+02] [-9.10559654e-02 9.95814092e-01 -7.94394706e-03 -4.02724534e+01] [-5.62788627e-02 2.81859722e-03 9.98411110e-01 -2.06301750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42071405700005 meters 0.032124798159326284 Centerline is valid? [True, True] Translation: X:313.03, Y:-40.27, Z:-20.63 [[ 9.93688245e-01 9.76410226e-02 5.52259239e-02 3.13028480e+02] [-9.73543861e-02 9.95218715e-01 -7.86340896e-03 -4.02686175e+01] [-5.57296643e-02 2.43729113e-03 9.98442920e-01 -2.06330722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48071405700006 meters 0.031300765282868105 Centerline is valid? [True, True] Translation: X:313.09, Y:-40.28, Z:-20.64 [[ 9.93290367e-01 1.01695161e-01 5.50666967e-02 3.13087747e+02] [-1.01416382e-01 9.94813168e-01 -7.84084047e-03 -4.02754307e+01] [-5.55784505e-02 2.20356614e-03 9.98451892e-01 -2.06368206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54071405700006 meters 0.032848031766982214 Centerline is valid? [True, True] Translation: X:313.14, Y:-40.29, Z:-20.64 [[ 9.93319355e-01 1.00482763e-01 5.67439366e-02 3.13144715e+02] [-1.00184850e-01 9.94936050e-01 -8.07791995e-03 -4.02863532e+01] [-5.72682799e-02 2.33907146e-03 9.98356085e-01 -2.06405042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60071405700006 meters 0.035002479956110236 Centerline is valid? [True, True] Translation: X:313.20, Y:-40.30, Z:-20.65 [[ 9.94124994e-01 9.21290359e-02 5.68131725e-02 3.13203495e+02] [-9.18171051e-02 9.95743089e-01 -8.08213464e-03 -4.03015400e+01] [-5.73159232e-02 2.81823102e-03 9.98352114e-01 -2.06451812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66071405700006 meters 0.03946052449474944 Centerline is valid? [True, True] Translation: X:313.26, Y:-40.32, Z:-20.65 [[ 9.95033368e-01 8.22364094e-02 5.60871679e-02 3.13262021e+02] [-8.19167688e-02 9.96607239e-01 -7.97834297e-03 -4.03202432e+01] [-5.65529878e-02 3.34423791e-03 9.98393998e-01 -2.06512184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72071405700007 meters 0.03957911699794062 Centerline is valid? [True, True] Translation: X:313.32, Y:-40.33, Z:-20.66 [[ 9.95634828e-01 7.56457885e-02 5.46717799e-02 3.13321719e+02] [-7.53322216e-02 9.97128166e-01 -7.77664231e-03 -4.03295957e+01] [-5.51030419e-02 3.62414929e-03 9.98474096e-01 -2.06558912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78071405700007 meters 0.04155504429769498 Centerline is valid? [True, True] Translation: X:313.38, Y:-40.34, Z:-20.66 [[ 9.95799879e-01 7.16562177e-02 5.69911185e-02 3.13381212e+02] [-7.13089354e-02 9.97421334e-01 -8.10671847e-03 -4.03396431e+01] [-5.74250542e-02 4.00869328e-03 9.98341772e-01 -2.06573311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84071405700007 meters 0.042462285876386854 Centerline is valid? [True, True] Translation: X:313.44, Y:-40.35, Z:-20.66 [[ 9.95694257e-01 7.26405138e-02 5.75873445e-02 3.13441301e+02] [-7.22875887e-02 9.97350196e-01 -8.19092816e-03 -4.03494846e+01] [-5.80297425e-02 3.99280986e-03 9.98306870e-01 -2.06619373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9007140570001 meters 0.040893507984699214 Centerline is valid? [True, True] Translation: X:313.50, Y:-40.35, Z:-20.67 [[ 9.95434764e-01 7.64856289e-02 5.70927333e-02 3.13501917e+02] [-7.61449706e-02 9.97063679e-01 -8.12172936e-03 -4.03528644e+01] [-5.75462863e-02 3.73732725e-03 9.98335844e-01 -2.06664072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.960714057 meters 0.03618941469681865 Centerline is valid? [True, True] Translation: X:313.56, Y:-40.35, Z:-20.67 [[ 9.94774244e-01 8.35357290e-02 5.87025231e-02 3.13563633e+02] [-8.31877897e-02 9.96498902e-01 -8.35043713e-03 -4.03507516e+01] [-5.91945597e-02 3.42346664e-03 9.98240594e-01 -2.06680821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.020714057 meters 0.03549476953819427 Centerline is valid? [True, True] Translation: X:313.62, Y:-40.36, Z:-20.67 [[ 9.94352584e-01 8.84525014e-02 5.86437840e-02 3.13624114e+02] [-8.81137313e-02 9.96075483e-01 -8.34277112e-03 -4.03552646e+01] [-5.91515744e-02 3.12833340e-03 9.98244111e-01 -2.06724188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.080714057 meters 0.03655019800093162 Centerline is valid? [True, True] Translation: X:313.68, Y:-40.36, Z:-20.68 [[ 9.94392170e-01 8.80199275e-02 5.86234148e-02 3.13681174e+02] [-8.76806283e-02 9.96113723e-01 -8.34013955e-03 -4.03646020e+01] [-5.91296865e-02 3.15323162e-03 9.98245329e-01 -2.06764276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.140714057 meters 0.039835370698872136 Centerline is valid? [True, True] Translation: X:313.74, Y:-40.38, Z:-20.68 [[ 9.94807633e-01 8.23374566e-02 5.98190322e-02 3.13739006e+02] [-8.19742659e-02 9.96598160e-01 -8.50452278e-03 -4.03780467e+01] [-6.03157782e-02 3.55674293e-03 9.98173009e-01 -2.06802004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.200714057 meters 0.044404638285705116 Centerline is valid? [True, True] Translation: X:313.80, Y:-40.40, Z:-20.69 [[ 9.95400860e-01 7.51866423e-02 5.93640985e-02 3.13796453e+02] [-7.48163623e-02 9.97161621e-01 -8.43881663e-03 -4.03952263e+01] [-5.98300870e-02 3.95859943e-03 9.98200726e-01 -2.06856391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26071405700003 meters 0.048105875327582724 Centerline is valid? [True, True] Translation: X:313.86, Y:-40.41, Z:-20.69 [[ 9.95819533e-01 6.98107550e-02 5.89059988e-02 3.13855330e+02] [-6.94368789e-02 9.97551211e-01 -8.37271104e-03 -4.04094142e+01] [-5.93462557e-02 4.24746050e-03 9.98228421e-01 -2.06905173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32071405700003 meters 0.04398436002277132 Centerline is valid? [True, True] Translation: X:313.92, Y:-40.41, Z:-20.69 [[ 9.96031897e-01 6.64260585e-02 5.92287031e-02 3.13916430e+02] [-6.60421117e-02 9.97781321e-01 -8.41873360e-03 -4.04121882e+01] [-5.96565169e-02 4.47373858e-03 9.98208939e-01 -2.06942390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38071405700003 meters 0.04343240187078658 Centerline is valid? [True, True] Translation: X:313.98, Y:-40.42, Z:-20.70 [[ 9.96264672e-01 6.38380424e-02 5.81498758e-02 3.13977026e+02] [-6.34635880e-02 9.97949926e-01 -8.26552190e-03 -4.04196903e+01] [-5.85583189e-02 4.54424771e-03 9.98273646e-01 -2.06986245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44071405700004 meters 0.044191905893609766 Centerline is valid? [True, True] Translation: X:314.04, Y:-40.43, Z:-20.71 [[ 9.96373715e-01 6.33825762e-02 5.67632721e-02 3.14038146e+02] [-6.30250982e-02 9.97979333e-01 -8.06771419e-03 -4.04287157e+01] [-5.71599249e-02 4.46094756e-03 9.98355069e-01 -2.07055698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50071405700004 meters 0.043914219598266656 Centerline is valid? [True, True] Translation: X:314.10, Y:-40.43, Z:-20.71 [[ 9.96352887e-01 6.49274755e-02 5.53655729e-02 3.14099217e+02] [-6.45889046e-02 9.97880807e-01 -7.88468426e-03 -4.04343321e+01] [-5.57601752e-02 4.27992622e-03 9.98435018e-01 -2.07100571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56071405700004 meters 0.042561115687724034 Centerline is valid? [True, True] Translation: X:314.16, Y:-40.44, Z:-20.71 [[ 9.96044944e-01 6.86539380e-02 5.64012895e-02 3.14159988e+02] [-6.83083640e-02 9.97631903e-01 -8.03453618e-03 -4.04365371e+01] [-5.68193283e-02 4.15007933e-03 9.98375851e-01 -2.07119510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62071405700004 meters 0.04195104497423369 Centerline is valid? [True, True] Translation: X:314.22, Y:-40.44, Z:-20.71 [[ 9.95735603e-01 7.14599270e-02 5.83445578e-02 3.14220612e+02] [-7.10948613e-02 9.97434928e-01 -8.31170192e-03 -4.04397220e+01] [-5.87888535e-02 4.12825928e-03 9.98261904e-01 -2.07140084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68071405700005 meters 0.06016921361044037 Centerline is valid? [True, True] Translation: X:314.28, Y:-40.47, Z:-20.72 [[ 9.95361548e-01 7.56475200e-02 5.94377198e-02 3.14276205e+02] [-7.52760681e-02 9.97126783e-01 -8.46709237e-03 -4.04735022e+01] [-5.99074569e-02 3.95358033e-03 9.98196106e-01 -2.07189870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74071405700005 meters 0.043266550094716985 Centerline is valid? [True, True] Translation: X:314.34, Y:-40.45, Z:-20.72 [[ 9.95637205e-01 7.11488866e-02 6.03687930e-02 3.14340287e+02] [-7.07574440e-02 9.97456477e-01 -8.60003731e-03 -4.04540675e+01] [-6.08271267e-02 4.29097562e-03 9.98139093e-01 -2.07204131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80071405700005 meters 0.04194496923777272 Centerline is valid? [True, True] Translation: X:314.40, Y:-40.46, Z:-20.72 [[ 9.95611737e-01 7.19643283e-02 5.98197611e-02 3.14400883e+02] [-7.15814482e-02 9.97398353e-01 -8.52180834e-03 -4.04591388e+01] [-6.02773974e-02 4.20242728e-03 9.98172818e-01 -2.07238629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86071405700005 meters 0.04067805947811856 Centerline is valid? [True, True] Translation: X:314.46, Y:-40.46, Z:-20.73 [[ 9.95519866e-01 7.37965995e-02 5.91122469e-02 3.14460790e+02] [-7.34259420e-02 9.97265118e-01 -8.42110677e-03 -4.04643508e+01] [-5.95720309e-02 4.04300667e-03 9.98215822e-01 -2.07286017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92071405700005 meters 0.04014144209067147 Centerline is valid? [True, True] Translation: X:314.52, Y:-40.47, Z:-20.73 [[ 9.95497362e-01 7.51938313e-02 5.77138642e-02 3.14519757e+02] [-7.48429153e-02 9.97161448e-01 -8.22098651e-03 -4.04713356e+01] [-5.81682078e-02 3.86449654e-03 9.98299316e-01 -2.07337414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98071405700006 meters 0.04160978295663913 Centerline is valid? [True, True] Translation: X:314.58, Y:-40.48, Z:-20.74 [[ 9.95469928e-01 7.69419975e-02 5.58529387e-02 3.14577595e+02] [-7.66162225e-02 9.97028931e-01 -7.95395928e-03 -4.04825303e+01] [-5.62989893e-02 3.63868610e-03 9.98407324e-01 -2.07393808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04071405700006 meters 0.04078109758487359 Centerline is valid? [True, True] Translation: X:314.64, Y:-40.49, Z:-20.74 [[ 9.95443849e-01 7.78901369e-02 5.49970072e-02 3.14636095e+02] [-7.75758116e-02 9.96955705e-01 -7.83045988e-03 -4.04899542e+01] [-5.54394956e-02 3.52834565e-03 9.98455814e-01 -2.07440283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10071405700006 meters 0.038916469634286674 Centerline is valid? [True, True] Translation: X:314.69, Y:-40.50, Z:-20.75 [[ 9.95385003e-01 7.84867649e-02 5.52134289e-02 3.14694268e+02] [-7.81710882e-02 9.96908994e-01 -7.85738143e-03 -4.04962452e+01] [-5.56594643e-02 3.50502582e-03 9.98443658e-01 -2.07477402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16071405700006 meters 0.0423469231053291 Centerline is valid? [True, True] Translation: X:314.75, Y:-40.51, Z:-20.75 [[ 9.95435253e-01 7.80608651e-02 5.49104605e-02 3.14750287e+02] [-7.77482068e-02 9.96942431e-01 -7.81058352e-03 -4.05114304e+01] [-5.53522689e-02 3.50574034e-03 9.98460733e-01 -2.07525715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22071405700007 meters 0.040264770915504455 Centerline is valid? [True, True] Translation: X:314.81, Y:-40.52, Z:-20.75 [[ 9.95475344e-01 7.67386735e-02 5.60358358e-02 3.14809205e+02] [-7.64113066e-02 9.97044571e-01 -7.96465498e-03 -4.05173535e+01] [-5.64814229e-02 3.64684623e-03 9.98396990e-01 -2.07543452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28071405700007 meters 0.04563399967256115 Centerline is valid? [True, True] Translation: X:314.87, Y:-40.53, Z:-20.76 [[ 9.95726780e-01 7.30154155e-02 5.65413978e-02 3.14866143e+02] [-7.26763303e-02 9.97323228e-01 -8.03307930e-03 -4.05345512e+01] [-5.69765880e-02 3.88953087e-03 9.98367938e-01 -2.07580210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34071405700007 meters 0.047044769341455725 Centerline is valid? [True, True] Translation: X:314.93, Y:-40.55, Z:-20.76 [[ 9.95984527e-01 6.81687314e-02 5.80331425e-02 3.14925780e+02] [-6.78033223e-02 9.97664639e-01 -8.24482160e-03 -4.05468459e+01] [-5.84596532e-02 4.27687488e-03 9.98280611e-01 -2.07610442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4007140570001 meters 0.051506205630983994 Centerline is valid? [True, True] Translation: X:314.98, Y:-40.56, Z:-20.77 [[ 9.96386838e-01 6.35543245e-02 5.63393041e-02 3.14983731e+02] [-6.32026635e-02 9.97968619e-01 -8.00363837e-03 -4.05619799e+01] [-5.67335234e-02 4.41392584e-03 9.98379599e-01 -2.07669988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.460714057 meters 0.05010668733991565 Centerline is valid? [True, True] Translation: X:315.04, Y:-40.57, Z:-20.77 [[ 9.96816750e-01 5.85540657e-02 5.41090384e-02 3.15043267e+02] [-5.82221516e-02 9.98274020e-01 -7.69162983e-03 -4.05679580e+01] [-5.44660235e-02 4.51680082e-03 9.98505409e-01 -2.07732858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.520714057 meters 0.052975965240449036 Centerline is valid? [True, True] Translation: X:315.10, Y:-40.58, Z:-20.78 [[ 9.96991813e-01 5.60284867e-02 5.35549566e-02 3.15102436e+02] [-5.56997618e-02 9.98418545e-01 -7.61224777e-03 -4.05806011e+01] [-5.38967645e-02 4.60635038e-03 9.98535888e-01 -2.07781538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.580714057 meters 0.052727495311139426 Centerline is valid? [True, True] Translation: X:315.16, Y:-40.58, Z:-20.78 [[ 9.96905661e-01 5.82680132e-02 5.27630786e-02 3.15163657e+02] [-5.79520399e-02 9.98291195e-01 -7.50009070e-03 -4.05840400e+01] [-5.31099322e-02 4.41915484e-03 9.98578893e-01 -2.07821378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.640714057 meters 0.052857226498621984 Centerline is valid? [True, True] Translation: X:315.22, Y:-40.59, Z:-20.79 [[ 9.96802744e-01 6.08599797e-02 5.17721111e-02 3.15224333e+02] [-6.05592019e-02 9.98137472e-01 -7.36009424e-03 -4.05868341e+01] [-5.21236192e-02 4.20128441e-03 9.98631803e-01 -2.07864505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.700714057 meters 0.047597450366362634 Centerline is valid? [True, True] Translation: X:315.29, Y:-40.58, Z:-20.79 [[ 9.96912074e-01 6.01123595e-02 5.05254406e-02 3.15285846e+02] [-5.98249017e-02 9.98183036e-01 -7.18391886e-03 -4.05845173e+01] [-5.08654800e-02 4.13905593e-03 9.98696937e-01 -2.07903031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76071405700003 meters 0.05440835900479713 Centerline is valid? [True, True] Translation: X:315.34, Y:-40.60, Z:-20.79 [[ 9.97072517e-01 5.74087283e-02 5.05038033e-02 3.15344113e+02] [-5.71180982e-02 9.98341607e-01 -7.18037354e-03 -4.05985304e+01] [-5.08322643e-02 4.27467192e-03 9.98698057e-01 -2.07944913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82071405700003 meters 0.04946069863713458 Centerline is valid? [True, True] Translation: X:315.40, Y:-40.60, Z:-20.80 [[ 9.97399085e-01 5.05728160e-02 5.13561593e-02 3.15404742e+02] [-5.02631833e-02 9.98709301e-01 -7.30367445e-03 -4.06002518e+01] [-5.16592414e-02 4.70335416e-03 9.98653694e-01 -2.07951746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88071405700003 meters 0.06925847786744074 Centerline is valid? [True, True] Translation: X:315.46, Y:-40.64, Z:-20.80 [[ 9.97550339e-01 4.59137398e-02 5.27754727e-02 3.15460006e+02] [-4.55802787e-02 9.98932483e-01 -7.50544927e-03 -4.06355605e+01] [-5.30637373e-02 5.08154271e-03 9.98578198e-01 -2.07997749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94071405700004 meters 0.05733371547697961 Centerline is valid? [True, True] Translation: X:315.53, Y:-40.63, Z:-20.80 [[ 9.97551622e-01 4.60830126e-02 5.26034020e-02 3.15525113e+02] [-4.57518899e-02 9.98924812e-01 -7.48226609e-03 -4.06280051e+01] [-5.28916488e-02 5.05724161e-03 9.98587451e-01 -2.08018937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00071405700004 meters 0.05077009631093431 Centerline is valid? [True, True] Translation: X:315.59, Y:-40.63, Z:-20.81 [[ 9.97527287e-01 4.79952732e-02 5.13396971e-02 3.15587181e+02] [-4.76815428e-02 9.98835774e-01 -7.31901170e-03 -4.06284805e+01] [-5.16312040e-02 4.85295792e-03 9.98654429e-01 -2.08071313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06071405700004 meters 0.054309907515131 Centerline is valid? [True, True] Translation: X:315.65, Y:-40.64, Z:-20.81 [[ 9.97305776e-01 5.27909391e-02 5.09343236e-02 3.15645611e+02] [-5.24880796e-02 9.98595114e-01 -7.26639335e-03 -4.06408110e+01] [-5.12463664e-02 4.57337123e-03 9.98675570e-01 -2.08108979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12071405700004 meters 0.0459451869037415 Centerline is valid? [True, True] Translation: X:315.71, Y:-40.64, Z:-20.81 [[ 9.97063574e-01 5.70642220e-02 5.10676420e-02 3.15707693e+02] [-5.67653409e-02 9.98360968e-01 -7.28520475e-03 -4.06371851e+01] [-5.13996650e-02 4.36494018e-03 9.98668625e-01 -2.08134769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18071405700005 meters 0.04515361123036775 Centerline is valid? [True, True] Translation: X:315.77, Y:-40.64, Z:-20.82 [[ 9.96618574e-01 6.40705307e-02 5.14430365e-02 3.15767044e+02] [-6.37764667e-02 9.97937221e-01 -7.33930291e-03 -4.06440370e+01] [-5.18071539e-02 4.03363049e-03 9.98648962e-01 -2.08178771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24071405700005 meters 0.04302681134096167 Centerline is valid? [True, True] Translation: X:315.83, Y:-40.65, Z:-20.82 [[ 9.96058131e-01 7.14098653e-02 5.26196763e-02 3.15827821e+02] [-7.11123535e-02 9.97440061e-01 -7.50712585e-03 -4.06460588e+01] [-5.30210560e-02 3.73562472e-03 9.98586407e-01 -2.08193580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30071405700005 meters 0.04296034273837755 Centerline is valid? [True, True] Translation: X:315.89, Y:-40.65, Z:-20.82 [[ 9.95418432e-01 7.81426133e-02 5.50988017e-02 3.15886773e+02] [-7.78266288e-02 9.96935918e-01 -7.86073738e-03 -4.06532803e+01] [-5.55442330e-02 3.53656888e-03 9.98449964e-01 -2.08221073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36071405700005 meters 0.042211532338292015 Centerline is valid? [True, True] Translation: X:315.95, Y:-40.66, Z:-20.83 [[ 9.95003128e-01 8.25795399e-02 5.61194733e-02 3.15945328e+02] [-8.22588081e-02 9.96578850e-01 -8.00526923e-03 -4.06617157e+01] [-5.65885516e-02 3.34894693e-03 9.98391967e-01 -2.08270016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42071405700005 meters 0.042118440920536 Centerline is valid? [True, True] Translation: X:316.00, Y:-40.67, Z:-20.83 [[ 9.94986092e-01 8.44898556e-02 5.35176794e-02 3.16003545e+02] [-8.42009873e-02 9.96419551e-01 -7.63360374e-03 -4.06692910e+01] [-5.39710242e-02 3.08908810e-03 9.98537724e-01 -2.08341041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48071405700006 meters 0.04297853194237668 Centerline is valid? [True, True] Translation: X:316.06, Y:-40.68, Z:-20.84 [[ 9.94898023e-01 8.46487258e-02 5.48864023e-02 3.16059816e+02] [-8.43453132e-02 9.96405858e-01 -7.82526970e-03 -4.06811700e+01] [-5.53515319e-02 3.15593457e-03 9.98461941e-01 -2.08388939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54071405700006 meters 0.039049131551724334 Centerline is valid? [True, True] Translation: X:316.12, Y:-40.68, Z:-20.84 [[ 9.94989538e-01 8.32366308e-02 5.53848654e-02 3.16118549e+02] [-8.29257974e-02 9.96524483e-01 -7.89095821e-03 -4.06845312e+01] [-5.58491911e-02 3.25858674e-03 9.98433898e-01 -2.08407265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60071405700006 meters 0.04124133425480301 Centerline is valid? [True, True] Translation: X:316.18, Y:-40.70, Z:-20.84 [[ 9.95040313e-01 8.14256798e-02 5.71369801e-02 3.16175350e+02] [-8.10921154e-02 9.96673401e-01 -8.13633121e-03 -4.06984145e+01] [-5.76094146e-02 3.46261897e-03 9.98333194e-01 -2.08433145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66071405700006 meters 0.039778262134000604 Centerline is valid? [True, True] Translation: X:316.23, Y:-40.71, Z:-20.85 [[ 9.95220803e-01 7.88372218e-02 5.76215670e-02 3.16233744e+02] [-7.84938414e-02 9.96880857e-01 -8.20202251e-03 -4.07071197e+01] [-5.80884618e-02 3.63988529e-03 9.98304804e-01 -2.08456979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72071405700007 meters 0.04508941512238508 Centerline is valid? [True, True] Translation: X:316.29, Y:-40.73, Z:-20.85 [[ 9.95438869e-01 7.62287007e-02 5.73641319e-02 3.16291089e+02] [-7.58842663e-02 9.97083226e-01 -8.16207727e-03 -4.07254915e+01] [-5.78189982e-02 3.77181391e-03 9.98319957e-01 -2.08502335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78071405700007 meters 0.04200551050061056 Centerline is valid? [True, True] Translation: X:316.35, Y:-40.73, Z:-20.86 [[ 9.95910448e-01 7.06994324e-02 5.62491709e-02 3.16349948e+02] [-7.03595591e-02 9.97489596e-01 -8.00239806e-03 -4.07347491e+01] [-5.66737277e-02 4.01200498e-03 9.98384692e-01 -2.08564788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84071405700007 meters 0.04293545199275454 Centerline is valid? [True, True] Translation: X:316.41, Y:-40.74, Z:-20.86 [[ 9.96067064e-01 7.05329742e-02 5.36237283e-02 3.16408388e+02] [-7.02238941e-02 9.97502084e-01 -7.62872524e-03 -4.07444530e+01] [-5.40278574e-02 3.83305493e-03 9.98532072e-01 -2.08612465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9007140570001 meters 0.04334327794498649 Centerline is valid? [True, True] Translation: X:316.47, Y:-40.75, Z:-20.87 [[ 9.95993125e-01 7.24375168e-02 5.24452250e-02 3.16467390e+02] [-7.21446102e-02 9.97366289e-01 -7.45924209e-03 -4.07524125e+01] [-5.28474284e-02 3.64571352e-03 9.98595943e-01 -2.08659497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.960714057 meters 0.04215585528170857 Centerline is valid? [True, True] Translation: X:316.53, Y:-40.76, Z:-20.87 [[ 9.95798482e-01 7.49425042e-02 5.26213262e-02 3.16527092e+02] [-7.46512008e-02 9.97181634e-01 -7.48244903e-03 -4.07593038e+01] [-5.30337736e-02 3.52276620e-03 9.98586506e-01 -2.08699338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.020714057 meters 0.03813602980393617 Centerline is valid? [True, True] Translation: X:316.59, Y:-40.76, Z:-20.87 [[ 9.95398532e-01 7.95304769e-02 5.34477850e-02 3.16587641e+02] [-7.92366456e-02 9.96826881e-01 -7.59763000e-03 -4.07603430e+01] [-5.38824320e-02 3.32764655e-03 9.98541742e-01 -2.08719487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.080714057 meters 0.03863579202698889 Centerline is valid? [True, True] Translation: X:316.65, Y:-40.77, Z:-20.88 [[ 9.95231019e-01 8.18824690e-02 5.30139682e-02 3.16645460e+02] [-8.15966938e-02 9.96636936e-01 -7.53635869e-03 -4.07679331e+01] [-5.34527745e-02 3.17465340e-03 9.98565332e-01 -2.08759093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.140714057 meters 0.04431057372930675 Centerline is valid? [True, True] Translation: X:316.70, Y:-40.78, Z:-20.88 [[ 9.95422125e-01 7.96431607e-02 5.28371144e-02 3.16702064e+02] [-7.93563003e-02 9.96818038e-01 -7.50839941e-03 -4.07847777e+01] [-5.32669814e-02 3.28106898e-03 9.98574916e-01 -2.08805105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.200714057 meters 0.04358323737332126 Centerline is valid? [True, True] Translation: X:316.76, Y:-40.79, Z:-20.88 [[ 9.95710504e-01 7.53230271e-02 5.37311193e-02 3.16762117e+02] [-7.50202880e-02 9.97152801e-01 -7.63205118e-03 -4.07942615e+01] [-5.41530053e-02 3.56838948e-03 9.98526273e-01 -2.08823248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26071405700003 meters 0.047658323887158065 Centerline is valid? [True, True] Translation: X:316.82, Y:-40.81, Z:-20.89 [[ 9.96246254e-01 6.82083461e-02 5.33012479e-02 3.16820469e+02] [-6.79003118e-02 9.97663385e-01 -7.57089543e-03 -4.08109826e+01] [-5.36931017e-02 3.92330486e-03 9.98549778e-01 -2.08879063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32071405700003 meters 0.052296753368240266 Centerline is valid? [True, True] Translation: X:316.88, Y:-40.83, Z:-20.89 [[ 9.96790476e-01 6.16915579e-02 5.10186020e-02 3.16878632e+02] [-6.14009076e-02 9.98086880e-01 -7.24627006e-03 -4.08276210e+01] [-5.13680310e-02 4.09042451e-03 9.98671414e-01 -2.08939359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38071405700003 meters 0.05696930108748626 Centerline is valid? [True, True] Translation: X:316.94, Y:-40.84, Z:-20.90 [[ 9.97154648e-01 5.71462851e-02 4.91620717e-02 3.16936419e+02] [-5.68709041e-02 9.98357117e-01 -6.98331116e-03 -4.08427905e+01] [-4.94803745e-02 4.16754972e-03 9.98766401e-01 -2.08997105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44071405700004 meters 0.05635627506365862 Centerline is valid? [True, True] Translation: X:317.00, Y:-40.85, Z:-20.90 [[ 9.97255604e-01 5.46856906e-02 4.99072626e-02 3.16996810e+02] [-5.43988862e-02 9.98494126e-01 -7.08808100e-03 -4.08501408e+01] [-5.02197252e-02 4.35372900e-03 9.98728704e-01 -2.09017709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50071405700004 meters 0.05065328207343649 Centerline is valid? [True, True] Translation: X:317.06, Y:-40.85, Z:-20.90 [[ 9.97201026e-01 5.47947859e-02 5.08688931e-02 3.17059273e+02] [-5.44970610e-02 9.98487810e-01 -7.22249935e-03 -4.08510067e+01] [-5.11877249e-02 4.43007859e-03 9.98679223e-01 -2.09036902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56071405700004 meters 0.048830957665770135 Centerline is valid? [True, True] Translation: X:317.12, Y:-40.86, Z:-20.91 [[ 9.97267919e-01 5.46635941e-02 4.96849002e-02 3.17121314e+02] [-5.43788268e-02 9.98495374e-01 -7.06625983e-03 -4.08558981e+01] [-4.99964101e-02 4.34514766e-03 9.98739945e-01 -2.09081642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62071405700004 meters 0.05735185511460557 Centerline is valid? [True, True] Translation: X:317.18, Y:-40.87, Z:-20.91 [[ 9.97184069e-01 5.53024629e-02 5.06514488e-02 3.17180463e+02] [-5.50066298e-02 9.98459906e-01 -7.21710748e-03 -4.08747946e+01] [-5.09725646e-02 4.41061912e-03 9.98690314e-01 -2.09121236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68071405700005 meters 0.052156830591994545 Centerline is valid? [True, True] Translation: X:317.24, Y:-40.88, Z:-20.92 [[ 9.97146647e-01 5.64916671e-02 5.00725070e-02 3.17243225e+02] [-5.62034879e-02 9.98393763e-01 -7.14580905e-03 -4.08757290e+01] [-5.03957574e-02 4.31116999e-03 9.98720022e-01 -2.09151167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74071405700005 meters 0.05143824979712042 Centerline is valid? [True, True] Translation: X:317.30, Y:-40.88, Z:-20.92 [[ 9.96871280e-01 6.12140724e-02 5.00048780e-02 3.17303489e+02] [-6.09317870e-02 9.98116312e-01 -7.15161638e-03 -4.08809003e+01] [-5.03484640e-02 4.08235440e-03 9.98723368e-01 -2.09193307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80071405700005 meters 0.04901329047220771 Centerline is valid? [True, True] Translation: X:317.36, Y:-40.88, Z:-20.92 [[ 9.96459629e-01 6.83238806e-02 4.89903575e-02 3.17364859e+02] [-6.80614534e-02 9.97656524e-01 -7.00698466e-03 -4.08812180e+01] [-4.93542941e-02 3.64782241e-03 9.98774673e-01 -2.09231726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86071405700005 meters 0.04710889173176972 Centerline is valid? [True, True] Translation: X:317.42, Y:-40.88, Z:-20.93 [[ 9.95949803e-01 7.52765582e-02 4.91673571e-02 3.17423863e+02] [-7.50205930e-02 9.97157180e-01 -7.03344025e-03 -4.08844582e+01] [-4.95570363e-02 3.31638915e-03 9.98765789e-01 -2.09272912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92071405700005 meters 0.040873090388729605 Centerline is valid? [True, True] Translation: X:317.48, Y:-40.88, Z:-20.93 [[ 9.95504232e-01 8.09739413e-02 4.91380108e-02 3.17484650e+02] [-8.07252282e-02 9.96711613e-01 -7.02839478e-03 -4.08799256e+01] [-4.95455428e-02 3.03011962e-03 9.98767269e-01 -2.09298188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98071405700006 meters 0.03583636378485858 Centerline is valid? [True, True] Translation: X:317.55, Y:-40.88, Z:-20.93 [[ 9.94800492e-01 8.94872082e-02 4.86212050e-02 3.17546507e+02] [-8.92539061e-02 9.95984638e-01 -6.95282946e-03 -4.08754161e+01] [-4.90481625e-02 2.57704570e-03 9.98793090e-01 -2.09327770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04071405700006 meters 0.0363347233228713 Centerline is valid? [True, True] Translation: X:317.60, Y:-40.88, Z:-20.94 [[ 9.94515386e-01 9.28116029e-02 4.82198424e-02 3.17604385e+02] [-9.25860218e-02 9.95680811e-01 -6.89568568e-03 -4.08839625e+01] [-4.86515715e-02 2.39338213e-03 9.98812944e-01 -2.09380710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10071405700006 meters 0.03340239998696153 Centerline is valid? [True, True] Translation: X:317.66, Y:-40.89, Z:-20.94 [[ 9.94202451e-01 9.52527716e-02 4.98838326e-02 3.17664221e+02] [-9.50145518e-02 9.95450345e-01 -7.13064797e-03 -4.08864498e+01] [-5.03360924e-02 2.34961769e-03 9.98729572e-01 -2.09392067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16071405700006 meters 0.03359879981101093 Centerline is valid? [True, True] Translation: X:317.72, Y:-40.90, Z:-20.94 [[ 9.94235489e-01 9.35307020e-02 5.24194575e-02 3.17722102e+02] [-9.32653206e-02 9.95613106e-01 -7.49151222e-03 -4.08973980e+01] [-5.28901853e-02 2.55940981e-03 9.98597055e-01 -2.09414088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22071405700007 meters 0.035323445734436076 Centerline is valid? [True, True] Translation: X:317.78, Y:-40.91, Z:-20.95 [[ 9.94608601e-01 8.88925667e-02 5.34026470e-02 3.17781071e+02] [-8.86107176e-02 9.96037131e-01 -7.62724722e-03 -4.09121510e+01] [-5.38690248e-02 2.85407882e-03 9.98543931e-01 -2.09459496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28071405700007 meters 0.039060736352960146 Centerline is valid? [True, True] Translation: X:317.84, Y:-40.93, Z:-20.95 [[ 9.95080921e-01 8.32049307e-02 5.37670983e-02 3.17837827e+02] [-8.29109327e-02 9.96527372e-01 -7.67948487e-03 -4.09318141e+01] [-5.42193561e-02 3.18382861e-03 9.98523973e-01 -2.09504419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34071405700007 meters 0.0418146241717317 Centerline is valid? [True, True] Translation: X:317.90, Y:-40.95, Z:-20.95 [[ 9.95617889e-01 7.68220205e-02 5.33235130e-02 3.17896472e+02] [-7.65238045e-02 9.97038675e-01 -7.61496762e-03 -4.09494767e+01] [-5.37506020e-02 3.50107990e-03 9.98548254e-01 -2.09543927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4007140570001 meters 0.04394591062860253 Centerline is valid? [True, True] Translation: X:317.95, Y:-40.96, Z:-20.96 [[ 9.95864697e-01 7.23018417e-02 5.50086222e-02 3.17954818e+02] [-7.19775797e-02 9.97375312e-01 -7.85588369e-03 -4.09646554e+01] [-5.54322366e-02 3.86400975e-03 9.98454975e-01 -2.09578560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.460714057 meters 0.046917847156604735 Centerline is valid? [True, True] Translation: X:318.01, Y:-40.98, Z:-20.96 [[ 9.96014575e-01 6.90239232e-02 5.64859744e-02 3.18012830e+02] [-6.86768055e-02 9.97606355e-01 -8.06581068e-03 -4.09809046e+01] [-5.69075009e-02 4.15438872e-03 9.98370812e-01 -2.09616585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.520714057 meters 0.04213230652767118 Centerline is valid? [True, True] Translation: X:318.07, Y:-40.98, Z:-20.96 [[ 9.96147408e-01 6.64898219e-02 5.71790539e-02 3.18073011e+02] [-6.61300292e-02 9.97777616e-01 -8.16380649e-03 -4.09841288e+01] [-5.75947901e-02 4.35110217e-03 9.98330561e-01 -2.09644766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.580714057 meters 0.050974095766075644 Centerline is valid? [True, True] Translation: X:318.13, Y:-41.01, Z:-20.97 [[ 9.96265230e-01 6.43934935e-02 5.75245167e-02 3.18129840e+02] [-6.40259614e-02 9.97914450e-01 -8.21142883e-03 -4.10067786e+01] [-5.79333090e-02 4.49769854e-03 9.98310324e-01 -2.09698813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.640714057 meters 0.04548898057668194 Centerline is valid? [True, True] Translation: X:318.19, Y:-41.01, Z:-20.97 [[ 9.96339183e-01 6.40794647e-02 5.65867079e-02 3.18190909e+02] [-6.37230547e-02 9.97934891e-01 -8.08241638e-03 -4.10098113e+01] [-5.69877671e-02 4.44695025e-03 9.98364973e-01 -2.09748665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.700714057 meters 0.04343652503698313 Centerline is valid? [True, True] Translation: X:318.25, Y:-41.02, Z:-20.98 [[ 9.96496134e-01 6.40853328e-02 5.37450044e-02 3.18252112e+02] [-6.37637760e-02 9.97935481e-01 -7.67831814e-03 -4.10153135e+01] [-5.41261144e-02 4.22442992e-03 9.98525171e-01 -2.09814052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76071405700003 meters 0.04387541115442605 Centerline is valid? [True, True] Translation: X:318.31, Y:-41.02, Z:-20.98 [[ 9.96171060e-01 6.83521605e-02 5.45087230e-02 3.18310627e+02] [-6.80275916e-02 9.97653027e-01 -7.78997857e-03 -4.10241915e+01] [-5.49132544e-02 4.05205406e-03 9.98482907e-01 -2.09846581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82071405700003 meters 0.03789244335929358 Centerline is valid? [True, True] Translation: X:318.37, Y:-41.02, Z:-20.99 [[ 9.95360105e-01 7.83506044e-02 5.58519775e-02 3.18372159e+02] [-7.80255368e-02 9.96919418e-01 -7.98060214e-03 -4.10225784e+01] [-5.63052059e-02 3.58569246e-03 9.98407165e-01 -2.09850618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88071405700003 meters 0.03607925380798112 Centerline is valid? [True, True] Translation: X:318.43, Y:-41.03, Z:-20.99 [[ 9.94815171e-01 8.50754777e-02 5.57219712e-02 3.18432192e+02] [-8.47623551e-02 9.96369375e-01 -7.96317297e-03 -4.10272256e+01] [-5.61971363e-02 3.19875978e-03 9.98414568e-01 -2.09899270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94071405700004 meters 0.03373563698688694 Centerline is valid? [True, True] Translation: X:318.49, Y:-41.03, Z:-20.99 [[ 9.93987327e-01 9.44551996e-02 5.53841903e-02 3.18491100e+02] [-9.41604866e-02 9.95525586e-01 -7.91268240e-03 -4.10324431e+01] [-5.58837725e-02 2.65010373e-03 9.98433764e-01 -2.09946146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00071405700004 meters 0.03240387984990579 Centerline is valid? [True, True] Translation: X:318.55, Y:-41.04, Z:-21.00 [[ 9.93183265e-01 1.01429545e-01 5.74373463e-02 3.18550307e+02] [-1.01124246e-01 9.94839972e-01 -8.20471254e-03 -4.10418684e+01] [-5.79731683e-02 2.34047487e-03 9.98315398e-01 -2.09966846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06071405700004 meters 0.031243243623149983 Centerline is valid? [True, True] Translation: X:318.61, Y:-41.05, Z:-21.00 [[ 9.92653424e-01 1.05413592e-01 5.93898586e-02 3.18609092e+02] [-1.05094271e-01 9.94426078e-01 -8.48354031e-03 -4.10524147e+01] [-5.99531045e-02 2.17968143e-03 9.98198815e-01 -2.09989916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12071405700004 meters 0.031839208345470146 Centerline is valid? [True, True] Translation: X:318.67, Y:-41.07, Z:-21.00 [[ 9.92606078e-01 1.05363311e-01 6.02639758e-02 3.18665775e+02] [-1.05034537e-01 9.94431333e-01 -8.60644495e-03 -4.10682740e+01] [-6.08351893e-02 2.21301078e-03 9.98145371e-01 -2.10029363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18071405700005 meters 0.03173363094194713 Centerline is valid? [True, True] Translation: X:318.72, Y:-41.09, Z:-21.01 [[ 9.93108131e-01 1.01425771e-01 5.87286383e-02 3.18722671e+02] [-1.01106910e-01 9.94840244e-01 -8.38338631e-03 -4.10857048e+01] [-5.92759043e-02 2.38773798e-03 9.98238782e-01 -2.10086534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24071405700005 meters 0.03268018956235472 Centerline is valid? [True, True] Translation: X:318.78, Y:-41.11, Z:-21.01 [[ 9.93677864e-01 9.57234830e-02 5.86627400e-02 3.18780655e+02] [-9.53956981e-02 9.95404247e-01 -8.36933154e-03 -4.11050128e+01] [-5.91942821e-02 2.72024645e-03 9.98242775e-01 -2.10131310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30071405700005 meters 0.03329306552156755 Centerline is valid? [True, True] Translation: X:318.84, Y:-41.12, Z:-21.02 [[ 9.93640482e-01 9.64341228e-02 5.81296183e-02 3.18836872e+02] [-9.61135050e-02 9.95335833e-01 -8.29299295e-03 -4.11206800e+01] [-5.86582196e-02 2.65321215e-03 9.98274598e-01 -2.10174507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36071405700005 meters 0.033050904993224425 Centerline is valid? [True, True] Translation: X:318.89, Y:-41.13, Z:-21.02 [[ 9.93488770e-01 9.77495437e-02 5.85242655e-02 3.18894333e+02] [-9.74271401e-02 9.95207682e-01 -8.34401266e-03 -4.11315783e+01] [-5.90594220e-02 2.58783106e-03 9.98251115e-01 -2.10208909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42071405700005 meters 0.03212078970908884 Centerline is valid? [True, True] Translation: X:318.95, Y:-41.15, Z:-21.02 [[ 9.93257592e-01 9.85677649e-02 6.10225447e-02 3.18951887e+02] [-9.82190242e-02 9.95126830e-01 -8.69573686e-03 -4.11463600e+01] [-6.15822908e-02 2.64353187e-03 9.98098509e-01 -2.10225948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48071405700006 meters 0.03344763128694345 Centerline is valid? [True, True] Translation: X:319.01, Y:-41.16, Z:-21.03 [[ 9.93499302e-01 9.56388646e-02 6.17441796e-02 3.19008930e+02] [-9.52764556e-02 9.95412006e-01 -8.79405884e-03 -4.11632631e+01] [-6.23019515e-02 2.85412474e-03 9.98053266e-01 -2.10267403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54071405700006 meters 0.03532772976485374 Centerline is valid? [True, True] Translation: X:319.07, Y:-41.18, Z:-21.03 [[ 9.93924628e-01 9.10755437e-02 6.17986930e-02 3.19067584e+02] [-9.07039132e-02 9.95839038e-01 -8.79838280e-03 -4.11799787e+01] [-6.23428684e-02 3.13954607e-03 9.98049853e-01 -2.10310259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60071405700006 meters 0.03556196301517574 Centerline is valid? [True, True] Translation: X:319.13, Y:-41.19, Z:-21.04 [[ 9.94278110e-01 8.73661368e-02 6.14670540e-02 3.19126203e+02] [-8.69914229e-02 9.96170622e-01 -8.75121408e-03 -4.11947125e+01] [-6.19962332e-02 3.35403410e-03 9.98070748e-01 -2.10365398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66071405700006 meters 0.03633694290155359 Centerline is valid? [True, True] Translation: X:319.19, Y:-41.21, Z:-21.04 [[ 9.94561498e-01 8.47570360e-02 6.05282681e-02 3.19185935e+02] [-8.43889624e-02 9.96395636e-01 -8.61627067e-03 -4.12095486e+01] [-6.10403917e-02 3.46149332e-03 9.98129295e-01 -2.10426193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72071405700007 meters 0.037612432065078 Centerline is valid? [True, True] Translation: X:319.25, Y:-41.22, Z:-21.05 [[ 9.94758203e-01 8.20936723e-02 6.09651210e-02 3.19245327e+02] [-8.17151415e-02 9.96617922e-01 -8.68066436e-03 -4.12233994e+01] [-6.14715598e-02 3.65338859e-03 9.98102149e-01 -2.10465674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78071405700007 meters 0.04064017486478222 Centerline is valid? [True, True] Translation: X:319.30, Y:-41.24, Z:-21.05 [[ 9.95175301e-01 7.61298155e-02 6.18899941e-02 3.19304285e+02] [-7.57280155e-02 9.97089542e-01 -8.81551509e-03 -4.12416615e+01] [-6.23809894e-02 4.08617645e-03 9.98044045e-01 -2.10517269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84071405700007 meters 0.043246542559267194 Centerline is valid? [True, True] Translation: X:319.36, Y:-41.26, Z:-21.05 [[ 9.95548051e-01 6.97685370e-02 6.33753073e-02 3.19362987e+02] [-6.93342474e-02 9.97552625e-01 -9.02894836e-03 -4.12588546e+01] [-6.38501407e-02 4.59467271e-03 9.97948921e-01 -2.10542823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9007140570001 meters 0.04453084428092822 Centerline is valid? [True, True] Translation: X:319.42, Y:-41.27, Z:-21.06 [[ 9.95771209e-01 6.61225083e-02 6.37770655e-02 3.19422483e+02] [-6.56752120e-02 9.97799677e-01 -9.08684352e-03 -4.12709988e+01] [-6.42375803e-02 4.85984485e-03 9.97922800e-01 -2.10588911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.960714057 meters 0.0487985869573272 Centerline is valid? [True, True] Translation: X:319.48, Y:-41.29, Z:-21.06 [[ 9.95899969e-01 6.40272229e-02 6.39043489e-02 3.19480800e+02] [-6.35738389e-02 9.97935600e-01 -9.10518558e-03 -4.12852623e+01] [-6.43554045e-02 5.00520926e-03 9.97914490e-01 -2.10624696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.020714057 meters 0.04881702064156519 Centerline is valid? [True, True] Translation: X:319.54, Y:-41.29, Z:-21.07 [[ 9.95733034e-01 6.46576926e-02 6.58415378e-02 3.19543214e+02] [-6.41773582e-02 9.97894362e-01 -9.38664849e-03 -4.12916773e+01] [-6.63098184e-02 5.12106002e-03 9.97785940e-01 -2.10650601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.080714057 meters 0.04649901149688999 Centerline is valid? [True, True] Translation: X:319.61, Y:-41.29, Z:-21.07 [[ 9.95734140e-01 6.48389184e-02 6.56462985e-02 3.19606833e+02] [-6.43614244e-02 9.97882712e-01 -9.36485694e-03 -4.12933759e+01] [-6.61145136e-02 5.09981849e-03 9.97799009e-01 -2.10704194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.140714057 meters 0.04477616255652953 Centerline is valid? [True, True] Translation: X:319.67, Y:-41.29, Z:-21.08 [[ 9.96004224e-01 6.33168420e-02 6.29806657e-02 3.19668338e+02] [-6.28732680e-02 9.97980919e-01 -9.00212347e-03 -4.12946616e+01] [-6.34234887e-02 5.00635272e-03 9.97974147e-01 -2.10770330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.200714057 meters 0.04601249207275551 Centerline is valid? [True, True] Translation: X:319.73, Y:-41.30, Z:-21.08 [[ 9.96179248e-01 6.09493984e-02 6.25466007e-02 3.19729352e+02] [-6.05071523e-02 9.98127707e-01 -8.94235293e-03 -4.13012390e+01] [-6.29745262e-02 5.12366972e-03 9.98001983e-01 -2.10807234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26071405700003 meters 0.0543452529498367 Centerline is valid? [True, True] Translation: X:319.79, Y:-41.32, Z:-21.08 [[ 9.96381320e-01 5.77295194e-02 6.23824371e-02 3.19786941e+02] [-5.72831857e-02 9.98318110e-01 -8.92123670e-03 -4.13173265e+01] [-6.27925354e-02 5.31548887e-03 9.98012446e-01 -2.10847471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32071405700003 meters 0.048623400349536855 Centerline is valid? [True, True] Translation: X:319.85, Y:-41.31, Z:-21.09 [[ 9.96646448e-01 5.36918538e-02 6.17498367e-02 3.19849314e+02] [-5.32469182e-02 9.98542338e-01 -8.82977849e-03 -4.13119333e+01] [-6.21339135e-02 5.51217887e-03 9.98052600e-01 -2.10884601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38071405700003 meters 0.05206953495777449 Centerline is valid? [True, True] Translation: X:319.91, Y:-41.32, Z:-21.09 [[ 9.96776631e-01 5.05462176e-02 6.23011112e-02 3.19908156e+02] [-5.00870914e-02 9.98705106e-01 -8.91032985e-03 -4.13209210e+01] [-6.26708213e-02 5.76112712e-03 9.98017624e-01 -2.10908592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44071405700004 meters 0.05304324946523232 Centerline is valid? [True, True] Translation: X:319.97, Y:-41.33, Z:-21.09 [[ 9.96868270e-01 4.78120799e-02 6.29893365e-02 3.19968574e+02] [-4.73372712e-02 9.98838329e-01 -9.00968793e-03 -4.13268961e+01] [-6.33469356e-02 5.99972872e-03 9.97973531e-01 -2.10926869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50071405700004 meters 0.05284224127849537 Centerline is valid? [True, True] Translation: X:320.03, Y:-41.33, Z:-21.10 [[ 9.97205785e-01 4.28144979e-02 6.12171599e-02 3.20029022e+02] [-4.23567422e-02 9.99064178e-01 -8.75641339e-03 -4.13326097e+01] [-6.15347730e-02 6.13898662e-03 9.98086061e-01 -2.10982974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56071405700004 meters 0.05681338320837643 Centerline is valid? [True, True] Translation: X:320.09, Y:-41.35, Z:-21.11 [[ 9.97578208e-01 3.83730447e-02 5.80105827e-02 3.20088271e+02] [-3.79546337e-02 9.99245011e-01 -8.29776169e-03 -4.13462422e+01] [-5.82851957e-02 6.07589583e-03 9.98281483e-01 -2.11056998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62071405700004 meters 0.057656814700251274 Centerline is valid? [True, True] Translation: X:320.15, Y:-41.36, Z:-21.11 [[ 9.97708902e-01 3.69058942e-02 5.67001093e-02 3.20148999e+02] [-3.65038002e-02 9.99300595e-01 -8.11137078e-03 -4.13551117e+01] [-5.69598103e-02 6.02301737e-03 9.98358304e-01 -2.11109000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68071405700005 meters 0.05580133213009365 Centerline is valid? [True, True] Translation: X:320.21, Y:-41.36, Z:-21.11 [[ 9.97622623e-01 3.99460197e-02 5.61552905e-02 3.20209626e+02] [-3.95562562e-02 9.99185033e-01 -8.03573163e-03 -4.13580932e+01] [-5.64305213e-02 5.79533461e-03 9.98389709e-01 -2.11127900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74071405700005 meters 0.05375278358377499 Centerline is valid? [True, True] Translation: X:320.27, Y:-41.36, Z:-21.12 [[ 9.97357433e-01 4.46100385e-02 5.73419132e-02 3.20271273e+02] [-4.42112319e-02 9.98988507e-01 -8.20542961e-03 -4.13596129e+01] [-5.76499568e-02 5.64858959e-03 9.98320878e-01 -2.11152881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80071405700005 meters 0.05314598424040774 Centerline is valid? [True, True] Translation: X:320.33, Y:-41.37, Z:-21.12 [[ 9.97255901e-01 4.65720509e-02 5.75474760e-02 3.20332194e+02] [-4.61735564e-02 9.98899482e-01 -8.23573700e-03 -4.13653260e+01] [-5.78676991e-02 5.55596569e-03 9.98308800e-01 -2.11190831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86071405700005 meters 0.048298190450138154 Centerline is valid? [True, True] Translation: X:320.39, Y:-41.36, Z:-21.12 [[ 9.96768276e-01 5.48171810e-02 5.87203661e-02 3.20393697e+02] [-5.44163276e-02 9.98482958e-01 -8.40512541e-03 -4.13609620e+01] [-5.90920301e-02 5.18261569e-03 9.98239086e-01 -2.11223056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92071405700005 meters 0.04704170358716495 Centerline is valid? [True, True] Translation: X:320.45, Y:-41.36, Z:-21.13 [[ 9.96669516e-01 5.80079782e-02 5.73144878e-02 3.20453874e+02] [-5.76313734e-02 9.98304226e-01 -8.20345399e-03 -4.13640768e+01] [-5.76931612e-02 4.87301987e-03 9.98322469e-01 -2.11280709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98071405700006 meters 0.04662260649974489 Centerline is valid? [True, True] Translation: X:320.52, Y:-41.37, Z:-21.13 [[ 9.96661755e-01 5.91603577e-02 5.62618707e-02 3.20515226e+02] [-5.87993152e-02 9.98237345e-01 -8.05251846e-03 -4.13705152e+01] [-5.66390903e-02 4.71747772e-03 9.98383573e-01 -2.11344460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04071405700006 meters 0.04836692304248219 Centerline is valid? [True, True] Translation: X:320.58, Y:-41.38, Z:-21.14 [[ 9.96639310e-01 5.96973089e-02 5.60920471e-02 3.20575289e+02] [-5.93391315e-02 9.98205575e-01 -8.03100630e-03 -4.13800075e+01] [-5.64708236e-02 4.67556321e-03 9.98393302e-01 -2.11386897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10071405700006 meters 0.04708566897109682 Centerline is valid? [True, True] Translation: X:320.64, Y:-41.38, Z:-21.14 [[ 9.96534942e-01 6.11545336e-02 5.63758091e-02 3.20636846e+02] [-6.07942022e-02 9.98117567e-01 -8.08622692e-03 -4.13839943e+01] [-5.67641949e-02 4.63088534e-03 9.98376873e-01 -2.11428447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16071405700006 meters 0.044692052771313696 Centerline is valid? [True, True] Translation: X:320.70, Y:-41.39, Z:-21.15 [[ 9.96301172e-01 6.39802473e-02 5.73629052e-02 3.20697885e+02] [-6.36116200e-02 9.97940784e-01 -8.23121829e-03 -4.13854474e+01] [-5.77714179e-02 4.55182510e-03 9.98319460e-01 -2.11466734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22071405700007 meters 0.047505104224423014 Centerline is valid? [True, True] Translation: X:320.76, Y:-41.39, Z:-21.15 [[ 9.95903616e-01 6.86734859e-02 5.88212501e-02 3.20756327e+02] [-6.82939000e-02 9.97629530e-01 -8.44177179e-03 -4.13939503e+01] [-5.92615420e-02 4.39005848e-03 9.98232837e-01 -2.11507680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28071405700007 meters 0.04518616843852432 Centerline is valid? [True, True] Translation: X:320.82, Y:-41.39, Z:-21.15 [[ 9.95626633e-01 7.28739112e-02 5.84551238e-02 3.20817502e+02] [-7.25063085e-02 9.97332681e-01 -8.38799801e-03 -4.13937507e+01] [-5.89104716e-02 4.11294897e-03 9.98254797e-01 -2.11539258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34071405700007 meters 0.041444345981255924 Centerline is valid? [True, True] Translation: X:320.88, Y:-41.39, Z:-21.16 [[ 9.95380206e-01 7.59714649e-02 5.87076061e-02 3.20878471e+02] [-7.56060277e-02 9.97102181e-01 -8.42429128e-03 -4.13918724e+01] [-5.91774879e-02 3.94672389e-03 9.98239675e-01 -2.11573414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4007140570001 meters 0.03718259150432938 Centerline is valid? [True, True] Translation: X:320.94, Y:-41.39, Z:-21.16 [[ 9.95089481e-01 7.98780853e-02 5.84501223e-02 3.20939664e+02] [-7.95225945e-02 9.96797783e-01 -8.38665647e-03 -4.13896835e+01] [-5.89328624e-02 3.69736827e-03 9.98255101e-01 -2.11599724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.460714057 meters 0.03675462459364266 Centerline is valid? [True, True] Translation: X:321.00, Y:-41.39, Z:-21.16 [[ 9.94660180e-01 8.52960649e-02 5.81008468e-02 3.20998738e+02] [-8.49540202e-02 9.96349998e-01 -8.33642047e-03 -4.13929497e+01] [-5.85998424e-02 3.35600497e-03 9.98275912e-01 -2.11645854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.520714057 meters 0.03485112565374828 Centerline is valid? [True, True] Translation: X:321.06, Y:-41.39, Z:-21.17 [[ 9.94216426e-01 9.06357288e-02 5.76095704e-02 3.21059422e+02] [-9.03084538e-02 9.95879551e-01 -8.26460927e-03 -4.13924448e+01] [-5.81212619e-02 3.01417907e-03 9.98304980e-01 -2.11676816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.580714057 meters 0.03258369420266331 Centerline is valid? [True, True] Translation: X:321.12, Y:-41.39, Z:-21.17 [[ 9.93843837e-01 9.41043815e-02 5.84704390e-02 3.21120003e+02] [-9.37732265e-02 9.95558247e-01 -8.38799713e-03 -4.13923414e+01] [-5.90000750e-02 2.85339754e-03 9.98253900e-01 -2.11701629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.640714057 meters 0.03231298460239511 Centerline is valid? [True, True] Translation: X:321.18, Y:-41.40, Z:-21.17 [[ 9.93667287e-01 9.61077057e-02 5.82119555e-02 3.21178480e+02] [-9.57829454e-02 9.95367220e-01 -8.35017996e-03 -4.13959759e+01] [-5.87447889e-02 2.72158811e-03 9.98269324e-01 -2.11737081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.700714057 meters 0.03152024702055728 Centerline is valid? [True, True] Translation: X:321.24, Y:-41.40, Z:-21.18 [[ 9.93371260e-01 9.90494799e-02 5.83330204e-02 3.21238112e+02] [-9.87286844e-02 9.95079246e-01 -8.36308765e-03 -4.14003284e+01] [-5.88743374e-02 2.54850855e-03 9.98262149e-01 -2.11762505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76071405700003 meters 0.03327734074163811 Centerline is valid? [True, True] Translation: X:321.30, Y:-41.41, Z:-21.18 [[ 9.92772864e-01 1.05285085e-01 5.75941890e-02 3.21296490e+02] [-1.04982960e-01 9.94439758e-01 -8.25500975e-03 -4.14101554e+01] [-5.81430808e-02 2.14894123e-03 9.98305947e-01 -2.11829790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82071405700003 meters 0.02991886283978183 Centerline is valid? [True, True] Translation: X:321.36, Y:-41.41, Z:-21.19 [[ 9.92032830e-01 1.12402900e-01 5.68898199e-02 3.21357249e+02] [-1.12119878e-01 9.93661243e-01 -8.15269654e-03 -4.14104123e+01] [-5.74455959e-02 1.70926296e-03 9.98347175e-01 -2.11864275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88071405700003 meters 0.02889552823255609 Centerline is valid? [True, True] Translation: X:321.42, Y:-41.42, Z:-21.19 [[ 9.91491605e-01 1.17308448e-01 5.64191989e-02 3.21416510e+02] [-1.17038024e-01 9.93094523e-01 -8.08517583e-03 -4.14162623e+01] [-5.69780568e-02 1.41319239e-03 9.98374431e-01 -2.11901445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94071405700004 meters 0.029089576070952018 Centerline is valid? [True, True] Translation: X:321.47, Y:-41.43, Z:-21.19 [[ 9.91306310e-01 1.18727895e-01 5.67052662e-02 3.21472163e+02] [-1.18457132e-01 9.92925929e-01 -8.12452983e-03 -4.14321739e+01] [-5.72687375e-02 1.33675449e-03 9.98357904e-01 -2.11943656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00071405700004 meters 0.028919678972188837 Centerline is valid? [True, True] Translation: X:321.53, Y:-41.45, Z:-21.20 [[ 9.91333124e-01 1.18366705e-01 5.69908757e-02 3.21529561e+02] [-1.18092901e-01 9.92969020e-01 -8.16036272e-03 -4.14470664e+01] [-5.75560892e-02 1.35942003e-03 9.98341349e-01 -2.11973821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06071405700004 meters 0.029436966506002683 Centerline is valid? [True, True] Translation: X:321.58, Y:-41.47, Z:-21.20 [[ 9.91345154e-01 1.18259175e-01 5.70048587e-02 3.21583486e+02] [-1.17985274e-01 9.92981828e-01 -8.15864110e-03 -4.14671745e+01] [-5.75696230e-02 1.36229543e-03 9.98340564e-01 -2.12036146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12071405700004 meters 0.029168101475136852 Centerline is valid? [True, True] Translation: X:321.64, Y:-41.48, Z:-21.21 [[ 9.91734493e-01 1.15279932e-01 5.63314540e-02 3.21640642e+02] [-1.15008084e-01 9.93331897e-01 -8.05499756e-03 -4.14824162e+01] [-5.68844097e-02 1.50984634e-03 9.98379629e-01 -2.12066661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18071405700005 meters 0.03021431720893686 Centerline is valid? [True, True] Translation: X:321.70, Y:-41.50, Z:-21.21 [[ 9.92467297e-01 1.08356667e-01 5.71620209e-02 3.21697660e+02] [-1.08065525e-01 9.94110208e-01 -8.16921915e-03 -4.15047056e+01] [-5.77105379e-02 1.93043906e-03 9.98331492e-01 -2.12112283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24071405700005 meters 0.03242935748331397 Centerline is valid? [True, True] Translation: X:321.76, Y:-41.53, Z:-21.21 [[ 9.93547700e-01 9.82427153e-02 5.66686652e-02 3.21755570e+02] [-9.79402191e-02 9.95159356e-01 -8.09755934e-03 -4.15278489e+01] [-5.71898785e-02 2.49516997e-03 9.98360202e-01 -2.12149509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30071405700005 meters 0.03615085649399064 Centerline is valid? [True, True] Translation: X:321.81, Y:-41.55, Z:-21.22 [[ 9.94416644e-01 8.83867950e-02 5.76481744e-02 3.21813174e+02] [-8.80572042e-02 9.96081357e-01 -8.23771444e-03 -4.15506218e+01] [-5.81503769e-02 3.11538329e-03 9.98302974e-01 -2.12189653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36071405700005 meters 0.03864351095649215 Centerline is valid? [True, True] Translation: X:321.87, Y:-41.57, Z:-21.22 [[ 9.95017689e-01 8.10068535e-02 5.81178834e-02 3.21870855e+02] [-8.06593769e-02 9.96707134e-01 -8.30384691e-03 -4.15699820e+01] [-5.85991775e-02 3.57472231e-03 9.98275191e-01 -2.12232154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42071405700005 meters 0.04442279355237963 Centerline is valid? [True, True] Translation: X:321.93, Y:-41.59, Z:-21.23 [[ 9.95787253e-01 7.18592383e-02 5.69560907e-02 3.21927461e+02] [-7.15106722e-02 9.97406642e-01 -8.13724489e-03 -4.15923054e+01] [-5.73931194e-02 4.02999640e-03 9.98343523e-01 -2.12280577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48071405700006 meters 0.04471992381107253 Centerline is valid? [True, True] Translation: X:321.99, Y:-41.60, Z:-21.23 [[ 9.96412302e-01 6.25014050e-02 5.70622282e-02 3.21986820e+02] [-6.21363304e-02 9.98034382e-01 -8.15157643e-03 -4.16038327e+01] [-5.74595506e-02 4.57669358e-03 9.98337345e-01 -2.12327687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54071405700006 meters 0.053832555532516695 Centerline is valid? [True, True] Translation: X:322.04, Y:-41.63, Z:-21.24 [[ 9.96891562e-01 5.63462101e-02 5.50664878e-02 3.22043325e+02] [-5.59969618e-02 9.98399953e-01 -7.86603207e-03 -4.16269007e+01] [-5.54215999e-02 4.75802499e-03 9.98451705e-01 -2.12385268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60071405700006 meters 0.04898292735425596 Centerline is valid? [True, True] Translation: X:322.10, Y:-41.63, Z:-21.24 [[ 9.97149416e-01 5.39401436e-02 5.27589107e-02 3.22104680e+02] [-5.36161879e-02 9.98533169e-01 -7.53753456e-03 -4.16269994e+01] [-5.30880980e-02 4.68731652e-03 9.98578832e-01 -2.12436425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66071405700006 meters 0.05337765129124671 Centerline is valid? [True, True] Translation: X:322.16, Y:-41.64, Z:-21.25 [[ 9.96968421e-01 5.53989104e-02 5.46344969e-02 3.22164528e+02] [-5.50536423e-02 9.98452887e-01 -7.80567576e-03 -4.16387785e+01] [-5.49823971e-02 4.77418418e-03 9.98475910e-01 -2.12450617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72071405700007 meters 0.046407918206079805 Centerline is valid? [True, True] Translation: X:322.23, Y:-41.63, Z:-21.25 [[ 9.96812146e-01 5.75844531e-02 5.52229634e-02 3.22226431e+02] [-5.72349021e-02 9.98329547e-01 -7.89192306e-03 -4.16345285e+01] [-5.55851681e-02 4.70608386e-03 9.98442859e-01 -2.12469639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78071405700007 meters 0.04776259119748499 Centerline is valid? [True, True] Translation: X:322.29, Y:-41.64, Z:-21.25 [[ 9.96633650e-01 6.08262632e-02 5.49684683e-02 3.22285317e+02] [-6.04847503e-02 9.98138199e-01 -7.85685554e-03 -4.16401753e+01] [-5.53440312e-02 4.50565254e-03 9.98457179e-01 -2.12502117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84071405700007 meters 0.045556849780082974 Centerline is valid? [True, True] Translation: X:322.35, Y:-41.64, Z:-21.25 [[ 9.96365757e-01 6.48617388e-02 5.52107986e-02 3.22346372e+02] [-6.45234145e-02 9.97884999e-01 -7.89040060e-03 -4.16435115e+01] [-5.56058128e-02 4.29933572e-03 9.98443543e-01 -2.12542235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9007140570001 meters 0.0443518500143317 Centerline is valid? [True, True] Translation: X:322.41, Y:-41.65, Z:-21.26 [[ 9.96180980e-01 6.80745651e-02 5.46745704e-02 3.22407429e+02] [-6.77475413e-02 9.97671890e-01 -7.81474810e-03 -4.16457347e+01] [-5.50792675e-02 4.08083571e-03 9.98473646e-01 -2.12585356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.960714057 meters 0.04253516861866643 Centerline is valid? [True, True] Translation: X:322.47, Y:-41.65, Z:-21.26 [[ 9.95933597e-01 7.17054480e-02 5.45398805e-02 3.22468011e+02] [-7.13853930e-02 9.97418338e-01 -7.79645019e-03 -4.16466417e+01] [-5.49581249e-02 3.87139588e-03 9.98481155e-01 -2.12616630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.020714057 meters 0.041084030445015796 Centerline is valid? [True, True] Translation: X:322.53, Y:-41.65, Z:-21.27 [[ 9.95491403e-01 7.70420425e-02 5.53298395e-02 3.22529460e+02] [-7.67208231e-02 9.97021241e-01 -7.90952900e-03 -4.16478329e+01] [-5.57743915e-02 3.62891728e-03 9.98436802e-01 -2.12651524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.080714057 meters 0.037477070333635516 Centerline is valid? [True, True] Translation: X:322.59, Y:-41.64, Z:-21.27 [[ 9.95018378e-01 8.27980659e-02 5.55239411e-02 3.22590420e+02] [-8.24834343e-02 9.96560818e-01 -7.93847083e-03 -4.16448089e+01] [-5.59902742e-02 3.31911901e-03 9.98425797e-01 -2.12666422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.140714057 meters 0.03946435386553757 Centerline is valid? [True, True] Translation: X:322.65, Y:-41.65, Z:-21.27 [[ 9.94761103e-01 8.52212920e-02 5.64595436e-02 3.22648673e+02] [-8.48999192e-02 9.96356796e-01 -8.07084403e-03 -4.16516058e+01] [-5.69416577e-02 3.23515102e-03 9.98372266e-01 -2.12694743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.200714057 meters 0.03744710191812299 Centerline is valid? [True, True] Translation: X:322.71, Y:-41.65, Z:-21.27 [[ 9.94967563e-01 8.24015131e-02 5.70047358e-02 3.22709397e+02] [-8.20694835e-02 9.96593324e-01 -8.14535577e-03 -4.16542486e+01] [-5.74817288e-02 3.42601555e-03 9.98340680e-01 -2.12707316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26071405700003 meters 0.043998706611658805 Centerline is valid? [True, True] Translation: X:322.77, Y:-41.67, Z:-21.28 [[ 9.95576959e-01 7.53657409e-02 5.60938921e-02 3.22766358e+02] [-7.50331158e-02 9.97148827e-01 -8.01547060e-03 -4.16702852e+01] [-5.65380506e-02 3.77111834e-03 9.98393323e-01 -2.12762228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32071405700003 meters 0.04525218375544803 Centerline is valid? [True, True] Translation: X:322.83, Y:-41.68, Z:-21.28 [[ 9.96703749e-01 6.19376486e-02 5.23962303e-02 3.22826002e+02] [-6.16291325e-02 9.98071052e-01 -7.48501690e-03 -4.16784969e+01] [-5.27587650e-02 4.23121018e-03 9.98598322e-01 -2.12815108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38071405700003 meters 0.04794767165075539 Centerline is valid? [True, True] Translation: X:322.89, Y:-41.69, Z:-21.28 [[ 9.97124726e-01 5.52364287e-02 5.18769518e-02 3.22886059e+02] [-5.49249790e-02 9.98462979e-01 -7.41127655e-03 -4.16873701e+01] [-5.22065883e-02 4.54062660e-03 9.98625983e-01 -2.12840008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44071405700004 meters 0.05371076378799828 Centerline is valid? [True, True] Translation: X:322.94, Y:-41.70, Z:-21.29 [[ 9.97225572e-01 5.29937862e-02 5.22763537e-02 3.22944729e+02] [-5.26744492e-02 9.98583809e-01 -7.46856073e-03 -4.16993773e+01] [-5.25981077e-02 4.69421161e-03 9.98604728e-01 -2.12890401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50071405700004 meters 0.05143383746995029 Centerline is valid? [True, True] Translation: X:323.01, Y:-41.70, Z:-21.29 [[ 9.96981622e-01 5.63931952e-02 5.33615283e-02 3.23006755e+02] [-5.60652736e-02 9.98398000e-01 -7.62358041e-03 -4.16974838e+01] [-5.37059612e-02 4.60884087e-03 9.98546157e-01 -2.12891544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56071405700004 meters 0.05108805486950115 Centerline is valid? [True, True] Translation: X:323.07, Y:-41.70, Z:-21.29 [[ 9.96657753e-01 6.07965018e-02 5.45628795e-02 3.23066936e+02] [-6.04601592e-02 9.98140170e-01 -7.79548771e-03 -4.16973081e+01] [-5.49353402e-02 4.47055289e-03 9.98479906e-01 -2.12916907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62071405700004 meters 0.047711925726072794 Centerline is valid? [True, True] Translation: X:323.13, Y:-41.69, Z:-21.30 [[ 9.96596176e-01 6.41444780e-02 5.17836584e-02 3.23128227e+02] [-6.38461192e-02 9.97932340e-01 -7.39713601e-03 -4.16944378e+01] [-5.21510728e-02 4.06577184e-03 9.98630930e-01 -2.12988022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68071405700005 meters 0.04326786883485857 Centerline is valid? [True, True] Translation: X:323.19, Y:-41.69, Z:-21.30 [[ 9.96592691e-01 6.60200425e-02 4.94405013e-02 3.23188873e+02] [-6.57503315e-02 9.97811104e-01 -7.06367552e-03 -4.16891593e+01] [-4.97986253e-02 3.78887804e-03 9.98752092e-01 -2.13024493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74071405700005 meters 0.04147225003856149 Centerline is valid? [True, True] Translation: X:323.25, Y:-41.69, Z:-21.31 [[ 9.96357329e-01 7.01633371e-02 4.84683352e-02 3.23249607e+02] [-6.99091195e-02 9.97529345e-01 -6.92254245e-03 -4.16894080e+01] [-4.88342953e-02 3.50894727e-03 9.98800730e-01 -2.13057307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80071405700005 meters 0.0402385391046656 Centerline is valid? [True, True] Translation: X:323.31, Y:-41.69, Z:-21.31 [[ 9.95860925e-01 7.59994234e-02 4.98508340e-02 3.23310183e+02] [-7.57377356e-02 9.97102350e-01 -7.12028851e-03 -4.16904919e+01] [-5.02475216e-02 3.31522782e-03 9.98731293e-01 -2.13080585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86071405700005 meters 0.037938462537517446 Centerline is valid? [True, True] Translation: X:323.37, Y:-41.69, Z:-21.31 [[ 9.95376129e-01 8.12919104e-02 5.11662765e-02 3.23371177e+02] [-8.10232665e-02 9.96685431e-01 -7.30632357e-03 -4.16904479e+01] [-5.15906274e-02 3.12688121e-03 9.98663422e-01 -2.13102084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92071405700005 meters 0.036968175312345045 Centerline is valid? [True, True] Translation: X:323.43, Y:-41.69, Z:-21.31 [[ 9.95023654e-01 8.47843920e-02 5.23405757e-02 3.23431457e+02] [-8.45081943e-02 9.96394771e-01 -7.47169109e-03 -4.16938379e+01] [-5.27853587e-02 3.01130183e-03 9.98601341e-01 -2.13126338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98071405700006 meters 0.039687402809715056 Centerline is valid? [True, True] Translation: X:323.49, Y:-41.70, Z:-21.32 [[ 9.95200327e-01 8.34684431e-02 5.10815929e-02 3.23489298e+02] [-8.32037360e-02 9.96505889e-01 -7.29048995e-03 -4.17036058e+01] [-5.15116340e-02 3.00531861e-03 9.98667873e-01 -2.13180752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04071405700006 meters 0.0422341912187123 Centerline is valid? [True, True] Translation: X:323.55, Y:-41.72, Z:-21.32 [[ 9.95597161e-01 7.93286992e-02 4.99324521e-02 3.23548481e+02] [-7.90707599e-02 9.96843556e-01 -7.12319316e-03 -4.17161998e+01] [-5.03399168e-02 3.14363396e-03 9.98727195e-01 -2.13244803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10071405700006 meters 0.045330709909298224 Centerline is valid? [True, True] Translation: X:323.61, Y:-41.73, Z:-21.33 [[ 9.96035550e-01 7.48440140e-02 4.80786577e-02 3.23607173e+02] [-7.45996825e-02 9.97189974e-01 -6.85885698e-03 -4.17283863e+01] [-4.84568998e-02 3.24501278e-03 9.98820003e-01 -2.13306133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16071405700006 meters 0.04394015308752473 Centerline is valid? [True, True] Translation: X:323.67, Y:-41.73, Z:-21.33 [[ 9.96217376e-01 7.24274618e-02 4.80125202e-02 3.23666890e+02] [-7.21810478e-02 9.97368033e-01 -6.84865266e-03 -4.17344676e+01] [-4.83821833e-02 3.35715277e-03 9.98823255e-01 -2.13328203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22071405700007 meters 0.04530717738010666 Centerline is valid? [True, True] Translation: X:323.73, Y:-41.74, Z:-21.34 [[ 9.96223558e-01 7.17681546e-02 4.88666993e-02 3.23725029e+02] [-7.15121018e-02 9.97415376e-01 -6.97039876e-03 -4.17439390e+01] [-4.92406499e-02 3.44951508e-03 9.98780987e-01 -2.13356571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28071405700007 meters 0.04607022860862279 Centerline is valid? [True, True] Translation: X:323.78, Y:-41.75, Z:-21.34 [[ 9.96101574e-01 7.16994578e-02 5.13891171e-02 3.23782985e+02] [-7.14163640e-02 9.97419684e-01 -7.32641315e-03 -4.17522333e+01] [-5.17818168e-02 3.62782778e-03 9.98651832e-01 -2.13375940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34071405700007 meters 0.04763358841210683 Centerline is valid? [True, True] Translation: X:323.84, Y:-41.76, Z:-21.34 [[ 9.96060587e-01 7.14522902e-02 5.25154969e-02 3.23840360e+02] [-7.11564799e-02 9.97437092e-01 -7.48349510e-03 -4.17607105e+01] [-5.29156174e-02 3.71719662e-03 9.98592069e-01 -2.13404572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4007140570001 meters 0.0470356928214953 Centerline is valid? [True, True] Translation: X:323.90, Y:-41.77, Z:-21.35 [[ 9.96362405e-01 6.92436392e-02 4.96716861e-02 3.23899563e+02] [-6.89765453e-02 9.97593205e-01 -7.07339508e-03 -4.17675791e+01] [-5.00419241e-02 3.62148363e-03 9.98740552e-01 -2.13482515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.460714057 meters 0.04758801932677907 Centerline is valid? [True, True] Translation: X:323.96, Y:-41.78, Z:-21.36 [[ 9.96681342e-01 6.69127906e-02 4.63570950e-02 3.23958489e+02] [-6.66777125e-02 9.97752732e-01 -6.60066370e-03 -4.17752991e+01] [-4.66945870e-02 3.48777331e-03 9.98903124e-01 -2.13551644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.520714057 meters 0.05605115136754721 Centerline is valid? [True, True] Translation: X:324.01, Y:-41.79, Z:-21.36 [[ 9.96721264e-01 6.62324620e-02 4.64756186e-02 3.24013499e+02] [-6.59954261e-02 9.97797979e-01 -6.61792659e-03 -4.17943371e+01] [-4.68115999e-02 3.52904990e-03 9.98897502e-01 -2.13611378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.580714057 meters 0.05122917868082494 Centerline is valid? [True, True] Translation: X:324.07, Y:-41.79, Z:-21.36 [[ 9.96739096e-01 6.59528099e-02 4.64908788e-02 3.24073275e+02] [-6.57155155e-02 9.97816467e-01 -6.61584043e-03 -4.17938180e+01] [-4.68256977e-02 3.53909474e-03 9.98896806e-01 -2.13627238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.640714057 meters 0.05262139776332469 Centerline is valid? [True, True] Translation: X:324.13, Y:-41.80, Z:-21.36 [[ 9.96602325e-01 6.63727479e-02 4.87694944e-02 3.24130990e+02] [-6.61122700e-02 9.97788079e-01 -6.93660203e-03 -4.18026089e+01] [-4.91220214e-02 3.68877173e-03 9.98785973e-01 -2.13649620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.700714057 meters 0.05398333840761618 Centerline is valid? [True, True] Translation: X:324.19, Y:-41.81, Z:-21.37 [[ 9.96590044e-01 6.59242393e-02 4.96213566e-02 3.24188842e+02] [-6.56541878e-02 9.97817500e-01 -7.05441684e-03 -4.18126385e+01] [-4.99781151e-02 3.77251173e-03 9.98743188e-01 -2.13678553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76071405700003 meters 0.05285898809928212 Centerline is valid? [True, True] Translation: X:324.25, Y:-41.82, Z:-21.37 [[ 9.97024018e-01 6.08340949e-02 4.73531450e-02 3.24247770e+02] [-6.05826647e-02 9.98140507e-01 -6.72822318e-03 -4.18212266e+01] [-4.76743975e-02 3.83942040e-03 9.98855550e-01 -2.13728608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82071405700003 meters 0.053627254500645045 Centerline is valid? [True, True] Translation: X:324.31, Y:-41.83, Z:-21.38 [[ 9.97369714e-01 5.54947036e-02 4.66260726e-02 3.24307105e+02] [-5.52451824e-02 9.98450845e-01 -6.62423108e-03 -4.18321268e+01] [-4.69214513e-02 4.03094158e-03 9.98890449e-01 -2.13759953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88071405700003 meters 0.05425773489573753 Centerline is valid? [True, True] Translation: X:324.37, Y:-41.84, Z:-21.38 [[ 9.97543843e-01 5.18837034e-02 4.70570094e-02 3.24366319e+02] [-5.16256058e-02 9.98644138e-01 -6.68446643e-03 -4.18442177e+01] [-4.73400215e-02 4.23870172e-03 9.98869839e-01 -2.13788305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94071405700004 meters 0.05362096785675386 Centerline is valid? [True, True] Translation: X:324.43, Y:-41.85, Z:-21.38 [[ 9.97527211e-01 5.07773414e-02 4.85914151e-02 3.24426172e+02] [-5.05008187e-02 9.98700167e-01 -6.90242359e-03 -4.18536180e+01] [-4.88787411e-02 4.43144910e-03 9.98794889e-01 -2.13813176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00071405700004 meters 0.056321537015828545 Centerline is valid? [True, True] Translation: X:324.48, Y:-41.87, Z:-21.38 [[ 9.97454769e-01 5.09797161e-02 4.98502937e-02 3.24484884e+02] [-5.06889265e-02 9.98689387e-01 -7.08099930e-03 -4.18682727e+01] [-5.01459466e-02 4.53611865e-03 9.98731599e-01 -2.13849858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06071405700004 meters 0.054422995097532796 Centerline is valid? [True, True] Translation: X:324.55, Y:-41.88, Z:-21.39 [[ 9.97517337e-01 5.07209475e-02 4.88523045e-02 3.24545959e+02] [-5.04413616e-02 9.98702913e-01 -6.93980170e-03 -4.18761888e+01] [-4.91409321e-02 4.45839575e-03 9.98781904e-01 -2.13888054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12071405700004 meters 0.04950388208164108 Centerline is valid? [True, True] Translation: X:324.61, Y:-41.88, Z:-21.39 [[ 9.97536341e-01 5.06763868e-02 4.85092914e-02 3.24607084e+02] [-5.04005834e-02 9.98705297e-01 -6.89274891e-03 -4.18809596e+01] [-4.87957859e-02 4.43087095e-03 9.98798948e-01 -2.13930578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18071405700005 meters 0.05087006942406994 Centerline is valid? [True, True] Translation: X:324.67, Y:-41.89, Z:-21.40 [[ 9.97566423e-01 5.18123940e-02 4.66552092e-02 3.24665761e+02] [-5.15584309e-02 9.98647963e-01 -6.63124938e-03 -4.18934247e+01] [-4.69357106e-02 4.20964235e-03 9.98889042e-01 -2.13986738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24071405700005 meters 0.049710894120353954 Centerline is valid? [True, True] Translation: X:324.73, Y:-41.90, Z:-21.40 [[ 9.97524930e-01 5.34447752e-02 4.56910355e-02 3.24726078e+02] [-5.32028705e-02 9.98562602e-01 -6.49501937e-03 -4.19021005e+01] [-4.59724841e-02 4.04804950e-03 9.98934504e-01 -2.14022104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30071405700005 meters 0.05127288360151232 Centerline is valid? [True, True] Translation: X:324.78, Y:-41.91, Z:-21.41 [[ 9.97267364e-01 5.73140651e-02 4.66144048e-02 3.24784864e+02] [-5.70664088e-02 9.98348387e-01 -6.62750808e-03 -4.19140390e+01] [-4.69172652e-02 3.94928084e-03 9.98890972e-01 -2.14059718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36071405700005 meters 0.04585115694350754 Centerline is valid? [True, True] Translation: X:324.85, Y:-41.91, Z:-21.41 [[ 9.96858786e-01 6.22211343e-02 4.90009264e-02 3.24846203e+02] [-6.19533423e-02 9.98054734e-01 -6.96648202e-03 -4.19131547e+01] [-4.93390689e-02 3.90882764e-03 9.98774438e-01 -2.14062969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42071405700005 meters 0.042341101255625076 Centerline is valid? [True, True] Translation: X:324.91, Y:-41.92, Z:-21.41 [[ 9.96498546e-01 6.66643463e-02 5.04629904e-02 3.24905993e+02] [-6.63859230e-02 9.97768221e-01 -7.17536778e-03 -4.19159048e+01] [-5.08287094e-02 3.80021136e-03 9.98700156e-01 -2.14072957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48071405700006 meters 0.04716454377214385 Centerline is valid? [True, True] Translation: X:324.96, Y:-41.93, Z:-21.41 [[ 9.96462908e-01 6.63538646e-02 5.15639245e-02 3.24962134e+02] [-6.60627696e-02 9.97788537e-01 -7.33121013e-03 -4.19324893e+01] [-5.19363469e-02 3.89882330e-03 9.98642787e-01 -2.14115363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54071405700006 meters 0.047601863586505554 Centerline is valid? [True, True] Translation: X:325.02, Y:-41.95, Z:-21.42 [[ 9.96691418e-01 6.26946190e-02 5.17262200e-02 3.25021574e+02] [-6.23970922e-02 9.98024350e-01 -7.34849812e-03 -4.19458551e+01] [-5.20847384e-02 4.09661929e-03 9.98634266e-01 -2.14158305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60071405700006 meters 0.049864520020259505 Centerline is valid? [True, True] Translation: X:325.08, Y:-41.96, Z:-21.42 [[ 9.97150468e-01 5.64143692e-02 5.00835618e-02 3.25079985e+02] [-5.61275953e-02 9.98398251e-01 -7.11510055e-03 -4.19623490e+01] [-5.04047344e-02 4.28375595e-03 9.98719687e-01 -2.14226245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66071405700006 meters 0.047684328304937046 Centerline is valid? [True, True] Translation: X:325.14, Y:-41.97, Z:-21.43 [[ 9.97268958e-01 5.47085295e-02 4.96145284e-02 3.25139159e+02] [-5.44250167e-02 9.98492983e-01 -7.04840138e-03 -4.19702918e+01] [-4.99253662e-02 4.32888036e-03 9.98743570e-01 -2.14264633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72071405700007 meters 0.05298694561009637 Centerline is valid? [True, True] Translation: X:325.20, Y:-41.99, Z:-21.43 [[ 9.97062126e-01 5.82657777e-02 4.97213804e-02 3.25196794e+02] [-5.79854747e-02 9.98292444e-01 -7.06265536e-03 -4.19877757e+01] [-5.00479895e-02 4.15878832e-03 9.98738156e-01 -2.14316315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78071405700007 meters 0.04769809637212635 Centerline is valid? [True, True] Translation: X:325.26, Y:-41.99, Z:-21.43 [[ 9.96779461e-01 6.31069915e-02 4.94794336e-02 3.25257745e+02] [-6.28353870e-02 9.97999165e-01 -7.02719459e-03 -4.19881869e+01] [-4.98238985e-02 3.89550387e-03 9.98750421e-01 -2.14338902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84071405700007 meters 0.04031332146199093 Centerline is valid? [True, True] Translation: X:325.32, Y:-41.99, Z:-21.44 [[ 9.95751081e-01 7.67558389e-02 5.08755878e-02 3.25318808e+02] [-7.64863712e-02 9.97044447e-01 -7.22539097e-03 -4.19860378e+01] [-5.12798132e-02 3.30340177e-03 9.98678861e-01 -2.14364613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9007140570001 meters 0.037079308259842715 Centerline is valid? [True, True] Translation: X:325.38, Y:-41.99, Z:-21.44 [[ 9.94393564e-01 9.15140830e-02 5.29774627e-02 3.25379082e+02] [-9.12427193e-02 9.95800263e-01 -7.52348239e-03 -4.19866552e+01] [-5.34434759e-02 2.64749471e-03 9.98567367e-01 -2.14390184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.960714057 meters 0.031798121670534106 Centerline is valid? [True, True] Translation: X:325.44, Y:-41.98, Z:-21.44 [[ 9.92895588e-01 1.06597859e-01 5.28700967e-02 3.25441074e+02] [-1.06348907e-01 9.94300528e-01 -7.50797863e-03 -4.19816816e+01] [-5.33690995e-02 1.83196188e-03 9.98573174e-01 -2.14411539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.020714057 meters 0.03034594615599103 Centerline is valid? [True, True] Translation: X:325.50, Y:-41.99, Z:-21.45 [[ 9.92168178e-01 1.12724989e-01 5.38087739e-02 3.25500257e+02] [-1.12476111e-01 9.93625050e-01 -7.64102595e-03 -4.19872542e+01] [-5.43270802e-02 1.52898117e-03 9.98522023e-01 -2.14455340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.080714057 meters 0.029579482755832644 Centerline is valid? [True, True] Translation: X:325.56, Y:-42.00, Z:-21.45 [[ 9.92560072e-01 1.09662658e-01 5.29018500e-02 3.25559189e+02] [-1.09417856e-01 9.93967467e-01 -7.51048630e-03 -4.19974226e+01] [-5.34063377e-02 1.66620179e-03 9.98571473e-01 -2.14501934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.140714057 meters 0.033931343999321545 Centerline is valid? [True, True] Translation: X:325.62, Y:-42.02, Z:-21.46 [[ 9.93512407e-01 1.01351072e-01 5.15854316e-02 3.25615313e+02] [-1.01107229e-01 9.94848593e-01 -7.32154833e-03 -4.20226399e+01] [-5.20617408e-02 2.05838909e-03 9.98641747e-01 -2.14578303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.200714057 meters 0.03412004557030683 Centerline is valid? [True, True] Translation: X:325.67, Y:-42.04, Z:-21.46 [[ 9.94418487e-01 9.16644521e-02 5.22446303e-02 3.25674209e+02] [-9.14010394e-02 9.95786564e-01 -7.41409193e-03 -4.20377680e+01] [-5.27041096e-02 2.59749656e-03 9.98606794e-01 -2.14587335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26071405700003 meters 0.03566708549871918 Centerline is valid? [True, True] Translation: X:325.73, Y:-42.05, Z:-21.46 [[ 9.94999297e-01 8.41228843e-02 5.38492277e-02 3.25732954e+02] [-8.38320660e-02 9.96450602e-01 -7.64081583e-03 -4.20538350e+01] [-5.43008628e-02 3.08831437e-03 9.98519844e-01 -2.14605951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32071405700003 meters 0.03951636554599385 Centerline is valid? [True, True] Translation: X:325.79, Y:-42.07, Z:-21.46 [[ 9.95263474e-01 7.99487268e-02 5.53065887e-02 3.25789565e+02] [-7.96355010e-02 9.96793157e-01 -7.84786080e-03 -4.20734208e+01] [-5.57566556e-02 3.40632130e-03 9.98438577e-01 -2.14643743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38071405700003 meters 0.03999599566780404 Centerline is valid? [True, True] Translation: X:325.85, Y:-42.09, Z:-21.47 [[ 9.95428590e-01 7.82756390e-02 5.47251967e-02 3.25847489e+02] [-7.79664964e-02 9.96925743e-01 -7.76461366e-03 -4.20863309e+01] [-5.51647375e-02 3.46238657e-03 9.98471263e-01 -2.14682975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44071405700004 meters 0.04104232191430078 Centerline is valid? [True, True] Translation: X:325.90, Y:-42.10, Z:-21.47 [[ 9.95467461e-01 7.77735953e-02 5.47339160e-02 3.25904934e+02] [-7.74637494e-02 9.96964945e-01 -7.76312368e-03 -4.20986194e+01] [-5.51715616e-02 3.48804267e-03 9.98470797e-01 -2.14732259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50071405700004 meters 0.04127214592571818 Centerline is valid? [True, True] Translation: X:325.96, Y:-42.11, Z:-21.48 [[ 9.95449127e-01 7.83130896e-02 5.42963719e-02 3.25962606e+02] [-7.80091881e-02 9.96922925e-01 -7.69731303e-03 -4.21084840e+01] [-5.47320983e-02 3.42666765e-03 9.98495195e-01 -2.14776142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56071405700004 meters 0.04149735155487271 Centerline is valid? [True, True] Translation: X:326.02, Y:-42.12, Z:-21.48 [[ 9.95415206e-01 7.92504737e-02 5.35530606e-02 3.26020882e+02] [-7.89563928e-02 9.96849189e-01 -7.58829638e-03 -4.21171763e+01] [-5.39857011e-02 3.32514912e-03 9.98536172e-01 -2.14822304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62071405700004 meters 0.04264941278432302 Centerline is valid? [True, True] Translation: X:326.08, Y:-42.13, Z:-21.49 [[ 9.95405357e-01 7.98164185e-02 5.28915345e-02 3.26078280e+02] [-7.95305529e-02 9.96804282e-01 -7.49097871e-03 -4.21265624e+01] [-5.33204111e-02 3.25006736e-03 9.98572166e-01 -2.14866320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68071405700005 meters 0.04094876428857168 Centerline is valid? [True, True] Translation: X:326.14, Y:-42.13, Z:-21.49 [[ 9.95442458e-01 7.74680506e-02 5.56148789e-02 3.26137633e+02] [-7.71485411e-02 9.96988529e-01 -7.87243363e-03 -4.21345919e+01] [-5.60572584e-02 3.54594790e-03 9.98421259e-01 -2.14877780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74071405700005 meters 0.04243323361463023 Centerline is valid? [True, True] Translation: X:326.20, Y:-42.15, Z:-21.49 [[ 9.95717435e-01 7.49263588e-02 5.41556154e-02 3.26196622e+02] [-7.46197831e-02 9.97182608e-01 -7.66389277e-03 -4.21458608e+01] [-5.45772653e-02 3.58999138e-03 9.98503097e-01 -2.14932967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80071405700005 meters 0.04419678963434014 Centerline is valid? [True, True] Translation: X:326.26, Y:-42.16, Z:-21.50 [[ 9.95853659e-01 7.37387048e-02 5.32737649e-02 3.26255215e+02] [-7.34404020e-02 9.97271118e-01 -7.53818593e-03 -4.21559302e+01] [-5.36842431e-02 3.59448333e-03 9.98551492e-01 -2.14988549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86071405700005 meters 0.045041728259508904 Centerline is valid? [True, True] Translation: X:326.31, Y:-42.17, Z:-21.50 [[ 9.95866574e-01 7.34214271e-02 5.34701942e-02 3.26313354e+02] [-7.31205431e-02 9.97294422e-01 -7.56449482e-03 -4.21654074e+01] [-5.38809224e-02 3.62345789e-03 9.98540794e-01 -2.15027365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92071405700005 meters 0.0388442002853669 Centerline is valid? [True, True] Translation: X:326.37, Y:-42.16, Z:-21.50 [[ 9.95934282e-01 7.17146496e-02 5.45152711e-02 3.26373690e+02] [-7.13995476e-02 9.97418009e-01 -7.70840692e-03 -4.21616243e+01] [-5.49273189e-02 3.78470101e-03 9.98483182e-01 -2.15033247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98071405700006 meters 0.04513183856165566 Centerline is valid? [True, True] Translation: X:326.43, Y:-42.18, Z:-21.51 [[ 9.95961426e-01 7.15339790e-02 5.42561320e-02 3.26430349e+02] [-7.12217625e-02 9.97431025e-01 -7.66884355e-03 -4.21774212e+01] [-5.46653323e-02 3.77365500e-03 9.98497602e-01 -2.15093403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04071405700006 meters 0.041507432849932954 Centerline is valid? [True, True] Translation: X:326.49, Y:-42.18, Z:-21.51 [[ 9.96020168e-01 7.13982768e-02 5.33489506e-02 3.26490031e+02] [-7.10963762e-02 9.97440968e-01 -7.53795067e-03 -4.21771375e+01] [-5.37506256e-02 3.71503384e-03 9.98547479e-01 -2.15131771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10071405700006 meters 0.04697951307670659 Centerline is valid? [True, True] Translation: X:326.55, Y:-42.19, Z:-21.52 [[ 9.96002765e-01 7.13155835e-02 5.37827092e-02 3.26547122e+02] [-7.10088499e-02 9.97446769e-01 -7.59514559e-03 -4.21909184e+01] [-5.41870418e-02 3.74573768e-03 9.98523777e-01 -2.15168861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16071405700006 meters 0.04095562062334404 Centerline is valid? [True, True] Translation: X:326.61, Y:-42.19, Z:-21.52 [[ 9.96124255e-01 6.98794472e-02 5.34165905e-02 3.26607964e+02] [-6.95749882e-02 9.97548226e-01 -7.54045370e-03 -4.21885264e+01] [-5.38125478e-02 3.79477017e-03 9.98543845e-01 -2.15201169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22071405700007 meters 0.04281326402328507 Centerline is valid? [True, True] Translation: X:326.67, Y:-42.20, Z:-21.53 [[ 9.96423169e-01 6.60281939e-02 5.27365717e-02 3.26667585e+02] [-6.57262043e-02 9.97809942e-01 -7.44218785e-03 -4.21984085e+01] [-5.31124698e-02 3.94939371e-03 9.98580727e-01 -2.15260911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28071405700007 meters 0.04613276549968798 Centerline is valid? [True, True] Translation: X:326.73, Y:-42.21, Z:-21.53 [[ 9.96626568e-01 6.31895173e-02 5.23695405e-02 3.26725605e+02] [-6.28878105e-02 9.97993237e-01 -7.39071237e-03 -4.22106443e+01] [-5.27314628e-02 4.07237457e-03 9.98600425e-01 -2.15307125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34071405700007 meters 0.0436853818646924 Centerline is valid? [True, True] Translation: X:326.79, Y:-42.21, Z:-21.53 [[ 9.96677896e-01 6.17686993e-02 5.30829517e-02 3.26785830e+02] [-6.14568067e-02 9.98081644e-01 -7.48948737e-03 -4.22128810e+01] [-5.34437356e-02 4.20229781e-03 9.98562020e-01 -2.15324744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4007140570001 meters 0.045777588646406006 Centerline is valid? [True, True] Translation: X:326.84, Y:-42.22, Z:-21.54 [[ 9.96686715e-01 6.17602771e-02 5.29269285e-02 3.26844109e+02] [-6.14503192e-02 9.98082225e-01 -7.46534745e-03 -4.22231948e+01] [-5.32864885e-02 4.18823597e-03 9.98570483e-01 -2.15371569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.460714057 meters 0.04735165495854005 Centerline is valid? [True, True] Translation: X:326.90, Y:-42.23, Z:-21.54 [[ 9.96787465e-01 6.14665766e-02 5.13479359e-02 3.26903457e+02] [-6.11745288e-02 9.98100815e-01 -7.24151316e-03 -4.22316512e+01] [-5.16955277e-02 4.07706375e-03 9.98654570e-01 -2.15429839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.520714057 meters 0.04459528455527452 Centerline is valid? [True, True] Translation: X:326.97, Y:-42.23, Z:-21.55 [[ 9.96597840e-01 6.60755918e-02 4.92621741e-02 3.26965142e+02] [-6.58124008e-02 9.97807828e-01 -6.94744316e-03 -4.22307449e+01] [-4.96132394e-02 3.68174490e-03 9.98761719e-01 -2.15458341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.580714057 meters 0.04073199254617211 Centerline is valid? [True, True] Translation: X:327.03, Y:-42.23, Z:-21.55 [[ 9.95865314e-01 7.52162167e-02 5.09391420e-02 3.27026511e+02] [-7.49466860e-02 9.97161667e-01 -7.18353481e-03 -4.22274376e+01] [-5.13348781e-02 3.33611327e-03 9.98675924e-01 -2.15474261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.640714057 meters 0.03504332737787544 Centerline is valid? [True, True] Translation: X:327.09, Y:-42.22, Z:-21.55 [[ 9.95106973e-01 8.34513578e-02 5.28959627e-02 3.27088557e+02] [-8.31722546e-02 9.96507264e-01 -7.45980811e-03 -4.22203216e+01] [-5.33337421e-02 3.02383060e-03 9.98572165e-01 -2.15475145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.700714057 meters 0.03389058291657969 Centerline is valid? [True, True] Translation: X:327.15, Y:-42.22, Z:-21.55 [[ 9.94614308e-01 8.96328563e-02 5.20416134e-02 3.27149313e+02] [-8.93711558e-02 9.95971354e-01 -7.33887588e-03 -4.22219006e+01] [-5.24897605e-02 2.64833182e-03 9.98617951e-01 -2.15513738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76071405700003 meters 0.033208685695917686 Centerline is valid? [True, True] Translation: X:327.21, Y:-42.23, Z:-21.56 [[ 9.94601854e-01 9.09226036e-02 5.00023136e-02 3.27208097e+02] [-9.06826127e-02 9.95854875e-01 -7.05213941e-03 -4.22264318e+01] [-5.04362466e-02 2.47973049e-03 9.98724204e-01 -2.15568628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82071405700003 meters 0.03638693998909678 Centerline is valid? [True, True] Translation: X:327.27, Y:-42.24, Z:-21.56 [[ 9.94801233e-01 8.84828453e-02 5.04112373e-02 3.27265511e+02] [-8.82359879e-02 9.96074253e-01 -7.10584634e-03 -4.22385834e+01] [-5.08420811e-02 2.62081938e-03 9.98703266e-01 -2.15605746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88071405700003 meters 0.038399890824256475 Centerline is valid? [True, True] Translation: X:327.32, Y:-42.25, Z:-21.56 [[ 9.95046029e-01 8.54815528e-02 5.07573012e-02 3.27323155e+02] [-8.52275417e-02 9.96335846e-01 -7.15184312e-03 -4.22492247e+01] [-5.11826693e-02 2.79049309e-03 9.98685410e-01 -2.15642452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94071405700004 meters 0.041172378801884804 Centerline is valid? [True, True] Translation: X:327.38, Y:-42.26, Z:-21.57 [[ 9.95292528e-01 8.26118405e-02 5.06761044e-02 3.27381302e+02] [-8.23550911e-02 9.96577492e-01 -7.13736840e-03 -4.22627465e+01] [-5.10922961e-02 2.93033425e-03 9.98689637e-01 -2.15696453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00071405700004 meters 0.03893870095512249 Centerline is valid? [True, True] Translation: X:327.44, Y:-42.27, Z:-21.57 [[ 9.95532474e-01 7.98806381e-02 5.03406079e-02 3.27440979e+02] [-7.96238445e-02 9.96799772e-01 -7.08928551e-03 -4.22684155e+01] [-5.07458031e-02 3.04930121e-03 9.98706947e-01 -2.15722232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06071405700004 meters 0.03941198222843127 Centerline is valid? [True, True] Translation: X:327.50, Y:-42.28, Z:-21.58 [[ 9.95585810e-01 7.89429221e-02 5.07632793e-02 3.27499067e+02] [-7.86805907e-02 9.96874246e-01 -7.14860108e-03 -4.22784126e+01] [-5.11689372e-02 3.12296099e-03 9.98685129e-01 -2.15759315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12071405700004 meters 0.038369088759495774 Centerline is valid? [True, True] Translation: X:327.56, Y:-42.28, Z:-21.58 [[ 9.95547181e-01 7.96784346e-02 5.03702099e-02 3.27557287e+02] [-7.94212723e-02 9.96815930e-01 -7.08968937e-03 -4.22840345e+01] [-5.07747230e-02 3.05765410e-03 9.98705451e-01 -2.15800475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18071405700005 meters 0.03921849596395593 Centerline is valid? [True, True] Translation: X:327.61, Y:-42.29, Z:-21.58 [[ 9.95451274e-01 8.04619864e-02 5.10159840e-02 3.27614262e+02] [-8.01993850e-02 9.96753002e-01 -7.17709541e-03 -4.22937841e+01] [-5.14278186e-02 3.05299822e-03 9.98672048e-01 -2.15838979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24071405700005 meters 0.03955850829911413 Centerline is valid? [True, True] Translation: X:327.67, Y:-42.30, Z:-21.59 [[ 9.95409674e-01 8.03044958e-02 5.20650422e-02 3.27672125e+02] [-8.00310145e-02 9.96765498e-01 -7.31978065e-03 -4.23019056e+01] [-5.24844490e-02 3.11936232e-03 9.98616870e-01 -2.15866787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30071405700005 meters 0.043168987352269074 Centerline is valid? [True, True] Translation: X:327.73, Y:-42.32, Z:-21.59 [[ 9.95409632e-01 7.83208130e-02 5.50046727e-02 3.27729010e+02] [-7.80127515e-02 9.96922401e-01 -7.72895626e-03 -4.23159317e+01] [-5.54407285e-02 3.40241165e-03 9.98456183e-01 -2.15889172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36071405700005 meters 0.04319215821325986 Centerline is valid? [True, True] Translation: X:327.79, Y:-42.32, Z:-21.59 [[ 9.95572088e-01 7.61670777e-02 5.50889657e-02 3.27788108e+02] [-7.58550166e-02 9.97088843e-01 -7.73668854e-03 -4.23245157e+01] [-5.55178740e-02 3.52365676e-03 9.98451476e-01 -2.15924034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42071405700005 meters 0.03985858519819969 Centerline is valid? [True, True] Translation: X:327.85, Y:-42.33, Z:-21.60 [[ 9.95672421e-01 7.57181791e-02 5.38812401e-02 3.27846505e+02] [-7.54190798e-02 9.97123222e-01 -7.56584225e-03 -4.23266920e+01] [-5.42991076e-02 3.46942692e-03 9.98518688e-01 -2.15966367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48071405700006 meters 0.038450844632406264 Centerline is valid? [True, True] Translation: X:327.90, Y:-42.33, Z:-21.60 [[ 9.95654140e-01 7.69299623e-02 5.24844241e-02 3.27904834e+02] [-7.66481140e-02 9.97031005e-01 -7.36495717e-03 -4.23324981e+01] [-5.28951840e-02 3.31011797e-03 9.98594584e-01 -2.16020819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54071405700006 meters 0.03786758011633223 Centerline is valid? [True, True] Translation: X:327.96, Y:-42.34, Z:-21.61 [[ 9.95419863e-01 8.07877665e-02 5.11139325e-02 3.27964171e+02] [-8.05257341e-02 9.96726752e-01 -7.16855401e-03 -4.23374105e+01] [-5.15257554e-02 3.01973411e-03 9.98667101e-01 -2.16062643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60071405700006 meters 0.03581775713541306 Centerline is valid? [True, True] Translation: X:328.02, Y:-42.34, Z:-21.61 [[ 9.94792040e-01 8.76448144e-02 5.20306103e-02 3.28024790e+02] [-8.73827256e-02 9.96148101e-01 -7.29523603e-03 -4.23386411e+01] [-5.24695832e-02 2.71066618e-03 9.98618844e-01 -2.16084359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66071405700006 meters 0.03710342011359785 Centerline is valid? [True, True] Translation: X:328.08, Y:-42.35, Z:-21.61 [[ 9.94163394e-01 9.27302395e-02 5.51384543e-02 3.28083841e+02] [-9.24437972e-02 9.95687910e-01 -7.72853004e-03 -4.23473495e+01] [-5.56173608e-02 2.58621357e-03 9.98448807e-01 -2.16110470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72071405700007 meters 0.03432511777264509 Centerline is valid? [True, True] Translation: X:328.14, Y:-42.35, Z:-21.61 [[ 9.94299975e-01 9.12225390e-02 5.51906566e-02 3.28142606e+02] [-9.09332765e-02 9.95826946e-01 -7.73514746e-03 -4.23487616e+01] [-5.56659628e-02 2.67238969e-03 9.98445872e-01 -2.16145322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78071405700007 meters 0.03594848605485864 Centerline is valid? [True, True] Translation: X:328.20, Y:-42.36, Z:-21.62 [[ 9.94899420e-01 8.54637685e-02 5.35825337e-02 3.28201784e+02] [-8.51830511e-02 9.96337051e-01 -7.50526130e-03 -4.23628574e+01] [-5.40276915e-02 2.90265641e-03 9.98535219e-01 -2.16212969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84071405700007 meters 0.041625176388431245 Centerline is valid? [True, True] Translation: X:328.26, Y:-42.38, Z:-21.63 [[ 9.95487348e-01 7.94878048e-02 5.18327106e-02 3.28259110e+02] [-7.92170654e-02 9.96830951e-01 -7.26023661e-03 -4.23828630e+01] [-5.22455505e-02 3.12143847e-03 9.98629390e-01 -2.16269943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9007140570001 meters 0.03976040259688807 Centerline is valid? [True, True] Translation: X:328.32, Y:-42.39, Z:-21.63 [[ 9.95949332e-01 7.39443632e-02 5.11581889e-02 3.28319224e+02] [-7.36733709e-02 9.97256683e-01 -7.16534084e-03 -4.23886652e+01] [-5.15476823e-02 3.36732020e-03 9.98664858e-01 -2.16301737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9607140570001 meters 0.041000277926159893 Centerline is valid? [True, True] Translation: X:328.38, Y:-42.40, Z:-21.63 [[ 9.96197541e-01 7.06054229e-02 5.10424731e-02 3.28378343e+02] [-7.03312803e-02 9.97498069e-01 -7.14942918e-03 -4.24002678e+01] [-5.14195568e-02 3.53236129e-03 9.98670893e-01 -2.16339992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.020714057 meters 0.04461142487010131 Centerline is valid? [True, True] Translation: X:328.44, Y:-42.41, Z:-21.64 [[ 9.96278234e-01 6.89656233e-02 5.17051566e-02 3.28435182e+02] [-6.86821274e-02 9.97612309e-01 -7.24194957e-03 -4.24133034e+01] [-5.20811463e-02 3.66377658e-03 9.98636135e-01 -2.16379995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.080714057 meters 0.06535579465245163 Centerline is valid? [True, True] Translation: X:328.49, Y:-42.45, Z:-21.64 [[ 9.95834499e-01 7.30908552e-02 5.45103442e-02 3.28489523e+02] [-7.27821239e-02 9.97318676e-01 -7.63020562e-03 -4.24519900e+01] [-5.49218826e-02 3.63104336e-03 9.98484052e-01 -2.16448141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.140714057 meters 0.04335658185020922 Centerline is valid? [True, True] Translation: X:328.55, Y:-42.43, Z:-21.64 [[ 9.96183997e-01 6.95647423e-02 5.27085547e-02 3.28554178e+02] [-6.92712601e-02 9.97570587e-01 -7.37679259e-03 -4.24267035e+01] [-5.30936685e-02 3.69745473e-03 9.98582691e-01 -2.16449610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.200714057 meters 0.041231425461822735 Centerline is valid? [True, True] Translation: X:328.61, Y:-42.43, Z:-21.65 [[ 9.96231597e-01 6.94094623e-02 5.20089513e-02 3.28612497e+02] [-6.91234857e-02 9.97581552e-01 -7.27948723e-03 -4.24301544e+01] [-5.23884356e-02 3.65701519e-03 9.98620087e-01 -2.16493590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26071405700003 meters 0.04604450385165361 Centerline is valid? [True, True] Translation: X:328.67, Y:-42.44, Z:-21.66 [[ 9.96338525e-01 6.82885873e-02 5.14413452e-02 3.28668823e+02] [-6.80075203e-02 9.97658853e-01 -7.19656836e-03 -4.24447668e+01] [-5.18123569e-02 3.67181998e-03 9.98650088e-01 -2.16552281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32071405700003 meters 0.042621449040121495 Centerline is valid? [True, True] Translation: X:328.73, Y:-42.45, Z:-21.66 [[ 9.96407941e-01 6.76274692e-02 5.09680332e-02 3.28727923e+02] [-6.73509374e-02 9.97703902e-01 -7.12566240e-03 -4.24461579e+01] [-5.13328961e-02 3.66732179e-03 9.98674864e-01 -2.16578966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38071405700003 meters 0.041930155351854466 Centerline is valid? [True, True] Translation: X:328.79, Y:-42.45, Z:-21.66 [[ 9.96343793e-01 6.79555730e-02 5.17792162e-02 3.28787036e+02] [-6.76707966e-02 9.97681469e-01 -7.23529233e-03 -4.24494754e+01] [-5.21508429e-02 3.70489779e-03 9.98632346e-01 -2.16608865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44071405700004 meters 0.040106604292710596 Centerline is valid? [True, True] Translation: X:328.85, Y:-42.45, Z:-21.66 [[ 9.96263494e-01 6.84590652e-02 5.26536604e-02 3.28846286e+02] [-6.81654926e-02 9.97646928e-01 -7.35341604e-03 -4.24537246e+01] [-5.30331706e-02 3.73677725e-03 9.98585760e-01 -2.16633240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50071405700004 meters 0.04481413161995765 Centerline is valid? [True, True] Translation: X:328.90, Y:-42.47, Z:-21.67 [[ 9.96314844e-01 6.71351401e-02 5.33816892e-02 3.28903144e+02] [-6.68316476e-02 9.97736436e-01 -7.45223381e-03 -4.24675587e+01] [-5.37611630e-02 3.85718493e-03 9.98546373e-01 -2.16682068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56071405700004 meters 0.044022375900413496 Centerline is valid? [True, True] Translation: X:328.96, Y:-42.47, Z:-21.67 [[ 9.96673123e-01 6.36230332e-02 5.09391415e-02 3.28963761e+02] [-6.33423572e-02 9.97966549e-01 -7.10718554e-03 -4.24727650e+01] [-5.12877400e-02 3.85693551e-03 9.98676470e-01 -2.16729826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62071405700004 meters 0.046526956392565016 Centerline is valid? [True, True] Translation: X:329.02, Y:-42.48, Z:-21.68 [[ 9.96818584e-01 6.18802811e-02 5.02348698e-02 3.29020404e+02] [-6.16051081e-02 9.98075990e-01 -7.00919816e-03 -4.24846956e+01] [-5.05719486e-02 3.89217440e-03 9.98712836e-01 -2.16785456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68071405700005 meters 0.04798682210948207 Centerline is valid? [True, True] Translation: X:329.08, Y:-42.49, Z:-21.68 [[ 9.97039254e-01 5.93336115e-02 4.89106253e-02 3.29080070e+02] [-5.90698543e-02 9.98230542e-01 -6.82182540e-03 -4.24941743e+01] [-4.92288435e-02 3.91248419e-03 9.98779862e-01 -2.16839673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74071405700005 meters 0.046805648216739215 Centerline is valid? [True, True] Translation: X:329.14, Y:-42.50, Z:-21.69 [[ 9.96813985e-01 6.19795797e-02 5.02036928e-02 3.29140528e+02] [-6.17050040e-02 9.98069868e-01 -7.00227350e-03 -4.24982639e+01] [-5.05407910e-02 3.88214510e-03 9.98714452e-01 -2.16861847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80071405700005 meters 0.04335995295621193 Centerline is valid? [True, True] Translation: X:329.20, Y:-42.50, Z:-21.69 [[ 9.96371471e-01 6.77904287e-02 5.14621098e-02 3.29201185e+02] [-6.75096138e-02 9.97692806e-01 -7.17751057e-03 -4.24976765e+01] [-5.18299432e-02 3.67727962e-03 9.98649155e-01 -2.16889687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86071405700005 meters 0.042257492119505274 Centerline is valid? [True, True] Translation: X:329.26, Y:-42.50, Z:-21.69 [[ 9.95779272e-01 7.55335184e-02 5.21375959e-02 3.29260398e+02] [-7.52558611e-02 9.97137747e-01 -7.27106439e-03 -4.25002965e+01] [-5.25375740e-02 3.31671554e-03 9.98613440e-01 -2.16922606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92071405700005 meters 0.04048152901550858 Centerline is valid? [True, True] Translation: X:329.32, Y:-42.50, Z:-21.70 [[ 9.95438124e-01 8.01558297e-02 5.17492380e-02 3.29320624e+02] [-7.98885822e-02 9.96777683e-01 -7.21559837e-03 -4.25038960e+01] [-5.21608579e-02 3.04850845e-03 9.98634043e-01 -2.16968799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98071405700006 meters 0.041675698920027496 Centerline is valid? [True, True] Translation: X:329.38, Y:-42.51, Z:-21.70 [[ 9.95313190e-01 8.23173774e-02 5.07494154e-02 3.29378242e+02] [-8.20631495e-02 9.96602008e-01 -7.07650432e-03 -4.25117346e+01] [-5.11594886e-02 2.87868122e-03 9.98686347e-01 -2.17026092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04071405700006 meters 0.040051808757269665 Centerline is valid? [True, True] Translation: X:329.44, Y:-42.52, Z:-21.71 [[ 9.95083889e-01 8.55270347e-02 4.99317552e-02 3.29438153e+02] [-8.52850624e-02 9.96332278e-01 -6.96057524e-03 -4.25162061e+01] [-5.03439367e-02 2.66792343e-03 9.98728377e-01 -2.17062411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10071405700006 meters 0.03953476219213048 Centerline is valid? [True, True] Translation: X:329.50, Y:-42.52, Z:-21.71 [[ 9.94612958e-01 8.97386617e-02 5.18848401e-02 3.29497247e+02] [-8.94831998e-02 9.95962086e-01 -7.23052621e-03 -4.25232483e+01] [-5.23241913e-02 2.54875355e-03 9.98626899e-01 -2.17086423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16071405700006 meters 0.03813595143134871 Centerline is valid? [True, True] Translation: X:329.56, Y:-42.53, Z:-21.71 [[ 9.94018688e-01 9.46677756e-02 5.44505239e-02 3.29556158e+02] [-9.43938267e-02 9.95506024e-01 -7.58694432e-03 -4.25286184e+01] [-5.49240637e-02 2.40177112e-03 9.98487646e-01 -2.17099319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22071405700007 meters 0.035840200207990676 Centerline is valid? [True, True] Translation: X:329.62, Y:-42.53, Z:-21.71 [[ 9.93337345e-01 1.00878528e-01 5.57175220e-02 3.29616578e+02] [-1.00601476e-01 9.94896522e-01 -7.76226160e-03 -4.25340381e+01] [-5.62162144e-02 2.10527938e-03 9.98416399e-01 -2.17124722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28071405700007 meters 0.03350250700104683 Centerline is valid? [True, True] Translation: X:329.68, Y:-42.54, Z:-21.72 [[ 9.92761289e-01 1.07196599e-01 5.41655963e-02 3.29675156e+02] [-1.06944161e-01 9.94236392e-01 -7.54606815e-03 -4.25388276e+01] [-5.46623199e-02 1.69875011e-03 9.98503453e-01 -2.17182643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34071405700007 meters 0.02876199915366626 Centerline is valid? [True, True] Translation: X:329.73, Y:-42.54, Z:-21.72 [[ 9.92598143e-01 1.08941915e-01 5.36710840e-02 3.29734731e+02] [-1.08696552e-01 9.94046847e-01 -7.47835259e-03 -4.25370485e+01] [-5.41662778e-02 1.58913713e-03 9.98530665e-01 -2.17199541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4007140570001 meters 0.03035512813309142 Centerline is valid? [True, True] Translation: X:329.79, Y:-42.55, Z:-21.73 [[ 9.91912493e-01 1.16122486e-01 5.12364648e-02 3.29791430e+02] [-1.15909231e-01 9.93234261e-01 -7.12416160e-03 -4.25522242e+01] [-5.17170876e-02 1.12776563e-03 9.98661139e-01 -2.17303175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4607140570001 meters 0.027864125529046536 Centerline is valid? [True, True] Translation: X:329.85, Y:-42.56, Z:-21.73 [[ 9.90811094e-01 1.25014418e-01 5.16214275e-02 3.29850741e+02] [-1.24810087e-01 9.92154701e-01 -7.17578366e-03 -4.25560270e+01] [-5.21135184e-02 6.66971226e-04 9.98640945e-01 -2.17329002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.520714057 meters 0.026384708826405687 Centerline is valid? [True, True] Translation: X:329.91, Y:-42.56, Z:-21.73 [[ 9.89152326e-01 1.36802242e-01 5.35053454e-02 3.29910753e+02] [-1.36600005e-01 9.90598377e-01 -7.43600721e-03 -4.25574041e+01] [-5.40195708e-02 4.65133880e-05 9.98539876e-01 -2.17344915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.580714057 meters 0.026517156095797172 Centerline is valid? [True, True] Translation: X:329.97, Y:-42.57, Z:-21.73 [[ 9.87680625e-01 1.46597752e-01 5.47364854e-02 3.29968787e+02] [-1.46401083e-01 9.89196062e-01 -7.60745079e-03 -4.25653173e+01] [-5.52603510e-02 -4.99749023e-04 9.98471854e-01 -2.17338113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.640714057 meters 0.026446516418445157 Centerline is valid? [True, True] Translation: X:330.02, Y:-42.58, Z:-21.74 [[ 9.87714902e-01 1.46432206e-01 5.45608047e-02 3.30024754e+02] [-1.46237251e-01 9.89220581e-01 -7.57027639e-03 -4.25833163e+01] [-5.50812032e-02 -5.01547284e-04 9.98481752e-01 -2.17376838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.700714057 meters 0.026143793270721024 Centerline is valid? [True, True] Translation: X:330.08, Y:-42.61, Z:-21.74 [[ 9.89383987e-01 1.35335133e-01 5.29502466e-02 3.30079725e+02] [-1.35136410e-01 9.90799875e-01 -7.33203412e-03 -4.26096658e+01] [-5.34553795e-02 9.86909104e-05 9.98570234e-01 -2.17438190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76071405700003 meters 0.02710339018301012 Centerline is valid? [True, True] Translation: X:330.13, Y:-42.64, Z:-21.75 [[ 9.91462669e-01 1.18965220e-01 5.33765114e-02 3.30134491e+02] [-1.18740367e-01 9.92897944e-01 -7.37555698e-03 -4.26432312e+01] [-5.38748632e-02 9.74642877e-04 9.98547219e-01 -2.17498505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82071405700003 meters 0.02892554611821049 Centerline is valid? [True, True] Translation: X:330.19, Y:-42.67, Z:-21.75 [[ 9.93275687e-01 1.02499516e-01 5.38261896e-02 3.30190852e+02] [-1.02246783e-01 9.94731274e-01 -7.43560922e-03 -4.26725721e+01] [-5.43047405e-02 1.88205515e-03 9.98522635e-01 -2.17518036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88071405700003 meters 0.03129104529381776 Centerline is valid? [True, True] Translation: X:330.25, Y:-42.69, Z:-21.76 [[ 9.94256131e-01 9.25647950e-02 5.37261977e-02 3.30248865e+02] [-9.22985687e-02 9.95703724e-01 -7.42083564e-03 -4.26943206e+01] [-5.41822833e-02 2.41936018e-03 9.98528130e-01 -2.17559901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94071405700004 meters 0.038492382293286165 Centerline is valid? [True, True] Translation: X:330.30, Y:-42.73, Z:-21.76 [[ 9.95182550e-01 7.96461369e-02 5.71680456e-02 3.30304656e+02] [-7.93233911e-02 9.96817660e-01 -7.89638916e-03 -4.27272231e+01] [-5.76150343e-02 3.32358546e-03 9.98333342e-01 -2.17586998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00071405700004 meters 0.03636410180061563 Centerline is valid? [True, True] Translation: X:330.36, Y:-42.74, Z:-21.76 [[ 9.95316011e-01 7.74777868e-02 5.78206837e-02 3.30363679e+02] [-7.71439879e-02 9.96987976e-01 -7.98633831e-03 -4.27363802e+01] [-5.82652902e-02 3.48841227e-03 9.98295040e-01 -2.17615399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06071405700004 meters 0.03737493223302395 Centerline is valid? [True, True] Translation: X:330.42, Y:-42.75, Z:-21.77 [[ 9.95600180e-01 7.50115163e-02 5.61565097e-02 3.30422873e+02] [-7.46929007e-02 9.97176435e-01 -7.75423947e-03 -4.27495884e+01] [-5.65796054e-02 3.52562961e-03 9.98391866e-01 -2.17668038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12071405700004 meters 0.03894948421869196 Centerline is valid? [True, True] Translation: X:330.48, Y:-42.76, Z:-21.77 [[ 9.95589060e-01 7.49680811e-02 5.64110846e-02 3.30480567e+02] [-7.46464815e-02 9.97179635e-01 -7.78966357e-03 -4.27625403e+01] [-5.68359609e-02 3.54441485e-03 9.98377239e-01 -2.17713156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18071405700005 meters 0.03927303162079205 Centerline is valid? [True, True] Translation: X:330.54, Y:-42.77, Z:-21.78 [[ 9.95643669e-01 7.43076098e-02 5.63210770e-02 3.30539563e+02] [-7.39860986e-02 9.97228962e-01 -7.77524142e-03 -4.27707333e+01] [-5.67427687e-02 3.57439314e-03 9.98382433e-01 -2.17755081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24071405700005 meters 0.03636321741334582 Centerline is valid? [True, True] Translation: X:330.60, Y:-42.77, Z:-21.78 [[ 9.95754846e-01 7.40185534e-02 5.47132516e-02 3.30599481e+02] [-7.37148273e-02 9.97250771e-01 -7.55142403e-03 -4.27731347e+01] [-5.51217778e-02 3.48618918e-03 9.98473553e-01 -2.17793818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30071405700005 meters 0.03729282348817101 Centerline is valid? [True, True] Translation: X:330.66, Y:-42.78, Z:-21.78 [[ 9.95649596e-01 7.55532262e-02 5.45306586e-02 3.30657433e+02] [-7.52539182e-02 9.97136015e-01 -7.52438460e-03 -4.27801458e+01] [-5.49429752e-02 3.38800477e-03 9.98483746e-01 -2.17822930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36071405700005 meters 0.03626596348171707 Centerline is valid? [True, True] Translation: X:330.72, Y:-42.79, Z:-21.79 [[ 9.95588112e-01 7.62403866e-02 5.46965691e-02 3.30716463e+02] [-7.59404502e-02 9.97083814e-01 -7.54427633e-03 -4.27855068e+01] [-5.51122422e-02 3.35730974e-03 9.98474521e-01 -2.17854518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42071405700005 meters 0.03848668374668695 Centerline is valid? [True, True] Translation: X:330.77, Y:-42.79, Z:-21.79 [[ 9.95370350e-01 7.78916725e-02 5.63094500e-02 3.30774645e+02] [-7.75765878e-02 9.96956170e-01 -7.76331648e-03 -4.27932062e+01] [-5.67427513e-02 3.35908004e-03 9.98383181e-01 -2.17884680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48071405700006 meters 0.03743625609387352 Centerline is valid? [True, True] Translation: X:330.83, Y:-42.80, Z:-21.79 [[ 9.95369710e-01 7.76126683e-02 5.67046234e-02 3.30833063e+02] [-7.72927402e-02 9.96977797e-01 -7.81690529e-03 -4.27969822e+01] [-5.71399414e-02 3.39785502e-03 9.98360397e-01 -2.17920235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54071405700006 meters 0.03742883390315619 Centerline is valid? [True, True] Translation: X:330.89, Y:-42.80, Z:-21.80 [[ 9.95434536e-01 7.60287911e-02 5.77036100e-02 3.30892249e+02] [-7.56950836e-02 9.97099317e-01 -7.95020022e-03 -4.28038182e+01] [-5.81406743e-02 3.54602429e-03 9.98302102e-01 -2.17965201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60071405700006 meters 0.04174925239039377 Centerline is valid? [True, True] Translation: X:330.95, Y:-42.82, Z:-21.80 [[ 9.95772609e-01 7.15103590e-02 5.76470232e-02 3.30950639e+02] [-7.11699044e-02 9.97432604e-01 -7.94008386e-03 -4.28165352e+01] [-5.80668187e-02 3.80378489e-03 9.98305452e-01 -2.18010520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66071405700006 meters 0.04794646686121703 Centerline is valid? [True, True] Translation: X:331.01, Y:-42.83, Z:-21.81 [[ 9.96272107e-01 6.48770284e-02 5.68582463e-02 3.31008586e+02] [-6.45350915e-02 9.97884708e-01 -7.83145833e-03 -4.28319417e+01] [-5.72460562e-02 4.13291137e-03 9.98351545e-01 -2.18067712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72071405700007 meters 0.04584697914218158 Centerline is valid? [True, True] Translation: X:331.07, Y:-42.84, Z:-21.81 [[ 9.96450377e-01 6.22810526e-02 5.66367015e-02 3.31070029e+02] [-6.19375347e-02 9.98049531e-01 -7.80228140e-03 -4.28357231e+01] [-5.70121676e-02 4.26664858e-03 9.98364367e-01 -2.18108380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78071405700007 meters 0.044596595218932944 Centerline is valid? [True, True] Translation: X:331.13, Y:-42.84, Z:-21.82 [[ 9.96640010e-01 5.94371967e-02 5.63552214e-02 3.31131150e+02] [-5.90924539e-02 9.98222309e-01 -7.76559615e-03 -4.28381851e+01] [-5.67166045e-02 4.40933550e-03 9.98380581e-01 -2.18157989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84071405700007 meters 0.04902242015649069 Centerline is valid? [True, True] Translation: X:331.19, Y:-42.85, Z:-21.82 [[ 9.96685704e-01 5.83906766e-02 5.66404165e-02 3.31190674e+02] [-5.80407033e-02 9.98283701e-01 -7.80576023e-03 -4.28489826e+01] [-5.69989882e-02 4.49244002e-03 9.98364129e-01 -2.18204095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9007140570001 meters 0.052085286684033276 Centerline is valid? [True, True] Translation: X:331.25, Y:-42.86, Z:-21.82 [[ 9.96718966e-01 5.64832657e-02 5.79736387e-02 3.31250263e+02] [-5.61132586e-02 9.98392424e-01 -7.99182954e-03 -4.28569948e+01] [-5.83318463e-02 4.71251830e-03 9.98286125e-01 -2.18227702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9607140570001 meters 0.05088298221770031 Centerline is valid? [True, True] Translation: X:331.31, Y:-42.86, Z:-21.83 [[ 9.96983915e-01 5.35072421e-02 5.62143118e-02 3.31310746e+02] [-5.31546883e-02 9.98556222e-01 -7.74927682e-03 -4.28613809e+01] [-5.65477933e-02 4.73785011e-03 9.98388652e-01 -2.18288673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.020714057 meters 0.0471154753406236 Centerline is valid? [True, True] Translation: X:331.37, Y:-42.86, Z:-21.84 [[ 9.97234079e-01 5.11326773e-02 5.39410810e-02 3.31371983e+02] [-5.08046497e-02 9.98680927e-01 -7.43591913e-03 -4.28620172e+01] [-5.42501473e-02 4.67489424e-03 9.98516433e-01 -2.18355685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.080714057 meters 0.048838916069198254 Centerline is valid? [True, True] Translation: X:331.43, Y:-42.87, Z:-21.84 [[ 9.97329011e-01 5.10260704e-02 5.22607325e-02 3.31433797e+02] [-5.07181390e-02 9.98687036e-01 -7.20241593e-03 -4.28689471e+01] [-5.25596271e-02 4.53261126e-03 9.98607501e-01 -2.18408516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.140714057 meters 0.045121405606871834 Centerline is valid? [True, True] Translation: X:331.50, Y:-42.87, Z:-21.84 [[ 9.97176275e-01 5.32752478e-02 5.29265870e-02 3.31495675e+02] [-5.29616961e-02 9.98569787e-01 -7.31023849e-03 -4.28668590e+01] [-5.32403454e-02 4.48651458e-03 9.98571648e-01 -2.18423296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.200714057 meters 0.04955879389497574 Centerline is valid? [True, True] Translation: X:331.55, Y:-42.88, Z:-21.85 [[ 9.97052355e-01 5.44523111e-02 5.40513353e-02 3.31554431e+02] [-5.41269835e-02 9.98506151e-01 -7.46570229e-03 -4.28796739e+01] [-5.43771155e-02 4.51806032e-03 9.98510249e-01 -2.18462224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26071405700003 meters 0.048332806359598746 Centerline is valid? [True, True] Translation: X:331.62, Y:-42.88, Z:-21.85 [[ 9.96877328e-01 5.62264662e-02 5.54452672e-02 3.31615277e+02] [-5.58864437e-02 9.98407706e-01 -7.66537011e-03 -4.28814451e+01] [-5.57879787e-02 4.54279486e-03 9.98432303e-01 -2.18485904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32071405700003 meters 0.04895019430303576 Centerline is valid? [True, True] Translation: X:331.68, Y:-42.89, Z:-21.85 [[ 9.96909251e-01 5.56242260e-02 5.54787336e-02 3.31676391e+02] [-5.52829287e-02 9.98441278e-01 -7.66889008e-03 -4.28885179e+01] [-5.58188338e-02 4.57816059e-03 9.98430417e-01 -2.18533414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38071405700003 meters 0.04636457283390895 Centerline is valid? [True, True] Translation: X:331.74, Y:-42.89, Z:-21.86 [[ 9.97146288e-01 5.26911475e-02 5.40640693e-02 3.31737452e+02] [-5.23623444e-02 9.98600128e-01 -7.48129633e-03 -4.28907613e+01] [-5.43825846e-02 4.62902545e-03 9.98509442e-01 -2.18580190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44071405700004 meters 0.052267556945095967 Centerline is valid? [True, True] Translation: X:331.79, Y:-42.91, Z:-21.86 [[ 9.97436418e-01 4.89473961e-02 5.21990796e-02 3.31794589e+02] [-4.86357815e-02 9.98790455e-01 -7.22411840e-03 -4.29055705e+01] [-5.24895442e-02 4.66685576e-03 9.98610569e-01 -2.18649899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50071405700004 meters 0.056403045329209985 Centerline is valid? [True, True] Translation: X:331.85, Y:-42.92, Z:-21.87 [[ 9.97574934e-01 4.60918834e-02 5.21516076e-02 3.31852784e+02] [-4.57770701e-02 9.98925620e-01 -7.21560723e-03 -4.29177899e+01] [-5.24281579e-02 4.81076111e-03 9.98613111e-01 -2.18698038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56071405700004 meters 0.05567233124179306 Centerline is valid? [True, True] Translation: X:331.92, Y:-42.92, Z:-21.87 [[ 9.97509605e-01 4.65607075e-02 5.29781929e-02 3.31915022e+02] [-4.62366715e-02 9.98903646e-01 -7.32634722e-03 -4.29242567e+01] [-5.32612300e-02 4.85856643e-03 9.98568794e-01 -2.18736938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62071405700004 meters 0.05661743138618915 Centerline is valid? [True, True] Translation: X:331.98, Y:-42.93, Z:-21.88 [[ 9.97357257e-01 4.80810993e-02 5.44675045e-02 3.31976375e+02] [-4.77399606e-02 9.98831280e-01 -7.54779948e-03 -4.29311247e+01] [-5.47667538e-02 4.92757607e-03 9.98487016e-01 -2.18772420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68071405700005 meters 0.04877255037883526 Centerline is valid? [True, True] Translation: X:332.04, Y:-42.93, Z:-21.88 [[ 9.97173143e-01 5.10968721e-02 5.50893204e-02 3.32037994e+02] [-5.07522678e-02 9.98682071e-01 -7.63726352e-03 -4.29253088e+01] [-5.54069569e-02 4.81976613e-03 9.98452222e-01 -2.18800201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74071405700005 meters 0.04861464204763758 Centerline is valid? [True, True] Translation: X:332.10, Y:-42.93, Z:-21.88 [[ 9.97014227e-01 5.41798890e-02 5.50197228e-02 3.32098053e+02] [-5.38408026e-02 9.98520398e-01 -7.62777561e-03 -4.29298917e+01] [-5.53515876e-02 4.64269477e-03 9.98456132e-01 -2.18849308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80071405700005 meters 0.04480327675404011 Centerline is valid? [True, True] Translation: X:332.16, Y:-42.93, Z:-21.89 [[ 9.96930644e-01 5.66354967e-02 5.40528584e-02 3.32159013e+02] [-5.63118058e-02 9.98385106e-01 -7.49398981e-03 -4.29301737e+01] [-5.43899946e-02 4.42717402e-03 9.98509954e-01 -2.18893892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86071405700005 meters 0.04740991624629509 Centerline is valid? [True, True] Translation: X:332.22, Y:-42.94, Z:-21.89 [[ 9.96845316e-01 5.83638409e-02 5.37873326e-02 3.32218502e+02] [-5.80458838e-02 9.98286072e-01 -7.45606935e-03 -4.29390294e+01] [-5.41303099e-02 4.31041455e-03 9.98524577e-01 -2.18947187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92071405700005 meters 0.0489498423284651 Centerline is valid? [True, True] Translation: X:332.28, Y:-42.95, Z:-21.90 [[ 9.96708081e-01 5.98855889e-02 5.46508688e-02 3.32277226e+02] [-5.95592029e-02 9.98195973e-01 -7.58295071e-03 -4.29470202e+01] [-5.50063867e-02 4.30302606e-03 9.98476731e-01 -2.18984709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98071405700006 meters 0.04567808782005344 Centerline is valid? [True, True] Translation: X:332.34, Y:-42.95, Z:-21.90 [[ 9.96670023e-01 5.98251585e-02 5.54059255e-02 3.32337871e+02] [-5.94896508e-02 9.98199328e-01 -7.68656872e-03 -4.29489138e+01] [-5.57660078e-02 4.36489346e-03 9.98434324e-01 -2.19011044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04071405700006 meters 0.04898072890244641 Centerline is valid? [True, True] Translation: X:332.40, Y:-42.96, Z:-21.91 [[ 9.96793899e-01 5.79688461e-02 5.51501129e-02 3.32396441e+02] [-5.76336121e-02 9.98308483e-01 -7.65107937e-03 -4.29604758e+01] [-5.55003498e-02 4.44804902e-03 9.98448760e-01 -2.19053918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10071405700006 meters 0.049276706047719054 Centerline is valid? [True, True] Translation: X:332.46, Y:-42.97, Z:-21.91 [[ 9.96834373e-01 5.92513747e-02 5.30142102e-02 3.32455024e+02] [-5.89434365e-02 9.98234230e-01 -7.35476154e-03 -4.29738316e+01] [-5.33563790e-02 4.20663938e-03 9.98566673e-01 -2.19149721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16071405700006 meters 0.04882433909353208 Centerline is valid? [True, True] Translation: X:332.51, Y:-42.99, Z:-21.92 [[ 9.96588275e-01 6.20849520e-02 5.43807856e-02 3.32514730e+02] [-6.17650997e-02 9.98062200e-01 -7.54438660e-03 -4.29863308e+01] [-5.47437994e-02 4.15981258e-03 9.98491769e-01 -2.19158811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22071405700007 meters 0.04380583362100354 Centerline is valid? [True, True] Translation: X:332.58, Y:-42.99, Z:-21.92 [[ 9.96261604e-01 6.75335633e-02 5.38705276e-02 3.32575051e+02] [-6.72276230e-02 9.97709676e-01 -7.47328915e-03 -4.29909360e+01] [-5.42518445e-02 3.82376352e-03 9.98519963e-01 -2.19184842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28071405700007 meters 0.04439384222923168 Centerline is valid? [True, True] Translation: X:332.63, Y:-43.01, Z:-21.93 [[ 9.96000951e-01 7.23127900e-02 5.24687208e-02 3.32631906e+02] [-7.20291437e-02 9.97375963e-01 -7.27943999e-03 -4.30104958e+01] [-5.28574376e-02 3.47105211e-03 9.98596036e-01 -2.19285641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34071405700007 meters 0.037492967098088165 Centerline is valid? [True, True] Translation: X:332.69, Y:-43.01, Z:-21.93 [[ 9.95743276e-01 7.39389872e-02 5.50304946e-02 3.32692881e+02] [-7.36294684e-02 9.97256451e-01 -7.63365682e-03 -4.30111192e+01] [-5.54439406e-02 3.54929638e-03 9.98455493e-01 -2.19272011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4007140570001 meters 0.03722023896488708 Centerline is valid? [True, True] Translation: X:332.75, Y:-43.02, Z:-21.93 [[ 9.95553391e-01 7.65637884e-02 5.48765250e-02 3.32752004e+02] [-7.62600251e-02 9.97058913e-01 -7.61129099e-03 -4.30208130e+01] [-5.52978777e-02 3.39256138e-03 9.98464138e-01 -2.19290228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4607140570001 meters 0.039409906547922084 Centerline is valid? [True, True] Translation: X:332.81, Y:-43.04, Z:-21.93 [[ 9.95595389e-01 7.60898998e-02 5.47736168e-02 3.32807106e+02] [-7.57865803e-02 9.97095123e-01 -7.59668951e-03 -4.30410832e+01] [-5.51925375e-02 3.41212394e-03 9.98469900e-01 -2.19338637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.520714057 meters 0.039812635216720973 Centerline is valid? [True, True] Translation: X:332.87, Y:-43.05, Z:-21.94 [[ 9.95737553e-01 7.40114983e-02 5.50365652e-02 3.32866024e+02] [-7.37023963e-02 9.97251109e-01 -7.62774801e-03 -4.30513168e+01] [-5.54498167e-02 3.53890840e-03 9.98455204e-01 -2.19371676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.580714057 meters 0.04309985087772231 Centerline is valid? [True, True] Translation: X:332.92, Y:-43.07, Z:-21.94 [[ 9.95926940e-01 7.18042905e-02 5.45313973e-02 3.32922993e+02] [-7.14976656e-02 9.97412149e-01 -7.55565487e-03 -4.30724665e+01] [-5.49328066e-02 3.62601263e-03 9.98483469e-01 -2.19426095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.640714057 meters 0.03710143197822418 Centerline is valid? [True, True] Translation: X:332.98, Y:-43.07, Z:-21.94 [[ 9.95845738e-01 7.27582444e-02 5.47494589e-02 3.32982535e+02] [-7.24506173e-02 9.97343155e-01 -7.58543664e-03 -4.30733997e+01] [-5.51559012e-02 3.58729266e-03 9.98471311e-01 -2.19428679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.700714057 meters 0.037002436428389886 Centerline is valid? [True, True] Translation: X:333.04, Y:-43.08, Z:-21.95 [[ 9.95627968e-01 7.58154349e-02 5.45616047e-02 3.33041824e+02] [-7.55147243e-02 9.97116065e-01 -7.55506737e-03 -4.30804797e+01] [-5.49770433e-02 3.40183184e-03 9.98481824e-01 -2.19457868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76071405700003 meters 0.03662112898359803 Centerline is valid? [True, True] Translation: X:333.10, Y:-43.09, Z:-21.95 [[ 9.95179207e-01 8.14853156e-02 5.45755421e-02 3.33100036e+02] [-8.11930617e-02 9.96669761e-01 -7.55472558e-03 -4.30900426e+01] [-5.50093917e-02 3.08715045e-03 9.98481065e-01 -2.19499092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82071405700003 meters 0.03240567613136202 Centerline is valid? [True, True] Translation: X:333.16, Y:-43.09, Z:-21.95 [[ 9.94495109e-01 8.88772707e-02 5.55005296e-02 3.33160291e+02] [-8.85865475e-02 9.96038864e-01 -7.68150464e-03 -4.30932984e+01] [-5.59633956e-02 2.72261850e-03 9.98429109e-01 -2.19514843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88071405700003 meters 0.032108890042755515 Centerline is valid? [True, True] Translation: X:333.22, Y:-43.10, Z:-21.95 [[ 9.94246090e-01 9.16929756e-02 5.53815019e-02 3.33219637e+02] [-9.14078877e-02 9.95784040e-01 -7.66441407e-03 -4.31008306e+01] [-5.58507887e-02 2.55800762e-03 9.98435850e-01 -2.19546371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94071405700004 meters 0.03192473246360375 Centerline is valid? [True, True] Translation: X:333.28, Y:-43.11, Z:-21.96 [[ 9.94211909e-01 9.24613350e-02 5.47136383e-02 3.33277348e+02] [-9.21842749e-02 9.95713177e-01 -7.57152658e-03 -4.31112536e+01] [-5.51791641e-02 2.48396481e-03 9.98473380e-01 -2.19593557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00071405700004 meters 0.03570936688043087 Centerline is valid? [True, True] Translation: X:333.33, Y:-43.13, Z:-21.96 [[ 9.94670355e-01 8.76739196e-02 5.42601986e-02 3.33333916e+02] [-8.73945626e-02 9.96145507e-01 -7.50458964e-03 -4.31302865e+01] [-5.47090099e-02 2.72254651e-03 9.98498629e-01 -2.19635060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06071405700004 meters 0.033891007875381345 Centerline is valid? [True, True] Translation: X:333.39, Y:-43.14, Z:-21.97 [[ 9.95024724e-01 8.41729135e-02 5.32983901e-02 3.33393705e+02] [-8.38984832e-02 9.96447055e-01 -7.36957946e-03 -4.31374475e+01] [-5.37293428e-02 2.86125968e-03 9.98551436e-01 -2.19670330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12071405700004 meters 0.03603288017942816 Centerline is valid? [True, True] Translation: X:333.45, Y:-43.15, Z:-21.97 [[ 9.95387274e-01 8.04058264e-02 5.23361959e-02 3.33452466e+02] [-8.01360855e-02 9.96757671e-01 -7.23561351e-03 -4.31503825e+01] [-5.27482902e-02 3.00821973e-03 9.98603309e-01 -2.19722995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18071405700005 meters 0.03852026990789415 Centerline is valid? [True, True] Translation: X:333.51, Y:-43.16, Z:-21.98 [[ 9.95730932e-01 7.67619755e-02 5.12592498e-02 3.33511415e+02] [-7.64984699e-02 9.97044520e-01 -7.08583012e-03 -4.31617354e+01] [-5.16516764e-02 3.13432605e-03 9.98660243e-01 -2.19755428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24071405700005 meters 0.03973825316259158 Centerline is valid? [True, True] Translation: X:333.57, Y:-43.17, Z:-21.98 [[ 9.95959953e-01 7.40236386e-02 5.08357539e-02 3.33571109e+02] [-7.37609781e-02 9.97251197e-01 -7.02619638e-03 -4.31710385e+01] [-5.12161211e-02 3.24811528e-03 9.98682311e-01 -2.19791642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30071405700005 meters 0.03628935307376141 Centerline is valid? [True, True] Translation: X:333.63, Y:-43.17, Z:-21.98 [[ 9.96134622e-01 7.19394932e-02 5.04036215e-02 3.33630742e+02] [-7.16785899e-02 9.97403448e-01 -6.96722894e-03 -4.31723645e+01] [-5.07739648e-02 3.32743745e-03 9.98704627e-01 -2.19822948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36071405700005 meters 0.038343070408347446 Centerline is valid? [True, True] Translation: X:333.69, Y:-43.18, Z:-21.99 [[ 9.96178761e-01 7.12002670e-02 5.05806131e-02 3.33687787e+02] [-7.09366975e-02 9.97456332e-01 -6.98935164e-03 -4.31806743e+01] [-5.09495965e-02 3.37462201e-03 9.98695524e-01 -2.19852062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42071405700005 meters 0.038208936153829 Centerline is valid? [True, True] Translation: X:333.75, Y:-43.19, Z:-21.99 [[ 9.96165565e-01 6.97372789e-02 5.28287643e-02 3.33746251e+02] [-6.94479654e-02 9.97558904e-01 -7.29473514e-03 -4.31856108e+01] [-5.32085192e-02 3.59791376e-03 9.98576942e-01 -2.19857731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48071405700006 meters 0.0379639465310331 Centerline is valid? [True, True] Translation: X:333.81, Y:-43.19, Z:-21.99 [[ 9.96356334e-01 6.64948907e-02 5.34086694e-02 3.33806656e+02] [-6.61948044e-02 9.97779500e-01 -7.37007928e-03 -4.31916071e+01] [-5.37801480e-02 3.80784875e-03 9.98545540e-01 -2.19879022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54071405700006 meters 0.04084688350182866 Centerline is valid? [True, True] Translation: X:333.86, Y:-43.20, Z:-21.99 [[ 9.96619112e-01 6.37443134e-02 5.18363500e-02 3.33864181e+02] [-6.34579334e-02 9.97958876e-01 -7.15355425e-03 -4.32035925e+01] [-5.21865440e-02 3.83994124e-03 9.98629971e-01 -2.19947522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60071405700006 meters 0.04374696790095656 Centerline is valid? [True, True] Translation: X:333.92, Y:-43.21, Z:-22.00 [[ 9.96693745e-01 6.40476941e-02 4.99947191e-02 3.33922269e+02] [-6.37818029e-02 9.97940032e-01 -6.89740607e-03 -4.32126002e+01] [-5.03334945e-02 3.68584817e-03 9.98725665e-01 -2.20002594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66071405700006 meters 0.042178555447121444 Centerline is valid? [True, True] Translation: X:333.98, Y:-43.22, Z:-22.00 [[ 9.96635038e-01 6.54026238e-02 4.94074684e-02 3.33982240e+02] [-6.51446344e-02 9.97852555e-01 -6.81577382e-03 -4.32155116e+01] [-4.97471380e-02 3.57420753e-03 9.98755449e-01 -2.20029789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72071405700007 meters 0.042153923088601344 Centerline is valid? [True, True] Translation: X:334.04, Y:-43.22, Z:-22.01 [[ 9.96173027e-01 7.05317586e-02 5.16194804e-02 3.34041680e+02] [-7.02570733e-02 9.97503516e-01 -7.11893598e-03 -4.32191479e+01] [-5.19927243e-02 3.46505838e-03 9.98641452e-01 -2.20050200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78071405700007 meters 0.040599641653112604 Centerline is valid? [True, True] Translation: X:334.10, Y:-43.22, Z:-22.01 [[ 9.95976888e-01 7.24025702e-02 5.28006282e-02 3.34101996e+02] [-7.21178534e-02 9.97369547e-01 -7.28028087e-03 -4.32221569e+01] [-5.31888497e-02 3.44312352e-03 9.98578535e-01 -2.20070798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84071405700007 meters 0.04263957262246645 Centerline is valid? [True, True] Translation: X:334.16, Y:-43.23, Z:-22.01 [[ 9.95868580e-01 7.27351994e-02 5.43632410e-02 3.34158745e+02] [-7.24339713e-02 9.97345059e-01 -7.49358612e-03 -4.32310130e+01] [-5.47639572e-02 3.52488153e-03 9.98493107e-01 -2.20098462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9007140570001 meters 0.04030159131911303 Centerline is valid? [True, True] Translation: X:334.22, Y:-43.24, Z:-22.01 [[ 9.96067176e-01 6.95791592e-02 5.48536414e-02 3.34218325e+02] [-6.92680039e-02 9.97569473e-01 -7.55574605e-03 -4.32373537e+01] [-5.52460407e-02 3.72642838e-03 9.98465818e-01 -2.20140632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9607140570001 meters 0.039364358232795375 Centerline is valid? [True, True] Translation: X:334.28, Y:-43.24, Z:-22.02 [[ 9.96524143e-01 6.42761882e-02 5.29924864e-02 3.34278664e+02] [-6.39784154e-02 9.97924595e-01 -7.29826944e-03 -4.32437076e+01] [-5.33516105e-02 3.88252639e-03 9.98568241e-01 -2.20186852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.020714057 meters 0.04214821911184018 Centerline is valid? [True, True] Translation: X:334.34, Y:-43.26, Z:-22.02 [[ 9.96847769e-01 6.09527028e-02 5.07867519e-02 3.34337436e+02] [-6.06749357e-02 9.98133071e-01 -6.99462355e-03 -4.32551810e+01] [-5.11182778e-02 3.89109198e-03 9.98685026e-01 -2.20242500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.080714057 meters 0.04512839948124175 Centerline is valid? [True, True] Translation: X:334.40, Y:-43.27, Z:-22.03 [[ 9.96906145e-01 6.02249595e-02 5.05083371e-02 3.34395058e+02] [-5.99493025e-02 9.98177184e-01 -6.95632573e-03 -4.32685952e+01] [-5.08352141e-02 3.90686429e-03 9.98699413e-01 -2.20301362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.140714057 meters 0.04421799190112176 Centerline is valid? [True, True] Translation: X:334.45, Y:-43.27, Z:-22.03 [[ 9.96760627e-01 6.21397398e-02 5.10578561e-02 3.34454419e+02] [-6.18605764e-02 9.98060033e-01 -7.03131323e-03 -4.32733337e+01] [-5.13957296e-02 3.85006777e-03 9.98670945e-01 -2.20324141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.200714057 meters 0.04230815215258469 Centerline is valid? [True, True] Translation: X:334.52, Y:-43.28, Z:-22.04 [[ 9.96509968e-01 6.50962630e-02 5.22528509e-02 3.34515012e+02] [-6.48080207e-02 9.97871821e-01 -7.19363487e-03 -4.32770367e+01] [-5.26099263e-02 3.78212501e-03 9.98607977e-01 -2.20353022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26071405700003 meters 0.0398473302135623 Centerline is valid? [True, True] Translation: X:334.58, Y:-43.28, Z:-22.04 [[ 9.96184284e-01 6.87203340e-02 5.37995121e-02 3.34575283e+02] [-6.84200244e-02 9.97629113e-01 -7.40625278e-03 -4.32806810e+01] [-5.41809197e-02 3.69702869e-03 9.98524291e-01 -2.20390475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32071405700003 meters 0.04051619381208278 Centerline is valid? [True, True] Translation: X:334.63, Y:-43.29, Z:-22.04 [[ 9.96019446e-01 7.09625901e-02 5.39404760e-02 3.34633545e+02] [-7.06639709e-02 9.97472537e-01 -7.42569834e-03 -4.32876459e+01] [-5.43310902e-02 3.58449172e-03 9.98516542e-01 -2.20434131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38071405700003 meters 0.03910211889079112 Centerline is valid? [True, True] Translation: X:334.69, Y:-43.29, Z:-22.05 [[ 9.96020003e-01 7.18285109e-02 5.27713811e-02 3.34692225e+02] [-7.15439943e-02 9.97410999e-01 -7.26335659e-03 -4.32937469e+01] [-5.31564720e-02 3.45897306e-03 9.98580205e-01 -2.20466910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44071405700004 meters 0.0388265572110751 Centerline is valid? [True, True] Translation: X:334.75, Y:-43.30, Z:-22.05 [[ 9.95981829e-01 7.26247562e-02 5.24007793e-02 3.34750230e+02] [-7.23455188e-02 9.97353579e-01 -7.20864083e-03 -4.33009970e+01] [-5.27856305e-02 3.38871372e-03 9.98600117e-01 -2.20514140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50071405700004 meters 0.03950376922890603 Centerline is valid? [True, True] Translation: X:334.81, Y:-43.31, Z:-22.06 [[ 9.95891374e-01 7.36213543e-02 5.27282497e-02 3.34808537e+02] [-7.33402029e-02 9.97280629e-01 -7.24991194e-03 -4.33055910e+01] [-5.31186104e-02 3.35302423e-03 9.98582581e-01 -2.20551440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56071405700004 meters 0.0384045045618198 Centerline is valid? [True, True] Translation: X:334.87, Y:-43.31, Z:-22.06 [[ 9.95786090e-01 7.45207320e-02 5.34483251e-02 3.34867198e+02] [-7.42333340e-02 9.97213849e-01 -7.34512365e-03 -4.33087280e+01] [-5.38467740e-02 3.34652459e-03 9.98543602e-01 -2.20574727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62071405700004 meters 0.03908440905259471 Centerline is valid? [True, True] Translation: X:334.92, Y:-43.31, Z:-22.06 [[ 9.95555177e-01 7.57524670e-02 5.59593964e-02 3.34925000e+02] [-7.54395674e-02 9.97120753e-01 -7.68602100e-03 -4.33145405e+01] [-5.63805105e-02 3.43030534e-03 9.98403461e-01 -2.20596840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68071405700005 meters 0.04085058717183409 Centerline is valid? [True, True] Translation: X:334.98, Y:-43.32, Z:-22.06 [[ 9.95542030e-01 7.50716009e-02 5.70992274e-02 3.34982320e+02] [-7.47449206e-02 9.97171877e-01 -7.83862103e-03 -4.33212048e+01] [-5.75262016e-02 3.53579947e-03 9.98337736e-01 -2.20627479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74071405700005 meters 0.04347363743895543 Centerline is valid? [True, True] Translation: X:335.04, Y:-43.33, Z:-22.07 [[ 9.95874315e-01 7.23079632e-02 5.48261627e-02 3.35039991e+02] [-7.20029118e-02 9.97376061e-01 -7.52160974e-03 -4.33317213e+01] [-5.52261745e-02 3.54293459e-03 9.98467585e-01 -2.20695029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80071405700005 meters 0.045454514631754935 Centerline is valid? [True, True] Translation: X:335.10, Y:-43.34, Z:-22.08 [[ 9.96190296e-01 6.95823467e-02 5.25660612e-02 3.35098931e+02] [-6.92982789e-02 9.97569932e-01 -7.20966851e-03 -4.33420897e+01] [-5.29399877e-02 3.53946424e-03 9.98591423e-01 -2.20760525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86071405700005 meters 0.04648605865959515 Centerline is valid? [True, True] Translation: X:335.16, Y:-43.35, Z:-22.08 [[ 9.96275295e-01 6.87946973e-02 5.19887139e-02 3.35156775e+02] [-6.85157710e-02 9.97624551e-01 -7.13056888e-03 -4.33490150e+01] [-5.23557627e-02 3.54196280e-03 9.98622215e-01 -2.20799919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92071405700005 meters 0.03747166858742269 Centerline is valid? [True, True] Translation: X:335.22, Y:-43.34, Z:-22.08 [[ 9.96265534e-01 6.91012472e-02 5.17687446e-02 3.35217466e+02] [-6.88253595e-02 9.97603492e-01 -7.09524711e-03 -4.33382628e+01] [-5.21349708e-02 3.50574770e-03 9.98633894e-01 -2.20802670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98071405700006 meters 0.03998677325463462 Centerline is valid? [True, True] Translation: X:335.27, Y:-43.35, Z:-22.08 [[ 9.96335290e-01 6.75005453e-02 5.25325257e-02 3.35274923e+02] [-6.72144464e-02 9.97712602e-01 -7.19591707e-03 -4.33488633e+01] [-5.28980913e-02 3.63860149e-03 9.98593287e-01 -2.20833796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04071405700006 meters 0.04038027743084221 Centerline is valid? [True, True] Translation: X:335.33, Y:-43.36, Z:-22.09 [[ 9.96457683e-01 6.46984125e-02 5.37233772e-02 3.35334343e+02] [-6.43953578e-02 9.97897362e-01 -7.35482544e-03 -4.33571006e+01] [-5.40862619e-02 3.86923622e-03 9.98528770e-01 -2.20867631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10071405700006 meters 0.04741055598563689 Centerline is valid? [True, True] Translation: X:335.39, Y:-43.37, Z:-22.09 [[ 9.96729331e-01 5.98847850e-02 5.42628131e-02 3.35391745e+02] [-5.95685705e-02 9.98196581e-01 -7.42766901e-03 -4.33745102e+01] [-5.46097589e-02 4.17101735e-03 9.98499062e-01 -2.20904591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16071405700006 meters 0.04447848266042926 Centerline is valid? [True, True] Translation: X:335.45, Y:-43.38, Z:-22.09 [[ 9.96873272e-01 5.74894114e-02 5.42092965e-02 3.35451612e+02] [-5.71703532e-02 9.98336868e-01 -7.41942673e-03 -4.33778457e+01] [-5.45456778e-02 4.29706357e-03 9.98502030e-01 -2.20930996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22071405700007 meters 0.04235511376891479 Centerline is valid? [True, True] Translation: X:335.51, Y:-43.38, Z:-22.10 [[ 9.96929002e-01 5.70241462e-02 5.36731958e-02 3.35512097e+02] [-5.67107674e-02 9.98363632e-01 -7.34491312e-03 -4.33828181e+01] [-5.40042040e-02 4.27850879e-03 9.98531542e-01 -2.20968756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28071405700007 meters 0.044748865334026174 Centerline is valid? [True, True] Translation: X:335.57, Y:-43.39, Z:-22.10 [[ 9.96866599e-01 5.92727975e-02 5.23805167e-02 3.35571385e+02] [-5.89774212e-02 9.98233580e-01 -7.16822848e-03 -4.33928139e+01] [-5.27128716e-02 4.05649976e-03 9.98601471e-01 -2.21023039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34071405700007 meters 0.040283062800645156 Centerline is valid? [True, True] Translation: X:335.63, Y:-43.39, Z:-22.11 [[ 9.96508345e-01 6.57628844e-02 5.14427881e-02 3.35632320e+02] [-6.54866440e-02 9.97828619e-01 -7.03890420e-03 -4.33905191e+01] [-5.17939848e-02 3.64551123e-03 9.98651137e-01 -2.21056963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4007140570001 meters 0.037279512133065934 Centerline is valid? [True, True] Translation: X:335.69, Y:-43.39, Z:-22.11 [[ 9.95992999e-01 7.27348188e-02 5.20345238e-02 3.35693233e+02] [-7.24616745e-02 9.97345789e-01 -7.11921015e-03 -4.33916185e+01] [-5.24142276e-02 3.32017475e-03 9.98619910e-01 -2.21085041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4607140570001 meters 0.036325584590914804 Centerline is valid? [True, True] Translation: X:335.75, Y:-43.40, Z:-22.11 [[ 9.95615750e-01 7.68931094e-02 5.32609365e-02 3.35753376e+02] [-7.66128621e-02 9.97034289e-01 -7.28666271e-03 -4.33969825e+01] [-5.36632741e-02 3.17424338e-03 9.98554043e-01 -2.21115145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.520714057 meters 0.037236615383552676 Centerline is valid? [True, True] Translation: X:335.81, Y:-43.41, Z:-22.12 [[ 9.95261858e-01 8.13997003e-02 5.31782220e-02 3.35811588e+02] [-8.11267385e-02 9.96677242e-01 -7.27516518e-03 -4.34051859e+01] [-5.35937199e-02 2.92651870e-03 9.98558535e-01 -2.21161351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.580714057 meters 0.034489090472684635 Centerline is valid? [True, True] Translation: X:335.87, Y:-43.41, Z:-22.12 [[ 9.95138374e-01 8.32248019e-02 5.26616486e-02 3.35870606e+02] [-8.29597106e-02 9.96526865e-01 -7.20371406e-03 -4.34090060e+01] [-5.30782752e-02 2.79989717e-03 9.98586430e-01 -2.21207390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.640714057 meters 0.03442114407865006 Centerline is valid? [True, True] Translation: X:335.93, Y:-43.42, Z:-22.13 [[ 9.95217191e-01 8.24453791e-02 5.23975372e-02 3.35927912e+02] [-8.21819919e-02 9.96591581e-01 -7.16521359e-03 -4.34184522e+01] [-5.28096832e-02 2.82480976e-03 9.98600600e-01 -2.21252722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.700714057 meters 0.03495210280843039 Centerline is valid? [True, True] Translation: X:335.99, Y:-43.43, Z:-22.13 [[ 9.95569957e-01 7.85659180e-02 5.16512955e-02 3.35986917e+02] [-7.83050671e-02 9.96904461e-01 -7.05774838e-03 -4.34299782e+01] [-5.20459054e-02 2.98192409e-03 9.98640241e-01 -2.21300395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76071405700003 meters 0.035781890546893576 Centerline is valid? [True, True] Translation: X:336.05, Y:-43.44, Z:-22.13 [[ 9.96068494e-01 7.21856009e-02 5.13497183e-02 3.36046049e+02] [-7.19194209e-02 9.97385776e-01 -7.01507664e-03 -4.34442196e+01] [-5.17218661e-02 3.29445482e-03 9.98656095e-01 -2.21348074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82071405700003 meters 0.04011512358433903 Centerline is valid? [True, True] Translation: X:336.10, Y:-43.46, Z:-22.14 [[ 9.96637555e-01 6.48059945e-02 5.01374887e-02 3.36102597e+02] [-6.45429803e-02 9.97891425e-01 -6.84892984e-03 -4.34636238e+01] [-5.04756217e-02 3.58987775e-03 9.98718842e-01 -2.21398852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88071405700003 meters 0.042777128507667184 Centerline is valid? [True, True] Translation: X:336.16, Y:-43.48, Z:-22.14 [[ 9.96935632e-01 6.03725797e-02 4.97443112e-02 3.36161413e+02] [-6.01081965e-02 9.98168739e-01 -6.79512463e-03 -4.34775226e+01] [-5.00634556e-02 3.78426103e-03 9.98738870e-01 -2.21439265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94071405700004 meters 0.043615592529638376 Centerline is valid? [True, True] Translation: X:336.22, Y:-43.49, Z:-22.15 [[ 9.97157056e-01 5.56948196e-02 5.07532588e-02 3.36220633e+02] [-5.54135702e-02 9.98439417e-01 -6.93296965e-03 -4.34912301e+01] [-5.10601847e-02 4.10084033e-03 9.98687159e-01 -2.21467038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00071405700004 meters 0.04541462064960442 Centerline is valid? [True, True] Translation: X:336.28, Y:-43.51, Z:-22.15 [[ 9.97189573e-01 5.37662989e-02 5.21741455e-02 3.36278990e+02] [-5.34664277e-02 9.98544211e-01 -7.12733071e-03 -4.35053320e+01] [-5.24814011e-02 4.31773469e-03 9.98612567e-01 -2.21501895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06071405700004 meters 0.045533836291774 Centerline is valid? [True, True] Translation: X:336.34, Y:-43.52, Z:-22.15 [[ 9.97069522e-01 5.49821455e-02 5.31914729e-02 3.36339123e+02] [-5.46722408e-02 9.98477925e-01 -7.26495426e-03 -4.35156646e+01] [-5.35099543e-02 4.33556745e-03 9.98557904e-01 -2.21530900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12071405700004 meters 0.04415413497652781 Centerline is valid? [True, True] Translation: X:336.40, Y:-43.52, Z:-22.16 [[ 9.97000402e-01 5.56102734e-02 5.38302513e-02 3.36399921e+02] [-5.52937469e-02 9.98443057e-01 -7.35280644e-03 -4.35245038e+01] [-5.41553323e-02 4.35427468e-03 9.98523029e-01 -2.21560206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18071405700005 meters 0.04467348724965683 Centerline is valid? [True, True] Translation: X:336.46, Y:-43.54, Z:-22.16 [[ 9.97140765e-01 5.48582310e-02 5.19698873e-02 3.36460323e+02] [-5.45622482e-02 9.98485142e-01 -7.09808329e-03 -4.35371638e+01] [-5.22805486e-02 4.24219431e-03 9.98623427e-01 -2.21627170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24071405700005 meters 0.0438086707121926 Centerline is valid? [True, True] Translation: X:336.52, Y:-43.55, Z:-22.17 [[ 9.97248338e-01 5.50139677e-02 4.96911945e-02 3.36520026e+02] [-5.47428854e-02 9.98477322e-01 -6.80095618e-03 -4.35477900e+01] [-4.99896784e-02 4.06200289e-03 9.98741474e-01 -2.21687417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30071405700005 meters 0.04557127820057407 Centerline is valid? [True, True] Translation: X:336.58, Y:-43.56, Z:-22.17 [[ 9.97285066e-01 5.54644758e-02 4.84374823e-02 3.36579242e+02] [-5.52073996e-02 9.98452895e-01 -6.63022298e-03 -4.35597492e+01] [-4.87302863e-02 3.93811492e-03 9.98804210e-01 -2.21740375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36071405700005 meters 0.045404884206785914 Centerline is valid? [True, True] Translation: X:336.64, Y:-43.57, Z:-22.18 [[ 9.97236271e-01 5.68884457e-02 4.77862362e-02 3.36639147e+02] [-5.66398115e-02 9.98373242e-01 -6.54221019e-03 -4.35690162e+01] [-4.80806757e-02 3.81752589e-03 9.98836160e-01 -2.21782549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42071405700005 meters 0.04484665274792773 Centerline is valid? [True, True] Translation: X:336.70, Y:-43.58, Z:-22.18 [[ 9.96911130e-01 6.08538676e-02 4.96488285e-02 3.36699216e+02] [-6.05903334e-02 9.98139574e-01 -6.79725464e-03 -4.35757530e+01] [-4.99700997e-02 3.76801973e-03 9.98743606e-01 -2.21796020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48071405700006 meters 0.03657573865809087 Centerline is valid? [True, True] Translation: X:336.76, Y:-43.57, Z:-22.18 [[ 9.96298312e-01 6.82786344e-02 5.22273976e-02 3.36761054e+02] [-6.79971274e-02 9.97659895e-01 -7.15011553e-03 -4.35710170e+01] [-5.25933801e-02 3.57233502e-03 9.98609621e-01 -2.21796529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54071405700006 meters 0.03952923316888911 Centerline is valid? [True, True] Translation: X:336.82, Y:-43.58, Z:-22.18 [[ 9.95625262e-01 7.77964713e-02 5.17498387e-02 3.36819676e+02] [-7.75328803e-02 9.96964623e-01 -7.08476313e-03 -4.35818340e+01] [-5.21439279e-02 3.04145510e-03 9.98634949e-01 -2.21847846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60071405700006 meters 0.033036122080863366 Centerline is valid? [True, True] Translation: X:336.88, Y:-43.58, Z:-22.19 [[ 9.95123140e-01 8.37520827e-02 5.21106903e-02 3.36880979e+02] [-8.34930066e-02 9.96482836e-01 -7.13270002e-03 -4.35787035e+01] [-5.25247870e-02 2.74703663e-03 9.98615842e-01 -2.21872689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66071405700006 meters 0.03129545231267189 Centerline is valid? [True, True] Translation: X:336.94, Y:-43.58, Z:-22.19 [[ 9.94385590e-01 9.14473986e-02 5.32416413e-02 3.36940301e+02] [-9.11879118e-02 9.95807035e-01 -7.28785758e-03 -4.35836670e+01] [-5.36848566e-02 2.39194647e-03 9.98555063e-01 -2.21903842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72071405700007 meters 0.0306222204444035 Centerline is valid? [True, True] Translation: X:337.00, Y:-43.59, Z:-22.19 [[ 9.93783114e-01 9.72630673e-02 5.41758071e-02 3.36998933e+02] [-9.70031015e-02 9.95256466e-01 -7.41386959e-03 -4.35893567e+01] [-5.46399180e-02 2.11255710e-03 9.98503889e-01 -2.21934770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78071405700007 meters 0.030355261114096897 Centerline is valid? [True, True] Translation: X:337.06, Y:-43.60, Z:-22.20 [[ 9.93557537e-01 9.92207037e-02 5.47601459e-02 3.37056731e+02] [-9.89580994e-02 9.95063389e-01 -7.49311858e-03 -4.35987346e+01] [-5.52332888e-02 2.02588448e-03 9.98471422e-01 -2.21982170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84071405700007 meters 0.031523270653517385 Centerline is valid? [True, True] Translation: X:337.11, Y:-43.61, Z:-22.20 [[ 9.93805755e-01 9.74638500e-02 5.33939999e-02 3.37113249e+02] [-9.72118524e-02 9.95236919e-01 -7.30275661e-03 -4.36120530e+01] [-5.38514347e-02 2.06699191e-03 9.98546819e-01 -2.22042566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9007140570001 meters 0.032244340656379614 Centerline is valid? [True, True] Translation: X:337.17, Y:-43.62, Z:-22.21 [[ 9.94208253e-01 9.38091453e-02 5.24384845e-02 3.37172305e+02] [-9.35613044e-02 9.95587726e-01 -7.16673385e-03 -4.36247922e+01] [-5.28794167e-02 2.21901293e-03 9.98598439e-01 -2.22093581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9607140570001 meters 0.03333600008978525 Centerline is valid? [True, True] Translation: X:337.23, Y:-43.64, Z:-22.21 [[ 9.94473795e-01 9.14729869e-02 5.15224674e-02 3.37230304e+02] [-9.12305763e-02 9.95804895e-01 -7.04218527e-03 -4.36357950e+01] [-5.19504949e-02 2.30284431e-03 9.98647006e-01 -2.22141796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.020714057 meters 0.03693299281319307 Centerline is valid? [True, True] Translation: X:337.29, Y:-43.65, Z:-22.22 [[ 9.95026758e-01 8.56518136e-02 5.08479896e-02 3.37287689e+02] [-8.54082985e-02 9.96321818e-01 -6.94675086e-03 -4.36539664e+01] [-5.12559632e-02 2.56936271e-03 9.98682244e-01 -2.22199526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.080714057 meters 0.03516592514853287 Centerline is valid? [True, True] Translation: X:337.35, Y:-43.66, Z:-22.22 [[ 9.95331568e-01 8.07640027e-02 5.28417116e-02 3.37347608e+02] [-8.04941162e-02 9.96728939e-01 -7.21937049e-03 -4.36621168e+01] [-5.32519284e-02 2.93222047e-03 9.98576804e-01 -2.22198334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.140714057 meters 0.04498058197410417 Centerline is valid? [True, True] Translation: X:337.40, Y:-43.69, Z:-22.22 [[ 9.95621768e-01 7.62952306e-02 5.40030770e-02 3.37403664e+02] [-7.60068344e-02 9.97080006e-01 -7.37717504e-03 -4.36879787e+01] [-5.44082316e-02 3.24027312e-03 9.98513518e-01 -2.22242976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.200714057 meters 0.03634133430123325 Centerline is valid? [True, True] Translation: X:337.46, Y:-43.69, Z:-22.22 [[ 9.95848322e-01 7.24298628e-02 5.51365058e-02 3.37464656e+02] [-7.21234068e-02 9.97367288e-01 -7.53044044e-03 -4.36864540e+01] [-5.55367761e-02 3.52254384e-03 9.98450429e-01 -2.22246663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26071405700003 meters 0.043107425281291537 Centerline is valid? [True, True] Translation: X:337.52, Y:-43.71, Z:-22.23 [[ 9.96026973e-01 7.01861510e-02 5.48103470e-02 3.37521321e+02] [-6.98799967e-02 9.97527325e-01 -7.48475223e-03 -4.37056086e+01] [-5.52001448e-02 3.62486824e-03 9.98468730e-01 -2.22299071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32071405700003 meters 0.03832135292168365 Centerline is valid? [True, True] Translation: X:337.58, Y:-43.71, Z:-22.23 [[ 9.96274363e-01 6.84615503e-02 5.24443413e-02 3.37580895e+02] [-6.81788821e-02 9.97647404e-01 -7.16217514e-03 -4.37066455e+01] [-5.28112946e-02 3.55989491e-03 9.98598165e-01 -2.22341217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38071405700003 meters 0.03933139769965279 Centerline is valid? [True, True] Translation: X:337.64, Y:-43.72, Z:-22.24 [[ 9.96585965e-01 6.65354135e-02 4.88820389e-02 3.37639842e+02] [-6.62877211e-02 9.97778238e-01 -6.67269961e-03 -4.37162721e+01] [-4.92174055e-02 3.40963982e-03 9.98782269e-01 -2.22402850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44071405700004 meters 0.04014998888411748 Centerline is valid? [True, True] Translation: X:337.70, Y:-43.72, Z:-22.24 [[ 9.96675580e-01 6.57143636e-02 4.81602625e-02 3.37698829e+02] [-6.54730134e-02 9.97832688e-01 -6.57360207e-03 -4.37247037e+01] [-4.84878642e-02 3.39855114e-03 9.98817990e-01 -2.22449121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50071405700004 meters 0.03810423442012027 Centerline is valid? [True, True] Translation: X:337.76, Y:-43.73, Z:-22.25 [[ 9.96594955e-01 6.56347840e-02 4.99056255e-02 3.37757796e+02] [-6.53755728e-02 9.97837488e-01 -6.81049490e-03 -4.37278282e+01] [-5.02447093e-02 3.52469600e-03 9.98730717e-01 -2.22464249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56071405700004 meters 0.0399765402216244 Centerline is valid? [True, True] Translation: X:337.82, Y:-43.74, Z:-22.25 [[ 9.96418940e-01 6.65584250e-02 5.21466443e-02 3.37815333e+02] [-6.62768672e-02 9.97775925e-01 -7.11202487e-03 -4.37371859e+01] [-5.25040314e-02 3.63044006e-03 9.98614113e-01 -2.22497380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62071405700004 meters 0.04287816278818173 Centerline is valid? [True, True] Translation: X:337.87, Y:-43.75, Z:-22.25 [[ 9.96518239e-01 6.52669487e-02 5.18808768e-02 3.37873488e+02] [-6.49867248e-02 9.97861070e-01 -7.07179221e-03 -4.37476199e+01] [-5.22314616e-02 3.67560165e-03 9.98628241e-01 -2.22538005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68071405700005 meters 0.04087393608260653 Centerline is valid? [True, True] Translation: X:337.93, Y:-43.75, Z:-22.26 [[ 9.96619894e-01 6.39084408e-02 5.16187705e-02 3.37932940e+02] [-6.36290708e-02 9.97948792e-01 -7.03917327e-03 -4.37532580e+01] [-5.19627523e-02 3.73092572e-03 9.98642054e-01 -2.22580127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74071405700005 meters 0.04172682333553976 Centerline is valid? [True, True] Translation: X:337.99, Y:-43.76, Z:-22.26 [[ 9.96943046e-01 6.11942950e-02 4.85779832e-02 3.37991960e+02] [-6.09437920e-02 9.98119229e-01 -6.62260539e-03 -4.37610770e+01] [-4.88918848e-02 3.64183389e-03 9.98797437e-01 -2.22634514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80071405700005 meters 0.04211794231117173 Centerline is valid? [True, True] Translation: X:338.05, Y:-43.77, Z:-22.27 [[ 9.96951869e-01 6.16146417e-02 4.78602812e-02 3.38051024e+02] [-6.13719993e-02 9.98093639e-01 -6.52425190e-03 -4.37661937e+01] [-4.81710316e-02 3.56708398e-03 9.98832733e-01 -2.22668014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86071405700005 meters 0.03863840767344183 Centerline is valid? [True, True] Translation: X:338.11, Y:-43.77, Z:-22.27 [[ 9.96602169e-01 6.60750680e-02 4.91752191e-02 3.38112598e+02] [-6.58244067e-02 9.97808720e-01 -6.70119064e-03 -4.37650824e+01] [-4.95102441e-02 3.44149150e-03 9.98767687e-01 -2.22684587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92071405700005 meters 0.03800660022143386 Centerline is valid? [True, True] Translation: X:338.17, Y:-43.77, Z:-22.27 [[ 9.96189833e-01 7.16445147e-02 4.97280589e-02 3.38173189e+02] [-7.13950672e-02 9.97425095e-01 -6.77679419e-03 -4.37665190e+01] [-5.00855340e-02 3.20063537e-03 9.98739804e-01 -2.22713709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98071405700006 meters 0.03466952039464955 Centerline is valid? [True, True] Translation: X:338.23, Y:-43.77, Z:-22.28 [[ 9.95780262e-01 7.69935090e-02 4.99366547e-02 3.38234419e+02] [-7.67487965e-02 9.97027256e-01 -6.80242412e-03 -4.37666860e+01] [-5.03119483e-02 2.94114152e-03 9.98729221e-01 -2.22755582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04071405700006 meters 0.03539186894752886 Centerline is valid? [True, True] Translation: X:338.29, Y:-43.77, Z:-22.28 [[ 9.95565483e-01 7.99720096e-02 4.95363204e-02 3.38293027e+02] [-7.97348051e-02 9.96793262e-01 -6.74940249e-03 -4.37744679e+01] [-4.99172337e-02 2.76970330e-03 9.98749517e-01 -2.22802724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10071405700006 meters 0.03437826202338938 Centerline is valid? [True, True] Translation: X:338.35, Y:-43.78, Z:-22.28 [[ 9.95387868e-01 8.25542866e-02 4.88649442e-02 3.38352534e+02] [-8.23266605e-02 9.96583171e-01 -6.65617490e-03 -4.37790465e+01] [-4.92474768e-02 2.60258807e-03 9.98783216e-01 -2.22839401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16071405700006 meters 0.03317661350074131 Centerline is valid? [True, True] Translation: X:338.41, Y:-43.78, Z:-22.29 [[ 9.95143858e-01 8.54588427e-02 4.88414673e-02 3.38412290e+02] [-8.52350223e-02 9.96338675e-01 -6.65093278e-03 -4.37834365e+01] [-4.92310239e-02 2.45563134e-03 9.98784399e-01 -2.22878964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22071405700007 meters 0.030556326113650827 Centerline is valid? [True, True] Translation: X:338.47, Y:-43.78, Z:-22.29 [[ 9.94730867e-01 9.01736215e-02 4.87772454e-02 3.38472756e+02] [-8.99560820e-02 9.95923590e-01 -6.64132210e-03 -4.37833457e+01] [-4.91772814e-02 2.21851821e-03 9.98787602e-01 -2.22911922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28071405700007 meters 0.030048126826140165 Centerline is valid? [True, True] Translation: X:338.53, Y:-43.79, Z:-22.29 [[ 9.94274088e-01 9.48731753e-02 4.91743626e-02 3.38532013e+02] [-9.46578384e-02 9.95487355e-01 -6.69475594e-03 -4.37864307e+01] [-4.95876089e-02 2.00168349e-03 9.98767772e-01 -2.22946693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34071405700007 meters 0.029102940937785354 Centerline is valid? [True, True] Translation: X:338.59, Y:-43.79, Z:-22.30 [[ 9.94070276e-01 9.64959437e-02 5.01280225e-02 3.38591020e+02] [-9.62741760e-02 9.95331450e-01 -6.82553983e-03 -4.37904265e+01] [-5.05526342e-02 1.95903220e-03 9.98719477e-01 -2.22970771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4007140570001 meters 0.029860987906518546 Centerline is valid? [True, True] Translation: X:338.65, Y:-43.80, Z:-22.30 [[ 9.94097411e-01 9.59230319e-02 5.06863908e-02 3.38648758e+02] [-9.56962874e-02 9.95386753e-01 -6.88712994e-03 -4.37986429e+01] [-5.11131964e-02 1.99597861e-03 9.98690872e-01 -2.23007354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4607140570001 meters 0.031219991043842633 Centerline is valid? [True, True] Translation: X:338.71, Y:-43.81, Z:-22.31 [[ 9.94537838e-01 9.13593365e-02 5.04773191e-02 3.38707681e+02] [-9.11288155e-02 9.95815523e-01 -6.85437232e-03 -4.38102088e+01] [-5.08923088e-02 2.21699434e-03 9.98701686e-01 -2.23052053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.520714057 meters 0.03234529274943544 Centerline is valid? [True, True] Translation: X:338.77, Y:-43.82, Z:-22.31 [[ 9.95158078e-01 8.47902900e-02 4.97092301e-02 3.38767081e+02] [-8.45586180e-02 9.96395650e-01 -6.74893462e-03 -4.38238101e+01] [-5.01023048e-02 2.51291300e-03 9.98740930e-01 -2.23087539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.580714057 meters 0.035388543641154596 Centerline is valid? [True, True] Translation: X:338.83, Y:-43.84, Z:-22.31 [[ 9.95880767e-01 7.69990189e-02 4.78816168e-02 3.38825005e+02] [-7.67750917e-02 9.97027242e-01 -6.50108203e-03 -4.38400118e+01] [-4.82398533e-02 2.79818703e-03 9.98831861e-01 -2.23135375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.640714057 meters 0.038780556794969175 Centerline is valid? [True, True] Translation: X:338.88, Y:-43.86, Z:-22.32 [[ 9.96474423e-01 7.02697454e-02 4.58354373e-02 3.38883675e+02] [-7.00575205e-02 9.97523547e-01 -6.22222599e-03 -4.38555065e+01] [-4.61591623e-02 2.98917196e-03 9.98929625e-01 -2.23200052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.700714057 meters 0.041772600741260775 Centerline is valid? [True, True] Translation: X:338.94, Y:-43.87, Z:-22.32 [[ 9.96923159e-01 6.43905751e-02 4.46997654e-02 3.38942881e+02] [-6.41828486e-02 9.97919705e-01 -6.06838678e-03 -4.38697874e+01] [-4.49975236e-02 3.18075704e-03 9.98982035e-01 -2.23242874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76071405700003 meters 0.04342402996210648 Centerline is valid? [True, True] Translation: X:339.00, Y:-43.88, Z:-22.33 [[ 9.97046853e-01 6.23038159e-02 4.48977479e-02 3.39001053e+02] [-6.20921247e-02 9.98051808e-01 -6.09559757e-03 -4.38793369e+01] [-4.51900574e-02 3.28979981e-03 9.98972991e-01 -2.23279606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82071405700003 meters 0.04503980316717749 Centerline is valid? [True, True] Translation: X:339.06, Y:-43.89, Z:-22.33 [[ 9.97051306e-01 6.17213854e-02 4.55978420e-02 3.39058880e+02] [-6.15025295e-02 9.98087742e-01 -6.18847085e-03 -4.38881889e+01] [-4.58926082e-02 3.36584032e-03 9.98940709e-01 -2.23305444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88071405700003 meters 0.045963953711752256 Centerline is valid? [True, True] Translation: X:339.12, Y:-43.90, Z:-22.33 [[ 9.96946707e-01 6.19366285e-02 4.75512044e-02 3.39117599e+02] [-6.16990129e-02 9.98073959e-01 -6.45006332e-03 -4.38956452e+01] [-4.78591140e-02 3.49650702e-03 9.98847976e-01 -2.23322832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94071405700004 meters 0.04118142086066825 Centerline is valid? [True, True] Translation: X:339.18, Y:-43.90, Z:-22.33 [[ 9.96975497e-01 6.13321335e-02 4.77307785e-02 3.39176766e+02] [-6.10921857e-02 9.98111151e-01 -6.47117354e-03 -4.38962969e+01] [-4.80375131e-02 3.53562387e-03 9.98839275e-01 -2.23344025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00071405700004 meters 0.04283958149455913 Centerline is valid? [True, True] Translation: X:339.24, Y:-43.91, Z:-22.34 [[ 9.97163239e-01 5.80311453e-02 4.79360130e-02 3.39236645e+02] [-5.77855672e-02 9.98307895e-01 -6.49422307e-03 -4.39059986e+01] [-4.82317675e-02 3.70579081e-03 9.98829297e-01 -2.23383982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06071405700004 meters 0.045495879466973435 Centerline is valid? [True, True] Translation: X:339.30, Y:-43.92, Z:-22.34 [[ 9.97388535e-01 5.45163747e-02 4.73716608e-02 3.39295560e+02] [-5.42725914e-02 9.98505530e-01 -6.41820648e-03 -4.39188639e+01] [-4.76507626e-02 3.83046276e-03 9.98856713e-01 -2.23432162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12071405700004 meters 0.048005484248133286 Centerline is valid? [True, True] Translation: X:339.36, Y:-43.93, Z:-22.35 [[ 9.97664329e-01 5.07951272e-02 4.56699273e-02 3.39355046e+02] [-5.05646929e-02 9.98701620e-01 -6.18756095e-03 -4.39298291e+01] [-4.59249284e-02 3.86382299e-03 9.98937421e-01 -2.23482828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18071405700005 meters 0.046614632985777726 Centerline is valid? [True, True] Translation: X:339.41, Y:-43.93, Z:-22.35 [[ 9.97761885e-01 5.02895335e-02 4.40702098e-02 3.39414889e+02] [-5.00744660e-02 9.98727637e-01 -5.97123132e-03 -4.39343762e+01] [-4.43144269e-02 3.75107480e-03 9.99010591e-01 -2.23532088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24071405700005 meters 0.05145616071751228 Centerline is valid? [True, True] Translation: X:339.47, Y:-43.95, Z:-22.36 [[ 9.97696456e-01 5.20566403e-02 4.34958434e-02 3.39472845e+02] [-5.18488474e-02 9.98637559e-01 -5.89262956e-03 -4.39471625e+01] [-4.37433334e-02 3.62384628e-03 9.99036230e-01 -2.23589445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30071405700005 meters 0.040949435056329794 Centerline is valid? [True, True] Translation: X:339.54, Y:-43.94, Z:-22.36 [[ 9.97274064e-01 5.77539444e-02 4.59230140e-02 3.39535537e+02] [-5.75283428e-02 9.98324495e-01 -6.22026163e-03 -4.39356785e+01] [-4.62053145e-02 3.56143070e-03 9.98925615e-01 -2.23565426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36071405700005 meters 0.044809578303642274 Centerline is valid? [True, True] Translation: X:339.59, Y:-43.94, Z:-22.36 [[ 9.96803267e-01 6.41097896e-02 4.76778903e-02 3.39594315e+02] [-6.38738158e-02 9.97937087e-01 -6.45809481e-03 -4.39449277e+01] [-4.79935621e-02 3.39208122e-03 9.98841885e-01 -2.23599986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42071405700005 meters 0.036713960147783394 Centerline is valid? [True, True] Translation: X:339.66, Y:-43.94, Z:-22.36 [[ 9.96494716e-01 6.80943160e-02 4.85947041e-02 3.39656425e+02] [-6.78539140e-02 9.97673558e-01 -6.58161682e-03 -4.39376608e+01] [-4.89298220e-02 3.26120551e-03 9.98796895e-01 -2.23614451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48071405700006 meters 0.03599129670155359 Centerline is valid? [True, True] Translation: X:339.71, Y:-43.94, Z:-22.37 [[ 9.96395929e-01 6.96749762e-02 4.83792384e-02 3.39714709e+02] [-6.94385096e-02 9.97564708e-01 -6.55340994e-03 -4.39418464e+01] [-4.87180295e-02 3.17040877e-03 9.98807540e-01 -2.23662568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54071405700006 meters 0.03886215114263631 Centerline is valid? [True, True] Translation: X:339.77, Y:-43.95, Z:-22.37 [[ 9.96388013e-01 6.96374978e-02 4.85957451e-02 3.39771292e+02] [-6.93990297e-02 9.97567284e-01 -6.57934764e-03 -4.39533525e+01] [-4.89356947e-02 3.18308557e-03 9.98796859e-01 -2.23713115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60071405700006 meters 0.04149263794872611 Centerline is valid? [True, True] Translation: X:339.83, Y:-43.96, Z:-22.38 [[ 9.96504607e-01 6.80235723e-02 4.84908415e-02 3.39828734e+02] [-6.77844790e-02 9.97678420e-01 -6.56009380e-03 -4.39637373e+01] [-4.88245071e-02 3.25023727e-03 9.98802084e-01 -2.23753646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66071405700006 meters 0.043549458587447736 Centerline is valid? [True, True] Translation: X:339.89, Y:-43.97, Z:-22.38 [[ 9.96643028e-01 6.59964812e-02 4.84472925e-02 3.39886680e+02] [-6.57555610e-02 9.97814253e-01 -6.55161697e-03 -4.39746940e+01] [-4.87737826e-02 3.34394448e-03 9.98804253e-01 -2.23816073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72071405700007 meters 0.03911709538099175 Centerline is valid? [True, True] Translation: X:339.95, Y:-43.97, Z:-22.38 [[ 9.96728034e-01 6.48819808e-02 4.82032654e-02 3.39946223e+02] [-6.46422928e-02 9.97887223e-01 -6.51645022e-03 -4.39737912e+01] [-4.85242229e-02 3.37915902e-03 9.98816290e-01 -2.23839095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78071405700007 meters 0.04040373449323217 Centerline is valid? [True, True] Translation: X:340.00, Y:-43.98, Z:-22.39 [[ 9.96695917e-01 6.53752537e-02 4.82008948e-02 3.40004949e+02] [-6.51363352e-02 9.97855122e-01 -6.51258467e-03 -4.39796845e+01] [-4.85232716e-02 3.35143691e-03 9.98816430e-01 -2.23860280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84071405700007 meters 0.039936049223863145 Centerline is valid? [True, True] Translation: X:340.06, Y:-43.98, Z:-22.39 [[ 9.96467907e-01 6.77292602e-02 4.96433116e-02 3.40064718e+02] [-6.74789449e-02 9.97698182e-01 -6.70295303e-03 -4.39848391e+01] [-4.99830278e-02 3.32939929e-03 9.98744518e-01 -2.23889057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9007140570001 meters 0.038992670000274954 Centerline is valid? [True, True] Translation: X:340.12, Y:-43.99, Z:-22.39 [[ 9.95957417e-01 7.38538658e-02 5.11315064e-02 3.40123806e+02] [-7.35963720e-02 9.97264218e-01 -6.90308710e-03 -4.39900247e+01] [-5.15014415e-02 3.11208743e-03 9.98668071e-01 -2.23918250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9607140570001 meters 0.03427325930171798 Centerline is valid? [True, True] Translation: X:340.18, Y:-43.99, Z:-22.40 [[ 9.95461234e-01 8.03932753e-02 5.09298747e-02 3.40184616e+02] [-8.01464014e-02 9.96759397e-01 -6.87449022e-03 -4.39883879e+01] [-5.13174939e-02 2.76144234e-03 9.98678572e-01 -2.23953288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.020714057 meters 0.03681251075977086 Centerline is valid? [True, True] Translation: X:340.24, Y:-44.00, Z:-22.40 [[ 9.95143838e-01 8.37872119e-02 5.16569976e-02 3.40242737e+02] [-8.35378994e-02 9.96480222e-01 -6.97047194e-03 -4.39996234e+01] [-5.20592128e-02 2.62130513e-03 9.98640560e-01 -2.24000951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.080714057 meters 0.03251762278479441 Centerline is valid? [True, True] Translation: X:340.30, Y:-44.00, Z:-22.40 [[ 9.95049717e-01 8.37160931e-02 5.35506925e-02 3.40301540e+02] [-8.34481296e-02 9.96485935e-01 -7.22439783e-03 -4.40017001e+01] [-5.39673103e-02 2.71992989e-03 9.98538998e-01 -2.24015583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.140714057 meters 0.0337647889399782 Centerline is valid? [True, True] Translation: X:340.36, Y:-44.01, Z:-22.41 [[ 9.95261804e-01 8.16555745e-02 5.27855042e-02 3.40359587e+02] [-8.13925312e-02 9.96656710e-01 -7.11746237e-03 -4.40123185e+01] [-5.31902074e-02 2.78739264e-03 9.98580509e-01 -2.24057766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.200714057 meters 0.03615675724276112 Centerline is valid? [True, True] Translation: X:340.42, Y:-44.03, Z:-22.41 [[ 9.95521897e-01 7.93825605e-02 5.13279907e-02 3.40416628e+02] [-7.91310589e-02 9.96840224e-01 -6.91684060e-03 -4.40265663e+01] [-5.17148822e-02 2.82422802e-03 9.98657897e-01 -2.24125487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26071405700003 meters 0.03700218761596225 Centerline is valid? [True, True] Translation: X:340.47, Y:-44.04, Z:-22.42 [[ 9.95596487e-01 7.87142570e-02 5.09087471e-02 3.40474255e+02] [-7.84661081e-02 9.96893194e-01 -6.85786734e-03 -4.40370256e+01] [-5.12903954e-02 2.83305738e-03 9.98679763e-01 -2.24167266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32071405700003 meters 0.03323991801937199 Centerline is valid? [True, True] Translation: X:340.53, Y:-44.04, Z:-22.42 [[ 9.95388478e-01 7.90614252e-02 5.43237453e-02 3.40533172e+02] [-7.87795637e-02 9.96865231e-01 -7.31385254e-03 -4.40406572e+01] [-5.47316965e-02 3.00052360e-03 9.98496589e-01 -2.24171159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38071405700003 meters 0.033633097941894875 Centerline is valid? [True, True] Translation: X:340.59, Y:-44.05, Z:-22.42 [[ 9.95286015e-01 7.92025626e-02 5.59705512e-02 3.40591173e+02] [-7.89037943e-02 9.96853786e-01 -7.53130712e-03 -4.40490125e+01] [-5.63909547e-02 3.07951579e-03 9.98404015e-01 -2.24192966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44071405700004 meters 0.03757200318608787 Centerline is valid? [True, True] Translation: X:340.65, Y:-44.06, Z:-22.42 [[ 9.95407296e-01 7.80087082e-02 5.54883376e-02 3.40647084e+02] [-7.77134412e-02 9.96947808e-01 -7.46254401e-03 -4.40642465e+01] [-5.59011200e-02 3.11608109e-03 9.98431447e-01 -2.24241924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50071405700004 meters 0.03540372274598078 Centerline is valid? [True, True] Translation: X:340.71, Y:-44.07, Z:-22.43 [[ 9.95676631e-01 7.56355261e-02 5.39195080e-02 3.40705811e+02] [-7.53535491e-02 9.97130549e-01 -7.24646218e-03 -4.40700378e+01] [-5.43128785e-02 3.15210675e-03 9.98518991e-01 -2.24293069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56071405700004 meters 0.038152561667362354 Centerline is valid? [True, True] Translation: X:340.76, Y:-44.08, Z:-22.44 [[ 9.95993005e-01 7.27729005e-02 5.19811396e-02 3.40763108e+02] [-7.25071390e-02 9.97343449e-01 -6.98276960e-03 -4.40831312e+01] [-5.23512055e-02 3.18578596e-03 9.98623654e-01 -2.24359586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62071405700004 meters 0.03711732624172168 Centerline is valid? [True, True] Translation: X:340.82, Y:-44.09, Z:-22.44 [[ 9.96076867e-01 7.20105566e-02 5.14330100e-02 3.40821714e+02] [-7.17493638e-02 9.97398763e-01 -6.90915396e-03 -4.40873921e+01] [-5.17967526e-02 3.19176269e-03 9.98652547e-01 -2.24397948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68071405700005 meters 0.037304369818857014 Centerline is valid? [True, True] Translation: X:340.88, Y:-44.09, Z:-22.44 [[ 9.95969620e-01 7.31075512e-02 5.19596239e-02 3.40880408e+02] [-7.28426616e-02 9.97319047e-01 -6.97609479e-03 -4.40937137e+01] [-5.23303278e-02 3.16310118e-03 9.98624820e-01 -2.24423531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74071405700005 meters 0.038697545660748664 Centerline is valid? [True, True] Translation: X:340.94, Y:-44.10, Z:-22.44 [[ 9.95864000e-01 7.40755426e-02 5.26090014e-02 3.40937285e+02] [-7.38055201e-02 9.97247666e-01 -7.05965687e-03 -4.41010811e+01] [-5.29871517e-02 3.14762342e-03 9.98590233e-01 -2.24449983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80071405700005 meters 0.03929568847024417 Centerline is valid? [True, True] Translation: X:341.00, Y:-44.11, Z:-22.45 [[ 9.95685869e-01 7.54920235e-02 5.39500297e-02 3.40995140e+02] [-7.52103892e-02 9.97141444e-01 -7.23454013e-03 -4.41081741e+01] [-5.43419605e-02 3.14572665e-03 9.98517429e-01 -2.24481011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86071405700005 meters 0.04042178268173128 Centerline is valid? [True, True] Translation: X:341.05, Y:-44.12, Z:-22.45 [[ 9.95597280e-01 7.62082891e-02 5.45742822e-02 3.41053807e+02] [-7.59213823e-02 9.97086980e-01 -7.31427065e-03 -4.41158381e+01] [-5.49727143e-02 3.13871302e-03 9.98482924e-01 -2.24523767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92071405700005 meters 0.039966985463611826 Centerline is valid? [True, True] Translation: X:341.11, Y:-44.12, Z:-22.46 [[ 9.95616450e-01 7.55862172e-02 5.50872814e-02 3.41111778e+02] [-7.52930842e-02 9.97134134e-01 -7.38036184e-03 -4.41222583e+01] [-5.54872623e-02 3.20031834e-03 9.98454266e-01 -2.24554429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98071405700006 meters 0.035610195313606326 Centerline is valid? [True, True] Translation: X:341.17, Y:-44.12, Z:-22.46 [[ 9.95745559e-01 7.41621779e-02 5.46877744e-02 3.41170815e+02] [-7.38713497e-02 9.97240891e-01 -7.32317189e-03 -4.41230525e+01] [-5.50799872e-02 3.25215618e-03 9.98476649e-01 -2.24581655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04071405700006 meters 0.03562940301833079 Centerline is valid? [True, True] Translation: X:341.23, Y:-44.13, Z:-22.46 [[ 9.96101420e-01 7.09025277e-02 5.24861282e-02 3.41230032e+02] [-7.06303882e-02 9.97477824e-01 -7.02412476e-03 -4.41311976e+01] [-5.28517772e-02 3.28962504e-03 9.98596950e-01 -2.24631269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10071405700006 meters 0.038691608751222954 Centerline is valid? [True, True] Translation: X:341.29, Y:-44.14, Z:-22.47 [[ 9.96389699e-01 6.66700108e-02 5.25611727e-02 3.41287869e+02] [-6.63912790e-02 9.97768877e-01 -7.03323771e-03 -4.41449884e+01] [-5.29128083e-02 3.51824212e-03 9.98592938e-01 -2.24680735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16071405700006 meters 0.04542843012123368 Centerline is valid? [True, True] Translation: X:341.34, Y:-44.16, Z:-22.47 [[ 9.96468876e-01 6.46010904e-02 5.36328138e-02 3.41343913e+02] [-6.43079281e-02 9.97904303e-01 -7.17578020e-03 -4.41624205e+01] [-5.39839789e-02 3.70142649e-03 9.98534942e-01 -2.24726354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22071405700007 meters 0.043238409241685705 Centerline is valid? [True, True] Translation: X:341.40, Y:-44.17, Z:-22.47 [[ 9.96472105e-01 6.42295735e-02 5.40176363e-02 3.41402191e+02] [-6.39317939e-02 9.97928120e-01 -7.22445961e-03 -4.41662079e+01] [-5.43697422e-02 3.74552808e-03 9.98513847e-01 -2.24748176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28071405700007 meters 0.04416879564969216 Centerline is valid? [True, True] Translation: X:341.46, Y:-44.18, Z:-22.48 [[ 9.96448672e-01 6.51267927e-02 5.33717656e-02 3.41459380e+02] [-6.48376367e-02 9.97870331e-01 -7.13330745e-03 -4.41770980e+01] [-5.37226708e-02 3.64747559e-03 9.98549233e-01 -2.24806724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34071405700007 meters 0.04298278601125442 Centerline is valid? [True, True] Translation: X:341.52, Y:-44.18, Z:-22.48 [[ 9.96340528e-01 6.68809337e-02 5.32211798e-02 3.41518775e+02] [-6.65961133e-02 9.97754688e-01 -7.10917171e-03 -4.41835315e+01] [-5.35771497e-02 3.53883217e-03 9.98557442e-01 -2.24841078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4007140570001 meters 0.03913521892924903 Centerline is valid? [True, True] Translation: X:341.58, Y:-44.19, Z:-22.49 [[ 9.96049650e-01 7.02911926e-02 5.42608782e-02 3.41579340e+02] [-7.00002756e-02 9.97520656e-01 -7.24585710e-03 -4.41862215e+01] [-5.46356667e-02 3.41895701e-03 9.98500503e-01 -2.24866549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4607140570001 meters 0.03903468295145825 Centerline is valid? [True, True] Translation: X:341.64, Y:-44.19, Z:-22.49 [[ 9.95841033e-01 7.26521121e-02 5.49755132e-02 3.41638201e+02] [-7.23570544e-02 9.97351775e-01 -7.34125252e-03 -4.41940604e+01] [-5.53632832e-02 3.33285429e-03 9.98460715e-01 -2.24907891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.520714057 meters 0.035455089311480004 Centerline is valid? [True, True] Translation: X:341.70, Y:-44.20, Z:-22.49 [[ 9.95629840e-01 7.48131911e-02 5.58946124e-02 3.41698183e+02] [-7.45116734e-02 9.97192223e-01 -7.46202144e-03 -4.41953940e+01] [-5.62959304e-02 3.26461011e-03 9.98408789e-01 -2.24927365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.580714057 meters 0.036151673886047744 Centerline is valid? [True, True] Translation: X:341.76, Y:-44.20, Z:-22.50 [[ 9.95503647e-01 7.64533151e-02 5.59229826e-02 3.41755108e+02] [-7.61541573e-02 9.97068117e-01 -7.46422191e-03 -4.42049301e+01] [-5.63296874e-02 3.17189252e-03 9.98407184e-01 -2.24975156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.640714057 meters 0.03724695117066188 Centerline is valid? [True, True] Translation: X:341.81, Y:-44.22, Z:-22.50 [[ 9.95487273e-01 7.76418026e-02 5.45604238e-02 3.41812190e+02] [-7.73591089e-02 9.96976733e-01 -7.27747973e-03 -4.42157444e+01] [-5.49605098e-02 3.02389269e-03 9.98483950e-01 -2.25039445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.700714057 meters 0.03642511554532469 Centerline is valid? [True, True] Translation: X:341.87, Y:-44.22, Z:-22.51 [[ 9.95317286e-01 7.91029581e-02 5.55537723e-02 3.41870890e+02] [-7.88123622e-02 9.96861959e-01 -7.40585707e-03 -4.42221788e+01] [-5.59652675e-02 2.99285354e-03 9.98428231e-01 -2.25072235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76071405700003 meters 0.03451741845715803 Centerline is valid? [True, True] Translation: X:341.93, Y:-44.23, Z:-22.51 [[ 9.94975359e-01 8.18286088e-02 5.76898065e-02 3.41930321e+02] [-8.15199554e-02 9.96642062e-01 -7.68743230e-03 -4.42291182e+01] [-5.81251396e-02 2.94593525e-03 9.98304958e-01 -2.25101297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82071405700003 meters 0.035128878607609985 Centerline is valid? [True, True] Translation: X:341.99, Y:-44.24, Z:-22.51 [[ 9.94670913e-01 8.37159965e-02 6.01781176e-02 3.41987686e+02] [-8.33837078e-02 9.96485271e-01 -8.01634701e-03 -4.42403663e+01] [-6.06377044e-02 2.95575263e-03 9.98155465e-01 -2.25126793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88071405700003 meters 0.035633292726175866 Centerline is valid? [True, True] Translation: X:342.05, Y:-44.25, Z:-22.52 [[ 9.94580210e-01 8.34525791e-02 6.20151042e-02 3.42045686e+02] [-8.30994279e-02 9.96507056e-01 -8.25665865e-03 -4.42516032e+01] [-6.24875284e-02 3.05848961e-03 9.98041059e-01 -2.25165547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94071405700004 meters 0.03627589015325643 Centerline is valid? [True, True] Translation: X:342.10, Y:-44.26, Z:-22.52 [[ 9.94674455e-01 8.20857559e-02 6.23270125e-02 3.42102914e+02] [-8.17266261e-02 9.96620273e-01 -8.29401409e-03 -4.42620188e+01] [-6.27971846e-02 3.15606750e-03 9.98021319e-01 -2.25213235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00071405700004 meters 0.03258680280741205 Centerline is valid? [True, True] Translation: X:342.16, Y:-44.27, Z:-22.53 [[ 9.95159535e-01 7.68091374e-02 6.13013607e-02 3.42162400e+02] [-7.64522166e-02 9.97039935e-01 -8.15030868e-03 -4.42686410e+01] [-6.17459228e-02 3.42423249e-03 9.98086026e-01 -2.25273381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06071405700004 meters 0.03748083311992321 Centerline is valid? [True, True] Translation: X:342.22, Y:-44.29, Z:-22.53 [[ 9.95496109e-01 7.30412834e-02 6.04356490e-02 3.42218973e+02] [-7.26874735e-02 9.97322399e-01 -8.03517290e-03 -4.42875802e+01] [-6.08607258e-02 3.60606872e-03 9.98139754e-01 -2.25340915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12071405700004 meters 0.036877218429146284 Centerline is valid? [True, True] Translation: X:342.28, Y:-44.30, Z:-22.54 [[ 9.95825760e-01 6.83377701e-02 6.05062355e-02 3.42278800e+02] [-6.79746320e-02 9.97654636e-01 -8.04220447e-03 -4.42975208e+01] [-6.09139126e-02 3.89574529e-03 9.98135421e-01 -2.25385004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18071405700005 meters 0.03734649210885052 Centerline is valid? [True, True] Translation: X:342.34, Y:-44.31, Z:-22.54 [[ 9.95826521e-01 6.59861416e-02 6.30505235e-02 3.42337297e+02] [-6.55870840e-02 9.97811658e-01 -8.38032264e-03 -4.43088171e+01] [-6.34655326e-02 4.21004756e-03 9.97975151e-01 -2.25412576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24071405700005 meters 0.039639960323556316 Centerline is valid? [True, True] Translation: X:342.40, Y:-44.32, Z:-22.54 [[ 9.95797264e-01 6.40660016e-02 6.54473527e-02 3.42395178e+02] [-6.36320080e-02 9.97935539e-01 -8.69646111e-03 -4.43233739e+01] [-6.58693866e-02 4.49536571e-03 9.97818128e-01 -2.25441675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30071405700005 meters 0.04093106578371221 Centerline is valid? [True, True] Translation: X:342.45, Y:-44.34, Z:-22.55 [[ 9.95842055e-01 6.43500318e-02 6.44800310e-02 3.42454415e+02] [-6.39294084e-02 9.97917645e-01 -8.56759381e-03 -4.43352048e+01] [-6.48970856e-02 4.40980000e-03 9.97882218e-01 -2.25489977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36071405700005 meters 0.04115259764108053 Centerline is valid? [True, True] Translation: X:342.51, Y:-44.35, Z:-22.56 [[ 9.95863599e-01 6.65776004e-02 6.18313396e-02 3.42513707e+02] [-6.61947984e-02 9.97772850e-01 -8.22126465e-03 -4.43466937e+01] [-6.22409839e-02 4.09434515e-03 9.98052752e-01 -2.25561661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42071405700005 meters 0.040729991223906144 Centerline is valid? [True, True] Translation: X:342.57, Y:-44.35, Z:-22.56 [[ 9.95724020e-01 6.89398940e-02 6.14895745e-02 3.42573490e+02] [-6.85656571e-02 9.97613086e-01 -8.17811258e-03 -4.43541983e+01] [-6.19066024e-02 3.92707004e-03 9.98074221e-01 -2.25604266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48071405700006 meters 0.0361998433537906 Centerline is valid? [True, True] Translation: X:342.63, Y:-44.35, Z:-22.56 [[ 9.95196823e-01 7.47314660e-02 6.32336244e-02 3.42633700e+02] [-7.43474068e-02 9.97196953e-01 -8.40829872e-03 -4.43545555e+01] [-6.36847421e-02 3.66665618e-03 9.97963331e-01 -2.25619788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54071405700006 meters 0.03256640663145748 Centerline is valid? [True, True] Translation: X:342.69, Y:-44.36, Z:-22.57 [[ 9.94802809e-01 7.89802141e-02 6.42611597e-02 3.42694272e+02] [-7.85924907e-02 9.96870220e-01 -8.54315310e-03 -4.43560032e+01] [-6.47347764e-02 3.44830811e-03 9.97896547e-01 -2.25657305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60071405700006 meters 0.036609395465516247 Centerline is valid? [True, True] Translation: X:342.75, Y:-44.37, Z:-22.57 [[ 9.94724168e-01 7.98022682e-02 6.44625991e-02 3.42750689e+02] [-7.94138531e-02 9.96804897e-01 -8.56950943e-03 -4.43701439e+01] [-6.49405008e-02 3.40507477e-03 9.97883328e-01 -2.25699138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66071405700006 meters 0.034270011853577295 Centerline is valid? [True, True] Translation: X:342.81, Y:-44.37, Z:-22.57 [[ 9.94758526e-01 7.92205283e-02 6.46496888e-02 3.42808824e+02] [-7.88290061e-02 9.96851154e-01 -8.58858102e-03 -4.43741215e+01] [-6.51265088e-02 3.44729348e-03 9.97871061e-01 -2.25735272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72071405700007 meters 0.03406348426430545 Centerline is valid? [True, True] Translation: X:342.87, Y:-44.38, Z:-22.58 [[ 9.95010865e-01 7.59568076e-02 6.46833997e-02 3.42868725e+02] [-7.55583749e-02 9.97104402e-01 -8.58741569e-03 -4.43821975e+01] [-6.51483752e-02 3.65719935e-03 9.97868886e-01 -2.25775960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78071405700007 meters 0.03409422447468125 Centerline is valid? [True, True] Translation: X:342.93, Y:-44.39, Z:-22.58 [[ 9.95411740e-01 7.06696018e-02 6.45079404e-02 3.42927915e+02] [-7.02622752e-02 9.97491789e-01 -8.56412167e-03 -4.43905612e+01] [-6.49513639e-02 3.99235259e-03 9.97880444e-01 -2.25821618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84071405700007 meters 0.040759929543319494 Centerline is valid? [True, True] Translation: X:342.99, Y:-44.41, Z:-22.59 [[ 9.95866204e-01 6.42813690e-02 6.41748396e-02 3.42985157e+02] [-6.38650448e-02 9.97922175e-01 -8.51991133e-03 -4.44109813e+01] [-6.45891671e-02 4.38616275e-03 9.97902300e-01 -2.25871067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9007140570001 meters 0.045324242396005174 Centerline is valid? [True, True] Translation: X:343.04, Y:-44.43, Z:-22.59 [[ 9.96357872e-01 5.87255826e-02 6.18247276e-02 3.43043831e+02] [-5.83286706e-02 9.98263699e-01 -8.20686422e-03 -4.44268729e+01] [-6.21993342e-02 4.57081959e-03 9.98053280e-01 -2.25917725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9607140570001 meters 0.04482279383243396 Centerline is valid? [True, True] Translation: X:343.10, Y:-44.43, Z:-22.60 [[ 9.96591452e-01 5.69570742e-02 5.96772034e-02 3.43104462e+02] [-5.65840188e-02 9.98366396e-01 -7.92395324e-03 -4.44342611e+01] [-6.00310396e-02 4.52016807e-03 9.98186276e-01 -2.25972747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.020714057 meters 0.04067029383619594 Centerline is valid? [True, True] Translation: X:343.17, Y:-44.44, Z:-22.60 [[ 9.96476688e-01 5.92674026e-02 5.93429415e-02 3.43165175e+02] [-5.89024567e-02 9.98232627e-01 -7.88181434e-03 -4.44353977e+01] [-5.97051950e-02 4.35859921e-03 9.98206538e-01 -2.26011481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.080714057 meters 0.036238553588851634 Centerline is valid? [True, True] Translation: X:343.23, Y:-44.43, Z:-22.60 [[ 9.95898625e-01 6.76482877e-02 6.00802669e-02 3.43226744e+02] [-6.72893595e-02 9.97701592e-01 -7.97972059e-03 -4.44320601e+01] [-6.04819924e-02 3.90423008e-03 9.98161653e-01 -2.26030355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.140714057 meters 0.03416734717223594 Centerline is valid? [True, True] Translation: X:343.29, Y:-44.43, Z:-22.61 [[ 9.95328858e-01 7.53231087e-02 6.03895228e-02 3.43287938e+02] [-7.49744997e-02 9.97153190e-01 -8.02117738e-03 -4.44321562e+01] [-6.08217853e-02 3.45603506e-03 9.98142658e-01 -2.26061237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.200714057 meters 0.03712752556192047 Centerline is valid? [True, True] Translation: X:343.35, Y:-44.44, Z:-22.61 [[ 9.94846131e-01 8.10599750e-02 6.09135209e-02 3.43346884e+02] [-8.07159889e-02 9.96704304e-01 -8.09075933e-03 -4.44425185e+01] [-6.13686052e-02 3.13236554e-03 9.98110256e-01 -2.26101190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26071405700003 meters 0.03318677800812774 Centerline is valid? [True, True] Translation: X:343.41, Y:-44.44, Z:-22.61 [[ 9.94587866e-01 8.44290810e-02 6.05533421e-02 3.43407575e+02] [-8.40953851e-02 9.96425250e-01 -8.04280194e-03 -4.44410966e+01] [-6.10159255e-02 2.90701659e-03 9.98132559e-01 -2.26142385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32071405700003 meters 0.03192221175476997 Centerline is valid? [True, True] Translation: X:343.47, Y:-44.45, Z:-22.62 [[ 9.94501763e-01 8.62542343e-02 5.93839218e-02 3.43466527e+02] [-8.59366150e-02 9.96269391e-01 -7.88661799e-03 -4.44460560e+01] [-5.98426378e-02 2.74000228e-03 9.98204063e-01 -2.26189060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38071405700003 meters 0.03362626497899049 Centerline is valid? [True, True] Translation: X:343.52, Y:-44.46, Z:-22.62 [[ 9.94653391e-01 8.59080958e-02 5.73099472e-02 3.43522820e+02] [-8.56118807e-02 9.96299511e-01 -7.60856329e-03 -4.44554415e+01] [-5.77515096e-02 2.66147092e-03 9.98327441e-01 -2.26245451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44071405700004 meters 0.03253261831173402 Centerline is valid? [True, True] Translation: X:343.58, Y:-44.46, Z:-22.63 [[ 9.94886063e-01 8.45794121e-02 5.52090967e-02 3.43581436e+02] [-8.43028312e-02 9.96413266e-01 -7.32372561e-03 -4.44613866e+01] [-5.56305127e-02 2.63198938e-03 9.98447955e-01 -2.26301432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50071405700004 meters 0.032980992825210415 Centerline is valid? [True, True] Translation: X:343.64, Y:-44.47, Z:-22.63 [[ 9.95163013e-01 8.26976519e-02 5.30252320e-02 3.43640230e+02] [-8.24400959e-02 9.96571227e-01 -7.02997642e-03 -4.44717439e+01] [-5.34247830e-02 2.62456731e-03 9.98568427e-01 -2.26347097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56071405700004 meters 0.03319770030092913 Centerline is valid? [True, True] Translation: X:343.70, Y:-44.48, Z:-22.64 [[ 9.95229855e-01 8.18933672e-02 5.30189834e-02 3.43697810e+02] [-8.16347805e-02 9.96637530e-01 -7.02828428e-03 -4.44800479e+01] [-5.34162785e-02 2.66656527e-03 9.98568771e-01 -2.26378334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62071405700004 meters 0.03389101154851321 Centerline is valid? [True, True] Translation: X:343.76, Y:-44.49, Z:-22.64 [[ 9.95061287e-01 8.27647602e-02 5.47999140e-02 3.43755620e+02] [-8.24902480e-02 9.96565454e-01 -7.25637044e-03 -4.44875754e+01] [-5.52122729e-02 2.70007480e-03 9.98470988e-01 -2.26386726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68071405700005 meters 0.03586483518366082 Centerline is valid? [True, True] Translation: X:343.81, Y:-44.50, Z:-22.64 [[ 9.95011755e-01 8.22674656e-02 5.64240359e-02 3.43811945e+02] [-8.19758542e-02 9.96606340e-01 -7.46737204e-03 -4.45009210e+01] [-5.68468737e-02 2.80471442e-03 9.98378969e-01 -2.26421933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74071405700005 meters 0.03460920124330252 Centerline is valid? [True, True] Translation: X:343.87, Y:-44.51, Z:-22.65 [[ 9.95219988e-01 8.01613604e-02 5.57793172e-02 3.43870659e+02] [-7.98733716e-02 9.96777721e-01 -7.37696689e-03 -4.45077149e+01] [-5.61909284e-02 2.88642277e-03 9.98415869e-01 -2.26454761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80071405700005 meters 0.036022746657527936 Centerline is valid? [True, True] Translation: X:343.93, Y:-44.52, Z:-22.65 [[ 9.95456692e-01 7.78286174e-02 5.48514388e-02 3.43928862e+02] [-7.75467604e-02 9.96962344e-01 -7.25157238e-03 -4.45190287e+01] [-5.52491988e-02 2.96507487e-03 9.98468194e-01 -2.26506263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86071405700005 meters 0.039488784828459134 Centerline is valid? [True, True] Translation: X:343.99, Y:-44.53, Z:-22.66 [[ 9.95944421e-01 7.30839313e-02 5.24733115e-02 3.43985981e+02] [-7.28196741e-02 9.97321026e-01 -6.93291854e-03 -4.45349273e+01] [-5.28394219e-02 3.08371210e-03 9.98598261e-01 -2.26579321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92071405700005 meters 0.03916046194209989 Centerline is valid? [True, True] Translation: X:344.04, Y:-44.54, Z:-22.66 [[ 9.96019229e-01 7.21655913e-02 5.23242008e-02 3.44044282e+02] [-7.19015915e-02 9.97387775e-01 -6.91287717e-03 -4.45406585e+01] [-5.26863901e-02 3.12316528e-03 9.98606224e-01 -2.26606588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98071405700006 meters 0.03606473986732687 Centerline is valid? [True, True] Translation: X:344.10, Y:-44.54, Z:-22.66 [[ 9.95963948e-01 7.27631006e-02 5.25485041e-02 3.44103248e+02] [-7.24978509e-02 9.97344431e-01 -6.93887094e-03 -4.45408039e+01] [-5.29138516e-02 3.10121168e-03 9.98594265e-01 -2.26620882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04071405700006 meters 0.03496946600084852 Centerline is valid? [True, True] Translation: X:344.16, Y:-44.55, Z:-22.66 [[ 9.95737400e-01 7.55232962e-02 5.29458480e-02 3.44162836e+02] [-7.52581293e-02 9.97139607e-01 -6.98706149e-03 -4.45450844e+01] [-5.33220880e-02 2.97267296e-03 9.98572941e-01 -2.26648562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10071405700006 meters 0.03360674627693294 Centerline is valid? [True, True] Translation: X:344.22, Y:-44.55, Z:-22.67 [[ 9.95352865e-01 8.06197977e-02 5.26604476e-02 3.44223557e+02] [-8.03647101e-02 9.96741316e-01 -6.94712603e-03 -4.45478475e+01] [-5.30489198e-02 2.68280019e-03 9.98588311e-01 -2.26689147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16071405700006 meters 0.0339533035957403 Centerline is valid? [True, True] Translation: X:344.28, Y:-44.56, Z:-22.67 [[ 9.94895069e-01 8.65685611e-02 5.18621863e-02 3.44281978e+02] [-8.63292095e-02 9.96243172e-01 -6.84184383e-03 -4.45552443e+01] [-5.22596375e-02 2.32969514e-03 9.98630814e-01 -2.26744287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22071405700007 meters 0.02979040945038814 Centerline is valid? [True, True] Translation: X:344.34, Y:-44.55, Z:-22.68 [[ 9.94370725e-01 9.31714379e-02 5.04573590e-02 3.44342658e+02] [-9.29534306e-02 9.95648215e-01 -6.65523706e-03 -4.45538562e+01] [-5.08578574e-02 1.92758828e-03 9.98704042e-01 -2.26786582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28071405700007 meters 0.028278096037860648 Centerline is valid? [True, True] Translation: X:344.40, Y:-44.56, Z:-22.68 [[ 9.93770238e-01 9.95445981e-02 5.01157275e-02 3.44402815e+02] [-9.93376195e-02 9.95031830e-01 -6.61017830e-03 -4.45569347e+01] [-5.05247516e-02 1.59062140e-03 9.98721542e-01 -2.26827613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34071405700007 meters 0.027326489308860936 Centerline is valid? [True, True] Translation: X:344.46, Y:-44.56, Z:-22.69 [[ 9.93097931e-01 1.05519885e-01 5.12059893e-02 3.44462930e+02] [-1.05311753e-01 9.94416325e-01 -6.75335507e-03 -4.45609079e+01] [-5.16326850e-02 1.31415046e-03 9.98665279e-01 -2.26863163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4007140570001 meters 0.02691765477384852 Centerline is valid? [True, True] Translation: X:344.52, Y:-44.57, Z:-22.69 [[ 9.92888878e-01 1.06916532e-01 5.23500834e-02 3.44521456e+02] [-1.06700915e-01 9.94267189e-01 -6.90444065e-03 -4.45670120e+01] [-5.27881691e-02 1.26954055e-03 9.98604926e-01 -2.26891921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4607140570001 meters 0.02775349750433112 Centerline is valid? [True, True] Translation: X:344.58, Y:-44.58, Z:-22.69 [[ 9.93227703e-01 1.02499389e-01 5.47047046e-02 3.44579399e+02] [-1.02258016e-01 9.94731847e-01 -7.20070010e-03 -4.45762992e+01] [-5.51545792e-02 1.55794025e-03 9.98476612e-01 -2.26915423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.520714057 meters 0.029317974015172162 Centerline is valid? [True, True] Translation: X:344.64, Y:-44.59, Z:-22.70 [[ 9.93770899e-01 9.70192420e-02 5.48330866e-02 3.44638737e+02] [-9.67692852e-02 9.95280785e-01 -7.20163505e-03 -4.45887473e+01] [-5.52730147e-02 1.85061674e-03 9.98469563e-01 -2.26963452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.580714057 meters 0.0314174442442529 Centerline is valid? [True, True] Translation: X:344.70, Y:-44.60, Z:-22.70 [[ 9.94495795e-01 8.97163920e-02 5.41210037e-02 3.44697899e+02] [-8.94620910e-02 9.95964863e-01 -7.10816023e-03 -4.46035655e+01] [-5.45403365e-02 2.22725730e-03 9.98509084e-01 -2.27018495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.640714057 meters 0.03684820432118169 Centerline is valid? [True, True] Translation: X:344.76, Y:-44.62, Z:-22.71 [[ 9.95543905e-01 7.76392337e-02 5.35208601e-02 3.44755429e+02] [-7.73731441e-02 9.96977426e-01 -7.02906205e-03 -4.46230428e+01] [-5.39048204e-02 2.85666266e-03 9.98541992e-01 -2.27078938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.700714057 meters 0.04247598476113555 Centerline is valid? [True, True] Translation: X:344.81, Y:-44.64, Z:-22.71 [[ 9.96197355e-01 6.82252536e-02 5.41862128e-02 3.44812554e+02] [-6.79386311e-02 9.97664122e-01 -7.11625973e-03 -4.46418061e+01] [-5.45451491e-02 3.40786200e-03 9.98505490e-01 -2.27121326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76071405700003 meters 0.043677613352983924 Centerline is valid? [True, True] Translation: X:344.87, Y:-44.65, Z:-22.71 [[ 9.96410089e-01 6.42288154e-02 5.51506501e-02 3.44871735e+02] [-6.39257885e-02 9.97928370e-01 -7.24300622e-03 -4.46520544e+01] [-5.55016081e-02 3.69145568e-03 9.98451774e-01 -2.27149357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82071405700003 meters 0.0466486456710224 Centerline is valid? [True, True] Translation: X:344.93, Y:-44.66, Z:-22.72 [[ 9.96575310e-01 6.03232666e-02 5.65575290e-02 3.44931238e+02] [-5.99983292e-02 9.98170845e-01 -7.42734678e-03 -4.46648380e+01] [-5.69021183e-02 4.00855318e-03 9.98371715e-01 -2.27179943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88071405700003 meters 0.05062260404235371 Centerline is valid? [True, True] Translation: X:344.99, Y:-44.68, Z:-22.72 [[ 9.96837973e-01 5.70389036e-02 5.53228680e-02 3.44988974e+02] [-5.67229897e-02 9.98363521e-01 -7.26517870e-03 -4.46782593e+01] [-5.56467311e-02 4.10412753e-03 9.98442085e-01 -2.27240622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94071405700004 meters 0.04585424518925836 Centerline is valid? [True, True] Translation: X:345.05, Y:-44.68, Z:-22.73 [[ 9.97117388e-01 5.45108304e-02 5.27776864e-02 3.45049969e+02] [-5.42198850e-02 9.98504973e-01 -6.92991981e-03 -4.46786192e+01] [-5.30765380e-02 4.04834346e-03 9.98582241e-01 -2.27300386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00071405700004 meters 0.047276132848755405 Centerline is valid? [True, True] Translation: X:345.11, Y:-44.69, Z:-22.74 [[ 9.97175809e-01 5.37957962e-02 5.24062848e-02 3.45110391e+02] [-5.35079187e-02 9.98543711e-01 -6.88184473e-03 -4.46885529e+01] [-5.27001804e-02 4.05825786e-03 9.98602134e-01 -2.27353429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06071405700004 meters 0.05310707090831803 Centerline is valid? [True, True] Translation: X:345.17, Y:-44.70, Z:-22.74 [[ 9.96963091e-01 5.69537837e-02 5.31117797e-02 3.45169125e+02] [-5.66624168e-02 9.98369017e-01 -6.97688479e-03 -4.47009091e+01] [-5.34225153e-02 3.94625482e-03 9.98564200e-01 -2.27388603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12071405700004 meters 0.040846530927910914 Centerline is valid? [True, True] Translation: X:345.23, Y:-44.69, Z:-22.74 [[ 9.96533945e-01 6.28471167e-02 5.45007958e-02 3.45232523e+02] [-6.25491012e-02 9.98016216e-01 -7.15840984e-03 -4.46868640e+01] [-5.48425634e-02 3.72462260e-03 9.98488067e-01 -2.27386845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18071405700005 meters 0.04073966923115889 Centerline is valid? [True, True] Translation: X:345.29, Y:-44.69, Z:-22.74 [[ 9.96174240e-01 6.79099878e-02 5.50010741e-02 3.45291285e+02] [-6.76140861e-02 9.97685387e-01 -7.22516312e-03 -4.46909256e+01] [-5.53644286e-02 3.47867402e-03 9.98460154e-01 -2.27427470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24071405700005 meters 0.03929229466526017 Centerline is valid? [True, True] Translation: X:345.35, Y:-44.69, Z:-22.75 [[ 9.95832295e-01 7.23832372e-02 5.54860963e-02 3.45351908e+02] [-7.20891521e-02 9.97371579e-01 -7.28611128e-03 -4.46946889e+01] [-5.58676478e-02 3.25579928e-03 9.98432875e-01 -2.27466123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30071405700005 meters 0.03768344493802859 Centerline is valid? [True, True] Translation: X:345.41, Y:-44.70, Z:-22.75 [[ 9.95628615e-01 7.57789360e-02 5.46004983e-02 3.45411769e+02] [-7.54992523e-02 9.97120080e-01 -7.16994962e-03 -4.46958079e+01] [-5.49865844e-02 3.01631022e-03 9.98482537e-01 -2.27504715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36071405700005 meters 0.037658222773927476 Centerline is valid? [True, True] Translation: X:345.47, Y:-44.70, Z:-22.76 [[ 9.95408244e-01 7.89934621e-02 5.40597860e-02 3.45469986e+02] [-7.87241112e-02 9.96871177e-01 -7.09725776e-03 -4.47019511e+01] [-5.44512795e-02 2.80886028e-03 9.98512478e-01 -2.27559827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42071405700005 meters 0.03423104616583868 Centerline is valid? [True, True] Translation: X:345.53, Y:-44.70, Z:-22.76 [[ 9.95037751e-01 8.40147617e-02 5.33047217e-02 3.45530686e+02] [-8.37602428e-02 9.96461386e-01 -6.99491902e-03 -4.47006747e+01] [-5.37037732e-02 2.49539206e-03 9.98553793e-01 -2.27600673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48071405700006 meters 0.030266394641162257 Centerline is valid? [True, True] Translation: X:345.59, Y:-44.70, Z:-22.76 [[ 9.94353748e-01 9.10088217e-02 5.45712149e-02 3.45591549e+02] [-9.07525610e-02 9.95847726e-01 -7.16089894e-03 -4.46979766e+01] [-5.49963252e-02 2.16798920e-03 9.98484203e-01 -2.27622311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54071405700006 meters 0.028671582685842807 Centerline is valid? [True, True] Translation: X:345.65, Y:-44.70, Z:-22.77 [[ 9.93637170e-01 9.75352977e-02 5.63208684e-02 3.45652147e+02] [-9.72727870e-02 9.95230319e-01 -7.39031054e-03 -4.47000546e+01] [-5.67730520e-02 1.86479942e-03 9.98385368e-01 -2.27650382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60071405700006 meters 0.02802273518569126 Centerline is valid? [True, True] Translation: X:345.71, Y:-44.70, Z:-22.77 [[ 9.93443251e-01 9.97641143e-02 5.58357216e-02 3.45710530e+02] [-9.95095250e-02 9.95009622e-01 -7.32842041e-03 -4.47041415e+01] [-5.62881937e-02 1.72418366e-03 9.98413074e-01 -2.27689517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66071405700006 meters 0.028752454986454814 Centerline is valid? [True, True] Translation: X:345.77, Y:-44.72, Z:-22.77 [[ 9.93624973e-01 9.82049526e-02 5.53642570e-02 3.45766730e+02] [-9.79530374e-02 9.95164614e-01 -7.25214494e-03 -4.47150980e+01] [-5.58087460e-02 1.78281517e-03 9.98439886e-01 -2.27738762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72071405700007 meters 0.02937055335203765 Centerline is valid? [True, True] Translation: X:345.83, Y:-44.73, Z:-22.78 [[ 9.94112038e-01 9.38882347e-02 5.40948737e-02 3.45825163e+02] [-9.36418810e-02 9.95580796e-01 -7.07649851e-03 -4.47270870e+01] [-5.45202174e-02 1.96928663e-03 9.98510725e-01 -2.27798384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78071405700007 meters 0.029734427284555706 Centerline is valid? [True, True] Translation: X:345.88, Y:-44.74, Z:-22.78 [[ 9.94362475e-01 9.11990798e-02 5.40924868e-02 3.45883807e+02] [-9.09488772e-02 9.95830435e-01 -7.07434255e-03 -4.47388146e+01] [-5.45121182e-02 2.11480983e-03 9.98510870e-01 -2.27848911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84071405700007 meters 0.02983674919070669 Centerline is valid? [True, True] Translation: X:345.94, Y:-44.75, Z:-22.79 [[ 9.94600910e-01 8.82791604e-02 5.45510683e-02 3.45942606e+02] [-8.80204187e-02 9.96093136e-01 -7.13234664e-03 -4.47482796e+01] [-5.49675823e-02 2.29223058e-03 9.98485508e-01 -2.27872236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9007140570001 meters 0.03042832415440288 Centerline is valid? [True, True] Translation: X:346.00, Y:-44.76, Z:-22.79 [[ 9.94711962e-01 8.68182308e-02 5.48699153e-02 3.45999809e+02] [-8.65543193e-02 9.96221313e-01 -7.17251321e-03 -4.47588907e+01] [-5.52852840e-02 2.38535652e-03 9.98467750e-01 -2.27909503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9607140570001 meters 0.031074366073568404 Centerline is valid? [True, True] Translation: X:346.06, Y:-44.77, Z:-22.80 [[ 9.94921041e-01 8.46194552e-02 5.45130316e-02 3.46057837e+02] [-8.43559641e-02 9.96410241e-01 -7.12064939e-03 -4.47688153e+01] [-5.49198884e-02 2.48598456e-03 9.98487669e-01 -2.27958306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.020714057 meters 0.03164462093602635 Centerline is valid? [True, True] Translation: X:346.12, Y:-44.78, Z:-22.80 [[ 9.95051069e-01 8.36068111e-02 5.36960945e-02 3.46115580e+02] [-8.33498412e-02 9.96495683e-01 -7.01126923e-03 -4.47793486e+01] [-5.40941163e-02 2.50100999e-03 9.98532709e-01 -2.28004569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.080714057 meters 0.03343005330773727 Centerline is valid? [True, True] Translation: X:346.17, Y:-44.79, Z:-22.81 [[ 9.95414283e-01 8.06961769e-02 5.13666432e-02 3.46174534e+02] [-8.04573923e-02 9.96735511e-01 -6.70294271e-03 -4.47907587e+01] [-5.17398592e-02 2.53937874e-03 9.98657368e-01 -2.28070027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.140714057 meters 0.036399956144695475 Centerline is valid? [True, True] Translation: X:346.23, Y:-44.80, Z:-22.81 [[ 9.95771001e-01 7.67521284e-02 5.04898478e-02 3.46232245e+02] [-7.65164117e-02 9.97046558e-01 -6.58789020e-03 -4.48042861e+01] [-5.08463636e-02 2.69672804e-03 9.98702846e-01 -2.28123850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.200714057 meters 0.037855962047426146 Centerline is valid? [True, True] Translation: X:346.29, Y:-44.82, Z:-22.82 [[ 9.95907843e-01 7.45237114e-02 5.11251815e-02 3.46290561e+02] [-7.42791862e-02 9.97215186e-01 -6.66897506e-03 -4.48157040e+01] [-5.14798042e-02 2.84414769e-03 9.98669986e-01 -2.28160715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26071405700003 meters 0.039705347751576754 Centerline is valid? [True, True] Translation: X:346.35, Y:-44.83, Z:-22.82 [[ 9.95977652e-01 7.25122593e-02 5.26354264e-02 3.46347983e+02] [-7.22503381e-02 9.97362907e-01 -6.86449480e-03 -4.48254875e+01] [-5.29943819e-02 3.03395607e-03 9.98590202e-01 -2.28181011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32071405700003 meters 0.035340813212783186 Centerline is valid? [True, True] Translation: X:346.41, Y:-44.83, Z:-22.82 [[ 9.95902488e-01 7.21805107e-02 5.44812703e-02 3.46407390e+02] [-7.18995886e-02 9.97386595e-01 -7.10142491e-03 -4.48253475e+01] [-5.48514731e-02 3.15514581e-03 9.98489540e-01 -2.28187701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38071405700003 meters 0.0348901919625617 Centerline is valid? [True, True] Translation: X:346.47, Y:-44.83, Z:-22.82 [[ 9.95930265e-01 7.20938422e-02 5.40868291e-02 3.46465600e+02] [-7.18170606e-02 9.97392932e-01 -7.04616094e-03 -4.48314635e+01] [-5.44538059e-02 3.13312786e-03 9.98511375e-01 -2.28230600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44071405700004 meters 0.03967367324804422 Centerline is valid? [True, True] Translation: X:346.52, Y:-44.85, Z:-22.83 [[ 9.95971285e-01 7.19288044e-02 5.35485497e-02 3.46521418e+02] [-7.16574653e-02 9.97404929e-01 -6.97248076e-03 -4.48457480e+01] [-5.39111096e-02 3.10723727e-03 9.98540904e-01 -2.28286704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50071405700004 meters 0.03586035250714746 Centerline is valid? [True, True] Translation: X:346.58, Y:-44.84, Z:-22.83 [[ 9.96117981e-01 7.11570667e-02 5.18231650e-02 3.46581168e+02] [-7.09021795e-02 9.97460484e-01 -6.74266667e-03 -4.48447835e+01] [-5.21713476e-02 3.04211616e-03 9.98633514e-01 -2.28317580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56071405700004 meters 0.03897846544961652 Centerline is valid? [True, True] Translation: X:346.64, Y:-44.86, Z:-22.84 [[ 9.96026383e-01 7.14733547e-02 5.31319450e-02 3.46637806e+02] [-7.12060647e-02 9.97437697e-01 -6.90919895e-03 -4.48566390e+01] [-5.34896285e-02 3.09842773e-03 9.98563598e-01 -2.28355372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62071405700004 meters 0.03619333025201086 Centerline is valid? [True, True] Translation: X:346.70, Y:-44.86, Z:-22.84 [[ 9.95916789e-01 7.18393181e-02 5.46704772e-02 3.46697088e+02] [-7.15571388e-02 9.97411203e-01 -7.10410411e-03 -4.48586265e+01] [-5.50393005e-02 3.16303363e-03 9.98479179e-01 -2.28370674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68071405700005 meters 0.0372156856596232 Centerline is valid? [True, True] Translation: X:346.75, Y:-44.87, Z:-22.84 [[ 9.95800314e-01 7.23791921e-02 5.60623516e-02 3.46753805e+02] [-7.20835195e-02 9.97372024e-01 -7.28099903e-03 -4.48684160e+01] [-5.64420139e-02 3.20924951e-03 9.98400721e-01 -2.28413134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74071405700005 meters 0.03603243802876758 Centerline is valid? [True, True] Translation: X:346.81, Y:-44.87, Z:-22.84 [[ 9.95651454e-01 7.33029268e-02 5.74879355e-02 3.46812299e+02] [-7.29938454e-02 9.97304484e-01 -7.46085824e-03 -4.48747672e+01] [-5.78798786e-02 3.23214889e-03 9.98318322e-01 -2.28445597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80071405700005 meters 0.03809306942771621 Centerline is valid? [True, True] Translation: X:346.87, Y:-44.89, Z:-22.85 [[ 9.95687039e-01 7.30440392e-02 5.72004197e-02 3.46869144e+02] [-7.27378454e-02 9.97323496e-01 -7.41964173e-03 -4.48855467e+01] [-5.75892831e-02 3.22700583e-03 9.98335145e-01 -2.28484498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86071405700005 meters 0.038238205034116055 Centerline is valid? [True, True] Translation: X:346.93, Y:-44.90, Z:-22.86 [[ 9.95973604e-01 7.08246853e-02 5.49585707e-02 3.46927580e+02] [-7.05389644e-02 9.97483587e-01 -7.12381301e-03 -4.48959282e+01] [-5.53248141e-02 3.21840905e-03 9.98463223e-01 -2.28554434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92071405700005 meters 0.03944290065129511 Centerline is valid? [True, True] Translation: X:346.99, Y:-44.91, Z:-22.86 [[ 9.96200276e-01 6.89965032e-02 5.31459498e-02 3.46985632e+02] [-6.87268343e-02 9.97611742e-01 -6.88726919e-03 -4.49077636e+01] [-5.34942210e-02 3.20854659e-03 9.98563004e-01 -2.28613983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98071405700006 meters 0.03648641804301737 Centerline is valid? [True, True] Translation: X:347.04, Y:-44.91, Z:-22.86 [[ 9.96160838e-01 6.92718629e-02 5.35256306e-02 3.47044149e+02] [-6.89988585e-02 9.97592642e-01 -6.93387494e-03 -4.49119615e+01] [-5.38770977e-02 3.21404726e-03 9.98542402e-01 -2.28630651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04071405700006 meters 0.03679851676707474 Centerline is valid? [True, True] Translation: X:347.10, Y:-44.92, Z:-22.86 [[ 9.95992355e-01 6.96189500e-02 5.61465104e-02 3.47102415e+02] [-6.93193170e-02 9.97568040e-01 -7.26901281e-03 -4.49234696e+01] [-5.65160254e-02 3.34784343e-03 9.98396079e-01 -2.28646383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10071405700006 meters 0.035599411192129934 Centerline is valid? [True, True] Translation: X:347.16, Y:-44.93, Z:-22.87 [[ 9.95913150e-01 6.97481078e-02 5.73776966e-02 3.47160008e+02] [-6.94355597e-02 9.97558804e-01 -7.42539443e-03 -4.49326106e+01] [-5.77555336e-02 3.41099548e-03 9.98324929e-01 -2.28677794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16071405700006 meters 0.039700318958105246 Centerline is valid? [True, True] Translation: X:347.22, Y:-44.95, Z:-22.87 [[ 9.95928018e-01 7.01213401e-02 5.66602164e-02 3.47216105e+02] [-6.98173958e-02 9.97532868e-01 -7.32861346e-03 -4.49508128e+01] [-5.70343203e-02 3.34290272e-03 9.98366622e-01 -2.28732041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22071405700007 meters 0.03482174865787236 Centerline is valid? [True, True] Translation: X:347.28, Y:-44.95, Z:-22.88 [[ 9.96013257e-01 6.99661528e-02 5.53383115e-02 3.47275138e+02] [-6.96762810e-02 9.97544012e-01 -7.15267829e-03 -4.49530045e+01] [-5.57028466e-02 3.26839466e-03 9.98442042e-01 -2.28762089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28071405700007 meters 0.03716426141936922 Centerline is valid? [True, True] Translation: X:347.33, Y:-44.97, Z:-22.88 [[ 9.96222055e-01 6.92100824e-02 5.24555245e-02 3.47331980e+02] [-6.89488155e-02 9.97597185e-01 -6.77626903e-03 -4.49680252e+01] [-5.27984697e-02 3.13392238e-03 9.98600270e-01 -2.28826542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34071405700007 meters 0.038780333718133955 Centerline is valid? [True, True] Translation: X:347.39, Y:-44.98, Z:-22.89 [[ 9.96298225e-01 6.97380373e-02 5.02638408e-02 3.47387997e+02] [-6.94989444e-02 9.97560907e-01 -6.49104374e-03 -4.49801192e+01] [-5.05939152e-02 2.97373148e-03 9.98714881e-01 -2.28887433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4007140570001 meters 0.03867496554552834 Centerline is valid? [True, True] Translation: X:347.45, Y:-44.99, Z:-22.89 [[ 9.96089473e-01 7.29486235e-02 4.98423442e-02 3.47446621e+02] [-7.27177826e-02 9.97331820e-01 -6.43159265e-03 -4.49878428e+01] [-5.01785316e-02 2.78201699e-03 9.98736389e-01 -2.28921344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4607140570001 meters 0.034961024578634266 Centerline is valid? [True, True] Translation: X:347.51, Y:-44.99, Z:-22.89 [[ 9.95684387e-01 7.73281682e-02 5.13123433e-02 3.47507573e+02] [-7.70894019e-02 9.97002213e-01 -6.61908799e-03 -4.49895644e+01] [-5.16703617e-02 2.63488471e-03 9.98660719e-01 -2.28923017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.520714057 meters 0.03191828330155187 Centerline is valid? [True, True] Translation: X:347.57, Y:-44.99, Z:-22.89 [[ 9.95433146e-01 7.97311487e-02 5.24956836e-02 3.47567491e+02] [-7.94845412e-02 9.96813095e-01 -6.77210281e-03 -4.49928740e+01] [-5.28683324e-02 2.56858027e-03 9.98598188e-01 -2.28944467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.580714057 meters 0.03470046587008162 Centerline is valid? [True, True] Translation: X:347.62, Y:-45.01, Z:-22.90 [[ 9.95464474e-01 8.04036433e-02 5.08501344e-02 3.47623715e+02] [-8.01732435e-02 9.96759372e-01 -6.55788575e-03 -4.50070840e+01] [-5.12126260e-02 2.45132208e-03 9.98684764e-01 -2.29015346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.640714057 meters 0.03273223630031099 Centerline is valid? [True, True] Translation: X:347.68, Y:-45.01, Z:-22.90 [[ 9.95687671e-01 7.91055090e-02 4.84600978e-02 3.47682427e+02] [-7.88949706e-02 9.96863372e-01 -6.24503530e-03 -4.50132684e+01] [-4.88021132e-02 2.39484666e-03 9.98805596e-01 -2.29049705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.700714057 meters 0.033917536401117596 Centerline is valid? [True, True] Translation: X:347.74, Y:-45.03, Z:-22.91 [[ 9.95842744e-01 7.67110942e-02 4.91185945e-02 3.47741026e+02] [-7.64920325e-02 9.97050119e-01 -6.32693144e-03 -4.50256339e+01] [-4.94590463e-02 2.54344764e-03 9.98772914e-01 -2.29086460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76071405700003 meters 0.03348016000048665 Centerline is valid? [True, True] Translation: X:347.80, Y:-45.03, Z:-22.91 [[ 9.95905764e-01 7.55052261e-02 4.97058268e-02 3.47798845e+02] [-7.52794562e-02 9.97141929e-01 -6.40131109e-03 -4.50341850e+01] [-5.00470964e-02 2.63327501e-03 9.98743387e-01 -2.29119498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82071405700003 meters 0.03418414856756738 Centerline is valid? [True, True] Translation: X:347.86, Y:-45.04, Z:-22.92 [[ 9.96091860e-01 7.28582013e-02 4.99268392e-02 3.47857287e+02] [-7.26272983e-02 9.97338450e-01 -6.42590184e-03 -4.50438987e+01] [-5.02621361e-02 2.77473707e-03 9.98732206e-01 -2.29150295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88071405700003 meters 0.035119089143791526 Centerline is valid? [True, True] Translation: X:347.92, Y:-45.05, Z:-22.92 [[ 9.96319860e-01 6.97696615e-02 4.97888687e-02 3.47916161e+02] [-6.95363533e-02 9.97558857e-01 -6.40492493e-03 -4.50537417e+01] [-5.01141964e-02 2.91921754e-03 9.98739228e-01 -2.29188097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94071405700004 meters 0.039098719779095466 Centerline is valid? [True, True] Translation: X:347.97, Y:-45.07, Z:-22.92 [[ 9.96660832e-01 6.54036684e-02 4.88829877e-02 3.47974096e+02] [-6.51735916e-02 9.97854132e-01 -6.28756075e-03 -4.50694864e+01] [-4.91893208e-02 3.08068565e-03 9.98784722e-01 -2.29243863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00071405700004 meters 0.041943616786629445 Centerline is valid? [True, True] Translation: X:348.03, Y:-45.08, Z:-22.93 [[ 9.97046108e-01 5.99349813e-02 4.80297506e-02 3.48032942e+02] [-5.97066212e-02 9.98196859e-01 -6.17650090e-03 -4.50839297e+01] [-4.83133347e-02 3.29056205e-03 9.98826809e-01 -2.29299526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06071405700004 meters 0.04090925331323959 Centerline is valid? [True, True] Translation: X:348.09, Y:-45.09, Z:-22.93 [[ 9.97341729e-01 5.46297428e-02 4.82189432e-02 3.48092823e+02] [-5.43934033e-02 9.98500328e-01 -6.20099187e-03 -4.50921910e+01] [-4.84853892e-02 3.56171553e-03 9.98817542e-01 -2.29323048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12071405700004 meters 0.04341268576074453 Centerline is valid? [True, True] Translation: X:348.15, Y:-45.10, Z:-22.94 [[ 9.97478208e-01 5.17342456e-02 4.85879943e-02 3.48152680e+02] [-5.14908843e-02 9.98653920e-01 -6.24788434e-03 -4.51025782e+01] [-4.88458205e-02 3.73028968e-03 9.98799365e-01 -2.29355474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18071405700005 meters 0.04510754230527303 Centerline is valid? [True, True] Translation: X:348.21, Y:-45.11, Z:-22.94 [[ 9.97454182e-01 5.02467919e-02 5.06005406e-02 3.48213798e+02] [-4.99810260e-02 9.98728985e-01 -6.50475414e-03 -4.51118101e+01] [-5.08630695e-02 3.95912729e-03 9.98697789e-01 -2.29386061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24071405700005 meters 0.047206374432660646 Centerline is valid? [True, True] Translation: X:348.27, Y:-45.12, Z:-22.94 [[ 9.97424483e-01 5.00012910e-02 5.14224827e-02 3.48274403e+02] [-4.97257988e-02 9.98740943e-01 -6.62370550e-03 -4.51207689e+01] [-5.16889327e-02 4.04962200e-03 9.98655023e-01 -2.29418658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30071405700005 meters 0.04318524129921882 Centerline is valid? [True, True] Translation: X:348.34, Y:-45.12, Z:-22.95 [[ 9.97448909e-01 4.95187884e-02 5.14155941e-02 3.48336455e+02] [-4.92424445e-02 9.98764860e-01 -6.62840297e-03 -4.51218572e+01] [-5.16803191e-02 4.07966378e-03 9.98655346e-01 -2.29452910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36071405700005 meters 0.04714044621853613 Centerline is valid? [True, True] Translation: X:348.40, Y:-45.13, Z:-22.95 [[ 9.97498851e-01 4.90720065e-02 5.08721940e-02 3.48396196e+02] [-4.88002943e-02 9.98786946e-01 -6.57022838e-03 -4.51342817e+01] [-5.11328976e-02 4.07121722e-03 9.98683560e-01 -2.29505716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42071405700005 meters 0.04481999774596821 Centerline is valid? [True, True] Translation: X:348.46, Y:-45.14, Z:-22.95 [[ 9.97669476e-01 4.70539266e-02 4.94119940e-02 3.48457102e+02] [-4.67944417e-02 9.98884064e-01 -6.39584315e-03 -4.51364581e+01] [-4.96578029e-02 4.06873082e-03 9.98758003e-01 -2.29549306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48071405700006 meters 0.04272145103667434 Centerline is valid? [True, True] Translation: X:348.52, Y:-45.14, Z:-22.96 [[ 9.97674379e-01 4.77590622e-02 4.86303040e-02 3.48519823e+02] [-4.75087024e-02 9.98851008e-01 -6.29180302e-03 -4.51394894e+01] [-4.88749188e-02 3.96680803e-03 9.98797030e-01 -2.29585859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54071405700006 meters 0.04388824230898003 Centerline is valid? [True, True] Translation: X:348.58, Y:-45.14, Z:-22.96 [[ 9.97460800e-01 5.09678403e-02 4.97416577e-02 3.48579011e+02] [-5.07089962e-02 9.98692625e-01 -6.45274860e-03 -4.51435440e+01] [-5.00055094e-02 3.91401425e-03 9.98741273e-01 -2.29619968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60071405700006 meters 0.043838337073242195 Centerline is valid? [True, True] Translation: X:348.64, Y:-45.15, Z:-22.97 [[ 9.97282448e-01 5.34187582e-02 5.07361343e-02 3.48639293e+02] [-5.31526632e-02 9.98564716e-01 -6.58049836e-03 -4.51492161e+01] [-5.10148356e-02 3.86585485e-03 9.98690413e-01 -2.29652101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66071405700006 meters 0.04295108352321397 Centerline is valid? [True, True] Translation: X:348.70, Y:-45.15, Z:-22.97 [[ 9.97081059e-01 5.61269780e-02 5.17602496e-02 3.48700511e+02] [-5.58536033e-02 9.98416394e-01 -6.71412879e-03 -4.51511059e+01] [-5.20551256e-02 3.80353419e-03 9.98636970e-01 -2.29670895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72071405700007 meters 0.04238919903908167 Centerline is valid? [True, True] Translation: X:348.76, Y:-45.16, Z:-22.97 [[ 9.96942360e-01 5.83288352e-02 5.19969074e-02 3.48760974e+02] [-5.80558418e-02 9.98290541e-01 -6.74648813e-03 -4.51558216e+01] [-5.23015356e-02 3.70713556e-03 9.98624457e-01 -2.29718372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78071405700007 meters 0.043288758780602274 Centerline is valid? [True, True] Translation: X:348.82, Y:-45.16, Z:-22.98 [[ 9.96954241e-01 5.87900583e-02 5.12442331e-02 3.48820080e+02] [-5.85254453e-02 9.98263765e-01 -6.65038777e-03 -4.51629064e+01] [-5.15462378e-02 3.63104073e-03 9.98664008e-01 -2.29764682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84071405700007 meters 0.04374567391558157 Centerline is valid? [True, True] Translation: X:348.88, Y:-45.17, Z:-22.98 [[ 9.96843905e-01 6.08331966e-02 5.10054045e-02 3.48878668e+02] [-6.05737974e-02 9.98141785e-01 -6.61762609e-03 -4.51687474e+01] [-5.13131968e-02 3.50714919e-03 9.98676452e-01 -2.29804858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9007140570001 meters 0.04369776130556842 Centerline is valid? [True, True] Translation: X:348.94, Y:-45.18, Z:-22.98 [[ 9.96718386e-01 6.32391239e-02 5.05299064e-02 3.48937847e+02] [-6.29877181e-02 9.97992782e-01 -6.55398864e-03 -4.51762710e+01] [-5.08429504e-02 3.34971748e-03 9.98701043e-01 -2.29848470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9607140570001 meters 0.04252473965994568 Centerline is valid? [True, True] Translation: X:349.00, Y:-45.18, Z:-22.99 [[ 9.96478074e-01 6.67509616e-02 5.07519253e-02 3.48998488e+02] [-6.65019204e-02 9.97764589e-01 -6.58182386e-03 -4.51810733e+01] [-5.10778169e-02 3.18354267e-03 9.98689602e-01 -2.29883492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.020714057 meters 0.0357633869819645 Centerline is valid? [True, True] Translation: X:349.06, Y:-45.18, Z:-22.99 [[ 9.96199650e-01 7.00387116e-02 5.17767859e-02 3.49059457e+02] [-6.97839270e-02 9.97539532e-01 -6.71459084e-03 -4.51776103e+01] [-5.21196720e-02 3.07588560e-03 9.98636109e-01 -2.29889786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.080714057 meters 0.033593126431001416 Centerline is valid? [True, True] Translation: X:349.12, Y:-45.18, Z:-22.99 [[ 9.95685960e-01 7.59166167e-02 5.33491907e-02 3.49119199e+02] [-7.56546169e-02 9.97110095e-01 -6.91641333e-03 -4.51815828e+01] [-5.37200874e-02 2.85046306e-03 9.98551965e-01 -2.29915780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.140714057 meters 0.03213784845834829 Centerline is valid? [True, True] Translation: X:349.18, Y:-45.19, Z:-23.00 [[ 9.95327339e-01 7.99056670e-02 5.42086011e-02 3.49179235e+02] [-7.96411473e-02 9.96798838e-01 -7.02591056e-03 -4.51874295e+01] [-5.45964807e-02 2.67584568e-03 9.98504914e-01 -2.29953722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.200714057 meters 0.03147073491922605 Centerline is valid? [True, True] Translation: X:349.24, Y:-45.19, Z:-23.00 [[ 9.95386970e-01 8.04865221e-02 5.22178040e-02 3.49237680e+02] [-8.02419041e-02 9.96752445e-01 -6.76765085e-03 -4.51949121e+01] [-5.25929284e-02 2.54637546e-03 9.98612788e-01 -2.30011070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26071405700003 meters 0.03345863396324046 Centerline is valid? [True, True] Translation: X:349.30, Y:-45.21, Z:-23.01 [[ 9.95618785e-01 7.84693340e-02 5.08507501e-02 3.49295046e+02] [-7.82349431e-02 9.96913191e-01 -6.58663138e-03 -4.52081554e+01] [-5.12106321e-02 2.57946839e-03 9.98684544e-01 -2.30072681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32071405700003 meters 0.034408643240668654 Centerline is valid? [True, True] Translation: X:349.35, Y:-45.22, Z:-23.01 [[ 9.95710365e-01 7.63839412e-02 5.22145911e-02 3.49353802e+02] [-7.61341043e-02 9.97074671e-01 -6.76010720e-03 -4.52185682e+01] [-5.25782098e-02 2.75579768e-03 9.98613007e-01 -2.30101489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38071405700003 meters 0.03648319108362565 Centerline is valid? [True, True] Translation: X:349.41, Y:-45.23, Z:-23.01 [[ 9.95731288e-01 7.52547822e-02 5.34408049e-02 3.49410451e+02] [-7.49915040e-02 9.97160178e-01 -6.91765708e-03 -4.52277279e+01] [-5.38096293e-02 2.88052126e-03 9.98547058e-01 -2.30115951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44071405700004 meters 0.03321524385645784 Centerline is valid? [True, True] Translation: X:349.47, Y:-45.23, Z:-23.01 [[ 9.95742898e-01 7.43095450e-02 5.45359730e-02 3.49469331e+02] [-7.40342744e-02 9.97230754e-01 -7.05333703e-03 -4.52289672e+01] [-5.49090798e-02 2.98577906e-03 9.98486894e-01 -2.30132386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50071405700004 meters 0.03424143016509236 Centerline is valid? [True, True] Translation: X:349.53, Y:-45.24, Z:-23.02 [[ 9.95919743e-01 7.17051685e-02 5.47926544e-02 3.49528196e+02] [-7.14236111e-02 9.97420929e-01 -7.08217900e-03 -4.52376136e+01] [-5.51591691e-02 3.13979264e-03 9.98472637e-01 -2.30171441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56071405700004 meters 0.03586561275537333 Centerline is valid? [True, True] Translation: X:349.59, Y:-45.25, Z:-23.02 [[ 9.96227064e-01 6.74670906e-02 5.45878101e-02 3.49587267e+02] [-6.71814216e-02 9.97715844e-01 -7.05349587e-03 -4.52468278e+01] [-5.49390018e-02 3.35959680e-03 9.98484061e-01 -2.30202751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62071405700004 meters 0.037319236378624686 Centerline is valid? [True, True] Translation: X:349.65, Y:-45.26, Z:-23.02 [[ 9.96390539e-01 6.53079019e-02 5.42288797e-02 3.49645981e+02] [-6.50228222e-02 9.97859178e-01 -7.00668077e-03 -4.52573439e+01] [-5.45703769e-02 3.45527563e-03 9.98503948e-01 -2.30248315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68071405700005 meters 0.03970395414747193 Centerline is valid? [True, True] Translation: X:349.71, Y:-45.27, Z:-23.03 [[ 9.96674440e-01 6.31068696e-02 5.15517646e-02 3.49705025e+02] [-6.28464444e-02 9.98000994e-01 -6.65881900e-03 -4.52668463e+01] [-5.18689295e-02 3.39682959e-03 9.98648124e-01 -2.30308039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74071405700005 meters 0.0409896705582463 Centerline is valid? [True, True] Translation: X:349.76, Y:-45.27, Z:-23.04 [[ 9.96860360e-01 6.19337688e-02 4.93318467e-02 3.49763718e+02] [-6.16938979e-02 9.98074779e-01 -6.37177216e-03 -4.52734884e+01] [-4.96314998e-02 3.30829317e-03 9.98762119e-01 -2.30363589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80071405700005 meters 0.038771730484396354 Centerline is valid? [True, True] Translation: X:349.82, Y:-45.27, Z:-23.04 [[ 9.96976407e-01 6.03621566e-02 4.89331543e-02 3.49823057e+02] [-6.01243920e-02 9.98170899e-01 -6.31775666e-03 -4.52742241e+01] [-4.92250041e-02 3.35657819e-03 9.98782075e-01 -2.30392381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86071405700005 meters 0.04489574580700485 Centerline is valid? [True, True] Translation: X:349.88, Y:-45.29, Z:-23.04 [[ 9.97024611e-01 5.79941245e-02 5.07799798e-02 3.49880260e+02] [-5.77351477e-02 9.98310426e-01 -6.55329032e-03 -4.52874983e+01] [-5.10742356e-02 3.60200210e-03 9.98688364e-01 -2.30423540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92071405700005 meters 0.04456290145157712 Centerline is valid? [True, True] Translation: X:349.94, Y:-45.29, Z:-23.05 [[ 9.97119793e-01 5.54749770e-02 5.17169679e-02 3.49940137e+02] [-5.52031461e-02 9.98452859e-01 -6.67092006e-03 -4.52934478e+01] [-5.20070236e-02 3.79676709e-03 9.98639502e-01 -2.30453333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98071405700006 meters 0.04498075308603525 Centerline is valid? [True, True] Translation: X:350.00, Y:-45.30, Z:-23.05 [[ 9.97316710e-01 5.19487468e-02 5.15820458e-02 3.49999868e+02] [-5.16737033e-02 9.98641865e-01 -6.65242326e-03 -4.53014184e+01] [-5.18575754e-02 3.96913755e-03 9.98646603e-01 -2.30495951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04071405700006 meters 0.04338058322142485 Centerline is valid? [True, True] Translation: X:350.06, Y:-45.31, Z:-23.05 [[ 9.97484816e-01 5.06450985e-02 4.95894807e-02 3.50059904e+02] [-5.03893214e-02 9.98709175e-01 -6.39533881e-03 -4.53059712e+01] [-4.98493620e-02 3.88047307e-03 9.98749209e-01 -2.30541058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10071405700006 meters 0.04408383689014677 Centerline is valid? [True, True] Translation: X:350.12, Y:-45.31, Z:-23.06 [[ 9.97575329e-01 5.03831231e-02 4.80104625e-02 3.50119457e+02] [-5.01430905e-02 9.98722851e-01 -6.19169972e-03 -4.53129267e+01] [-4.82611031e-02 3.76929392e-03 9.98827642e-01 -2.30589018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16071405700006 meters 0.042389086547869964 Centerline is valid? [True, True] Translation: X:350.18, Y:-45.32, Z:-23.06 [[ 9.97522321e-01 5.20145209e-02 4.73678032e-02 3.50179759e+02] [-5.17827047e-02 9.98639692e-01 -6.10881876e-03 -4.53170874e+01] [-4.76211157e-02 3.64085010e-03 9.98858836e-01 -2.30631767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22071405700007 meters 0.04235193911283589 Centerline is valid? [True, True] Translation: X:350.24, Y:-45.32, Z:-23.07 [[ 9.97366044e-01 5.49298685e-02 4.73675321e-02 3.50239581e+02] [-5.47013076e-02 9.98484074e-01 -6.10908096e-03 -4.53219356e+01] [-4.76312975e-02 3.50192397e-03 9.98858847e-01 -2.30665466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28071405700007 meters 0.04421386276146613 Centerline is valid? [True, True] Translation: X:350.30, Y:-45.33, Z:-23.07 [[ 9.97062352e-01 5.93863488e-02 4.83728066e-02 3.50298231e+02] [-5.91532103e-02 9.98229423e-01 -6.23825269e-03 -4.53293217e+01] [-4.86576259e-02 3.35852010e-03 9.98809870e-01 -2.30700146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34071405700007 meters 0.037632424875227326 Centerline is valid? [True, True] Translation: X:350.36, Y:-45.32, Z:-23.07 [[ 9.96591648e-01 6.60203162e-02 4.94611461e-02 3.50360661e+02] [-6.57848204e-02 9.97813462e-01 -6.37586906e-03 -4.53225819e+01] [-4.97739343e-02 3.10034524e-03 9.98755698e-01 -2.30699383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4007140570001 meters 0.039357924720881406 Centerline is valid? [True, True] Translation: X:350.42, Y:-45.33, Z:-23.07 [[ 9.96210676e-01 7.10775293e-02 5.01225933e-02 3.50419476e+02] [-7.08420626e-02 9.97466620e-01 -6.46103485e-03 -4.53306519e+01] [-5.04548481e-02 2.88576400e-03 9.98722174e-01 -2.30747472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4607140570001 meters 0.03820906056945237 Centerline is valid? [True, True] Translation: X:350.48, Y:-45.34, Z:-23.08 [[ 9.96097984e-01 7.30446893e-02 4.95305849e-02 3.50477770e+02] [-7.28172067e-02 9.97324870e-01 -6.38418653e-03 -4.53350601e+01] [-4.98644150e-02 2.75259650e-03 9.98752203e-01 -2.30791030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.520714057 meters 0.033691665367638166 Centerline is valid? [True, True] Translation: X:350.54, Y:-45.33, Z:-23.08 [[ 9.95925194e-01 7.62289756e-02 4.81887120e-02 3.50538754e+02] [-7.60175234e-02 9.97087155e-01 -6.20821259e-03 -4.53332877e+01] [-4.85215914e-02 2.51972879e-03 9.98818956e-01 -2.30819871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.580714057 meters 0.033960908769622655 Centerline is valid? [True, True] Translation: X:350.60, Y:-45.34, Z:-23.09 [[ 9.95873551e-01 7.68167703e-02 4.83223905e-02 3.50597327e+02] [-7.66048348e-02 9.97042097e-01 -6.22537267e-03 -4.53409717e+01] [-4.86576706e-02 2.49795525e-03 9.98812390e-01 -2.30858414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.640714057 meters 0.033451272223814936 Centerline is valid? [True, True] Translation: X:350.66, Y:-45.35, Z:-23.09 [[ 9.95742030e-01 7.73305660e-02 5.01776173e-02 3.50655307e+02] [-7.71028691e-02 9.97002211e-01 -6.46060639e-03 -4.53489075e+01] [-5.05267978e-02 2.56425906e-03 9.98719414e-01 -2.30893957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.700714057 meters 0.0337638049091597 Centerline is valid? [True, True] Translation: X:350.71, Y:-45.36, Z:-23.09 [[ 9.95837149e-01 7.61875404e-02 5.00383041e-02 3.50712724e+02] [-7.59598371e-02 9.97090085e-01 -6.43933951e-03 -4.53579481e+01] [-5.03832943e-02 2.61163207e-03 9.98726541e-01 -2.30933814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76071405700003 meters 0.03599248253641365 Centerline is valid? [True, True] Translation: X:350.77, Y:-45.37, Z:-23.10 [[ 9.96125726e-01 7.32301914e-02 4.86916514e-02 3.50771161e+02] [-7.30113309e-02 9.97311460e-01 -6.26070672e-03 -4.53705784e+01] [-4.90192147e-02 2.68140876e-03 9.98794236e-01 -2.30988323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82071405700003 meters 0.03589769594472204 Centerline is valid? [True, True] Translation: X:350.83, Y:-45.38, Z:-23.10 [[ 9.96454803e-01 6.94315692e-02 4.75087572e-02 3.50830771e+02] [-6.92189739e-02 9.97582795e-01 -6.10750039e-03 -4.53807295e+01] [-4.78179721e-02 2.79734068e-03 9.98852149e-01 -2.31039283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88071405700003 meters 0.037105279190117205 Centerline is valid? [True, True] Translation: X:350.89, Y:-45.39, Z:-23.11 [[ 9.96659525e-01 6.67492585e-02 4.70566352e-02 3.50890347e+02] [-6.65377158e-02 9.97765572e-01 -6.04938777e-03 -4.53919443e+01] [-4.73552827e-02 2.89813892e-03 9.98873905e-01 -2.31087037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94071405700004 meters 0.03963527147490079 Centerline is valid? [True, True] Translation: X:350.95, Y:-45.41, Z:-23.11 [[ 9.96752546e-01 6.43245515e-02 4.84428865e-02 3.50947416e+02] [-6.40974438e-02 9.97924206e-01 -6.22870900e-03 -4.54050521e+01] [-4.87429880e-02 3.10341636e-03 9.98806533e-01 -2.31115963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00071405700004 meters 0.041773087952762133 Centerline is valid? [True, True] Translation: X:351.01, Y:-45.42, Z:-23.11 [[ 9.96742170e-01 6.27130591e-02 5.07160634e-02 3.51005166e+02] [-6.24622326e-02 9.98026050e-01 -6.51717334e-03 -4.54174558e+01] [-5.10246643e-02 3.32810295e-03 9.98691848e-01 -2.31145029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06071405700004 meters 0.04431173161718892 Centerline is valid? [True, True] Translation: X:351.06, Y:-45.43, Z:-23.12 [[ 9.96891818e-01 6.03623278e-02 5.06269884e-02 3.51062396e+02] [-6.01095578e-02 9.98170609e-01 -6.50196901e-03 -4.54305794e+01] [-5.09268459e-02 3.43859382e-03 9.98696467e-01 -2.31185565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12071405700004 meters 0.0401685190871912 Centerline is valid? [True, True] Translation: X:351.12, Y:-45.43, Z:-23.12 [[ 9.97045081e-01 5.78755929e-02 5.05125858e-02 3.51122870e+02] [-5.76209565e-02 9.98317476e-01 -6.48401841e-03 -4.54344494e+01] [-5.08028635e-02 3.55427516e-03 9.98702376e-01 -2.31208980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18071405700005 meters 0.0400827342437717 Centerline is valid? [True, True] Translation: X:351.18, Y:-45.44, Z:-23.13 [[ 9.97230633e-01 5.56837447e-02 4.92989431e-02 3.51182342e+02] [-5.54385467e-02 9.98442047e-01 -6.32822989e-03 -4.54443227e+01] [-4.95745172e-02 3.57764294e-03 9.98764020e-01 -2.31257137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24071405700005 meters 0.04422990553326054 Centerline is valid? [True, True] Translation: X:351.24, Y:-45.46, Z:-23.13 [[ 9.97261508e-01 5.54202912e-02 4.89701529e-02 3.51239106e+02] [-5.51780003e-02 9.98456741e-01 -6.28684152e-03 -4.54587379e+01] [-4.92429979e-02 3.56754995e-03 9.98780456e-01 -2.31306351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30071405700005 meters 0.043884348988944215 Centerline is valid? [True, True] Translation: X:351.30, Y:-45.47, Z:-23.13 [[ 9.97150839e-01 5.61467567e-02 5.03760393e-02 3.51298168e+02] [-5.58914156e-02 9.98415927e-01 -6.46426529e-03 -4.54674438e+01] [-5.06591875e-02 3.63025941e-03 9.98709401e-01 -2.31330467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36071405700005 meters 0.03973567368538707 Centerline is valid? [True, True] Translation: X:351.36, Y:-45.47, Z:-23.13 [[ 9.96906138e-01 5.88090294e-02 5.21502695e-02 3.51358835e+02] [-5.85390966e-02 9.98262701e-01 -6.68981901e-03 -4.54699351e+01] [-5.24530906e-02 3.61629197e-03 9.98616841e-01 -2.31342531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42071405700005 meters 0.0396559415907334 Centerline is valid? [True, True] Translation: X:351.42, Y:-45.48, Z:-23.14 [[ 9.96712468e-01 6.20039056e-02 5.21514356e-02 3.51418128e+02] [-6.17383598e-02 9.98069953e-01 -6.68902517e-03 -4.54773051e+01] [-5.24655266e-02 3.44729069e-03 9.98616786e-01 -2.31379375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48071405700006 meters 0.03895870693444122 Centerline is valid? [True, True] Translation: X:351.48, Y:-45.48, Z:-23.14 [[ 9.96413641e-01 6.66630081e-02 5.21142914e-02 3.51477266e+02] [-6.64042272e-02 9.97770420e-01 -6.68338216e-03 -4.54849950e+01] [-5.24436328e-02 3.19880390e-03 9.98618763e-01 -2.31427672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54071405700006 meters 0.038363878267498194 Centerline is valid? [True, True] Translation: X:351.54, Y:-45.49, Z:-23.15 [[ 9.96267221e-01 6.94978829e-02 5.12022323e-02 3.51536685e+02] [-6.92518739e-02 9.97577603e-01 -6.56532914e-03 -4.54936500e+01] [-5.15344766e-02 2.99497168e-03 9.98666725e-01 -2.31473503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60071405700006 meters 0.03923071342313353 Centerline is valid? [True, True] Translation: X:351.59, Y:-45.51, Z:-23.15 [[ 9.96172098e-01 7.08144861e-02 5.12489969e-02 3.51593420e+02] [-7.05697630e-02 9.97485201e-01 -6.57131059e-03 -4.55059122e+01] [-5.15854599e-02 2.92952670e-03 9.98664287e-01 -2.31532205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66071405700006 meters 0.04042615494316987 Centerline is valid? [True, True] Translation: X:351.65, Y:-45.52, Z:-23.16 [[ 9.96162057e-01 7.02264574e-02 5.22436626e-02 3.51651464e+02] [-6.99715769e-02 9.97526525e-01 -6.69409474e-03 -4.55179882e+01] [-5.25845417e-02 3.01283173e-03 9.98611931e-01 -2.31569972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72071405700007 meters 0.04136804123438458 Centerline is valid? [True, True] Translation: X:351.71, Y:-45.53, Z:-23.16 [[ 9.96256495e-01 6.91472805e-02 5.18811186e-02 3.51709144e+02] [-6.88946520e-02 9.97601815e-01 -6.64419113e-03 -4.55284932e+01] [-5.22161259e-02 3.04498696e-03 9.98631165e-01 -2.31611973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78071405700007 meters 0.044095133441524666 Centerline is valid? [True, True] Translation: X:351.77, Y:-45.54, Z:-23.17 [[ 9.96436438e-01 6.66465716e-02 5.16977805e-02 3.51767079e+02] [-6.63925867e-02 9.97771639e-01 -6.61665600e-03 -4.55439253e+01] [-5.20235566e-02 3.16072776e-03 9.98640856e-01 -2.31665281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84071405700007 meters 0.047064833135389596 Centerline is valid? [True, True] Translation: X:351.83, Y:-45.56, Z:-23.17 [[ 9.96709352e-01 6.31643039e-02 5.08009742e-02 3.51825941e+02] [-6.29146076e-02 9.97997740e-01 -6.50095399e-03 -4.55590974e+01] [-5.11098857e-02 3.28343828e-03 9.98687638e-01 -2.31716228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9007140570001 meters 0.03726419316898553 Centerline is valid? [True, True] Translation: X:351.89, Y:-45.56, Z:-23.17 [[ 9.96836903e-01 6.09160369e-02 5.10433702e-02 3.51886403e+02] [-6.06610038e-02 9.98137051e-01 -6.53221555e-03 -4.55551866e+01] [-5.13461957e-02 3.41521144e-03 9.98675075e-01 -2.31724803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9607140570001 meters 0.03881834398207339 Centerline is valid? [True, True] Translation: X:351.95, Y:-45.57, Z:-23.18 [[ 9.96844040e-01 6.03217165e-02 5.16066911e-02 3.51945198e+02] [-6.00603983e-02 9.98172919e-01 -6.60096168e-03 -4.55670441e+01] [-5.19105828e-02 3.48061089e-03 9.98645671e-01 -2.31753099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.020714057 meters 0.038406002991724496 Centerline is valid? [True, True] Translation: X:352.00, Y:-45.58, Z:-23.18 [[ 9.96729263e-01 6.02166662e-02 5.38955348e-02 3.52003998e+02] [-5.99315833e-02 9.98178697e-01 -6.89167581e-03 -4.55762325e+01] [-5.42123684e-02 3.63909022e-03 9.98522797e-01 -2.31774430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.080714057 meters 0.04182719950152924 Centerline is valid? [True, True] Translation: X:352.06, Y:-45.59, Z:-23.18 [[ 9.96732457e-01 5.99655473e-02 5.41160060e-02 3.52062029e+02] [-5.96778738e-02 9.98193717e-01 -6.91770730e-03 -4.55906077e+01] [-5.44330813e-02 3.66557521e-03 9.98510693e-01 -2.31824463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.140714057 meters 0.041754108040845374 Centerline is valid? [True, True] Translation: X:352.12, Y:-45.60, Z:-23.19 [[ 9.96926768e-01 5.79107076e-02 5.27576475e-02 3.52121749e+02] [-5.76345089e-02 9.98314978e-01 -6.74295072e-03 -4.55997178e+01] [-5.30592388e-02 3.68156696e-03 9.98584580e-01 -2.31881156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.200714057 meters 0.0429219873919793 Centerline is valid? [True, True] Translation: X:352.18, Y:-45.61, Z:-23.19 [[ 9.97022368e-01 5.69667814e-02 5.19729185e-02 3.52181444e+02] [-5.66974721e-02 9.98369306e-01 -6.64265457e-03 -4.56102457e+01] [-5.22665773e-02 3.67614209e-03 9.98626402e-01 -2.31934168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26071405700003 meters 0.042105038434195774 Centerline is valid? [True, True] Translation: X:352.24, Y:-45.62, Z:-23.20 [[ 9.97329618e-01 5.37488932e-02 4.94438098e-02 3.52241134e+02] [-5.35012541e-02 9.98547786e-01 -6.31935621e-03 -4.56204129e+01] [-4.97116652e-02 3.65717529e-03 9.98756915e-01 -2.32004036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32071405700003 meters 0.04459399786297909 Centerline is valid? [True, True] Translation: X:352.30, Y:-45.63, Z:-23.21 [[ 9.97475510e-01 5.23333285e-02 4.79982315e-02 3.52301393e+02] [-5.20983600e-02 9.98623118e-01 -6.13425745e-03 -4.56330133e+01] [-4.82531697e-02 3.61814244e-03 9.98828584e-01 -2.32054476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38071405700003 meters 0.04163336378827123 Centerline is valid? [True, True] Translation: X:352.36, Y:-45.64, Z:-23.21 [[ 9.97471323e-01 5.18971460e-02 4.85555991e-02 3.52362464e+02] [-5.16560860e-02 9.98645643e-01 -6.20719935e-03 -4.56379375e+01] [-4.88119734e-02 3.68331115e-03 9.98801194e-01 -2.32086041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44071405700004 meters 0.04047567380424257 Centerline is valid? [True, True] Translation: X:352.42, Y:-45.64, Z:-23.21 [[ 9.97340795e-01 5.23320934e-02 5.07216914e-02 3.52423700e+02] [-5.20694813e-02 9.98622401e-01 -6.48603867e-03 -4.56447601e+01] [-5.09912452e-02 3.82773880e-03 9.98691765e-01 -2.32104684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50071405700004 meters 0.04147128066544085 Centerline is valid? [True, True] Translation: X:352.48, Y:-45.65, Z:-23.21 [[ 9.97189464e-01 5.32328737e-02 5.27203469e-02 3.52484459e+02] [-5.29502753e-02 9.98574380e-01 -6.74364209e-03 -4.56538401e+01] [-5.30041711e-02 3.93313196e-03 9.98586545e-01 -2.32126552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56071405700004 meters 0.04193759727633539 Centerline is valid? [True, True] Translation: X:352.55, Y:-45.66, Z:-23.22 [[ 9.97267476e-01 5.29617459e-02 5.15037416e-02 3.52545811e+02] [-5.26917427e-02 9.98589100e-01 -6.58711206e-03 -4.56632540e+01] [-5.17799399e-02 3.85529071e-03 9.98651078e-01 -2.32182111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62071405700004 meters 0.04231377216016426 Centerline is valid? [True, True] Translation: X:352.61, Y:-45.67, Z:-23.22 [[ 9.97256727e-01 5.36169522e-02 5.10317752e-02 3.52607064e+02] [-5.33520806e-02 9.98554351e-01 -6.53944573e-03 -4.56721449e+01] [-5.13086263e-02 3.79885486e-03 9.98675620e-01 -2.32223774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68071405700005 meters 0.04205383712337581 Centerline is valid? [True, True] Translation: X:352.67, Y:-45.68, Z:-23.23 [[ 9.97247022e-01 5.45807626e-02 5.01928105e-02 3.52668352e+02] [-5.43249894e-02 9.98502495e-01 -6.44701274e-03 -4.56793146e+01] [-5.04695293e-02 3.70254036e-03 9.98718738e-01 -2.32263312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74071405700005 meters 0.042941694469709246 Centerline is valid? [True, True] Translation: X:352.73, Y:-45.69, Z:-23.23 [[ 9.97057224e-01 5.66112149e-02 5.16919900e-02 3.52727548e+02] [-5.63424431e-02 9.98389402e-01 -6.64313894e-03 -4.56882623e+01] [-5.19848111e-02 3.71113667e-03 9.98640980e-01 -2.32290114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80071405700005 meters 0.05935498533425906 Centerline is valid? [True, True] Translation: X:352.78, Y:-45.72, Z:-23.24 [[ 9.96597675e-01 6.17927482e-02 5.45410939e-02 3.52783351e+02] [-6.15011971e-02 9.98082396e-01 -7.00947033e-03 -4.57195614e+01] [-5.48696401e-02 3.63127927e-03 9.98486924e-01 -2.32350408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86071405700005 meters 0.04348963879166707 Centerline is valid? [True, True] Translation: X:352.85, Y:-45.70, Z:-23.24 [[ 9.96673124e-01 6.14025276e-02 5.35949022e-02 3.52846447e+02] [-6.11205200e-02 9.98106635e-01 -6.88667555e-03 -4.57025715e+01] [-5.39162868e-02 3.58801615e-03 9.98539013e-01 -2.32351281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92071405700005 meters 0.03907188659234001 Centerline is valid? [True, True] Translation: X:352.91, Y:-45.70, Z:-23.24 [[ 9.96667231e-01 6.18657530e-02 5.31701017e-02 3.52907499e+02] [-6.15888592e-02 9.98078221e-01 -6.83209082e-03 -4.57036692e+01] [-5.34905930e-02 3.53463513e-03 9.98562098e-01 -2.32388462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98071405700006 meters 0.03905106640848706 Centerline is valid? [True, True] Translation: X:352.97, Y:-45.71, Z:-23.25 [[ 9.96779373e-01 6.19421758e-02 5.09317993e-02 3.52967673e+02] [-6.16882285e-02 9.98074011e-01 -6.54448021e-03 -4.57112302e+01] [-5.12390846e-02 3.38151041e-03 9.98680691e-01 -2.32452743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04071405700006 meters 0.03913067471389406 Centerline is valid? [True, True] Translation: X:353.03, Y:-45.72, Z:-23.25 [[ 9.96790209e-01 6.16683112e-02 5.10519278e-02 3.53026418e+02] [-6.14127818e-02 9.98090893e-01 -6.56038425e-03 -4.57182381e+01] [-5.13590321e-02 3.40408588e-03 9.98674452e-01 -2.32491961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10071405700006 meters 0.03927393355762636 Centerline is valid? [True, True] Translation: X:353.09, Y:-45.72, Z:-23.25 [[ 9.96626507e-01 6.30907113e-02 5.24896825e-02 3.53085732e+02] [-6.28226350e-02 9.98001927e-01 -6.74319602e-03 -4.57249040e+01] [-5.28102373e-02 3.42290773e-03 9.98598699e-01 -2.32514320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16071405700006 meters 0.036266233339991995 Centerline is valid? [True, True] Translation: X:353.15, Y:-45.73, Z:-23.25 [[ 9.96448491e-01 6.47183643e-02 5.38696441e-02 3.53146233e+02] [-6.44384720e-02 9.97897700e-01 -6.91834428e-03 -4.57250899e+01] [-5.42041378e-02 3.42249617e-03 9.98524010e-01 -2.32532904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22071405700007 meters 0.03703910820444354 Centerline is valid? [True, True] Translation: X:353.21, Y:-45.73, Z:-23.26 [[ 9.96410845e-01 6.56018530e-02 5.34960329e-02 3.53205322e+02] [-6.53271433e-02 9.97840254e-01 -6.86958611e-03 -4.57307338e+01] [-5.38311526e-02 3.35018709e-03 9.98544432e-01 -2.32577580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28071405700007 meters 0.03869972200170632 Centerline is valid? [True, True] Translation: X:353.26, Y:-45.74, Z:-23.26 [[ 9.96580664e-01 6.48867969e-02 5.11535286e-02 3.53262975e+02] [-6.46348129e-02 9.97887378e-01 -6.56671759e-03 -4.57371246e+01] [-5.14715538e-02 3.23796502e-03 9.98669212e-01 -2.32635488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34071405700007 meters 0.03741350409351731 Centerline is valid? [True, True] Translation: X:353.32, Y:-45.74, Z:-23.27 [[ 9.96726793e-01 6.29206724e-02 5.07611069e-02 3.53322549e+02] [-6.26700219e-02 9.98013031e-01 -6.51603337e-03 -4.57407460e+01] [-5.10702393e-02 3.31350536e-03 9.98689567e-01 -2.32661283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4007140570001 meters 0.037826477176194674 Centerline is valid? [True, True] Translation: X:353.38, Y:-45.75, Z:-23.27 [[ 9.96777535e-01 6.18723933e-02 5.10524485e-02 3.53381605e+02] [-6.16175826e-02 9.98078329e-01 -6.55155322e-03 -4.57474436e+01] [-5.13597028e-02 3.38471260e-03 9.98674484e-01 -2.32700747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4607140570001 meters 0.03880513361224409 Centerline is valid? [True, True] Translation: X:353.44, Y:-45.75, Z:-23.27 [[ 9.96754493e-01 6.22771355e-02 5.10101921e-02 3.53440524e+02] [-6.20233459e-02 9.98053241e-01 -6.54473550e-03 -4.57527236e+01] [-5.13184749e-02 3.35967172e-03 9.98676688e-01 -2.32731997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.520714057 meters 0.0366670178551525 Centerline is valid? [True, True] Translation: X:353.50, Y:-45.75, Z:-23.28 [[ 9.96662252e-01 6.37073764e-02 5.10463092e-02 3.53499457e+02] [-6.34552806e-02 9.97963216e-01 -6.54573049e-03 -4.57526718e+01] [-5.13593502e-02 3.28472461e-03 9.98674836e-01 -2.32755106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.580714057 meters 0.04188623830192539 Centerline is valid? [True, True] Translation: X:353.56, Y:-45.76, Z:-23.28 [[ 9.96587492e-01 6.49715854e-02 5.09123159e-02 3.53555724e+02] [-6.47226339e-02 9.97881959e-01 -6.52505090e-03 -4.57643333e+01] [-5.12284244e-02 3.20760492e-03 9.98681811e-01 -2.32811270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.640714057 meters 0.03725025376437118 Centerline is valid? [True, True] Translation: X:353.61, Y:-45.76, Z:-23.28 [[ 9.96503778e-01 6.59516251e-02 5.12894029e-02 3.53614967e+02] [-6.57005126e-02 9.97817768e-01 -6.56849822e-03 -4.57620079e+01] [-5.16106806e-02 3.17579324e-03 9.98662231e-01 -2.32834658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.700714057 meters 0.036335078979527397 Centerline is valid? [True, True] Translation: X:353.67, Y:-45.76, Z:-23.29 [[ 9.96372491e-01 6.85926227e-02 5.03677623e-02 3.53674628e+02] [-6.83540291e-02 9.97640301e-01 -6.44639626e-03 -4.57638297e+01] [-5.06910848e-02 2.98017241e-03 9.98709934e-01 -2.32873912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76071405700003 meters 0.03628319483467479 Centerline is valid? [True, True] Translation: X:353.73, Y:-45.77, Z:-23.29 [[ 9.96142067e-01 7.15891231e-02 5.07541029e-02 3.53733904e+02] [-7.13508199e-02 9.97430142e-01 -6.49397735e-03 -4.57677503e+01] [-5.10885702e-02 2.84757717e-03 9.98690067e-01 -2.32913614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82071405700003 meters 0.03430311320171489 Centerline is valid? [True, True] Translation: X:353.79, Y:-45.77, Z:-23.29 [[ 9.95980620e-01 7.28615805e-02 5.20941044e-02 3.53793414e+02] [-7.26123351e-02 9.97337978e-01 -6.66376551e-03 -4.57689339e+01] [-5.24409613e-02 2.85430673e-03 9.98619947e-01 -2.32932439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88071405700003 meters 0.03500541788251684 Centerline is valid? [True, True] Translation: X:353.85, Y:-45.78, Z:-23.30 [[ 9.95973483e-01 7.22534798e-02 5.30684052e-02 3.53851506e+02] [-7.19941004e-02 9.97381975e-01 -6.78564601e-03 -4.57763484e+01] [-5.34197573e-02 2.93771140e-03 9.98567824e-01 -2.32961973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94071405700004 meters 0.03552467125767524 Centerline is valid? [True, True] Translation: X:353.91, Y:-45.78, Z:-23.30 [[ 9.96170566e-01 6.96669641e-02 5.28272380e-02 3.53910098e+02] [-6.94065272e-02 9.97565617e-01 -6.75084482e-03 -4.57847288e+01] [-5.31689472e-02 3.05843777e-03 9.98580848e-01 -2.33001249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00071405700004 meters 0.039085121572922384 Centerline is valid? [True, True] Translation: X:353.97, Y:-45.80, Z:-23.31 [[ 9.96644619e-01 6.39355149e-02 5.11053077e-02 3.53969233e+02] [-6.36844593e-02 9.97948737e-01 -6.52755414e-03 -4.57995901e+01] [-5.14178198e-02 3.25103783e-03 9.98671937e-01 -2.33067283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06071405700004 meters 0.04163671025577533 Centerline is valid? [True, True] Translation: X:354.03, Y:-45.81, Z:-23.31 [[ 9.96984318e-01 5.95048321e-02 4.98140926e-02 3.54028164e+02] [-5.92608313e-02 9.98222258e-01 -6.36222264e-03 -4.58115681e+01] [-5.01041190e-02 3.39101166e-03 9.98738243e-01 -2.33121705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12071405700004 meters 0.04209841318730828 Centerline is valid? [True, True] Translation: X:354.09, Y:-45.82, Z:-23.32 [[ 9.97346440e-01 5.41571066e-02 4.86527211e-02 3.54087137e+02] [-5.39180419e-02 9.98526031e-01 -6.21370454e-03 -4.58221192e+01] [-4.89175248e-02 3.57395664e-03 9.98796427e-01 -2.33170966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18071405700005 meters 0.048722503488038464 Centerline is valid? [True, True] Translation: X:354.14, Y:-45.84, Z:-23.32 [[ 9.97515947e-01 5.11160792e-02 4.84673393e-02 3.54144522e+02] [-5.08752812e-02 9.98685833e-01 -6.18973404e-03 -4.58396815e+01] [-4.87200401e-02 3.70856889e-03 9.98805589e-01 -2.33221168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24071405700005 meters 0.04560211142475283 Centerline is valid? [True, True] Translation: X:354.20, Y:-45.84, Z:-23.32 [[ 9.97556417e-01 4.91126095e-02 4.96905169e-02 3.54204781e+02] [-4.88570795e-02 9.98785627e-01 -6.34477937e-03 -4.58426669e+01] [-4.99417827e-02 3.90154184e-03 9.98744510e-01 -2.33226740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30071405700005 meters 0.04456206229789088 Centerline is valid? [True, True] Translation: X:354.26, Y:-45.85, Z:-23.32 [[ 9.97434242e-01 4.85712696e-02 5.25905307e-02 3.54264844e+02] [-4.82843221e-02 9.98811067e-01 -6.71385869e-03 -4.58488261e+01] [-5.28541047e-02 4.15733443e-03 9.98593591e-01 -2.33235551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36071405700005 meters 0.04858699963145366 Centerline is valid? [True, True] Translation: X:354.32, Y:-45.86, Z:-23.33 [[ 9.97380230e-01 4.89025158e-02 5.33031100e-02 3.54324535e+02] [-4.86083340e-02 9.98794753e-01 -6.80232104e-03 -4.58633477e+01] [-5.35715171e-02 4.19352515e-03 9.98555210e-01 -2.33273751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42071405700005 meters 0.04601875945111797 Centerline is valid? [True, True] Translation: X:354.39, Y:-45.87, Z:-23.33 [[ 9.97444023e-01 4.86847514e-02 5.22993003e-02 3.54386054e+02] [-4.84006407e-02 9.98805624e-01 -6.68601194e-03 -4.58685065e+01] [-5.25623422e-02 4.13760300e-03 9.98609073e-01 -2.33320933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48071405700006 meters 0.04733963982174562 Centerline is valid? [True, True] Translation: X:354.45, Y:-45.88, Z:-23.34 [[ 9.97486997e-01 5.00970288e-02 5.00996780e-02 3.54447166e+02] [-4.98375665e-02 9.98736731e-01 -6.41557524e-03 -4.58780762e+01] [-5.03577899e-02 3.90260685e-03 9.98723617e-01 -2.33382069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54071405700006 meters 0.04642854866266234 Centerline is valid? [True, True] Translation: X:354.51, Y:-45.88, Z:-23.34 [[ 9.97360900e-01 5.41052193e-02 4.84134382e-02 3.54507335e+02] [-5.38669004e-02 9.98528785e-01 -6.21477513e-03 -4.58827070e+01] [-4.86784633e-02 3.59049186e-03 9.98808047e-01 -2.33426189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60071405700006 meters 0.04583191465865413 Centerline is valid? [True, True] Translation: X:354.57, Y:-45.89, Z:-23.35 [[ 9.97187301e-01 5.73991923e-02 4.81956409e-02 3.54567864e+02] [-5.71668216e-02 9.98345468e-01 -6.18717637e-03 -4.58867350e+01] [-4.84710386e-02 3.41458210e-03 9.98818752e-01 -2.33460548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66071405700006 meters 0.0441667843696347 Centerline is valid? [True, True] Translation: X:354.63, Y:-45.89, Z:-23.35 [[ 9.96789703e-01 6.22243165e-02 5.03827678e-02 3.54627975e+02] [-6.19764881e-02 9.98056653e-01 -6.46784516e-03 -4.58909152e+01] [-5.06873138e-02 3.32453444e-03 9.98709039e-01 -2.33481434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72071405700007 meters 0.044099728667124166 Centerline is valid? [True, True] Translation: X:354.69, Y:-45.90, Z:-23.35 [[ 9.96402228e-01 6.57983452e-02 5.34151431e-02 3.54686979e+02] [-6.55248857e-02 9.97827378e-01 -6.85663447e-03 -4.58977679e+01] [-5.37502474e-02 3.33194471e-03 9.98548852e-01 -2.33494839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78071405700007 meters 0.0359409214364767 Centerline is valid? [True, True] Translation: X:354.75, Y:-45.90, Z:-23.36 [[ 9.96229481e-01 6.91525718e-02 5.23902967e-02 3.54746650e+02] [-6.88941772e-02 9.97601311e-01 -6.72425928e-03 -4.58992389e+01] [-5.27296285e-02 3.08951895e-03 9.98604046e-01 -2.33557209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84071405700007 meters 0.03603999095457719 Centerline is valid? [True, True] Translation: X:354.80, Y:-45.91, Z:-23.36 [[ 9.95857019e-01 7.27213243e-02 5.45931027e-02 3.54804810e+02] [-7.24461647e-02 9.97347724e-01 -7.00501765e-03 -4.59086732e+01] [-5.49577209e-02 3.02093508e-03 9.98484112e-01 -2.33554242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9007140570001 meters 0.03427354697646884 Centerline is valid? [True, True] Translation: X:354.86, Y:-45.92, Z:-23.36 [[ 9.95464140e-01 7.91307862e-02 5.28153811e-02 3.54864668e+02] [-7.88824195e-02 9.96860912e-01 -6.77393262e-03 -4.59184813e+01] [-5.31856156e-02 2.57700197e-03 9.98581318e-01 -2.33607894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9607140570001 meters 0.0317531104995066 Centerline is valid? [True, True] Translation: X:354.92, Y:-45.93, Z:-23.37 [[ 9.94879008e-01 8.78759430e-02 4.99357414e-02 3.54922048e+02] [-8.76648504e-02 9.96129427e-01 -6.40610160e-03 -4.59292617e+01] [-5.03054037e-02 1.99568670e-03 9.98731888e-01 -2.33701468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.020714057 meters 0.02789713568337893 Centerline is valid? [True, True] Translation: X:354.98, Y:-45.93, Z:-23.37 [[ 9.94328828e-01 9.36505973e-02 5.03959017e-02 3.54982555e+02] [-9.34431224e-02 9.95603645e-01 -6.46254288e-03 -4.59280776e+01] [-5.07795644e-02 1.71674228e-03 9.98708410e-01 -2.33697034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.080714057 meters 0.025707776966377275 Centerline is valid? [True, True] Translation: X:355.04, Y:-45.94, Z:-23.37 [[ 9.92910980e-01 1.05873465e-01 5.40240168e-02 3.55040931e+02] [-1.05653094e-01 9.94378922e-01 -6.92700759e-03 -4.59361874e+01] [-5.44537299e-02 1.17009739e-03 9.98515609e-01 -2.33715204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.140714057 meters 0.025478522916484076 Centerline is valid? [True, True] Translation: X:355.10, Y:-45.95, Z:-23.37 [[ 9.92423162e-01 1.09326287e-01 5.60716533e-02 3.55098769e+02] [-1.09094527e-01 9.94005398e-01 -7.18695880e-03 -4.59468575e+01] [-5.65212496e-02 1.01539389e-03 9.98400880e-01 -2.33742407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.200714057 meters 0.025117353619799335 Centerline is valid? [True, True] Translation: X:355.16, Y:-45.96, Z:-23.38 [[ 9.92509457e-01 1.07870552e-01 5.73491270e-02 3.55155982e+02] [-1.07625914e-01 9.94164318e-01 -7.34650583e-03 -4.59608990e+01] [-5.78069273e-02 1.11922428e-03 9.98327154e-01 -2.33761245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26071405700003 meters 0.02548333921582233 Centerline is valid? [True, True] Translation: X:355.21, Y:-45.98, Z:-23.38 [[ 9.93404506e-01 9.95788265e-02 5.68466815e-02 3.55213345e+02] [-9.93251479e-02 9.95028417e-01 -7.27769049e-03 -4.59843629e+01] [-5.72887674e-02 1.58338547e-03 9.98356394e-01 -2.33826233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32071405700003 meters 0.030197324980578585 Centerline is valid? [True, True] Translation: X:355.27, Y:-46.01, Z:-23.39 [[ 9.94475762e-01 8.91630961e-02 5.53886327e-02 3.55268487e+02] [-8.89062163e-02 9.96014770e-01 -7.08960382e-03 -4.60149291e+01] [-5.58000273e-02 2.12604540e-03 9.98439701e-01 -2.33900801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38071405700003 meters 0.0326034741661407 Centerline is valid? [True, True] Translation: X:355.33, Y:-46.04, Z:-23.39 [[ 9.95129670e-01 8.18389907e-02 5.49483390e-02 3.55325959e+02] [-8.15749309e-02 9.96642382e-01 -7.03519990e-03 -4.60370790e+01] [-5.53395971e-02 2.51852919e-03 9.98464414e-01 -2.33944668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44071405700004 meters 0.03461441030040255 Centerline is valid? [True, True] Translation: X:355.38, Y:-46.05, Z:-23.40 [[ 9.95400218e-01 7.82315190e-02 5.53013215e-02 3.55384448e+02] [-7.79585077e-02 9.96931463e-01 -7.08024861e-03 -4.60547885e+01] [-5.56855259e-02 2.73647251e-03 9.98444607e-01 -2.33993774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50071405700004 meters 0.03254403321690244 Centerline is valid? [True, True] Translation: X:355.44, Y:-46.07, Z:-23.40 [[ 9.95692149e-01 7.42543709e-02 5.55286622e-02 3.55443703e+02] [-7.39729334e-02 9.97234907e-01 -7.10951156e-03 -4.60660364e+01] [-5.59030326e-02 2.97126681e-03 9.98431782e-01 -2.34028442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56071405700004 meters 0.031563419163740156 Centerline is valid? [True, True] Translation: X:355.50, Y:-46.08, Z:-23.41 [[ 9.95741631e-01 7.21240518e-02 5.74171262e-02 3.55502156e+02] [-7.18196465e-02 9.97390551e-01 -7.35034707e-03 -4.60778437e+01] [-5.77974360e-02 3.19536887e-03 9.98323217e-01 -2.34053351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62071405700004 meters 0.03338982893553143 Centerline is valid? [True, True] Translation: X:355.56, Y:-46.09, Z:-23.41 [[ 9.95814326e-01 7.09949257e-02 5.75634383e-02 3.55560374e+02] [-7.06872252e-02 9.97471327e-01 -7.36667793e-03 -4.60938013e+01] [-5.79408759e-02 3.26684369e-03 9.98314671e-01 -2.34093499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68071405700005 meters 0.03432768075024424 Centerline is valid? [True, True] Translation: X:355.62, Y:-46.11, Z:-23.41 [[ 9.95935129e-01 7.02974284e-02 5.63159926e-02 3.55620402e+02] [-7.00018421e-02 9.97520829e-01 -7.20675369e-03 -4.61075677e+01] [-5.66829919e-02 3.23523595e-03 9.98386985e-01 -2.34149889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74071405700005 meters 0.03475114434505387 Centerline is valid? [True, True] Translation: X:355.68, Y:-46.12, Z:-23.42 [[ 9.96110747e-01 6.91184013e-02 5.46445467e-02 3.55680615e+02] [-6.88382502e-02 9.97603312e-01 -6.99475700e-03 -4.61195552e+01] [-5.49970472e-02 3.20591764e-03 9.98481370e-01 -2.34204368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80071405700005 meters 0.035102422642737205 Centerline is valid? [True, True] Translation: X:355.74, Y:-46.13, Z:-23.42 [[ 9.96299440e-01 6.74622378e-02 5.32566680e-02 3.55740488e+02] [-6.71937114e-02 9.97716648e-01 -6.81869023e-03 -4.61291783e+01] [-5.35950684e-02 3.21494408e-03 9.98557576e-01 -2.34246351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86071405700005 meters 0.034368453964709764 Centerline is valid? [True, True] Translation: X:355.80, Y:-46.14, Z:-23.43 [[ 9.96362883e-01 6.61107583e-02 5.37621952e-02 3.55800838e+02] [-6.58349414e-02 9.97806759e-01 -6.88717237e-03 -4.61361620e+01] [-5.40995979e-02 3.32269194e-03 9.98530016e-01 -2.34276545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92071405700005 meters 0.034506014118424064 Centerline is valid? [True, True] Translation: X:355.86, Y:-46.14, Z:-23.43 [[ 9.96335845e-01 6.57689427e-02 5.46747601e-02 3.55861553e+02] [-6.54831116e-02 9.97829090e-01 -7.00492973e-03 -4.61433364e+01] [-5.50167729e-02 3.39898916e-03 9.98479645e-01 -2.34297617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98071405700006 meters 0.03604043679832136 Centerline is valid? [True, True] Translation: X:355.92, Y:-46.15, Z:-23.43 [[ 9.96279969e-01 6.60962802e-02 5.52947042e-02 3.55922093e+02] [-6.58044071e-02 9.97807390e-01 -7.08465950e-03 -4.61518465e+01] [-5.56417341e-02 3.41966912e-03 9.98444943e-01 -2.34329940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04071405700006 meters 0.03753995871438913 Centerline is valid? [True, True] Translation: X:355.98, Y:-46.16, Z:-23.44 [[ 9.96275186e-01 6.49277127e-02 5.67463283e-02 3.55983282e+02] [-6.46175737e-02 9.97883508e-01 -7.28520321e-03 -4.61602089e+01] [-5.70992367e-02 3.59125714e-03 9.98362049e-01 -2.34358245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10071405700006 meters 0.040961943696629054 Centerline is valid? [True, True] Translation: X:356.04, Y:-46.17, Z:-23.44 [[ 9.96440358e-01 6.28232139e-02 5.62126119e-02 3.56042730e+02] [-6.25150971e-02 9.98017868e-01 -7.22478867e-03 -4.61714593e+01] [-5.65550755e-02 3.68493411e-03 9.98392681e-01 -2.34407723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16071405700006 meters 0.03903779210121696 Centerline is valid? [True, True] Translation: X:356.10, Y:-46.17, Z:-23.45 [[ 9.96735852e-01 5.87960949e-02 5.53232459e-02 3.56103614e+02] [-5.84914316e-02 9.98262580e-01 -7.11156001e-03 -4.61734063e+01] [-5.56452582e-02 3.85241096e-03 9.98443170e-01 -2.34450027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22071405700007 meters 0.041534158773343634 Centerline is valid? [True, True] Translation: X:356.16, Y:-46.18, Z:-23.45 [[ 9.96893202e-01 5.60494355e-02 5.53390050e-02 3.56162669e+02] [-5.57403783e-02 9.98419954e-01 -7.11379896e-03 -4.61824526e+01] [-5.56502912e-02 4.00708074e-03 9.98442281e-01 -2.34491617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28071405700007 meters 0.04043984859154651 Centerline is valid? [True, True] Translation: X:356.22, Y:-46.19, Z:-23.45 [[ 9.97009037e-01 5.40912476e-02 5.52007038e-02 3.56224366e+02] [-5.37807702e-02 9.98527556e-01 -7.09569533e-03 -4.61851745e+01] [-5.55032388e-02 4.10573600e-03 9.98450066e-01 -2.34522069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34071405700007 meters 0.04595921733465363 Centerline is valid? [True, True] Translation: X:356.28, Y:-46.20, Z:-23.46 [[ 9.97014991e-01 5.32451383e-02 5.59112011e-02 3.56284206e+02] [-5.29252113e-02 9.98572606e-01 -7.18831601e-03 -4.61972188e+01] [-5.62141367e-02 4.20774669e-03 9.98409869e-01 -2.34560104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4007140570001 meters 0.040084701712070764 Centerline is valid? [True, True] Translation: X:356.35, Y:-46.19, Z:-23.46 [[ 9.96885463e-01 5.40339428e-02 5.74430672e-02 3.56347143e+02] [-5.36971258e-02 9.98529907e-01 -7.39207996e-03 -4.61939621e+01] [-5.77580438e-02 4.28452945e-03 9.98321417e-01 -2.34578847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4607140570001 meters 0.04173123298371815 Centerline is valid? [True, True] Translation: X:356.41, Y:-46.20, Z:-23.46 [[ 9.96753468e-01 5.56358683e-02 5.81994332e-02 3.56407235e+02] [-5.52918609e-02 9.98442023e-01 -7.50582571e-03 -4.62012631e+01] [-5.85263530e-02 4.26350284e-03 9.98276760e-01 -2.34611007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5207140570001 meters 0.036857085046334066 Centerline is valid? [True, True] Translation: X:356.47, Y:-46.20, Z:-23.46 [[ 9.96625440e-01 5.79576530e-02 5.81260899e-02 3.56469253e+02] [-5.76183151e-02 9.98310524e-01 -7.49846184e-03 -4.61991884e+01] [-5.84624805e-02 4.12403047e-03 9.98281088e-01 -2.34643638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.580714057 meters 0.03806453497242998 Centerline is valid? [True, True] Translation: X:356.53, Y:-46.21, Z:-23.47 [[ 9.96502742e-01 6.01088415e-02 5.80449234e-02 3.56529133e+02] [-5.97739559e-02 9.98183837e-01 -7.49011300e-03 -4.62072482e+01] [-5.83897264e-02 3.99434344e-03 9.98285873e-01 -2.34689002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.640714057 meters 0.03789756267106113 Centerline is valid? [True, True] Translation: X:356.59, Y:-46.21, Z:-23.47 [[ 9.96419536e-01 6.22952871e-02 5.71612251e-02 3.56590682e+02] [-6.19740007e-02 9.98050494e-01 -7.37802622e-03 -4.62121587e+01] [-5.75094052e-02 3.80909966e-03 9.98337698e-01 -2.34728987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.700714057 meters 0.03850084407434835 Centerline is valid? [True, True] Translation: X:356.65, Y:-46.22, Z:-23.48 [[ 9.96353288e-01 6.31528252e-02 5.73746205e-02 3.56651785e+02] [-6.28303587e-02 9.97996721e-01 -7.40881793e-03 -4.62186461e+01] [-5.77275709e-02 3.77693212e-03 9.98325229e-01 -2.34768591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76071405700003 meters 0.03885637691805746 Centerline is valid? [True, True] Translation: X:356.71, Y:-46.22, Z:-23.48 [[ 9.96464747e-01 6.10136188e-02 5.77524631e-02 3.56712765e+02] [-6.06831905e-02 9.98129202e-01 -7.45967377e-03 -4.62249620e+01] [-5.80995616e-02 3.92869822e-03 9.98303063e-01 -2.34804144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82071405700003 meters 0.03952542641040115 Centerline is valid? [True, True] Translation: X:356.77, Y:-46.23, Z:-23.48 [[ 9.96768636e-01 5.60961658e-02 5.74935281e-02 3.56773774e+02] [-5.57604407e-02 9.98416543e-01 -7.42834074e-03 -4.62309204e+01] [-5.78191910e-02 4.19847260e-03 9.98318243e-01 -2.34834861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88071405700003 meters 0.04048561084962273 Centerline is valid? [True, True] Translation: X:356.83, Y:-46.24, Z:-23.49 [[ 9.97069672e-01 4.97631575e-02 5.81007471e-02 3.56833974e+02] [-4.94095077e-02 9.98750381e-01 -7.50852423e-03 -4.62375987e+01] [-5.84017911e-02 4.61579248e-03 9.98282488e-01 -2.34866559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94071405700004 meters 0.0442290598778028 Centerline is valid? [True, True] Translation: X:356.89, Y:-46.25, Z:-23.49 [[ 9.97307319e-01 4.39490819e-02 5.87076649e-02 3.56893175e+02] [-4.35780069e-02 9.99021220e-01 -7.58674629e-03 -4.62487248e+01] [-5.89836336e-02 5.00795458e-03 9.98246388e-01 -2.34909782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00071405700004 meters 0.0460858370078633 Centerline is valid? [True, True] Translation: X:356.95, Y:-46.26, Z:-23.50 [[ 9.97446855e-01 4.19160108e-02 5.78171254e-02 3.56953726e+02] [-4.15527546e-02 9.99108376e-01 -7.47136795e-03 -4.62572490e+01] [-5.80787442e-02 5.04983164e-03 9.98299233e-01 -2.34950742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06071405700004 meters 0.04551220371372283 Centerline is valid? [True, True] Translation: X:357.02, Y:-46.26, Z:-23.50 [[ 9.97564845e-01 4.14059780e-02 5.61242020e-02 3.57015377e+02] [-4.10628445e-02 9.99130234e-01 -7.25381271e-03 -4.62601569e+01] [-5.63757383e-02 4.93152917e-03 9.98397444e-01 -2.34996416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12071405700004 meters 0.04918205760774138 Centerline is valid? [True, True] Translation: X:357.08, Y:-46.27, Z:-23.50 [[ 9.97574198e-01 4.23992800e-02 5.52088851e-02 3.57075957e+02] [-4.20684272e-02 9.99089207e-01 -7.14170462e-03 -4.62688769e+01] [-5.54614044e-02 4.80182929e-03 9.98449285e-01 -2.35045187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18071405700005 meters 0.04563468679826787 Centerline is valid? [True, True] Translation: X:357.14, Y:-46.27, Z:-23.51 [[ 9.97473116e-01 4.48607632e-02 5.50898774e-02 3.57137632e+02] [-4.45342374e-02 9.98982335e-01 -7.14115629e-03 -4.62666714e+01] [-5.53541721e-02 4.66972574e-03 9.98455862e-01 -2.35068835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24071405700005 meters 0.046250228631018436 Centerline is valid? [True, True] Translation: X:357.20, Y:-46.27, Z:-23.51 [[ 9.97402908e-01 4.68308983e-02 5.47202547e-02 3.57199276e+02] [-4.65116513e-02 9.98892558e-01 -7.09389059e-03 -4.62706476e+01] [-5.49918684e-02 4.53033769e-03 9.98476525e-01 -2.35108399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30071405700005 meters 0.04861011727505027 Centerline is valid? [True, True] Translation: X:357.26, Y:-46.28, Z:-23.52 [[ 9.97364489e-01 4.81674863e-02 5.42583580e-02 3.57259353e+02] [-4.78554008e-02 9.98829484e-01 -7.03722269e-03 -4.62770056e+01] [-5.45338131e-02 4.42212054e-03 9.98502132e-01 -2.35152159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36071405700005 meters 0.04942844425912513 Centerline is valid? [True, True] Translation: X:357.32, Y:-46.28, Z:-23.52 [[ 9.97446395e-01 4.77059968e-02 5.31490950e-02 3.57320595e+02] [-4.74059215e-02 9.98851923e-01 -6.89308186e-03 -4.62826402e+01] [-5.34169171e-02 4.35589783e-03 9.98562797e-01 -2.35204909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42071405700005 meters 0.049203229872053424 Centerline is valid? [True, True] Translation: X:357.38, Y:-46.29, Z:-23.53 [[ 9.97482357e-01 4.74784465e-02 5.26758433e-02 3.57382269e+02] [-4.71831037e-02 9.98862859e-01 -6.83697335e-03 -4.62887015e+01] [-5.29405523e-02 4.33435051e-03 9.98588259e-01 -2.35250362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48071405700006 meters 0.051446631534390885 Centerline is valid? [True, True] Translation: X:357.44, Y:-46.30, Z:-23.53 [[ 9.97507972e-01 4.69694675e-02 5.26470877e-02 3.57442597e+02] [-4.66730553e-02 9.98886758e-01 -6.84623622e-03 -4.62960672e+01] [-5.29100428e-02 4.37197477e-03 9.98589712e-01 -2.35289911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54071405700006 meters 0.054032196100425985 Centerline is valid? [True, True] Translation: X:357.50, Y:-46.30, Z:-23.53 [[ 9.97563087e-01 4.66610807e-02 5.18712991e-02 3.57503050e+02] [-4.63723435e-02 9.98901373e-01 -6.75671128e-03 -4.63043385e+01] [-5.21295873e-02 4.33485206e-03 9.98630920e-01 -2.35344721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60071405700006 meters 0.0489454166743327 Centerline is valid? [True, True] Translation: X:357.56, Y:-46.30, Z:-23.54 [[ 9.97650680e-01 4.49535294e-02 5.16943030e-02 3.57564509e+02] [-4.46637728e-02 9.98979289e-01 -6.74738935e-03 -4.63029441e+01] [-5.19448570e-02 4.42267497e-03 9.98640161e-01 -2.35374797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66071405700006 meters 0.04992732908490642 Centerline is valid? [True, True] Translation: X:357.62, Y:-46.31, Z:-23.54 [[ 9.97742127e-01 4.20473363e-02 5.23705001e-02 3.57624316e+02] [-4.17459113e-02 9.99104868e-01 -6.83675168e-03 -4.63104538e+01] [-5.26110888e-02 4.63506091e-03 9.98604321e-01 -2.35414770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72071405700007 meters 0.05725843965778063 Centerline is valid? [True, True] Translation: X:357.68, Y:-46.33, Z:-23.55 [[ 9.97846314e-01 3.88343782e-02 5.28642024e-02 3.57681743e+02] [-3.85227850e-02 9.99233893e-01 -6.90084966e-03 -4.63256307e+01] [-5.30916930e-02 4.84951109e-03 9.98577866e-01 -2.35458945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78071405700007 meters 0.07304199806765162 Centerline is valid? [True, True] Translation: X:357.74, Y:-46.36, Z:-23.55 [[ 9.97752819e-01 3.88701821e-02 5.45749219e-02 3.57739959e+02] [-3.85380528e-02 9.99231728e-01 -7.12540434e-03 -4.63554937e+01] [-5.48099593e-02 5.00618104e-03 9.98484255e-01 -2.35517091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84071405700007 meters 0.054773659064262355 Centerline is valid? [True, True] Translation: X:357.80, Y:-46.34, Z:-23.55 [[ 9.98091441e-01 3.27756018e-02 5.23376979e-02 3.57802687e+02] [-3.24610539e-02 9.99449534e-01 -6.84898193e-03 -4.63388575e+01] [-5.25333673e-02 5.13697341e-03 9.98605957e-01 -2.35545581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9007140570001 meters 0.05659974004200207 Centerline is valid? [True, True] Translation: X:357.86, Y:-46.35, Z:-23.56 [[ 9.98176714e-01 3.06945367e-02 5.19720322e-02 3.57862976e+02] [-3.03815839e-02 9.99515235e-01 -6.80110852e-03 -4.63504207e+01] [-5.21555949e-02 5.20971550e-03 9.98625382e-01 -2.35594507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9607140570001 meters 0.057164009802363025 Centerline is valid? [True, True] Translation: X:357.92, Y:-46.36, Z:-23.56 [[ 9.98210515e-01 3.03470778e-02 5.15249778e-02 3.57924570e+02] [-3.00390795e-02 9.99525989e-01 -6.74173988e-03 -4.63610628e+01] [-5.17051465e-02 5.18191273e-03 9.98648950e-01 -2.35645943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0207140570001 meters 0.05879152772653258 Centerline is valid? [True, True] Translation: X:357.98, Y:-46.37, Z:-23.57 [[ 9.98186082e-01 3.14027450e-02 5.13654816e-02 3.57984408e+02] [-3.10973630e-02 9.99493676e-01 -6.73390097e-03 -4.63724093e+01] [-5.15509370e-02 5.12435520e-03 9.98657219e-01 -2.35686365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.080714057 meters 0.05928810869287723 Centerline is valid? [True, True] Translation: X:358.04, Y:-46.38, Z:-23.57 [[ 9.98030211e-01 3.43934677e-02 5.24670157e-02 3.58043589e+02] [-3.40781335e-02 9.99395399e-01 -6.89321817e-03 -4.63816202e+01] [-5.26723757e-02 5.09166202e-03 9.98598866e-01 -2.35718575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.140714057 meters 0.05525245462611241 Centerline is valid? [True, True] Translation: X:358.10, Y:-46.38, Z:-23.58 [[ 9.97875851e-01 3.91451164e-02 5.20715509e-02 3.58103956e+02] [-3.88409392e-02 9.99221988e-01 -6.84108312e-03 -4.63846146e+01] [-5.22988336e-02 4.80404370e-03 9.98619924e-01 -2.35770581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.200714057 meters 0.054286852622783904 Centerline is valid? [True, True] Translation: X:358.16, Y:-46.39, Z:-23.58 [[ 9.97828154e-01 4.29063471e-02 4.99802018e-02 3.58163881e+02] [-4.26307804e-02 9.99069312e-01 -6.56703493e-03 -4.63910730e+01] [-5.02154533e-02 4.42207734e-03 9.98728619e-01 -2.35833768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26071405700003 meters 0.05013180410206424 Centerline is valid? [True, True] Translation: X:358.23, Y:-46.39, Z:-23.59 [[ 9.97749958e-01 4.56025900e-02 4.91469827e-02 3.58225128e+02] [-4.53393910e-02 9.98950770e-01 -6.45750603e-03 -4.63933372e+01] [-4.93898952e-02 4.21468211e-03 9.98770682e-01 -2.35876736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32071405700003 meters 0.04689308337724192 Centerline is valid? [True, True] Translation: X:358.29, Y:-46.40, Z:-23.59 [[ 9.97721087e-01 4.65784372e-02 4.88168256e-02 3.58287765e+02] [-4.63199168e-02 9.98906063e-01 -6.41429761e-03 -4.63971342e+01] [-4.90621910e-02 4.13848868e-03 9.98787152e-01 -2.35911311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38071405700003 meters 0.04964995665643738 Centerline is valid? [True, True] Translation: X:358.35, Y:-46.41, Z:-23.59 [[ 9.97565663e-01 4.84830362e-02 5.01212788e-02 3.58346904e+02] [-4.82125861e-02 9.98815347e-01 -6.59161678e-03 -4.64089208e+01] [-5.03814840e-02 4.15909410e-03 9.98721387e-01 -2.35947121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44071405700004 meters 0.046790657265632016 Centerline is valid? [True, True] Translation: X:358.41, Y:-46.41, Z:-23.60 [[ 9.97438794e-01 5.01319729e-02 5.10160475e-02 3.58408234e+02] [-4.98539339e-02 9.98733987e-01 -6.70881945e-03 -4.64123654e+01] [-5.12877869e-02 4.14828612e-03 9.98675300e-01 -2.35971323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50071405700004 meters 0.05331518017625653 Centerline is valid? [True, True] Translation: X:358.47, Y:-46.43, Z:-23.60 [[ 9.97325749e-01 5.08599191e-02 5.24844727e-02 3.58467687e+02] [-5.05666391e-02 9.98696842e-01 -6.90164822e-03 -4.64302064e+01] [-5.27670944e-02 4.22922809e-03 9.98597891e-01 -2.36008291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56071405700004 meters 0.048053549479342754 Centerline is valid? [True, True] Translation: X:358.53, Y:-46.43, Z:-23.60 [[ 9.97379228e-01 4.80540466e-02 5.40877465e-02 3.58528483e+02] [-4.77376475e-02 9.98834480e-01 -7.12731842e-03 -4.64327737e+01] [-5.43672026e-02 4.52661757e-03 9.98510750e-01 -2.36021533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62071405700004 meters 0.056036228140176274 Centerline is valid? [True, True] Translation: X:358.59, Y:-46.46, Z:-23.61 [[ 9.97530455e-01 4.33051301e-02 5.52960816e-02 3.58585838e+02] [-4.29671502e-02 9.99049910e-01 -7.28705203e-03 -4.64552899e+01] [-5.55591121e-02 4.89314128e-03 9.98443410e-01 -2.36062806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68071405700005 meters 0.05925313419531753 Centerline is valid? [True, True] Translation: X:358.65, Y:-46.47, Z:-23.61 [[ 9.97750235e-01 3.90558888e-02 5.44895099e-02 3.58645373e+02] [-3.87211912e-02 9.99224221e-01 -7.18509762e-03 -4.64699178e+01] [-5.47278584e-02 5.05903410e-03 9.98488492e-01 -2.36113740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74071405700005 meters 0.05961550934202468 Centerline is valid? [True, True] Translation: X:358.70, Y:-46.48, Z:-23.62 [[ 9.98023265e-01 3.29474235e-02 5.35166295e-02 3.58704378e+02] [-3.26157955e-02 9.99443038e-01 -7.05855817e-03 -4.64826351e+01] [-5.37193841e-02 5.29911783e-03 9.98542011e-01 -2.36168683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80071405700005 meters 0.056331654259130906 Centerline is valid? [True, True] Translation: X:358.76, Y:-46.49, Z:-23.62 [[ 9.98194591e-01 2.78660613e-02 5.32075387e-02 3.58764085e+02] [-2.75311042e-02 9.99596311e-01 -7.01804237e-03 -4.64902300e+01] [-5.33816246e-02 5.54050964e-03 9.98558814e-01 -2.36205114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86071405700005 meters 0.059062642384752784 Centerline is valid? [True, True] Translation: X:358.82, Y:-46.51, Z:-23.63 [[ 9.98264880e-01 2.60420931e-02 5.28113459e-02 3.58823614e+02] [-2.57095918e-02 9.99645185e-01 -6.96574602e-03 -4.65055885e+01] [-5.29740102e-02 5.59590147e-03 9.98580212e-01 -2.36252097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92071405700005 meters 0.055661073926675915 Centerline is valid? [True, True] Translation: X:358.89, Y:-46.51, Z:-23.63 [[ 9.98202909e-01 2.71987013e-02 5.33964642e-02 3.58885168e+02] [-2.68603862e-02 9.99614380e-01 -7.04348720e-03 -4.65112336e+01] [-5.35674472e-02 5.59657976e-03 9.98548550e-01 -2.36293069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98071405700006 meters 0.0544376076507172 Centerline is valid? [True, True] Translation: X:358.94, Y:-46.52, Z:-23.63 [[ 9.98080159e-01 2.96254663e-02 5.43905122e-02 3.58944777e+02] [-2.92777882e-02 9.99545539e-01 -7.17814820e-03 -4.65193756e+01] [-5.45784499e-02 5.57193340e-03 9.98493939e-01 -2.36315890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04071405700006 meters 0.05348415896032195 Centerline is valid? [True, True] Translation: X:359.00, Y:-46.53, Z:-23.64 [[ 9.98002959e-01 3.13137790e-02 5.48592807e-02 3.59004994e+02] [-3.09625857e-02 9.99494321e-01 -7.24019993e-03 -4.65283904e+01] [-5.50582575e-02 5.52715577e-03 9.98467846e-01 -2.36355018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10071405700006 meters 0.05598097520565765 Centerline is valid? [True, True] Translation: X:359.06, Y:-46.54, Z:-23.64 [[ 9.98015405e-01 3.18902445e-02 5.42979208e-02 3.59064451e+02] [-3.15471056e-02 9.99476583e-01 -7.16519530e-03 -4.65429112e+01] [-5.44980001e-02 5.43803305e-03 9.98499072e-01 -2.36412967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16071405700006 meters 0.05579904696495933 Centerline is valid? [True, True] Translation: X:359.12, Y:-46.55, Z:-23.65 [[ 9.97984848e-01 3.35448449e-02 5.38608165e-02 3.59124106e+02] [-3.32088024e-02 9.99423058e-01 -7.12224447e-03 -4.65519416e+01] [-5.40686565e-02 5.31923886e-03 9.98523052e-01 -2.36451001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22071405700007 meters 0.052700299597439625 Centerline is valid? [True, True] Translation: X:359.19, Y:-46.56, Z:-23.65 [[ 9.97875514e-01 3.66571001e-02 5.38582884e-02 3.59185004e+02] [-3.63255861e-02 9.99314632e-01 -7.12171765e-03 -4.65561208e+01] [-5.40824372e-02 5.15015376e-03 9.98523192e-01 -2.36481446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28071405700007 meters 0.05061312012984834 Centerline is valid? [True, True] Translation: X:359.25, Y:-46.56, Z:-23.65 [[ 9.97782029e-01 3.83947948e-02 5.43770413e-02 3.59245348e+02] [-3.80593440e-02 9.99249603e-01 -7.19152669e-03 -4.65612474e+01] [-5.46123541e-02 5.10602157e-03 9.98494577e-01 -2.36513991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34071405700007 meters 0.048349565431312296 Centerline is valid? [True, True] Translation: X:359.31, Y:-46.57, Z:-23.65 [[ 9.97618261e-01 4.14893756e-02 5.51038835e-02 3.59305324e+02] [-4.11495617e-02 9.99126420e-01 -7.28763842e-03 -4.65666100e+01] [-5.53581054e-02 5.00278051e-03 9.98454031e-01 -2.36546856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4007140570001 meters 0.045827856113875964 Centerline is valid? [True, True] Translation: X:359.37, Y:-46.57, Z:-23.66 [[ 9.97490089e-01 4.52408704e-02 5.44682056e-02 3.59366170e+02] [-4.49143996e-02 9.98964866e-01 -7.20367977e-03 -4.65689953e+01] [-5.47377244e-02 4.73919243e-03 9.98489520e-01 -2.36582095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4607140570001 meters 0.053864020335975746 Centerline is valid? [True, True] Translation: X:359.42, Y:-46.59, Z:-23.66 [[ 9.97338744e-01 4.89781735e-02 5.40052635e-02 3.59423319e+02] [-4.86626621e-02 9.98789732e-01 -7.14260893e-03 -4.65861333e+01] [-5.42897346e-02 4.49556073e-03 9.98515105e-01 -2.36635498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5207140570001 meters 0.03962194514837745 Centerline is valid? [True, True] Translation: X:359.49, Y:-46.57, Z:-23.67 [[ 9.97030530e-01 5.60728385e-02 5.27821792e-02 3.59486470e+02] [-5.57814041e-02 9.98418609e-01 -6.97967636e-03 -4.65706463e+01] [-5.30900802e-02 4.01468635e-03 9.98581657e-01 -2.36661615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.580714057 meters 0.038648507515651645 Centerline is valid? [True, True] Translation: X:359.55, Y:-46.57, Z:-23.67 [[ 9.96472399e-01 6.54025437e-02 5.25857923e-02 3.59546650e+02] [-6.51261740e-02 9.97852807e-01 -6.95391168e-03 -4.65722893e+01] [-5.29276840e-02 3.50466959e-03 9.98592198e-01 -2.36712539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.640714057 meters 0.0378648734982135 Centerline is valid? [True, True] Translation: X:359.61, Y:-46.57, Z:-23.67 [[ 9.95632938e-01 7.61460304e-02 5.40077388e-02 3.59606073e+02] [-7.58701770e-02 9.97092121e-01 -7.14267780e-03 -4.65739618e+01] [-5.43945774e-02 3.01390858e-03 9.98514971e-01 -2.36744971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.700714057 meters 0.03229340478224757 Centerline is valid? [True, True] Translation: X:359.67, Y:-46.57, Z:-23.67 [[ 9.94784753e-01 8.50876061e-02 5.62440619e-02 3.59668001e+02] [-8.48027193e-02 9.96370007e-01 -7.43698980e-03 -4.65682962e+01] [-5.66726920e-02 2.62855467e-03 9.98389351e-01 -2.36743497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76071405700003 meters 0.03030459573015037 Centerline is valid? [True, True] Translation: X:359.73, Y:-46.57, Z:-23.68 [[ 9.94383813e-01 8.87580095e-02 5.76441575e-02 3.59728144e+02] [-8.84649118e-02 9.96050133e-01 -7.62177765e-03 -4.65710835e+01] [-5.80929646e-02 2.47948700e-03 9.98308099e-01 -2.36766512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82071405700003 meters 0.030993525883652336 Centerline is valid? [True, True] Translation: X:359.79, Y:-46.58, Z:-23.68 [[ 9.94214863e-01 8.99178957e-02 5.87501417e-02 3.59785237e+02] [-8.96154901e-02 9.95946150e-01 -7.76729773e-03 -4.65800698e+01] [-5.92103965e-02 2.45744011e-03 9.98242501e-01 -2.36810876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88071405700003 meters 0.031246822709873303 Centerline is valid? [True, True] Translation: X:359.84, Y:-46.59, Z:-23.69 [[ 9.94498521e-01 8.74491163e-02 5.76658019e-02 3.59843337e+02] [-8.71539569e-02 9.96165722e-01 -7.61856803e-03 -4.65901131e+01] [-5.81109322e-02 2.55085182e-03 9.98306873e-01 -2.36866230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94071405700004 meters 0.034205178472064834 Centerline is valid? [True, True] Translation: X:359.90, Y:-46.61, Z:-23.69 [[ 9.94807743e-01 8.44209185e-02 5.68389160e-02 3.59899871e+02] [-8.41294101e-02 9.96426563e-01 -7.50642577e-03 -4.66051442e+01] [-5.72695051e-02 2.68562601e-03 9.98355143e-01 -2.36922623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00071405700004 meters 0.037404782891116144 Centerline is valid? [True, True] Translation: X:359.96, Y:-46.62, Z:-23.70 [[ 9.95266311e-01 7.94297710e-02 5.59989397e-02 3.59957997e+02] [-7.91391911e-02 9.96836175e-01 -7.39117975e-03 -4.66203673e+01] [-5.64088485e-02 2.92448142e-03 9.98403470e-01 -2.36965775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06071405700004 meters 0.03463134346939631 Centerline is valid? [True, True] Translation: X:360.02, Y:-46.63, Z:-23.70 [[ 9.95778007e-01 7.26574792e-02 5.60985884e-02 3.60017926e+02] [-7.23552279e-02 9.97351451e-01 -7.40299610e-03 -4.66266518e+01] [-5.64878916e-02 3.31271455e-03 9.98397788e-01 -2.36998816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12071405700004 meters 0.04002238606079906 Centerline is valid? [True, True] Translation: X:360.08, Y:-46.64, Z:-23.70 [[ 9.96221135e-01 6.60722754e-02 5.63729134e-02 3.60075368e+02] [-6.57565476e-02 9.97807963e-01 -7.43938868e-03 -4.66446584e+01] [-5.67408793e-02 3.70438807e-03 9.98382066e-01 -2.37042786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18071405700005 meters 0.04189537531313216 Centerline is valid? [True, True] Translation: X:360.13, Y:-46.66, Z:-23.71 [[ 9.96596113e-01 6.08680796e-02 5.55991391e-02 3.60134742e+02] [-6.05529711e-02 9.98138025e-01 -7.33624804e-03 -4.66563666e+01] [-5.59421582e-02 3.94458322e-03 9.98426219e-01 -2.37093711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24071405700005 meters 0.040409848168553135 Centerline is valid? [True, True] Translation: X:360.19, Y:-46.66, Z:-23.71 [[ 9.96819348e-01 5.74833910e-02 5.51982628e-02 3.60194505e+02] [-5.71676611e-02 9.98338025e-01 -7.28328043e-03 -4.66628193e+01] [-5.55251923e-02 4.10455926e-03 9.98448850e-01 -2.37136919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30071405700005 meters 0.041285188977238596 Centerline is valid? [True, True] Translation: X:360.26, Y:-46.67, Z:-23.72 [[ 9.96930293e-01 5.66427698e-02 5.40517056e-02 3.60256028e+02] [-5.63388344e-02 9.98386236e-01 -7.13152402e-03 -4.66717800e+01] [-5.43684282e-02 4.06442225e-03 9.98512671e-01 -2.37182116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36071405700005 meters 0.04164929978499279 Centerline is valid? [True, True] Translation: X:360.32, Y:-46.68, Z:-23.72 [[ 9.96872802e-01 5.82200955e-02 5.34325469e-02 3.60316763e+02] [-5.79251161e-02 9.98296009e-01 -7.05405581e-03 -4.66785625e+01] [-5.37521861e-02 3.93690990e-03 9.98546545e-01 -2.37231738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42071405700005 meters 0.044958506374392034 Centerline is valid? [True, True] Translation: X:360.38, Y:-46.69, Z:-23.73 [[ 9.96657957e-01 6.18612488e-02 5.33488829e-02 3.60375526e+02] [-6.15722458e-02 9.98077762e-01 -7.04547347e-03 -4.66883211e+01] [-5.36821754e-02 3.73711666e-03 9.98551079e-01 -2.37279867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48071405700006 meters 0.040317634739273016 Centerline is valid? [True, True] Translation: X:360.44, Y:-46.68, Z:-23.73 [[ 9.96234321e-01 6.75569120e-02 5.43437314e-02 3.60436167e+02] [-6.72654778e-02 9.97709305e-01 -7.17621136e-03 -4.66849231e+01] [-5.47040492e-02 3.49373099e-03 9.98496500e-01 -2.37290978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54071405700006 meters 0.035286849161596204 Centerline is valid? [True, True] Translation: X:360.50, Y:-46.68, Z:-23.73 [[ 9.95647663e-01 7.38512932e-02 5.68481927e-02 3.60497533e+02] [-7.35426396e-02 9.97263832e-01 -7.50536368e-03 -4.66813627e+01] [-5.72469272e-02 3.29193166e-03 9.98354623e-01 -2.37303766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60071405700006 meters 0.035134342229501035 Centerline is valid? [True, True] Translation: X:360.56, Y:-46.69, Z:-23.74 [[ 9.95261366e-01 7.88871005e-02 5.68475091e-02 3.60556667e+02] [-7.85867643e-02 9.96879043e-01 -7.50300030e-03 -4.66868036e+01] [-5.72619804e-02 2.99998453e-03 9.98354679e-01 -2.37350286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66071405700006 meters 0.035447322184657036 Centerline is valid? [True, True] Translation: X:360.61, Y:-46.69, Z:-23.74 [[ 9.95137963e-01 8.12617674e-02 5.56503429e-02 3.60614826e+02] [-8.09777121e-02 9.96688855e-01 -7.34411335e-03 -4.66931377e+01] [-5.60628721e-02 2.80196855e-03 9.98423309e-01 -2.37400125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72071405700007 meters 0.03434760436324525 Centerline is valid? [True, True] Translation: X:360.67, Y:-46.70, Z:-23.74 [[ 9.94933363e-01 8.41529876e-02 5.50079790e-02 3.60674361e+02] [-8.38800371e-02 9.96449440e-01 -7.25621859e-03 -4.66984498e+01] [-5.54233024e-02 2.60538265e-03 9.98459548e-01 -2.37446622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78071405700007 meters 0.033823374109899364 Centerline is valid? [True, True] Translation: X:360.73, Y:-46.71, Z:-23.75 [[ 9.94599839e-01 8.71650660e-02 5.63330486e-02 3.60732973e+02] [-8.68836557e-02 9.96190756e-01 -7.43015140e-03 -4.67065436e+01] [-5.67661119e-02 2.49560619e-03 9.98384385e-01 -2.37481245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84071405700007 meters 0.02991192380751174 Centerline is valid? [True, True] Translation: X:360.79, Y:-46.71, Z:-23.75 [[ 9.94237256e-01 9.05603372e-02 5.73681379e-02 3.60793568e+02] [-9.02742332e-02 9.95888216e-01 -7.56459625e-03 -4.67062887e+01] [-5.78173049e-02 2.34213876e-03 9.98324433e-01 -2.37501136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9007140570001 meters 0.028318114300633357 Centerline is valid? [True, True] Translation: X:360.85, Y:-46.71, Z:-23.75 [[ 9.93954495e-01 9.30259644e-02 5.83149366e-02 3.60852613e+02] [-9.27346090e-02 9.95661176e-01 -7.68858977e-03 -4.67117887e+01] [-5.87771569e-02 2.23429551e-03 9.98268628e-01 -2.37535605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9607140570001 meters 0.028527555121721778 Centerline is valid? [True, True] Translation: X:360.91, Y:-46.72, Z:-23.76 [[ 9.93763937e-01 9.50630172e-02 5.82774493e-02 3.60909350e+02] [-9.47757057e-02 9.95469022e-01 -7.68067880e-03 -4.67208934e+01] [-5.87435439e-02 2.10949522e-03 9.98270878e-01 -2.37579696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0207140570001 meters 0.028443860840996888 Centerline is valid? [True, True] Translation: X:360.97, Y:-46.73, Z:-23.76 [[ 9.93893581e-01 9.31913427e-02 5.90840382e-02 3.60967079e+02] [-9.28930373e-02 9.95645686e-01 -7.78154030e-03 -4.67303241e+01] [-5.95519399e-02 2.24552719e-03 9.98222683e-01 -2.37616778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.080714057 meters 0.030076131518429906 Centerline is valid? [True, True] Translation: X:361.03, Y:-46.74, Z:-23.77 [[ 9.94224456e-01 8.97621289e-02 5.88259408e-02 3.61025349e+02] [-8.94607019e-02 9.95960254e-01 -7.74309767e-03 -4.67439550e+01] [-5.92833358e-02 2.43576712e-03 9.98238225e-01 -2.37665622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.140714057 meters 0.03067742138791048 Centerline is valid? [True, True] Translation: X:361.08, Y:-46.76, Z:-23.77 [[ 9.94496408e-01 8.62092328e-02 5.95387439e-02 3.61083329e+02] [-8.58942201e-02 9.96273456e-01 -7.83484560e-03 -4.67556240e+01] [-5.99923062e-02 2.67769183e-03 9.98195248e-01 -2.37694276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.200714057 meters 0.032578858193700974 Centerline is valid? [True, True] Translation: X:361.14, Y:-46.77, Z:-23.77 [[ 9.94597186e-01 8.46259473e-02 6.01239292e-02 3.61140174e+02] [-8.43020097e-02 9.96408864e-01 -7.90870437e-03 -4.67676469e+01] [-6.05772976e-02 2.79740705e-03 9.98159589e-01 -2.37727650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26071405700003 meters 0.031072901054744476 Centerline is valid? [True, True] Translation: X:361.20, Y:-46.78, Z:-23.78 [[ 9.94665423e-01 8.38085222e-02 6.01400662e-02 3.61198005e+02] [-8.34832487e-02 9.96477823e-01 -7.90542592e-03 -4.67758553e+01] [-6.05907843e-02 2.84256572e-03 9.98158643e-01 -2.37774752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32071405700003 meters 0.030973934529809104 Centerline is valid? [True, True] Translation: X:361.26, Y:-46.79, Z:-23.78 [[ 9.94747050e-01 8.32978380e-02 5.94960190e-02 3.61256066e+02] [-8.29788494e-02 9.96520654e-01 -7.81649379e-03 -4.67869350e+01] [-5.99401087e-02 2.83852294e-03 9.98197939e-01 -2.37833177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38071405700003 meters 0.030550864593787575 Centerline is valid? [True, True] Translation: X:361.31, Y:-46.80, Z:-23.79 [[ 9.94698903e-01 8.51567518e-02 5.76404409e-02 3.61313769e+02] [-8.48607237e-02 9.96364077e-01 -7.56863699e-03 -4.67960174e+01] [-5.80753852e-02 2.63710538e-03 9.98308717e-01 -2.37884904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44071405700004 meters 0.028435248518188676 Centerline is valid? [True, True] Translation: X:361.37, Y:-46.80, Z:-23.79 [[ 9.94460651e-01 8.84776643e-02 5.67425517e-02 3.61373230e+02] [-8.81964340e-02 9.96075268e-01 -7.44644020e-03 -4.67995995e+01] [-5.71786960e-02 2.40070105e-03 9.98361074e-01 -2.37920476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50071405700004 meters 0.029213038718772476 Centerline is valid? [True, True] Translation: X:361.43, Y:-46.81, Z:-23.80 [[ 9.94171906e-01 9.11559541e-02 5.75570472e-02 3.61429844e+02] [-9.08711557e-02 9.95834025e-01 -7.55164996e-03 -4.68097555e+01] [-5.80056438e-02 2.27736284e-03 9.98313658e-01 -2.37960187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56071405700004 meters 0.02906858707204711 Centerline is valid? [True, True] Translation: X:361.49, Y:-46.82, Z:-23.80 [[ 9.94337547e-01 8.95282753e-02 5.72497135e-02 3.61488224e+02] [-8.92442173e-02 9.95981502e-01 -7.50449159e-03 -4.68175440e+01] [-5.76915199e-02 2.35279189e-03 9.98331685e-01 -2.37999254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62071405700004 meters 0.030494716435091766 Centerline is valid? [True, True] Translation: X:361.55, Y:-46.83, Z:-23.80 [[ 9.94753877e-01 8.48323545e-02 5.71681412e-02 3.61547160e+02] [-8.45416294e-02 9.96391802e-01 -7.48929315e-03 -4.68289458e+01] [-5.75972016e-02 2.61691558e-03 9.98336473e-01 -2.38041711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68071405700005 meters 0.03524182339961916 Centerline is valid? [True, True] Translation: X:361.60, Y:-46.85, Z:-23.81 [[ 9.95307828e-01 7.84349669e-02 5.66593573e-02 3.61604440e+02] [-7.81391268e-02 9.96914840e-01 -7.42150765e-03 -4.68458531e+01] [-5.70666598e-02 2.95937196e-03 9.98365984e-01 -2.38093404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74071405700005 meters 0.041028995079715386 Centerline is valid? [True, True] Translation: X:361.66, Y:-46.86, Z:-23.81 [[ 9.96033770e-01 6.93478506e-02 5.57458945e-02 3.61661817e+02] [-6.90473057e-02 9.97586665e-01 -7.30175392e-03 -4.68636051e+01] [-5.61177219e-02 3.42368966e-03 9.98418289e-01 -2.38133613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80071405700005 meters 0.043188364429347564 Centerline is valid? [True, True] Translation: X:361.72, Y:-46.88, Z:-23.82 [[ 9.96349862e-01 6.48818151e-02 5.54734393e-02 3.61720840e+02] [-6.45773093e-02 9.97886253e-01 -7.26614648e-03 -4.68751123e+01] [-5.58276233e-02 3.65729860e-03 9.98433724e-01 -2.38167294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86071405700005 meters 0.03925451565683414 Centerline is valid? [True, True] Translation: X:361.78, Y:-46.88, Z:-23.82 [[ 9.96684387e-01 6.00276757e-02 5.49264063e-02 3.61781024e+02] [-5.97218098e-02 9.98189131e-01 -7.19468249e-03 -4.68785995e+01] [-5.52588218e-02 3.89052332e-03 9.98464484e-01 -2.38197918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92071405700005 meters 0.04651630647952392 Centerline is valid? [True, True] Translation: X:361.84, Y:-46.90, Z:-23.83 [[ 9.96847930e-01 5.77278947e-02 5.44214523e-02 3.61838706e+02] [-5.74243194e-02 9.98324424e-01 -7.12684694e-03 -4.68967187e+01] [-5.47416829e-02 3.97926776e-03 9.98492621e-01 -2.38253464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98071405700006 meters 0.03822465650868154 Centerline is valid? [True, True] Translation: X:361.90, Y:-46.89, Z:-23.83 [[ 9.96696968e-01 6.00013286e-02 5.47265402e-02 3.61901835e+02] [-5.96975005e-02 9.98190755e-01 -7.17117605e-03 -4.68912057e+01] [-5.50578066e-02 3.88045176e-03 9.98475628e-01 -2.38271135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04071405700006 meters 0.040734706301121255 Centerline is valid? [True, True] Translation: X:361.96, Y:-46.90, Z:-23.83 [[ 9.96520056e-01 6.28513008e-02 5.47493545e-02 3.61960719e+02] [-6.25513046e-02 9.98015940e-01 -7.17762717e-03 -4.68998402e+01] [-5.50918517e-02 3.72800588e-03 9.98474331e-01 -2.38310278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10071405700006 meters 0.035695232373751586 Centerline is valid? [True, True] Translation: X:362.02, Y:-46.90, Z:-23.83 [[ 9.96136301e-01 6.72925569e-02 5.64285552e-02 3.62022526e+02] [-6.69809386e-02 9.97726830e-01 -7.39776332e-03 -4.68960945e+01] [-5.67980980e-02 3.58954300e-03 9.98379232e-01 -2.38323656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16071405700006 meters 0.03742092422431704 Centerline is valid? [True, True] Translation: X:362.08, Y:-46.90, Z:-23.84 [[ 9.95957104e-01 6.88057103e-02 5.77513713e-02 3.62080940e+02] [-6.84818048e-02 9.97623634e-01 -7.57147028e-03 -4.69043023e+01] [-5.81350933e-02 3.58594148e-03 9.98302285e-01 -2.38360386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22071405700007 meters 0.06298858473702516 Centerline is valid? [True, True] Translation: X:362.14, Y:-46.95, Z:-23.84 [[ 9.95810185e-01 7.02218100e-02 5.85745040e-02 3.62135531e+02] [-6.98911684e-02 9.97525081e-01 -7.67704982e-03 -4.69467921e+01] [-5.89686332e-02 3.55104388e-03 9.98253520e-01 -2.38430207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28071405700007 meters 0.03726523050526149 Centerline is valid? [True, True] Translation: X:362.20, Y:-46.92, Z:-23.85 [[ 9.96491523e-01 6.35441614e-02 5.44681940e-02 3.62200407e+02] [-6.32483682e-02 9.97972283e-01 -7.13901138e-03 -4.69165380e+01] [-5.48113904e-02 3.66893993e-03 9.98489985e-01 -2.38450264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34071405700007 meters 0.03739408714253621 Centerline is valid? [True, True] Translation: X:362.26, Y:-46.92, Z:-23.85 [[ 9.96623493e-01 6.20981990e-02 5.37161722e-02 3.62260083e+02] [-6.18084925e-02 9.98063203e-01 -7.03943918e-03 -4.69234625e+01] [-5.40492713e-02 3.69555484e-03 9.98531431e-01 -2.38494246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4007140570001 meters 0.03958744558536062 Centerline is valid? [True, True] Translation: X:362.32, Y:-46.93, Z:-23.85 [[ 9.96881774e-01 5.85753609e-02 5.28739593e-02 3.62319457e+02] [-5.82897557e-02 9.98275660e-01 -6.92896887e-03 -4.69323248e+01] [-5.31886535e-02 3.82535261e-03 9.98577155e-01 -2.38532667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4607140570001 meters 0.04090209331202051 Centerline is valid? [True, True] Translation: X:362.38, Y:-46.94, Z:-23.86 [[ 9.97000067e-01 5.61983159e-02 5.32223253e-02 3.62379320e+02] [-5.59055436e-02 9.98411698e-01 -6.97499389e-03 -4.69415485e+01] [-5.35297751e-02 3.97864636e-03 9.98558328e-01 -2.38565320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5207140570001 meters 0.042958713122400904 Centerline is valid? [True, True] Translation: X:362.44, Y:-46.95, Z:-23.86 [[ 9.97136109e-01 5.32847758e-02 5.36685471e-02 3.62439230e+02] [-5.29828212e-02 9.98570647e-01 -7.03445422e-03 -4.69523694e+01] [-5.39666652e-02 4.17079727e-03 9.98534027e-01 -2.38601679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.580714057 meters 0.04474051556612201 Centerline is valid? [True, True] Translation: X:362.50, Y:-46.96, Z:-23.86 [[ 9.97174237e-01 5.26092386e-02 5.36265723e-02 3.62500520e+02] [-5.23068653e-02 9.98606332e-01 -7.02749173e-03 -4.69613704e+01] [-5.39215457e-02 4.20259581e-03 9.98536331e-01 -2.38633415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.640714057 meters 0.04539151236207489 Centerline is valid? [True, True] Translation: X:362.56, Y:-46.97, Z:-23.87 [[ 9.97047860e-01 5.42277452e-02 5.43591518e-02 3.62561910e+02] [-5.39185830e-02 9.98519815e-01 -7.13900723e-03 -4.69686112e+01] [-5.46658225e-02 4.18696344e-03 9.98495927e-01 -2.38663246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.700714057 meters 0.04055425658878635 Centerline is valid? [True, True] Translation: X:362.62, Y:-46.97, Z:-23.87 [[ 9.96907819e-01 5.65549846e-02 5.45557987e-02 3.62623177e+02] [-5.62468658e-02 9.98391161e-01 -7.16800896e-03 -4.69685135e+01] [-5.48734139e-02 4.07725148e-03 9.98484995e-01 -2.38692842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76071405700003 meters 0.04011324268133364 Centerline is valid? [True, True] Translation: X:362.68, Y:-46.98, Z:-23.87 [[ 9.96868663e-01 5.80804232e-02 5.36612831e-02 3.62684115e+02] [-5.77844822e-02 9.98304177e-01 -7.05144582e-03 -4.69752101e+01] [-5.39798340e-02 3.92857591e-03 9.98534298e-01 -2.38745750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82071405700003 meters 0.03997064712153743 Centerline is valid? [True, True] Translation: X:362.74, Y:-46.98, Z:-23.88 [[ 9.96831707e-01 5.96420979e-02 5.26247948e-02 3.62744292e+02] [-5.93595337e-02 9.98212699e-01 -6.91754277e-03 -4.69815166e+01] [-5.29433152e-02 3.77184268e-03 9.98590396e-01 -2.38796798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88071405700003 meters 0.040215650092653 Centerline is valid? [True, True] Translation: X:362.80, Y:-46.99, Z:-23.88 [[ 9.96831566e-01 6.06511592e-02 5.14613016e-02 3.62804552e+02] [-6.03823023e-02 9.98152402e-01 -6.76460129e-03 -4.69870726e+01] [-5.17765027e-02 3.63581623e-03 9.98652079e-01 -2.38838128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94071405700004 meters 0.041882404624962816 Centerline is valid? [True, True] Translation: X:362.86, Y:-47.00, Z:-23.89 [[ 9.96917067e-01 5.99919401e-02 5.05700396e-02 3.62862036e+02] [-5.97314509e-02 9.98192345e-01 -6.64805829e-03 -4.69958285e+01] [-5.08774563e-02 3.60694094e-03 9.98698390e-01 -2.38880680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00071405700004 meters 0.04494791009759361 Centerline is valid? [True, True] Translation: X:362.92, Y:-47.01, Z:-23.89 [[ 9.97109978e-01 5.75120885e-02 4.96392197e-02 3.62921422e+02] [-5.72581975e-02 9.98338095e-01 -6.52284188e-03 -4.70065371e+01] [-4.99318663e-02 3.66173847e-03 9.98745914e-01 -2.38935745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06071405700004 meters 0.04329195154048156 Centerline is valid? [True, True] Translation: X:362.98, Y:-47.01, Z:-23.90 [[ 9.97272228e-01 5.41365339e-02 5.01730990e-02 3.62981962e+02] [-5.38729065e-02 9.98526036e-01 -6.59287823e-03 -4.70120779e+01] [-5.04560612e-02 3.87192369e-03 9.98718776e-01 -2.38957051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12071405700004 meters 0.04516626866559277 Centerline is valid? [True, True] Translation: X:363.04, Y:-47.02, Z:-23.90 [[ 9.97354572e-01 5.06776759e-02 5.21117138e-02 3.63042014e+02] [-5.03885442e-02 9.98706212e-01 -6.84807196e-03 -4.70232146e+01] [-5.23913367e-02 4.20412248e-03 9.98617781e-01 -2.38984799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18071405700005 meters 0.047942066886763966 Centerline is valid? [True, True] Translation: X:363.10, Y:-47.03, Z:-23.90 [[ 9.97358403e-01 4.99684199e-02 5.27197507e-02 3.63102330e+02] [-4.96716166e-02 9.98741589e-01 -6.92595982e-03 -4.70344008e+01] [-5.29994868e-02 4.28898898e-03 9.98585329e-01 -2.39017353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24071405700005 meters 0.047056614296190964 Centerline is valid? [True, True] Translation: X:363.16, Y:-47.04, Z:-23.91 [[ 9.97330747e-01 5.06326786e-02 5.26090524e-02 3.63164481e+02] [-5.03374169e-02 9.98708273e-01 -6.92316887e-03 -4.70405664e+01] [-5.28916344e-02 4.25648538e-03 9.98591186e-01 -2.39060640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30071405700005 meters 0.04249005210515634 Centerline is valid? [True, True] Translation: X:363.23, Y:-47.04, Z:-23.91 [[ 9.97344744e-01 5.16247282e-02 5.13648590e-02 3.63227339e+02] [-5.13439612e-02 9.98658071e-01 -6.77158703e-03 -4.70407325e+01] [-5.16455123e-02 4.11633141e-03 9.98656997e-01 -2.39099803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36071405700005 meters 0.04408800266858726 Centerline is valid? [True, True] Translation: X:363.29, Y:-47.05, Z:-23.92 [[ 9.97387708e-01 5.21256974e-02 5.00067213e-02 3.63287952e+02] [-5.18595803e-02 9.98632542e-01 -6.60530751e-03 -4.70503741e+01] [-5.02826455e-02 3.99472493e-03 9.98727039e-01 -2.39165620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42071405700005 meters 0.044618687025271886 Centerline is valid? [True, True] Translation: X:363.35, Y:-47.06, Z:-23.92 [[ 9.97446855e-01 5.18950804e-02 4.90578522e-02 3.63347986e+02] [-5.16380188e-02 9.98644755e-01 -6.49376940e-03 -4.70588998e+01] [-4.93283615e-02 3.94393957e-03 9.98774829e-01 -2.39218825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48071405700006 meters 0.04797138081562381 Centerline is valid? [True, True] Translation: X:363.41, Y:-47.07, Z:-23.93 [[ 9.97488791e-01 5.12545076e-02 4.88782831e-02 3.63407388e+02] [-5.09983454e-02 9.98677751e-01 -6.47441893e-03 -4.70709567e+01] [-4.91454971e-02 3.96544875e-03 9.98783758e-01 -2.39253909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54071405700006 meters 0.04980366475242662 Centerline is valid? [True, True] Translation: X:363.47, Y:-47.08, Z:-23.93 [[ 9.97415282e-01 5.13122887e-02 5.02971557e-02 3.63466669e+02] [-5.10410474e-02 9.98674327e-01 -6.66329464e-03 -4.70811652e+01] [-5.05723871e-02 4.07885239e-03 9.98712069e-01 -2.39285685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60071405700006 meters 0.0490980826520842 Centerline is valid? [True, True] Translation: X:363.53, Y:-47.09, Z:-23.93 [[ 9.97395951e-01 5.12810311e-02 5.07106866e-02 3.63527838e+02] [-5.10052328e-02 9.98675786e-01 -6.71872915e-03 -4.70884748e+01] [-5.09880782e-02 4.11472287e-03 9.98690785e-01 -2.39315816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66071405700006 meters 0.04623857498593935 Centerline is valid? [True, True] Translation: X:363.59, Y:-47.09, Z:-23.93 [[ 9.97314542e-01 5.18441531e-02 5.17289848e-02 3.63588644e+02] [-5.15578108e-02 9.98646481e-01 -6.85547058e-03 -4.70937858e+01] [-5.20143848e-02 4.17002728e-03 9.98637629e-01 -2.39348106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72071405700007 meters 0.04577696095411637 Centerline is valid? [True, True] Translation: X:363.65, Y:-47.10, Z:-23.94 [[ 9.97373201e-01 5.18105209e-02 5.06198452e-02 3.63650001e+02] [-5.15363554e-02 9.98648595e-01 -6.70733323e-03 -4.71020396e+01] [-5.08989477e-02 4.08095207e-03 9.98695471e-01 -2.39398130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78071405700007 meters 0.045125968358517544 Centerline is valid? [True, True] Translation: X:363.71, Y:-47.11, Z:-23.94 [[ 9.97468364e-01 5.07482742e-02 4.98144112e-02 3.63711210e+02] [-5.04808360e-02 9.98703136e-01 -6.61301948e-03 -4.71100137e+01] [-5.00854080e-02 4.08160460e-03 9.98736598e-01 -2.39447916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84071405700007 meters 0.04707798452203858 Centerline is valid? [True, True] Translation: X:363.77, Y:-47.12, Z:-23.95 [[ 9.97524446e-01 4.82214419e-02 5.11827396e-02 3.63770704e+02] [-4.79350229e-02 9.98827244e-01 -6.80957584e-03 -4.71232433e+01] [-5.14510823e-02 4.33927257e-03 9.98666089e-01 -2.39486410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9007140570001 meters 0.048808719804747984 Centerline is valid? [True, True] Translation: X:363.83, Y:-47.13, Z:-23.95 [[ 9.97559630e-01 4.70539637e-02 5.15820677e-02 3.63831903e+02] [-4.67614084e-02 9.98882500e-01 -6.86454837e-03 -4.71344585e+01] [-5.18474290e-02 4.43574620e-03 9.98645166e-01 -2.39520481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9607140570001 meters 0.049389127117014466 Centerline is valid? [True, True] Translation: X:363.89, Y:-47.14, Z:-23.96 [[ 9.97589281e-01 4.66725814e-02 5.13546134e-02 3.63893554e+02] [-4.63820307e-02 9.98900386e-01 -6.83566452e-03 -4.71439566e+01] [-5.16171813e-02 4.43725440e-03 9.98657087e-01 -2.39561772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0207140570001 meters 0.04975298065366731 Centerline is valid? [True, True] Translation: X:363.95, Y:-47.15, Z:-23.96 [[ 9.97539690e-01 4.76225396e-02 5.14457131e-02 3.63954647e+02] [-4.73315448e-02 9.98855674e-01 -6.86061946e-03 -4.71540174e+01] [-5.17135626e-02 4.40873514e-03 9.98652227e-01 -2.39597868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.080714057 meters 0.045247239085385645 Centerline is valid? [True, True] Translation: X:364.02, Y:-47.16, Z:-23.96 [[ 9.97454400e-01 4.86815513e-02 5.21039978e-02 3.64016976e+02] [-4.83838069e-02 9.98804559e-01 -6.96135200e-03 -4.71577718e+01] [-5.23806000e-02 4.42264141e-03 9.98617401e-01 -2.39623479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.140714057 meters 0.046775403692225534 Centerline is valid? [True, True] Translation: X:364.08, Y:-47.17, Z:-23.97 [[ 9.97402356e-01 4.97862652e-02 5.20563958e-02 3.64076626e+02] [-4.94897226e-02 9.98750306e-01 -6.97093356e-03 -4.71699050e+01] [-5.23383980e-02 4.37656897e-03 9.98619816e-01 -2.39670344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.200714057 meters 0.04771898722690681 Centerline is valid? [True, True] Translation: X:364.14, Y:-47.18, Z:-23.97 [[ 9.97381798e-01 5.14662621e-02 5.08013134e-02 3.64137312e+02] [-5.11859461e-02 9.98665960e-01 -6.80441358e-03 -4.71805153e+01] [-5.10837401e-02 4.18628496e-03 9.98685599e-01 -2.39718733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26071405700003 meters 0.04503351843070955 Centerline is valid? [True, True] Translation: X:364.20, Y:-47.19, Z:-23.98 [[ 9.97289109e-01 5.40109521e-02 4.99725001e-02 3.64198263e+02] [-5.37427331e-02 9.98532361e-01 -6.69650520e-03 -4.71852823e+01] [-5.02608431e-02 3.99269296e-03 9.98728144e-01 -2.39763138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32071405700003 meters 0.047722282893201205 Centerline is valid? [True, True] Translation: X:364.26, Y:-47.20, Z:-23.98 [[ 9.97246541e-01 5.56349127e-02 4.90315575e-02 3.64257514e+02] [-5.53786168e-02 9.98443803e-01 -6.57127301e-03 -4.71973156e+01] [-4.93208469e-02 3.83787944e-03 9.98775613e-01 -2.39820732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38071405700003 meters 0.049623169368720986 Centerline is valid? [True, True] Translation: X:364.32, Y:-47.21, Z:-23.99 [[ 9.97302653e-01 5.52148398e-02 4.83605211e-02 3.64317225e+02] [-5.49649729e-02 9.98467240e-01 -6.48246566e-03 -4.72079268e+01] [-4.86443243e-02 3.80684547e-03 9.98808909e-01 -2.39867388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44071405700004 meters 0.04438080454044041 Centerline is valid? [True, True] Translation: X:364.38, Y:-47.21, Z:-23.99 [[ 9.97415155e-01 5.32213986e-02 4.82751703e-02 3.64378651e+02] [-5.29701253e-02 9.98575135e-01 -6.47039790e-03 -4.72093619e+01] [-4.85507483e-02 3.89653111e-03 9.98813117e-01 -2.39891869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50071405700004 meters 0.04659008676296595 Centerline is valid? [True, True] Translation: X:364.44, Y:-47.22, Z:-23.99 [[ 9.97418193e-01 5.19122769e-02 4.96191870e-02 3.64438736e+02] [-5.16450891e-02 9.98643343e-01 -6.65263445e-03 -4.72211480e+01] [-4.98972242e-02 4.07287130e-03 9.98746053e-01 -2.39924338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56071405700004 meters 0.04778531473402719 Centerline is valid? [True, True] Translation: X:364.50, Y:-47.23, Z:-23.99 [[ 9.97461368e-01 4.89744661e-02 5.16944942e-02 3.64498537e+02] [-4.86804061e-02 9.98790344e-01 -6.93302868e-03 -4.72318397e+01] [-5.19715030e-02 4.39891930e-03 9.98638880e-01 -2.39941217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62071405700004 meters 0.05334159027055953 Centerline is valid? [True, True] Translation: X:364.56, Y:-47.25, Z:-24.00 [[ 9.97648312e-01 4.49705535e-02 5.17251927e-02 3.64556283e+02] [-4.46707527e-02 9.98977670e-01 -6.93816213e-03 -4.72512053e+01] [-5.19843254e-02 4.61124244e-03 9.98637255e-01 -2.39999204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68071405700005 meters 0.052991968080816534 Centerline is valid? [True, True] Translation: X:364.62, Y:-47.26, Z:-24.00 [[ 9.97903873e-01 4.00002215e-02 5.08708358e-02 3.64615852e+02] [-3.97038289e-02 9.99188190e-01 -6.82403242e-03 -4.72614823e+01] [-5.11025011e-02 4.78996143e-03 9.98681927e-01 -2.40043002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74071405700005 meters 0.04887160280082538 Centerline is valid? [True, True] Translation: X:364.68, Y:-47.27, Z:-24.01 [[ 9.98086302e-01 3.60803467e-02 5.02189455e-02 3.64676869e+02] [-3.57865999e-02 9.99336749e-01 -6.73652616e-03 -4.72676197e+01] [-5.04286939e-02 4.92646918e-03 9.98715513e-01 -2.40083913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80071405700005 meters 0.04839886459648014 Centerline is valid? [True, True] Translation: X:364.74, Y:-47.28, Z:-24.01 [[ 9.98189644e-01 3.39798082e-02 4.96266715e-02 3.64736422e+02] [-3.36903115e-02 9.99410139e-01 -6.65861309e-03 -4.72788257e+01] [-4.98236571e-02 4.97462061e-03 9.98745641e-01 -2.40128971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86071405700005 meters 0.05199956266472561 Centerline is valid? [True, True] Translation: X:364.80, Y:-47.29, Z:-24.02 [[ 9.98149322e-01 3.49605689e-02 4.97562954e-02 3.64795665e+02] [-3.46707462e-02 9.99376489e-01 -6.67631715e-03 -4.72942953e+01] [-4.99586796e-02 4.93887355e-03 9.98739074e-01 -2.40176818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92071405700005 meters 0.04933731690536281 Centerline is valid? [True, True] Translation: X:364.86, Y:-47.30, Z:-24.02 [[ 9.98034138e-01 3.70918400e-02 5.05178702e-02 3.64856700e+02] [-3.67952951e-02 9.99299771e-01 -6.78782624e-03 -4.72997261e+01] [-5.07342691e-02 4.91566236e-03 9.98700090e-01 -2.40200205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98071405700006 meters 0.04832630951967607 Centerline is valid? [True, True] Translation: X:364.92, Y:-47.31, Z:-24.02 [[ 9.97804409e-01 4.06669326e-02 5.22739190e-02 3.64916933e+02] [-4.03541903e-02 9.99160744e-01 -7.02479622e-03 -4.73083040e+01] [-5.25157247e-02 4.89990096e-03 9.98608076e-01 -2.40227039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04071405700006 meters 0.05128909660632737 Centerline is valid? [True, True] Translation: X:364.98, Y:-47.32, Z:-24.03 [[ 9.97754557e-01 4.18592097e-02 5.22843155e-02 3.64976855e+02] [-4.15480618e-02 9.99111814e-01 -7.02434288e-03 -4.73239683e+01] [-5.25319107e-02 4.83625815e-03 9.98607535e-01 -2.40277058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10071405700006 meters 0.05190606313486443 Centerline is valid? [True, True] Translation: X:365.04, Y:-47.34, Z:-24.03 [[ 9.97813100e-01 4.03545828e-02 5.23500263e-02 3.65036613e+02] [-4.00397604e-02 9.99173222e-01 -7.04910972e-03 -4.73366495e+01] [-5.25912083e-02 4.93761151e-03 9.98603918e-01 -2.40325807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16071405700006 meters 0.05490825686658196 Centerline is valid? [True, True] Translation: X:365.10, Y:-47.35, Z:-24.04 [[ 9.97919428e-01 3.84545591e-02 5.17499946e-02 3.65095480e+02] [-3.81443435e-02 9.99247937e-01 -6.96922714e-03 -4.73516037e+01] [-5.19790739e-02 4.98075759e-03 9.98635753e-01 -2.40371006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22071405700007 meters 0.049011596070457894 Centerline is valid? [True, True] Translation: X:365.16, Y:-47.35, Z:-24.04 [[ 9.97929341e-01 3.88825551e-02 5.12364928e-02 3.65159071e+02] [-3.85791690e-02 9.99231742e-01 -6.89739970e-03 -4.73546336e+01] [-5.14653185e-02 4.90645622e-03 9.98662730e-01 -2.40409317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.28071405700007 meters 0.051879908566543675 Centerline is valid? [True, True] Translation: X:365.22, Y:-47.37, Z:-24.04 [[ 9.97810230e-01 4.07101939e-02 5.21289257e-02 3.65217740e+02] [-4.03975961e-02 9.99158905e-01 -7.03674850e-03 -4.73672159e+01] [-5.23715478e-02 4.91545635e-03 9.98615571e-01 -2.40445449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.34071405700007 meters 0.0508579336486407 Centerline is valid? [True, True] Translation: X:365.28, Y:-47.37, Z:-24.05 [[ 9.97446623e-01 4.73257478e-02 5.34837120e-02 3.65276948e+02] [-4.70060903e-02 9.98868512e-01 -7.21964085e-03 -4.73739238e+01] [-5.37648707e-02 4.68714619e-03 9.98542623e-01 -2.40473276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4007140570001 meters 0.04203510633938649 Centerline is valid? [True, True] Translation: X:365.34, Y:-47.37, Z:-24.05 [[ 9.96938466e-01 5.69636001e-02 5.35615862e-02 3.65339080e+02] [-5.66568151e-02 9.98367534e-01 -7.23000701e-03 -4.73682076e+01] [-5.38859960e-02 4.17324321e-03 9.98538374e-01 -2.40498548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4607140570001 meters 0.03725476216904792 Centerline is valid? [True, True] Translation: X:365.40, Y:-47.37, Z:-24.05 [[ 9.96225213e-01 6.79440537e-02 5.40271316e-02 3.65400106e+02] [-6.76479250e-02 9.97682598e-01 -7.29321721e-03 -4.73657432e+01] [-5.43974598e-02 3.61086352e-03 9.98512833e-01 -2.40521507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5207140570001 meters 0.03476047878018511 Centerline is valid? [True, True] Translation: X:365.46, Y:-47.37, Z:-24.06 [[ 9.95766819e-01 7.45799326e-02 5.37240713e-02 3.65460366e+02] [-7.42967093e-02 9.97209806e-01 -7.25265687e-03 -4.73679216e+01] [-5.41150734e-02 3.23043335e-03 9.98529480e-01 -2.40560174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.580714057 meters 0.03373318196235582 Centerline is valid? [True, True] Translation: X:365.52, Y:-47.37, Z:-24.06 [[ 9.95426883e-01 7.86518745e-02 5.42144188e-02 3.65520173e+02] [-7.83695061e-02 9.96897520e-01 -7.31808114e-03 -4.73736704e+01] [-5.46218005e-02 3.03585747e-03 9.98502500e-01 -2.40600715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.640714057 meters 0.032926734543480475 Centerline is valid? [True, True] Translation: X:365.58, Y:-47.38, Z:-24.06 [[ 9.95105192e-01 8.21559957e-02 5.49185674e-02 3.65580216e+02] [-8.18715604e-02 9.96615320e-01 -7.41295770e-03 -4.73796390e+01] [-5.53417045e-02 2.88040389e-03 9.98463319e-01 -2.40639076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.700714057 meters 0.03431817597282915 Centerline is valid? [True, True] Translation: X:365.64, Y:-47.39, Z:-24.07 [[ 9.95006963e-01 8.24368568e-02 5.62610686e-02 3.65636924e+02] [-8.21388027e-02 9.96591969e-01 -7.59368485e-03 -4.73900406e+01] [-5.66953287e-02 2.93455248e-03 9.98387214e-01 -2.40675583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76071405700003 meters 0.037392541410920625 Centerline is valid? [True, True] Translation: X:365.69, Y:-47.40, Z:-24.07 [[ 9.95257954e-01 7.92323541e-02 5.64255171e-02 3.65694810e+02] [-7.89277278e-02 9.96851290e-01 -7.61048500e-03 -4.74036181e+01] [-5.68508461e-02 3.12085787e-03 9.98377805e-01 -2.40717136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82071405700003 meters 0.04034577144955208 Centerline is valid? [True, True] Translation: X:365.75, Y:-47.42, Z:-24.08 [[ 9.95496926e-01 7.55980513e-02 5.71909489e-02 3.65752565e+02] [-7.52792336e-02 9.97132672e-01 -7.71173119e-03 -4.74173710e+01] [-5.76099556e-02 3.37171390e-03 9.98333474e-01 -2.40754150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88071405700003 meters 0.03510750289950765 Centerline is valid? [True, True] Translation: X:365.81, Y:-47.42, Z:-24.08 [[ 9.95691784e-01 7.34295049e-02 5.66213605e-02 3.65811928e+02] [-7.31136209e-02 9.97294406e-01 -7.63321284e-03 -4.74187090e+01] [-5.70286691e-02 3.46053463e-03 9.98366544e-01 -2.40784369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94071405700004 meters 0.03354185498122167 Centerline is valid? [True, True] Translation: X:365.87, Y:-47.43, Z:-24.08 [[ 9.95832604e-01 7.21082385e-02 5.58375030e-02 3.65871318e+02] [-7.17991598e-02 9.97390728e-01 -7.52440748e-03 -4.74257625e+01] [-5.62343795e-02 3.48396449e-03 9.98411517e-01 -2.40822909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00071405700004 meters 0.03354202947908026 Centerline is valid? [True, True] Translation: X:365.93, Y:-47.43, Z:-24.09 [[ 9.95733738e-01 7.29028548e-02 5.65640880e-02 3.65929863e+02] [-7.25870597e-02 9.97332968e-01 -7.62031630e-03 -4.74345923e+01] [-5.69687726e-02 3.48198521e-03 9.98369889e-01 -2.40850596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06071405700004 meters 0.03362915459080077 Centerline is valid? [True, True] Translation: X:365.99, Y:-47.44, Z:-24.09 [[ 9.95453200e-01 7.50423842e-02 5.86648737e-02 3.65988948e+02] [-7.47065682e-02 9.97174268e-01 -7.89982470e-03 -4.74439839e+01] [-5.90919242e-02 3.48125439e-03 9.98246475e-01 -2.40872992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12071405700004 meters 0.035817251772169025 Centerline is valid? [True, True] Translation: X:366.05, Y:-47.46, Z:-24.09 [[ 9.95430672e-01 7.51223938e-02 5.89440645e-02 3.66046392e+02] [-7.47836387e-02 9.97168210e-01 -7.93523824e-03 -4.74558119e+01] [-5.93732614e-02 3.49092791e-03 9.98229748e-01 -2.40902794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18071405700005 meters 0.03563035299613617 Centerline is valid? [True, True] Translation: X:366.11, Y:-47.46, Z:-24.09 [[ 9.95686648e-01 7.22007286e-02 5.82679523e-02 3.66105875e+02] [-7.18648531e-02 9.97383549e-01 -7.84212075e-03 -4.74647331e+01] [-5.86817039e-02 3.62087709e-03 9.98270177e-01 -2.40946048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24071405700005 meters 0.038526298059318155 Centerline is valid? [True, True] Translation: X:366.16, Y:-47.48, Z:-24.10 [[ 9.95869101e-01 6.96574770e-02 5.82457761e-02 3.66163912e+02] [-6.93175900e-02 9.97563851e-01 -7.83807821e-03 -4.74779548e+01] [-5.86498615e-02 3.76824306e-03 9.98271503e-01 -2.40988695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30071405700005 meters 0.03842798831331284 Centerline is valid? [True, True] Translation: X:366.22, Y:-47.49, Z:-24.10 [[ 9.96208632e-01 6.53021176e-02 5.74803900e-02 3.66223737e+02] [-6.49639699e-02 9.97857640e-01 -7.73393005e-03 -4.74873216e+01] [-5.78622883e-02 3.97045355e-03 9.98316679e-01 -2.41033978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36071405700005 meters 0.039589437236573106 Centerline is valid? [True, True] Translation: X:366.28, Y:-47.50, Z:-24.11 [[ 9.96599198e-01 6.08715575e-02 5.55399956e-02 3.66282879e+02] [-6.05490331e-02 9.98137249e-01 -7.47301275e-03 -4.74979925e+01] [-5.58914323e-02 4.08470549e-03 9.98428497e-01 -2.41087910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42071405700005 meters 0.04226384229846122 Centerline is valid? [True, True] Translation: X:366.34, Y:-47.51, Z:-24.11 [[ 9.96915464e-01 5.65224514e-02 5.44497079e-02 3.66342482e+02] [-5.62060238e-02 9.98392310e-01 -7.32651462e-03 -4.75104157e+01] [-5.47762822e-02 4.24351414e-03 9.98489635e-01 -2.41126556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48071405700006 meters 0.043124881160793264 Centerline is valid? [True, True] Translation: X:366.40, Y:-47.52, Z:-24.12 [[ 9.97022053e-01 5.40481154e-02 5.50075240e-02 3.66402929e+02] [-5.37214448e-02 9.98528532e-01 -7.40117165e-03 -4.75200598e+01] [-5.53266016e-02 4.42404769e-03 9.98458509e-01 -2.41158981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54071405700006 meters 0.04595376950372738 Centerline is valid? [True, True] Translation: X:366.46, Y:-47.53, Z:-24.12 [[ 9.97044693e-01 5.30218666e-02 5.55928172e-02 3.66462859e+02] [-5.26865432e-02 9.98583076e-01 -7.48118777e-03 -4.75316635e+01] [-5.59107130e-02 4.53008520e-03 9.98425496e-01 -2.41191530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60071405700006 meters 0.04459584767702052 Centerline is valid? [True, True] Translation: X:366.52, Y:-47.54, Z:-24.12 [[ 9.96961994e-01 5.39558721e-02 5.61742588e-02 3.66524877e+02] [-5.36146024e-02 9.98533041e-01 -7.56574680e-03 -4.75378093e+01] [-5.65000699e-02 4.53100146e-03 9.98392314e-01 -2.41222226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66071405700006 meters 0.04553907418211132 Centerline is valid? [True, True] Translation: X:366.58, Y:-47.55, Z:-24.13 [[ 9.96894311e-01 5.61688283e-02 5.51977915e-02 3.66583870e+02] [-5.58418213e-02 9.98411832e-01 -7.45009619e-03 -4.75455676e+01] [-5.55285913e-02 4.34461330e-03 9.98447645e-01 -2.41271343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72071405700007 meters 0.04559412278336123 Centerline is valid? [True, True] Translation: X:366.64, Y:-47.55, Z:-24.13 [[ 9.96539229e-01 6.27271459e-02 5.45423626e-02 3.66643451e+02] [-6.24176198e-02 9.98022969e-01 -7.36172040e-03 -4.75516896e+01] [-5.48963104e-02 3.93183872e-03 9.98484319e-01 -2.41324378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.78071405700007 meters 0.04396723204141667 Centerline is valid? [True, True] Translation: X:366.70, Y:-47.56, Z:-24.14 [[ 9.96263335e-01 6.73896182e-02 5.40185854e-02 3.66703794e+02] [-6.70928605e-02 9.97720100e-01 -7.29044778e-03 -4.75562140e+01] [-5.43867290e-02 3.63894440e-03 9.98513316e-01 -2.41368931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.84071405700007 meters 0.03972398734247506 Centerline is valid? [True, True] Translation: X:366.76, Y:-47.56, Z:-24.14 [[ 9.95828368e-01 7.35317665e-02 5.40272293e-02 3.66764836e+02] [-7.32439015e-02 9.97287402e-01 -7.29168353e-03 -4.75551026e+01] [-5.44168455e-02 3.30410024e-03 9.98512839e-01 -2.41404578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9007140570001 meters 0.0380230628856697 Centerline is valid? [True, True] Translation: X:366.83, Y:-47.56, Z:-24.15 [[ 9.95473020e-01 7.84679632e-02 5.36306413e-02 3.66825373e+02] [-7.81914830e-02 9.96912088e-01 -7.23745334e-03 -4.75578647e+01] [-5.40329428e-02 3.01123016e-03 9.98534613e-01 -2.41453656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9607140570001 meters 0.03271416258495016 Centerline is valid? [True, True] Translation: X:366.89, Y:-47.56, Z:-24.15 [[ 9.95218912e-01 8.04207145e-02 5.54240543e-02 3.66886614e+02] [-8.01284290e-02 9.96756486e-01 -7.47943968e-03 -4.75555843e+01] [-5.58457875e-02 3.00263742e-03 9.98434891e-01 -2.41466242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0207140570001 meters 0.03704073568323443 Centerline is valid? [True, True] Translation: X:366.94, Y:-47.57, Z:-24.15 [[ 9.95300297e-01 7.90689641e-02 5.59054384e-02 3.66943187e+02] [-7.87694732e-02 9.96864313e-01 -7.54396154e-03 -4.75698236e+01] [-5.63266297e-02 3.10486523e-03 9.98407567e-01 -2.41509446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.080714057 meters 0.03959752557533576 Centerline is valid? [True, True] Translation: X:367.00, Y:-47.58, Z:-24.16 [[ 9.95641223e-01 7.59327089e-02 5.41551431e-02 3.67001545e+02] [-7.56473711e-02 9.97107893e-01 -7.30239554e-03 -4.75804794e+01] [-5.45530113e-02 3.17387182e-03 9.98505832e-01 -2.41579325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.140714057 meters 0.03872307421540739 Centerline is valid? [True, True] Translation: X:367.06, Y:-47.59, Z:-24.16 [[ 9.95818870e-01 7.45603492e-02 5.27781429e-02 3.67060338e+02] [-7.42874591e-02 9.97211478e-01 -7.11625111e-03 -4.75858371e+01] [-5.31615601e-02 3.16574301e-03 9.98580906e-01 -2.41629880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.200714057 meters 0.033509289425950405 Centerline is valid? [True, True] Translation: X:367.12, Y:-47.58, Z:-24.17 [[ 9.95754900e-01 7.58522402e-02 5.21403539e-02 3.67119748e+02] [-7.55878018e-02 9.97114383e-01 -7.02787059e-03 -4.75830126e+01] [-5.25229765e-02 3.05686185e-03 9.98615037e-01 -2.41658139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26071405700003 meters 0.032282217452406725 Centerline is valid? [True, True] Translation: X:367.18, Y:-47.58, Z:-24.17 [[ 9.95253125e-01 8.04529883e-02 5.47588698e-02 3.67180053e+02] [-8.01684949e-02 9.96754036e-01 -7.37589698e-03 -4.75845394e+01] [-5.51745375e-02 2.95094835e-03 9.98472364e-01 -2.41677863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32071405700003 meters 0.031412955274011875 Centerline is valid? [True, True] Translation: X:367.24, Y:-47.59, Z:-24.17 [[ 9.94665259e-01 8.53559455e-02 5.79256929e-02 3.67240649e+02] [-8.50458445e-02 9.96346491e-01 -7.80223624e-03 -4.75879304e+01] [-5.83800281e-02 2.83427386e-03 9.98290408e-01 -2.41698848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38071405700003 meters 0.031388523665512175 Centerline is valid? [True, True] Translation: X:367.30, Y:-47.59, Z:-24.17 [[ 9.94611351e-01 8.57292231e-02 5.82988861e-02 3.67298671e+02] [-8.54157342e-02 9.96314452e-01 -7.85272472e-03 -4.75935063e+01] [-5.87572307e-02 2.83076699e-03 9.98268288e-01 -2.41736044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44071405700004 meters 0.03136510913606786 Centerline is valid? [True, True] Translation: X:367.36, Y:-47.60, Z:-24.18 [[ 9.94728045e-01 8.44366484e-02 5.81942427e-02 3.67356272e+02] [-8.41223217e-02 9.96424636e-01 -7.83452216e-03 -4.76008259e+01] [-5.86476979e-02 2.89778410e-03 9.98274537e-01 -2.41777623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50071405700004 meters 0.0360245248367389 Centerline is valid? [True, True] Translation: X:367.41, Y:-47.62, Z:-24.18 [[ 9.95322777e-01 7.79993707e-02 5.69970864e-02 3.67413313e+02] [-7.76876807e-02 9.96948261e-01 -7.66739035e-03 -4.76173686e+01] [-5.74211978e-02 3.20355680e-03 9.98344902e-01 -2.41842019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56071405700004 meters 0.035657502095752226 Centerline is valid? [True, True] Translation: X:367.47, Y:-47.63, Z:-24.19 [[ 9.95952073e-01 7.09138045e-02 5.52331555e-02 3.67472692e+02] [-7.06101608e-02 9.97476299e-01 -7.43218939e-03 -4.76254300e+01] [-5.56208084e-02 3.50208243e-03 9.98445823e-01 -2.41888814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62071405700004 meters 0.04336138192376454 Centerline is valid? [True, True] Translation: X:367.53, Y:-47.64, Z:-24.19 [[ 9.96196853e-01 6.74621556e-02 5.51424233e-02 3.67529247e+02] [-6.71542887e-02 9.97715018e-01 -7.41923671e-03 -4.76445243e+01] [-5.55169415e-02 3.68797005e-03 9.98450934e-01 -2.41939404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68071405700005 meters 0.0597500091284316 Centerline is valid? [True, True] Translation: X:367.58, Y:-47.67, Z:-24.20 [[ 9.95880582e-01 7.10050527e-02 5.63928084e-02 3.67584896e+02] [-7.06888264e-02 9.97469576e-01 -7.58519076e-03 -4.76741590e+01] [-5.67886975e-02 3.56760275e-03 9.98379846e-01 -2.41992543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74071405700005 meters 0.035162318713488044 Centerline is valid? [True, True] Translation: X:367.65, Y:-47.64, Z:-24.20 [[ 9.95583878e-01 7.52785061e-02 5.60882262e-02 3.67649936e+02] [-7.49724811e-02 9.97157070e-01 -7.54349282e-03 -4.76429602e+01] [-5.64966342e-02 3.30510635e-03 9.98397319e-01 -2.41988564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80071405700005 meters 0.03530988905315839 Centerline is valid? [True, True] Translation: X:367.71, Y:-47.65, Z:-24.20 [[ 9.94994684e-01 8.29708486e-02 5.56903679e-02 3.67708498e+02] [-8.26811423e-02 9.96547905e-01 -7.49013275e-03 -4.76470864e+01] [-5.61195822e-02 2.84809903e-03 9.98419992e-01 -2.42024160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86071405700005 meters 0.028321255387441204 Centerline is valid? [True, True] Translation: X:367.77, Y:-47.64, Z:-24.20 [[ 9.93021452e-01 1.02881977e-01 5.76515017e-02 3.67770920e+02] [-1.02605073e-01 9.94691975e-01 -7.75069001e-03 -4.76357584e+01] [-5.81428924e-02 1.78126493e-03 9.98306682e-01 -2.42036812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92071405700005 meters 0.02648114159048135 Centerline is valid? [True, True] Translation: X:367.83, Y:-47.64, Z:-24.21 [[ 9.92120016e-01 1.10674498e-01 5.87284371e-02 3.67831599e+02] [-1.10400766e-01 9.93855792e-01 -7.89533731e-03 -4.76367443e+01] [-5.92414098e-02 1.34945773e-03 9.98242773e-01 -2.42073279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98071405700006 meters 0.025903665593765706 Centerline is valid? [True, True] Translation: X:367.89, Y:-47.64, Z:-24.21 [[ 9.91642522e-01 1.14922870e-01 5.86331207e-02 3.67890146e+02] [-1.14657432e-01 9.93373815e-01 -7.88264774e-03 -4.76446945e+01] [-5.91505033e-02 1.09404561e-03 9.98248477e-01 -2.42126576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04071405700006 meters 0.026280036378114824 Centerline is valid? [True, True] Translation: X:367.95, Y:-47.66, Z:-24.22 [[ 9.92238697e-01 1.10477996e-01 5.70699582e-02 3.67948268e+02] [-1.10220016e-01 9.93877709e-01 -7.65817965e-03 -4.76589597e+01] [-5.75666197e-02 1.30849048e-03 9.98340810e-01 -2.42186635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10071405700006 meters 0.030820108117793916 Centerline is valid? [True, True] Translation: X:368.00, Y:-47.68, Z:-24.22 [[ 9.93501458e-01 9.95688373e-02 5.51443469e-02 3.68004692e+02] [-9.93113074e-02 9.95028913e-01 -7.39773394e-03 -4.76839972e+01] [-5.56068033e-02 1.87320227e-03 9.98450988e-01 -2.42249258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16071405700006 meters 0.03210511029253413 Centerline is valid? [True, True] Translation: X:368.06, Y:-47.70, Z:-24.23 [[ 9.94739368e-01 8.62414174e-02 5.52811780e-02 3.68063580e+02] [-8.59621109e-02 9.96270813e-01 -7.41502226e-03 -4.77006796e+01] [-5.57145061e-02 2.62392781e-03 9.98443293e-01 -2.42267073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.22071405700007 meters 0.037161237582760596 Centerline is valid? [True, True] Translation: X:368.12, Y:-47.72, Z:-24.23 [[ 9.95551180e-01 7.56767515e-02 5.61326743e-02 3.68120350e+02] [-7.53720272e-02 9.97127059e-01 -7.52905368e-03 -4.77232454e+01] [-5.65411828e-02 3.26472482e-03 9.98394930e-01 -2.42310142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.28071405700007 meters 0.04128042792189459 Centerline is valid? [True, True] Translation: X:368.18, Y:-47.74, Z:-24.24 [[ 9.96058810e-01 6.84312544e-02 5.64270338e-02 3.68178845e+02] [-6.81117402e-02 9.97648990e-01 -7.56858733e-03 -4.77412204e+01] [-5.68123012e-02 3.69541462e-03 9.98378038e-01 -2.42357683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.34071405700007 meters 0.038477333550496734 Centerline is valid? [True, True] Translation: X:368.24, Y:-47.75, Z:-24.24 [[ 9.96292857e-01 6.55143345e-02 5.57531710e-02 3.68238963e+02] [-6.51978565e-02 9.97844333e-01 -7.47847634e-03 -4.77462406e+01] [-5.61229331e-02 3.81576532e-03 9.98416575e-01 -2.42397920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4007140570001 meters 0.038138502944673414 Centerline is valid? [True, True] Translation: X:368.30, Y:-47.75, Z:-24.24 [[ 9.96394795e-01 6.45325451e-02 5.50723416e-02 3.68298904e+02] [-6.42223315e-02 9.97908282e-01 -7.38600256e-03 -4.77535699e+01] [-5.54337833e-02 3.82250033e-03 9.98455049e-01 -2.42439671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4607140570001 meters 0.036038072994238585 Centerline is valid? [True, True] Translation: X:368.36, Y:-47.75, Z:-24.25 [[ 9.96034236e-01 7.01681977e-02 5.47012386e-02 3.68359697e+02] [-6.98706059e-02 9.97529086e-01 -7.33626226e-03 -4.77548826e+01] [-5.50808488e-02 3.48515969e-03 9.98475815e-01 -2.42470109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5207140570001 meters 0.03466980468708276 Centerline is valid? [True, True] Translation: X:368.42, Y:-47.76, Z:-24.25 [[ 9.95460492e-01 7.76605038e-02 5.50204908e-02 3.68419596e+02] [-7.73708175e-02 9.96975079e-01 -7.37897511e-03 -4.77554617e+01] [-5.54271131e-02 3.08849784e-03 9.98457959e-01 -2.42494370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.580714057 meters 0.031157392343396772 Centerline is valid? [True, True] Translation: X:368.48, Y:-47.75, Z:-24.25 [[ 9.94904322e-01 8.36841862e-02 5.62347470e-02 3.68480555e+02] [-8.33911791e-02 9.96488356e-01 -7.54111293e-03 -4.77547980e+01] [-5.66683425e-02 2.81320398e-03 9.98389095e-01 -2.42522720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.640714057 meters 0.031267550306572876 Centerline is valid? [True, True] Translation: X:368.54, Y:-47.76, Z:-24.26 [[ 9.94495042e-01 8.81655748e-02 5.66254692e-02 3.68538820e+02] [-8.78757045e-02 9.96102503e-01 -7.59370973e-03 -4.77592189e+01] [-5.70742753e-02 2.57590368e-03 9.98366612e-01 -2.42566516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.700714057 meters 0.030061219323323413 Centerline is valid? [True, True] Translation: X:368.60, Y:-47.76, Z:-24.26 [[ 9.94313814e-01 9.09102739e-02 5.54559432e-02 3.68597780e+02] [-9.06366800e-02 9.95856278e-01 -7.43408061e-03 -4.77609301e+01] [-5.59019835e-02 2.36546646e-03 9.98433459e-01 -2.42588765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76071405700003 meters 0.030987845911576842 Centerline is valid? [True, True] Translation: X:368.66, Y:-47.77, Z:-24.26 [[ 9.94565752e-01 8.75335498e-02 5.63634872e-02 3.68655947e+02] [-8.72457404e-02 9.96158197e-01 -7.55165832e-03 -4.77703646e+01] [-5.68079732e-02 2.59314657e-03 9.98381756e-01 -2.42610425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82071405700003 meters 0.03489336106228348 Centerline is valid? [True, True] Translation: X:368.71, Y:-47.79, Z:-24.27 [[ 9.95260912e-01 7.93289024e-02 5.62373745e-02 3.68713247e+02] [-7.90295917e-02 9.96843831e-01 -7.52992980e-03 -4.77881527e+01] [-5.66572210e-02 3.04982805e-03 9.98389031e-01 -2.42665248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88071405700003 meters 0.039122754474807765 Centerline is valid? [True, True] Translation: X:368.77, Y:-47.80, Z:-24.27 [[ 9.95900690e-01 7.23370764e-02 5.43061961e-02 3.68770457e+02] [-7.20476799e-02 9.97374689e-01 -7.27053259e-03 -4.78040507e+01] [-5.46895545e-02 3.32809299e-03 9.98497860e-01 -2.42731515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94071405700004 meters 0.03690094003941306 Centerline is valid? [True, True] Translation: X:368.83, Y:-47.81, Z:-24.28 [[ 9.96099216e-01 6.97647809e-02 5.40298808e-02 3.68831026e+02] [-6.94745493e-02 9.97557497e-01 -7.23370332e-03 -4.78072958e+01] [-5.44025705e-02 3.45178458e-03 9.98513117e-01 -2.42753862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00071405700004 meters 0.03680047930328254 Centerline is valid? [True, True] Translation: X:368.89, Y:-47.81, Z:-24.28 [[ 9.96092722e-01 6.87242208e-02 5.54641347e-02 3.68889723e+02] [-6.84167154e-02 9.97629191e-01 -7.42635675e-03 -4.78129110e+01] [-5.58430104e-02 3.60266599e-03 9.98433062e-01 -2.42766139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06071405700004 meters 0.03966013805398714 Centerline is valid? [True, True] Translation: X:368.95, Y:-47.83, Z:-24.28 [[ 9.96225245e-01 6.58836024e-02 5.65209095e-02 3.68947570e+02] [-6.55599804e-02 9.97819969e-01 -7.56298045e-03 -4.78252654e+01] [-5.68959686e-02 3.82892232e-03 9.98372770e-01 -2.42802892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12071405700004 meters 0.041962206670371906 Centerline is valid? [True, True] Translation: X:369.01, Y:-47.84, Z:-24.29 [[ 9.96487003e-01 6.24835000e-02 5.57625869e-02 3.69006397e+02] [-6.21631684e-02 9.98038102e-01 -7.46243054e-03 -4.78379529e+01] [-5.61194652e-02 3.96983596e-03 9.98416169e-01 -2.42866421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18071405700005 meters 0.04037022690655074 Centerline is valid? [True, True] Translation: X:369.07, Y:-47.84, Z:-24.29 [[ 9.96735259e-01 6.02021375e-02 5.38008100e-02 3.69067325e+02] [-5.99006970e-02 9.98178378e-01 -7.19943055e-03 -4.78429860e+01] [-5.41362263e-02 3.95322025e-03 9.98525734e-01 -2.42916291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24071405700005 meters 0.04171792296843529 Centerline is valid? [True, True] Translation: X:369.13, Y:-47.85, Z:-24.30 [[ 9.96758190e-01 6.02260131e-02 5.33473351e-02 3.69126970e+02] [-5.99295491e-02 9.98177066e-01 -7.14105357e-03 -4.78508757e+01] [-5.36801636e-02 3.92082189e-03 9.98550483e-01 -2.42958721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30071405700005 meters 0.04726521723986944 Centerline is valid? [True, True] Translation: X:369.19, Y:-47.86, Z:-24.30 [[ 9.96675746e-01 6.07803344e-02 5.42513432e-02 3.69185358e+02] [-6.04745566e-02 9.98143324e-01 -7.26177654e-03 -4.78645788e+01] [-5.45919892e-02 3.95681063e-03 9.98500906e-01 -2.42998203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36071405700005 meters 0.048038532659405886 Centerline is valid? [True, True] Translation: X:369.25, Y:-47.87, Z:-24.30 [[ 9.96686296e-01 5.98073576e-02 5.51317311e-02 3.69245474e+02] [-5.94899770e-02 9.98201611e-01 -7.38151775e-03 -4.78708435e+01] [-5.54740518e-02 4.07727217e-03 9.98451804e-01 -2.43023819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42071405700005 meters 0.04719852730062693 Centerline is valid? [True, True] Translation: X:369.31, Y:-47.88, Z:-24.31 [[ 9.96966504e-01 5.43209234e-02 5.57407156e-02 3.69305842e+02] [-5.39879636e-02 9.98513697e-01 -7.46303082e-03 -4.78755999e+01] [-5.60632667e-02 4.43106402e-03 9.98417386e-01 -2.43066329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48071405700006 meters 0.043342715446932266 Centerline is valid? [True, True] Translation: X:369.37, Y:-47.88, Z:-24.31 [[ 9.97261754e-01 4.95636159e-02 5.48857233e-02 3.69367430e+02] [-4.92336603e-02 9.98760255e-01 -7.34841946e-03 -4.78778837e+01] [-5.51818932e-02 4.62607262e-03 9.98465602e-01 -2.43102327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54071405700006 meters 0.045744533718443496 Centerline is valid? [True, True] Translation: X:369.43, Y:-47.89, Z:-24.31 [[ 9.97438168e-01 4.72197049e-02 5.37345336e-02 3.69427523e+02] [-4.68999839e-02 9.98873669e-01 -7.19622559e-03 -4.78878701e+01] [-5.40138144e-02 4.65764131e-03 9.98529326e-01 -2.43148543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60071405700006 meters 0.05484886034219802 Centerline is valid? [True, True] Translation: X:369.49, Y:-47.91, Z:-24.32 [[ 9.97570068e-01 4.59418184e-02 5.23766071e-02 3.69485061e+02] [-4.56362655e-02 9.98933488e-01 -7.01550615e-03 -4.79077393e+01] [-5.26430520e-02 4.60818619e-03 9.98602761e-01 -2.43217685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66071405700006 meters 0.04771432453507205 Centerline is valid? [True, True] Translation: X:369.55, Y:-47.90, Z:-24.33 [[ 9.97555361e-01 4.71244742e-02 5.16002491e-02 3.69547484e+02] [-4.68295155e-02 9.98878988e-01 -6.91106793e-03 -4.79036727e+01] [-5.18680851e-02 4.47775820e-03 9.98643906e-01 -2.43250723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.72071405700007 meters 0.04980997928792529 Centerline is valid? [True, True] Translation: X:369.61, Y:-47.91, Z:-24.33 [[ 9.97443058e-01 4.90671945e-02 5.19591875e-02 3.69606866e+02] [-4.87706060e-02 9.98785746e-01 -6.96146499e-03 -4.79112450e+01] [-5.22376754e-02 4.40958386e-03 9.98624945e-01 -2.43290983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.78071405700007 meters 0.04963868684086055 Centerline is valid? [True, True] Translation: X:369.67, Y:-47.92, Z:-24.33 [[ 9.97286054e-01 5.18747878e-02 5.22449252e-02 3.69667857e+02] [-5.15787538e-02 9.98644400e-01 -6.99961736e-03 -4.79158403e+01] [-5.25372057e-02 4.28589264e-03 9.98609770e-01 -2.43334259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.84071405700007 meters 0.04928874652667571 Centerline is valid? [True, True] Translation: X:369.73, Y:-47.92, Z:-24.34 [[ 9.97079790e-01 5.52402651e-02 5.27295574e-02 3.69728546e+02] [-5.49433414e-02 9.98464477e-01 -7.06524275e-03 -4.79193209e+01] [-5.30388758e-02 4.14747268e-03 9.98583835e-01 -2.43362057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9007140570001 meters 0.049954464628897445 Centerline is valid? [True, True] Translation: X:369.79, Y:-47.92, Z:-24.34 [[ 9.96939614e-01 5.70390807e-02 5.34597925e-02 3.69789423e+02] [-5.67364388e-02 9.98363495e-01 -7.16300195e-03 -4.79248503e+01] [-5.37808763e-02 4.10796215e-03 9.98544312e-01 -2.43383309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9607140570001 meters 0.04121688032910299 Centerline is valid? [True, True] Translation: X:369.85, Y:-47.92, Z:-24.34 [[ 9.96961089e-01 5.65917275e-02 5.35346878e-02 3.69851418e+02] [-5.62875370e-02 9.98388825e-01 -7.17411653e-03 -4.79184884e+01] [-5.38544297e-02 4.13897931e-03 9.98540219e-01 -2.43403925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0207140570001 meters 0.042117934749660205 Centerline is valid? [True, True] Translation: X:369.91, Y:-47.93, Z:-24.34 [[ 9.96993227e-01 5.52093279e-02 5.43731174e-02 3.69910844e+02] [-5.48934803e-02 9.98465629e-01 -7.28647343e-03 -4.79285457e+01] [-5.46919702e-02 4.27983501e-03 9.98494102e-01 -2.43448115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.080714057 meters 0.04320285179257095 Centerline is valid? [True, True] Translation: X:369.97, Y:-47.94, Z:-24.35 [[ 9.97134875e-01 5.33516408e-02 5.36250218e-02 3.69970944e+02] [-5.30417782e-02 9.98566438e-01 -7.18603137e-03 -4.79385639e+01] [-5.39315336e-02 4.32107598e-03 9.98535286e-01 -2.43491315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.140714057 meters 0.04341517741700418 Centerline is valid? [True, True] Translation: X:370.03, Y:-47.95, Z:-24.35 [[ 9.97241400e-01 5.27318860e-02 5.22392377e-02 3.70031701e+02] [-5.24369692e-02 9.98599694e-01 -7.00103215e-03 -4.79481162e+01] [-5.25352644e-02 4.24245181e-03 9.98610058e-01 -2.43538653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.200714057 meters 0.042718554300425184 Centerline is valid? [True, True] Translation: X:370.09, Y:-47.96, Z:-24.36 [[ 9.97228400e-01 5.45116360e-02 5.06359632e-02 3.70091905e+02] [-5.42367391e-02 9.98505031e-01 -6.78818407e-03 -4.79569846e+01] [-5.09302991e-02 4.02304040e-03 9.98694107e-01 -2.43588865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26071405700003 meters 0.04148784887856133 Centerline is valid? [True, True] Translation: X:370.15, Y:-47.96, Z:-24.36 [[ 9.96911673e-01 6.03805658e-02 5.02125904e-02 3.70151674e+02] [-6.01175848e-02 9.98168597e-01 -6.73262716e-03 -4.79634164e+01] [-5.05271507e-02 3.69317494e-03 9.98715859e-01 -2.43630063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32071405700003 meters 0.035581114824337394 Centerline is valid? [True, True] Translation: X:370.21, Y:-47.96, Z:-24.37 [[ 9.96134892e-01 7.22407632e-02 4.99654783e-02 3.70213394e+02] [-7.19952056e-02 9.97382479e-01 -6.69932874e-03 -4.79609448e+01] [-5.03186572e-02 3.07616023e-03 9.98728477e-01 -2.43654479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38071405700003 meters 0.030666760380085655 Centerline is valid? [True, True] Translation: X:370.28, Y:-47.96, Z:-24.37 [[ 9.94654559e-01 8.90569575e-02 5.22605600e-02 3.70275230e+02] [-8.88114102e-02 9.96023814e-01 -7.00674653e-03 -4.79582797e+01] [-5.26767619e-02 2.32795835e-03 9.98608902e-01 -2.43664086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44071405700004 meters 0.026316320893974662 Centerline is valid? [True, True] Translation: X:370.34, Y:-47.96, Z:-24.37 [[ 9.92983227e-01 1.05099657e-01 5.42067679e-02 3.70336253e+02] [-1.04859226e-01 9.94460512e-01 -7.26857215e-03 -4.79564964e+01] [-5.46704146e-02 1.53349049e-03 9.98503277e-01 -2.43681083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50071405700004 meters 0.02462387561945234 Centerline is valid? [True, True] Translation: X:370.40, Y:-47.96, Z:-24.37 [[ 9.91954341e-01 1.14589877e-01 5.38121325e-02 3.70396253e+02] [-1.14366877e-01 9.93412379e-01 -7.21551102e-03 -4.79629663e+01] [-5.42844630e-02 1.00313195e-03 9.98525008e-01 -2.43721731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56071405700004 meters 0.025111032198812694 Centerline is valid? [True, True] Translation: X:370.45, Y:-47.98, Z:-24.38 [[ 9.92112622e-01 1.13872752e-01 5.23979231e-02 3.70452192e+02] [-1.13660334e-01 9.93494825e-01 -7.02580808e-03 -4.79776340e+01] [-5.28571135e-02 1.01482743e-03 9.98601570e-01 -2.43770587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62071405700004 meters 0.025540594925385407 Centerline is valid? [True, True] Translation: X:370.51, Y:-48.00, Z:-24.38 [[ 9.93090772e-01 1.05386929e-01 5.16169961e-02 3.70510323e+02] [-1.05169634e-01 9.94430251e-01 -6.91550573e-03 -4.79977725e+01] [-5.20583063e-02 1.43918436e-03 9.98643010e-01 -2.43814971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68071405700005 meters 0.028599521882444343 Centerline is valid? [True, True] Translation: X:370.57, Y:-48.02, Z:-24.39 [[ 9.94349188e-01 9.31484627e-02 5.09220545e-02 3.70567578e+02] [-9.29209347e-02 9.95650115e-01 -6.82261544e-03 -4.80211888e+01] [-5.13360655e-02 2.05233722e-03 9.98679326e-01 -2.43861231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74071405700005 meters 0.031746807728202556 Centerline is valid? [True, True] Translation: X:370.63, Y:-48.04, Z:-24.39 [[ 9.95273715e-01 8.10880782e-02 5.34317922e-02 3.70625707e+02] [-8.08202539e-02 9.96702991e-01 -7.15783027e-03 -4.80435557e+01] [-5.38360418e-02 2.80562931e-03 9.98545847e-01 -2.43875100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80071405700005 meters 0.03652223881862871 Centerline is valid? [True, True] Translation: X:370.68, Y:-48.07, Z:-24.39 [[ 9.95987072e-01 7.01864041e-02 5.55303607e-02 3.70682966e+02] [-6.98802275e-02 9.97527653e-01 -7.43873841e-03 -4.80675286e+01] [-5.59151687e-02 3.52841305e-03 9.98429289e-01 -2.43902876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86071405700005 meters 0.03959771995566677 Centerline is valid? [True, True] Translation: X:370.74, Y:-48.09, Z:-24.40 [[ 9.96502296e-01 6.18453516e-02 5.61989952e-02 3.70741024e+02] [-6.15186089e-02 9.98077553e-01 -7.52722000e-03 -4.80864981e+01] [-5.65564792e-02 4.04360801e-03 9.98391213e-01 -2.43951663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92071405700005 meters 0.04066750495122559 Centerline is valid? [True, True] Translation: X:370.80, Y:-48.10, Z:-24.40 [[ 9.96912769e-01 5.60943751e-02 5.49395342e-02 3.70799639e+02] [-5.57734565e-02 9.98416333e-01 -7.35844285e-03 -4.80999759e+01] [-5.52652955e-02 4.27155792e-03 9.98462569e-01 -2.44003893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98071405700006 meters 0.04222974921695618 Centerline is valid? [True, True] Translation: X:370.86, Y:-48.11, Z:-24.41 [[ 9.97231858e-01 5.12531863e-02 5.38677297e-02 3.70859515e+02] [-5.09376919e-02 9.98675775e-01 -7.21445820e-03 -4.81125340e+01] [-5.41661607e-02 4.45058974e-03 9.98522017e-01 -2.44056901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04071405700006 meters 0.05111229560388433 Centerline is valid? [True, True] Translation: X:370.92, Y:-48.13, Z:-24.41 [[ 9.97338457e-01 4.83927034e-02 5.45357555e-02 3.70916730e+02] [-4.80649677e-02 9.98817492e-01 -7.30599437e-03 -4.81339135e+01] [-5.48248234e-02 4.66528983e-03 9.98485089e-01 -2.44106318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10071405700006 meters 0.04615998933648409 Centerline is valid? [True, True] Translation: X:370.98, Y:-48.13, Z:-24.41 [[ 9.97284196e-01 4.86241881e-02 5.53165579e-02 3.70979979e+02] [-4.82874216e-02 9.98806002e-01 -7.40914536e-03 -4.81342034e+01] [-5.56107737e-02 4.71792961e-03 9.98441377e-01 -2.44126821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16071405700006 meters 0.04582829429040544 Centerline is valid? [True, True] Translation: X:371.04, Y:-48.14, Z:-24.42 [[ 9.97200790e-01 5.11606806e-02 5.45267696e-02 3.71040160e+02] [-5.08369227e-02 9.98680221e-01 -7.30907746e-03 -4.81386139e+01] [-5.48287437e-02 4.51664465e-03 9.98485558e-01 -2.44166556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.22071405700007 meters 0.04619371421657415 Centerline is valid? [True, True] Translation: X:371.10, Y:-48.15, Z:-24.42 [[ 9.97156086e-01 5.17118628e-02 5.48235680e-02 3.71101694e+02] [-5.13855208e-02 9.98651870e-01 -7.34654418e-03 -4.81465046e+01] [-5.51295621e-02 4.50851365e-03 9.98469030e-01 -2.44208412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.28071405700007 meters 0.045387905630969734 Centerline is valid? [True, True] Translation: X:371.16, Y:-48.15, Z:-24.42 [[ 9.97062180e-01 5.27795051e-02 5.55097502e-02 3.71162416e+02] [-5.24456853e-02 9.98595955e-01 -7.45438403e-03 -4.81521512e+01] [-5.58252508e-02 4.52123750e-03 9.98430318e-01 -2.44241479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.34071405700007 meters 0.042806345055133165 Centerline is valid? [True, True] Translation: X:371.22, Y:-48.15, Z:-24.43 [[ 9.97085338e-01 5.35031340e-02 5.43897310e-02 3.71224541e+02] [-5.31837477e-02 9.98558032e-01 -7.30375381e-03 -4.81538783e+01] [-5.47020764e-02 4.38981611e-03 9.98493071e-01 -2.44281726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4007140570001 meters 0.04295666260663813 Centerline is valid? [True, True] Translation: X:371.29, Y:-48.16, Z:-24.43 [[ 9.96990485e-01 5.44306647e-02 5.52021280e-02 3.71287024e+02] [-5.41021835e-02 9.98507771e-01 -7.42868828e-03 -4.81593696e+01] [-5.55241022e-02 4.41977587e-03 9.98447565e-01 -2.44311155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4607140570001 meters 0.043062749828165145 Centerline is valid? [True, True] Translation: X:371.35, Y:-48.17, Z:-24.44 [[ 9.96956352e-01 5.40596685e-02 5.61745822e-02 3.71348649e+02] [-5.37186894e-02 9.98527464e-01 -7.56347456e-03 -4.81660490e+01] [-5.65007421e-02 4.52282907e-03 9.98392313e-01 -2.44352842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5207140570001 meters 0.04396667793096477 Centerline is valid? [True, True] Translation: X:371.41, Y:-48.17, Z:-24.44 [[ 9.96948121e-01 5.46499376e-02 5.57478997e-02 3.71409759e+02] [-5.43142473e-02 9.98495573e-01 -7.52017563e-03 -4.81746528e+01] [-5.60750082e-02 4.46931975e-03 9.98416556e-01 -2.44399568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.580714057 meters 0.050285965728353685 Centerline is valid? [True, True] Translation: X:371.47, Y:-48.19, Z:-24.44 [[ 9.96960777e-01 5.44714511e-02 5.56962290e-02 3.71470090e+02] [-5.41352629e-02 9.98505232e-01 -7.52825158e-03 -4.81867861e+01] [-5.60230509e-02 4.49024154e-03 9.98419379e-01 -2.44446458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.640714057 meters 0.04733246526037255 Centerline is valid? [True, True] Translation: X:371.53, Y:-48.19, Z:-24.45 [[ 9.97011688e-01 5.38982282e-02 5.53414339e-02 3.71532681e+02] [-5.35650780e-02 9.98536294e-01 -7.48676150e-03 -4.81891992e+01] [-5.56639535e-02 4.50002050e-03 9.98439419e-01 -2.44481923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.700714057 meters 0.05039978797492753 Centerline is valid? [True, True] Translation: X:371.59, Y:-48.20, Z:-24.45 [[ 9.97241400e-01 5.07237664e-02 5.41912391e-02 3.71592264e+02] [-5.03988446e-02 9.98702150e-01 -7.34657988e-03 -4.81978277e+01] [-5.44935532e-02 4.59513776e-03 9.98503549e-01 -2.44544537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76071405700003 meters 0.05298939532671478 Centerline is valid? [True, True] Translation: X:371.65, Y:-48.21, Z:-24.46 [[ 9.97348010e-01 4.97268744e-02 5.31430590e-02 3.71652422e+02] [-4.94131326e-02 9.98752457e-01 -7.20222886e-03 -4.82068290e+01] [-5.34349051e-02 4.55716360e-03 9.98560936e-01 -2.44595735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82071405700003 meters 0.0536332163776395 Centerline is valid? [True, True] Translation: X:371.71, Y:-48.21, Z:-24.46 [[ 9.97288608e-01 5.08716364e-02 5.31743282e-02 3.71713070e+02] [-5.05583958e-02 9.98695006e-01 -7.22034519e-03 -4.82132345e+01] [-5.34722468e-02 4.51235927e-03 9.98559141e-01 -2.44636088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88071405700003 meters 0.04228468662982111 Centerline is valid? [True, True] Translation: X:371.78, Y:-48.20, Z:-24.46 [[ 9.97102949e-01 5.38961733e-02 5.36741166e-02 3.71776498e+02] [-5.35812434e-02 9.98536881e-01 -7.29030944e-03 -4.81995566e+01] [-5.39885048e-02 4.39326314e-03 9.98531893e-01 -2.44647999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94071405700004 meters 0.044721823024790136 Centerline is valid? [True, True] Translation: X:371.84, Y:-48.21, Z:-24.47 [[ 9.97110326e-01 5.31438571e-02 5.42837764e-02 3.71836929e+02] [-5.28207087e-02 9.98576805e-01 -7.37142830e-03 -4.82076345e+01] [-5.45982661e-02 4.48281974e-03 9.98498339e-01 -2.44694293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00071405700004 meters 0.045368145108069094 Centerline is valid? [True, True] Translation: X:371.90, Y:-48.22, Z:-24.47 [[ 9.97216252e-01 5.17220335e-02 5.37082700e-02 3.71897783e+02] [-5.14028702e-02 9.98651260e-01 -7.30793170e-03 -4.82154152e+01] [-5.40138126e-02 4.52682903e-03 9.98529927e-01 -2.44743274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06071405700004 meters 0.046201130742963364 Centerline is valid? [True, True] Translation: X:371.96, Y:-48.22, Z:-24.48 [[ 9.97495307e-01 4.84101127e-02 5.15710587e-02 3.71958044e+02] [-4.81113689e-02 9.98817313e-01 -7.01932563e-03 -4.82214375e+01] [-5.18498727e-02 4.52059014e-03 9.98644659e-01 -2.44800353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12071405700004 meters 0.05025503595180275 Centerline is valid? [True, True] Translation: X:372.02, Y:-48.23, Z:-24.48 [[ 9.97562348e-01 4.76495861e-02 5.09791930e-02 3.72017713e+02] [-4.73566980e-02 9.98853944e-01 -6.93847933e-03 -4.82317889e+01] [-5.12513836e-02 4.50735949e-03 9.98675613e-01 -2.44843068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18071405700005 meters 0.047124518376501376 Centerline is valid? [True, True] Translation: X:372.08, Y:-48.23, Z:-24.49 [[ 9.97496848e-01 4.87333047e-02 5.12357563e-02 3.72078984e+02] [-4.84387794e-02 9.98801797e-01 -6.97525663e-03 -4.82337671e+01] [-5.15142928e-02 4.47599900e-03 9.98662227e-01 -2.44872669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24071405700005 meters 0.05182072406254618 Centerline is valid? [True, True] Translation: X:372.14, Y:-48.24, Z:-24.49 [[ 9.97211766e-01 5.27826426e-02 5.27511782e-02 3.72137301e+02] [-5.24758945e-02 9.98596349e-01 -7.18419610e-03 -4.82435506e+01] [-5.30563348e-02 4.39599962e-03 9.98581845e-01 -2.44902533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30071405700005 meters 0.044828123979424886 Centerline is valid? [True, True] Translation: X:372.20, Y:-48.24, Z:-24.49 [[ 9.96956789e-01 5.61282794e-02 5.40996892e-02 3.72199283e+02] [-5.58105850e-02 9.98414199e-01 -7.36657609e-03 -4.82404344e+01] [-5.44273711e-02 4.32482274e-03 9.98508366e-01 -2.44922955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36071405700005 meters 0.04556754278455899 Centerline is valid? [True, True] Translation: X:372.26, Y:-48.25, Z:-24.50 [[ 9.96830013e-01 5.86029624e-02 5.38109495e-02 3.72258742e+02] [-5.82922290e-02 9.98272671e-01 -7.32736383e-03 -4.82485628e+01] [-5.41474055e-02 4.16737599e-03 9.98524257e-01 -2.44966585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42071405700005 meters 0.042573949761732295 Centerline is valid? [True, True] Translation: X:372.32, Y:-48.25, Z:-24.50 [[ 9.96826821e-01 5.98380485e-02 5.24947366e-02 3.72318372e+02] [-5.95440273e-02 9.98200084e-01 -7.14855613e-03 -4.82508438e+01] [-5.28280061e-02 4.00012445e-03 9.98595614e-01 -2.45006334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48071405700006 meters 0.04324275150704923 Centerline is valid? [True, True] Translation: X:372.38, Y:-48.26, Z:-24.51 [[ 9.96885151e-01 6.12627403e-02 4.96676209e-02 3.72377551e+02] [-6.10014222e-02 9.98114776e-01 -6.76163554e-03 -4.82585640e+01] [-4.99882226e-02 3.71077856e-03 9.98742914e-01 -2.45075874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54071405700006 meters 0.04241498704067785 Centerline is valid? [True, True] Translation: X:372.44, Y:-48.26, Z:-24.51 [[ 9.97002682e-01 6.01303320e-02 4.86825900e-02 3.72436879e+02] [-5.98779727e-02 9.98183706e-01 -6.62697246e-03 -4.82642032e+01] [-4.89926501e-02 3.69209453e-03 9.98792315e-01 -2.45117881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60071405700006 meters 0.043407106044438065 Centerline is valid? [True, True] Translation: X:372.49, Y:-48.27, Z:-24.52 [[ 9.97039111e-01 6.01012541e-02 4.79671732e-02 3.72494354e+02] [-5.98562727e-02 9.98185655e-01 -6.52873179e-03 -4.82716339e+01] [-4.82725292e-02 3.63826474e-03 9.98827576e-01 -2.45157299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66071405700006 meters 0.046184959799829985 Centerline is valid? [True, True] Translation: X:372.55, Y:-48.28, Z:-24.52 [[ 9.96882417e-01 6.07915747e-02 5.02974211e-02 3.72551900e+02] [-6.05233168e-02 9.98143342e-01 -6.84081171e-03 -4.82811590e+01] [-5.06198997e-02 3.77531816e-03 9.98710855e-01 -2.45176667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.72071405700007 meters 0.04304859204987019 Centerline is valid? [True, True] Translation: X:372.61, Y:-48.28, Z:-24.52 [[ 9.96741964e-01 6.09469451e-02 5.28292244e-02 3.72611237e+02] [-6.06513939e-02 9.98133177e-01 -7.18122240e-03 -4.82813001e+01] [-5.31682752e-02 3.95365962e-03 9.98577740e-01 -2.45174248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.78071405700007 meters 0.046087509263966105 Centerline is valid? [True, True] Translation: X:372.67, Y:-48.29, Z:-24.52 [[ 9.96917296e-01 5.82023420e-02 5.26155108e-02 3.72668643e+02] [-5.79056023e-02 9.98296473e-01 -7.14801016e-03 -4.82928064e+01] [-5.29419098e-02 4.07924212e-03 9.98589262e-01 -2.45227960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.84071405700007 meters 0.049444160398679736 Centerline is valid? [True, True] Translation: X:372.73, Y:-48.31, Z:-24.53 [[ 9.97271718e-01 5.33160602e-02 5.10540786e-02 3.72727845e+02] [-5.30304453e-02 9.98568824e-01 -6.93367238e-03 -4.83059703e+01] [-5.13506873e-02 4.20733485e-03 9.98671821e-01 -2.45287441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9007140570001 meters 0.053404760263149435 Centerline is valid? [True, True] Translation: X:372.79, Y:-48.32, Z:-24.53 [[ 9.97472589e-01 5.09268419e-02 4.95468606e-02 3.72785957e+02] [-5.06549233e-02 9.98693545e-01 -6.72920108e-03 -4.83192268e+01] [-4.98248268e-02 4.20240119e-03 9.98749131e-01 -2.45338576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9607140570001 meters 0.045890249934403694 Centerline is valid? [True, True] Translation: X:372.85, Y:-48.32, Z:-24.54 [[ 9.97284748e-01 5.47037212e-02 4.93014621e-02 3.72847360e+02] [-5.44390998e-02 9.98494646e-01 -6.69531433e-03 -4.83169711e+01] [-4.95935046e-02 3.99320765e-03 9.98761502e-01 -2.45371979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0207140570001 meters 0.04052857755086221 Centerline is valid? [True, True] Translation: X:372.91, Y:-48.32, Z:-24.54 [[ 9.96924922e-01 5.91697991e-02 5.13773703e-02 3.72907929e+02] [-5.88882663e-02 9.98240194e-01 -6.97761425e-03 -4.83156395e+01] [-5.16998201e-02 3.93063329e-03 9.98654935e-01 -2.45392701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.080714057 meters 0.04135735583009774 Centerline is valid? [True, True] Translation: X:372.97, Y:-48.32, Z:-24.54 [[ 9.96797488e-01 6.17266421e-02 5.08388633e-02 3.72966024e+02] [-6.14543596e-02 9.98086023e-01 -6.90313344e-03 -4.83247951e+01] [-5.11676661e-02 3.75675629e-03 9.98683011e-01 -2.45442390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.140714057 meters 0.04115141289625374 Centerline is valid? [True, True] Translation: X:373.02, Y:-48.33, Z:-24.55 [[ 9.96775216e-01 6.19961568e-02 5.09474719e-02 3.73024060e+02] [-6.17231296e-02 9.98069345e-01 -6.91649107e-03 -4.83322904e+01] [-5.12779058e-02 3.74954947e-03 9.98677384e-01 -2.45481260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.200714057 meters 0.045818830387671705 Centerline is valid? [True, True] Translation: X:373.08, Y:-48.35, Z:-24.55 [[ 9.96881152e-01 6.00864005e-02 5.11624276e-02 3.73080567e+02] [-5.98087762e-02 9.98185717e-01 -6.94152072e-03 -4.83473886e+01] [-5.14866955e-02 3.85990898e-03 9.98666221e-01 -2.45522898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26071405700003 meters 0.044323308235829875 Centerline is valid? [True, True] Translation: X:373.14, Y:-48.36, Z:-24.56 [[ 9.97128660e-01 5.70544406e-02 4.97918322e-02 3.73140152e+02] [-5.67878713e-02 9.98363427e-01 -6.75317315e-03 -4.83555260e+01] [-5.00956427e-02 3.90621034e-03 9.98736786e-01 -2.45576258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32071405700003 meters 0.04371285490790949 Centerline is valid? [True, True] Translation: X:373.20, Y:-48.36, Z:-24.56 [[ 9.97264706e-01 5.49943415e-02 4.93834950e-02 3.73199795e+02] [-5.47296482e-02 9.98478749e-01 -6.69727296e-03 -4.83645165e+01] [-4.96766824e-02 3.97621263e-03 9.98757437e-01 -2.45612945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38071405700003 meters 0.0450980108970233 Centerline is valid? [True, True] Translation: X:373.26, Y:-48.38, Z:-24.56 [[ 9.97216435e-01 5.41000741e-02 5.13085075e-02 3.73258256e+02] [-5.38131193e-02 9.98526776e-01 -6.95879852e-03 -4.83754589e+01] [-5.16093901e-02 4.17835742e-03 9.98658606e-01 -2.45636445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44071405700004 meters 0.04825696882745428 Centerline is valid? [True, True] Translation: X:373.32, Y:-48.39, Z:-24.57 [[ 9.97155883e-01 5.35556611e-02 5.30276905e-02 3.73315870e+02] [-5.32484827e-02 9.98555410e-01 -7.18977900e-03 -4.83899169e+01] [-5.33361405e-02 4.34568637e-03 9.98567159e-01 -2.45671186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50071405700004 meters 0.04881879833665463 Centerline is valid? [True, True] Translation: X:373.38, Y:-48.40, Z:-24.57 [[ 9.97232552e-01 5.24048911e-02 5.27348485e-02 3.73376019e+02] [-5.20995843e-02 9.98616309e-01 -7.14854549e-03 -4.84018819e+01] [-5.30364984e-02 4.38129858e-03 9.98582963e-01 -2.45717791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56071405700004 meters 0.042622308948839366 Centerline is valid? [True, True] Translation: X:373.44, Y:-48.40, Z:-24.58 [[ 9.97296898e-01 5.25616768e-02 5.13436154e-02 3.73437348e+02] [-5.22724025e-02 9.98608598e-01 -6.96167323e-03 -4.84037768e+01] [-5.16380930e-02 4.25900099e-03 9.98656782e-01 -2.45750419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62071405700004 meters 0.04204263099261017 Centerline is valid? [True, True] Translation: X:373.50, Y:-48.41, Z:-24.58 [[ 9.97156781e-01 5.57252315e-02 5.07252605e-02 3.73497631e+02] [-5.54468492e-02 9.98437937e-01 -6.87987646e-03 -4.84127178e+01] [-5.10294072e-02 4.04775959e-03 9.98688948e-01 -2.45797745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68071405700005 meters 0.03948944282597893 Centerline is valid? [True, True] Translation: X:373.56, Y:-48.42, Z:-24.58 [[ 9.96527107e-01 6.49902168e-02 5.20576318e-02 3.73558517e+02] [-6.47094800e-02 9.97879157e-01 -7.06201459e-03 -4.84158741e+01] [-5.24061876e-02 3.66886669e-03 9.98619112e-01 -2.45821131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74071405700005 meters 0.034267143058655455 Centerline is valid? [True, True] Translation: X:373.62, Y:-48.41, Z:-24.58 [[ 9.95567091e-01 7.65691957e-02 5.46198287e-02 3.73620156e+02] [-7.62774017e-02 9.97059099e-01 -7.41017358e-03 -4.84127345e+01] [-5.50265883e-02 3.21106634e-03 9.98479726e-01 -2.45823701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80071405700005 meters 0.03225102670186607 Centerline is valid? [True, True] Translation: X:373.68, Y:-48.42, Z:-24.58 [[ 9.94761388e-01 8.52230554e-02 5.64518464e-02 3.73680524e+02] [-8.49252317e-02 9.96357896e-01 -7.65825780e-03 -4.84158816e+01] [-5.68989030e-02 2.82395304e-03 9.98375951e-01 -2.45842227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86071405700005 meters 0.03097097101466391 Centerline is valid? [True, True] Translation: X:373.74, Y:-48.42, Z:-24.59 [[ 9.94499827e-01 8.81308906e-02 5.65954125e-02 3.73739575e+02] [-8.78362267e-02 9.96105339e-01 -7.67797837e-03 -4.84221183e+01] [-5.70516596e-02 2.66462068e-03 9.98367672e-01 -2.45894924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92071405700005 meters 0.03250662012583027 Centerline is valid? [True, True] Translation: X:373.80, Y:-48.43, Z:-24.60 [[ 9.94760643e-01 8.59731963e-02 5.53161203e-02 3.73796866e+02] [-8.56884941e-02 9.96293728e-01 -7.50260207e-03 -4.84346794e+01] [-5.57561264e-02 2.72333821e-03 9.98440703e-01 -2.45955591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98071405700006 meters 0.033241147380855235 Centerline is valid? [True, True] Translation: X:373.86, Y:-48.45, Z:-24.60 [[ 9.95234798e-01 8.17191739e-02 5.31946690e-02 3.73855585e+02] [-8.14500256e-02 9.96651336e-01 -7.21170117e-03 -4.84463896e+01] [-5.36058722e-02 2.84462880e-03 9.98558120e-01 -2.46003987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04071405700006 meters 0.037379539051724926 Centerline is valid? [True, True] Translation: X:373.91, Y:-48.46, Z:-24.60 [[ 9.95505467e-01 7.82956479e-02 5.32790434e-02 3.73913206e+02] [-7.80208097e-02 9.96925571e-01 -7.22217969e-03 -4.84636860e+01] [-5.36807059e-02 3.03284526e-03 9.98553546e-01 -2.46046182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10071405700006 meters 0.03857125491695288 Centerline is valid? [True, True] Translation: X:373.97, Y:-48.48, Z:-24.61 [[ 9.95506139e-01 7.62481077e-02 5.61582946e-02 3.73971573e+02] [-7.59395322e-02 9.97083373e-01 -7.61151908e-03 -4.84752865e+01] [-5.65748657e-02 3.31267935e-03 9.98392864e-01 -2.46068989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16071405700006 meters 0.039750911358097246 Centerline is valid? [True, True] Translation: X:374.03, Y:-48.49, Z:-24.61 [[ 9.95574849e-01 7.50066775e-02 5.66102293e-02 3.74028901e+02] [-7.46911944e-02 9.97177204e-01 -7.67130473e-03 -4.84865646e+01] [-5.70258293e-02 3.40907241e-03 9.98366883e-01 -2.46103008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.22071405700007 meters 0.04217258952754886 Centerline is valid? [True, True] Translation: X:374.09, Y:-48.50, Z:-24.62 [[ 9.95683415e-01 7.41210594e-02 5.58623756e-02 3.74085390e+02] [-7.38128013e-02 9.97243427e-01 -7.56425414e-03 -4.85004568e+01] [-5.62690574e-02 3.40824398e-03 9.98409824e-01 -2.46154879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.28071405700007 meters 0.03500272471777485 Centerline is valid? [True, True] Translation: X:374.14, Y:-48.50, Z:-24.62 [[ 9.95886048e-01 7.32421652e-02 5.33532052e-02 3.74144269e+02] [-7.29599870e-02 9.97308733e-01 -7.22014517e-03 -4.85007029e+01] [-5.37384366e-02 3.29779268e-03 9.98549601e-01 -2.46197450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.34071405700007 meters 0.03550110121859292 Centerline is valid? [True, True] Translation: X:374.20, Y:-48.51, Z:-24.63 [[ 9.95952005e-01 7.34461139e-02 5.18196211e-02 3.74202204e+02] [-7.31804106e-02 9.97294090e-01 -7.00890278e-03 -4.85123660e+01] [-5.21941785e-02 3.18834962e-03 9.98631865e-01 -2.46253876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4007140570001 meters 0.03345768135742617 Centerline is valid? [True, True] Translation: X:374.26, Y:-48.52, Z:-24.63 [[ 9.95554121e-01 7.78265395e-02 5.30567835e-02 3.74262560e+02] [-7.75544304e-02 9.96962326e-01 -7.17146969e-03 -4.85195346e+01] [-5.34537449e-02 3.02479758e-03 9.98565745e-01 -2.46280669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4607140570001 meters 0.030522399189527784 Centerline is valid? [True, True] Translation: X:374.32, Y:-48.52, Z:-24.63 [[ 9.94877667e-01 8.54764888e-02 5.39647792e-02 3.74323244e+02] [-8.52061884e-02 9.96336641e-01 -7.29408662e-03 -4.85214604e+01] [-5.43905597e-02 2.65859074e-03 9.98516199e-01 -2.46301867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5207140570001 meters 0.030751125303965482 Centerline is valid? [True, True] Translation: X:374.38, Y:-48.53, Z:-24.63 [[ 9.94226207e-01 9.21398172e-02 5.49954854e-02 3.74381670e+02] [-9.18692740e-02 9.95743336e-01 -7.43277446e-03 -4.85304173e+01] [-5.54462425e-02 2.33746384e-03 9.98458938e-01 -2.46342569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.580714057 meters 0.030258943781944988 Centerline is valid? [True, True] Translation: X:374.44, Y:-48.54, Z:-24.64 [[ 9.94294466e-01 9.14909806e-02 5.48444685e-02 3.74439373e+02] [-9.12209789e-02 9.95803093e-01 -7.41163210e-03 -4.85401344e+01] [-5.52923888e-02 2.36637868e-03 9.98467402e-01 -2.46391769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.640714057 meters 0.031455637490773285 Centerline is valid? [True, True] Translation: X:374.50, Y:-48.55, Z:-24.64 [[ 9.94673769e-01 8.76821227e-02 5.41843025e-02 3.74497851e+02] [-8.74131910e-02 9.96145261e-01 -7.31803908e-03 -4.85526998e+01] [-5.46170973e-02 2.54263873e-03 9.98504135e-01 -2.46438131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.700714057 meters 0.03457412528199781 Centerline is valid? [True, True] Translation: X:374.56, Y:-48.57, Z:-24.65 [[ 9.95516843e-01 7.77576496e-02 5.38513023e-02 3.74555745e+02] [-7.74775939e-02 9.96967573e-01 -7.27197765e-03 -4.85718382e+01] [-5.42534540e-02 3.06710690e-03 9.98522486e-01 -2.46484119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76071405700003 meters 0.038841270346070565 Centerline is valid? [True, True] Translation: X:374.61, Y:-48.59, Z:-24.65 [[ 9.95945738e-01 7.29274995e-02 5.26656223e-02 3.74613351e+02] [-7.26529469e-02 9.97331929e-01 -7.11148964e-03 -4.85879021e+01] [-5.30437298e-02 3.25634514e-03 9.98586881e-01 -2.46544592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82071405700003 meters 0.06182091581989163 Centerline is valid? [True, True] Translation: X:374.67, Y:-48.63, Z:-24.66 [[ 9.96255143e-01 6.77819860e-02 5.36776695e-02 3.74666969e+02] [-6.74893311e-02 9.97693668e-01 -7.24817139e-03 -4.86305788e+01] [-5.40451664e-02 3.59835801e-03 9.98532008e-01 -2.46619815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88071405700003 meters 0.043483193571470555 Centerline is valid? [True, True] Translation: X:374.73, Y:-48.61, Z:-24.66 [[ 9.96739029e-01 6.07883425e-02 5.30668033e-02 3.74730534e+02] [-6.04924587e-02 9.98142933e-01 -7.16568306e-03 -4.86130069e+01] [-5.34038447e-02 3.93217457e-03 9.98565254e-01 -2.46617679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94071405700004 meters 0.04930853295419504 Centerline is valid? [True, True] Translation: X:374.79, Y:-48.63, Z:-24.67 [[ 9.97018280e-01 5.59467956e-02 5.31460753e-02 3.74788803e+02] [-5.56432457e-02 9.98424931e-01 -7.17536304e-03 -4.86295191e+01] [-5.34638051e-02 4.19674799e-03 9.98560969e-01 -2.46667785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00071405700004 meters 0.05189702065504444 Centerline is valid? [True, True] Translation: X:374.85, Y:-48.64, Z:-24.67 [[ 9.97128956e-01 5.38808063e-02 5.32043679e-02 3.74849148e+02] [-5.35735384e-02 9.98538052e-01 -7.18566849e-03 -4.86394208e+01] [-5.35137555e-02 4.31469186e-03 9.98557791e-01 -2.46705014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06071405700004 meters 0.04522113435513545 Centerline is valid? [True, True] Translation: X:374.91, Y:-48.64, Z:-24.67 [[ 9.97131044e-01 5.38844530e-02 5.31615103e-02 3.74911791e+02] [-5.35777174e-02 9.98537874e-01 -7.17928984e-03 -4.86383281e+01] [-5.34706336e-02 4.31042040e-03 9.98560119e-01 -2.46733169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12071405700004 meters 0.04699647241031954 Centerline is valid? [True, True] Translation: X:374.97, Y:-48.65, Z:-24.68 [[ 9.97233760e-01 5.23010643e-02 5.28150206e-02 3.74972389e+02] [-5.19952856e-02 9.98621748e-01 -7.14808125e-03 -4.86476584e+01] [-5.31160804e-02 4.38217586e-03 9.98578729e-01 -2.46784350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18071405700005 meters 0.043390429929922834 Centerline is valid? [True, True] Translation: X:375.03, Y:-48.65, Z:-24.68 [[ 9.97182262e-01 5.24972471e-02 5.35870780e-02 3.75034615e+02] [-5.21827541e-02 9.98611219e-01 -7.25218009e-03 -4.86489899e+01] [-5.38933768e-02 4.43542403e-03 9.98536845e-01 -2.46811575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24071405700005 meters 0.04466387342649327 Centerline is valid? [True, True] Translation: X:375.09, Y:-48.66, Z:-24.69 [[ 9.97067938e-01 5.42446347e-02 5.39726567e-02 3.75094098e+02] [-5.39272404e-02 9.98518031e-01 -7.32080768e-03 -4.86564394e+01] [-5.42897854e-02 4.38874618e-03 9.98515577e-01 -2.46853787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30071405700005 meters 0.04386239498386352 Centerline is valid? [True, True] Translation: X:375.15, Y:-48.66, Z:-24.69 [[ 9.96895261e-01 5.81083404e-02 5.31343456e-02 3.75154530e+02] [-5.78061285e-02 9.98301804e-01 -7.20824653e-03 -4.86600316e+01] [-5.34629723e-02 4.11437600e-03 9.98561356e-01 -2.46901295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36071405700005 meters 0.041327495779875247 Centerline is valid? [True, True] Translation: X:375.22, Y:-48.66, Z:-24.69 [[ 9.96603367e-01 6.28411631e-02 5.32232788e-02 3.75215309e+02] [-6.25446383e-02 9.98016049e-01 -7.22037772e-03 -4.86612674e+01] [-5.35714234e-02 3.86702202e-03 9.98556533e-01 -2.46933863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42071405700005 meters 0.04123654882867028 Centerline is valid? [True, True] Translation: X:375.28, Y:-48.66, Z:-24.70 [[ 9.96238383e-01 6.76297618e-02 5.41784028e-02 3.75275105e+02] [-6.73295142e-02 9.97703720e-01 -7.35013536e-03 -4.86645297e+01] [-5.45510819e-02 3.67468143e-03 9.98504219e-01 -2.46970994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48071405700006 meters 0.03914417804329466 Centerline is valid? [True, True] Translation: X:375.33, Y:-48.67, Z:-24.70 [[ 9.96045454e-01 7.05893143e-02 5.39499987e-02 3.75334842e+02] [-7.02959867e-02 9.97499335e-01 -7.31781603e-03 -4.86662920e+01] [-5.43316474e-02 3.49640900e-03 9.98516824e-01 -2.47008940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54071405700006 meters 0.03758188668289051 Centerline is valid? [True, True] Translation: X:375.39, Y:-48.67, Z:-24.71 [[ 9.96005527e-01 7.08555462e-02 5.43367438e-02 3.75393275e+02] [-7.05584742e-02 9.97480428e-01 -7.36868249e-03 -4.86706442e+01] [-5.47219505e-02 3.50533074e-03 9.98495479e-01 -2.47053340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60071405700006 meters 0.04269704912112791 Centerline is valid? [True, True] Translation: X:375.45, Y:-48.68, Z:-24.71 [[ 9.96315187e-01 6.71343329e-02 5.33763029e-02 3.75451197e+02] [-6.68425983e-02 9.97737307e-01 -7.23416036e-03 -4.86839600e+01] [-5.37411892e-02 3.63969306e-03 9.98548265e-01 -2.47104831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66071405700006 meters 0.04211253065390308 Centerline is valid? [True, True] Translation: X:375.51, Y:-48.69, Z:-24.71 [[ 9.96594826e-01 6.20207014e-02 5.43340180e-02 3.75511404e+02] [-6.17109172e-02 9.98066910e-01 -7.36240536e-03 -4.86899731e+01] [-5.46856070e-02 3.98433301e-03 9.98495673e-01 -2.47117865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.72071405700007 meters 0.04264469634910239 Centerline is valid? [True, True] Translation: X:375.57, Y:-48.70, Z:-24.72 [[ 9.96877868e-01 5.65269767e-02 5.51290918e-02 3.75570451e+02] [-5.61996950e-02 9.98391602e-01 -7.47022442e-03 -4.86993527e+01] [-5.54626914e-02 4.34866325e-03 9.98451290e-01 -2.47153788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.78071405700007 meters 0.044745718939777385 Centerline is valid? [True, True] Translation: X:375.63, Y:-48.71, Z:-24.72 [[ 9.97092132e-01 5.20449977e-02 5.56650560e-02 3.75630841e+02] [-5.17044005e-02 9.98633950e-01 -7.54244718e-03 -4.87104828e+01] [-5.59815614e-02 4.64238639e-03 9.98421010e-01 -2.47193101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.84071405700007 meters 0.046034274400724357 Centerline is valid? [True, True] Translation: X:375.69, Y:-48.72, Z:-24.72 [[ 9.97215893e-01 4.89592305e-02 5.62446089e-02 3.75690771e+02] [-4.86065256e-02 9.98788917e-01 -7.62272188e-03 -4.87209685e+01] [-5.65496946e-02 4.86764439e-03 9.98387920e-01 -2.47234490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9007140570001 meters 0.04641282837887118 Centerline is valid? [True, True] Translation: X:375.75, Y:-48.73, Z:-24.73 [[ 9.97252857e-01 4.71681937e-02 5.71130519e-02 3.75750992e+02] [-4.68015772e-02 9.98874215e-01 -7.74053861e-03 -4.87304591e+01] [-5.74138621e-02 5.04629334e-03 9.98337710e-01 -2.47265281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9607140570001 meters 0.047777870818474046 Centerline is valid? [True, True] Translation: X:375.81, Y:-48.74, Z:-24.73 [[ 9.97290783e-01 4.62711083e-02 5.71846081e-02 3.75812134e+02] [-4.59020707e-02 9.98915874e-01 -7.75090798e-03 -4.87419321e+01] [-5.74812558e-02 5.10501717e-03 9.98333533e-01 -2.47311749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0207140570001 meters 0.05150323319927304 Centerline is valid? [True, True] Translation: X:375.87, Y:-48.76, Z:-24.74 [[ 9.97302822e-01 4.71515163e-02 5.62478153e-02 3.75871647e+02] [-4.67957180e-02 9.98875365e-01 -7.62672160e-03 -4.87570124e+01] [-5.65441685e-02 4.97399406e-03 9.98387708e-01 -2.47363824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.080714057 meters 0.045131042740760005 Centerline is valid? [True, True] Translation: X:375.93, Y:-48.76, Z:-24.74 [[ 9.97260436e-01 4.93718805e-02 5.50821262e-02 3.75932950e+02] [-4.90332461e-02 9.98769113e-01 -7.48324250e-03 -4.87572147e+01] [-5.53837881e-02 4.76188623e-03 9.98453785e-01 -2.47397572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.140714057 meters 0.043307782661194796 Centerline is valid? [True, True] Translation: X:375.99, Y:-48.76, Z:-24.74 [[ 9.97032191e-01 5.42773195e-02 5.45965518e-02 3.75993368e+02] [-5.39518737e-02 9.98515981e-01 -7.41834440e-03 -4.87629705e+01] [-5.49181773e-02 4.45074190e-03 9.98480939e-01 -2.47435495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.200714057 meters 0.04342361714793916 Centerline is valid? [True, True] Translation: X:376.05, Y:-48.77, Z:-24.75 [[ 9.96775376e-01 5.96199962e-02 5.37057290e-02 3.76052132e+02] [-5.93127462e-02 9.98212770e-01 -7.29822721e-03 -4.87700449e+01] [-5.40448648e-02 4.08925890e-03 9.98530135e-01 -2.47482652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26071405700003 meters 0.04165890322895613 Centerline is valid? [True, True] Translation: X:376.11, Y:-48.77, Z:-24.75 [[ 9.96599740e-01 6.31506969e-02 5.29239901e-02 3.76112113e+02] [-6.28573478e-02 9.97996616e-01 -7.19079322e-03 -4.87743413e+01] [-5.32720666e-02 3.83968100e-03 9.98572653e-01 -2.47523392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32071405700003 meters 0.03962576640667229 Centerline is valid? [True, True] Translation: X:376.17, Y:-48.78, Z:-24.76 [[ 9.96089850e-01 7.03769570e-02 5.34049983e-02 3.76172740e+02] [-7.00885805e-02 9.97514382e-01 -7.25593312e-03 -4.87776741e+01] [-5.37829044e-02 3.48448082e-03 9.98546573e-01 -2.47553569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38071405700003 meters 0.03897004329842131 Centerline is valid? [True, True] Translation: X:376.23, Y:-48.78, Z:-24.76 [[ 9.95593816e-01 7.63777382e-02 5.44003282e-02 3.76231309e+02] [-7.60873942e-02 9.97073756e-01 -7.39148410e-03 -4.87829610e+01] [-5.48056844e-02 3.21973664e-03 9.98491848e-01 -2.47583053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44071405700004 meters 0.0345607238757495 Centerline is valid? [True, True] Translation: X:376.29, Y:-48.78, Z:-24.76 [[ 9.95284873e-01 8.01204804e-02 5.46692830e-02 3.76291595e+02] [-7.98330328e-02 9.96780594e-01 -7.42519697e-03 -4.87834892e+01] [-5.50881907e-02 3.02577156e-03 9.98476908e-01 -2.47608699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50071405700004 meters 0.0321288817480062 Centerline is valid? [True, True] Translation: X:376.35, Y:-48.79, Z:-24.76 [[ 9.94880355e-01 8.50688717e-02 5.45560843e-02 3.76352206e+02] [-8.47900859e-02 9.96371292e-01 -7.40872314e-03 -4.87863254e+01] [-5.49883679e-02 2.74497804e-03 9.98483222e-01 -2.47640576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56071405700004 meters 0.030052099945004622 Centerline is valid? [True, True] Translation: X:376.41, Y:-48.79, Z:-24.77 [[ 9.94492865e-01 8.93271616e-02 5.48142278e-02 3.76411556e+02] [-8.90521681e-02 9.95999147e-01 -7.44388826e-03 -4.87910572e+01] [-5.52598655e-02 2.52156794e-03 9.98468822e-01 -2.47671458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62071405700004 meters 0.03249663583688777 Centerline is valid? [True, True] Translation: X:376.47, Y:-48.80, Z:-24.77 [[ 9.94289856e-01 9.20539687e-02 5.39791513e-02 3.76467613e+02] [-9.17913829e-02 9.95751288e-01 -7.32906979e-03 -4.88040107e+01] [-5.44244794e-02 2.33239880e-03 9.98515166e-01 -2.47724094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68071405700005 meters 0.029254660013286807 Centerline is valid? [True, True] Translation: X:376.53, Y:-48.81, Z:-24.78 [[ 9.94163979e-01 9.36004132e-02 5.36371702e-02 3.76526824e+02] [-9.33436278e-02 9.95607349e-01 -7.27829073e-03 -4.88068016e+01] [-5.40828119e-02 2.22912642e-03 9.98533966e-01 -2.47757348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74071405700005 meters 0.028350432640437826 Centerline is valid? [True, True] Translation: X:376.58, Y:-48.82, Z:-24.78 [[ 9.93962744e-01 9.63613848e-02 5.24647228e-02 3.76584882e+02] [-9.61199345e-02 9.95344352e-01 -7.11194660e-03 -4.88156861e+01] [-5.29057826e-02 2.02610423e-03 9.98597453e-01 -2.47798978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80071405700005 meters 0.028895789883582906 Centerline is valid? [True, True] Translation: X:376.64, Y:-48.83, Z:-24.78 [[ 9.94033418e-01 9.57470370e-02 5.22500549e-02 3.76642393e+02] [-9.55069145e-02 9.95403595e-01 -7.07903770e-03 -4.88277919e+01] [-5.26876894e-02 2.04655852e-03 9.98608942e-01 -2.47838120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86071405700005 meters 0.028682467657834724 Centerline is valid? [True, True] Translation: X:376.70, Y:-48.84, Z:-24.79 [[ 9.94374811e-01 9.24952757e-02 5.16077508e-02 3.76700366e+02] [-9.22568572e-02 9.95710720e-01 -6.98814817e-03 -4.88387293e+01] [-5.20327614e-02 2.18766962e-03 9.98642982e-01 -2.47879142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92071405700005 meters 0.04149693209192743 Centerline is valid? [True, True] Translation: X:376.75, Y:-48.87, Z:-24.80 [[ 9.94166850e-01 9.34822514e-02 5.37898041e-02 3.76754160e+02] [-9.32248148e-02 9.95618463e-01 -7.28084114e-03 -4.88696902e+01] [-5.42347515e-02 2.22382638e-03 9.98525736e-01 -2.47963522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98071405700006 meters 0.03201553029178887 Centerline is valid? [True, True] Translation: X:376.82, Y:-48.87, Z:-24.80 [[ 9.95229349e-01 8.33436550e-02 5.07186202e-02 3.76815385e+02] [-8.31019381e-02 9.96517442e-01 -6.85977012e-03 -4.88662432e+01] [-5.11137079e-02 2.61222891e-03 9.98689424e-01 -2.47950808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04071405700006 meters 0.03836544222286338 Centerline is valid? [True, True] Translation: X:376.87, Y:-48.89, Z:-24.80 [[ 9.95610327e-01 7.83144297e-02 5.12535602e-02 3.76872309e+02] [-7.80609743e-02 9.96924490e-01 -6.93143727e-03 -4.88867919e+01] [-5.16387609e-02 2.90010769e-03 9.98661618e-01 -2.47997988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10071405700006 meters 0.03641127378380034 Centerline is valid? [True, True] Translation: X:376.93, Y:-48.89, Z:-24.80 [[ 9.96116668e-01 7.12150393e-02 5.17687310e-02 3.76932537e+02] [-7.09468988e-02 9.97455523e-01 -7.00124942e-03 -4.88940270e+01] [-5.21356009e-02 3.30123033e-03 9.98634558e-01 -2.48007824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16071405700006 meters 0.04054290483915293 Centerline is valid? [True, True] Translation: X:376.99, Y:-48.91, Z:-24.81 [[ 9.96416268e-01 6.71062426e-02 5.14914925e-02 3.76990202e+02] [-6.68355046e-02 9.97739706e-01 -6.96384257e-03 -4.89099275e+01] [-5.18424238e-02 3.49742614e-03 9.98649153e-01 -2.48055772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.22071405700007 meters 0.03776934681522121 Centerline is valid? [True, True] Translation: X:377.05, Y:-48.91, Z:-24.81 [[ 9.96674970e-01 6.39333151e-02 5.05127327e-02 3.77050373e+02] [-6.36687099e-02 9.97947705e-01 -6.83185119e-03 -4.89142091e+01] [-5.08458486e-02 3.59305455e-03 9.98700050e-01 -2.48090603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.28071405700007 meters 0.046882997328762784 Centerline is valid? [True, True] Translation: X:377.11, Y:-48.93, Z:-24.82 [[ 9.96886979e-01 6.14617675e-02 4.93842268e-02 3.77106763e+02] [-6.12058812e-02 9.98102819e-01 -6.67859797e-03 -4.89347420e+01] [-4.97010144e-02 3.63520224e-03 9.98757525e-01 -2.48161689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.34071405700007 meters 0.040052323391581136 Centerline is valid? [True, True] Translation: X:377.17, Y:-48.93, Z:-24.82 [[ 9.96846868e-01 6.20250219e-02 4.94895845e-02 3.77167833e+02] [-6.17688214e-02 9.98068055e-01 -6.69104123e-03 -4.89310829e+01] [-4.98089853e-02 3.61303018e-03 9.98752227e-01 -2.48175539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4007140570001 meters 0.042086121989391795 Centerline is valid? [True, True] Translation: X:377.23, Y:-48.94, Z:-24.82 [[ 9.96678536e-01 6.38089433e-02 5.05995447e-02 3.77226047e+02] [-6.35434910e-02 9.97955635e-01 -6.83921153e-03 -4.89391400e+01] [-5.09325037e-02 3.60122362e-03 9.98695605e-01 -2.48213311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4607140570001 meters 0.04203802314349428 Centerline is valid? [True, True] Translation: X:377.29, Y:-48.94, Z:-24.82 [[ 9.96433351e-01 6.63142499e-02 5.21823560e-02 3.77285322e+02] [-6.60354288e-02 9.97792364e-01 -7.05120834e-03 -4.89446161e+01] [-5.25347520e-02 3.58017490e-03 9.98612679e-01 -2.48237892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5207140570001 meters 0.041465615914799706 Centerline is valid? [True, True] Translation: X:377.35, Y:-48.95, Z:-24.83 [[ 9.96182454e-01 7.00022036e-02 5.21556280e-02 3.77345333e+02] [-6.97288114e-02 9.97541105e-01 -7.04539682e-03 -4.89496021e+01] [-5.25205761e-02 3.38175074e-03 9.98614116e-01 -2.48278212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.580714057 meters 0.03748763501901413 Centerline is valid? [True, True] Translation: X:377.41, Y:-48.95, Z:-24.83 [[ 9.95791850e-01 7.58158359e-02 5.14835063e-02 3.77405982e+02] [-7.55571713e-02 9.97117217e-01 -6.95484807e-03 -4.89495775e+01] [-5.18623782e-02 3.03563292e-03 9.98649628e-01 -2.48321496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.640714057 meters 0.03215486042428546 Centerline is valid? [True, True] Translation: X:377.47, Y:-48.95, Z:-24.84 [[ 9.95280109e-01 8.30266925e-02 5.02401603e-02 3.77466547e+02] [-8.27896343e-02 9.96543949e-01 -6.78484863e-03 -4.89455514e+01] [-5.06298513e-02 2.59346038e-03 9.98714119e-01 -2.48359903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.700714057 meters 0.0304085205861597 Centerline is valid? [True, True] Translation: X:377.53, Y:-48.95, Z:-24.84 [[ 9.94681240e-01 8.98519489e-02 5.03573020e-02 3.77526842e+02] [-8.96225902e-02 9.95952593e-01 -6.79886152e-03 -4.89473968e+01] [-5.07643764e-02 2.24954817e-03 9.98708124e-01 -2.48395895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76071405700003 meters 0.029656844348582755 Centerline is valid? [True, True] Translation: X:377.59, Y:-48.95, Z:-24.84 [[ 9.94286036e-01 9.40997026e-02 5.04036096e-02 3.77586187e+02] [-9.38753493e-02 9.95560699e-01 -6.80540033e-03 -4.89513150e+01] [-5.08202389e-02 2.03485807e-03 9.98705744e-01 -2.48436586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82071405700003 meters 0.029524102366158926 Centerline is valid? [True, True] Translation: X:377.64, Y:-48.96, Z:-24.85 [[ 9.94235508e-01 9.40694275e-02 5.14460678e-02 3.77644977e+02] [-9.38357235e-02 9.95563473e-01 -6.94470379e-03 -4.89563127e+01] [-5.18711103e-02 2.07719210e-03 9.98651628e-01 -2.48462200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88071405700003 meters 0.03363440057008211 Centerline is valid? [True, True] Translation: X:377.70, Y:-48.97, Z:-24.85 [[ 9.94700708e-01 8.83516332e-02 5.25784130e-02 3.77701953e+02] [-8.80997857e-02 9.96086400e-01 -7.09304479e-03 -4.89719949e+01] [-5.29993243e-02 2.42330976e-03 9.98591608e-01 -2.48502226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94071405700004 meters 0.03516259899966338 Centerline is valid? [True, True] Translation: X:377.76, Y:-48.98, Z:-24.85 [[ 9.95038130e-01 8.40493751e-02 5.32430465e-02 3.77761272e+02] [-8.37850415e-02 9.96457974e-01 -7.18138838e-03 -4.89841974e+01] [-5.36580494e-02 2.68478441e-03 9.98555760e-01 -2.48541748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00071405700004 meters 0.034350549215492444 Centerline is valid? [True, True] Translation: X:377.82, Y:-48.99, Z:-24.86 [[ 9.95639610e-01 7.71475911e-02 5.24406054e-02 3.77820797e+02] [-7.68816302e-02 9.97015138e-01 -7.07314320e-03 -4.89934542e+01] [-5.28297534e-02 3.01058230e-03 9.98598995e-01 -2.48584317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06071405700004 meters 0.037340416501054054 Centerline is valid? [True, True] Translation: X:377.88, Y:-49.01, Z:-24.86 [[ 9.96025612e-01 7.23182299e-02 5.19908979e-02 3.77877980e+02] [-7.20502353e-02 9.97376349e-01 -7.01300356e-03 -4.90085052e+01] [-5.23616599e-02 3.23917473e-03 9.98622934e-01 -2.48644368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12071405700004 meters 0.03699230871117745 Centerline is valid? [True, True] Translation: X:377.94, Y:-49.02, Z:-24.87 [[ 9.96145600e-01 7.12895867e-02 5.11051642e-02 3.77935888e+02] [-7.10293679e-02 9.97450412e-01 -6.89236275e-03 -4.90150315e+01] [-5.14662208e-02 3.23582933e-03 9.98669494e-01 -2.48677625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18071405700005 meters 0.03788785610433455 Centerline is valid? [True, True] Translation: X:377.99, Y:-49.02, Z:-24.87 [[ 9.96122155e-01 7.14200664e-02 5.13792330e-02 3.77993845e+02] [-7.11574724e-02 9.97441059e-01 -6.92443094e-03 -4.90232579e+01] [-5.17422999e-02 3.24156272e-03 9.98655209e-01 -2.48721677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24071405700005 meters 0.03938264771433085 Centerline is valid? [True, True] Translation: X:378.05, Y:-49.03, Z:-24.88 [[ 9.96120679e-01 7.14388143e-02 5.13818002e-02 3.78050874e+02] [-7.11763934e-02 9.97439730e-01 -6.92140789e-03 -4.90321420e+01] [-5.17447061e-02 3.23738630e-03 9.98655098e-01 -2.48764993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30071405700005 meters 0.036439825693617714 Centerline is valid? [True, True] Translation: X:378.11, Y:-49.03, Z:-24.88 [[ 9.96231860e-01 7.04274665e-02 5.06167241e-02 3.78109997e+02] [-7.01717616e-02 9.97511655e-01 -6.81344239e-03 -4.90328847e+01] [-5.09706257e-02 3.23590370e-03 9.98694911e-01 -2.48786575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36071405700005 meters 0.03944834287738746 Centerline is valid? [True, True] Translation: X:378.17, Y:-49.04, Z:-24.88 [[ 9.96304029e-01 6.87929263e-02 5.14374851e-02 3.78167219e+02] [-6.85268855e-02 9.97625270e-01 -6.92004153e-03 -4.90437933e+01] [-5.17913849e-02 3.36961460e-03 9.98652241e-01 -2.48824037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42071405700005 meters 0.03939273908216535 Centerline is valid? [True, True] Translation: X:378.23, Y:-49.05, Z:-24.88 [[ 9.96344047e-01 6.74258752e-02 5.24622941e-02 3.78225095e+02] [-6.71474158e-02 9.97718127e-01 -7.05439830e-03 -4.90500582e+01] [-5.28182307e-02 3.50590027e-03 9.98597989e-01 -2.48849515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48071405700006 meters 0.04092677104437882 Centerline is valid? [True, True] Translation: X:378.28, Y:-49.06, Z:-24.89 [[ 9.96357455e-01 6.68452802e-02 5.29483741e-02 3.78282118e+02] [-6.65611296e-02 9.97756989e-01 -7.11386915e-03 -4.90578369e+01] [-5.33051389e-02 3.56365297e-03 9.98571912e-01 -2.48889321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54071405700006 meters 0.04494975068335929 Centerline is valid? [True, True] Translation: X:378.34, Y:-49.07, Z:-24.89 [[ 9.96265965e-01 6.78917874e-02 5.33369600e-02 3.78338809e+02] [-6.76051978e-02 9.97686451e-01 -7.16123960e-03 -4.90688888e+01] [-5.36997517e-02 3.52864356e-03 9.98550893e-01 -2.48923529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60071405700006 meters 0.04236456919631228 Centerline is valid? [True, True] Translation: X:378.40, Y:-49.07, Z:-24.90 [[ 9.96099169e-01 7.02243496e-02 5.34320724e-02 3.78398775e+02] [-6.99403557e-02 9.97525416e-01 -7.16879171e-03 -4.90693900e+01] [-5.38032739e-02 3.40376932e-03 9.98545754e-01 -2.48955747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66071405700006 meters 0.042219724681480574 Centerline is valid? [True, True] Translation: X:378.46, Y:-49.08, Z:-24.90 [[ 9.95950593e-01 7.22806661e-02 5.34595411e-02 3.78458118e+02] [-7.19994266e-02 9.97378897e-01 -7.17064682e-03 -4.90751251e+01] [-5.38377173e-02 3.29255365e-03 9.98544270e-01 -2.48997650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.72071405700007 meters 0.03768175950844268 Centerline is valid? [True, True] Translation: X:378.52, Y:-49.07, Z:-24.90 [[ 9.95947800e-01 7.33547097e-02 5.20294831e-02 3.78517818e+02] [-7.30898563e-02 9.97300951e-01 -6.97758606e-03 -4.90725790e+01] [-5.24008917e-02 3.14648404e-03 9.98621173e-01 -2.49033637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.78071405700007 meters 0.038838572611364405 Centerline is valid? [True, True] Translation: X:378.58, Y:-49.08, Z:-24.91 [[ 9.95806857e-01 7.47778197e-02 5.26970735e-02 3.78575015e+02] [-7.45082946e-02 9.97195378e-01 -7.06349410e-03 -4.90801078e+01] [-5.30774708e-02 3.10750678e-03 9.98585562e-01 -2.49071105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.84071405700007 meters 0.04365967271072826 Centerline is valid? [True, True] Translation: X:378.63, Y:-49.09, Z:-24.91 [[ 9.95774729e-01 7.49121382e-02 5.31117726e-02 3.78631097e+02] [-7.46387924e-02 9.97185257e-01 -7.11436351e-03 -4.90948451e+01] [-5.34952288e-02 3.12010483e-03 9.98563231e-01 -2.49122777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9007140570001 meters 0.044719299660145054 Centerline is valid? [True, True] Translation: X:378.69, Y:-49.10, Z:-24.92 [[ 9.95757463e-01 7.50553979e-02 5.32330953e-02 3.78687925e+02] [-7.47812469e-02 9.97174500e-01 -7.12609872e-03 -4.91022979e+01] [-5.36175374e-02 3.11502875e-03 9.98556687e-01 -2.49169268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9607140570001 meters 0.04078108685619096 Centerline is valid? [True, True] Translation: X:378.75, Y:-49.10, Z:-24.92 [[ 9.95923015e-01 7.37076126e-02 5.20051472e-02 3.78747348e+02] [-7.34444159e-02 9.97275049e-01 -6.95659576e-03 -4.91030181e+01] [-5.23761898e-02 3.10874617e-03 9.98622587e-01 -2.49207749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0207140570001 meters 0.042580253044064556 Centerline is valid? [True, True] Translation: X:378.81, Y:-49.11, Z:-24.92 [[ 9.96060746e-01 7.13831326e-02 5.26064583e-02 3.78805836e+02] [-7.11107344e-02 9.97443625e-01 -7.03410504e-03 -4.91138130e+01] [-5.29740929e-02 3.26551203e-03 9.98590548e-01 -2.49240055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.080714057 meters 0.03824911047888826 Centerline is valid? [True, True] Translation: X:378.87, Y:-49.11, Z:-24.92 [[ 9.96164753e-01 6.91240443e-02 5.36437405e-02 3.78865958e+02] [-6.88376233e-02 9.97602104e-01 -7.17097661e-03 -4.91141722e+01] [-5.40107953e-02 3.45076654e-03 9.98534389e-01 -2.49248249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.140714057 meters 0.04068582851570108 Centerline is valid? [True, True] Translation: X:378.92, Y:-49.12, Z:-24.93 [[ 9.96091487e-01 6.97555290e-02 5.41840996e-02 3.78922379e+02] [-6.94643108e-02 9.97558152e-01 -7.24175524e-03 -4.91247502e+01] [-5.45569427e-02 3.44958960e-03 9.98504702e-01 -2.49289815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.200714057 meters 0.03657071846001351 Centerline is valid? [True, True] Translation: X:378.98, Y:-49.12, Z:-24.93 [[ 9.95977952e-01 7.15940698e-02 5.38721562e-02 3.78981776e+02] [-7.13091445e-02 9.97428311e-01 -7.19511625e-03 -4.91243317e+01] [-5.42487414e-02 3.32459977e-03 9.98521918e-01 -2.49322255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26071405700003 meters 0.03728808741848121 Centerline is valid? [True, True] Translation: X:379.04, Y:-49.13, Z:-24.94 [[ 9.95942928e-01 7.20915186e-02 5.38562670e-02 3.79039731e+02] [-7.18076973e-02 9.97392586e-01 -7.18909547e-03 -4.91319631e+01] [-5.42341142e-02 3.29263427e-03 9.98522819e-01 -2.49371214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32071405700003 meters 0.037684059579910306 Centerline is valid? [True, True] Translation: X:379.10, Y:-49.14, Z:-24.94 [[ 9.96047969e-01 7.14055513e-02 5.28175286e-02 3.79097605e+02] [-7.11318233e-02 9.97442032e-01 -7.04671545e-03 -4.91407080e+01] [-5.31855977e-02 3.26185950e-03 9.98579317e-01 -2.49417310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38071405700003 meters 0.03689351415942401 Centerline is valid? [True, True] Translation: X:379.16, Y:-49.15, Z:-24.95 [[ 9.96105749e-01 7.20704224e-02 5.07857465e-02 3.79155652e+02] [-7.18184091e-02 9.97394733e-01 -6.77216764e-03 -4.91464720e+01] [-5.11415091e-02 3.09844360e-03 9.98686610e-01 -2.49469866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44071405700004 meters 0.03653280227691331 Centerline is valid? [True, True] Translation: X:379.21, Y:-49.15, Z:-24.95 [[ 9.96070404e-01 7.27548946e-02 5.05022257e-02 3.79214461e+02] [-7.25067517e-02 9.97345210e-01 -6.73071641e-03 -4.91522758e+01] [-5.08578455e-02 3.04251508e-03 9.98701268e-01 -2.49499616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50071405700004 meters 0.03664814361603019 Centerline is valid? [True, True] Translation: X:379.27, Y:-49.16, Z:-24.95 [[ 9.96005864e-01 7.21693883e-02 5.25727896e-02 3.79272374e+02] [-7.18998583e-02 9.97387273e-01 -7.00265142e-03 -4.91607012e+01] [-5.29408084e-02 3.19470576e-03 9.98592542e-01 -2.49523454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56071405700004 meters 0.03812351557991403 Centerline is valid? [True, True] Translation: X:379.33, Y:-49.17, Z:-24.96 [[ 9.96167894e-01 6.93564876e-02 5.32841861e-02 3.79331072e+02] [-6.90758422e-02 9.97586196e-01 -7.09288144e-03 -4.91717813e+01] [-5.36475059e-02 3.38505074e-03 9.98554198e-01 -2.49565582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62071405700004 meters 0.03877713825219336 Centerline is valid? [True, True] Translation: X:379.39, Y:-49.18, Z:-24.96 [[ 9.96536888e-01 6.46036544e-02 5.23507233e-02 3.79390476e+02] [-6.43262997e-02 9.97904595e-01 -6.96748759e-03 -4.91827686e+01] [-5.26911525e-02 3.57583009e-03 9.98604454e-01 -2.49615919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68071405700005 meters 0.04239936235751936 Centerline is valid? [True, True] Translation: X:379.45, Y:-49.20, Z:-24.97 [[ 9.97090634e-01 5.65360277e-02 5.11267573e-02 3.79448387e+02] [-5.62609550e-02 9.98392910e-01 -6.80461434e-03 -4.92004843e+01] [-5.14292979e-02 3.90837703e-03 9.98668990e-01 -2.49682056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74071405700005 meters 0.04338730520724002 Centerline is valid? [True, True] Translation: X:379.51, Y:-49.21, Z:-24.97 [[ 9.97503547e-01 4.93179698e-02 5.05411885e-02 3.79507577e+02] [-4.90399699e-02 9.98774166e-01 -6.72659723e-03 -4.92137905e+01] [-5.08109755e-02 4.23126623e-03 9.98699325e-01 -2.49717456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80071405700005 meters 0.048422736982022825 Centerline is valid? [True, True] Translation: X:379.57, Y:-49.23, Z:-24.98 [[ 9.97617270e-01 4.50942815e-02 5.22138763e-02 3.79565222e+02] [-4.47918204e-02 9.98972173e-01 -6.94908902e-03 -4.92319298e+01] [-5.24735736e-02 4.59377665e-03 9.98611747e-01 -2.49751025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86071405700005 meters 0.04910834771298082 Centerline is valid? [True, True] Translation: X:379.63, Y:-49.24, Z:-24.98 [[ 9.97614568e-01 4.35362027e-02 5.35702646e-02 3.79625503e+02] [-4.32155794e-02 9.99040331e-01 -7.12952924e-03 -4.92439086e+01] [-5.38292476e-02 4.79745221e-03 9.98538631e-01 -2.49776514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92071405700005 meters 0.04943498629282115 Centerline is valid? [True, True] Translation: X:379.69, Y:-49.26, Z:-24.98 [[ 9.97617996e-01 4.37278798e-02 5.33498577e-02 3.79687356e+02] [-4.34102078e-02 9.99032108e-01 -7.09939083e-03 -4.92561783e+01] [-5.36086621e-02 4.76655165e-03 9.98550645e-01 -2.49826205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98071405700006 meters 0.05036654200611544 Centerline is valid? [True, True] Translation: X:379.75, Y:-49.27, Z:-24.99 [[ 9.97572823e-01 4.55127197e-02 5.26977768e-02 3.79746774e+02] [-4.52042823e-02 9.98953023e-01 -7.03075999e-03 -4.92682824e+01] [-5.29625924e-02 4.63152991e-03 9.98585756e-01 -2.49875587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04071405700006 meters 0.049423883941113356 Centerline is valid? [True, True] Translation: X:379.81, Y:-49.28, Z:-24.99 [[ 9.97368955e-01 4.96668263e-02 5.28050649e-02 3.79806256e+02] [-4.93627799e-02 9.98756051e-01 -7.04741419e-03 -4.92761623e+01] [-5.30894008e-02 4.42226733e-03 9.98579971e-01 -2.49914039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10071405700006 meters 0.048949498509863576 Centerline is valid? [True, True] Translation: X:379.87, Y:-49.28, Z:-25.00 [[ 9.97099516e-01 5.50080644e-02 5.25991259e-02 3.79865673e+02] [-5.47137664e-02 9.98477403e-01 -7.01987599e-03 -4.92839878e+01] [-5.29051884e-02 4.12161866e-03 9.98591034e-01 -2.49953901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16071405700006 meters 0.046241552499620905 Centerline is valid? [True, True] Translation: X:379.93, Y:-49.29, Z:-25.00 [[ 9.96886635e-01 5.94260872e-02 5.18225536e-02 3.79925567e+02] [-5.91463604e-02 9.98225363e-01 -6.91612559e-03 -4.92893116e+01] [-5.21415856e-02 3.82947774e-03 9.98632360e-01 -2.49999186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.22071405700007 meters 0.04295239329196898 Centerline is valid? [True, True] Translation: X:379.99, Y:-49.29, Z:-25.00 [[ 9.96527444e-01 6.44642303e-02 5.27011994e-02 3.79985342e+02] [-6.41819152e-02 9.97913428e-01 -7.03363745e-03 -4.92927880e+01] [-5.30446526e-02 3.62674884e-03 9.98585555e-01 -2.50027546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.28071405700007 meters 0.03747545953881824 Centerline is valid? [True, True] Translation: X:380.05, Y:-49.29, Z:-25.00 [[ 9.96117873e-01 6.93649336e-02 5.42004540e-02 3.80046115e+02] [-6.90736141e-02 9.97585351e-01 -7.23204618e-03 -4.92933074e+01] [-5.45712294e-02 3.46014921e-03 9.98503885e-01 -2.50034993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.34071405700007 meters 0.03636590664836635 Centerline is valid? [True, True] Translation: X:380.11, Y:-49.30, Z:-25.01 [[ 9.95886127e-01 7.31875630e-02 5.34266076e-02 3.80105938e+02] [-7.29099871e-02 9.97313047e-01 -7.12878662e-03 -4.93000336e+01] [-5.38047914e-02 3.20412642e-03 9.98546332e-01 -2.50071628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4007140570001 meters 0.03781683973995288 Centerline is valid? [True, True] Translation: X:380.16, Y:-49.31, Z:-25.01 [[ 9.95755487e-01 7.63638796e-02 5.13767280e-02 3.80163456e+02] [-7.61114596e-02 9.97075754e-01 -6.85464687e-03 -4.93122789e+01] [-5.17499373e-02 2.91519448e-03 9.98655819e-01 -2.50140049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4607140570001 meters 0.034344625982539664 Centerline is valid? [True, True] Translation: X:380.22, Y:-49.32, Z:-25.02 [[ 9.95618334e-01 7.88543300e-02 5.02605891e-02 3.80223030e+02] [-7.86160185e-02 9.96882429e-01 -6.70399329e-03 -4.93156385e+01] [-5.06325371e-02 2.72333123e-03 9.98713637e-01 -2.50178002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5207140570001 meters 0.03331001685769034 Centerline is valid? [True, True] Translation: X:380.28, Y:-49.32, Z:-25.02 [[ 9.95526691e-01 8.02500813e-02 4.98651447e-02 3.80281552e+02] [-8.00173174e-02 9.96771291e-01 -6.64997641e-03 -4.93222530e+01] [-5.02378058e-02 2.63015389e-03 9.98733821e-01 -2.50208854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.580714057 meters 0.03316181977265938 Centerline is valid? [True, True] Translation: X:380.34, Y:-49.33, Z:-25.02 [[ 9.95359272e-01 8.21783196e-02 5.00663829e-02 3.80339688e+02] [-8.19462896e-02 9.96614407e-01 -6.67310160e-03 -4.93305547e+01] [-5.04452628e-02 2.53937924e-03 9.98723599e-01 -2.50234360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.640714057 meters 0.03373926999058496 Centerline is valid? [True, True] Translation: X:380.40, Y:-49.34, Z:-25.03 [[ 9.95230167e-01 8.33106962e-02 5.07566968e-02 3.80396520e+02] [-8.30738645e-02 9.96520453e-01 -6.76160550e-03 -4.93405503e+01] [-5.11434006e-02 2.51279882e-03 9.98688159e-01 -2.50261546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.700714057 meters 0.034205855680033294 Centerline is valid? [True, True] Translation: X:380.45, Y:-49.35, Z:-25.03 [[ 9.95259702e-01 8.28270499e-02 5.09686672e-02 3.80454238e+02] [-8.25878486e-02 9.96560691e-01 -6.78504102e-03 -4.93521590e+01] [-5.13553551e-02 2.54348534e-03 9.98677204e-01 -2.50299403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76071405700003 meters 0.03582067166816978 Centerline is valid? [True, True] Translation: X:380.51, Y:-49.36, Z:-25.03 [[ 9.95448073e-01 8.06859527e-02 5.07238773e-02 3.80512517e+02] [-8.04464793e-02 9.96736085e-01 -6.74845487e-03 -4.93645635e+01] [-5.11028243e-02 2.63717905e-03 9.98689915e-01 -2.50342061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82071405700003 meters 0.03227607646119823 Centerline is valid? [True, True] Translation: X:380.57, Y:-49.37, Z:-25.04 [[ 9.95712196e-01 7.78618233e-02 4.99475641e-02 3.80572299e+02] [-7.76261725e-02 9.96960401e-01 -6.64352477e-03 -4.93691363e+01] [-5.03130205e-02 2.73780041e-03 9.98729745e-01 -2.50359125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88071405700003 meters 0.03490755817329321 Centerline is valid? [True, True] Translation: X:380.63, Y:-49.39, Z:-25.04 [[ 9.95934032e-01 7.46795732e-02 5.03821903e-02 3.80629856e+02] [-7.44358519e-02 9.97203302e-01 -6.69916990e-03 -4.93867792e+01] [-5.07415776e-02 2.92169003e-03 9.98707543e-01 -2.50396098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94071405700004 meters 0.03548197631669894 Centerline is valid? [True, True] Translation: X:380.69, Y:-49.40, Z:-25.04 [[ 9.96049316e-01 7.37708866e-02 4.94329479e-02 3.80687475e+02] [-7.35351616e-02 9.97270965e-01 -6.57285953e-03 -4.93971190e+01] [-4.97829293e-02 2.91183243e-03 9.98755817e-01 -2.50434559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00071405700004 meters 0.03664638165362397 Centerline is valid? [True, True] Translation: X:380.75, Y:-49.41, Z:-25.05 [[ 9.96150658e-01 7.30926918e-02 4.83872321e-02 3.80745055e+02] [-7.28662140e-02 9.97320994e-01 -6.43039351e-03 -4.94091289e+01] [-4.87276172e-02 2.87984632e-03 9.98807952e-01 -2.50487060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06071405700004 meters 0.03664069408168101 Centerline is valid? [True, True] Translation: X:380.80, Y:-49.42, Z:-25.05 [[ 9.96279009e-01 7.19889963e-02 4.73890357e-02 3.80802911e+02] [-7.17706882e-02 9.97401297e-01 -6.29445676e-03 -4.94189804e+01] [-4.77190173e-02 2.86989144e-03 9.98856676e-01 -2.50529344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12071405700004 meters 0.03508056837868954 Centerline is valid? [True, True] Translation: X:380.86, Y:-49.42, Z:-25.05 [[ 9.96356349e-01 7.07982571e-02 4.75566274e-02 3.80861155e+02] [-7.05772133e-02 9.97486340e-01 -6.31331183e-03 -4.94247645e+01] [-4.78840577e-02 2.93389409e-03 9.98848592e-01 -2.50548239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18071405700005 meters 0.037423623513526086 Centerline is valid? [True, True] Translation: X:380.92, Y:-49.44, Z:-25.06 [[ 9.96636933e-01 6.67947915e-02 4.74687292e-02 3.80918843e+02] [-6.65702482e-02 9.97761868e-01 -6.29736516e-03 -4.94384692e+01] [-4.77831191e-02 3.11618161e-03 9.98852874e-01 -2.50592924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24071405700005 meters 0.042816135826183495 Centerline is valid? [True, True] Translation: X:380.98, Y:-49.46, Z:-25.07 [[ 9.96835190e-01 6.35221402e-02 4.77968837e-02 3.80975477e+02] [-6.32907927e-02 9.97974992e-01 -6.33970004e-03 -4.94563622e+01] [-4.81028059e-02 3.29453344e-03 9.98836957e-01 -2.50650068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30071405700005 meters 0.04284877966656342 Centerline is valid? [True, True] Translation: X:381.03, Y:-49.47, Z:-25.07 [[ 9.97066473e-01 5.99776237e-02 4.75513799e-02 3.81034872e+02] [-5.97447450e-02 9.98193775e-01 -6.30493786e-03 -4.94654827e+01] [-4.78436466e-02 3.44549709e-03 9.98848895e-01 -2.50674971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36071405700005 meters 0.04445940932092354 Centerline is valid? [True, True] Translation: X:381.09, Y:-49.48, Z:-25.07 [[ 9.97173601e-01 5.81341583e-02 4.75944299e-02 3.81093728e+02] [-5.78987728e-02 9.98302514e-01 -6.31058336e-03 -4.94759693e+01] [-4.78804994e-02 3.53708805e-03 9.98846808e-01 -2.50714750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42071405700005 meters 0.04376190987325149 Centerline is valid? [True, True] Translation: X:381.15, Y:-49.48, Z:-25.07 [[ 9.97247538e-01 5.73400506e-02 4.70049704e-02 3.81152896e+02] [-5.71096121e-02 9.98348464e-01 -6.23192275e-03 -4.94829719e+01] [-4.72846787e-02 3.53033399e-03 9.98875215e-01 -2.50747187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48071405700006 meters 0.04612323438879689 Centerline is valid? [True, True] Translation: X:381.21, Y:-49.49, Z:-25.08 [[ 9.97298919e-01 5.67913640e-02 4.65790342e-02 3.81211151e+02] [-5.65646027e-02 9.98379857e-01 -6.17309380e-03 -4.94926931e+01] [-4.68541479e-02 3.52169521e-03 9.98895533e-01 -2.50797521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54071405700006 meters 0.04131841003717572 Centerline is valid? [True, True] Translation: X:381.27, Y:-49.49, Z:-25.08 [[ 9.97271852e-01 5.75921837e-02 4.61735270e-02 3.81271488e+02] [-5.73701588e-02 9.98334215e-01 -6.12045453e-03 -4.94931534e+01] [-4.64491022e-02 3.45477444e-03 9.98914684e-01 -2.50830143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60071405700006 meters 0.04121495812291632 Centerline is valid? [True, True] Translation: X:381.33, Y:-49.50, Z:-25.09 [[ 9.97265564e-01 5.82135464e-02 4.55255739e-02 3.81331362e+02] [-5.79984163e-02 9.98298444e-01 -6.03329977e-03 -4.94978741e+01] [-4.57993294e-02 3.37639091e-03 9.98944954e-01 -2.50863729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66071405700006 meters 0.04273378485779166 Centerline is valid? [True, True] Translation: X:381.39, Y:-49.51, Z:-25.09 [[ 9.97214247e-01 5.80763747e-02 4.68068429e-02 3.81389289e+02] [-5.78489451e-02 9.98306095e-01 -6.20008982e-03 -4.95057672e+01] [-4.70876352e-02 3.47509141e-03 9.98884717e-01 -2.50892024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.72071405700007 meters 0.04176382136104533 Centerline is valid? [True, True] Translation: X:381.45, Y:-49.51, Z:-25.09 [[ 9.97196481e-01 5.68536744e-02 4.86501672e-02 3.81448472e+02] [-5.66065940e-02 9.98375774e-01 -6.44262549e-03 -4.95099534e+01] [-4.89374353e-02 3.67064320e-03 9.98795101e-01 -2.50909002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.78071405700007 meters 0.042701063640946335 Centerline is valid? [True, True] Translation: X:381.51, Y:-49.52, Z:-25.10 [[ 9.97410380e-01 5.38453927e-02 4.76781614e-02 3.81508081e+02] [-5.36048210e-02 9.98542285e-01 -6.31099363e-03 -4.95172488e+01] [-4.79484781e-02 3.73887126e-03 9.98842813e-01 -2.50961014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.84071405700007 meters 0.04406022547851648 Centerline is valid? [True, True] Translation: X:381.57, Y:-49.53, Z:-25.10 [[ 9.97617333e-01 5.07093380e-02 4.67784054e-02 3.81567343e+02] [-5.04743631e-02 9.98706165e-01 -6.19151006e-03 -4.95260299e+01] [-4.70318492e-02 3.81564754e-03 9.98886103e-01 -2.51013137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9007140570001 meters 0.049204451665262675 Centerline is valid? [True, True] Translation: X:381.63, Y:-49.54, Z:-25.11 [[ 9.97744670e-01 4.76436416e-02 4.72827309e-02 3.81625047e+02] [-4.74001281e-02 9.98856374e-01 -6.25873109e-03 -4.95394239e+01] [-4.75268459e-02 4.00340808e-03 9.98861938e-01 -2.51062988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9607140570001 meters 0.04876421689606456 Centerline is valid? [True, True] Translation: X:381.69, Y:-49.54, Z:-25.11 [[ 9.97817956e-01 4.59139082e-02 4.74472257e-02 3.81685897e+02] [-4.56668408e-02 9.98936994e-01 -6.27871542e-03 -4.95436597e+01] [-4.76850694e-02 4.09825009e-03 9.98854013e-01 -2.51095028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0207140570001 meters 0.05025701316853112 Centerline is valid? [True, True] Translation: X:381.75, Y:-49.55, Z:-25.11 [[ 9.97747128e-01 4.58881294e-02 4.89382179e-02 3.81748036e+02] [-4.56252557e-02 9.98937636e-01 -6.47575074e-03 -4.95513033e+01] [-4.91833878e-02 4.22834299e-03 9.98780815e-01 -2.51130527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.080714057 meters 0.05294211046020332 Centerline is valid? [True, True] Translation: X:381.81, Y:-49.56, Z:-25.12 [[ 9.97681468e-01 4.55985208e-02 5.05219180e-02 3.81808318e+02] [-4.53172969e-02 9.98950185e-01 -6.69854894e-03 -4.95604930e+01] [-5.07743233e-02 4.39350138e-03 9.98700488e-01 -2.51163331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.140714057 meters 0.0448345630678249 Centerline is valid? [True, True] Translation: X:381.87, Y:-49.56, Z:-25.12 [[ 9.97652365e-01 4.55761104e-02 5.11133747e-02 3.81871438e+02] [-4.52876488e-02 9.98950924e-01 -6.78819743e-03 -4.95556870e+01] [-5.13691325e-02 4.45745665e-03 9.98669787e-01 -2.51187805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.200714057 meters 0.04763302940701097 Centerline is valid? [True, True] Translation: X:381.93, Y:-49.57, Z:-25.12 [[ 9.97731545e-01 4.44965442e-02 5.05155609e-02 3.81932008e+02] [-4.42127528e-02 9.98999523e-01 -6.72205288e-03 -4.95655254e+01] [-5.07641293e-02 4.47337220e-03 9.98700652e-01 -2.51239625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26071405700003 meters 0.047745831003472884 Centerline is valid? [True, True] Translation: X:381.99, Y:-49.57, Z:-25.13 [[ 9.97758953e-01 4.38931875e-02 5.05020870e-02 3.81993961e+02] [-4.36081797e-02 9.99026028e-01 -6.73210048e-03 -4.95729725e+01] [-5.07483928e-02 4.51470943e-03 9.98701266e-01 -2.51277368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32071405700003 meters 0.0497524466650097 Centerline is valid? [True, True] Translation: X:382.05, Y:-49.58, Z:-25.13 [[ 9.97767345e-01 4.38423416e-02 5.03803067e-02 3.82054303e+02] [-4.35580002e-02 9.99028241e-01 -6.72856793e-03 -4.95831176e+01] [-5.06263454e-02 4.51907995e-03 9.98707440e-01 -2.51326735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38071405700003 meters 0.04811701800470655 Centerline is valid? [True, True] Translation: X:382.12, Y:-49.59, Z:-25.14 [[ 9.97693547e-01 4.51461481e-02 5.06893729e-02 3.82115932e+02] [-4.48592415e-02 9.98970282e-01 -6.78415525e-03 -4.95877109e+01] [-5.09434556e-02 4.49462109e-03 9.98691425e-01 -2.51369261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44071405700004 meters 0.05206670388974294 Centerline is valid? [True, True] Translation: X:382.18, Y:-49.60, Z:-25.14 [[ 9.97637815e-01 4.61825858e-02 5.08523250e-02 3.82175653e+02] [-4.58951421e-02 9.98923075e-01 -6.80640099e-03 -4.95995747e+01] [-5.11118980e-02 4.45644833e-03 9.98682990e-01 -2.51417290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50071405700004 meters 0.04930733798211572 Centerline is valid? [True, True] Translation: X:382.24, Y:-49.60, Z:-25.14 [[ 9.97539106e-01 4.75688946e-02 5.15066206e-02 3.82237538e+02] [-4.72750874e-02 9.98858019e-01 -6.90830361e-03 -4.96017420e+01] [-5.17764214e-02 4.45632301e-03 9.98648759e-01 -2.51440996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56071405700004 meters 0.04862239741847382 Centerline is valid? [True, True] Translation: X:382.30, Y:-49.61, Z:-25.15 [[ 9.97559532e-01 4.72594210e-02 5.13957930e-02 3.82299160e+02] [-4.69664586e-02 9.98872679e-01 -6.89367659e-03 -4.96077241e+01] [-5.16636446e-02 4.46297441e-03 9.98654570e-01 -2.51479782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62071405700004 meters 0.04983326365539871 Centerline is valid? [True, True] Translation: X:382.36, Y:-49.62, Z:-25.15 [[ 9.97570596e-01 4.70068322e-02 5.14126771e-02 3.82359967e+02] [-4.67125989e-02 9.98884468e-01 -6.91034661e-03 -4.96171771e+01] [-5.16801581e-02 4.49193882e-03 9.98653585e-01 -2.51527093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68071405700005 meters 0.04724840056746683 Centerline is valid? [True, True] Translation: X:382.42, Y:-49.62, Z:-25.16 [[ 9.97632105e-01 4.66175234e-02 5.05666921e-02 3.82422494e+02] [-4.63321535e-02 9.98902933e-01 -6.80165213e-03 -4.96203368e+01] [-5.08282933e-02 4.44268278e-03 9.98697525e-01 -2.51563070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74071405700005 meters 0.047470479606093526 Centerline is valid? [True, True] Translation: X:382.48, Y:-49.63, Z:-25.16 [[ 9.97627723e-01 4.63185391e-02 5.09266096e-02 3.82484131e+02] [-4.60280281e-02 9.98916572e-01 -6.86319904e-03 -4.96283873e+01] [-5.11893276e-02 4.50286622e-03 9.98678816e-01 -2.51594988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80071405700005 meters 0.046837602458480766 Centerline is valid? [True, True] Translation: X:382.55, Y:-49.63, Z:-25.16 [[ 9.97653309e-01 4.49668185e-02 5.16319716e-02 3.82545808e+02] [-4.46655840e-02 9.98977652e-01 -6.97395420e-03 -4.96348420e+01] [-5.18927823e-02 4.65141631e-03 9.98641829e-01 -2.51617482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86071405700005 meters 0.0510128415908243 Centerline is valid? [True, True] Translation: X:382.60, Y:-49.65, Z:-25.17 [[ 9.97819011e-01 4.17561866e-02 5.11237993e-02 3.82604148e+02] [-4.14564340e-02 9.99116417e-01 -6.91015902e-03 -4.96492352e+01] [-5.13671691e-02 4.77567762e-03 9.98668417e-01 -2.51668040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92071405700005 meters 0.08457293475892602 Centerline is valid? [True, True] Translation: X:382.66, Y:-49.70, Z:-25.18 [[ 9.97737296e-01 4.26458064e-02 5.19771402e-02 3.82657036e+02] [-4.23372094e-02 9.99078686e-01 -7.02430636e-03 -4.97046134e+01] [-5.22288101e-02 4.80784537e-03 9.98623571e-01 -2.51769139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98071405700006 meters 0.05335998429098388 Centerline is valid? [True, True] Translation: X:382.72, Y:-49.67, Z:-25.18 [[ 9.98138845e-01 3.35944277e-02 5.08946004e-02 3.82722705e+02] [-3.32868583e-02 9.99422165e-01 -6.87910661e-03 -4.96746728e+01] [-5.10962914e-02 5.17218217e-03 9.98680338e-01 -2.51758485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04071405700006 meters 0.05642836532262455 Centerline is valid? [True, True] Translation: X:382.78, Y:-49.69, Z:-25.18 [[ 9.98205562e-01 3.02704118e-02 5.16658331e-02 3.82781227e+02] [-2.99490305e-02 9.99527032e-01 -6.98345552e-03 -4.96924973e+01] [-5.18527889e-02 5.42358253e-03 9.98640012e-01 -2.51798202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10071405700006 meters 0.05775140579326702 Centerline is valid? [True, True] Translation: X:382.84, Y:-49.71, Z:-25.18 [[ 9.98156391e-01 3.07863944e-02 5.23069569e-02 3.82842241e+02] [-3.04578223e-02 9.99511067e-01 -7.06735823e-03 -4.97067188e+01] [-5.24989608e-02 5.46117279e-03 9.98606046e-01 -2.51838308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16071405700006 meters 0.05514085516750364 Centerline is valid? [True, True] Translation: X:382.90, Y:-49.71, Z:-25.19 [[ 9.97991409e-01 3.47461711e-02 5.29702818e-02 3.82902623e+02] [-3.44138586e-02 9.99381926e-01 -7.17308134e-03 -4.97137852e+01] [-5.31867793e-02 5.33576177e-03 9.98570326e-01 -2.51863465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.22071405700007 meters 0.05727091802090461 Centerline is valid? [True, True] Translation: X:382.96, Y:-49.73, Z:-25.19 [[ 9.97757193e-01 3.98391137e-02 5.37905932e-02 3.82960831e+02] [-3.95036732e-02 9.99192866e-01 -7.28536406e-03 -4.97269897e+01] [-5.40374195e-02 5.14409838e-03 9.98525661e-01 -2.51907017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.28071405700007 meters 0.04815422557269475 Centerline is valid? [True, True] Translation: X:383.02, Y:-49.72, Z:-25.19 [[ 9.97568341e-01 4.49503699e-02 5.32622601e-02 3.83022620e+02] [-4.46287612e-02 9.98977601e-01 -7.21286492e-03 -4.97238626e+01] [-5.35320258e-02 4.81829701e-03 9.98554508e-01 -2.51927265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.34071405700007 meters 0.04719623762394054 Centerline is valid? [True, True] Translation: X:383.08, Y:-49.73, Z:-25.20 [[ 9.97365431e-01 5.03402308e-02 5.22308182e-02 3.83082394e+02] [-5.00382507e-02 9.98722249e-01 -7.07411998e-03 -4.97326369e+01] [-5.25201930e-02 4.44194395e-03 9.98609983e-01 -2.51981308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4007140570001 meters 0.043568587197965136 Centerline is valid? [True, True] Translation: X:383.14, Y:-49.74, Z:-25.20 [[ 9.97159096e-01 5.47596762e-02 5.17215230e-02 3.83143076e+02] [-5.44694134e-02 9.98490860e-01 -7.00608185e-03 -4.97354379e+01] [-5.20271187e-02 4.16893723e-03 9.98636971e-01 -2.52017492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4607140570001 meters 0.0432271496031824 Centerline is valid? [True, True] Translation: X:383.20, Y:-49.74, Z:-25.21 [[ 9.96954499e-01 5.82213367e-02 5.18845201e-02 3.83202813e+02] [-5.79338713e-02 9.98295680e-01 -7.02859697e-03 -4.97431717e+01] [-5.22053066e-02 4.00132026e-03 9.98628357e-01 -2.52055030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5207140570001 meters 0.04238186494856109 Centerline is valid? [True, True] Translation: X:383.26, Y:-49.75, Z:-25.21 [[ 9.96695070e-01 6.22458403e-02 5.21957185e-02 3.83263171e+02] [-6.19603882e-02 9.98053562e-01 -7.07087266e-03 -4.97499544e+01] [-5.25342552e-02 3.81343694e-03 9.98611841e-01 -2.52080756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.580714057 meters 0.04109401455751083 Centerline is valid? [True, True] Translation: X:383.32, Y:-49.75, Z:-25.21 [[ 9.96481364e-01 6.54169003e-02 5.23977097e-02 3.83323504e+02] [-6.51335703e-02 9.97851306e-01 -7.09860111e-03 -4.97541386e+01] [-5.27494915e-02 3.66077381e-03 9.98601066e-01 -2.52095192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.640714057 meters 0.03801188181796217 Centerline is valid? [True, True] Translation: X:383.38, Y:-49.76, Z:-25.21 [[ 9.96258248e-01 6.79610885e-02 5.33928179e-02 3.83383713e+02] [-6.76705299e-02 9.97681503e-01 -7.23313212e-03 -4.97576152e+01] [-5.37605984e-02 3.59294726e-03 9.98547389e-01 -2.52122770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.700714057 meters 0.03728840881613915 Centerline is valid? [True, True] Translation: X:383.44, Y:-49.77, Z:-25.22 [[ 9.96096833e-01 7.03754359e-02 5.32766164e-02 3.83442794e+02] [-7.00896294e-02 9.97514595e-01 -7.21642262e-03 -4.97659023e+01] [-5.36520614e-02 3.45411742e-03 9.98553717e-01 -2.52177910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76071405700003 meters 0.03879692696894913 Centerline is valid? [True, True] Translation: X:383.50, Y:-49.78, Z:-25.22 [[ 9.95799124e-01 7.43315745e-02 5.34688791e-02 3.83500858e+02] [-7.40494237e-02 9.97228280e-01 -7.24153867e-03 -4.97761632e+01] [-5.38589534e-02 3.25177818e-03 9.98543259e-01 -2.52211965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82071405700003 meters 0.03448519529220518 Centerline is valid? [True, True] Translation: X:383.56, Y:-49.78, Z:-25.22 [[ 9.95607071e-01 7.74842088e-02 5.25619402e-02 3.83560993e+02] [-7.72159824e-02 9.96988982e-01 -7.11778062e-03 -4.97782628e+01] [-5.29551908e-02 3.02789086e-03 9.98592299e-01 -2.52244835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88071405700003 meters 0.03571368324639669 Centerline is valid? [True, True] Translation: X:383.62, Y:-49.79, Z:-25.23 [[ 9.95508786e-01 7.87768273e-02 5.25020803e-02 3.83617472e+02] [-7.85110890e-02 9.96887900e-01 -7.10804109e-03 -4.97893202e+01] [-5.28986375e-02 2.95412186e-03 9.98595517e-01 -2.52283136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94071405700004 meters 0.033654014927120036 Centerline is valid? [True, True] Translation: X:383.68, Y:-49.80, Z:-25.23 [[ 9.95439445e-01 7.85652233e-02 5.41093066e-02 3.83675887e+02] [-7.82829177e-02 9.96904306e-01 -7.32046435e-03 -4.97968790e+01] [-5.45169346e-02 3.05124458e-03 9.98508184e-01 -2.52305696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00071405700004 meters 0.03873449615904596 Centerline is valid? [True, True] Translation: X:383.73, Y:-49.81, Z:-25.24 [[ 9.95613218e-01 7.67404878e-02 5.35277293e-02 3.83731844e+02] [-7.64618074e-02 9.97046240e-01 -7.23790706e-03 -4.98141271e+01] [-5.39250617e-02 3.11332901e-03 9.98540132e-01 -2.52357650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06071405700004 meters 0.041633357699486735 Centerline is valid? [True, True] Translation: X:383.79, Y:-49.83, Z:-25.24 [[ 9.95885637e-01 7.32704995e-02 5.33219691e-02 3.83789969e+02] [-7.29892435e-02 9.97306697e-01 -7.20567220e-03 -4.98271984e+01] [-5.37063201e-02 3.28409525e-03 9.98551374e-01 -2.52419431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12071405700004 meters 0.03811566327434579 Centerline is valid? [True, True] Translation: X:383.85, Y:-49.83, Z:-25.24 [[ 9.96195763e-01 6.84213200e-02 5.39678075e-02 3.83850447e+02] [-6.81261743e-02 9.97650065e-01 -7.29190434e-03 -4.98307695e+01] [-5.43399084e-02 3.58754394e-03 9.98516051e-01 -2.52447216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18071405700005 meters 0.040135732584556084 Centerline is valid? [True, True] Translation: X:383.91, Y:-49.84, Z:-25.25 [[ 9.96451482e-01 6.42804301e-02 5.43366439e-02 3.83910146e+02] [-6.39751200e-02 9.97924489e-01 -7.34149730e-03 -4.98422731e+01] [-5.46957822e-02 3.83925255e-03 9.98495684e-01 -2.52486062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24071405700005 meters 0.04009328856543855 Centerline is valid? [True, True] Translation: X:383.97, Y:-49.85, Z:-25.25 [[ 9.96602409e-01 6.21156063e-02 5.40859412e-02 3.83969353e+02] [-6.18099528e-02 9.98061186e-01 -7.30740372e-03 -4.98511169e+01] [-5.44349825e-02 3.93952668e-03 9.98509546e-01 -2.52533372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30071405700005 meters 0.0396735778132487 Centerline is valid? [True, True] Translation: X:384.03, Y:-49.86, Z:-25.26 [[ 9.96554439e-01 6.19471916e-02 5.51524809e-02 3.84029631e+02] [-6.16291261e-02 9.98071308e-01 -7.45089429e-03 -4.98593748e+01] [-5.55076707e-02 4.02622257e-03 9.98450143e-01 -2.52574026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36071405700005 meters 0.040067575508936464 Centerline is valid? [True, True] Translation: X:384.09, Y:-49.87, Z:-25.26 [[ 9.96501937e-01 6.25928724e-02 5.53716723e-02 3.84089587e+02] [-6.22732612e-02 9.98031103e-01 -7.48050623e-03 -4.98665477e+01] [-5.57308776e-02 4.00616434e-03 9.98437790e-01 -2.52616099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42071405700005 meters 0.04055486180132011 Centerline is valid? [True, True] Translation: X:384.15, Y:-49.87, Z:-25.27 [[ 9.96494152e-01 6.37910911e-02 5.41304148e-02 3.84149234e+02] [-6.34874140e-02 9.97955845e-01 -7.31299656e-03 -4.98732695e+01] [-5.44862678e-02 3.85075826e-03 9.98507095e-01 -2.52668211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48071405700006 meters 0.04194829725835134 Centerline is valid? [True, True] Translation: X:384.21, Y:-49.88, Z:-25.27 [[ 9.96403307e-01 6.53044621e-02 5.39979415e-02 3.84207338e+02] [-6.50045143e-02 9.97858308e-01 -7.29448378e-03 -4.98807528e+01] [-5.43586569e-02 3.75813780e-03 9.98514403e-01 -2.52717111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54071405700006 meters 0.04007344557531633 Centerline is valid? [True, True] Translation: X:384.27, Y:-49.88, Z:-25.27 [[ 9.96238215e-01 6.68780551e-02 5.51066664e-02 3.84267545e+02] [-6.65682251e-02 9.97754130e-01 -7.44095028e-03 -4.98845242e+01] [-5.54805403e-02 3.74460606e-03 9.98452747e-01 -2.52744096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60071405700006 meters 0.039109823645045685 Centerline is valid? [True, True] Translation: X:384.33, Y:-49.89, Z:-25.28 [[ 9.95936829e-01 7.04536273e-02 5.60902677e-02 3.84327740e+02] [-7.01383273e-02 9.97508531e-01 -7.57263265e-03 -4.98875571e+01] [-5.64840400e-02 3.60778619e-03 9.98396984e-01 -2.52780863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66071405700006 meters 0.03627932975034992 Centerline is valid? [True, True] Translation: X:384.39, Y:-49.89, Z:-25.28 [[ 9.95685237e-01 7.36557520e-02 5.64423461e-02 3.84388436e+02] [-7.33416031e-02 9.97277767e-01 -7.62003017e-03 -4.98895269e+01] [-5.68499560e-02 3.44757940e-03 9.98376781e-01 -2.52807932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.72071405700007 meters 0.03688374303302551 Centerline is valid? [True, True] Translation: X:384.45, Y:-49.89, Z:-25.28 [[ 9.94976479e-01 8.14776257e-02 5.81653014e-02 3.84447394e+02] [-8.11573380e-02 9.96670376e-01 -7.85164784e-03 -4.98927021e+01] [-5.86113664e-02 3.09166390e-03 9.98276089e-01 -2.52841356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.78071405700007 meters 0.0356023639465441 Centerline is valid? [True, True] Translation: X:384.51, Y:-49.90, Z:-25.29 [[ 9.94566740e-01 8.63745127e-02 5.81071633e-02 3.84507732e+02] [-8.60633170e-02 9.96258809e-01 -7.84165769e-03 -4.98955641e+01] [-5.85670927e-02 2.79815670e-03 9.98279553e-01 -2.52885971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.84071405700007 meters 0.033664816488539175 Centerline is valid? [True, True] Translation: X:384.57, Y:-49.90, Z:-25.29 [[ 9.94055253e-01 9.24688058e-02 5.74775896e-02 3.84568026e+02] [-9.21744889e-02 9.95712659e-01 -7.75651262e-03 -4.98969977e+01] [-5.79483991e-02 2.41243467e-03 9.98316665e-01 -2.52942237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9007140570001 meters 0.028527172656506557 Centerline is valid? [True, True] Translation: X:384.63, Y:-49.89, Z:-25.30 [[ 9.93425869e-01 9.79248915e-02 5.92938346e-02 3.84629395e+02] [-9.76213512e-02 9.95191463e-01 -8.00151341e-03 -4.98931870e+01] [-5.97922654e-02 2.16056616e-03 9.98208504e-01 -2.52958341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9607140570001 meters 0.029003453296199702 Centerline is valid? [True, True] Translation: X:384.69, Y:-49.90, Z:-25.30 [[ 9.92912636e-01 1.01770058e-01 6.13787693e-02 3.84687492e+02] [-1.01452162e-01 9.94805946e-01 -8.28177166e-03 -4.99010407e+01] [-6.19028010e-02 1.99606688e-03 9.98080187e-01 -2.52995720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0207140570001 meters 0.028155875747231583 Centerline is valid? [True, True] Translation: X:384.75, Y:-49.91, Z:-25.30 [[ 9.92801293e-01 1.02637905e-01 6.17337231e-02 3.84746168e+02] [-1.02318142e-01 9.94716872e-01 -8.32725009e-03 -4.99078452e+01] [-6.22622674e-02 1.95082482e-03 9.98057916e-01 -2.53046997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.080714057 meters 0.03077738713124101 Centerline is valid? [True, True] Translation: X:384.80, Y:-49.92, Z:-25.31 [[ 9.93108325e-01 9.99811907e-02 6.11524014e-02 3.84802374e+02] [-9.96626009e-02 9.94987124e-01 -8.24560676e-03 -4.99247582e+01] [-6.16702575e-02 2.09417334e-03 9.98094381e-01 -2.53108905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.140714057 meters 0.03050381618650929 Centerline is valid? [True, True] Translation: X:384.86, Y:-49.94, Z:-25.32 [[ 9.93759064e-01 9.36732464e-02 6.05660366e-02 3.84860814e+02] [-9.33493404e-02 9.95599963e-01 -8.16179209e-03 -4.99379170e+01] [-6.10640854e-02 2.45705530e-03 9.98130823e-01 -2.53153711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.200714057 meters 0.031670682781737194 Centerline is valid? [True, True] Translation: X:384.92, Y:-49.95, Z:-25.32 [[ 9.94041390e-01 9.04336483e-02 6.08561380e-02 3.84918833e+02] [-9.01006330e-02 9.95898909e-01 -8.19988274e-03 -4.99516267e+01] [-6.13481068e-02 2.66784629e-03 9.98112866e-01 -2.53196801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26071405700003 meters 0.033900490564399643 Centerline is valid? [True, True] Translation: X:384.98, Y:-49.97, Z:-25.32 [[ 9.94431918e-01 8.56990172e-02 6.13256755e-02 3.84976086e+02] [-8.53519955e-02 9.96316613e-01 -8.26091113e-03 -4.99692321e+01] [-6.18077413e-02 2.98064492e-03 9.98083623e-01 -2.53243267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32071405700003 meters 0.03508947526964937 Centerline is valid? [True, True] Translation: X:385.03, Y:-49.98, Z:-25.33 [[ 9.94498071e-01 8.50216219e-02 6.11956823e-02 3.85034288e+02] [-8.46748523e-02 9.96374544e-01 -8.24245293e-03 -4.99796754e+01] [-6.16746068e-02 3.01536818e-03 9.98091755e-01 -2.53287574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38071405700003 meters 0.0365660276924126 Centerline is valid? [True, True] Translation: X:385.09, Y:-49.99, Z:-25.33 [[ 9.94544357e-01 8.37010040e-02 6.22548324e-02 3.85091402e+02] [-8.33397993e-02 9.96485946e-01 -8.38082704e-03 -4.99906183e+01] [-6.27375491e-02 3.14679900e-03 9.98025099e-01 -2.53314465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44071405700004 meters 0.03356330990816446 Centerline is valid? [True, True] Translation: X:385.15, Y:-49.99, Z:-25.33 [[ 9.94666095e-01 8.24118941e-02 6.20293434e-02 3.85149646e+02] [-8.20511869e-02 9.96593184e-01 -8.34441122e-03 -4.99937924e+01] [-6.25056996e-02 3.21032168e-03 9.98039444e-01 -2.53345942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50071405700004 meters 0.03435720455937275 Centerline is valid? [True, True] Translation: X:385.21, Y:-50.00, Z:-25.34 [[ 9.94990997e-01 7.96166141e-02 6.04492387e-02 3.85207629e+02] [-7.92692663e-02 9.96820116e-01 -8.12642679e-03 -5.00028700e+01] [-6.09040158e-02 3.29395469e-03 9.98138192e-01 -2.53403468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56071405700004 meters 0.035132443264374064 Centerline is valid? [True, True] Translation: X:385.27, Y:-50.01, Z:-25.35 [[ 9.95152437e-01 7.77736326e-02 6.01904471e-02 3.85266655e+02] [-7.74261001e-02 9.96965284e-01 -8.08831962e-03 -5.00121466e+01] [-6.06368442e-02 3.38879939e-03 9.98154141e-01 -2.53452526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62071405700004 meters 0.035614479281956275 Centerline is valid? [True, True] Translation: X:385.33, Y:-50.02, Z:-25.35 [[ 9.95442777e-01 7.36476177e-02 6.05781011e-02 3.85326346e+02] [-7.32881169e-02 9.97277606e-01 -8.13814256e-03 -5.00203673e+01] [-6.10125384e-02 3.66140027e-03 9.98130284e-01 -2.53489698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68071405700005 meters 0.03782205032854558 Centerline is valid? [True, True] Translation: X:385.39, Y:-50.03, Z:-25.35 [[ 9.95747658e-01 6.92976971e-02 6.06995183e-02 3.85385643e+02] [-6.89287766e-02 9.97588265e-01 -8.15330322e-03 -5.00316824e+01] [-6.11181323e-02 3.93468905e-03 9.98122784e-01 -2.53529754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74071405700005 meters 0.0433341681554216 Centerline is valid? [True, True] Translation: X:385.44, Y:-50.05, Z:-25.36 [[ 9.96125947e-01 6.40817175e-02 6.02215188e-02 3.85443142e+02] [-6.37091261e-02 9.97935728e-01 -8.08883479e-03 -5.00481723e+01] [-6.06155516e-02 4.22083788e-03 9.98152263e-01 -2.53575074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80071405700005 meters 0.04285860816864694 Centerline is valid? [True, True] Translation: X:385.50, Y:-50.05, Z:-25.36 [[ 9.96409019e-01 6.17380519e-02 5.79437703e-02 3.85504206e+02] [-6.13891942e-02 9.98083558e-01 -7.78319680e-03 -5.00534329e+01] [-5.83132438e-02 4.19812612e-03 9.98289508e-01 -2.53625155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86071405700005 meters 0.041678770019374464 Centerline is valid? [True, True] Translation: X:385.56, Y:-50.06, Z:-25.37 [[ 9.96358033e-01 6.32210291e-02 5.72168899e-02 3.85564325e+02] [-6.28831827e-02 9.97991284e-01 -7.68779794e-03 -5.00584869e+01] [-5.75879880e-02 4.06181909e-03 9.98332172e-01 -2.53671340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92071405700005 meters 0.040225698156932714 Centerline is valid? [True, True] Translation: X:385.62, Y:-50.06, Z:-25.37 [[ 9.95918666e-01 6.99315694e-02 5.70577457e-02 3.85624257e+02] [-6.96065468e-02 9.97545063e-01 -7.66648843e-03 -5.00620308e+01] [-5.74538021e-02 3.66360628e-03 9.98341444e-01 -2.53704885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98071405700006 meters 0.03807964893790231 Centerline is valid? [True, True] Translation: X:385.68, Y:-50.06, Z:-25.37 [[ 9.95211715e-01 7.90537034e-02 5.74817738e-02 3.85684260e+02] [-7.87389949e-02 9.96865351e-01 -7.72292865e-03 -5.00606312e+01] [-5.79121147e-02 3.15989197e-03 9.98316684e-01 -2.53718107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04071405700006 meters 0.032010313612414444 Centerline is valid? [True, True] Translation: X:385.75, Y:-50.05, Z:-25.37 [[ 9.94520266e-01 8.68406828e-02 5.82076955e-02 3.85745686e+02] [-8.65313230e-02 9.96218445e-01 -7.81916622e-03 -5.00542758e+01] [-5.86666016e-02 2.73953037e-03 9.98273873e-01 -2.53744796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10071405700006 meters 0.03206958821276029 Centerline is valid? [True, True] Translation: X:385.80, Y:-50.06, Z:-25.38 [[ 9.94446362e-01 8.76278729e-02 5.82905534e-02 3.85804498e+02] [-8.73190057e-02 9.96149630e-01 -7.82983671e-03 -5.00613539e+01] [-5.87522251e-02 2.69647947e-03 9.98268954e-01 -2.53784616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16071405700006 meters 0.03237222660341007 Centerline is valid? [True, True] Translation: X:385.86, Y:-50.07, Z:-25.38 [[ 9.94729938e-01 8.62533925e-02 5.54319651e-02 3.85862897e+02] [-8.59721323e-02 9.96269738e-01 -7.44319513e-03 -5.00671302e+01] [-5.58671902e-02 2.63836478e-03 9.98434723e-01 -2.53837541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.22071405700007 meters 0.0338358849616974 Centerline is valid? [True, True] Translation: X:385.92, Y:-50.08, Z:-25.39 [[ 9.95157721e-01 8.25913127e-02 5.32896321e-02 3.85921918e+02] [-8.23263838e-02 9.96579763e-01 -7.15137905e-03 -5.00777811e+01] [-5.36980107e-02 2.72960737e-03 9.98553490e-01 -2.53900776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.28071405700007 meters 0.03633875154702269 Centerline is valid? [True, True] Translation: X:385.98, Y:-50.09, Z:-25.39 [[ 9.95645490e-01 7.62445174e-02 5.36361005e-02 3.85980923e+02] [-7.59670289e-02 9.97084361e-01 -7.19638656e-03 -5.00904866e+01] [-5.40284020e-02 3.09047462e-03 9.98534617e-01 -2.53943299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.34071405700007 meters 0.03868719607270432 Centerline is valid? [True, True] Translation: X:386.04, Y:-50.10, Z:-25.40 [[ 9.96007104e-01 7.06542447e-02 5.45694717e-02 3.86040283e+02] [-7.03586442e-02 9.97494890e-01 -7.32165034e-03 -5.01012078e+01] [-5.49500748e-02 3.45298171e-03 9.98483133e-01 -2.53962142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4007140570001 meters 0.03957984298446173 Centerline is valid? [True, True] Translation: X:386.10, Y:-50.11, Z:-25.40 [[ 9.96002105e-01 6.99777055e-02 5.55241185e-02 3.86098597e+02] [-6.96705763e-02 9.97542231e-01 -7.45038045e-03 -5.01090437e+01] [-5.59090136e-02 3.55219727e-03 9.98429549e-01 -2.53992685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4607140570001 meters 0.040517605476933595 Centerline is valid? [True, True] Translation: X:386.16, Y:-50.12, Z:-25.40 [[ 9.95984960e-01 6.96339543e-02 5.62589802e-02 3.86156503e+02] [-6.93183134e-02 9.97566060e-01 -7.54496266e-03 -5.01164524e+01] [-5.66474348e-02 3.61489171e-03 9.98387701e-01 -2.54024096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5207140570001 meters 0.0413768020562648 Centerline is valid? [True, True] Translation: X:386.21, Y:-50.12, Z:-25.41 [[ 9.95986458e-01 7.11629554e-02 5.42845292e-02 3.86214036e+02] [-7.08715576e-02 9.97458907e-01 -7.27669887e-03 -5.01216104e+01] [-5.46644185e-02 3.40026440e-03 9.98498993e-01 -2.54074901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5807140570001 meters 0.041698379915346244 Centerline is valid? [True, True] Translation: X:386.27, Y:-50.13, Z:-25.41 [[ 9.95988619e-01 7.21247148e-02 5.29593887e-02 3.86272445e+02] [-7.18489860e-02 9.97390291e-01 -7.09445328e-03 -5.01279891e+01] [-5.33328655e-02 3.26091635e-03 9.98571466e-01 -2.54137829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.640714057 meters 0.0422509017252412 Centerline is valid? [True, True] Translation: X:386.33, Y:-50.13, Z:-25.42 [[ 9.95936157e-01 7.36126448e-02 5.18878665e-02 3.86331138e+02] [-7.33501626e-02 9.97282049e-01 -6.94748696e-03 -5.01330199e+01] [-5.22582607e-02 3.11327002e-03 9.98628751e-01 -2.54184444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.700714057 meters 0.035071939256405026 Centerline is valid? [True, True] Translation: X:386.39, Y:-50.13, Z:-25.42 [[ 9.95723702e-01 7.58332745e-02 5.27600632e-02 3.86392257e+02] [-7.55651966e-02 9.97115867e-01 -7.06033928e-03 -5.01258047e+01] [-5.31433048e-02 3.04332262e-03 9.98582259e-01 -2.54182766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76071405700003 meters 0.03519111428516981 Centerline is valid? [True, True] Translation: X:386.45, Y:-50.13, Z:-25.42 [[ 9.95680587e-01 7.50967205e-02 5.45953431e-02 3.86450503e+02] [-7.48086367e-02 9.97171157e-01 -7.30421973e-03 -5.01319317e+01] [-5.49894244e-02 3.18846660e-03 9.98481846e-01 -2.54206851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82071405700003 meters 0.03682255149180122 Centerline is valid? [True, True] Translation: X:386.51, Y:-50.14, Z:-25.42 [[ 9.95945533e-01 7.08195559e-02 5.54714802e-02 3.86509986e+02] [-7.05157943e-02 9.97483090e-01 -7.41676858e-03 -5.01417988e+01] [-5.58571157e-02 3.47508205e-03 9.98432725e-01 -2.54241589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88071405700003 meters 0.03876340529233493 Centerline is valid? [True, True] Translation: X:386.57, Y:-50.15, Z:-25.43 [[ 9.96383393e-01 6.59779652e-02 5.35447612e-02 3.86569897e+02] [-6.56880347e-02 9.97814530e-01 -7.15859907e-03 -5.01516255e+01] [-5.39000505e-02 3.61545911e-03 9.98539790e-01 -2.54295107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94071405700004 meters 0.038306106577207656 Centerline is valid? [True, True] Translation: X:386.63, Y:-50.16, Z:-25.44 [[ 9.96748115e-01 6.29600788e-02 5.02913957e-02 3.86629294e+02] [-6.27005306e-02 9.98009738e-01 -6.72353702e-03 -5.01574672e+01] [-5.06146171e-02 3.54837565e-03 9.98711955e-01 -2.54359894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00071405700004 meters 0.040673022732266965 Centerline is valid? [True, True] Translation: X:386.69, Y:-50.16, Z:-25.44 [[ 9.96856740e-01 6.20888096e-02 4.92099539e-02 3.86686859e+02] [-6.18392427e-02 9.98064437e-01 -6.57929736e-03 -5.01646017e+01] [-4.95232057e-02 3.51551064e-03 9.98766786e-01 -2.54400618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06071405700004 meters 0.041225286316301374 Centerline is valid? [True, True] Translation: X:386.75, Y:-50.17, Z:-25.44 [[ 9.96584376e-01 6.54926702e-02 5.03020014e-02 3.86745834e+02] [-6.52364889e-02 9.97847206e-01 -6.71966131e-03 -5.01682330e+01] [-5.06338002e-02 3.41518352e-03 9.98711447e-01 -2.54432605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12071405700004 meters 0.03663093378828247 Centerline is valid? [True, True] Translation: X:386.81, Y:-50.16, Z:-25.44 [[ 9.96141018e-01 7.12648165e-02 5.12288777e-02 3.86807180e+02] [-7.10067429e-02 9.97452367e-01 -6.84244478e-03 -5.01625293e+01] [-5.15859909e-02 3.17844416e-03 9.98663498e-01 -2.54446841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18071405700005 meters 0.03394653447055272 Centerline is valid? [True, True] Translation: X:386.87, Y:-50.16, Z:-25.45 [[ 9.95786731e-01 7.52531296e-02 5.23999376e-02 3.86868919e+02] [-7.49887054e-02 9.97159835e-01 -6.99696558e-03 -5.01598996e+01] [-5.27776567e-02 3.03808200e-03 9.98601667e-01 -2.54458708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24071405700005 meters 0.0366646192751487 Centerline is valid? [True, True] Translation: X:386.93, Y:-50.17, Z:-25.45 [[ 9.95735336e-01 7.52594833e-02 5.33587068e-02 3.86926126e+02] [-7.49852535e-02 9.97159183e-01 -7.12570323e-03 -5.01687830e+01] [-5.37434012e-02 3.09419835e-03 9.98549985e-01 -2.54499218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30071405700005 meters 0.03914631910320534 Centerline is valid? [True, True] Translation: X:386.98, Y:-50.18, Z:-25.46 [[ 9.96061286e-01 7.16948224e-02 5.21705623e-02 3.86984904e+02] [-7.14281008e-02 9.97421457e-01 -6.96155717e-03 -5.01793248e+01] [-5.25351459e-02 3.20769341e-03 9.98613924e-01 -2.54552031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36071405700005 meters 0.04056822859489413 Centerline is valid? [True, True] Translation: X:387.04, Y:-50.19, Z:-25.46 [[ 9.96376101e-01 6.97918891e-02 4.86184924e-02 3.87044116e+02] [-6.95580804e-02 9.97556815e-01 -6.48653601e-03 -5.01894866e+01] [-4.89524160e-02 3.08122045e-03 9.98796359e-01 -2.54628744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42071405700005 meters 0.03494315051070438 Centerline is valid? [True, True] Translation: X:387.11, Y:-50.19, Z:-25.47 [[ 9.96120331e-01 7.48440964e-02 4.62887496e-02 3.87105121e+02] [-7.46376050e-02 9.97191600e-01 -6.17576604e-03 -5.01875755e+01] [-4.66209720e-02 2.69692470e-03 9.98909011e-01 -2.54674259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48071405700006 meters 0.03304641544844429 Centerline is valid? [True, True] Translation: X:387.17, Y:-50.19, Z:-25.47 [[ 9.95514803e-01 8.15339020e-02 4.79843737e-02 3.87165810e+02] [-8.13197103e-02 9.96667504e-01 -6.40240221e-03 -5.01878590e+01] [-4.83464788e-02 2.47161080e-03 9.98827567e-01 -2.54682270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54071405700006 meters 0.0314249481029713 Centerline is valid? [True, True] Translation: X:387.23, Y:-50.19, Z:-25.47 [[ 9.95000189e-01 8.65231593e-02 4.98835384e-02 3.87226233e+02] [-8.62980359e-02 9.96247150e-01 -6.65327453e-03 -5.01912329e+01] [-5.02719953e-02 2.31515803e-03 9.98732880e-01 -2.54706488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60071405700006 meters 0.031147649261461078 Centerline is valid? [True, True] Translation: X:387.28, Y:-50.20, Z:-25.47 [[ 9.94771995e-01 8.82768322e-02 5.13408033e-02 3.87284800e+02] [-8.80406125e-02 9.96093340e-01 -6.84891665e-03 -5.01986220e+01] [-5.17448329e-02 2.29303471e-03 9.98657706e-01 -2.54730378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66071405700006 meters 0.03301417093865094 Centerline is valid? [True, True] Translation: X:387.34, Y:-50.21, Z:-25.48 [[ 9.95059418e-01 8.41961210e-02 5.26095820e-02 3.87344256e+02] [-8.39427900e-02 9.96445915e-01 -7.01045430e-03 -5.02109226e+01] [-5.30128561e-02 2.55962348e-03 9.98590549e-01 -2.54752040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.72071405700007 meters 0.0365671726118106 Centerline is valid? [True, True] Translation: X:387.40, Y:-50.23, Z:-25.48 [[ 9.95497709e-01 7.85942668e-02 5.29835138e-02 3.87402655e+02] [-7.83294059e-02 9.96902531e-01 -7.06029693e-03 -5.02298792e+01] [-5.33742979e-02 2.87834226e-03 9.98570428e-01 -2.54808060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.78071405700007 meters 0.03808892282253935 Centerline is valid? [True, True] Translation: X:387.46, Y:-50.25, Z:-25.49 [[ 9.96016835e-01 7.24008017e-02 5.20440974e-02 3.87461607e+02] [-7.21368395e-02 9.97370634e-01 -6.93502138e-03 -5.02454485e+01] [-5.24093555e-02 3.15310134e-03 9.98620708e-01 -2.54853814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.84071405700007 meters 0.04156508006785934 Centerline is valid? [True, True] Translation: X:387.52, Y:-50.26, Z:-25.49 [[ 9.96596408e-01 6.56801466e-02 4.98168509e-02 3.87518273e+02] [-6.54299479e-02 9.97835083e-01 -6.63838758e-03 -5.02639759e+01] [-5.01450118e-02 3.35627926e-03 9.98736308e-01 -2.54912749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9007140570001 meters 0.04512231549664996 Centerline is valid? [True, True] Translation: X:387.58, Y:-50.28, Z:-25.50 [[ 9.96841304e-01 6.20255355e-02 4.96008815e-02 3.87576010e+02] [-6.17730258e-02 9.98068341e-01 -6.60915189e-03 -5.02816367e+01] [-4.99150057e-02 3.52427905e-03 9.98747251e-01 -2.54958361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9607140570001 meters 0.045363935643822836 Centerline is valid? [True, True] Translation: X:387.63, Y:-50.29, Z:-25.50 [[ 9.96696517e-01 6.26921428e-02 5.16308941e-02 3.87634546e+02] [-6.24193656e-02 9.98026294e-01 -6.88042672e-03 -5.02919750e+01] [-5.19603385e-02 3.63492969e-03 9.98642534e-01 -2.54969947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0207140570001 meters 0.038866682223170586 Centerline is valid? [True, True] Translation: X:387.69, Y:-50.29, Z:-25.50 [[ 9.96565683e-01 6.44256557e-02 5.20209000e-02 3.87694978e+02] [-6.41512467e-02 9.97916130e-01 -6.92932986e-03 -5.02921507e+01] [-5.23589218e-02 3.56832675e-03 9.98621956e-01 -2.54992975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0807140570001 meters 0.04569295140977169 Centerline is valid? [True, True] Translation: X:387.75, Y:-50.31, Z:-25.51 [[ 9.96587093e-01 6.45559939e-02 5.14459942e-02 3.87750018e+02] [-6.42877932e-02 9.97907871e-01 -6.85280749e-03 -5.03123751e+01] [-5.17807523e-02 3.52207005e-03 9.98652266e-01 -2.55059698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.140714057 meters 0.0416357496302551 Centerline is valid? [True, True] Translation: X:387.81, Y:-50.32, Z:-25.51 [[ 9.96557235e-01 6.53299040e-02 5.10458736e-02 3.87809353e+02] [-6.50671499e-02 9.97857758e-01 -6.79413490e-03 -5.03156205e+01] [-5.13803812e-02 3.44933478e-03 9.98673199e-01 -2.55075189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.200714057 meters 0.03802916208319928 Centerline is valid? [True, True] Translation: X:387.87, Y:-50.32, Z:-25.51 [[ 9.96364165e-01 6.74061283e-02 5.21043654e-02 3.87869444e+02] [-6.71353449e-02 9.97719798e-01 -6.93179644e-03 -5.03195882e+01] [-5.24528025e-02 3.40854903e-03 9.98617587e-01 -2.55095702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26071405700003 meters 0.037522480231231684 Centerline is valid? [True, True] Translation: X:387.93, Y:-50.33, Z:-25.51 [[ 9.95647539e-01 7.60366926e-02 5.38924865e-02 3.87928616e+02] [-7.57596135e-02 9.97100341e-01 -7.16870701e-03 -5.03270022e+01] [-5.42813014e-02 3.05463154e-03 9.98521011e-01 -2.55119866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32071405700003 meters 0.0347284593932208 Centerline is valid? [True, True] Translation: X:387.99, Y:-50.33, Z:-25.52 [[ 9.95036923e-01 8.40747009e-02 5.32256288e-02 3.87988555e+02] [-8.38159585e-02 9.96456108e-01 -7.07884137e-03 -5.03312643e+01] [-5.36321544e-02 2.58255143e-03 9.98557421e-01 -2.55164896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38071405700003 meters 0.03141917572453041 Centerline is valid? [True, True] Translation: X:388.05, Y:-50.33, Z:-25.52 [[ 9.94894761e-01 8.62013921e-02 5.24760386e-02 3.88047955e+02] [-8.59528714e-02 9.96274763e-01 -6.97861290e-03 -5.03335170e+01] [-5.28821191e-02 2.43251921e-03 9.98597799e-01 -2.55193934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44071405700004 meters 0.031093605092285967 Centerline is valid? [True, True] Translation: X:388.11, Y:-50.34, Z:-25.52 [[ 9.94375718e-01 9.22226301e-02 5.20760796e-02 3.88105862e+02] [-9.19862757e-02 9.95736213e-01 -6.92243991e-03 -5.03435367e+01] [-5.24924438e-02 2.09322155e-03 9.98619127e-01 -2.55240546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50071405700004 meters 0.02768712696760836 Centerline is valid? [True, True] Translation: X:388.17, Y:-50.35, Z:-25.53 [[ 9.93684210e-01 9.84829562e-02 5.37847469e-02 3.88165903e+02] [-9.82401059e-02 9.95137077e-01 -7.14699322e-03 -5.03469887e+01] [-5.42270529e-02 1.81803508e-03 9.98526976e-01 -2.55255549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56071405700004 meters 0.026785536618834684 Centerline is valid? [True, True] Translation: X:388.22, Y:-50.36, Z:-25.53 [[ 9.92862932e-01 1.06760621e-01 5.31541852e-02 3.88224019e+02] [-1.06535276e-01 9.94283837e-01 -7.06309105e-03 -5.03563705e+01] [-5.36044071e-02 1.34988549e-03 9.98561338e-01 -2.55312627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62071405700004 meters 0.02608025933450548 Centerline is valid? [True, True] Translation: X:388.28, Y:-50.37, Z:-25.54 [[ 9.92091242e-01 1.14437917e-01 5.15648145e-02 3.88282837e+02] [-1.14236271e-01 9.93429989e-01 -6.85070238e-03 -5.03662199e+01] [-5.20100132e-02 9.05949733e-04 9.98646152e-01 -2.55365119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68071405700005 meters 0.02521261600069874 Centerline is valid? [True, True] Translation: X:388.34, Y:-50.38, Z:-25.54 [[ 9.91488490e-01 1.19134060e-01 5.25133374e-02 3.88340622e+02] [-1.18931473e-01 9.92877950e-01 -6.97717786e-03 -5.03790299e+01] [-5.29705543e-02 6.72302972e-04 9.98595848e-01 -2.55402162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74071405700005 meters 0.024694461176355962 Centerline is valid? [True, True] Translation: X:388.40, Y:-50.39, Z:-25.54 [[ 9.90965290e-01 1.22714855e-01 5.41189314e-02 3.88398079e+02] [-1.22505726e-01 9.92441853e-01 -7.17745858e-03 -5.03947876e+01] [-5.45906733e-02 4.82733368e-04 9.98508701e-01 -2.55430949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80071405700005 meters 0.02422111728073352 Centerline is valid? [True, True] Translation: X:388.45, Y:-50.42, Z:-25.55 [[ 9.90689021e-01 1.23981925e-01 5.62471834e-02 3.88454056e+02] [-1.23758911e-01 9.92284390e-01 -7.44454423e-03 -5.04152024e+01] [-5.67361910e-02 4.14138093e-04 9.98389119e-01 -2.55469562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86071405700005 meters 0.02365648252618833 Centerline is valid? [True, True] Translation: X:388.51, Y:-50.44, Z:-25.55 [[ 9.91034153e-01 1.20562772e-01 5.75840752e-02 3.88509251e+02] [-1.20324193e-01 9.92705519e-01 -7.60531116e-03 -5.04408673e+01] [-5.80809466e-02 6.08365729e-04 9.98311692e-01 -2.55517121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92071405700005 meters 0.024024054209483385 Centerline is valid? [True, True] Translation: X:388.57, Y:-50.47, Z:-25.56 [[ 9.91904434e-01 1.13048620e-01 5.78411915e-02 3.88565535e+02] [-1.12795455e-01 9.93588905e-01 -7.63371036e-03 -5.04686489e+01] [-5.83333465e-02 1.04768765e-03 9.98296611e-01 -2.55563686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98071405700006 meters 0.025580288171966337 Centerline is valid? [True, True] Translation: X:388.62, Y:-50.50, Z:-25.56 [[ 9.92868093e-01 1.04691280e-01 5.70323209e-02 3.88622601e+02] [-1.04431501e-01 9.94503615e-01 -7.52469196e-03 -5.04972419e+01] [-5.75066189e-02 1.51505567e-03 9.98343976e-01 -2.55624020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04071405700006 meters 0.027642632907550695 Centerline is valid? [True, True] Translation: X:388.68, Y:-50.52, Z:-25.57 [[ 9.93567000e-01 9.75921150e-02 5.74490692e-02 3.88679318e+02] [-9.73166600e-02 9.95224605e-01 -7.57979533e-03 -5.05244642e+01] [-5.79144555e-02 1.94028297e-03 9.98319664e-01 -2.55670070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10071405700006 meters 0.029448370189585262 Centerline is valid? [True, True] Translation: X:388.74, Y:-50.55, Z:-25.57 [[ 9.94045777e-01 9.15327000e-02 5.91164828e-02 3.88736703e+02] [-9.12303702e-02 9.95799277e-01 -7.79870960e-03 -5.05490018e+01] [-5.95819877e-02 2.35905573e-03 9.98220628e-01 -2.55700846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16071405700006 meters 0.03126852478428249 Centerline is valid? [True, True] Translation: X:388.79, Y:-50.57, Z:-25.57 [[ 9.94285585e-01 8.77180853e-02 6.08417005e-02 3.88794435e+02] [-8.73907711e-02 9.96141782e-01 -8.02518311e-03 -5.05712266e+01] [-6.13109136e-02 2.66232076e-03 9.98115166e-01 -2.55737813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.22071405700007 meters 0.031088481437418367 Centerline is valid? [True, True] Translation: X:388.85, Y:-50.59, Z:-25.58 [[ 9.94303305e-01 8.67512047e-02 6.19287145e-02 3.88852439e+02] [-8.64102690e-02 9.96226158e-01 -8.16750754e-03 -5.05897531e+01] [-6.24035464e-02 2.76970286e-03 9.98047156e-01 -2.55772839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.28071405700007 meters 0.02961194215297389 Centerline is valid? [True, True] Translation: X:388.91, Y:-50.60, Z:-25.58 [[ 9.94341153e-01 8.68396045e-02 6.11927626e-02 3.88912905e+02] [-8.65069791e-02 9.96218566e-01 -8.06920373e-03 -5.06028188e+01] [-6.16620927e-02 2.72994030e-03 9.98093349e-01 -2.55818582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.34071405700007 meters 0.029822281128682925 Centerline is valid? [True, True] Translation: X:388.97, Y:-50.62, Z:-25.59 [[ 9.94301389e-01 8.78984342e-02 6.03209113e-02 3.88972357e+02] [-8.75770400e-02 9.96125974e-01 -7.95645864e-03 -5.06186634e+01] [-6.07865868e-02 2.62839102e-03 9.98147325e-01 -2.55877577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4007140570001 meters 0.03026750503213619 Centerline is valid? [True, True] Translation: X:389.03, Y:-50.63, Z:-25.59 [[ 9.94221373e-01 8.91138828e-02 5.98546357e-02 3.89031912e+02] [-8.87995092e-02 9.96018214e-01 -7.89714002e-03 -5.06325600e+01] [-6.03200522e-02 2.53644311e-03 9.98175865e-01 -2.55929629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4607140570001 meters 0.028544633269854208 Centerline is valid? [True, True] Translation: X:389.09, Y:-50.64, Z:-25.60 [[ 9.94034645e-01 9.09355606e-02 6.02150144e-02 3.89092761e+02] [-9.06205844e-02 9.95853783e-01 -7.94688161e-03 -5.06412499e+01] [-6.06880040e-02 2.44275585e-03 9.98153795e-01 -2.55961898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5207140570001 meters 0.027927121877126437 Centerline is valid? [True, True] Translation: X:389.15, Y:-50.65, Z:-25.60 [[ 9.93761448e-01 9.36266333e-02 6.05989939e-02 3.89153312e+02] [-9.33124714e-02 9.95604733e-01 -7.99984590e-03 -5.06510070e+01] [-6.10816438e-02 2.29529656e-03 9.98130134e-01 -2.56002801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5807140570001 meters 0.027566156560780812 Centerline is valid? [True, True] Translation: X:389.21, Y:-50.66, Z:-25.60 [[ 9.93386916e-01 9.69907467e-02 6.14429097e-02 3.89212133e+02] [-9.66740236e-02 9.95283025e-01 -8.11377151e-03 -5.06611502e+01] [-6.19400458e-02 2.12018115e-03 9.98077620e-01 -2.56034009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.640714057 meters 0.029005132646952297 Centerline is valid? [True, True] Translation: X:389.27, Y:-50.67, Z:-25.61 [[ 9.93275375e-01 9.82543716e-02 6.12381209e-02 3.89270988e+02] [-9.79422463e-02 9.95159256e-01 -8.08525673e-03 -5.06749648e+01] [-6.17360947e-02 2.03308728e-03 9.98090437e-01 -2.56087865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.700714057 meters 0.02799177634807087 Centerline is valid? [True, True] Translation: X:389.33, Y:-50.68, Z:-25.61 [[ 9.93325333e-01 9.79481738e-02 6.09174779e-02 3.89330166e+02] [-9.76383486e-02 9.95189410e-01 -8.04925360e-03 -5.06849853e+01] [-6.14128386e-02 2.04764557e-03 9.98110350e-01 -2.56130306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76071405700003 meters 0.02807045524558006 Centerline is valid? [True, True] Translation: X:389.39, Y:-50.70, Z:-25.62 [[ 9.93220491e-01 9.87459608e-02 6.13375229e-02 3.89390197e+02] [-9.84333668e-02 9.95110641e-01 -8.10465537e-03 -5.06962469e+01] [-6.18379237e-02 2.01205089e-03 9.98084176e-01 -2.56168433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82071405700003 meters 0.026857004467279993 Centerline is valid? [True, True] Translation: X:389.45, Y:-50.70, Z:-25.62 [[ 9.92784611e-01 1.02823018e-01 6.16939527e-02 3.89450003e+02] [-1.02514485e-01 9.94698091e-01 -8.15406919e-03 -5.07034040e+01] [-6.22052830e-02 1.77071062e-03 9.98061805e-01 -2.56210925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88071405700003 meters 0.02634483864268479 Centerline is valid? [True, True] Translation: X:389.51, Y:-50.71, Z:-25.63 [[ 9.92146809e-01 1.08596157e-01 6.20611302e-02 3.89508944e+02] [-1.08295202e-01 9.94084939e-01 -8.20263618e-03 -5.07106615e+01] [-6.25848096e-02 1.41729666e-03 9.98038643e-01 -2.56252541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94071405700004 meters 0.02537105383205982 Centerline is valid? [True, True] Translation: X:389.57, Y:-50.72, Z:-25.63 [[ 9.91659301e-01 1.12386841e-01 6.30953930e-02 3.89568404e+02] [-1.12083491e-01 9.93663809e-01 -8.33817983e-03 -5.07194680e+01] [-6.36327103e-02 1.19668168e-03 9.97972668e-01 -2.56293213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00071405700004 meters 0.025133426517089053 Centerline is valid? [True, True] Translation: X:389.63, Y:-50.73, Z:-25.63 [[ 9.91403297e-01 1.13668417e-01 6.47996421e-02 3.89626591e+02] [-1.13351250e-01 9.93518084e-01 -8.56216099e-03 -5.07314262e+01] [-6.53528636e-02 1.14343418e-03 9.97861561e-01 -2.56323006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06071405700004 meters 0.02594838033421699 Centerline is valid? [True, True] Translation: X:389.68, Y:-50.75, Z:-25.64 [[ 9.91555492e-01 1.11610405e-01 6.60365287e-02 3.89684658e+02] [-1.11276604e-01 9.93751188e-01 -8.72312167e-03 -5.07466090e+01] [-6.65974700e-02 1.30113855e-03 9.97779076e-01 -2.56366754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12071405700004 meters 0.02841131777004115 Centerline is valid? [True, True] Translation: X:389.74, Y:-50.77, Z:-25.64 [[ 9.92155559e-01 1.06824290e-01 6.49300992e-02 3.89742565e+02] [-1.06491501e-01 9.94276638e-01 -8.57477810e-03 -5.07691065e+01] [-6.54744753e-02 1.59301003e-03 9.97852973e-01 -2.56418135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18071405700005 meters 0.029346050989301826 Centerline is valid? [True, True] Translation: X:389.80, Y:-50.79, Z:-25.65 [[ 9.93166572e-01 9.68421477e-02 6.51287817e-02 3.89800905e+02] [-9.64853421e-02 9.95297173e-01 -8.60908703e-03 -5.07866741e+01] [-6.56562147e-02 2.26628468e-03 9.97839729e-01 -2.56460915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24071405700005 meters 0.031752467826525965 Centerline is valid? [True, True] Translation: X:389.86, Y:-50.81, Z:-25.65 [[ 9.94073269e-01 8.69292568e-02 6.52812453e-02 3.89859427e+02] [-8.65494251e-02 9.96210183e-01 -8.62944553e-03 -5.08059904e+01] [-6.57839926e-02 2.92824688e-03 9.97829591e-01 -2.56499515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30071405700005 meters 0.035194446574271156 Centerline is valid? [True, True] Translation: X:389.92, Y:-50.82, Z:-25.65 [[ 9.94335283e-01 8.43548461e-02 6.46653294e-02 3.89917777e+02] [-8.39766808e-02 9.96431049e-01 -8.54880259e-03 -5.08217466e+01] [-6.51556750e-02 3.06999631e-03 9.97870389e-01 -2.56538544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36071405700005 meters 0.03640807554291627 Centerline is valid? [True, True] Translation: X:389.98, Y:-50.84, Z:-25.66 [[ 9.94901048e-01 7.67682343e-02 6.54105689e-02 3.89976799e+02] [-7.63645592e-02 9.97042415e-01 -8.65312275e-03 -5.08363524e+01] [-6.58813966e-02 3.61395163e-03 9.97820916e-01 -2.56574060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42071405700005 meters 0.034882340253380946 Centerline is valid? [True, True] Translation: X:390.04, Y:-50.84, Z:-25.66 [[ 9.95011045e-01 7.47386029e-02 6.60845088e-02 3.90038634e+02] [-7.43220352e-02 9.97195965e-01 -8.74315910e-03 -5.08446505e+01] [-6.65526571e-02 3.78800468e-03 9.97775724e-01 -2.56604749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48071405700006 meters 0.03382632216324342 Centerline is valid? [True, True] Translation: X:390.10, Y:-50.85, Z:-25.66 [[ 9.95064057e-01 7.33604522e-02 6.68263951e-02 3.90100446e+02] [-7.29310315e-02 9.97297753e-01 -8.84629559e-03 -5.08532517e+01] [-6.72947819e-02 3.92891286e-03 9.97725401e-01 -2.56640373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54071405700006 meters 0.03549617500595169 Centerline is valid? [True, True] Translation: X:390.16, Y:-50.87, Z:-25.67 [[ 9.95372395e-01 7.02864776e-02 6.55256210e-02 3.90159865e+02] [-6.98666926e-02 9.97518582e-01 -8.67889999e-03 -5.08652718e+01] [-6.59730339e-02 4.06067905e-03 9.97813144e-01 -2.56692696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60071405700006 meters 0.03964386150866587 Centerline is valid? [True, True] Translation: X:390.22, Y:-50.88, Z:-25.68 [[ 9.95833740e-01 6.56246202e-02 6.33132743e-02 3.90217502e+02] [-6.52232995e-02 9.97835447e-01 -8.38702275e-03 -5.08796595e+01] [-6.37266245e-02 4.22257958e-03 9.97958460e-01 -2.56752117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66071405700006 meters 0.04375110422798489 Centerline is valid? [True, True] Translation: X:390.28, Y:-50.89, Z:-25.68 [[ 9.96264018e-01 6.02738297e-02 6.18471651e-02 3.90275673e+02] [-5.98806046e-02 9.98171918e-01 -8.19362407e-03 -5.08922848e+01] [-6.22279645e-02 4.45956719e-03 9.98051999e-01 -2.56802136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.72071405700007 meters 0.04374064739823403 Centerline is valid? [True, True] Translation: X:390.34, Y:-50.89, Z:-25.68 [[ 9.96414171e-01 5.63255325e-02 6.31366243e-02 3.90336820e+02] [-5.59078668e-02 9.98400899e-01 -8.36394898e-03 -5.08948488e+01] [-6.35067663e-02 4.80412331e-03 9.97969845e-01 -2.56813824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.78071405700007 meters 0.04289789067406296 Centerline is valid? [True, True] Translation: X:390.40, Y:-50.90, Z:-25.68 [[ 9.96462901e-01 5.44797827e-02 6.39815648e-02 3.90398057e+02] [-5.40470505e-02 9.98502415e-01 -8.47609519e-03 -5.08955747e+01] [-6.43475228e-02 4.98809954e-03 9.97915084e-01 -2.56833999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.84071405700007 meters 0.04301961148851833 Centerline is valid? [True, True] Translation: X:390.46, Y:-50.90, Z:-25.69 [[ 9.96584307e-01 5.23079027e-02 6.39030782e-02 3.90459176e+02] [-5.18717245e-02 9.98617863e-01 -8.46687534e-03 -5.08985147e+01] [-6.42576399e-02 5.12319222e-03 9.97920192e-01 -2.56869684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9007140570001 meters 0.044598895468989534 Centerline is valid? [True, True] Translation: X:390.52, Y:-50.90, Z:-25.69 [[ 9.96755384e-01 5.05732653e-02 6.26182889e-02 3.90520058e+02] [-5.01510124e-02 9.98707176e-01 -8.29775713e-03 -5.09038307e+01] [-6.29569791e-02 5.13046351e-03 9.98003055e-01 -2.56909033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9607140570001 meters 0.04563380755782043 Centerline is valid? [True, True] Translation: X:390.58, Y:-50.90, Z:-25.69 [[ 9.97048412e-01 4.64645391e-02 6.11188258e-02 3.90581458e+02] [-4.60545003e-02 9.98906077e-01 -8.10133540e-03 -5.09042183e+01] [-6.14283914e-02 5.26262662e-03 9.98097619e-01 -2.56942055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0207140570001 meters 0.04609596304941298 Centerline is valid? [True, True] Translation: X:390.64, Y:-50.91, Z:-25.70 [[ 9.97049757e-01 4.70045034e-02 6.06824481e-02 3.90643666e+02] [-4.66013273e-02 9.98881187e-01 -8.04305279e-03 -5.09055142e+01] [-6.09926155e-02 5.19144120e-03 9.98124717e-01 -2.56967734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0807140570001 meters 0.045729464842073096 Centerline is valid? [True, True] Translation: X:390.70, Y:-50.91, Z:-25.70 [[ 9.96996796e-01 4.95122245e-02 5.95476921e-02 3.90704296e+02] [-4.91274767e-02 9.98761203e-01 -7.90882063e-03 -5.09059695e+01] [-5.98655079e-02 4.95964098e-03 9.98194131e-01 -2.57016733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.140714057 meters 0.038583244154744935 Centerline is valid? [True, True] Translation: X:390.77, Y:-50.89, Z:-25.71 [[ 9.96566128e-01 5.96059562e-02 5.74724496e-02 3.90767781e+02] [-5.92642623e-02 9.98213145e-01 -7.63309415e-03 -5.08904048e+01] [-5.78247325e-02 4.20082075e-03 9.98317912e-01 -2.57065868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.200714057 meters 0.036930885706652754 Centerline is valid? [True, True] Translation: X:390.83, Y:-50.88, Z:-25.71 [[ 9.96032484e-01 6.72979005e-02 5.82261329e-02 3.90828219e+02] [-6.69601711e-02 9.97725672e-01 -7.73428213e-03 -5.08844400e+01] [-5.86142085e-02 3.80476442e-03 9.98273459e-01 -2.57089450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26071405700003 meters 0.03451508532118812 Centerline is valid? [True, True] Translation: X:390.89, Y:-50.88, Z:-25.71 [[ 9.95527839e-01 7.34399532e-02 5.94213434e-02 3.90890353e+02] [-7.30991375e-02 9.97293453e-01 -7.89208335e-03 -5.08802586e+01] [-5.98401110e-02 3.51313973e-03 9.98201793e-01 -2.57116214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32071405700003 meters 0.03189270980374156 Centerline is valid? [True, True] Translation: X:390.95, Y:-50.88, Z:-25.72 [[ 9.95144825e-01 7.90799315e-02 5.85930171e-02 3.90951554e+02] [-7.87582335e-02 9.96863362e-01 -7.78314509e-03 -5.08776333e+01] [-5.90247226e-02 3.13067404e-03 9.98251612e-01 -2.57168867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38071405700003 meters 0.03120076485432451 Centerline is valid? [True, True] Translation: X:391.01, Y:-50.88, Z:-25.72 [[ 9.94859016e-01 8.37901214e-02 5.68748977e-02 3.91012757e+02] [-8.34947148e-02 9.96479583e-01 -7.55474658e-03 -5.08801105e+01] [-5.73076875e-02 2.76715439e-03 9.98352729e-01 -2.57223119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44071405700004 meters 0.03108269985053841 Centerline is valid? [True, True] Translation: X:391.07, Y:-50.88, Z:-25.73 [[ 9.94609169e-01 8.64742257e-02 5.72259408e-02 3.91072734e+02] [-8.61794783e-02 9.96250615e-01 -7.60321726e-03 -5.08840091e+01] [-5.76688611e-02 2.63052788e-03 9.98332301e-01 -2.57260096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50071405700004 meters 0.02841496866412922 Centerline is valid? [True, True] Translation: X:391.13, Y:-50.88, Z:-25.73 [[ 9.94460920e-01 8.79302126e-02 5.75826119e-02 3.91133422e+02] [-8.76342681e-02 9.96123345e-01 -7.64957924e-03 -5.08835184e+01] [-5.80320131e-02 2.56099756e-03 9.98311438e-01 -2.57276625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56071405700004 meters 0.028120182166972922 Centerline is valid? [True, True] Translation: X:391.19, Y:-50.89, Z:-25.73 [[ 9.94336629e-01 8.88178574e-02 5.83614225e-02 3.91192904e+02] [-8.85154265e-02 9.96044640e-01 -7.75203841e-03 -5.08888630e+01] [-5.88191015e-02 2.54224954e-03 9.98265421e-01 -2.57306931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62071405700004 meters 0.028853444072534287 Centerline is valid? [True, True] Translation: X:391.25, Y:-50.90, Z:-25.73 [[ 9.94230228e-01 8.93092660e-02 5.94147161e-02 3.91251371e+02] [-8.89968162e-02 9.96000662e-01 -7.88968143e-03 -5.08968380e+01] [-5.98817183e-02 2.55643920e-03 9.98202206e-01 -2.57340446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68071405700005 meters 0.030245722465249786 Centerline is valid? [True, True] Translation: X:391.31, Y:-50.91, Z:-25.74 [[ 9.94118087e-01 8.98795800e-02 6.04226036e-02 3.91308735e+02] [-8.95576131e-02 9.95949343e-01 -8.02126233e-03 -5.09075211e+01] [-6.08988000e-02 2.56277781e-03 9.98140656e-01 -2.57369072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74071405700005 meters 0.029108749105351283 Centerline is valid? [True, True] Translation: X:391.37, Y:-50.91, Z:-25.74 [[ 9.94260160e-01 8.78636588e-02 6.10467973e-02 3.91368281e+02] [-8.75313501e-02 9.96128819e-01 -8.10179245e-03 -5.09135252e+01] [-6.15223273e-02 2.71178087e-03 9.98102024e-01 -2.57401305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80071405700005 meters 0.03116352051801339 Centerline is valid? [True, True] Translation: X:391.43, Y:-50.93, Z:-25.75 [[ 9.94783459e-01 8.23165089e-02 6.02483418e-02 3.91427081e+02] [-8.19827729e-02 9.96601681e-01 -7.99465479e-03 -5.09270358e+01] [-6.07016908e-02 3.01362421e-03 9.98151403e-01 -2.57452836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86071405700005 meters 0.035281126584056896 Centerline is valid? [True, True] Translation: X:391.49, Y:-50.94, Z:-25.75 [[ 9.95417383e-01 7.52588236e-02 5.89944379e-02 3.91485517e+02] [-7.49264956e-02 9.97158331e-01 -7.82831108e-03 -5.09441377e+01] [-5.94159448e-02 3.37219043e-03 9.98227616e-01 -2.57499752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92071405700005 meters 0.03638796842550364 Centerline is valid? [True, True] Translation: X:391.54, Y:-50.95, Z:-25.75 [[ 9.95740367e-01 6.98671829e-02 6.01639370e-02 3.91544778e+02] [-6.95115684e-02 9.97549179e-01 -7.98611706e-03 -5.09543169e+01] [-6.05744535e-02 3.77000950e-03 9.98156562e-01 -2.57519355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98071405700006 meters 0.03611575311173721 Centerline is valid? [True, True] Translation: X:391.61, Y:-50.96, Z:-25.76 [[ 9.95990648e-01 6.72721518e-02 5.89668206e-02 3.91605528e+02] [-6.69261103e-02 9.97727241e-01 -7.82606965e-03 -5.09625106e+01] [-5.93592798e-02 3.84827224e-03 9.98229266e-01 -2.57575549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04071405700006 meters 0.036426677140603075 Centerline is valid? [True, True] Translation: X:391.67, Y:-50.97, Z:-25.76 [[ 9.96063125e-01 6.68832772e-02 5.81797101e-02 3.91667232e+02] [-6.65457185e-02 9.97753493e-01 -7.72240146e-03 -5.09702264e+01] [-5.85655085e-02 3.82038872e-03 9.98276257e-01 -2.57616509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10071405700006 meters 0.03595280541165471 Centerline is valid? [True, True] Translation: X:391.73, Y:-50.98, Z:-25.76 [[ 9.96006949e-01 6.66868866e-02 5.93550042e-02 3.91728883e+02] [-6.63342528e-02 9.97766231e-01 -7.89397180e-03 -5.09765246e+01] [-5.97488433e-02 3.92518091e-03 9.98205725e-01 -2.57639675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16071405700006 meters 0.03497747214926603 Centerline is valid? [True, True] Translation: X:391.79, Y:-50.98, Z:-25.77 [[ 9.95959259e-01 6.68854727e-02 5.99290264e-02 3.91791968e+02] [-6.65253940e-02 9.97752774e-01 -7.98584350e-03 -5.09824484e+01] [-6.03284893e-02 3.96677267e-03 9.98170696e-01 -2.57678601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.22071405700007 meters 0.03590237608274052 Centerline is valid? [True, True] Translation: X:391.85, Y:-50.99, Z:-25.77 [[ 9.96069735e-01 6.62300294e-02 5.88104228e-02 3.91853712e+02] [-6.58811091e-02 9.97796567e-01 -7.85433976e-03 -5.09889158e+01] [-5.92010311e-02 3.94897424e-03 9.98238270e-01 -2.57732704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.28071405700007 meters 0.03818141693026682 Centerline is valid? [True, True] Translation: X:391.91, Y:-51.00, Z:-25.78 [[ 9.96315913e-01 6.27290368e-02 5.84779346e-02 3.91913380e+02] [-6.23770798e-02 9.98021966e-01 -7.82653212e-03 -5.09975718e+01] [-5.88532141e-02 4.15001571e-03 9.98258021e-01 -2.57780566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.34071405700007 meters 0.04202669837780269 Centerline is valid? [True, True] Translation: X:391.97, Y:-51.01, Z:-25.78 [[ 9.96706121e-01 5.61570397e-02 5.85089368e-02 3.91973451e+02] [-5.57934379e-02 9.98411623e-01 -7.83094148e-03 -5.10078915e+01] [-5.88557651e-02 4.54073257e-03 9.98256170e-01 -2.57818660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4007140570001 meters 0.04808057259635127 Centerline is valid? [True, True] Translation: X:392.03, Y:-51.02, Z:-25.78 [[ 9.97095045e-01 4.76294906e-02 5.94382263e-02 3.92031558e+02] [-4.72391236e-02 9.98851922e-01 -7.95636292e-03 -5.10203393e+01] [-5.97489441e-02 5.12544032e-03 9.98200277e-01 -2.57847085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4607140570001 meters 0.05044297374728499 Centerline is valid? [True, True] Translation: X:392.09, Y:-51.03, Z:-25.79 [[ 9.97402022e-01 3.98701087e-02 5.99965052e-02 3.92091239e+02] [-3.94583113e-02 9.99188925e-01 -8.03332650e-03 -5.10272061e+01] [-6.02681331e-02 5.64509532e-03 9.98166261e-01 -2.57872435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5207140570001 meters 0.05425014389784942 Centerline is valid? [True, True] Translation: X:392.15, Y:-51.03, Z:-25.79 [[ 9.97569315e-01 3.69208390e-02 5.90958055e-02 3.92150298e+02] [-3.65162310e-02 9.99301736e-01 -7.91235547e-03 -5.10337948e+01] [-5.93466719e-02 5.73516693e-03 9.98220958e-01 -2.57918210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5807140570001 meters 0.05480165888398301 Centerline is valid? [True, True] Translation: X:392.21, Y:-51.03, Z:-25.80 [[ 9.97468711e-01 4.10332102e-02 5.80727727e-02 3.92210362e+02] [-4.06493565e-02 9.99143212e-01 -7.77631603e-03 -5.10320386e+01] [-5.83421039e-02 5.39601108e-03 9.98282065e-01 -2.57967642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.640714057 meters 0.053832527580885955 Centerline is valid? [True, True] Translation: X:392.27, Y:-51.03, Z:-25.80 [[ 9.97361721e-01 4.44016062e-02 5.74290466e-02 3.92271061e+02] [-4.40318299e-02 9.99000540e-01 -7.68891165e-03 -5.10337396e+01] [-5.77130486e-02 5.13992014e-03 9.98319981e-01 -2.58006000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.700714057 meters 0.042300654226464375 Centerline is valid? [True, True] Translation: X:392.33, Y:-51.02, Z:-25.80 [[ 9.96967298e-01 5.15659264e-02 5.82851868e-02 3.92333727e+02] [-5.11971646e-02 9.98658077e-01 -7.80352662e-03 -5.10188511e+01] [-5.86093687e-02 4.79582454e-03 9.98269474e-01 -2.58033562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76071405700003 meters 0.041158785693080464 Centerline is valid? [True, True] Translation: X:392.39, Y:-51.02, Z:-25.81 [[ 9.96323349e-01 6.16375476e-02 5.95029154e-02 3.92393588e+02] [-6.12710130e-02 9.98089372e-01 -7.96667533e-03 -5.10168559e+01] [-5.98802738e-02 4.29158074e-03 9.98196341e-01 -2.58066545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82071405700003 meters 0.03556003308678547 Centerline is valid? [True, True] Translation: X:392.46, Y:-51.01, Z:-25.81 [[ 9.95342096e-01 7.47636275e-02 6.08647100e-02 3.92456106e+02] [-7.44046043e-02 9.97194856e-01 -8.14708357e-03 -5.10082528e+01] [-6.13030813e-02 3.58052057e-03 9.98112775e-01 -2.58092753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88071405700003 meters 0.03288342222416794 Centerline is valid? [True, True] Translation: X:392.52, Y:-51.01, Z:-25.81 [[ 9.94523676e-01 8.45621723e-02 6.14157661e-02 3.92515602e+02] [-8.42151798e-02 9.96413676e-01 -8.22125642e-03 -5.10071349e+01] [-6.18907166e-02 3.00409437e-03 9.98078411e-01 -2.58137620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94071405700004 meters 0.029878380262701443 Centerline is valid? [True, True] Translation: X:392.58, Y:-51.01, Z:-25.82 [[ 9.94261290e-01 8.88016357e-02 5.96553106e-02 3.92575880e+02] [-8.84819510e-02 9.96045778e-01 -7.98446132e-03 -5.10076297e+01] [-6.01284535e-02 2.66022255e-03 9.98187103e-01 -2.58191846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00071405700004 meters 0.0313298174336984 Centerline is valid? [True, True] Translation: X:392.63, Y:-51.02, Z:-25.82 [[ 9.94493894e-01 8.67485822e-02 5.87926801e-02 3.92633073e+02] [-8.64346386e-02 9.96226463e-01 -7.86684567e-03 -5.10186006e+01] [-5.92532615e-02 2.74180592e-03 9.98239217e-01 -2.58240793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06071405700004 meters 0.033245290139994804 Centerline is valid? [True, True] Translation: X:392.69, Y:-51.03, Z:-25.83 [[ 9.94890870e-01 8.20895442e-02 5.87661702e-02 3.92691886e+02] [-8.17680420e-02 9.96620402e-01 -7.85887610e-03 -5.10321755e+01] [-5.92126957e-02 3.01352942e-03 9.98240840e-01 -2.58281058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12071405700004 meters 0.037839894149365325 Centerline is valid? [True, True] Translation: X:392.75, Y:-51.05, Z:-25.83 [[ 9.95403338e-01 7.50958752e-02 5.94373924e-02 3.92749479e+02] [-7.47546407e-02 9.97170290e-01 -7.94713002e-03 -5.10499786e+01] [-5.98659985e-02 3.46737884e-03 9.98200400e-01 -2.58325218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18071405700005 meters 0.036835386802692216 Centerline is valid? [True, True] Translation: X:392.81, Y:-51.06, Z:-25.84 [[ 9.96041037e-01 6.63364494e-02 5.91754065e-02 3.92809077e+02] [-6.59828893e-02 9.97789393e-01 -7.91105883e-03 -5.10589012e+01] [-5.95693845e-02 3.97517495e-03 9.98216252e-01 -2.58363732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24071405700005 meters 0.03995368268453132 Centerline is valid? [True, True] Translation: X:392.87, Y:-51.07, Z:-25.84 [[ 9.96574265e-01 5.76448326e-02 5.93026782e-02 3.92867782e+02] [-5.72744378e-02 9.98326992e-01 -7.92816765e-03 -5.10737770e+01] [-5.96604823e-02 4.50448029e-03 9.98208564e-01 -2.58403368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30071405700005 meters 0.044214270898547306 Centerline is valid? [True, True] Translation: X:392.93, Y:-51.09, Z:-25.84 [[ 9.96914669e-01 5.09660800e-02 5.96959045e-02 3.92926853e+02] [-5.05788542e-02 9.98688183e-01 -7.98078433e-03 -5.10887396e+01] [-6.00243437e-02 4.93681052e-03 9.98184705e-01 -2.58439372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36071405700005 meters 0.046852039625758304 Centerline is valid? [True, True] Translation: X:392.99, Y:-51.10, Z:-25.85 [[ 9.97116347e-01 4.76851710e-02 5.90348602e-02 3.92986100e+02] [-4.73007705e-02 9.98849510e-01 -7.89259345e-03 -5.10999935e+01] [-5.93433008e-02 5.07743957e-03 9.98224720e-01 -2.58486727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42071405700005 meters 0.04941625851676041 Centerline is valid? [True, True] Translation: X:393.05, Y:-51.11, Z:-25.85 [[ 9.97123235e-01 4.82510556e-02 5.84558844e-02 3.93046805e+02] [-4.78752034e-02 9.98822760e-01 -7.81400994e-03 -5.11103663e+01] [-5.87641020e-02 4.99294351e-03 9.98259411e-01 -2.58532211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48071405700006 meters 0.04520512682001245 Centerline is valid? [True, True] Translation: X:393.11, Y:-51.11, Z:-25.86 [[ 9.97138443e-01 4.86969336e-02 5.78233071e-02 3.93109513e+02] [-4.83291064e-02 9.98801449e-01 -7.74355464e-03 -5.11092482e+01] [-5.81310903e-02 4.92684725e-03 9.98296801e-01 -2.58561284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54071405700006 meters 0.05268772437052626 Centerline is valid? [True, True] Translation: X:393.17, Y:-51.13, Z:-25.86 [[ 9.97157037e-01 4.83317695e-02 5.78090265e-02 3.93168953e+02] [-4.79626465e-02 9.98819013e-01 -7.75656993e-03 -5.11261022e+01] [-5.81156435e-02 4.96184438e-03 9.98297527e-01 -2.58606823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60071405700006 meters 0.046901800609417545 Centerline is valid? [True, True] Translation: X:393.23, Y:-51.12, Z:-25.86 [[ 9.97271255e-01 4.71735704e-02 5.67864240e-02 3.93231854e+02] [-4.68147346e-02 9.98874421e-01 -7.63357865e-03 -5.11234861e+01] [-5.70826095e-02 4.95430720e-03 9.98357166e-01 -2.58642525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66071405700006 meters 0.0500191126797003 Centerline is valid? [True, True] Translation: X:393.29, Y:-51.13, Z:-25.87 [[ 9.97497462e-01 4.46962356e-02 5.47819320e-02 3.93290198e+02] [-4.43583608e-02 9.98988507e-01 -7.36873101e-03 -5.11338234e+01] [-5.50558750e-02 4.92025378e-03 9.98471152e-01 -2.58700953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.72071405700007 meters 0.046713153480046433 Centerline is valid? [True, True] Translation: X:393.35, Y:-51.13, Z:-25.88 [[ 9.97600289e-01 4.55872468e-02 5.21101289e-02 3.93352779e+02] [-4.52829724e-02 9.98949636e-01 -7.00549480e-03 -5.11338556e+01] [-5.23747555e-02 4.62898211e-03 9.98616772e-01 -2.58757658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.78071405700007 meters 0.04431402840381174 Centerline is valid? [True, True] Translation: X:393.41, Y:-51.13, Z:-25.88 [[ 9.97342855e-01 5.14157550e-02 5.16105577e-02 3.93414332e+02] [-5.11241981e-02 9.98668089e-01 -6.95439327e-03 -5.11343379e+01] [-5.18993824e-02 4.29736606e-03 9.98643073e-01 -2.58781236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.84071405700007 meters 0.04224996994627559 Centerline is valid? [True, True] Translation: X:393.47, Y:-51.13, Z:-25.88 [[ 9.96763024e-01 5.98348645e-02 5.36960252e-02 3.93474302e+02] [-5.95312945e-02 9.98200208e-01 -7.23668208e-03 -5.11347829e+01] [-5.40323894e-02 4.01666322e-03 9.98531105e-01 -2.58794982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9007140570001 meters 0.03790739092805013 Centerline is valid? [True, True] Translation: X:393.54, Y:-51.13, Z:-25.88 [[ 9.96069431e-01 6.87362405e-02 5.58660763e-02 3.93536239e+02] [-6.84215995e-02 9.97628097e-01 -7.52766481e-03 -5.11314997e+01] [-5.62509907e-02 3.67563051e-03 9.98409894e-01 -2.58801056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9607140570001 meters 0.03418100255542237 Centerline is valid? [True, True] Translation: X:393.60, Y:-51.13, Z:-25.88 [[ 9.95522182e-01 7.57390294e-02 5.65613408e-02 3.93597386e+02] [-7.54276962e-02 9.97122142e-01 -7.62214074e-03 -5.11302575e+01] [-5.69758589e-02 3.32171855e-03 9.98370030e-01 -2.58832457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0207140570001 meters 0.03495346188560921 Centerline is valid? [True, True] Translation: X:393.65, Y:-51.14, Z:-25.89 [[ 9.95514327e-01 7.82345491e-02 5.32031939e-02 3.93654899e+02] [-7.79625984e-02 9.96930494e-01 -7.17107121e-03 -5.11362806e+01] [-5.36009119e-02 2.99104489e-03 9.98557958e-01 -2.58907579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0807140570001 meters 0.03484880350643493 Centerline is valid? [True, True] Translation: X:393.71, Y:-51.14, Z:-25.90 [[ 9.95557774e-01 7.80311641e-02 5.26863921e-02 3.93713461e+02] [-7.77643901e-02 9.96946499e-01 -7.09770890e-03 -5.11436870e+01] [-5.30793566e-02 2.96905412e-03 9.98585883e-01 -2.58956366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.140714057 meters 0.03488436699842752 Centerline is valid? [True, True] Translation: X:393.77, Y:-51.15, Z:-25.90 [[ 9.95640295e-01 7.73890569e-02 5.20705044e-02 3.93771795e+02] [-7.71278071e-02 9.96996563e-01 -7.01109216e-03 -5.11507208e+01] [-5.24566957e-02 2.96444205e-03 9.98618800e-01 -2.58995071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.200714057 meters 0.035811829184451166 Centerline is valid? [True, True] Translation: X:393.83, Y:-51.16, Z:-25.90 [[ 9.95502757e-01 7.83789183e-02 5.32071914e-02 3.93828629e+02] [-7.81077322e-02 9.96919210e-01 -7.16043270e-03 -5.11589728e+01] [-5.36044982e-02 2.97233744e-03 9.98557822e-01 -2.59029077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26071405700003 meters 0.035896932334059446 Centerline is valid? [True, True] Translation: X:393.89, Y:-51.17, Z:-25.91 [[ 9.95247298e-01 8.07317543e-02 5.44536454e-02 3.93888140e+02] [-8.04515129e-02 9.96731626e-01 -7.32259255e-03 -5.11651228e+01] [-5.48668363e-02 2.90691230e-03 9.98489449e-01 -2.59060910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32071405700003 meters 0.035950657879573814 Centerline is valid? [True, True] Translation: X:393.95, Y:-51.17, Z:-25.91 [[ 9.95116555e-01 8.21401951e-02 5.47360133e-02 3.93946449e+02] [-8.18591850e-02 9.96616728e-01 -7.36009670e-03 -5.11728687e+01] [-5.51553863e-02 2.84350863e-03 9.98473734e-01 -2.59114882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38071405700003 meters 0.03796009485363877 Centerline is valid? [True, True] Translation: X:394.01, Y:-51.18, Z:-25.92 [[ 9.95415912e-01 7.93082250e-02 5.34543578e-02 3.94005304e+02] [-7.90363854e-02 9.96845848e-01 -7.18368319e-03 -5.11844390e+01] [-5.38554798e-02 2.92591333e-03 9.98544454e-01 -2.59166975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44071405700004 meters 0.03556578790234157 Centerline is valid? [True, True] Translation: X:394.06, Y:-51.19, Z:-25.92 [[ 9.95957041e-01 7.22003916e-02 5.34478726e-02 3.94064730e+02] [-7.19184707e-02 9.97384657e-01 -7.18186792e-03 -5.11925430e+01] [-5.38266217e-02 3.30894266e-03 9.98544814e-01 -2.59200779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50071405700004 meters 0.03674434390910742 Centerline is valid? [True, True] Translation: X:394.12, Y:-51.20, Z:-25.92 [[ 9.96291291e-01 6.82221320e-02 5.24347536e-02 3.94123942e+02] [-6.79453632e-02 9.97664170e-01 -7.04500520e-03 -5.12042027e+01] [-5.27929002e-02 3.45617895e-03 9.98599502e-01 -2.59246576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56071405700004 meters 0.03882144454104754 Centerline is valid? [True, True] Translation: X:394.18, Y:-51.22, Z:-25.93 [[ 9.96342161e-01 6.60289332e-02 5.42446101e-02 3.94182051e+02] [-6.57294593e-02 9.97810863e-01 -7.28837826e-03 -5.12161233e+01] [-5.46071050e-02 3.69624965e-03 9.98501078e-01 -2.59268043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62071405700004 meters 0.03815563879959908 Centerline is valid? [True, True] Translation: X:394.24, Y:-51.22, Z:-25.93 [[ 9.96395768e-01 6.42412561e-02 5.53943637e-02 3.94242215e+02] [-6.39263867e-02 9.97926888e-01 -7.43930752e-03 -5.12243307e+01] [-5.57574354e-02 3.87133302e-03 9.98436839e-01 -2.59297354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68071405700005 meters 0.0403020436290372 Centerline is valid? [True, True] Translation: X:394.30, Y:-51.24, Z:-25.93 [[ 9.96639903e-01 6.08166379e-02 5.48656653e-02 3.94301582e+02] [-6.05026047e-02 9.98140844e-01 -7.36818186e-03 -5.12366607e+01] [-5.52117696e-02 4.02390839e-03 9.98466559e-01 -2.59342985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74071405700005 meters 0.043773952286468035 Centerline is valid? [True, True] Translation: X:394.36, Y:-51.25, Z:-25.94 [[ 9.96947930e-01 5.58224013e-02 5.45773168e-02 3.94361291e+02] [-5.55041959e-02 9.98431547e-01 -7.33002941e-03 -5.12511379e+01] [-5.49008947e-02 4.27838757e-03 9.98482642e-01 -2.59401911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80071405700005 meters 0.046211536286188445 Centerline is valid? [True, True] Translation: X:394.42, Y:-51.26, Z:-25.94 [[ 9.97126728e-01 5.22011664e-02 5.48937753e-02 3.94420785e+02] [-5.18737040e-02 9.98626425e-01 -7.37437748e-03 -5.12644523e+01] [-5.52033257e-02 4.50564543e-03 9.98464968e-01 -2.59444769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86071405700005 meters 0.04748688848764413 Centerline is valid? [True, True] Translation: X:394.48, Y:-51.28, Z:-25.95 [[ 9.97329918e-01 4.79022999e-02 5.51217228e-02 3.94480705e+02] [-4.75655957e-02 9.98840668e-01 -7.40494929e-03 -5.12751093e+01] [-5.54125326e-02 4.76327989e-03 9.98452183e-01 -2.59482648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92071405700005 meters 0.0465605802443771 Centerline is valid? [True, True] Translation: X:394.54, Y:-51.28, Z:-25.95 [[ 9.97502836e-01 4.42298585e-02 5.50618839e-02 3.94540020e+02] [-4.38882332e-02 9.99009049e-01 -7.39880011e-03 -5.12841945e+01] [-5.53345682e-02 4.96375529e-03 9.98455531e-01 -2.59525759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98071405700006 meters 0.04839394737251386 Centerline is valid? [True, True] Translation: X:394.60, Y:-51.30, Z:-25.96 [[ 9.97567797e-01 4.26754281e-02 5.51116939e-02 3.94600221e+02] [-4.23309056e-02 9.99076210e-01 -7.40417731e-03 -5.12961538e+01] [-5.53767586e-02 5.05324093e-03 9.98452743e-01 -2.59570097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04071405700006 meters 0.04788287828814014 Centerline is valid? [True, True] Translation: X:394.66, Y:-51.31, Z:-25.96 [[ 9.97687323e-01 4.09181719e-02 5.42743822e-02 3.94660094e+02] [-4.05813609e-02 9.99149615e-01 -7.29379688e-03 -5.13050523e+01] [-5.45266770e-02 5.07440038e-03 9.98499420e-01 -2.59615066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10071405700006 meters 0.04936980818869142 Centerline is valid? [True, True] Translation: X:394.72, Y:-51.32, Z:-25.97 [[ 9.97673327e-01 4.19078309e-02 5.37742121e-02 3.94719902e+02] [-4.15786494e-02 9.99109102e-01 -7.22624793e-03 -5.13179753e+01] [-5.40291411e-02 4.97357570e-03 9.98526973e-01 -2.59672667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16071405700006 meters 0.04735576991317986 Centerline is valid? [True, True] Translation: X:394.78, Y:-51.32, Z:-25.97 [[ 9.97472216e-01 4.58838981e-02 5.42572156e-02 3.94780444e+02] [-4.55540936e-02 9.98935198e-01 -7.30037668e-03 -5.13238464e+01] [-5.45344121e-02 4.81028463e-03 9.98500305e-01 -2.59706847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.22071405700007 meters 0.04572193822511932 Centerline is valid? [True, True] Translation: X:394.84, Y:-51.33, Z:-25.97 [[ 9.97228490e-01 5.03585686e-02 5.47663550e-02 3.94840617e+02] [-5.00291662e-02 9.98720564e-01 -7.37000245e-03 -5.13292590e+01] [-5.50674278e-02 4.60966134e-03 9.98471997e-01 -2.59742707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.28071405700007 meters 0.044970548467059425 Centerline is valid? [True, True] Translation: X:394.90, Y:-51.34, Z:-25.98 [[ 9.96995295e-01 5.41393381e-02 5.54013971e-02 3.94901295e+02] [-5.38080388e-02 9.98523466e-01 -7.45537360e-03 -5.13350903e+01] [-5.57232240e-02 4.45193188e-03 9.98436329e-01 -2.59772359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.34071405700007 meters 0.04231105000677241 Centerline is valid? [True, True] Translation: X:394.96, Y:-51.34, Z:-25.98 [[ 9.96877357e-01 5.53746727e-02 5.62954774e-02 3.94963728e+02] [-5.50346424e-02 9.98455721e-01 -7.57378436e-03 -5.13390776e+01] [-5.66279372e-02 4.45193267e-03 9.98385425e-01 -2.59813751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4007140570001 meters 0.043658549982279284 Centerline is valid? [True, True] Translation: X:395.02, Y:-51.35, Z:-25.99 [[ 9.96911625e-01 5.40968969e-02 5.69274781e-02 3.95024807e+02] [-5.37461871e-02 9.98525134e-01 -7.67489659e-03 -5.13500833e+01] [-5.72587058e-02 4.59155875e-03 9.98348816e-01 -2.59852422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4607140570001 meters 0.04382724972742752 Centerline is valid? [True, True] Translation: X:395.08, Y:-51.36, Z:-25.99 [[ 9.97199941e-01 5.00836429e-02 5.55329288e-02 3.95083984e+02] [-4.97434980e-02 9.98733930e-01 -7.49141609e-03 -5.13605335e+01] [-5.58378176e-02 4.70803755e-03 9.98428752e-01 -2.59901864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5207140570001 meters 0.04659462667818482 Centerline is valid? [True, True] Translation: X:395.14, Y:-51.37, Z:-26.00 [[ 9.97374605e-01 4.70911237e-02 5.50120374e-02 3.95142805e+02] [-4.67528139e-02 9.98878921e-01 -7.42131247e-03 -5.13740123e+01] [-5.52998424e-02 4.82986104e-03 9.98458111e-01 -2.59951099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5807140570001 meters 0.046954633441554185 Centerline is valid? [True, True] Translation: X:395.20, Y:-51.39, Z:-26.00 [[ 9.97662999e-01 4.19796185e-02 5.39096614e-02 3.95201880e+02] [-4.16473385e-02 9.99105903e-01 -7.27283377e-03 -5.13861069e+01] [-5.41667717e-02 5.01064324e-03 9.98519331e-01 -2.60001902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.640714057 meters 0.04734403013796215 Centerline is valid? [True, True] Translation: X:395.26, Y:-51.40, Z:-26.01 [[ 9.97708581e-01 4.21836777e-02 5.28973026e-02 3.95263013e+02] [-4.18642165e-02 9.99097845e-01 -7.13332082e-03 -5.13957664e+01] [-5.31504907e-02 4.90247127e-03 9.98574480e-01 -2.60050568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.700714057 meters 0.046555243895253395 Centerline is valid? [True, True] Translation: X:395.32, Y:-51.40, Z:-26.01 [[ 9.97589738e-01 4.64731302e-02 5.15263360e-02 3.95322909e+02] [-4.61748662e-02 9.98909093e-01 -6.96458876e-03 -5.14017351e+01] [-5.17937918e-02 4.56858061e-03 9.98647351e-01 -2.60088577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76071405700003 meters 0.0444996930274901 Centerline is valid? [True, True] Translation: X:395.38, Y:-51.41, Z:-26.01 [[ 9.97170948e-01 5.40422469e-02 5.22449585e-02 3.95383383e+02] [-5.37459006e-02 9.98529675e-01 -7.06166802e-03 -5.14052935e+01] [-5.25497698e-02 4.23373785e-03 9.98609332e-01 -2.60108029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82071405700003 meters 0.04219062594981439 Centerline is valid? [True, True] Translation: X:395.44, Y:-51.41, Z:-26.01 [[ 9.96603413e-01 6.25874309e-02 5.35205698e-02 3.95444217e+02] [-6.22886579e-02 9.98031960e-01 -7.23398946e-03 -5.14067087e+01] [-5.38679960e-02 3.87569412e-03 9.98540544e-01 -2.60130795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88071405700003 meters 0.03990028609787125 Centerline is valid? [True, True] Translation: X:395.50, Y:-51.41, Z:-26.02 [[ 9.95976869e-01 7.05293367e-02 5.52782820e-02 3.95504927e+02] [-7.02227579e-02 9.97503354e-01 -7.47142294e-03 -5.14079957e+01] [-5.56672262e-02 3.55957101e-03 9.98443033e-01 -2.60154793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94071405700004 meters 0.040906756602593054 Centerline is valid? [True, True] Translation: X:395.56, Y:-51.41, Z:-26.02 [[ 9.95747916e-01 7.36828973e-02 5.52894039e-02 3.95563563e+02] [-7.33810272e-02 9.97275979e-01 -7.47301680e-03 -5.14149260e+01] [-5.56894279e-02 3.38404766e-03 9.98442405e-01 -2.60191385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00071405700004 meters 0.04179984169670902 Centerline is valid? [True, True] Translation: X:395.62, Y:-51.42, Z:-26.02 [[ 9.95869727e-01 7.22530407e-02 5.49816759e-02 3.95622031e+02] [-7.19524600e-02 9.97380391e-01 -7.42955349e-03 -5.14243911e+01] [-5.53744533e-02 3.44280057e-03 9.98459722e-01 -2.60237585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06071405700004 meters 0.04086229023024648 Centerline is valid? [True, True] Translation: X:395.68, Y:-51.43, Z:-26.03 [[ 9.96326308e-01 6.69901708e-02 5.33498427e-02 3.95681638e+02] [-6.66997913e-02 9.97747061e-01 -7.20694143e-03 -5.14325851e+01] [-5.37124430e-02 3.62204197e-03 9.98549876e-01 -2.60287107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12071405700004 meters 0.04093086237731208 Centerline is valid? [True, True] Translation: X:395.74, Y:-51.44, Z:-26.03 [[ 9.96938254e-01 5.85693815e-02 5.18048792e-02 3.95741425e+02] [-5.82842854e-02 9.98275496e-01 -6.99827149e-03 -5.14420042e+01] [-5.21254260e-02 3.95743419e-03 9.98632705e-01 -2.60332660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18071405700005 meters 0.043738947420559386 Centerline is valid? [True, True] Translation: X:395.80, Y:-51.46, Z:-26.04 [[ 9.97404823e-01 5.08046815e-02 5.10147454e-02 3.95800256e+02] [-5.05181162e-02 9.98699365e-01 -6.89193755e-03 -5.14552513e+01] [-5.12985365e-02 4.29688292e-03 9.98674120e-01 -2.60374022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24071405700005 meters 0.05442561424328671 Centerline is valid? [True, True] Translation: X:395.86, Y:-51.48, Z:-26.04 [[ 9.97604708e-01 4.62651490e-02 5.14235577e-02 3.95857723e+02] [-4.59680371e-02 9.98918761e-01 -6.94613752e-03 -5.14778386e+01] [-5.16893206e-02 4.56565949e-03 9.98652777e-01 -2.60424492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30071405700005 meters 0.04729586272018795 Centerline is valid? [True, True] Translation: X:395.92, Y:-51.47, Z:-26.04 [[ 9.97559400e-01 4.68063090e-02 5.18113137e-02 3.95921676e+02] [-4.65054380e-02 9.98893523e-01 -6.99812581e-03 -5.14730547e+01] [-5.20815421e-02 4.57153835e-03 9.98632372e-01 -2.60426323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36071405700005 meters 0.04630675060585567 Centerline is valid? [True, True] Translation: X:395.98, Y:-51.48, Z:-26.05 [[ 9.97303169e-01 5.15789839e-02 5.22110921e-02 3.95981880e+02] [-5.12796235e-02 9.98659394e-01 -7.05799725e-03 -5.14769464e+01] [-5.25051419e-02 4.36159788e-03 9.98611129e-01 -2.60455700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42071405700005 meters 0.04351270631356361 Centerline is valid? [True, True] Translation: X:396.04, Y:-51.48, Z:-26.05 [[ 9.96840684e-01 6.01648387e-02 5.18540477e-02 3.96042580e+02] [-5.98810974e-02 9.98180905e-01 -7.00965739e-03 -5.14773989e+01] [-5.21814552e-02 3.88243439e-03 9.98630073e-01 -2.60494244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48071405700006 meters 0.03522663758100766 Centerline is valid? [True, True] Translation: X:396.11, Y:-51.47, Z:-26.05 [[ 9.96164952e-01 7.07178958e-02 5.15205532e-02 3.96105060e+02] [-7.04518397e-02 9.97490871e-01 -6.96424889e-03 -5.14687405e+01] [-5.18837785e-02 3.30782291e-03 9.98647652e-01 -2.60518469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54071405700006 meters 0.031953159014845994 Centerline is valid? [True, True] Translation: X:396.17, Y:-51.47, Z:-26.05 [[ 9.95261828e-01 8.22393806e-02 5.18707750e-02 3.96166108e+02] [-8.19852149e-02 9.96608875e-01 -7.01245960e-03 -5.14659254e+01] [-5.22715751e-02 2.72659672e-03 9.98629185e-01 -2.60548186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60071405700006 meters 0.029095264478478607 Centerline is valid? [True, True] Translation: X:396.23, Y:-51.46, Z:-26.06 [[ 9.94424878e-01 9.20571503e-02 5.14260879e-02 3.96227155e+02] [-9.18204215e-02 9.95751314e-01 -6.95205396e-03 -5.14633563e+01] [-5.18475809e-02 2.19133034e-03 9.98652605e-01 -2.60591778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66071405700006 meters 0.029954906918843834 Centerline is valid? [True, True] Translation: X:396.29, Y:-51.47, Z:-26.06 [[ 9.94556799e-01 9.11566179e-02 5.04702420e-02 3.96285330e+02] [-9.09274113e-02 9.95834144e-01 -6.82377230e-03 -5.14726096e+01] [-5.08820223e-02 2.19750067e-03 9.98702253e-01 -2.60649618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.72071405700007 meters 0.030941439571690564 Centerline is valid? [True, True] Translation: X:396.34, Y:-51.48, Z:-26.07 [[ 9.95300269e-01 8.35086434e-02 4.90273451e-02 3.96344444e+02] [-8.32833171e-02 9.96503891e-01 -6.62446898e-03 -5.14829955e+01] [-4.94091406e-02 2.51017583e-03 9.98775468e-01 -2.60690492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.78071405700007 meters 0.03517630501095108 Centerline is valid? [True, True] Translation: X:396.40, Y:-51.50, Z:-26.07 [[ 9.96037072e-01 7.35614878e-02 4.99885934e-02 3.96401356e+02] [-7.33147822e-02 9.97285983e-01 -6.75353584e-03 -5.15011373e+01] [-5.03497237e-02 3.06186923e-03 9.98726955e-01 -2.60725140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.84071405700007 meters 0.03860349823221587 Centerline is valid? [True, True] Translation: X:396.46, Y:-51.52, Z:-26.08 [[ 9.96642711e-01 6.42408048e-02 5.07585029e-02 3.96459945e+02] [-6.39744715e-02 9.97927984e-01 -6.85611478e-03 -5.15154991e+01] [-5.10937728e-02 3.58584843e-03 9.98687423e-01 -2.60751702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9007140570001 meters 0.04235490957623305 Centerline is valid? [True, True] Translation: X:396.52, Y:-51.53, Z:-26.08 [[ 9.97031002e-01 5.79597818e-02 5.06936294e-02 3.96518969e+02] [-5.76860535e-02 9.98311290e-01 -6.84742560e-03 -5.15289477e+01] [-5.10048978e-02 3.90278020e-03 9.98690777e-01 -2.60791116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9607140570001 meters 0.04096491117345157 Centerline is valid? [True, True] Translation: X:396.58, Y:-51.53, Z:-26.08 [[ 9.97115315e-01 5.70730699e-02 5.00371116e-02 3.96578650e+02] [-5.68053084e-02 9.98362401e-01 -6.75826564e-03 -5.15339526e+01] [-5.03408858e-02 3.89639662e-03 9.98724493e-01 -2.60838365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0207140570001 meters 0.041070786699534394 Centerline is valid? [True, True] Translation: X:396.64, Y:-51.54, Z:-26.09 [[ 9.97031427e-01 6.00024287e-02 4.82497919e-02 3.96638855e+02] [-5.97569277e-02 9.98191691e-01 -6.51590175e-03 -5.15379468e+01] [-4.85535113e-02 3.61329949e-03 9.98814047e-01 -2.60880406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0807140570001 meters 0.040369547850676375 Centerline is valid? [True, True] Translation: X:396.70, Y:-51.54, Z:-26.09 [[ 9.96754016e-01 6.38021663e-02 4.90990365e-02 3.96699092e+02] [-6.35525528e-02 9.97956471e-01 -6.62991539e-03 -5.15419504e+01] [-4.94217041e-02 3.48802568e-03 9.98771910e-01 -2.60916626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.140714057 meters 0.03992291883408456 Centerline is valid? [True, True] Translation: X:396.76, Y:-51.55, Z:-26.09 [[ 9.96406080e-01 6.81687882e-02 5.02786264e-02 3.96758062e+02] [-6.79125474e-02 9.97668177e-01 -6.78927694e-03 -5.15457577e+01] [-5.06242024e-02 3.35032722e-03 9.98712153e-01 -2.60946441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.200714057 meters 0.03957424109004198 Centerline is valid? [True, True] Translation: X:396.82, Y:-51.55, Z:-26.10 [[ 9.96105985e-01 7.15919757e-02 5.14534318e-02 3.96818842e+02] [-7.13282184e-02 9.97428709e-01 -6.94660436e-03 -5.15493974e+01] [-5.18184511e-02 3.24947257e-03 9.98651235e-01 -2.60974235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26071405700003 meters 0.04093161317894615 Centerline is valid? [True, True] Translation: X:396.88, Y:-51.56, Z:-26.10 [[ 9.96073023e-01 7.17325599e-02 5.18938605e-02 3.96876074e+02] [-7.14644115e-02 9.97418539e-01 -7.00685381e-03 -5.15585323e+01] [-5.22625181e-02 3.27077385e-03 9.98628024e-01 -2.61016500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32071405700003 meters 0.03748097105411278 Centerline is valid? [True, True] Translation: X:396.94, Y:-51.56, Z:-26.10 [[ 9.96220378e-01 7.02301334e-02 5.11144561e-02 3.96935381e+02] [-6.99682629e-02 9.97525376e-01 -6.89689329e-03 -5.15613685e+01] [-5.14723367e-02 3.29443594e-03 9.98668987e-01 -2.61049624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38071405700003 meters 0.0405379673581057 Centerline is valid? [True, True] Translation: X:396.99, Y:-51.58, Z:-26.11 [[ 9.96289647e-01 6.98108487e-02 5.03327322e-02 3.96991016e+02] [-6.95565015e-02 9.97554909e-01 -6.78946729e-03 -5.15755476e+01] [-5.06836426e-02 3.26330721e-03 9.98709427e-01 -2.61107510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44071405700004 meters 0.03701975508022284 Centerline is valid? [True, True] Translation: X:397.05, Y:-51.58, Z:-26.11 [[ 9.96190048e-01 7.11695380e-02 5.04012458e-02 3.97050100e+02] [-7.09165258e-02 9.97459124e-01 -6.79284403e-03 -5.15783042e+01] [-5.07566260e-02 3.19268237e-03 9.98705949e-01 -2.61129932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50071405700004 meters 0.03648940999872135 Centerline is valid? [True, True] Translation: X:397.11, Y:-51.58, Z:-26.12 [[ 9.95904868e-01 7.53503303e-02 4.99581910e-02 3.97109940e+02] [-7.51072149e-02 9.97152763e-01 -6.72860726e-03 -5.15841907e+01] [-5.03229509e-02 2.94883214e-03 9.98728644e-01 -2.61163550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56071405700004 meters 0.03522731703442488 Centerline is valid? [True, True] Translation: X:397.17, Y:-51.59, Z:-26.12 [[ 9.95457855e-01 8.04673738e-02 5.08788737e-02 3.97169879e+02] [-8.02218721e-02 9.96753478e-01 -6.85239134e-03 -5.15902050e+01] [-5.12650883e-02 2.73966829e-03 9.98681323e-01 -2.61196789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62071405700004 meters 0.03419339081611199 Centerline is valid? [True, True] Translation: X:397.23, Y:-51.60, Z:-26.12 [[ 9.94944531e-01 8.56914129e-02 5.23675679e-02 3.97230307e+02] [-8.54385319e-02 9.96318481e-01 -7.05280536e-03 -5.15968214e+01] [-5.27791405e-02 2.54294201e-03 9.98602972e-01 -2.61218695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68071405700005 meters 0.03090645408916192 Centerline is valid? [True, True] Translation: X:397.29, Y:-51.60, Z:-26.12 [[ 9.94535500e-01 8.93787824e-02 5.39497213e-02 3.97289698e+02] [-8.91157685e-02 9.95994771e-01 -7.26610874e-03 -5.16016904e+01] [-5.43830763e-02 2.41863221e-03 9.98517216e-01 -2.61235786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74071405700005 meters 0.028604469616666565 Centerline is valid? [True, True] Translation: X:397.35, Y:-51.61, Z:-26.13 [[ 9.94242963e-01 9.17577504e-02 5.53303352e-02 3.97347981e+02] [-9.14848555e-02 9.95778597e-01 -7.45034504e-03 -5.16101578e+01] [-5.57803905e-02 2.34556541e-03 9.98440307e-01 -2.61266703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80071405700005 meters 0.029394013917454408 Centerline is valid? [True, True] Translation: X:397.40, Y:-51.63, Z:-26.13 [[ 9.94270472e-01 9.14965317e-02 5.52685634e-02 3.97403288e+02] [-9.12240394e-02 9.95802612e-01 -7.43852616e-03 -5.16274626e+01] [-5.57171791e-02 2.35408531e-03 9.98443816e-01 -2.61315268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86071405700005 meters 0.028447126730057726 Centerline is valid? [True, True] Translation: X:397.46, Y:-51.64, Z:-26.14 [[ 9.94588124e-01 8.83825315e-02 5.46167752e-02 3.97461406e+02] [-8.81121866e-02 9.96083493e-01 -7.34291393e-03 -5.16410497e+01] [-5.50518536e-02 2.49077150e-03 9.98480390e-01 -2.61366578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92071405700005 meters 0.03142859479601213 Centerline is valid? [True, True] Translation: X:397.52, Y:-51.66, Z:-26.14 [[ 9.94724622e-01 8.68784205e-02 5.45441699e-02 3.97517426e+02] [-8.66066228e-02 9.96215609e-01 -7.33164469e-03 -5.16565589e+01] [-5.49747152e-02 2.56908114e-03 9.98484442e-01 -2.61413908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98071405700006 meters 0.03373964257705594 Centerline is valid? [True, True] Translation: X:397.58, Y:-51.68, Z:-26.14 [[ 9.95279740e-01 7.98530441e-02 5.51518879e-02 3.97575471e+02] [-7.95647137e-02 9.96802179e-01 -7.40755749e-03 -5.16754621e+01] [-5.55670381e-02 2.98444773e-03 9.98450498e-01 -2.61447601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04071405700006 meters 0.03661186047454897 Centerline is valid? [True, True] Translation: X:397.63, Y:-51.69, Z:-26.15 [[ 9.95773194e-01 7.35231003e-02 5.50463395e-02 3.97633785e+02] [-7.32262970e-02 9.97287954e-01 -7.39229304e-03 -5.16949197e+01] [-5.54405556e-02 3.33020765e-03 9.98456436e-01 -2.61489591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10071405700006 meters 0.039910319670860006 Centerline is valid? [True, True] Translation: X:397.69, Y:-51.71, Z:-26.15 [[ 9.96145518e-01 6.87472600e-02 5.44786309e-02 3.97690945e+02] [-6.84494402e-02 9.97627761e-01 -7.31611580e-03 -5.17132149e+01] [-5.48523575e-02 3.55888418e-03 9.98488134e-01 -2.61541825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16071405700006 meters 0.03738270932534334 Centerline is valid? [True, True] Translation: X:397.75, Y:-51.72, Z:-26.16 [[ 9.96137270e-01 6.72626991e-02 5.64470469e-02 3.97750132e+02] [-6.69405592e-02 9.97728167e-01 -7.58062093e-03 -5.17231117e+01] [-5.68287017e-02 3.77274216e-03 9.98376815e-01 -2.61553861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.22071405700007 meters 0.038732398809849744 Centerline is valid? [True, True] Translation: X:397.81, Y:-51.74, Z:-26.16 [[ 9.96088780e-01 6.73656073e-02 5.71753171e-02 3.97809165e+02] [-6.70353335e-02 9.97721066e-01 -7.67712299e-03 -5.17395838e+01] [-5.75621923e-02 3.81432962e-03 9.98334636e-01 -2.61588893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.28071405700007 meters 0.03546986192797249 Centerline is valid? [True, True] Translation: X:397.87, Y:-51.75, Z:-26.16 [[ 9.96043449e-01 6.89001042e-02 5.61268550e-02 3.97869485e+02] [-6.85842140e-02 9.97616857e-01 -7.53735963e-03 -5.17477824e+01] [-5.65124216e-02 3.65812144e-03 9.98395194e-01 -2.61638303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.34071405700007 meters 0.03616041408743902 Centerline is valid? [True, True] Translation: X:397.93, Y:-51.76, Z:-26.17 [[ 9.95939741e-01 7.08887897e-02 5.54870366e-02 3.97928331e+02] [-7.05830933e-02 9.97478065e-01 -7.45228336e-03 -5.17587161e+01] [-5.58753853e-02 3.50557848e-03 9.98431596e-01 -2.61686180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4007140570001 meters 0.03483896382366519 Centerline is valid? [True, True] Translation: X:397.99, Y:-51.77, Z:-26.17 [[ 9.95656883e-01 7.55133451e-02 5.44527879e-02 3.97987549e+02] [-7.52258337e-02 9.97139703e-01 -7.31340904e-03 -5.17675510e+01] [-5.48492968e-02 3.18538968e-03 9.98489563e-01 -2.61732995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4607140570001 meters 0.03331930680922114 Centerline is valid? [True, True] Translation: X:398.05, Y:-51.78, Z:-26.17 [[ 9.95291249e-01 7.93969520e-02 5.56008481e-02 3.98047753e+02] [-7.91032159e-02 9.96838462e-01 -7.46745794e-03 -5.17750330e+01] [-5.60179573e-02 3.03408965e-03 9.98425151e-01 -2.61749790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5207140570001 meters 0.032262753794637784 Centerline is valid? [True, True] Translation: X:398.11, Y:-51.78, Z:-26.18 [[ 9.94857745e-01 8.39438727e-02 5.66700428e-02 3.98107826e+02] [-8.36460955e-02 9.96466462e-01 -7.61051026e-03 -5.17820324e+01] [-5.71086528e-02 2.83114726e-03 9.98363955e-01 -2.61781234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5807140570001 meters 0.03082083540457365 Centerline is valid? [True, True] Translation: X:398.17, Y:-51.79, Z:-26.18 [[ 9.94677031e-01 8.61644866e-02 5.65091591e-02 3.98165913e+02] [-8.58719539e-02 9.96277276e-01 -7.58920987e-03 -5.17891225e+01] [-5.69527115e-02 2.69626083e-03 9.98373236e-01 -2.61822210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.640714057 meters 0.030024131884278576 Centerline is valid? [True, True] Translation: X:398.22, Y:-51.80, Z:-26.19 [[ 9.94786657e-01 8.45285651e-02 5.70476093e-02 3.98223520e+02] [-8.42279711e-02 9.96417087e-01 -7.65754709e-03 -5.17967955e+01] [-5.74904941e-02 2.81262128e-03 9.98342092e-01 -2.61855207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.700714057 meters 0.03824506845218836 Centerline is valid? [True, True] Translation: X:398.28, Y:-51.82, Z:-26.19 [[ 9.95394535e-01 7.74605245e-02 5.64764207e-02 3.98279879e+02] [-7.71549286e-02 9.96990340e-01 -7.57485061e-03 -5.18199353e+01] [-5.68931978e-02 3.18253070e-03 9.98375198e-01 -2.61909166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76071405700003 meters 0.03675375071096474 Centerline is valid? [True, True] Translation: X:398.34, Y:-51.83, Z:-26.19 [[ 9.95895914e-01 7.12878815e-02 5.57616905e-02 3.98339164e+02] [-7.09802438e-02 9.97449670e-01 -7.48074669e-03 -5.18278148e+01] [-5.61527664e-02 3.49206667e-03 9.98416082e-01 -2.61948514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82071405700003 meters 0.038251968369021325 Centerline is valid? [True, True] Translation: X:398.40, Y:-51.84, Z:-26.20 [[ 9.96122237e-01 6.67262029e-02 5.73419850e-02 3.98399071e+02] [-6.63933943e-02 9.97763877e-01 -7.69172051e-03 -5.18396419e+01] [-5.77270006e-02 3.85476482e-03 9.98324964e-01 -2.61976559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88071405700003 meters 0.0385201490282622 Centerline is valid? [True, True] Translation: X:398.46, Y:-51.85, Z:-26.20 [[ 9.96291622e-01 6.28676442e-02 5.87423527e-02 3.98459199e+02] [-6.25116750e-02 9.98013126e-01 -7.87976775e-03 -5.18478833e+01] [-5.91210215e-02 4.17846373e-03 9.98242078e-01 -2.62003271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94071405700004 meters 0.040467822918942804 Centerline is valid? [True, True] Translation: X:398.52, Y:-51.86, Z:-26.20 [[ 9.96571059e-01 5.87067874e-02 5.83064169e-02 3.98518110e+02] [-5.83489908e-02 9.98265605e-01 -7.82162682e-03 -5.18594883e+01] [-5.86644731e-02 4.39268634e-03 9.98268092e-01 -2.62047107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00071405700004 meters 0.04040239969371496 Centerline is valid? [True, True] Translation: X:398.58, Y:-51.87, Z:-26.21 [[ 9.96937617e-01 5.37888794e-02 5.67639270e-02 3.98578427e+02] [-5.34419366e-02 9.98541934e-01 -7.61354417e-03 -5.18684112e+01] [-5.70906855e-02 4.55665440e-03 9.98358598e-01 -2.62094757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06071405700004 meters 0.046276995006208854 Centerline is valid? [True, True] Translation: X:398.64, Y:-51.88, Z:-26.21 [[ 9.97126522e-01 5.08513677e-02 5.61501351e-02 3.98636220e+02] [-5.05071615e-02 9.98695288e-01 -7.53321352e-03 -5.18845872e+01] [-5.64599496e-02 4.67558305e-03 9.98393917e-01 -2.62149343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12071405700004 meters 0.040596091328528636 Centerline is valid? [True, True] Translation: X:398.70, Y:-51.88, Z:-26.22 [[ 9.96784460e-01 5.70075583e-02 5.63105574e-02 3.98697490e+02] [-5.66711865e-02 9.98364321e-01 -7.55372183e-03 -5.18813825e+01] [-5.66490707e-02 4.33824644e-03 9.98384727e-01 -2.62178583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18071405700005 meters 0.03840146045183975 Centerline is valid? [True, True] Translation: X:398.76, Y:-51.88, Z:-26.22 [[ 9.96461887e-01 6.24654785e-02 5.62296355e-02 3.98758630e+02] [-6.21386566e-02 9.98039017e-01 -7.54374044e-03 -5.18834025e+01] [-5.65905935e-02 4.02301582e-03 9.98389363e-01 -2.62216082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24071405700005 meters 0.03683113536398477 Centerline is valid? [True, True] Translation: X:398.82, Y:-51.88, Z:-26.22 [[ 9.95718324e-01 7.22607682e-02 5.76489366e-02 3.98818724e+02] [-7.19334876e-02 9.97379438e-01 -7.73496658e-03 -5.18832273e+01] [-5.80567986e-02 3.55495889e-03 9.98306952e-01 -2.62241070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30071405700005 meters 0.03432962039484263 Centerline is valid? [True, True] Translation: X:398.88, Y:-51.88, Z:-26.23 [[ 9.95503879e-01 7.41936696e-02 5.88840074e-02 3.98879548e+02] [-7.38556398e-02 9.97237657e-01 -7.89934941e-03 -5.18843498e+01] [-5.93074313e-02 3.51491694e-03 9.98233577e-01 -2.62263932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36071405700005 meters 0.034289840374846295 Centerline is valid? [True, True] Translation: X:398.94, Y:-51.89, Z:-26.23 [[ 9.95599690e-01 7.40883646e-02 5.73774438e-02 3.98939754e+02] [-7.37672596e-02 9.97245779e-01 -7.69724237e-03 -5.18900359e+01] [-5.77896897e-02 3.43079533e-03 9.98322884e-01 -2.62317048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42071405700005 meters 0.03286821456116058 Centerline is valid? [True, True] Translation: X:399.00, Y:-51.89, Z:-26.24 [[ 9.95597487e-01 7.58655311e-02 5.50460212e-02 3.98999866e+02] [-7.55727178e-02 9.97112948e-01 -7.38464678e-03 -5.18927198e+01] [-5.54473407e-02 3.19215835e-03 9.98456510e-01 -2.62372537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48071405700006 meters 0.0326546167412303 Centerline is valid? [True, True] Translation: X:399.06, Y:-51.90, Z:-26.24 [[ 9.95270834e-01 7.93264556e-02 5.60649663e-02 3.99058649e+02] [-7.90282072e-02 9.96844013e-01 -7.52043036e-03 -5.18973485e+01] [-5.64845950e-02 3.05415123e-03 9.98398799e-01 -2.62403962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54071405700006 meters 0.03295493537627793 Centerline is valid? [True, True] Translation: X:399.12, Y:-51.90, Z:-26.24 [[ 9.94935480e-01 8.15915834e-02 5.87043844e-02 3.99117943e+02] [-8.12686130e-02 9.96661146e-01 -7.87223427e-03 -5.19019603e+01] [-5.91506871e-02 3.06154129e-03 9.98244370e-01 -2.62418910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60071405700006 meters 0.03133128797596301 Centerline is valid? [True, True] Translation: X:399.18, Y:-51.91, Z:-26.24 [[ 9.94736687e-01 8.25026509e-02 6.07637738e-02 3.99176957e+02] [-8.21584126e-02 9.96585989e-01 -8.14628006e-03 -5.19063320e+01] [-6.12284153e-02 3.11114844e-03 9.98118932e-01 -2.62438351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66071405700006 meters 0.03283882937933135 Centerline is valid? [True, True] Translation: X:399.23, Y:-51.91, Z:-26.25 [[ 9.94696522e-01 8.27718729e-02 6.10544494e-02 3.99234513e+02] [-8.24251049e-02 9.96563684e-01 -8.18085043e-03 -5.19143088e+01] [-6.15217913e-02 3.10504408e-03 9.98100911e-01 -2.62480397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.72071405700007 meters 0.03391458802944458 Centerline is valid? [True, True] Translation: X:399.29, Y:-51.93, Z:-26.25 [[ 9.95039178e-01 7.94547081e-02 5.98663854e-02 3.99293700e+02] [-7.91156742e-02 9.96833212e-01 -8.01612579e-03 -5.19251310e+01] [-6.03137201e-02 3.23998977e-03 9.98174212e-01 -2.62540831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.78071405700007 meters 0.032957975761674654 Centerline is valid? [True, True] Translation: X:399.35, Y:-51.93, Z:-26.26 [[ 9.95195033e-01 7.74914796e-02 5.98491159e-02 3.99352302e+02] [-7.71491594e-02 9.96987362e-01 -8.01291061e-03 -5.19319764e+01] [-6.02897445e-02 3.35709985e-03 9.98175274e-01 -2.62584261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.84071405700007 meters 0.038891171685540155 Centerline is valid? [True, True] Translation: X:399.41, Y:-51.95, Z:-26.26 [[ 9.95643421e-01 7.17787817e-02 5.95145759e-02 3.99409716e+02] [-7.14303295e-02 9.97413792e-01 -7.96459051e-03 -5.19509814e+01] [-5.99323475e-02 3.67874637e-03 9.98195662e-01 -2.62644827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9007140570001 meters 0.03646251962386447 Centerline is valid? [True, True] Translation: X:399.47, Y:-51.96, Z:-26.27 [[ 9.95947083e-01 6.67392833e-02 6.02932530e-02 3.99470092e+02] [-6.63724093e-02 9.97762290e-01 -8.06943979e-03 -5.19556702e+01] [-6.06968828e-02 4.03492656e-03 9.98148089e-01 -2.62671078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9607140570001 meters 0.03845346656423211 Centerline is valid? [True, True] Translation: X:399.53, Y:-51.97, Z:-26.27 [[ 9.95854085e-01 6.69487053e-02 6.15833807e-02 3.99529758e+02] [-6.65663606e-02 9.97747961e-01 -8.24170525e-03 -5.19680517e+01] [-6.19964640e-02 4.10815431e-03 9.98067914e-01 -2.62706382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0207140570001 meters 0.03645819841078783 Centerline is valid? [True, True] Translation: X:399.59, Y:-51.97, Z:-26.27 [[ 9.95662944e-01 6.88666778e-02 6.25514381e-02 3.99590767e+02] [-6.84750006e-02 9.97617582e-01 -8.38650535e-03 -5.19732016e+01] [-6.29799653e-02 4.06692284e-03 9.98006505e-01 -2.62735760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0807140570001 meters 0.0351411426228754 Centerline is valid? [True, True] Translation: X:399.65, Y:-51.98, Z:-26.28 [[ 9.95576547e-01 7.08693311e-02 6.16836908e-02 3.99652145e+02] [-7.04921508e-02 9.97478032e-01 -8.27234663e-03 -5.19801408e+01] [-6.21143822e-02 3.88753826e-03 9.98061466e-01 -2.62789885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.140714057 meters 0.034054463809913185 Centerline is valid? [True, True] Translation: X:399.71, Y:-51.99, Z:-26.28 [[ 9.95560682e-01 7.23678756e-02 6.01815554e-02 3.99712332e+02] [-7.20113884e-02 9.97371127e-01 -8.07427933e-03 -5.19881410e+01] [-6.06076642e-02 3.70467767e-03 9.98154791e-01 -2.62849505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.200714057 meters 0.03444499350014042 Centerline is valid? [True, True] Translation: X:399.77, Y:-52.00, Z:-26.29 [[ 9.95428793e-01 7.44995060e-02 5.97607063e-02 3.99772092e+02] [-7.41517468e-02 9.97214728e-01 -8.01899647e-03 -5.19966564e+01] [-6.01916678e-02 3.55097922e-03 9.98180522e-01 -2.62889289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26071405700003 meters 0.0341487231647026 Centerline is valid? [True, True] Translation: X:399.83, Y:-52.00, Z:-26.29 [[ 9.95085164e-01 7.83372348e-02 6.05705634e-02 3.99832029e+02] [-7.79870451e-02 9.96921241e-01 -8.12773881e-03 -5.20037432e+01] [-6.10207858e-02 3.36407305e-03 9.98130826e-01 -2.62919197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32071405700003 meters 0.0318778183027649 Centerline is valid? [True, True] Translation: X:399.89, Y:-52.01, Z:-26.29 [[ 9.94692369e-01 8.17493422e-02 6.24830805e-02 3.99891763e+02] [-8.13834400e-02 9.96647611e-01 -8.38306575e-03 -5.20100070e+01] [-6.29589230e-02 3.25348349e-03 9.98010816e-01 -2.62944741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38071405700003 meters 0.034125482755480135 Centerline is valid? [True, True] Translation: X:399.95, Y:-52.02, Z:-26.30 [[ 9.94641269e-01 8.23575598e-02 6.24978316e-02 3.99949414e+02] [-8.19927510e-02 9.96597661e-01 -8.38393304e-03 -5.20238411e+01] [-6.29756730e-02 3.21463665e-03 9.98009885e-01 -2.62986105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44071405700004 meters 0.0370496858527515 Centerline is valid? [True, True] Translation: X:400.01, Y:-52.04, Z:-26.30 [[ 9.94996104e-01 7.82617274e-02 6.21116311e-02 4.00006279e+02] [-7.78936077e-02 9.96926877e-01 -8.32989372e-03 -5.20411068e+01] [-6.25726663e-02 3.45011277e-03 9.98034447e-01 -2.63048764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50071405700004 meters 0.03479479780155528 Centerline is valid? [True, True] Translation: X:400.07, Y:-52.05, Z:-26.31 [[ 9.95131918e-01 7.65680898e-02 6.20466992e-02 4.00066103e+02] [-7.61975764e-02 9.97058031e-01 -8.31935471e-03 -5.20485070e+01] [-6.25011569e-02 3.55104731e-03 9.98038574e-01 -2.63093979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56071405700004 meters 0.036379406325508276 Centerline is valid? [True, True] Translation: X:400.13, Y:-52.06, Z:-26.31 [[ 9.95545987e-01 7.22226847e-02 6.05976209e-02 4.00125291e+02] [-7.18612851e-02 9.97381541e-01 -8.12504734e-03 -5.20625267e+01] [-6.10257613e-02 3.73423536e-03 9.98129206e-01 -2.63142555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62071405700004 meters 0.03754053870291167 Centerline is valid? [True, True] Translation: X:400.19, Y:-52.08, Z:-26.32 [[ 9.95824497e-01 6.87475779e-02 6.00611522e-02 4.00185356e+02] [-6.83862631e-02 9.97626416e-01 -8.05318637e-03 -5.20757910e+01] [-6.04722290e-02 3.91220251e-03 9.98162213e-01 -2.63192611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68071405700005 meters 0.04150467059898667 Centerline is valid? [True, True] Translation: X:400.24, Y:-52.09, Z:-26.32 [[ 9.96187989e-01 6.40923323e-02 5.91748540e-02 4.00242856e+02] [-6.37333149e-02 9.97935407e-01 -7.93656083e-03 -5.20917818e+01] [-5.95613547e-02 4.13489697e-03 9.98216083e-01 -2.63236597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74071405700005 meters 0.04155245611076158 Centerline is valid? [True, True] Translation: X:400.30, Y:-52.10, Z:-26.33 [[ 9.96422847e-01 6.06493365e-02 5.88486945e-02 4.00302403e+02] [-6.02882778e-02 9.98149799e-01 -7.89321873e-03 -5.21000646e+01] [-5.92185310e-02 4.31709704e-03 9.98235708e-01 -2.63271718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80071405700005 meters 0.044616593906198154 Centerline is valid? [True, True] Translation: X:400.36, Y:-52.11, Z:-26.33 [[ 9.96801442e-01 5.36423000e-02 5.92401028e-02 4.00361553e+02] [-5.32641047e-02 9.98548845e-01 -7.94597563e-03 -5.21135946e+01] [-5.95803766e-02 4.76518893e-03 9.98212138e-01 -2.63300477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86071405700005 meters 0.045291372600010066 Centerline is valid? [True, True] Translation: X:400.42, Y:-52.12, Z:-26.33 [[ 9.97027376e-01 5.04714936e-02 5.82154623e-02 4.00421579e+02] [-5.01009105e-02 9.98713634e-01 -7.80874185e-03 -5.21213713e+01] [-5.85346948e-02 4.86888174e-03 9.98273501e-01 -2.63343475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92071405700005 meters 0.04388074397672856 Centerline is valid? [True, True] Translation: X:400.48, Y:-52.13, Z:-26.34 [[ 9.97095704e-01 5.02808108e-02 5.72013668e-02 4.00483483e+02] [-4.99228236e-02 9.98723618e-01 -7.67115166e-03 -5.21254578e+01] [-5.75140677e-02 4.79321863e-03 9.98333189e-01 -2.63380946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98071405700006 meters 0.043344331129012786 Centerline is valid? [True, True] Translation: X:400.54, Y:-52.13, Z:-26.34 [[ 9.96964768e-01 5.24387184e-02 5.75450471e-02 4.00544451e+02] [-5.20790212e-02 9.98613021e-01 -7.73372687e-03 -5.21302598e+01] [-5.78707801e-02 4.71336348e-03 9.98312955e-01 -2.63411292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04071405700006 meters 0.04192768538876042 Centerline is valid? [True, True] Translation: X:400.60, Y:-52.13, Z:-26.34 [[ 9.96789248e-01 5.66169642e-02 5.66190271e-02 4.00604772e+02] [-5.62753912e-02 9.98386279e-01 -7.61043314e-03 -5.21317601e+01] [-5.69585394e-02 4.39974003e-03 9.98366850e-01 -2.63445281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10071405700006 meters 0.040831872990888 Centerline is valid? [True, True] Translation: X:400.67, Y:-52.13, Z:-26.35 [[ 9.96555157e-01 6.20850536e-02 5.49842341e-02 4.00666042e+02] [-6.17712196e-02 9.98062972e-01 -7.39058634e-03 -5.21336494e+01] [-5.53365730e-02 3.96868374e-03 9.98459871e-01 -2.63490230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16071405700006 meters 0.03968983280404174 Centerline is valid? [True, True] Translation: X:400.73, Y:-52.14, Z:-26.35 [[ 9.96183229e-01 6.83720642e-02 5.42608026e-02 4.00726268e+02] [-6.80756797e-02 9.97653497e-01 -7.29400467e-03 -5.21355238e+01] [-5.46321856e-02 3.57232411e-03 9.98500157e-01 -2.63530005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.22071405700007 meters 0.03432819920969086 Centerline is valid? [True, True] Translation: X:400.79, Y:-52.13, Z:-26.36 [[ 9.95769257e-01 7.48500653e-02 5.33015512e-02 4.00787683e+02] [-7.45733019e-02 9.97189792e-01 -7.16526403e-03 -5.21311064e+01] [-5.36880833e-02 3.16007696e-03 9.98552755e-01 -2.63554965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.28071405700007 meters 0.032126643790411816 Centerline is valid? [True, True] Translation: X:400.85, Y:-52.13, Z:-26.36 [[ 9.95270902e-01 8.12920130e-02 5.31736787e-02 4.00847702e+02] [-8.10258175e-02 9.96686382e-01 -7.14646640e-03 -5.21320103e+01] [-5.35784321e-02 2.80422927e-03 9.98559707e-01 -2.63589752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.34071405700007 meters 0.029834937886783316 Centerline is valid? [True, True] Translation: X:400.91, Y:-52.13, Z:-26.36 [[ 9.94805559e-01 8.63390014e-02 5.39210185e-02 4.00908049e+02] [-8.60727405e-02 9.96262511e-01 -7.24521848e-03 -5.21339583e+01] [-5.43450342e-02 2.56645379e-03 9.98518919e-01 -2.63615573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4007140570001 meters 0.031296412688826054 Centerline is valid? [True, True] Translation: X:400.96, Y:-52.14, Z:-26.36 [[ 9.94560155e-01 8.84380320e-02 5.50346511e-02 4.00964987e+02] [-8.81638367e-02 9.96078536e-01 -7.39509391e-03 -5.21437516e+01] [-5.54728423e-02 2.50279975e-03 9.98457060e-01 -2.63646217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4607140570001 meters 0.03262126942728526 Centerline is valid? [True, True] Translation: X:401.02, Y:-52.16, Z:-26.37 [[ 9.94650632e-01 8.67762945e-02 5.60356566e-02 4.01021617e+02] [-8.64896780e-02 9.96224331e-01 -7.52454806e-03 -5.21559456e+01] [-5.64770369e-02 2.63779059e-03 9.98400414e-01 -2.63684150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5207140570001 meters 0.031953288016043045 Centerline is valid? [True, True] Translation: X:401.08, Y:-52.17, Z:-26.37 [[ 9.95180739e-01 8.11325878e-02 5.50708664e-02 4.01081161e+02] [-8.08475233e-02 9.96699098e-01 -7.38828227e-03 -5.21650443e+01] [-5.54885133e-02 2.90033305e-03 9.98455113e-01 -2.63726498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5807140570001 meters 0.03470561193762158 Centerline is valid? [True, True] Translation: X:401.14, Y:-52.18, Z:-26.38 [[ 9.95659951e-01 7.53255592e-02 5.46563930e-02 4.01139768e+02] [-7.50360599e-02 9.97153861e-01 -7.33258137e-03 -5.21808461e+01] [-5.50531641e-02 3.19955724e-03 9.98478298e-01 -2.63776415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.640714057 meters 0.038557424793785815 Centerline is valid? [True, True] Translation: X:401.20, Y:-52.20, Z:-26.38 [[ 9.96008487e-01 7.03178526e-02 5.49772064e-02 4.01197677e+02] [-7.00173328e-02 9.97518506e-01 -7.37581359e-03 -5.21979920e+01] [-5.53594322e-02 3.49701558e-03 9.98460367e-01 -2.63831125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.700714057 meters 0.04107393060122446 Centerline is valid? [True, True] Translation: X:401.26, Y:-52.21, Z:-26.39 [[ 9.96177744e-01 6.73845369e-02 5.55808162e-02 4.01256568e+02] [-6.70729023e-02 9.97720222e-01 -7.45549797e-03 -5.22116099e+01] [-5.59564895e-02 3.69903449e-03 9.98426356e-01 -2.63870985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76071405700003 meters 0.039822273925024354 Centerline is valid? [True, True] Translation: X:401.32, Y:-52.22, Z:-26.39 [[ 9.96392648e-01 6.35866415e-02 5.61999185e-02 4.01316370e+02] [-6.32619675e-02 9.97968478e-01 -7.53923756e-03 -5.22184541e+01] [-5.65651419e-02 3.95672346e-03 9.98391070e-01 -2.63902131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82071405700003 meters 0.03946710517587239 Centerline is valid? [True, True] Translation: X:401.38, Y:-52.22, Z:-26.39 [[ 9.96601905e-01 6.07703747e-02 5.56021935e-02 4.01376593e+02] [-6.04482177e-02 9.98143464e-01 -7.45911851e-03 -5.22246246e+01] [-5.59522595e-02 4.07271821e-03 9.98425139e-01 -2.63939347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88071405700003 meters 0.04244621391704433 Centerline is valid? [True, True] Translation: X:401.43, Y:-52.24, Z:-26.40 [[ 9.96837198e-01 5.71495782e-02 5.52225161e-02 4.01434762e+02] [-5.68262178e-02 9.98356590e-01 -7.40948325e-03 -5.22350315e+01] [-5.55552117e-02 4.24796179e-03 9.98446580e-01 -2.63987222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94071405700004 meters 0.04301339097617423 Centerline is valid? [True, True] Translation: X:401.49, Y:-52.24, Z:-26.40 [[ 9.97038295e-01 5.40472956e-02 5.47131495e-02 4.01494924e+02] [-5.37252962e-02 9.98528775e-01 -7.34014100e-03 -5.22417654e+01] [-5.50293689e-02 4.37892151e-03 9.98475134e-01 -2.64028289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00071405700004 meters 0.04542630248496487 Centerline is valid? [True, True] Translation: X:401.56, Y:-52.25, Z:-26.41 [[ 9.97304295e-01 5.02238375e-02 5.34949536e-02 4.01555188e+02] [-4.99105618e-02 9.98727905e-01 -7.17694418e-03 -5.22471922e+01] [-5.37873566e-02 4.48763406e-03 9.98542328e-01 -2.64063209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06071405700004 meters 0.04605715049957249 Centerline is valid? [True, True] Translation: X:401.62, Y:-52.25, Z:-26.41 [[ 9.97341178e-01 4.89031115e-02 5.40283351e-02 4.01617419e+02] [-4.85816563e-02 9.98792916e-01 -7.24795807e-03 -5.22525985e+01] [-5.43175661e-02 4.60390103e-03 9.98513098e-01 -2.64090613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12071405700004 meters 0.048884715562702616 Centerline is valid? [True, True] Translation: X:401.68, Y:-52.26, Z:-26.41 [[ 9.97259125e-01 4.87189676e-02 5.56839343e-02 4.01678734e+02] [-4.83770381e-02 9.98801190e-01 -7.47289538e-03 -5.22587570e+01] [-5.59812516e-02 4.75858930e-03 9.98420480e-01 -2.64104673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18071405700005 meters 0.050572605720371484 Centerline is valid? [True, True] Translation: X:401.74, Y:-52.26, Z:-26.41 [[ 9.97175005e-01 4.98527837e-02 5.61845990e-02 4.01739165e+02] [-4.95056526e-02 9.98745275e-01 -7.55425402e-03 -5.22633172e+01] [-5.64907033e-02 4.75145805e-03 9.98391819e-01 -2.64137883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24071405700005 meters 0.051924123548416724 Centerline is valid? [True, True] Translation: X:401.80, Y:-52.27, Z:-26.42 [[ 9.97189433e-01 5.06996828e-02 5.51613670e-02 4.01801470e+02] [-5.03661405e-02 9.98703249e-01 -7.42104082e-03 -5.22683070e+01] [-5.54660808e-02 4.62191832e-03 9.98449874e-01 -2.64187336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30071405700005 meters 0.050071982566068714 Centerline is valid? [True, True] Translation: X:401.86, Y:-52.27, Z:-26.42 [[ 9.97268034e-01 5.18536681e-02 5.26086091e-02 4.01864475e+02] [-5.15511912e-02 9.98645177e-01 -7.09124316e-03 -5.22689546e+01] [-5.29050407e-02 4.35983366e-03 9.98590030e-01 -2.64249801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36071405700005 meters 0.053172302049129816 Centerline is valid? [True, True] Translation: X:401.92, Y:-52.28, Z:-26.43 [[ 9.97250257e-01 5.33058574e-02 5.14821387e-02 4.01924533e+02] [-5.30178607e-02 9.98569416e-01 -6.94461535e-03 -5.22754016e+01] [-5.17786778e-02 4.19604658e-03 9.98649769e-01 -2.64299942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42071405700005 meters 0.045035250853496224 Centerline is valid? [True, True] Translation: X:401.99, Y:-52.27, Z:-26.43 [[ 9.97197728e-01 5.41787500e-02 5.15883184e-02 4.01988022e+02] [-5.38906881e-02 9.98522588e-01 -6.95959659e-03 -5.22661699e+01] [-5.18891635e-02 4.15996393e-03 9.98644186e-01 -2.64312578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48071405700006 meters 0.04401872679175498 Centerline is valid? [True, True] Translation: X:402.05, Y:-52.27, Z:-26.43 [[ 9.97188590e-01 5.39059797e-02 5.20486450e-02 4.02049451e+02] [-5.36122811e-02 9.98537126e-01 -7.02356711e-03 -5.22675671e+01] [-5.23511167e-02 4.21337439e-03 9.98619852e-01 -2.64346234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54071405700006 meters 0.04462535343021576 Centerline is valid? [True, True] Translation: X:402.11, Y:-52.27, Z:-26.44 [[ 9.97118283e-01 5.31681361e-02 5.41135691e-02 4.02110290e+02] [-5.28494310e-02 9.98575776e-01 -7.30461607e-03 -5.22709805e+01] [-5.44248721e-02 4.42369491e-03 9.98508069e-01 -2.64365363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60071405700006 meters 0.04377895077174411 Centerline is valid? [True, True] Translation: X:402.17, Y:-52.27, Z:-26.44 [[ 9.97201249e-01 5.05352851e-02 5.50985833e-02 4.02171981e+02] [-5.02008858e-02 9.98711449e-01 -7.43724838e-03 -5.22730701e+01] [-5.54034294e-02 4.65043569e-03 9.98453220e-01 -2.64392144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66071405700006 meters 0.04732715782077166 Centerline is valid? [True, True] Translation: X:402.23, Y:-52.28, Z:-26.45 [[ 9.97505665e-01 4.63315735e-02 5.32525495e-02 4.02230502e+02] [-4.60132177e-02 9.98914959e-01 -7.18944921e-03 -5.22828358e+01] [-5.35278668e-02 4.72119516e-03 9.98555195e-01 -2.64454817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.72071405700007 meters 0.050573774675749986 Centerline is valid? [True, True] Translation: X:402.29, Y:-52.29, Z:-26.45 [[ 9.97848480e-01 4.14082721e-02 5.08307583e-02 4.02289951e+02] [-4.11116537e-02 9.99130956e-01 -6.86760181e-03 -5.22928590e+01] [-5.10709597e-02 4.76308949e-03 9.98683669e-01 -2.64524049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.78071405700007 meters 0.05176815835446775 Centerline is valid? [True, True] Translation: X:402.35, Y:-52.30, Z:-26.46 [[ 9.97961689e-01 3.87507631e-02 5.07034998e-02 4.02349969e+02] [-3.84522416e-02 9.99236959e-01 -6.85022955e-03 -5.22995653e+01] [-5.09302625e-02 4.88660343e-03 9.98690257e-01 -2.64554170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.84071405700007 meters 0.052974342518092306 Centerline is valid? [True, True] Translation: X:402.41, Y:-52.31, Z:-26.46 [[ 9.97797392e-01 4.05585566e-02 5.24915989e-02 4.02410652e+02] [-4.02410563e-02 9.99164833e-01 -7.09184644e-03 -5.23056967e+01] [-5.27353947e-02 4.96390849e-03 9.98596184e-01 -2.64582527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9007140570001 meters 0.04788323596035528 Centerline is valid? [True, True] Translation: X:402.47, Y:-52.30, Z:-26.46 [[ 9.97546572e-01 4.39194747e-02 5.45152796e-02 4.02472550e+02] [-4.35819032e-02 9.99022700e-01 -7.36626607e-03 -5.23033272e+01] [-5.47855243e-02 4.97231383e-03 9.98485765e-01 -2.64605554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9607140570001 meters 0.04431393743917641 Centerline is valid? [True, True] Translation: X:402.53, Y:-52.30, Z:-26.46 [[ 9.97466102e-01 4.66256298e-02 5.37347793e-02 4.02534181e+02] [-4.63015077e-02 9.98901115e-01 -7.26176301e-03 -5.23039698e+01] [-5.40143152e-02 4.75536115e-03 9.98528838e-01 -2.64649840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0207140570001 meters 0.050134179723603116 Centerline is valid? [True, True] Translation: X:402.59, Y:-52.32, Z:-26.47 [[ 9.97480003e-01 4.78853851e-02 5.23510667e-02 4.02593394e+02] [-4.75795123e-02 9.98842403e-01 -7.07418205e-03 -5.23192400e+01] [-5.26292152e-02 4.56551691e-03 9.98603686e-01 -2.64710273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0807140570001 meters 0.0487707178810755 Centerline is valid? [True, True] Translation: X:402.65, Y:-52.33, Z:-26.48 [[ 9.97640180e-01 4.80550939e-02 4.90385526e-02 4.02654885e+02] [-4.77866892e-02 9.98835548e-01 -6.63181844e-03 -5.23257660e+01] [-4.93001422e-02 4.27277847e-03 9.98774869e-01 -2.64787222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.140714057 meters 0.04887944257424424 Centerline is valid? [True, True] Translation: X:402.72, Y:-52.33, Z:-26.48 [[ 9.97608728e-01 4.89269315e-02 4.88157960e-02 4.02715090e+02] [-4.86612260e-02 9.98793420e-01 -6.61739693e-03 -5.23341443e+01] [-4.90806648e-02 4.22613645e-03 9.98785877e-01 -2.64829904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.200714057 meters 0.04958821528957305 Centerline is valid? [True, True] Translation: X:402.77, Y:-52.34, Z:-26.49 [[ 9.97428352e-01 5.15816515e-02 4.97595889e-02 4.02774248e+02] [-5.13087759e-02 9.98660049e-01 -6.74657674e-03 -5.23413677e+01] [-5.00409131e-02 4.17612332e-03 9.98738438e-01 -2.64854133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26071405700003 meters 0.04897319849416599 Centerline is valid? [True, True] Translation: X:402.83, Y:-52.35, Z:-26.49 [[ 9.97173857e-01 5.39687533e-02 5.22654007e-02 4.02834183e+02] [-5.36709387e-02 9.98533534e-01 -7.08600775e-03 -5.23477232e+01] [-5.25711783e-02 4.26084857e-03 9.98608090e-01 -2.64874639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32071405700003 meters 0.04544878671351224 Centerline is valid? [True, True] Translation: X:402.90, Y:-52.35, Z:-26.49 [[ 9.97086404e-01 5.40124749e-02 5.38642307e-02 4.02895389e+02] [-5.36962128e-02 9.98530615e-01 -7.30254632e-03 -5.23502162e+01] [-5.41795121e-02 4.38896445e-03 9.98521566e-01 -2.64898601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38071405700003 meters 0.047223789174997935 Centerline is valid? [True, True] Translation: X:402.96, Y:-52.36, Z:-26.50 [[ 9.97237576e-01 5.26212550e-02 5.24234786e-02 4.02955013e+02] [-5.23197381e-02 9.98605085e-01 -7.10834333e-03 -5.23605953e+01] [-5.27244023e-02 4.34592440e-03 9.98599645e-01 -2.64957494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44071405700004 meters 0.0580127156606788 Centerline is valid? [True, True] Translation: X:403.01, Y:-52.38, Z:-26.50 [[ 9.97460284e-01 5.04356603e-02 5.02914106e-02 4.03011647e+02] [-5.01554401e-02 9.98718143e-01 -6.81924631e-03 -5.23842451e+01] [-5.05708774e-02 4.27953953e-03 9.98711306e-01 -2.65048719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50071405700004 meters 0.05128552101029131 Centerline is valid? [True, True] Translation: X:403.07, Y:-52.38, Z:-26.51 [[ 9.97560139e-01 4.98064439e-02 4.89191826e-02 4.03073667e+02] [-4.95405989e-02 9.98750087e-01 -6.63264333e-03 -5.23829863e+01] [-4.91883863e-02 4.19297500e-03 9.98780718e-01 -2.65077810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56071405700004 meters 0.05022574490233736 Centerline is valid? [True, True] Translation: X:403.13, Y:-52.39, Z:-26.51 [[ 9.97445497e-01 5.11812081e-02 4.98293477e-02 4.03134597e+02] [-5.09069663e-02 9.98680534e-01 -6.75810402e-03 -5.23880437e+01] [-5.01094875e-02 4.20417950e-03 9.98734882e-01 -2.65112052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62071405700004 meters 0.05120053786231863 Centerline is valid? [True, True] Translation: X:403.19, Y:-52.40, Z:-26.52 [[ 9.97374788e-01 5.16486994e-02 5.07537542e-02 4.03194308e+02] [-5.13647184e-02 9.98656231e-01 -6.88461985e-03 -5.23974529e+01] [-5.10411345e-02 4.25959397e-03 9.98687468e-01 -2.65152244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68071405700005 meters 0.046026313192881106 Centerline is valid? [True, True] Translation: X:403.26, Y:-52.40, Z:-26.52 [[ 9.97268939e-01 5.20595332e-02 5.23876784e-02 4.03255641e+02] [-5.17575132e-02 9.98634398e-01 -7.10625759e-03 -5.23967568e+01] [-5.26860861e-02 4.37539400e-03 9.98601538e-01 -2.65168535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74071405700005 meters 0.044639755810635305 Centerline is valid? [True, True] Translation: X:403.32, Y:-52.40, Z:-26.52 [[ 9.97306268e-01 5.11711118e-02 5.25521186e-02 4.03315852e+02] [-5.08659665e-02 9.98680047e-01 -7.12856349e-03 -5.24024900e+01] [-5.28475288e-02 4.43624674e-03 9.98592739e-01 -2.65207186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80071405700005 meters 0.05069893078174547 Centerline is valid? [True, True] Translation: X:403.37, Y:-52.42, Z:-26.53 [[ 9.97529403e-01 4.80972211e-02 5.12029972e-02 4.03373626e+02] [-4.78035529e-02 9.98832610e-01 -6.94536222e-03 -5.24187788e+01] [-5.14772760e-02 4.48051784e-03 9.98664115e-01 -2.65272637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86071405700005 meters 0.048099903447938706 Centerline is valid? [True, True] Translation: X:403.43, Y:-52.42, Z:-26.53 [[ 9.97773979e-01 4.41641498e-02 4.99661379e-02 4.03434222e+02] [-4.38795957e-02 9.99013833e-01 -6.77814648e-03 -5.24249091e+01] [-5.02162140e-02 4.57056426e-03 9.98727912e-01 -2.65319533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92071405700005 meters 0.051619917588546206 Centerline is valid? [True, True] Translation: X:403.49, Y:-52.44, Z:-26.54 [[ 9.97937453e-01 4.05364347e-02 4.97758775e-02 4.03492238e+02] [-4.02494879e-02 9.99166834e-01 -6.75406982e-03 -5.24384818e+01] [-5.00081918e-02 4.73668565e-03 9.98737575e-01 -2.65370694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98071405700006 meters 0.05023256279050388 Centerline is valid? [True, True] Translation: X:403.55, Y:-52.45, Z:-26.54 [[ 9.97964827e-01 3.84946137e-02 5.08366859e-02 4.03552839e+02] [-3.81926836e-02 9.99246586e-01 -6.89770404e-03 -5.24464877e+01] [-5.10639093e-02 4.94207656e-03 9.98683160e-01 -2.65394925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04071405700006 meters 0.05222446926328166 Centerline is valid? [True, True] Translation: X:403.61, Y:-52.46, Z:-26.54 [[ 9.97879289e-01 3.86211916e-02 5.23958820e-02 4.03614396e+02] [-3.83005430e-02 9.99240967e-01 -7.11044832e-03 -5.24584710e+01] [-5.26307257e-02 5.08857838e-03 9.98601078e-01 -2.65429993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10071405700006 meters 0.0544559651491407 Centerline is valid? [True, True] Translation: X:403.67, Y:-52.47, Z:-26.55 [[ 9.97836977e-01 3.94813256e-02 5.25603598e-02 4.03674756e+02] [-3.91594513e-02 9.99207464e-01 -7.14010907e-03 -5.24703791e+01] [-5.28006048e-02 5.06643000e-03 9.98592223e-01 -2.65472183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16071405700006 meters 0.04960935697726678 Centerline is valid? [True, True] Translation: X:403.73, Y:-52.47, Z:-26.55 [[ 9.97686708e-01 4.35751872e-02 5.21769748e-02 4.03734911e+02] [-4.32630553e-02 9.99038506e-01 -7.09728193e-03 -5.24731003e+01] [-5.24360723e-02 4.82352850e-03 9.98612634e-01 -2.65517200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.22071405700007 meters 0.04812530228529316 Centerline is valid? [True, True] Translation: X:403.80, Y:-52.48, Z:-26.56 [[ 9.97487106e-01 4.89350635e-02 5.12331232e-02 4.03795462e+02] [-4.86411565e-02 9.98792009e-01 -6.96861548e-03 -5.24774658e+01] [-5.15122437e-02 4.45906572e-03 9.98662408e-01 -2.65568298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.28071405700007 meters 0.04459948085279308 Centerline is valid? [True, True] Translation: X:403.86, Y:-52.48, Z:-26.56 [[ 9.97070474e-01 5.57952881e-02 5.23197494e-02 4.03855940e+02] [-5.54980814e-02 9.98433425e-01 -7.11743263e-03 -5.24797638e+01] [-5.26349058e-02 4.19293622e-03 9.98605020e-01 -2.65601262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.34071405700007 meters 0.04285117019395047 Centerline is valid? [True, True] Translation: X:403.92, Y:-52.48, Z:-26.56 [[ 9.96513403e-01 6.37556182e-02 5.38168971e-02 4.03916390e+02] [-6.34526418e-02 9.97957994e-01 -7.32150785e-03 -5.24839823e+01] [-5.41737900e-02 3.88115641e-03 9.98523979e-01 -2.65627492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4007140570001 meters 0.04190609836005948 Centerline is valid? [True, True] Translation: X:403.98, Y:-52.49, Z:-26.57 [[ 9.96139534e-01 6.83441441e-02 5.50917979e-02 4.03976694e+02] [-6.80336173e-02 9.97654879e-01 -7.49463523e-03 -5.24893286e+01] [-5.54748154e-02 3.71760815e-03 9.98453166e-01 -2.65660265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4607140570001 meters 0.040503918249886965 Centerline is valid? [True, True] Translation: X:404.04, Y:-52.49, Z:-26.57 [[ 9.95720942e-01 7.36951630e-02 5.57568656e-02 4.04036102e+02] [-7.33854093e-02 9.97274808e-01 -7.58544466e-03 -5.24939930e+01] [-5.61639280e-02 3.46124570e-03 9.98415561e-01 -2.65695153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5207140570001 meters 0.04060609447968884 Centerline is valid? [True, True] Translation: X:404.09, Y:-52.50, Z:-26.58 [[ 9.95514716e-01 7.67028449e-02 5.53816157e-02 4.04094275e+02] [-7.64019631e-02 9.97048642e-01 -7.53298295e-03 -5.25020827e+01] [-5.57959659e-02 3.26793123e-03 9.98436844e-01 -2.65750213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5807140570001 meters 0.03631779595923111 Centerline is valid? [True, True] Translation: X:404.15, Y:-52.50, Z:-26.58 [[ 9.95567060e-01 7.64333060e-02 5.48103958e-02 4.04153490e+02] [-7.61382817e-02 9.97069407e-01 -7.45380153e-03 -5.25038968e+01] [-5.52194875e-02 3.24758992e-03 9.98468959e-01 -2.65782932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.640714057 meters 0.04427783045525969 Centerline is valid? [True, True] Translation: X:404.21, Y:-52.53, Z:-26.58 [[ 9.95693835e-01 7.49147357e-02 5.46037564e-02 4.04209403e+02] [-7.46198856e-02 9.97184432e-01 -7.42161716e-03 -5.25257832e+01] [-5.50060043e-02 3.31513239e-03 9.98480520e-01 -2.65849239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.700714057 meters 0.03932562434153508 Centerline is valid? [True, True] Translation: X:404.27, Y:-52.53, Z:-26.59 [[ 9.95738570e-01 7.28642341e-02 5.65287794e-02 4.04268699e+02] [-7.25450892e-02 9.97335563e-01 -7.68013273e-03 -5.25278061e+01] [-5.69377690e-02 3.54651904e-03 9.98371430e-01 -2.65871757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76071405700003 meters 0.03723727419189367 Centerline is valid? [True, True] Translation: X:404.33, Y:-52.54, Z:-26.59 [[ 9.95757672e-01 7.13622833e-02 5.80868543e-02 4.04326528e+02] [-7.10229064e-02 9.97443488e-01 -7.88889045e-03 -5.25351465e+01] [-5.85013238e-02 3.72992598e-03 9.98280363e-01 -2.65893342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82071405700003 meters 0.039572311827677786 Centerline is valid? [True, True] Translation: X:404.38, Y:-52.55, Z:-26.59 [[ 9.95812968e-01 6.98338014e-02 5.89895935e-02 4.04383268e+02] [-6.94814408e-02 9.97551119e-01 -8.00593532e-03 -5.25488386e+01] [-5.94042199e-02 3.87373226e-03 9.98226494e-01 -2.65932737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88071405700003 meters 0.04297132356284009 Centerline is valid? [True, True] Translation: X:404.44, Y:-52.57, Z:-26.60 [[ 9.96179009e-01 6.54884187e-02 5.77810367e-02 4.04440130e+02] [-6.51433753e-02 9.97845138e-01 -7.83712234e-03 -5.25671839e+01] [-5.81697673e-02 4.04312500e-03 9.98298518e-01 -2.65992997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94071405700004 meters 0.0448463616334686 Centerline is valid? [True, True] Translation: X:404.50, Y:-52.58, Z:-26.61 [[ 9.96542254e-01 6.10642410e-02 5.63444322e-02 4.04498927e+02] [-6.07289612e-02 9.98125013e-01 -7.64530743e-03 -5.25826191e+01] [-5.67056420e-02 4.19713306e-03 9.98382118e-01 -2.66059549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00071405700004 meters 0.04370075553670685 Centerline is valid? [True, True] Translation: X:404.56, Y:-52.59, Z:-26.61 [[ 9.96746187e-01 5.85472737e-02 5.54008695e-02 4.04558805e+02] [-5.82192876e-02 9.98275517e-01 -7.51715672e-03 -5.25919850e+01] [-5.57454406e-02 4.26729815e-03 9.98435895e-01 -2.66105086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06071405700004 meters 0.04150573501961191 Centerline is valid? [True, True] Translation: X:404.62, Y:-52.60, Z:-26.61 [[ 9.96789689e-01 5.73961266e-02 5.58211489e-02 4.04619358e+02] [-5.70613108e-02 9.98341940e-01 -7.57480228e-03 -5.25993240e+01] [-5.61633584e-02 4.36525688e-03 9.98412050e-01 -2.66133931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12071405700004 meters 0.04779596680310314 Centerline is valid? [True, True] Translation: X:404.68, Y:-52.62, Z:-26.62 [[ 9.96708313e-01 5.72583173e-02 5.73935959e-02 4.04678460e+02] [-5.69039614e-02 9.98349258e-01 -7.79088972e-03 -5.26192485e+01] [-5.77449471e-02 4.49932157e-03 9.98321229e-01 -2.66180956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18071405700005 meters 0.042893590451191385 Centerline is valid? [True, True] Translation: X:404.74, Y:-52.62, Z:-26.62 [[ 9.96775046e-01 5.61780004e-02 5.73021840e-02 4.04740388e+02] [-5.58222312e-02 9.98410319e-01 -7.79181882e-03 -5.26227814e+01] [-5.76488207e-02 4.56795480e-03 9.98326473e-01 -2.66214321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24071405700005 meters 0.04570691350156391 Centerline is valid? [True, True] Translation: X:404.80, Y:-52.64, Z:-26.63 [[ 9.96927120e-01 5.41540940e-02 5.66008107e-02 4.04799157e+02] [-5.38029085e-02 9.98521799e-01 -7.71127974e-03 -5.26378557e+01] [-5.69347407e-02 4.64229566e-03 9.98367109e-01 -2.66264773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30071405700005 meters 0.04487055230256087 Centerline is valid? [True, True] Translation: X:404.86, Y:-52.65, Z:-26.63 [[ 9.97037523e-01 5.33614421e-02 5.53961513e-02 4.04859845e+02] [-5.30239035e-02 9.98564730e-01 -7.54623910e-03 -5.26477232e+01] [-5.57193211e-02 4.58656336e-03 9.98435937e-01 -2.66318188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36071405700005 meters 0.04826595230822004 Centerline is valid? [True, True] Translation: X:404.92, Y:-52.66, Z:-26.64 [[ 9.97012417e-01 5.37445143e-02 5.54776266e-02 4.04919296e+02] [-5.34058392e-02 9.98544193e-01 -7.57040065e-03 -5.26613625e+01] [-5.58037294e-02 4.58495425e-03 9.98431230e-01 -2.66358736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42071405700005 meters 0.04346285198866078 Centerline is valid? [True, True] Translation: X:404.98, Y:-52.66, Z:-26.64 [[ 9.96925377e-01 5.52554540e-02 5.55574183e-02 4.04981223e+02] [-5.49173389e-02 9.98462015e-01 -7.59544219e-03 -5.26635779e+01] [-5.58916615e-02 4.52102350e-03 9.98426603e-01 -2.66388844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48071405700006 meters 0.045166293783936856 Centerline is valid? [True, True] Translation: X:405.04, Y:-52.67, Z:-26.64 [[ 9.96924195e-01 5.57018089e-02 5.51312812e-02 4.05042925e+02] [-5.53693849e-02 9.98437469e-01 -7.54006810e-03 -5.26743581e+01] [-5.54651323e-02 4.46429119e-03 9.98450644e-01 -2.66431113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54071405700006 meters 0.04567438756476127 Centerline is valid? [True, True] Translation: X:405.10, Y:-52.68, Z:-26.65 [[ 9.96900329e-01 5.59399421e-02 5.53214055e-02 4.05104687e+02] [-5.56048099e-02 9.98424083e-01 -7.57992677e-03 -5.26836927e+01] [-5.56582442e-02 4.48029525e-03 9.98439826e-01 -2.66473749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60071405700006 meters 0.0470631981532294 Centerline is valid? [True, True] Translation: X:405.16, Y:-52.69, Z:-26.65 [[ 9.96912741e-01 5.62468730e-02 5.47839024e-02 4.05164500e+02] [-5.59178867e-02 9.98407045e-01 -7.52083247e-03 -5.26939344e+01] [-5.51196574e-02 4.43421367e-03 9.98469910e-01 -2.66517262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66071405700006 meters 0.044952198136130536 Centerline is valid? [True, True] Translation: X:405.23, Y:-52.70, Z:-26.66 [[ 9.96954224e-01 5.62740869e-02 5.39953883e-02 4.05226300e+02] [-5.59542111e-02 9.98405772e-01 -7.41889498e-03 -5.26984371e+01] [-5.43267989e-02 4.37502934e-03 9.98513624e-01 -2.66554163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.72071405700007 meters 0.043671522470998404 Centerline is valid? [True, True] Translation: X:405.29, Y:-52.70, Z:-26.66 [[ 9.97007103e-01 5.58264161e-02 5.34812810e-02 4.05287653e+02] [-5.55111353e-02 9.98430913e-01 -7.36376216e-03 -5.27047973e+01] [-5.38084567e-02 4.37291655e-03 9.98541701e-01 -2.66592145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.78071405700007 meters 0.043006832584400634 Centerline is valid? [True, True] Translation: X:405.35, Y:-52.71, Z:-26.66 [[ 9.96944455e-01 5.59298778e-02 5.45307392e-02 4.05348066e+02] [-5.56021284e-02 9.98424759e-01 -7.51027945e-03 -5.27127331e+01] [-5.48648891e-02 4.45530629e-03 9.98483848e-01 -2.66620315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.84071405700007 meters 0.04994194023155796 Centerline is valid? [True, True] Translation: X:405.41, Y:-52.73, Z:-26.67 [[ 9.96908553e-01 5.69351138e-02 5.41454470e-02 4.05407259e+02] [-5.66134088e-02 9.98368318e-01 -7.45810323e-03 -5.27290817e+01] [-5.44817268e-02 4.36968857e-03 9.98505206e-01 -2.66664088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9007140570001 meters 0.04357982105467734 Centerline is valid? [True, True] Translation: X:405.47, Y:-52.73, Z:-26.67 [[ 9.96767099e-01 5.91360120e-02 5.43900892e-02 4.05468969e+02] [-5.88141428e-02 9.98240769e-01 -7.50091753e-03 -5.27277729e+01] [-5.47379788e-02 4.27776134e-03 9.98491590e-01 -2.66696804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9607140570001 meters 0.04483735064953679 Centerline is valid? [True, True] Translation: X:405.53, Y:-52.74, Z:-26.67 [[ 9.96627194e-01 6.12246961e-02 5.46422322e-02 4.05527877e+02] [-6.09028767e-02 9.98115240e-01 -7.53701201e-03 -5.27357658e+01] [-5.50006960e-02 4.18372200e-03 9.98477551e-01 -2.66734640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0207140570001 meters 0.039687062418491834 Centerline is valid? [True, True] Translation: X:405.59, Y:-52.73, Z:-26.68 [[ 9.96404990e-01 6.40270818e-02 5.54763809e-02 4.05588310e+02] [-6.36997160e-02 9.97939781e-01 -7.65113177e-03 -5.27346535e+01] [-5.58519670e-02 4.08979617e-03 9.98430684e-01 -2.66762128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0807140570001 meters 0.04328112726023374 Centerline is valid? [True, True] Translation: X:405.65, Y:-52.75, Z:-26.68 [[ 9.96232343e-01 6.67689102e-02 5.53446588e-02 4.05646313e+02] [-6.64473745e-02 9.97760745e-01 -7.63170367e-03 -5.27475217e+01] [-5.57302885e-02 3.92544276e-03 9.98438143e-01 -2.66810554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.140714057 meters 0.03626452196065178 Centerline is valid? [True, True] Translation: X:405.71, Y:-52.74, Z:-26.68 [[ 9.95849108e-01 7.30000842e-02 5.43648963e-02 4.05707874e+02] [-7.26991820e-02 9.97325753e-01 -7.49469657e-03 -5.27430245e+01] [-5.47666246e-02 3.51130340e-03 9.98493008e-01 -2.66846422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.200714057 meters 0.03434441481061459 Centerline is valid? [True, True] Translation: X:405.77, Y:-52.75, Z:-26.69 [[ 9.95548951e-01 7.71398992e-02 5.41453747e-02 4.05768017e+02] [-7.68476446e-02 9.97014923e-01 -7.46210764e-03 -5.27471519e+01] [-5.45593728e-02 3.26794893e-03 9.98505180e-01 -2.66887049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26071405700003 meters 0.03404764980132248 Centerline is valid? [True, True] Translation: X:405.83, Y:-52.76, Z:-26.69 [[ 9.95365514e-01 7.99644554e-02 5.34151665e-02 4.05827369e+02] [-7.96840929e-02 9.96792985e-01 -7.36139356e-03 -5.27557646e+01] [-5.38325131e-02 3.07093818e-03 9.98545257e-01 -2.66928720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32071405700003 meters 0.035604773964343285 Centerline is valid? [True, True] Translation: X:405.88, Y:-52.77, Z:-26.70 [[ 9.95244337e-01 8.16252047e-02 5.31604761e-02 4.05884452e+02] [-8.13498923e-02 9.96658681e-01 -7.32591662e-03 -5.27666047e+01] [-5.35808294e-02 2.96647803e-03 9.98559109e-01 -2.66975463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38071405700003 meters 0.03475859100997503 Centerline is valid? [True, True] Translation: X:405.94, Y:-52.77, Z:-26.70 [[ 9.95246219e-01 8.15240007e-02 5.32804004e-02 4.05941398e+02] [-8.12474835e-02 9.96666938e-01 -7.33901028e-03 -5.27741335e+01] [-5.37011190e-02 2.97522378e-03 9.98552622e-01 -2.67009853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44071405700004 meters 0.03819723250100534 Centerline is valid? [True, True] Translation: X:406.00, Y:-52.79, Z:-26.70 [[ 9.95263370e-01 8.08251855e-02 5.40195762e-02 4.05997302e+02] [-8.05402289e-02 9.96723629e-01 -7.43494653e-03 -5.27883638e+01] [-5.44435190e-02 3.04898090e-03 9.98512197e-01 -2.67047005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50071405700004 meters 0.03335194000759614 Centerline is valid? [True, True] Translation: X:406.06, Y:-52.79, Z:-26.71 [[ 9.95233499e-01 8.08495033e-02 5.45310935e-02 4.06056857e+02] [-8.05594858e-02 9.96721591e-01 -7.49932994e-03 -5.27894405e+01] [-5.49586354e-02 3.07058752e-03 9.98483911e-01 -2.67062052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56071405700004 meters 0.03300867892923423 Centerline is valid? [True, True] Translation: X:406.11, Y:-52.80, Z:-26.71 [[ 9.95202121e-01 8.00658984e-02 5.62333564e-02 4.06114941e+02] [-7.97564624e-02 9.96784413e-01 -7.72920342e-03 -5.27976480e+01] [-5.66713788e-02 3.20714606e-03 9.98387735e-01 -2.67083137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62071405700004 meters 0.032796401210555895 Centerline is valid? [True, True] Translation: X:406.17, Y:-52.81, Z:-26.71 [[ 9.95286774e-01 7.87415574e-02 5.66039301e-02 4.06173049e+02] [-7.84261287e-02 9.96889601e-01 -7.77598269e-03 -5.28060112e+01] [-5.70401622e-02 3.30010562e-03 9.98366430e-01 -2.67117374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68071405700005 meters 0.03478974220949016 Centerline is valid? [True, True] Translation: X:406.23, Y:-52.82, Z:-26.72 [[ 9.95525769e-01 7.72769042e-02 5.43757613e-02 4.06230649e+02] [-7.69838936e-02 9.97004384e-01 -7.46586889e-03 -5.28170456e+01] [-5.47898117e-02 3.24640704e-03 9.98492633e-01 -2.67175998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74071405700005 meters 0.03556159303674148 Centerline is valid? [True, True] Translation: X:406.29, Y:-52.83, Z:-26.72 [[ 9.95553691e-01 7.74237349e-02 5.36508452e-02 4.06288202e+02] [-7.71388529e-02 9.96993167e-01 -7.36362856e-03 -5.28252912e+01] [-5.40596457e-02 3.19232293e-03 9.98532605e-01 -2.67227243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80071405700005 meters 0.0360721706538851 Centerline is valid? [True, True] Translation: X:406.35, Y:-52.83, Z:-26.73 [[ 9.95528435e-01 7.83729002e-02 5.27335156e-02 4.06345674e+02] [-7.80992009e-02 9.96919345e-01 -7.23420477e-03 -5.28325726e+01] [-5.31380274e-02 3.08341113e-03 9.98582417e-01 -2.67277400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86071405700005 meters 0.036914555747355506 Centerline is valid? [True, True] Translation: X:406.40, Y:-52.84, Z:-26.73 [[ 9.95547079e-01 7.81855026e-02 5.26596762e-02 4.06403759e+02] [-7.79125679e-02 9.96934057e-01 -7.21920344e-03 -5.28400909e+01] [-5.30626617e-02 3.08420629e-03 9.98586422e-01 -2.67312522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92071405700005 meters 0.035832670241421345 Centerline is valid? [True, True] Translation: X:406.46, Y:-52.85, Z:-26.73 [[ 9.95767421e-01 7.40036440e-02 5.45041727e-02 4.06463684e+02] [-7.37052340e-02 9.97252111e-01 -7.46767518e-03 -5.28462776e+01] [-5.49070365e-02 3.41882485e-03 9.98485618e-01 -2.67330012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98071405700006 meters 0.03940716736377044 Centerline is valid? [True, True] Translation: X:406.52, Y:-52.86, Z:-26.74 [[ 9.96159121e-01 6.82245221e-02 5.48855280e-02 4.06521422e+02] [-6.79132849e-02 9.97662901e-01 -7.51812803e-03 -5.28594893e+01] [-5.52701757e-02 3.76179530e-03 9.98464349e-01 -2.67370932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04071405700006 meters 0.042130859689750506 Centerline is valid? [True, True] Translation: X:406.58, Y:-52.87, Z:-26.74 [[ 9.96598705e-01 6.11606046e-02 5.52304384e-02 4.06580374e+02] [-6.08345826e-02 9.98119181e-01 -7.56659450e-03 -5.28727385e+01] [-5.55893375e-02 4.18093761e-03 9.98444964e-01 -2.67410839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10071405700006 meters 0.04485320435996498 Centerline is valid? [True, True] Translation: X:406.64, Y:-52.89, Z:-26.75 [[ 9.96948279e-01 5.67686093e-02 5.35859515e-02 4.06639825e+02] [-5.64554653e-02 9.98378132e-01 -7.34071442e-03 -5.28853498e+01] [-5.39157643e-02 4.29309278e-03 9.98536259e-01 -2.67464378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16071405700006 meters 0.04819236175174063 Centerline is valid? [True, True] Translation: X:406.70, Y:-52.90, Z:-26.75 [[ 9.97468901e-01 5.03110473e-02 5.02452982e-02 4.06698685e+02] [-5.00276320e-02 9.98724115e-01 -6.88321201e-03 -5.28993655e+01] [-5.05274926e-02 4.35213663e-03 9.98713188e-01 -2.67540644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.22071405700007 meters 0.04968827223964297 Centerline is valid? [True, True] Translation: X:406.76, Y:-52.91, Z:-26.76 [[ 9.97415285e-01 5.08552176e-02 5.07591906e-02 4.06760139e+02] [-5.05668261e-02 9.98696494e-01 -6.95051021e-03 -5.29088618e+01] [-5.10464953e-02 4.36581396e-03 9.98686735e-01 -2.67584810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.28071405700007 meters 0.04935102276681135 Centerline is valid? [True, True] Translation: X:406.82, Y:-52.91, Z:-26.76 [[ 9.97010155e-01 5.57370384e-02 5.35175917e-02 4.06821232e+02] [-5.54225007e-02 9.98435978e-01 -7.34465800e-03 -5.29132563e+01] [-5.38432585e-02 4.35661985e-03 9.98539896e-01 -2.67597153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.34071405700007 meters 0.046462381782834315 Centerline is valid? [True, True] Translation: X:406.88, Y:-52.91, Z:-26.76 [[ 9.96435910e-01 6.38133993e-02 5.51663700e-02 4.06882699e+02] [-6.34913943e-02 9.97953661e-01 -7.57182792e-03 -5.29142265e+01] [-5.55366650e-02 4.04225149e-03 9.98448466e-01 -2.67625923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4007140570001 meters 0.04009286490802649 Centerline is valid? [True, True] Translation: X:406.94, Y:-52.91, Z:-26.77 [[ 9.96258922e-01 6.64564524e-02 5.52421990e-02 4.06943718e+02] [-6.61375383e-02 9.97781699e-01 -7.58332328e-03 -5.29120540e+01] [-5.56236159e-02 3.90137043e-03 9.98444186e-01 -2.67656652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4607140570001 meters 0.043640141269135825 Centerline is valid? [True, True] Translation: X:407.00, Y:-52.92, Z:-26.77 [[ 9.95628647e-01 7.54311441e-02 5.50794002e-02 4.07002774e+02] [-7.51278266e-02 9.97145255e-01 -7.55983446e-03 -5.29203823e+01] [-5.54924094e-02 3.38879213e-03 9.98453358e-01 -2.67709769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5207140570001 meters 0.033461639704727715 Centerline is valid? [True, True] Translation: X:407.06, Y:-52.91, Z:-26.77 [[ 9.95359367e-01 7.95263898e-02 5.41782637e-02 4.07064151e+02] [-7.92389506e-02 9.96827913e-01 -7.43644056e-03 -5.29115489e+01] [-5.45977988e-02 3.10890201e-03 9.98503588e-01 -2.67737403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5807140570001 meters 0.033702872576621926 Centerline is valid? [True, True] Translation: X:407.12, Y:-52.92, Z:-26.78 [[ 9.95128817e-01 8.27292210e-02 5.36144866e-02 4.07122726e+02] [-8.24524710e-02 9.96567841e-01 -7.35717639e-03 -5.29192780e+01] [-5.40391266e-02 2.90069134e-03 9.98534606e-01 -2.67786664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.640714057 meters 0.03281144868175688 Centerline is valid? [True, True] Translation: X:407.18, Y:-52.92, Z:-26.78 [[ 9.94859081e-01 8.58436520e-02 5.37240748e-02 4.07182400e+02] [-8.55703933e-02 9.96304866e-01 -7.37035188e-03 -5.29236792e+01] [-5.41582551e-02 2.73527129e-03 9.98528618e-01 -2.67821198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.700714057 meters 0.0315755761293217 Centerline is valid? [True, True] Translation: X:407.24, Y:-52.93, Z:-26.78 [[ 9.94650305e-01 8.71006033e-02 5.55360829e-02 4.07241285e+02] [-8.68106622e-02 9.96195712e-01 -7.61659535e-03 -5.29273454e+01] [-5.59882177e-02 2.75472475e-03 9.98427629e-01 -2.67843393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76071405700003 meters 0.031376168732405965 Centerline is valid? [True, True] Translation: X:407.30, Y:-52.93, Z:-26.79 [[ 9.94704116e-01 8.60916250e-02 5.61422587e-02 4.07299039e+02] [-8.57939385e-02 9.96283181e-01 -7.69570460e-03 -5.29343614e+01] [-5.65961238e-02 2.83828356e-03 9.98393120e-01 -2.67879888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82071405700003 meters 0.034527574554057486 Centerline is valid? [True, True] Translation: X:407.36, Y:-52.95, Z:-26.79 [[ 9.95315208e-01 7.94387159e-02 5.51101392e-02 4.07356851e+02] [-7.91420358e-02 9.96834769e-01 -7.54856067e-03 -5.29476715e+01] [-5.55353508e-02 3.15166863e-03 9.98451747e-01 -2.67924896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88071405700003 meters 0.038888174777511934 Centerline is valid? [True, True] Translation: X:407.42, Y:-52.96, Z:-26.80 [[ 9.95764424e-01 7.37380865e-02 5.49172617e-02 4.07415049e+02] [-7.34349050e-02 9.97271652e-01 -7.52108480e-03 -5.29624747e+01] [-5.53220187e-02 3.45638478e-03 9.98462582e-01 -2.67970841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94071405700004 meters 0.03761575619054455 Centerline is valid? [True, True] Translation: X:407.47, Y:-52.97, Z:-26.80 [[ 9.95994958e-01 7.09322640e-02 5.44302976e-02 4.07474480e+02] [-7.06302792e-02 9.97474710e-01 -7.45425844e-03 -5.29692551e+01] [-5.48215927e-02 3.57997671e-03 9.98489748e-01 -2.68012842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00071405700004 meters 0.03701398440264646 Centerline is valid? [True, True] Translation: X:407.53, Y:-52.97, Z:-26.80 [[ 9.96000868e-01 7.03886609e-02 5.50246165e-02 4.07532903e+02] [-7.00792401e-02 9.97512968e-01 -7.53513909e-03 -5.29749336e+01] [-5.54181569e-02 3.64892176e-03 9.98456566e-01 -2.68037917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06071405700004 meters 0.03837318716392546 Centerline is valid? [True, True] Translation: X:407.59, Y:-52.98, Z:-26.81 [[ 9.95861746e-01 7.11440627e-02 5.65500266e-02 4.07590259e+02] [-7.08186740e-02 9.97459177e-01 -7.73987064e-03 -5.29833510e+01] [-5.69569889e-02 3.70304319e-03 9.98369766e-01 -2.68057691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12071405700004 meters 0.03836247961577574 Centerline is valid? [True, True] Translation: X:407.65, Y:-52.99, Z:-26.81 [[ 9.95939715e-01 7.05409073e-02 5.59290977e-02 4.07648848e+02] [-7.02219777e-02 9.97502058e-01 -7.64975256e-03 -5.29900943e+01] [-5.63290106e-02 3.69124053e-03 9.98405437e-01 -2.68101923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18071405700005 meters 0.03886831781467096 Centerline is valid? [True, True] Translation: X:407.71, Y:-53.00, Z:-26.82 [[ 9.96172035e-01 6.85700379e-02 5.42164718e-02 4.07707220e+02] [-6.82676797e-02 9.97639511e-01 -7.41150422e-03 -5.29992358e+01] [-5.45967016e-02 3.68190051e-03 9.98501699e-01 -2.68163832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24071405700005 meters 0.041908131089250775 Centerline is valid? [True, True] Translation: X:407.76, Y:-53.01, Z:-26.82 [[ 9.96432746e-01 6.72227760e-02 5.10184487e-02 4.07764697e+02] [-6.69534471e-02 9.97731742e-01 -6.97179665e-03 -5.30097824e+01] [-5.13713892e-02 3.53106547e-03 9.98673376e-01 -2.68237737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30071405700005 meters 0.042343728384757445 Centerline is valid? [True, True] Translation: X:407.82, Y:-53.02, Z:-26.83 [[ 9.96515277e-01 6.64565726e-02 5.04066144e-02 4.07822586e+02] [-6.61928392e-02 9.97783092e-01 -6.88538750e-03 -5.30168798e+01] [-5.07524469e-02 3.52483691e-03 9.98705044e-01 -2.68282114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36071405700005 meters 0.04341063211320539 Centerline is valid? [True, True] Translation: X:407.88, Y:-53.02, Z:-26.83 [[ 9.96459996e-01 6.65088178e-02 5.14203668e-02 4.07880775e+02] [-6.62346203e-02 9.97779381e-01 -7.02012956e-03 -5.30246655e+01] [-5.17730823e-02 3.58946980e-03 9.98652424e-01 -2.68298948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42071405700005 meters 0.044999501292411946 Centerline is valid? [True, True] Translation: X:407.94, Y:-53.03, Z:-26.83 [[ 9.96282052e-01 6.68808207e-02 5.43049558e-02 4.07938342e+02] [-6.65757265e-02 9.97753860e-01 -7.40992467e-03 -5.30343189e+01] [-5.46785611e-02 3.76698307e-03 9.98496903e-01 -2.68318860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48071405700006 meters 0.04110600929093719 Centerline is valid? [True, True] Translation: X:408.00, Y:-53.04, Z:-26.83 [[ 9.96195447e-01 6.74781485e-02 5.51482676e-02 4.07997258e+02] [-6.71646146e-02 9.97713559e-01 -7.52118736e-03 -5.30368192e+01] [-5.55296902e-02 3.78856046e-03 9.98449849e-01 -2.68348230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54071405700006 meters 0.03897993654032624 Centerline is valid? [True, True] Translation: X:408.06, Y:-53.04, Z:-26.84 [[ 9.96314478e-01 6.74461389e-02 5.29950894e-02 4.08055478e+02] [-6.71567831e-02 9.97716283e-01 -7.22398398e-03 -5.30422754e+01] [-5.33612935e-02 3.63838010e-03 9.98568643e-01 -2.68412982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60071405700006 meters 0.041038501280402456 Centerline is valid? [True, True] Translation: X:408.11, Y:-53.05, Z:-26.85 [[ 9.96512835e-01 6.65766661e-02 5.02962871e-02 4.08112627e+02] [-6.63151464e-02 9.97775198e-01 -6.85242677e-03 -5.30540474e+01] [-5.06405996e-02 3.49312558e-03 9.98710833e-01 -2.68487632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66071405700006 meters 0.0420734837945936 Centerline is valid? [True, True] Translation: X:408.17, Y:-53.06, Z:-26.85 [[ 9.96494071e-01 6.75300962e-02 4.93887828e-02 4.08170072e+02] [-6.72792199e-02 9.97711512e-01 -6.72643842e-03 -5.30628374e+01] [-4.97299942e-02 3.38001722e-03 9.98756979e-01 -2.68536016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.72071405700007 meters 0.03733109177358873 Centerline is valid? [True, True] Translation: X:408.23, Y:-53.06, Z:-26.85 [[ 9.96079399e-01 7.21428510e-02 5.11980376e-02 4.08231089e+02] [-7.18795371e-02 9.97388979e-01 -6.96820397e-03 -5.30613216e+01] [-5.15670646e-02 3.26079318e-03 9.98664210e-01 -2.68537358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.78071405700007 meters 0.035780748400719105 Centerline is valid? [True, True] Translation: X:408.29, Y:-53.07, Z:-26.86 [[ 9.95561436e-01 7.66511342e-02 5.46079669e-02 4.08291752e+02] [-7.63582811e-02 9.97052744e-01 -7.43231669e-03 -5.30653930e+01] [-5.50167187e-02 3.22955739e-03 9.98480210e-01 -2.68554974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.84071405700007 meters 0.034603187613114 Centerline is valid? [True, True] Translation: X:408.35, Y:-53.07, Z:-26.86 [[ 9.95150766e-01 8.04891132e-02 5.65372048e-02 4.08351979e+02] [-8.01813450e-02 9.96750591e-01 -7.69483197e-03 -5.30693733e+01] [-5.69728425e-02 3.12428880e-03 9.98370840e-01 -2.68579858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9007140570001 meters 0.03412604197857515 Centerline is valid? [True, True] Translation: X:408.41, Y:-53.08, Z:-26.86 [[ 9.95182542e-01 8.10420179e-02 5.51715442e-02 4.08410622e+02] [-8.07497989e-02 9.96706117e-01 -7.50903169e-03 -5.30762865e+01] [-5.55983627e-02 3.01776615e-03 9.98448654e-01 -2.68635229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9607140570001 meters 0.035003439681603375 Centerline is valid? [True, True] Translation: X:408.47, Y:-53.09, Z:-26.87 [[ 9.95288918e-01 8.10321184e-02 5.32331269e-02 4.08468115e+02] [-8.07602204e-02 9.96707245e-01 -7.24261654e-03 -5.30860236e+01] [-5.36447278e-02 2.90937691e-03 9.98555847e-01 -2.68709562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0207140570001 meters 0.035282363288139724 Centerline is valid? [True, True] Translation: X:408.52, Y:-53.09, Z:-26.88 [[ 9.95277853e-01 8.22066023e-02 5.16146245e-02 4.08524824e+02] [-8.19527519e-02 9.96611499e-01 -7.01906108e-03 -5.30940485e+01] [-5.20167415e-02 2.75595552e-03 9.98642410e-01 -2.68762656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0807140570001 meters 0.035108350732927326 Centerline is valid? [True, True] Translation: X:408.58, Y:-53.10, Z:-26.88 [[ 9.94965680e-01 8.55993719e-02 5.21156670e-02 4.08583146e+02] [-8.53454690e-02 9.96326249e-01 -7.08210318e-03 -5.30993484e+01] [-5.25304307e-02 2.59861356e-03 9.98615943e-01 -2.68800842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.140714057 meters 0.03392491498783023 Centerline is valid? [True, True] Translation: X:408.64, Y:-53.10, Z:-26.88 [[ 9.94460421e-01 9.03461496e-02 5.37219190e-02 4.08643105e+02] [-9.00834235e-02 9.95907491e-01 -7.29698343e-03 -5.31037911e+01] [-5.41613159e-02 2.41710683e-03 9.98529273e-01 -2.68828078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.200714057 meters 0.030956246607164964 Centerline is valid? [True, True] Translation: X:408.70, Y:-53.11, Z:-26.88 [[ 9.94098907e-01 9.34599644e-02 5.50690308e-02 4.08702899e+02] [-9.31886407e-02 9.95620373e-01 -7.48004283e-03 -5.31053357e+01] [-5.55269334e-02 2.30409427e-03 9.98454531e-01 -2.68839667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26071405700003 meters 0.03174764709289973 Centerline is valid? [True, True] Translation: X:408.76, Y:-53.11, Z:-26.89 [[ 9.94145438e-01 9.31095447e-02 5.48220871e-02 4.08760748e+02] [-9.28402097e-02 9.95653187e-01 -7.44488279e-03 -5.31145793e+01] [-5.52769754e-02 2.31160220e-03 9.98468383e-01 -2.68880310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32071405700003 meters 0.03259544090300422 Centerline is valid? [True, True] Translation: X:408.82, Y:-53.12, Z:-26.89 [[ 9.94226223e-01 9.24081163e-02 5.45431647e-02 4.08817440e+02] [-9.21406658e-02 9.95718478e-01 -7.40336212e-03 -5.31247309e+01] [-5.49937677e-02 2.33497325e-03 9.98483968e-01 -2.68922628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38071405700003 meters 0.03399391554748646 Centerline is valid? [True, True] Translation: X:408.88, Y:-53.14, Z:-26.90 [[ 9.94652974e-01 8.80877796e-02 5.39073665e-02 4.08876093e+02] [-8.78204911e-02 9.96109481e-01 -7.31179813e-03 -5.31377946e+01] [-5.43417189e-02 2.53853036e-03 9.98519170e-01 -2.68975066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44071405700004 meters 0.03845315065461793 Centerline is valid? [True, True] Translation: X:408.93, Y:-53.15, Z:-26.90 [[ 9.95296785e-01 8.05855999e-02 5.37612443e-02 4.08933602e+02] [-8.03088963e-02 9.96743358e-01 -7.29103518e-03 -5.31546417e+01] [-5.41737156e-02 2.93923768e-03 9.98527200e-01 -2.69007602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50071405700004 meters 0.04189896117338794 Centerline is valid? [True, True] Translation: X:408.99, Y:-53.17, Z:-26.91 [[ 9.95776217e-01 7.51221357e-02 5.27862675e-02 4.08991037e+02] [-7.48478087e-02 9.97169281e-01 -7.15751129e-03 -5.31690923e+01] [-5.31745320e-02 3.17634307e-03 9.98580182e-01 -2.69053028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56071405700004 meters 0.04486462317444146 Centerline is valid? [True, True] Translation: X:409.05, Y:-53.18, Z:-26.91 [[ 9.96089939e-01 7.16773474e-02 5.16448544e-02 4.09050319e+02] [-7.14100608e-02 9.97422447e-01 -7.00461031e-03 -5.31820482e+01] [-5.20138090e-02 3.28925966e-03 9.98640949e-01 -2.69102593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62071405700004 meters 0.04951458330283579 Centerline is valid? [True, True] Translation: X:409.11, Y:-53.20, Z:-26.92 [[ 9.96505968e-01 6.64596619e-02 5.05862643e-02 4.09108031e+02] [-6.61965616e-02 9.97783016e-01 -6.86062091e-03 -5.31966707e+01] [-5.09300699e-02 3.48801291e-03 9.98696131e-01 -2.69152975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68071405700005 meters 0.045073891779150485 Centerline is valid? [True, True] Translation: X:409.17, Y:-53.20, Z:-26.92 [[ 9.96727100e-01 6.26003607e-02 5.11496126e-02 4.09168683e+02] [-6.23263370e-02 9.98031720e-01 -6.93644469e-03 -5.31977005e+01] [-5.14831597e-02 3.72577441e-03 9.98666913e-01 -2.69162519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74071405700005 meters 0.04767096716014565 Centerline is valid? [True, True] Translation: X:409.23, Y:-53.21, Z:-26.92 [[ 9.96742858e-01 6.18387761e-02 5.17652504e-02 4.09226642e+02] [-6.15570627e-02 9.98078876e-01 -7.02041625e-03 -5.32084806e+01] [-5.20999369e-02 3.81103299e-03 9.98634604e-01 -2.69191702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80071405700005 meters 0.0457345321658537 Centerline is valid? [True, True] Translation: X:409.29, Y:-53.21, Z:-26.92 [[ 9.96779836e-01 6.20761235e-02 5.07593767e-02 4.09285227e+02] [-6.18056853e-02 9.98064476e-01 -6.88174020e-03 -5.32117373e+01] [-5.10883225e-02 3.72236181e-03 9.98687202e-01 -2.69226605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86071405700005 meters 0.04666874624781131 Centerline is valid? [True, True] Translation: X:409.34, Y:-53.22, Z:-26.93 [[ 9.96729846e-01 6.33249264e-02 5.01952889e-02 4.09343034e+02] [-6.30622205e-02 9.97986419e-01 -6.80181714e-03 -5.32186775e+01] [-5.05249412e-02 3.61414778e-03 9.98716260e-01 -2.69264802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92071405700005 meters 0.04782676973788897 Centerline is valid? [True, True] Translation: X:409.40, Y:-53.23, Z:-26.93 [[ 9.96736190e-01 6.37909896e-02 4.94740159e-02 4.09401058e+02] [-6.35365261e-02 9.97957018e-01 -6.70070746e-03 -5.32262992e+01] [-4.98003862e-02 3.53543051e-03 9.98752934e-01 -2.69307476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98071405700006 meters 0.04768451491672722 Centerline is valid? [True, True] Translation: X:409.46, Y:-53.23, Z:-26.94 [[ 9.96749834e-01 6.45483936e-02 4.82003388e-02 4.09459632e+02] [-6.43079108e-02 9.97908772e-01 -6.52503006e-03 -5.32323519e+01] [-4.85207211e-02 3.40415954e-03 9.98816375e-01 -2.69354406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04071405700006 meters 0.044411578636821526 Centerline is valid? [True, True] Translation: X:409.52, Y:-53.23, Z:-26.94 [[ 9.96727142e-01 6.57830325e-02 4.69850802e-02 4.09518650e+02] [-6.55560428e-02 9.97828636e-01 -6.35747403e-03 -5.32324727e+01] [-4.73012724e-02 3.25651099e-03 9.98875360e-01 -2.69378680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10071405700006 meters 0.04082349880401249 Centerline is valid? [True, True] Translation: X:409.58, Y:-53.23, Z:-26.94 [[ 9.96579452e-01 6.78395225e-02 4.71931774e-02 4.09578950e+02] [-6.76129906e-02 9.97691213e-01 -6.38182017e-03 -5.32322388e+01] [-4.75171580e-02 3.16911899e-03 9.98865395e-01 -2.69387142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16071405700006 meters 0.03922784082018335 Centerline is valid? [True, True] Translation: X:409.64, Y:-53.24, Z:-26.94 [[ 9.96378977e-01 6.96541510e-02 4.87568885e-02 4.09638557e+02] [-6.94145924e-02 9.97566121e-01 -6.59149410e-03 -5.32352709e+01] [-4.90973451e-02 3.18318661e-03 9.98788926e-01 -2.69396196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.22071405700007 meters 0.0410242196803523 Centerline is valid? [True, True] Translation: X:409.70, Y:-53.24, Z:-26.94 [[ 9.96266340e-01 7.11896902e-02 4.88406471e-02 4.09695379e+02] [-7.09511904e-02 9.97457941e-01 -6.60185935e-03 -5.32444714e+01] [-4.91864756e-02 3.11190819e-03 9.98784765e-01 -2.69442351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.28071405700007 meters 0.038519504048558445 Centerline is valid? [True, True] Translation: X:409.75, Y:-53.25, Z:-26.95 [[ 9.96403209e-01 7.06777515e-02 4.67472075e-02 4.09754283e+02] [-7.04589144e-02 9.97494695e-01 -6.31468210e-03 -5.32476773e+01] [-4.70763991e-02 2.99821201e-03 9.98886792e-01 -2.69488278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.34071405700007 meters 0.03812612542133207 Centerline is valid? [True, True] Translation: X:409.81, Y:-53.26, Z:-26.95 [[ 9.96505240e-01 7.03520379e-02 4.50321923e-02 4.09812403e+02] [-7.01487860e-02 9.97518011e-01 -6.07991961e-03 -5.32568177e+01] [-4.53481576e-02 2.89971813e-03 9.98967035e-01 -2.69543113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4007140570001 meters 0.03910688020521021 Centerline is valid? [True, True] Translation: X:409.87, Y:-53.26, Z:-26.96 [[ 9.96473626e-01 7.18028501e-02 4.34127068e-02 4.09869884e+02] [-7.16154513e-02 9.97415111e-01 -5.85863640e-03 -5.32643048e+01] [-4.37211566e-02 2.72895607e-03 9.99040046e-01 -2.69588732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4607140570001 meters 0.03903512053198647 Centerline is valid? [True, True] Translation: X:409.93, Y:-53.27, Z:-26.96 [[ 9.96254728e-01 7.43497150e-02 4.41433595e-02 4.09928159e+02] [-7.41586672e-02 9.97228692e-01 -5.95211318e-03 -5.32716774e+01] [-4.44635626e-02 2.65620819e-03 9.99007476e-01 -2.69615983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5207140570001 meters 0.03775244049503331 Centerline is valid? [True, True] Translation: X:409.99, Y:-53.28, Z:-26.96 [[ 9.95726721e-01 7.99824033e-02 4.61639720e-02 4.09988605e+02] [-7.97795769e-02 9.96793108e-01 -6.22242492e-03 -5.32760581e+01] [-4.65136136e-02 2.51289261e-03 9.98914495e-01 -2.69628039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5807140570001 meters 0.03582710771672937 Centerline is valid? [True, True] Translation: X:410.05, Y:-53.28, Z:-26.97 [[ 9.95189874e-01 8.60069879e-02 4.69032249e-02 4.10048695e+02] [-8.58042998e-02 9.96291955e-01 -6.32152327e-03 -5.32795424e+01] [-4.72730008e-02 2.26661758e-03 9.98879435e-01 -2.69662982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.640714057 meters 0.034564614682907266 Centerline is valid? [True, True] Translation: X:410.11, Y:-53.29, Z:-26.97 [[ 9.94878685e-01 8.97374913e-02 4.65143407e-02 4.10107597e+02] [-8.95422108e-02 9.95963297e-01 -6.26926299e-03 -5.32878405e+01] [-4.68891640e-02 2.07215923e-03 9.98897949e-01 -2.69715550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.700714057 meters 0.035607853640534225 Centerline is valid? [True, True] Translation: X:410.16, Y:-53.30, Z:-26.98 [[ 9.94954394e-01 8.99338166e-02 4.44709274e-02 4.10163575e+02] [-8.97555446e-02 9.95945792e-01 -5.99341760e-03 -5.33003100e+01] [-4.48296439e-02 1.97166487e-03 9.98992700e-01 -2.69777312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76071405700003 meters 0.03660507266235998 Centerline is valid? [True, True] Translation: X:410.22, Y:-53.31, Z:-26.98 [[ 9.95038258e-01 8.88557325e-02 4.47607362e-02 4.10219956e+02] [-8.86741720e-02 9.96042437e-01 -6.02954011e-03 -5.33134856e+01] [-4.51193519e-02 2.03050187e-03 9.98979540e-01 -2.69813352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82071405700003 meters 0.031842778723119435 Centerline is valid? [True, True] Translation: X:410.28, Y:-53.32, Z:-26.98 [[ 9.95417520e-01 8.42178631e-02 4.52914124e-02 4.10279787e+02] [-8.40275173e-02 9.96444802e-01 -6.09363000e-03 -5.33206513e+01] [-4.56435849e-02 2.25998113e-03 9.98955232e-01 -2.69789887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88071405700003 meters 0.035783033283467776 Centerline is valid? [True, True] Translation: X:410.34, Y:-53.34, Z:-26.98 [[ 9.95616397e-01 8.15574685e-02 4.57861331e-02 4.10335957e+02] [-8.13601341e-02 9.96665732e-01 -6.16017222e-03 -5.33395165e+01] [-4.61358779e-02 2.40800254e-03 9.98932271e-01 -2.69836867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94071405700004 meters 0.03450304270380064 Centerline is valid? [True, True] Translation: X:410.40, Y:-53.35, Z:-26.99 [[ 9.95748567e-01 7.97462637e-02 4.61012412e-02 4.10395039e+02] [-7.95444844e-02 9.96812049e-01 -6.19788478e-03 -5.33492051e+01] [-4.64485309e-02 2.50443543e-03 9.98917545e-01 -2.69857059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00071405700004 meters 0.03382224822602596 Centerline is valid? [True, True] Translation: X:410.45, Y:-53.36, Z:-26.99 [[ 9.95779460e-01 7.95096106e-02 4.58420077e-02 4.10452625e+02] [-7.93098899e-02 9.96830964e-01 -6.16208637e-03 -5.33592866e+01] [-4.61866778e-02 2.50035445e-03 9.98929697e-01 -2.69889084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06071405700004 meters 0.03253130082283282 Centerline is valid? [True, True] Translation: X:410.51, Y:-53.37, Z:-26.99 [[ 9.95619802e-01 8.14848784e-02 4.58413055e-02 4.10510276e+02] [-8.12874020e-02 9.96671675e-01 -6.15870756e-03 -5.33717782e+01] [-4.61905723e-02 2.40541057e-03 9.98929750e-01 -2.69918591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12071405700004 meters 0.03223617850463042 Centerline is valid? [True, True] Translation: X:410.57, Y:-53.39, Z:-27.00 [[ 9.95317328e-01 8.50692079e-02 4.58982230e-02 4.10567493e+02] [-8.48752108e-02 9.96372531e-01 -6.16263420e-03 -5.33850890e+01] [-4.62559790e-02 2.23815525e-03 9.98927112e-01 -2.69960373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18071405700005 meters 0.03131151977475742 Centerline is valid? [True, True] Translation: X:410.63, Y:-53.40, Z:-27.00 [[ 9.94992942e-01 8.90157071e-02 4.54450121e-02 4.10626395e+02] [-8.88297708e-02 9.96028151e-01 -6.09869359e-03 -5.33966786e+01] [-4.58073909e-02 2.03128707e-03 9.98948225e-01 -2.70001215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24071405700005 meters 0.03177193134833887 Centerline is valid? [True, True] Translation: X:410.68, Y:-53.41, Z:-27.00 [[ 9.94897645e-01 8.99301458e-02 4.57301224e-02 4.10684003e+02] [-8.97428242e-02 9.95946064e-01 -6.13709733e-03 -5.34068294e+01] [-4.60966454e-02 2.00183335e-03 9.98934979e-01 -2.70038259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30071405700005 meters 0.029761933558688138 Centerline is valid? [True, True] Translation: X:410.74, Y:-53.42, Z:-27.01 [[ 9.94687664e-01 9.21455949e-02 4.58872551e-02 4.10742239e+02] [-9.19593472e-02 9.95743721e-01 -6.15790555e-03 -5.34181733e+01] [-4.62593701e-02 1.90543067e-03 9.98927645e-01 -2.70063539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36071405700005 meters 0.029411458451989864 Centerline is valid? [True, True] Translation: X:410.80, Y:-53.43, Z:-27.01 [[ 9.94607146e-01 9.31205099e-02 4.56639404e-02 4.10799131e+02] [-9.29377216e-02 9.95653150e-01 -6.11438583e-03 -5.34322724e+01] [-4.60348208e-02 1.83750925e-03 9.98938146e-01 -2.70106691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42071405700005 meters 0.028826284630029696 Centerline is valid? [True, True] Translation: X:410.86, Y:-53.44, Z:-27.01 [[ 9.94458085e-01 9.44079886e-02 4.62628163e-02 4.10856452e+02] [-9.42219166e-02 9.95531968e-01 -6.19123406e-03 -5.34443192e+01] [-4.66406145e-02 1.79795155e-03 9.98910116e-01 -2.70137767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48071405700006 meters 0.030742283663687385 Centerline is valid? [True, True] Translation: X:410.91, Y:-53.46, Z:-27.02 [[ 9.94319240e-01 9.49179512e-02 4.81646198e-02 4.10912228e+02] [-9.47170143e-02 9.95483392e-01 -6.44237016e-03 -5.34644933e+01] [-4.85585756e-02 1.84376363e-03 9.98818635e-01 -2.70176764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54071405700006 meters 0.027914778987256396 Centerline is valid? [True, True] Translation: X:410.97, Y:-53.47, Z:-27.02 [[ 9.94349457e-01 9.36939275e-02 4.99059589e-02 4.10970869e+02] [-9.34768896e-02 9.95599104e-01 -6.67046263e-03 -5.34721980e+01] [-5.03113098e-02 1.96771708e-03 9.98731646e-01 -2.70185489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60071405700006 meters 0.030103030469147616 Centerline is valid? [True, True] Translation: X:411.03, Y:-53.49, Z:-27.02 [[ 9.94659583e-01 8.98919541e-02 5.07124241e-02 4.11027386e+02] [-8.96631129e-02 9.95949113e-01 -6.77422699e-03 -5.34912332e+01] [-5.11159423e-02 2.19101598e-03 9.98690322e-01 -2.70229735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66071405700006 meters 0.03229521200634426 Centerline is valid? [True, True] Translation: X:411.09, Y:-53.51, Z:-27.03 [[ 9.95185409e-01 8.42617030e-02 5.00596385e-02 4.11085510e+02] [-8.40317841e-02 9.96440660e-01 -6.68365906e-03 -5.35105272e+01] [-5.04446357e-02 2.44487924e-03 9.98723866e-01 -2.70278471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.72071405700007 meters 0.03252198738982846 Centerline is valid? [True, True] Translation: X:411.14, Y:-53.52, Z:-27.03 [[ 9.95619882e-01 7.89516432e-02 5.00768318e-02 4.11144713e+02] [-7.87148753e-02 9.96874751e-01 -6.68582237e-03 -5.35236670e+01] [-5.04481858e-02 2.71474611e-03 9.98722990e-01 -2.70308818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.78071405700007 meters 0.037656794391366995 Centerline is valid? [True, True] Translation: X:411.20, Y:-53.54, Z:-27.04 [[ 9.95883472e-01 7.58795637e-02 4.95822788e-02 4.11201232e+02] [-7.56436647e-02 9.97112940e-01 -6.61969277e-03 -5.35445576e+01] [-4.99414312e-02 2.84185735e-03 9.98748105e-01 -2.70366742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.84071405700007 meters 0.03659983106329452 Centerline is valid? [True, True] Translation: X:411.26, Y:-53.55, Z:-27.04 [[ 9.96016871e-01 7.38641174e-02 4.99448199e-02 4.11259832e+02] [-7.36222323e-02 9.97263909e-01 -6.66801818e-03 -5.35539095e+01] [-5.03006936e-02 2.96440947e-03 9.98729719e-01 -2.70398517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9007140570001 meters 0.03541071677212379 Centerline is valid? [True, True] Translation: X:411.32, Y:-53.56, Z:-27.04 [[ 9.95962408e-01 7.36866218e-02 5.12753642e-02 4.11317579e+02] [-7.34315016e-02 9.97276777e-01 -6.84425264e-03 -5.35624870e+01] [-5.16400598e-02 3.05139135e-03 9.98661100e-01 -2.70414323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9607140570001 meters 0.0378683233159452 Centerline is valid? [True, True] Translation: X:411.37, Y:-53.58, Z:-27.05 [[ 9.95948990e-01 7.34905439e-02 5.18145595e-02 4.11374124e+02] [-7.32299460e-02 9.97291126e-01 -6.91266225e-03 -5.35750457e+01] [-5.21822157e-02 3.09028160e-03 9.98632799e-01 -2.70457312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0207140570001 meters 0.03663317822035168 Centerline is valid? [True, True] Translation: X:411.43, Y:-53.58, Z:-27.05 [[ 9.96113054e-01 7.19258095e-02 5.08474264e-02 4.11432754e+02] [-7.16730895e-02 9.97405143e-01 -6.77855871e-03 -5.35835744e+01] [-5.12030379e-02 3.10781868e-03 9.98683429e-01 -2.70500902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0807140570001 meters 0.04044438365175991 Centerline is valid? [True, True] Translation: X:411.49, Y:-53.60, Z:-27.06 [[ 9.96238195e-01 7.07849585e-02 4.99894770e-02 4.11489259e+02] [-7.05393368e-02 9.97486745e-01 -6.66292850e-03 -5.35980164e+01] [-5.03354758e-02 3.11163931e-03 9.98727519e-01 -2.70555547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.140714057 meters 0.038367568546265524 Centerline is valid? [True, True] Translation: X:411.55, Y:-53.60, Z:-27.06 [[ 9.96125907e-01 7.13636383e-02 5.13849063e-02 4.11548799e+02] [-7.11050807e-02 9.97445345e-01 -6.84473098e-03 -5.36029693e+01] [-5.17421005e-02 3.16448595e-03 9.98655467e-01 -2.70567396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.200714057 meters 0.03840416515557994 Centerline is valid? [True, True] Translation: X:411.61, Y:-53.61, Z:-27.06 [[ 9.95956395e-01 7.32124080e-02 5.20653707e-02 4.11607626e+02] [-7.29495616e-02 9.97311530e-01 -6.93351875e-03 -5.36109629e+01] [-5.24330141e-02 3.10733637e-03 9.98619609e-01 -2.70597622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26071405700003 meters 0.03785490084634375 Centerline is valid? [True, True] Translation: X:411.67, Y:-53.62, Z:-27.06 [[ 9.95567402e-01 7.79988287e-02 5.25521712e-02 4.11666687e+02] [-7.77377841e-02 9.96949291e-01 -6.99634617e-03 -5.36167526e+01] [-5.29375566e-02 2.88004484e-03 9.98593671e-01 -2.70634254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32071405700003 meters 0.034610637442903096 Centerline is valid? [True, True] Translation: X:411.73, Y:-53.62, Z:-27.07 [[ 9.95267210e-01 8.13190687e-02 5.32014143e-02 4.11726740e+02] [-8.10563117e-02 9.96684365e-01 -7.08167621e-03 -5.36195486e+01] [-5.36008932e-02 2.73584970e-03 9.98558691e-01 -2.70655175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38071405700003 meters 0.03225235997550544 Centerline is valid? [True, True] Translation: X:411.79, Y:-53.62, Z:-27.07 [[ 9.95204492e-01 8.25933238e-02 5.24057399e-02 4.11785269e+02] [-8.23401504e-02 9.96579872e-01 -6.97550534e-03 -5.36239871e+01] [-5.28026358e-02 2.62695774e-03 9.98601513e-01 -2.70688069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44071405700004 meters 0.036124526772526366 Centerline is valid? [True, True] Translation: X:411.84, Y:-53.64, Z:-27.07 [[ 9.95486076e-01 7.96082110e-02 5.16721009e-02 4.11842145e+02] [-7.93582873e-02 9.96822458e-01 -6.87377799e-03 -5.36404392e+01] [-5.20551198e-02 2.74214085e-03 9.98640448e-01 -2.70743459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50071405700004 meters 0.04232057300251118 Centerline is valid? [True, True] Translation: X:411.90, Y:-53.66, Z:-27.08 [[ 9.95724723e-01 7.65078788e-02 5.17573219e-02 4.11899264e+02] [-7.62530511e-02 9.97064738e-01 -6.88327564e-03 -5.36594040e+01] [-5.21320254e-02 2.90719402e-03 9.98635970e-01 -2.70794151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56071405700004 meters 0.03377434165459757 Centerline is valid? [True, True] Translation: X:411.96, Y:-53.66, Z:-27.08 [[ 9.95979096e-01 7.23791619e-02 5.27910723e-02 4.11959984e+02] [-7.21083696e-02 9.97372107e-01 -7.01876921e-03 -5.36570355e+01] [-5.31603557e-02 3.18386926e-03 9.98580913e-01 -2.70793779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62071405700004 meters 0.041427271527419304 Centerline is valid? [True, True] Translation: X:412.02, Y:-53.68, Z:-27.08 [[ 9.96151054e-01 6.97767476e-02 5.30498181e-02 4.12016383e+02] [-6.94996590e-02 9.97557047e-01 -7.05238427e-03 -5.36782407e+01] [-5.34123123e-02 3.33829576e-03 9.98566964e-01 -2.70841940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68071405700005 meters 0.03662527543425859 Centerline is valid? [True, True] Translation: X:412.08, Y:-53.68, Z:-27.09 [[ 9.96278205e-01 6.86332446e-02 5.21461094e-02 4.12076943e+02] [-6.83640888e-02 9.97636370e-01 -6.92994011e-03 -5.36779695e+01] [-5.24984796e-02 3.33922703e-03 9.98615421e-01 -2.70860905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74071405700005 meters 0.036924623511042844 Centerline is valid? [True, True] Translation: X:412.14, Y:-53.69, Z:-27.09 [[ 9.96387182e-01 6.72623072e-02 5.18494551e-02 4.12136454e+02] [-6.69943434e-02 9.97729560e-01 -6.89085713e-03 -5.36857503e+01] [-5.21952290e-02 3.39234152e-03 9.98631138e-01 -2.70886329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80071405700005 meters 0.038591137945492675 Centerline is valid? [True, True] Translation: X:412.20, Y:-53.70, Z:-27.09 [[ 9.96407187e-01 6.65551269e-02 5.23749186e-02 4.12195326e+02] [-6.62807936e-02 9.97776740e-01 -6.95940692e-03 -5.36953440e+01] [-5.27216597e-02 3.46295190e-03 9.98603242e-01 -2.70914031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86071405700005 meters 0.039196979452827914 Centerline is valid? [True, True] Translation: X:412.26, Y:-53.70, Z:-27.10 [[ 9.96442304e-01 6.67184760e-02 5.14915512e-02 4.12255270e+02] [-6.64535153e-02 9.97766059e-01 -6.84261757e-03 -5.37021080e+01] [-5.18330511e-02 3.39647903e-03 9.98649988e-01 -2.70967370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92071405700005 meters 0.037090389718249094 Centerline is valid? [True, True] Translation: X:412.32, Y:-53.70, Z:-27.10 [[ 9.96428121e-01 6.79451742e-02 5.01443238e-02 4.12315438e+02] [-6.76954443e-02 9.97683778e-01 -6.66383984e-03 -5.37041639e+01] [-5.04809541e-02 3.24549513e-03 9.98719751e-01 -2.71009166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98071405700006 meters 0.03691466098209725 Centerline is valid? [True, True] Translation: X:412.37, Y:-53.71, Z:-27.10 [[ 9.96414485e-01 6.83896487e-02 4.98099314e-02 4.12374572e+02] [-6.81438265e-02 9.97653553e-01 -6.61876499e-03 -5.37087576e+01] [-5.01457100e-02 3.20079399e-03 9.98736784e-01 -2.71037171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04071405700006 meters 0.03671147097730762 Centerline is valid? [True, True] Translation: X:412.43, Y:-53.71, Z:-27.11 [[ 9.96357430e-01 6.91049296e-02 4.99638011e-02 4.12434032e+02] [-6.88585709e-02 9.97604352e-01 -6.63739954e-03 -5.37122652e+01] [-5.03027825e-02 3.17278640e-03 9.98728974e-01 -2.71058001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10071405700006 meters 0.03794129339121734 Centerline is valid? [True, True] Translation: X:412.49, Y:-53.72, Z:-27.11 [[ 9.96364350e-01 6.97001187e-02 4.89895394e-02 4.12492255e+02] [-6.94640715e-02 9.97563235e-01 -6.50651874e-03 -5.37173894e+01] [-4.93236686e-02 3.07985044e-03 9.98778099e-01 -2.71100829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16071405700006 meters 0.03290536407738622 Centerline is valid? [True, True] Translation: X:412.55, Y:-53.72, Z:-27.11 [[ 9.96376612e-01 6.98904334e-02 4.84662231e-02 4.12551969e+02] [-6.96597377e-02 9.97550056e-01 -6.43483818e-03 -5.37153161e+01] [-4.87972172e-02 3.03537788e-03 9.98804094e-01 -2.71119391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.22071405700007 meters 0.03817464658147518 Centerline is valid? [True, True] Translation: X:412.61, Y:-53.73, Z:-27.12 [[ 9.96125620e-01 7.37975567e-02 4.78295820e-02 4.12610232e+02] [-7.35775731e-02 9.97269305e-01 -6.34612437e-03 -5.37266206e+01] [-4.81673025e-02 2.80235251e-03 9.98835351e-01 -2.71174567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.28071405700007 meters 0.03649757864257336 Centerline is valid? [True, True] Translation: X:412.67, Y:-53.73, Z:-27.12 [[ 9.95797787e-01 7.87442481e-02 4.67558634e-02 4.12671230e+02] [-7.85395763e-02 9.96891708e-01 -6.20139648e-03 -5.37279593e+01] [-4.70988569e-02 2.50315119e-03 9.98887097e-01 -2.71216205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.34071405700007 meters 0.03097883398202905 Centerline is valid? [True, True] Translation: X:412.73, Y:-53.72, Z:-27.12 [[ 9.95460026e-01 8.24343474e-02 4.75806122e-02 4.12732846e+02] [-8.22265798e-02 9.96593680e-01 -6.31089706e-03 -5.37230508e+01] [-4.79387721e-02 2.36985474e-03 9.98847465e-01 -2.71200479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4007140570001 meters 0.029712577792440853 Centerline is valid? [True, True] Translation: X:412.79, Y:-53.73, Z:-27.12 [[ 9.95240768e-01 8.47591130e-02 4.80802131e-02 4.12792825e+02] [-8.45497025e-02 9.96398861e-01 -6.37627943e-03 -5.37271487e+01] [-4.84475174e-02 2.28076552e-03 9.98823126e-01 -2.71218058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4607140570001 meters 0.03003908526999908 Centerline is valid? [True, True] Translation: X:412.85, Y:-53.74, Z:-27.13 [[ 9.95219681e-01 8.51085588e-02 4.78990604e-02 4.12851034e+02] [-8.49011283e-02 9.96369132e-01 -6.35225534e-03 -5.37358189e+01] [-4.82657765e-02 2.25520527e-03 9.98831982e-01 -2.71266850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5207140570001 meters 0.03271015368809035 Centerline is valid? [True, True] Translation: X:412.91, Y:-53.75, Z:-27.13 [[ 9.95310782e-01 8.47225650e-02 4.66747789e-02 4.12907207e+02] [-8.45253026e-02 9.96402122e-01 -6.18746518e-03 -5.37486516e+01] [-4.70310667e-02 2.21325099e-03 9.98890975e-01 -2.71326462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5807140570001 meters 0.030949748828033353 Centerline is valid? [True, True] Translation: X:412.97, Y:-53.75, Z:-27.14 [[ 9.95452782e-01 8.31647406e-02 4.64476623e-02 4.12965522e+02] [-8.29680023e-02 9.96533229e-01 -6.15098311e-03 -5.37547837e+01] [-4.67981838e-02 2.26934350e-03 9.98901787e-01 -2.71356125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.640714057 meters 0.031142295324481324 Centerline is valid? [True, True] Translation: X:413.02, Y:-53.76, Z:-27.14 [[ 9.95632368e-01 8.09388792e-02 4.65304919e-02 4.13024003e+02] [-8.07391862e-02 9.96716238e-01 -6.15828804e-03 -5.37647097e+01] [-4.68761418e-02 2.37455685e-03 9.98897887e-01 -2.71386638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.700714057 meters 0.03068936211353496 Centerline is valid? [True, True] Translation: X:413.08, Y:-53.78, Z:-27.14 [[ 9.95442229e-01 8.19907119e-02 4.87061788e-02 4.13082228e+02] [-8.17732839e-02 9.96630128e-01 -6.44340685e-03 -5.37750603e+01] [-4.90703447e-02 2.43117509e-03 9.98792366e-01 -2.71418191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76071405700003 meters 0.03004863906009205 Centerline is valid? [True, True] Translation: X:413.14, Y:-53.78, Z:-27.15 [[ 9.95091927e-01 8.53185757e-02 5.01278172e-02 4.13141579e+02] [-8.50926358e-02 9.96350998e-01 -6.62812032e-03 -5.37841930e+01] [-5.05104025e-02 2.33008093e-03 9.98720817e-01 -2.71462410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82071405700003 meters 0.02943228759884106 Centerline is valid? [True, True] Translation: X:413.20, Y:-53.79, Z:-27.15 [[ 9.95023493e-01 8.63640345e-02 4.96940895e-02 4.13199525e+02] [-8.61432964e-02 9.96261090e-01 -6.57067057e-03 -5.37927025e+01] [-5.00757574e-02 2.25715889e-03 9.98742872e-01 -2.71508532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88071405700003 meters 0.030541009006798153 Centerline is valid? [True, True] Translation: X:413.26, Y:-53.81, Z:-27.16 [[ 9.95114840e-01 8.51297906e-02 4.99937308e-02 4.13257109e+02] [-8.49050121e-02 9.96367147e-01 -6.60660912e-03 -5.38058771e+01] [-5.03745301e-02 2.32961647e-03 9.98727680e-01 -2.71551782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94071405700004 meters 0.03240701269670657 Centerline is valid? [True, True] Translation: X:413.32, Y:-53.82, Z:-27.16 [[ 9.95436252e-01 8.13136917e-02 4.99474924e-02 4.13315876e+02] [-8.10847700e-02 9.96685384e-01 -6.59589680e-03 -5.38211053e+01] [-5.03182724e-02 2.51581386e-03 9.98730065e-01 -2.71611365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00071405700004 meters 0.035490922653735706 Centerline is valid? [True, True] Translation: X:413.37, Y:-53.84, Z:-27.17 [[ 9.95822379e-01 7.64528185e-02 4.99275140e-02 4.13374682e+02] [-7.62179859e-02 9.97069379e-01 -6.59332426e-03 -5.38367809e+01] [-5.02852736e-02 2.76040529e-03 9.98731081e-01 -2.71658798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06071405700004 meters 0.034042791362464915 Centerline is valid? [True, True] Translation: X:413.43, Y:-53.85, Z:-27.17 [[ 9.95877878e-01 7.44121131e-02 5.18660653e-02 4.13433427e+02] [-7.41559061e-02 9.97223138e-01 -6.84946020e-03 -5.38458958e+01] [-5.22317232e-02 2.97505083e-03 9.98630560e-01 -2.71675712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12071405700004 meters 0.03294415647613803 Centerline is valid? [True, True] Translation: X:413.49, Y:-53.85, Z:-27.17 [[ 9.95744568e-01 7.51341217e-02 5.33630921e-02 4.13492061e+02] [-7.48640123e-02 9.97168862e-01 -7.04556375e-03 -5.38517613e+01] [-5.37413760e-02 3.02060665e-03 9.98550319e-01 -2.71693470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18071405700005 meters 0.03351180136693626 Centerline is valid? [True, True] Translation: X:413.55, Y:-53.86, Z:-27.17 [[ 9.95609705e-01 7.57426586e-02 5.49942193e-02 4.13549714e+02] [-7.54569210e-02 9.97122657e-01 -7.25672760e-03 -5.38613305e+01] [-5.53856259e-02 3.07517396e-03 9.98460303e-01 -2.71721191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24071405700005 meters 0.03448361854727894 Centerline is valid? [True, True] Translation: X:413.61, Y:-53.87, Z:-27.18 [[ 9.95613440e-01 7.51020246e-02 5.57993193e-02 4.13607249e+02] [-7.48070784e-02 9.97170872e-01 -7.35884838e-03 -5.38710871e+01] [-5.61941203e-02 3.15238430e-03 9.98414885e-01 -2.71757983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30071405700005 meters 0.03405181311251165 Centerline is valid? [True, True] Translation: X:413.67, Y:-53.88, Z:-27.18 [[ 9.95809854e-01 7.21513114e-02 5.61864992e-02 4.13666869e+02] [-7.18478272e-02 9.97388114e-01 -7.40544562e-03 -5.38790605e+01] [-5.65740591e-02 3.33753784e-03 9.98392827e-01 -2.71797653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36071405700005 meters 0.036452331702891264 Centerline is valid? [True, True] Translation: X:413.73, Y:-53.89, Z:-27.19 [[ 9.96060371e-01 6.87622116e-02 5.59954928e-02 4.13726133e+02] [-6.84555236e-02 9.97626879e-01 -7.37910086e-03 -5.38904192e+01] [-5.63700120e-02 3.51682917e-03 9.98403753e-01 -2.71850432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42071405700005 meters 0.03591780911353938 Centerline is valid? [True, True] Translation: X:413.79, Y:-53.90, Z:-27.19 [[ 9.96089591e-01 6.80193460e-02 5.63816961e-02 4.13786544e+02] [-6.77072228e-02 9.97677567e-01 -7.42999484e-03 -5.38959711e+01] [-5.67561368e-02 3.58349246e-03 9.98381640e-01 -2.71897572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48071405700006 meters 0.03510430459026714 Centerline is valid? [True, True] Translation: X:413.85, Y:-53.90, Z:-27.19 [[ 9.95930063e-01 7.00180975e-02 5.67518830e-02 4.13846769e+02] [-6.97050861e-02 9.97539608e-01 -7.47877816e-03 -5.39004861e+01] [-5.71359009e-02 3.49244512e-03 9.98360302e-01 -2.71938329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54071405700006 meters 0.03557388843991739 Centerline is valid? [True, True] Translation: X:413.91, Y:-53.91, Z:-27.20 [[ 9.95655019e-01 7.30406180e-02 5.77594196e-02 4.13906005e+02] [-7.27214340e-02 9.97323245e-01 -7.61166588e-03 -5.39058686e+01] [-5.81607725e-02 3.37824552e-03 9.98301514e-01 -2.71974934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60071405700006 meters 0.03161206225821801 Centerline is valid? [True, True] Translation: X:413.97, Y:-53.90, Z:-27.20 [[ 9.95234104e-01 7.80334425e-02 5.84795740e-02 4.13967386e+02] [-7.77148876e-02 9.96945847e-01 -7.70542444e-03 -5.39022974e+01] [-5.89022492e-02 3.12396766e-03 9.98258867e-01 -2.72007841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66071405700006 meters 0.030805345878837532 Centerline is valid? [True, True] Translation: X:414.03, Y:-53.91, Z:-27.21 [[ 9.94943529e-01 8.19164419e-02 5.81125764e-02 4.14027664e+02] [-8.16084827e-02 9.96635052e-01 -7.65695862e-03 -5.39060125e+01] [-5.85442614e-02 2.87576224e-03 9.98280672e-01 -2.72051735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.72071405700007 meters 0.029475933123082554 Centerline is valid? [True, True] Translation: X:414.09, Y:-53.91, Z:-27.21 [[ 9.94575503e-01 8.66714537e-02 5.75119761e-02 4.14087886e+02] [-8.63778181e-02 9.96233640e-01 -7.57678465e-03 -5.39073423e+01] [-5.79520562e-02 2.56792540e-03 9.98316065e-01 -2.72087769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.78071405700007 meters 0.02895120599575362 Centerline is valid? [True, True] Translation: X:414.15, Y:-53.91, Z:-27.21 [[ 9.94244094e-01 9.00829541e-02 5.79977849e-02 4.14147670e+02] [-8.97901700e-02 9.95931402e-01 -7.63988733e-03 -5.39115571e+01] [-5.84500389e-02 2.38828189e-03 9.98287478e-01 -2.72128524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.84071405700007 meters 0.028723755566725937 Centerline is valid? [True, True] Translation: X:414.21, Y:-53.92, Z:-27.22 [[ 9.94373123e-01 8.97515773e-02 5.62738462e-02 4.14206428e+02] [-8.94755637e-02 9.95961449e-01 -7.41046371e-03 -5.39169734e+01] [-5.67116822e-02 2.33363184e-03 9.98387870e-01 -2.72181305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9007140570001 meters 0.029808176816414608 Centerline is valid? [True, True] Translation: X:414.27, Y:-53.93, Z:-27.22 [[ 9.94647257e-01 8.76286664e-02 5.47544581e-02 4.14265134e+02] [-8.73643957e-02 9.96150357e-01 -7.20618510e-03 -5.39254335e+01] [-5.51751414e-02 2.38402210e-03 9.98473846e-01 -2.72228472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9607140570001 meters 0.03067953370908417 Centerline is valid? [True, True] Translation: X:414.32, Y:-53.93, Z:-27.23 [[ 9.94841776e-01 8.58189554e-02 5.40827813e-02 4.14324358e+02] [-8.55585733e-02 9.96307731e-01 -7.11586368e-03 -5.39331055e+01] [-5.44937691e-02 2.45191286e-03 9.98511100e-01 -2.72261036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0207140570001 meters 0.0304288132620247 Centerline is valid? [True, True] Translation: X:414.38, Y:-53.94, Z:-27.23 [[ 9.94928803e-01 8.41528876e-02 5.50905493e-02 4.14382689e+02] [-8.38802470e-02 9.96449491e-01 -7.24676619e-03 -5.39403707e+01] [-5.55047861e-02 2.58900753e-03 9.98455064e-01 -2.72283971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0807140570001 meters 0.03112481238201208 Centerline is valid? [True, True] Translation: X:414.44, Y:-53.95, Z:-27.23 [[ 9.95056696e-01 8.17044965e-02 5.64495172e-02 4.14441720e+02] [-8.14145495e-02 9.96652697e-01 -7.42104149e-03 -5.39491481e+01] [-5.68668961e-02 2.78854501e-03 9.98377874e-01 -2.72308684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1407140570001 meters 0.031811280028276996 Centerline is valid? [True, True] Translation: X:414.50, Y:-53.96, Z:-27.23 [[ 9.95100632e-01 8.06276487e-02 5.72181246e-02 4.14500138e+02] [-8.03280755e-02 9.96740110e-01 -7.52021618e-03 -5.39569921e+01] [-5.76379371e-02 2.88715005e-03 9.98333377e-01 -2.72345644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.200714057 meters 0.03212013494814388 Centerline is valid? [True, True] Translation: X:414.56, Y:-53.97, Z:-27.24 [[ 9.95223969e-01 7.94386817e-02 5.67339993e-02 4.14557682e+02] [-7.91424621e-02 9.96835457e-01 -7.45266253e-03 -5.39656923e+01] [-5.71464918e-02 2.92699999e-03 9.98361513e-01 -2.72389212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26071405700003 meters 0.0342184738894956 Centerline is valid? [True, True] Translation: X:414.62, Y:-53.98, Z:-27.25 [[ 9.95556314e-01 7.62786037e-02 5.52195682e-02 4.14615770e+02] [-7.59934648e-02 9.97081970e-01 -7.24827823e-03 -5.39775166e+01] [-5.56113245e-02 3.01974284e-03 9.98447926e-01 -2.72450285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32071405700003 meters 0.03700775275456916 Centerline is valid? [True, True] Translation: X:414.67, Y:-53.99, Z:-27.25 [[ 9.95957543e-01 7.18363592e-02 5.39268982e-02 4.14674290e+02] [-7.15580119e-02 9.97411331e-01 -7.07730223e-03 -5.39899144e+01] [-5.42957069e-02 3.18979092e-03 9.98519805e-01 -2.72501479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38071405700003 meters 0.04059147600581535 Centerline is valid? [True, True] Translation: X:414.73, Y:-54.00, Z:-27.26 [[ 9.96330516e-01 6.75006643e-02 5.26228408e-02 4.14732513e+02] [-6.72296009e-02 9.97713628e-01 -6.90631105e-03 -5.40021853e+01] [-5.29687060e-02 3.34315586e-03 9.98590577e-01 -2.72557695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44071405700004 meters 0.04217942547000316 Centerline is valid? [True, True] Translation: X:414.79, Y:-54.01, Z:-27.26 [[ 9.96519405e-01 6.49845903e-02 5.22118545e-02 4.14791688e+02] [-6.47142973e-02 9.97880304e-01 -6.85265156e-03 -5.40117614e+01] [-5.25464980e-02 3.44994679e-03 9.98612519e-01 -2.72602579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50071405700004 meters 0.03748356353022146 Centerline is valid? [True, True] Translation: X:414.85, Y:-54.01, Z:-27.26 [[ 9.96587311e-01 6.21589453e-02 5.43138701e-02 4.14853189e+02] [-6.18623102e-02 9.98059244e-01 -7.12739809e-03 -5.40106559e+01] [-5.46514917e-02 3.74309302e-03 9.98498475e-01 -2.72600845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56071405700004 meters 0.03935364642962197 Centerline is valid? [True, True] Translation: X:414.91, Y:-54.02, Z:-27.26 [[ 9.96654760e-01 5.94849720e-02 5.60430779e-02 4.14912959e+02] [-5.91649184e-02 9.98221131e-01 -7.35431532e-03 -5.40191272e+01] [-5.63808559e-02 4.01392924e-03 9.98401266e-01 -2.72621911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62071405700004 meters 0.041131632288577365 Centerline is valid? [True, True] Translation: X:414.97, Y:-54.03, Z:-27.27 [[ 9.96744921e-01 5.76250963e-02 5.63818306e-02 4.14972886e+02] [-5.72982066e-02 9.98329693e-01 -7.39862930e-03 -5.40278251e+01] [-5.67140024e-02 4.14396840e-03 9.98381866e-01 -2.72663486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68071405700005 meters 0.038994554335820816 Centerline is valid? [True, True] Translation: X:415.03, Y:-54.03, Z:-27.27 [[ 9.96867820e-01 5.56134089e-02 5.62289729e-02 4.15033971e+02] [-5.52850547e-02 9.98443341e-01 -7.37957244e-03 -5.40299700e+01] [-5.65518468e-02 4.24783645e-03 9.98390627e-01 -2.72696255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74071405700005 meters 0.041096324359797425 Centerline is valid? [True, True] Translation: X:415.10, Y:-54.04, Z:-27.27 [[ 9.96913306e-01 5.46191732e-02 5.63968609e-02 4.15095270e+02] [-5.42873088e-02 9.98497929e-01 -7.40095967e-03 -5.40368369e+01] [-5.67163831e-02 4.31648138e-03 9.98380999e-01 -2.72725802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80071405700005 meters 0.04017999183919957 Centerline is valid? [True, True] Translation: X:415.16, Y:-54.04, Z:-27.28 [[ 9.96946741e-01 5.53803946e-02 5.50473252e-02 4.15157276e+02] [-5.50647006e-02 9.98456566e-01 -7.23640445e-03 -5.40414299e+01] [-5.53631182e-02 4.18314535e-03 9.98457524e-01 -2.72785819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86071405700005 meters 0.04120231057861121 Centerline is valid? [True, True] Translation: X:415.22, Y:-54.05, Z:-27.28 [[ 9.97025336e-01 5.56086327e-02 5.33681508e-02 4.15218228e+02] [-5.53114139e-02 9.98444394e-01 -7.03128319e-03 -5.40469880e+01] [-5.36761310e-02 4.05849961e-03 9.98550150e-01 -2.72838639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92071405700005 meters 0.040405660670173024 Centerline is valid? [True, True] Translation: X:415.28, Y:-54.05, Z:-27.29 [[ 9.96923669e-01 5.74345379e-02 5.33335917e-02 4.15278554e+02] [-5.71401750e-02 9.98341421e-01 -7.02906456e-03 -5.40500806e+01] [-5.36488448e-02 3.95995006e-03 9.98552012e-01 -2.72874557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98071405700006 meters 0.039820781175542636 Centerline is valid? [True, True] Translation: X:415.34, Y:-54.05, Z:-27.29 [[ 9.96731921e-01 6.05843405e-02 5.34323531e-02 4.15339121e+02] [-6.02933795e-02 9.98155858e-01 -7.04214577e-03 -5.40529863e+01] [-5.37604600e-02 3.79751434e-03 9.98546640e-01 -2.72910101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04071405700006 meters 0.0399569113631986 Centerline is valid? [True, True] Translation: X:415.40, Y:-54.06, Z:-27.29 [[ 9.96615410e-01 6.26061441e-02 5.32747076e-02 4.15398334e+02] [-6.23197717e-02 9.98031536e-01 -7.02136668e-03 -5.40575693e+01] [-5.36094189e-02 3.67753462e-03 9.98555209e-01 -2.72940637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10071405700006 meters 0.04088127799899001 Centerline is valid? [True, True] Translation: X:415.46, Y:-54.06, Z:-27.30 [[ 9.96458722e-01 6.51524679e-02 5.31523352e-02 4.15456927e+02] [-6.48711154e-02 9.97869075e-01 -7.00334450e-03 -5.40631582e+01] [-5.34953567e-02 3.53049244e-03 9.98561857e-01 -2.72972655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16071405700006 meters 0.04210379300277653 Centerline is valid? [True, True] Translation: X:415.52, Y:-54.07, Z:-27.30 [[ 9.96544721e-01 6.47433960e-02 5.20279959e-02 4.15515597e+02] [-6.44733511e-02 9.97895892e-01 -6.85383579e-03 -5.40695680e+01] [-5.23622640e-02 3.47573463e-03 9.98622107e-01 -2.73013621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.22071405700007 meters 0.03698266708436118 Centerline is valid? [True, True] Translation: X:415.58, Y:-54.07, Z:-27.30 [[ 9.96615730e-01 6.39049701e-02 5.17034001e-02 4.15575188e+02] [-6.36373466e-02 9.97949871e-01 -6.80760068e-03 -5.40681473e+01] [-5.20324410e-02 3.49429473e-03 9.98639282e-01 -2.73034421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.28071405700007 meters 0.038085486782553524 Centerline is valid? [True, True] Translation: X:415.63, Y:-54.08, Z:-27.31 [[ 9.96717318e-01 6.19889803e-02 5.20764265e-02 4.15633709e+02] [-6.17150897e-02 9.98070283e-01 -6.85262921e-03 -5.40760920e+01] [-5.24007212e-02 3.61623287e-03 9.98619591e-01 -2.73066830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.34071405700007 meters 0.03754392831833636 Centerline is valid? [True, True] Translation: X:415.69, Y:-54.08, Z:-27.31 [[ 9.96828219e-01 6.01200400e-02 5.21448308e-02 4.15692997e+02] [-5.98430474e-02 9.98184237e-01 -6.85854940e-03 -5.40825102e+01] [-5.24624844e-02 3.71629000e-03 9.98615981e-01 -2.73094899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4007140570001 meters 0.0373389604547173 Centerline is valid? [True, True] Translation: X:415.75, Y:-54.09, Z:-27.31 [[ 9.96939570e-01 5.91005582e-02 5.11724407e-02 4.15751944e+02] [-5.88325717e-02 9.98245186e-01 -6.72879806e-03 -5.40893708e+01] [-5.14803183e-02 3.69759875e-03 9.98667164e-01 -2.73145331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4607140570001 meters 0.03965906301578529 Centerline is valid? [True, True] Translation: X:415.81, Y:-54.10, Z:-27.32 [[ 9.97017208e-01 5.80876946e-02 5.08183701e-02 4.15809728e+02] [-5.78221839e-02 9.98304545e-01 -6.68059917e-03 -5.40990308e+01] [-5.11202704e-02 3.72224319e-03 9.98685568e-01 -2.73204512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5207140570001 meters 0.03908264432328806 Centerline is valid? [True, True] Translation: X:415.87, Y:-54.10, Z:-27.32 [[ 9.97016681e-01 5.83128306e-02 5.05702744e-02 4.15868731e+02] [-5.80503372e-02 9.98291540e-01 -6.64522787e-03 -5.41044136e+01] [-5.08713792e-02 3.68978154e-03 9.98698397e-01 -2.73235691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5807140570001 meters 0.03921004717419455 Centerline is valid? [True, True] Translation: X:415.93, Y:-54.11, Z:-27.33 [[ 9.96972211e-01 5.81370143e-02 5.16381438e-02 4.15927672e+02] [-5.78632107e-02 9.98301478e-01 -6.78285681e-03 -5.41101158e+01] [-5.19447703e-02 3.77437096e-03 9.98642827e-01 -2.73259455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6407140570001 meters 0.046110715667019186 Centerline is valid? [True, True] Translation: X:415.98, Y:-54.13, Z:-27.33 [[ 9.97003561e-01 5.70234750e-02 5.22706674e-02 4.15984628e+02] [-5.67416100e-02 9.98365316e-01 -6.86182970e-03 -5.41276043e+01] [-5.25765068e-02 3.87534682e-03 9.98609379e-01 -2.73308437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.700714057 meters 0.04024931984401958 Centerline is valid? [True, True] Translation: X:416.05, Y:-54.13, Z:-27.33 [[ 9.97144956e-01 5.53919212e-02 5.13193114e-02 4.16045664e+02] [-5.51182629e-02 9.98457128e-01 -6.73354106e-03 -5.41259125e+01] [-5.16131160e-02 3.88568521e-03 9.98659596e-01 -2.73340636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76071405700003 meters 0.042088560209681256 Centerline is valid? [True, True] Translation: X:416.10, Y:-54.13, Z:-27.34 [[ 9.97305275e-01 5.42496643e-02 4.93878706e-02 4.16104770e+02] [-5.39948270e-02 9.98520186e-01 -6.48051862e-03 -5.41345817e+01] [-4.96663517e-02 3.79636587e-03 9.98758650e-01 -2.73394067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82071405700003 meters 0.04476611850039723 Centerline is valid? [True, True] Translation: X:416.16, Y:-54.14, Z:-27.35 [[ 9.97421428e-01 5.39377306e-02 4.73414942e-02 4.16162795e+02] [-5.37033654e-02 9.98537626e-01 -6.20948023e-03 -5.41436235e+01] [-4.76071885e-02 3.65107107e-03 9.98859462e-01 -2.73455246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88071405700003 meters 0.04576161685770725 Centerline is valid? [True, True] Translation: X:416.22, Y:-54.15, Z:-27.35 [[ 9.97364273e-01 5.42519189e-02 4.81792018e-02 4.16222080e+02] [-5.40093536e-02 9.98520409e-01 -6.32323631e-03 -5.41503345e+01] [-4.84509639e-02 3.70444244e-03 9.98818693e-01 -2.73478192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94071405700004 meters 0.038982070562032706 Centerline is valid? [True, True] Translation: X:416.28, Y:-54.15, Z:-27.35 [[ 9.97314934e-01 5.45756570e-02 4.88305194e-02 4.16282527e+02] [-5.43269517e-02 9.98502645e-01 -6.40700986e-03 -5.41473869e+01] [-4.91070695e-02 3.73699335e-03 9.98786529e-01 -2.73492039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00071405700004 meters 0.040390590023948146 Centerline is valid? [True, True] Translation: X:416.34, Y:-54.15, Z:-27.35 [[ 9.97171099e-01 5.67845299e-02 4.92475094e-02 4.16341137e+02] [-5.65343237e-02 9.98379758e-01 -6.45985004e-03 -5.41536002e+01] [-4.95345361e-02 3.65740113e-03 9.98765715e-01 -2.73525455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06071405700004 meters 0.04007181093381954 Centerline is valid? [True, True] Translation: X:416.40, Y:-54.16, Z:-27.36 [[ 9.97071094e-01 5.83680583e-02 4.94206812e-02 4.16400557e+02] [-5.81181114e-02 9.98288678e-01 -6.48074649e-03 -5.41582431e+01] [-4.97143751e-02 3.58952834e-03 9.98757026e-01 -2.73560689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12071405700004 meters 0.03965641639579596 Centerline is valid? [True, True] Translation: X:416.46, Y:-54.16, Z:-27.36 [[ 9.97060278e-01 5.80878324e-02 4.99660477e-02 4.16459374e+02] [-5.78320495e-02 9.98304833e-01 -6.55093958e-03 -5.41633956e+01] [-5.02618768e-02 3.64204270e-03 9.98729432e-01 -2.73591882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18071405700005 meters 0.042935615417884425 Centerline is valid? [True, True] Translation: X:416.52, Y:-54.17, Z:-27.37 [[ 9.97325879e-01 5.54139944e-02 4.76484998e-02 4.16517892e+02] [-5.51785721e-02 9.98456984e-01 -6.24304631e-03 -5.41733969e+01] [-4.79209296e-02 3.59717546e-03 9.98844655e-01 -2.73653738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24071405700005 meters 0.047184574306691644 Centerline is valid? [True, True] Translation: X:416.58, Y:-54.19, Z:-27.37 [[ 9.97508809e-01 5.30256041e-02 4.65237669e-02 4.16575696e+02] [-5.27986618e-02 9.98586582e-01 -6.09422798e-03 -5.41862585e+01] [-4.67811594e-02 3.62265346e-03 9.98898593e-01 -2.73713552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30071405700005 meters 0.04917573281929399 Centerline is valid? [True, True] Translation: X:416.64, Y:-54.19, Z:-27.37 [[ 9.97728308e-01 4.93232706e-02 4.58850524e-02 4.16635883e+02] [-4.90986491e-02 9.98775851e-01 -6.01022363e-03 -5.41932602e+01] [-4.61253261e-02 3.74367616e-03 9.98928646e-01 -2.73746700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36071405700005 meters 0.0494533558888969 Centerline is valid? [True, True] Translation: X:416.70, Y:-54.20, Z:-27.38 [[ 9.97700291e-01 4.90228873e-02 4.68068946e-02 4.16695377e+02] [-4.87888000e-02 9.98790299e-01 -6.13123899e-03 -5.41993138e+01] [-4.70508433e-02 3.83348670e-03 9.98885140e-01 -2.73773570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42071405700005 meters 0.053951650757391084 Centerline is valid? [True, True] Translation: X:416.75, Y:-54.21, Z:-27.38 [[ 9.97649445e-01 4.89710868e-02 4.79313778e-02 4.16754475e+02] [-4.87256419e-02 9.98792479e-01 -6.27654771e-03 -5.42091321e+01] [-4.81808690e-02 3.92630719e-03 9.98830911e-01 -2.73804382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48071405700006 meters 0.04873786318527274 Centerline is valid? [True, True] Translation: X:416.81, Y:-54.21, Z:-27.38 [[ 9.97650269e-01 4.91136338e-02 4.77681126e-02 4.16814628e+02] [-4.88700463e-02 9.98785561e-01 -6.25466434e-03 -5.42083992e+01] [-4.80172905e-02 3.90553768e-03 9.98838869e-01 -2.73832663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54071405700006 meters 0.0448216676546446 Centerline is valid? [True, True] Translation: X:416.87, Y:-54.21, Z:-27.39 [[ 9.97760077e-01 4.79324466e-02 4.66616577e-02 4.16874289e+02] [-4.76988004e-02 9.98843086e-01 -6.10853149e-03 -5.42080997e+01] [-4.69004710e-02 3.86914375e-03 9.98892074e-01 -2.73866467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60071405700006 meters 0.043780748619747796 Centerline is valid? [True, True] Translation: X:416.93, Y:-54.21, Z:-27.39 [[ 9.97772896e-01 4.94844704e-02 4.47273469e-02 4.16933663e+02] [-4.92714783e-02 9.98768275e-01 -5.85265134e-03 -5.42128308e+01] [-4.49618705e-02 3.63583437e-03 9.98982087e-01 -2.73923568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66071405700006 meters 0.03862415310222669 Centerline is valid? [True, True] Translation: X:416.99, Y:-54.21, Z:-27.40 [[ 9.97399217e-01 5.74901432e-02 4.34705232e-02 4.16994910e+02] [-5.72966100e-02 9.98341008e-01 -5.68600422e-03 -5.42104498e+01] [-4.37252951e-02 3.18050255e-03 9.99038529e-01 -2.73952058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.72071405700007 meters 0.03653585872898188 Centerline is valid? [True, True] Translation: X:417.06, Y:-54.21, Z:-27.40 [[ 9.96824058e-01 6.66489792e-02 4.35856797e-02 4.17055798e+02] [-6.64631348e-02 9.97772596e-01 -5.70079963e-03 -5.42114703e+01] [-4.38685493e-02 2.78585331e-03 9.99033428e-01 -2.73979846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.78071405700007 meters 0.036110867057270006 Centerline is valid? [True, True] Translation: X:417.11, Y:-54.22, Z:-27.40 [[ 9.96411236e-01 7.27921472e-02 4.31966787e-02 4.17113923e+02] [-7.26153143e-02 9.97344015e-01 -5.65083595e-03 -5.42176467e+01] [-4.34932855e-02 2.49381603e-03 9.99050607e-01 -2.74036915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.84071405700007 meters 0.03547087089434149 Centerline is valid? [True, True] Translation: X:417.17, Y:-54.22, Z:-27.41 [[ 9.96239632e-01 7.44006322e-02 4.43975392e-02 4.17173322e+02] [-7.42155176e-02 9.97225327e-01 -5.80560916e-03 -5.42225213e+01] [-4.47062915e-02 2.48879157e-03 9.98997074e-01 -2.74050405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9007140570001 meters 0.0347206590643432 Centerline is valid? [True, True] Translation: X:417.23, Y:-54.23, Z:-27.41 [[ 9.96166398e-01 7.43202858e-02 4.61411159e-02 4.17232130e+02] [-7.41202976e-02 9.97231062e-01 -6.03252780e-03 -5.42284836e+01] [-4.64616932e-02 2.58940825e-03 9.98916716e-01 -2.74056420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9607140570001 meters 0.03597325876018369 Centerline is valid? [True, True] Translation: X:417.29, Y:-54.24, Z:-27.41 [[ 9.96260519e-01 7.28938074e-02 4.63839538e-02 4.17289894e+02] [-7.26903245e-02 9.97336143e-01 -6.06089534e-03 -5.42399776e+01] [-4.67021953e-02 2.66656608e-03 9.98905298e-01 -2.74106214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0207140570001 meters 0.03680079904193979 Centerline is valid? [True, True] Translation: X:417.35, Y:-54.25, Z:-27.41 [[ 9.96462830e-01 7.06064798e-02 4.55692224e-02 4.17347840e+02] [-7.04078672e-02 9.97500536e-01 -5.95092246e-03 -5.42506710e+01] [-4.58754975e-02 2.72144127e-03 9.98943458e-01 -2.74145546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0807140570001 meters 0.03634173696535726 Centerline is valid? [True, True] Translation: X:417.41, Y:-54.26, Z:-27.42 [[ 9.96822711e-01 6.60933751e-02 4.44539031e-02 4.17406795e+02] [-6.59000535e-02 9.97809361e-01 -5.80192846e-03 -5.42628183e+01] [-4.47399897e-02 2.85397946e-03 9.98994589e-01 -2.74180669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1407140570001 meters 0.03848718196521476 Centerline is valid? [True, True] Translation: X:417.46, Y:-54.28, Z:-27.42 [[ 9.96953507e-01 6.38183934e-02 4.48432541e-02 4.17463489e+02] [-6.36193171e-02 9.97957069e-01 -5.85407004e-03 -5.42771465e+01] [-4.51252398e-02 2.98333845e-03 9.98976883e-01 -2.74218551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.200714057 meters 0.03873838535427737 Centerline is valid? [True, True] Translation: X:417.52, Y:-54.29, Z:-27.42 [[ 9.97141462e-01 6.13096672e-02 4.41591424e-02 4.17522466e+02] [-6.11143634e-02 9.98114147e-01 -5.76054073e-03 -5.42888951e+01] [-4.44290416e-02 3.04531613e-03 9.99007901e-01 -2.74238693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26071405700003 meters 0.04622870016447632 Centerline is valid? [True, True] Translation: X:417.58, Y:-54.31, Z:-27.43 [[ 9.97173157e-01 6.19844994e-02 4.24690127e-02 4.17577435e+02] [-6.18044445e-02 9.98072898e-01 -5.54088396e-03 -5.43124133e+01] [-4.27306195e-02 2.90044701e-03 9.99082420e-01 -2.74329280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32071405700003 meters 0.037296919150780615 Centerline is valid? [True, True] Translation: X:417.64, Y:-54.31, Z:-27.43 [[ 9.96738542e-01 6.87002422e-02 4.23385797e-02 4.17639109e+02] [-6.85275521e-02 9.97633962e-01 -5.51842826e-03 -5.43100260e+01] [-4.26175224e-02 2.59907091e-03 9.99088080e-01 -2.74330782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38071405700003 meters 0.03646591214892139 Centerline is valid? [True, True] Translation: X:417.70, Y:-54.32, Z:-27.44 [[ 9.96227144e-01 7.52515883e-02 4.32281918e-02 4.17698016e+02] [-7.50777113e-02 9.97161769e-01 -5.63412703e-03 -5.43174164e+01] [-4.35294773e-02 2.36739658e-03 9.99049338e-01 -2.74359975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44071405700004 meters 0.033366664138924855 Centerline is valid? [True, True] Translation: X:417.76, Y:-54.32, Z:-27.44 [[ 9.95903536e-01 7.93722868e-02 4.33149853e-02 4.17757802e+02] [-7.92016677e-02 9.96842638e-01 -5.64374741e-03 -5.43245567e+01] [-4.36261813e-02 2.19000892e-03 9.99045525e-01 -2.74403416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50071405700004 meters 0.03507976507514042 Centerline is valid? [True, True] Translation: X:417.81, Y:-54.34, Z:-27.44 [[ 9.95918588e-01 7.88066982e-02 4.39962543e-02 4.17814237e+02] [-7.86300879e-02 9.96887376e-01 -5.73313347e-03 -5.43372242e+01] [-4.43111199e-02 2.25030485e-03 9.99015246e-01 -2.74439596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56071405700004 meters 0.03728104300547285 Centerline is valid? [True, True] Translation: X:417.87, Y:-54.35, Z:-27.45 [[ 9.96290794e-01 7.34634432e-02 4.48082119e-02 4.17872535e+02] [-7.32751209e-02 9.97294706e-01 -5.83318503e-03 -5.43548388e+01] [-4.51155184e-02 2.52822140e-03 9.98978577e-01 -2.74494617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62071405700004 meters 0.041280846329674624 Centerline is valid? [True, True] Translation: X:417.93, Y:-54.37, Z:-27.46 [[ 9.96774743e-01 6.73800475e-02 4.35894617e-02 4.17929503e+02] [-6.71960188e-02 9.97723654e-01 -5.67506094e-03 -5.43729280e+01] [-4.38726228e-02 2.72771913e-03 9.99033409e-01 -2.74564666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68071405700005 meters 0.04613690977660097 Centerline is valid? [True, True] Translation: X:417.99, Y:-54.39, Z:-27.46 [[ 9.97286139e-01 5.98526232e-02 4.28721333e-02 4.17988274e+02] [-5.96677660e-02 9.98202697e-01 -5.57970597e-03 -5.43912593e+01] [-4.31290391e-02 3.00647901e-03 9.99064986e-01 -2.74623553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74071405700005 meters 0.04000856502541341 Centerline is valid? [True, True] Translation: X:418.05, Y:-54.39, Z:-27.46 [[ 9.97508461e-01 5.46829499e-02 4.45717978e-02 4.18049419e+02] [-5.44780149e-02 9.98498122e-01 -5.80057425e-03 -5.43938126e+01] [-4.48220489e-02 3.35793883e-03 9.98989343e-01 -2.74621485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80071405700005 meters 0.04467816314495306 Centerline is valid? [True, True] Translation: X:418.11, Y:-54.41, Z:-27.47 [[ 9.97568033e-01 5.16316617e-02 4.68208338e-02 4.18107349e+02] [-5.14021470e-02 9.98659445e-01 -6.09361212e-03 -5.44092184e+01] [-4.70726912e-02 3.67210128e-03 9.98884717e-01 -2.74652498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86071405700005 meters 0.042703539766218275 Centerline is valid? [True, True] Translation: X:418.17, Y:-54.41, Z:-27.47 [[ 9.97599754e-01 5.09111729e-02 4.69338212e-02 4.18167120e+02] [-5.06797844e-02 9.98696278e-01 -6.10771618e-03 -5.44131049e+01] [-4.71835835e-02 3.71446022e-03 9.98879328e-01 -2.74678785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92071405700005 meters 0.04486915499275189 Centerline is valid? [True, True] Translation: X:418.23, Y:-54.42, Z:-27.47 [[ 9.97578536e-01 5.02740561e-02 4.80581378e-02 4.18225887e+02] [-5.00308046e-02 9.98728107e-01 -6.25192972e-03 -5.44221733e+01] [-4.83113229e-02 3.83240359e-03 9.98824974e-01 -2.74726151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98071405700006 meters 0.0430342011367042 Centerline is valid? [True, True] Translation: X:418.29, Y:-54.43, Z:-27.48 [[ 9.97680812e-01 4.82287416e-02 4.80310961e-02 4.18285951e+02] [-4.79834608e-02 9.98828593e-01 -6.24736914e-03 -5.44250645e+01] [-4.82761349e-02 3.92818209e-03 9.98826303e-01 -2.74761524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04071405700006 meters 0.048318239227668744 Centerline is valid? [True, True] Translation: X:418.34, Y:-54.44, Z:-27.48 [[ 9.97854063e-01 4.44329897e-02 4.80934304e-02 4.18343579e+02] [-4.41827596e-02 9.99003889e-01 -6.25414648e-03 -5.44386663e+01] [-4.83234144e-02 4.11582501e-03 9.98823261e-01 -2.74816048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10071405700006 meters 0.04915618533436869 Centerline is valid? [True, True] Translation: X:418.40, Y:-54.45, Z:-27.49 [[ 9.98057894e-01 3.99234783e-02 4.78179545e-02 4.18403845e+02] [-3.96708091e-02 9.99193433e-01 -6.22178839e-03 -5.44462792e+01] [-4.80277815e-02 4.31272808e-03 9.98836690e-01 -2.74866260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16071405700006 meters 0.05335173041492605 Centerline is valid? [True, True] Translation: X:418.46, Y:-54.46, Z:-27.49 [[ 9.98173501e-01 3.66211711e-02 4.80473847e-02 4.18462171e+02] [-3.63622287e-02 9.99319115e-01 -6.25264116e-03 -5.44585411e+01] [-4.82436489e-02 4.49411073e-03 9.98825487e-01 -2.74914244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.22071405700007 meters 0.0507391012965976 Centerline is valid? [True, True] Translation: X:418.52, Y:-54.46, Z:-27.49 [[ 9.98230326e-01 3.41074571e-02 4.87123967e-02 4.18523094e+02] [-3.38383855e-02 9.99407221e-01 -6.33794209e-03 -5.44609260e+01] [-4.88996921e-02 4.67837714e-03 9.98792738e-01 -2.74948762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.28071405700007 meters 0.052124686954814 Centerline is valid? [True, True] Translation: X:418.58, Y:-54.47, Z:-27.50 [[ 9.98149489e-01 3.37188270e-02 5.06027497e-02 4.18584257e+02] [-3.34280611e-02 9.99419455e-01 -6.58165116e-03 -5.44699203e+01] [-5.07952981e-02 4.87791993e-03 9.98697173e-01 -2.74985557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.34071405700007 meters 0.05054344122035381 Centerline is valid? [True, True] Translation: X:418.65, Y:-54.47, Z:-27.50 [[ 9.98060053e-01 3.50193758e-02 5.14759648e-02 4.18645752e+02] [-3.47193569e-02 9.99374567e-01 -6.71129331e-03 -5.44731578e+01] [-5.16787953e-02 4.91106136e-03 9.98651683e-01 -2.75020330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4007140570001 meters 0.049935923610722674 Centerline is valid? [True, True] Translation: X:418.71, Y:-54.48, Z:-27.51 [[ 9.97921456e-01 3.81662194e-02 5.19240574e-02 4.18706455e+02] [-3.78650461e-02 9.99259915e-01 -6.77202848e-03 -5.44753398e+01] [-5.21440919e-02 4.79184569e-03 9.98628075e-01 -2.75062768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4607140570001 meters 0.04823275090967207 Centerline is valid? [True, True] Translation: X:418.77, Y:-54.48, Z:-27.51 [[ 9.97749001e-01 4.12853723e-02 5.28436271e-02 4.18766673e+02] [-4.09777461e-02 9.99136288e-01 -6.89219183e-03 -5.44783575e+01] [-5.30825321e-02 4.71126478e-03 9.98579015e-01 -2.75100924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5207140570001 meters 0.0481030554045798 Centerline is valid? [True, True] Translation: X:418.83, Y:-54.48, Z:-27.51 [[ 9.97491862e-01 4.55296346e-02 5.41944437e-02 4.18827092e+02] [-4.52122529e-02 9.98952394e-01 -7.06867981e-03 -5.44815099e+01] [-5.44595037e-02 4.60069769e-03 9.98505381e-01 -2.75143061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5807140570001 meters 0.044695267210955424 Centerline is valid? [True, True] Translation: X:418.89, Y:-54.48, Z:-27.52 [[ 9.97140937e-01 5.02314525e-02 5.64513414e-02 4.18888292e+02] [-4.98945270e-02 9.98727352e-01 -7.36298093e-03 -5.44780672e+01] [-5.67493519e-02 4.52531672e-03 9.98378201e-01 -2.75169645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6407140570001 meters 0.04957912943481453 Centerline is valid? [True, True] Translation: X:418.95, Y:-54.49, Z:-27.52 [[ 9.96844211e-01 5.38790183e-02 5.82981168e-02 4.18947348e+02] [-5.35258546e-02 9.98537514e-01 -7.60372321e-03 -5.44875521e+01] [-5.86225378e-02 4.45927094e-03 9.98270261e-01 -2.75217501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.700714057 meters 0.04265449520606803 Centerline is valid? [True, True] Translation: X:419.01, Y:-54.48, Z:-27.53 [[ 9.96740309e-01 5.47774918e-02 5.92299137e-02 4.19008898e+02] [-5.44144872e-02 9.98488547e-01 -7.72557948e-03 -5.44807923e+01] [-5.95635783e-02 4.47743110e-03 9.98214472e-01 -2.75255072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76071405700003 meters 0.04823717365196243 Centerline is valid? [True, True] Translation: X:419.07, Y:-54.50, Z:-27.53 [[ 9.96769947e-01 5.34576975e-02 5.99328543e-02 4.19066519e+02] [-5.30836375e-02 9.98559471e-01 -7.81734216e-03 -5.44966409e+01] [-6.02644164e-02 4.61063782e-03 9.98171800e-01 -2.75307601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82071405700003 meters 0.04987792405667753 Centerline is valid? [True, True] Translation: X:419.13, Y:-54.51, Z:-27.54 [[ 9.96777501e-01 5.32241190e-02 6.00150589e-02 4.19125901e+02] [-5.28486838e-02 9.98571859e-01 -7.82684275e-03 -5.45069632e+01] [-6.03459257e-02 4.62990388e-03 9.98166786e-01 -2.75362704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88071405700003 meters 0.041545680934807365 Centerline is valid? [True, True] Translation: X:419.19, Y:-54.50, Z:-27.54 [[ 9.96651786e-01 5.53273293e-02 6.02005330e-02 4.19188157e+02] [-5.49533164e-02 9.98458051e-01 -7.85202936e-03 -5.45024602e+01] [-6.05421386e-02 4.51752015e-03 9.98155420e-01 -2.75396730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94071405700004 meters 0.04188603724963246 Centerline is valid? [True, True] Translation: X:419.25, Y:-54.51, Z:-27.54 [[ 9.96393448e-01 5.82045797e-02 6.17440242e-02 4.19248373e+02] [-5.78165022e-02 9.98294731e-01 -8.05489029e-03 -5.45116629e+01] [-6.21075656e-02 4.45601640e-03 9.98059514e-01 -2.75427293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00071405700004 meters 0.042292759401270065 Centerline is valid? [True, True] Translation: X:419.31, Y:-54.52, Z:-27.55 [[ 9.96108216e-01 6.17082080e-02 6.29326563e-02 4.19306993e+02] [-6.13118920e-02 9.98084881e-01 -8.21115946e-03 -5.45216918e+01] [-6.33188287e-02 4.32068317e-03 9.97983997e-01 -2.75461661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06071405700004 meters 0.0389975835063916 Centerline is valid? [True, True] Translation: X:419.37, Y:-54.53, Z:-27.55 [[ 9.95915264e-01 6.53789478e-02 6.22766375e-02 4.19367275e+02] [-6.49980826e-02 9.97852317e-01 -8.12426522e-03 -5.45252645e+01] [-6.26740429e-02 4.04321772e-03 9.98025860e-01 -2.75502088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12071405700004 meters 0.0370689604644678 Centerline is valid? [True, True] Translation: X:419.43, Y:-54.53, Z:-27.55 [[ 9.95599664e-01 7.02251734e-02 6.20462310e-02 4.19427299e+02] [-6.98565365e-02 9.97524216e-01 -8.09343038e-03 -5.45314335e+01] [-6.24609804e-02 3.72348177e-03 9.98040461e-01 -2.75545021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18071405700005 meters 0.03398329719685298 Centerline is valid? [True, True] Translation: X:419.49, Y:-54.54, Z:-27.56 [[ 9.95378809e-01 7.45076566e-02 6.05775141e-02 4.19487413e+02] [-7.41641962e-02 9.97214739e-01 -7.90167814e-03 -5.45372568e+01] [-6.09975254e-02 3.37248034e-03 9.98132220e-01 -2.75592788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24071405700005 meters 0.033548731363470155 Centerline is valid? [True, True] Translation: X:419.55, Y:-54.55, Z:-27.56 [[ 9.95117665e-01 7.85215078e-02 5.97930197e-02 4.19546861e+02] [-7.81941315e-02 9.96907645e-01 -7.79906858e-03 -5.45471836e+01] [-6.02205131e-02 3.08552767e-03 9.98180329e-01 -2.75631306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30071405700005 meters 0.03340250149720434 Centerline is valid? [True, True] Translation: X:419.61, Y:-54.56, Z:-27.57 [[ 9.94942490e-01 8.12071835e-02 5.91171304e-02 4.19605694e+02] [-8.08919643e-02 9.96693056e-01 -7.70983856e-03 -5.45584166e+01] [-5.95477277e-02 2.88874517e-03 9.98221280e-01 -2.75672333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36071405700005 meters 0.031836027510502504 Centerline is valid? [True, True] Translation: X:419.66, Y:-54.57, Z:-27.57 [[ 9.94902058e-01 8.22588077e-02 5.83385176e-02 4.19664191e+02] [-8.19536921e-02 9.96607103e-01 -7.60758296e-03 -5.45666481e+01] [-5.87663717e-02 2.78774303e-03 9.98267871e-01 -2.75710456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42071405700005 meters 0.031323790188898554 Centerline is valid? [True, True] Translation: X:419.72, Y:-54.58, Z:-27.57 [[ 9.94897680e-01 8.19913061e-02 5.87880313e-02 4.19721589e+02] [-8.16812599e-02 9.96629053e-01 -7.66179281e-03 -5.45768881e+01] [-5.92180604e-02 2.82081942e-03 9.98241085e-01 -2.75741657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48071405700006 meters 0.03255652527554855 Centerline is valid? [True, True] Translation: X:419.78, Y:-54.59, Z:-27.58 [[ 9.95335122e-01 7.68592588e-02 5.83150859e-02 4.19780523e+02] [-7.65456819e-02 9.97037144e-01 -7.59546626e-03 -5.45934803e+01] [-5.87260886e-02 3.09626632e-03 9.98269332e-01 -2.75784138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54071405700006 meters 0.04031971828194964 Centerline is valid? [True, True] Translation: X:419.84, Y:-54.62, Z:-27.58 [[ 9.95752314e-01 7.15313989e-02 5.79705728e-02 4.19836720e+02] [-7.12125637e-02 9.97432589e-01 -7.54992175e-03 -5.46184627e+01] [-5.83617950e-02 3.38961894e-03 9.98289743e-01 -2.75842166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60071405700006 meters 0.039314669682451904 Centerline is valid? [True, True] Translation: X:419.90, Y:-54.63, Z:-27.59 [[ 9.96588861e-01 5.97173564e-02 5.69603301e-02 4.19895864e+02] [-5.93904047e-02 9.98207276e-01 -7.41715999e-03 -5.46333565e+01] [-5.73011492e-02 4.00896197e-03 9.98348890e-01 -2.75873034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66071405700006 meters 0.0425897475013627 Centerline is valid? [True, True] Translation: X:419.95, Y:-54.65, Z:-27.59 [[ 9.96877755e-01 5.53880882e-02 5.62752358e-02 4.19953340e+02] [-5.50621660e-02 9.98456045e-01 -7.32690155e-03 -5.46490577e+01] [-5.65941725e-02 4.20538878e-03 9.98388409e-01 -2.75909376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.72071405700007 meters 0.04502492668145417 Centerline is valid? [True, True] Translation: X:420.01, Y:-54.67, Z:-27.60 [[ 9.97027064e-01 5.27659806e-02 5.61496650e-02 4.20012667e+02] [-5.24371818e-02 9.98597439e-01 -7.31408950e-03 -5.46664468e+01] [-5.64568468e-02 4.34801499e-03 9.98395573e-01 -2.75956771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.78071405700007 meters 0.041668393567597384 Centerline is valid? [True, True] Translation: X:420.07, Y:-54.67, Z:-27.60 [[ 9.96993596e-01 5.38341987e-02 5.57283474e-02 4.20074486e+02] [-5.35120373e-02 9.98540826e-01 -7.25818677e-03 -5.46721690e+01] [-5.60377687e-02 4.25422832e-03 9.98419586e-01 -2.75994558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.84071405700007 meters 0.041861408118524325 Centerline is valid? [True, True] Translation: X:420.13, Y:-54.68, Z:-27.60 [[ 9.96807227e-01 5.73884097e-02 5.55150760e-02 4.20133508e+02] [-5.70732702e-02 9.98343691e-01 -7.24683587e-03 -5.46818437e+01] [-5.58390103e-02 4.05527143e-03 9.98431550e-01 -2.76025435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9007140570001 meters 0.0388066314793099 Centerline is valid? [True, True] Translation: X:420.19, Y:-54.69, Z:-27.60 [[ 9.96530923e-01 6.06577932e-02 5.69802700e-02 4.20193710e+02] [-6.03311427e-02 9.98150711e-01 -7.43713631e-03 -5.46873264e+01] [-5.73260173e-02 3.97365151e-03 9.98347604e-01 -2.76042129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9607140570001 meters 0.03757629758576387 Centerline is valid? [True, True] Translation: X:420.25, Y:-54.70, Z:-27.61 [[ 9.96315737e-01 6.26311180e-02 5.85857957e-02 4.20253634e+02] [-6.22891343e-02 9.98028849e-01 -7.64720961e-03 -5.46959716e+01] [-5.89492676e-02 3.96977678e-03 9.98253087e-01 -2.76068381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0207140570001 meters 0.036407368794348596 Centerline is valid? [True, True] Translation: X:420.31, Y:-54.70, Z:-27.61 [[ 9.96265547e-01 6.39875209e-02 5.79703046e-02 4.20313237e+02] [-6.36549725e-02 9.97943278e-01 -7.56698280e-03 -5.47040759e+01] [-5.83352682e-02 3.84862612e-03 9.98289630e-01 -2.76107597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0807140570001 meters 0.03604904327130816 Centerline is valid? [True, True] Translation: X:420.37, Y:-54.71, Z:-27.62 [[ 9.96336888e-01 6.45472984e-02 5.60932465e-02 4.20371536e+02] [-6.42368955e-02 9.97907823e-01 -7.32112247e-03 -5.47146152e+01] [-5.64484481e-02 3.69104836e-03 9.98398692e-01 -2.76158238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1407140570001 meters 0.03615228122523381 Centerline is valid? [True, True] Translation: X:420.43, Y:-54.73, Z:-27.62 [[ 9.96309140e-01 6.49348695e-02 5.61387598e-02 4.20429873e+02] [-6.46246908e-02 9.97882756e-01 -7.32499938e-03 -5.47254744e+01] [-5.64955482e-02 3.67001384e-03 9.98396106e-01 -2.76191906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.200714057 meters 0.034761810377961576 Centerline is valid? [True, True] Translation: X:420.49, Y:-54.73, Z:-27.62 [[ 9.96274947e-01 6.51109513e-02 5.65402040e-02 4.20488709e+02] [-6.47967150e-02 9.97871229e-01 -7.37530656e-03 -5.47327484e+01] [-5.69000561e-02 3.68421367e-03 9.98373082e-01 -2.76224788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26071405700003 meters 0.036417515920248444 Centerline is valid? [True, True] Translation: X:420.55, Y:-54.75, Z:-27.63 [[ 9.96272957e-01 6.56538283e-02 5.59443484e-02 4.20547265e+02] [-6.53471654e-02 9.97835921e-01 -7.29536789e-03 -5.47454082e+01] [-5.63022492e-02 3.61237315e-03 9.98407235e-01 -2.76274899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32071405700003 meters 0.03752630054697746 Centerline is valid? [True, True] Translation: X:420.61, Y:-54.76, Z:-27.63 [[ 9.96363833e-01 6.51963734e-02 5.48502079e-02 4.20606171e+02] [-6.49009590e-02 9.97866081e-01 -7.15186623e-03 -5.47556787e+01] [-5.51994378e-02 3.56602975e-03 9.98468981e-01 -2.76319011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38071405700003 meters 0.03991243924889125 Centerline is valid? [True, True] Translation: X:420.66, Y:-54.77, Z:-27.64 [[ 9.96470158e-01 6.43802317e-02 5.38740241e-02 4.20663447e+02] [-6.40941620e-02 9.97919144e-01 -7.02279171e-03 -5.47671535e+01] [-5.42140490e-02 3.54499193e-03 9.98523044e-01 -2.76370036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44071405700004 meters 0.037685338375585714 Centerline is valid? [True, True] Translation: X:420.72, Y:-54.77, Z:-27.64 [[ 9.96447304e-01 6.53170852e-02 5.31643527e-02 4.20722991e+02] [-6.50399704e-02 9.97858611e-01 -6.92781393e-03 -5.47702211e+01] [-5.35030118e-02 3.44539359e-03 9.98561744e-01 -2.76409752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50071405700004 meters 0.03700431730682843 Centerline is valid? [True, True] Translation: X:420.78, Y:-54.77, Z:-27.64 [[ 9.96378094e-01 6.59584362e-02 5.36673033e-02 4.20782399e+02] [-6.56770774e-02 9.97816437e-01 -6.99142041e-03 -5.47748275e+01] [-5.40112605e-02 3.44138650e-03 9.98534396e-01 -2.76449779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56071405700004 meters 0.03758162920409459 Centerline is valid? [True, True] Translation: X:420.84, Y:-54.78, Z:-27.65 [[ 9.96312315e-01 6.61905188e-02 5.45947452e-02 4.20840632e+02] [-6.58997772e-02 9.97800912e-01 -7.11058121e-03 -5.47811000e+01] [-5.49453396e-02 3.48657809e-03 9.98483277e-01 -2.76493462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62071405700004 meters 0.04101863179407038 Centerline is valid? [True, True] Translation: X:420.90, Y:-54.79, Z:-27.65 [[ 9.96431991e-01 6.35746994e-02 5.55116735e-02 4.20898705e+02] [-6.32703251e-02 9.97970271e-01 -7.22522059e-03 -5.47912691e+01] [-5.58583411e-02 3.68719930e-03 9.98431896e-01 -2.76535263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68071405700005 meters 0.043471379524265455 Centerline is valid? [True, True] Translation: X:420.96, Y:-54.80, Z:-27.66 [[ 9.96798315e-01 5.75075214e-02 5.55518200e-02 4.20958069e+02] [-5.71932685e-02 9.98336934e-01 -7.23160597e-03 -5.47998997e+01] [-5.58753054e-02 4.03126249e-03 9.98429617e-01 -2.76575940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74071405700005 meters 0.04826206034263931 Centerline is valid? [True, True] Translation: X:421.02, Y:-54.81, Z:-27.66 [[ 9.97144970e-01 5.18920674e-02 5.48554743e-02 4.21016316e+02] [-5.15772110e-02 9.98643479e-01 -7.14091366e-03 -5.48122302e+01] [-5.51516185e-02 4.29123376e-03 9.98468770e-01 -2.76626105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80071405700005 meters 0.04405564743364549 Centerline is valid? [True, True] Translation: X:421.08, Y:-54.81, Z:-27.67 [[ 9.97382722e-01 4.84955372e-02 5.36273204e-02 4.21077895e+02] [-4.81898538e-02 9.98813810e-01 -6.97936813e-03 -5.48099941e+01] [-5.39021764e-02 4.37680845e-03 9.98536629e-01 -2.76664461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86071405700005 meters 0.04542147161526021 Centerline is valid? [True, True] Translation: X:421.14, Y:-54.82, Z:-27.67 [[ 9.97377177e-01 4.84116797e-02 5.38059130e-02 4.21139370e+02] [-4.81039622e-02 9.98817804e-01 -7.00022671e-03 -5.48159536e+01] [-5.40811966e-02 4.39358875e-03 9.98526875e-01 -2.76715298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92071405700005 meters 0.04594021069751906 Centerline is valid? [True, True] Translation: X:421.20, Y:-54.82, Z:-27.68 [[ 9.97233264e-01 5.12444449e-02 5.38500127e-02 4.21199353e+02] [-5.09394516e-02 9.98677057e-01 -7.02201939e-03 -5.48185630e+01] [-5.41386117e-02 4.25950120e-03 9.98524345e-01 -2.76753430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98071405700006 meters 0.04347864090666431 Centerline is valid? [True, True] Translation: X:421.26, Y:-54.82, Z:-27.68 [[ 9.96885062e-01 5.62089914e-02 5.53238010e-02 4.21260881e+02] [-5.58946446e-02 9.98410609e-01 -7.21420293e-03 -5.48155611e+01] [-5.56413729e-02 4.09942694e-03 9.98442403e-01 -2.76777783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04071405700006 meters 0.04414839067205382 Centerline is valid? [True, True] Translation: X:421.32, Y:-54.82, Z:-27.68 [[ 9.96629217e-01 5.86742912e-02 5.73370031e-02 4.21320299e+02] [-5.83406698e-02 9.98268734e-01 -7.47674691e-03 -5.48192213e+01] [-5.76764303e-02 4.10646525e-03 9.98326884e-01 -2.76801314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10071405700006 meters 0.03956497254692027 Centerline is valid? [True, True] Translation: X:421.38, Y:-54.82, Z:-27.68 [[ 9.96595813e-01 5.84298421e-02 5.81613170e-02 4.21381704e+02] [-5.80861972e-02 9.98282771e-01 -7.58311087e-03 -5.48162126e+01] [-5.85045207e-02 4.17892681e-03 9.98278397e-01 -2.76834832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16071405700006 meters 0.0442400194556552 Centerline is valid? [True, True] Translation: X:421.44, Y:-54.83, Z:-27.69 [[ 9.96822414e-01 5.60610301e-02 5.65883107e-02 4.21440694e+02] [-5.57319875e-02 9.98418509e-01 -7.37742255e-03 -5.48271737e+01] [-5.69124027e-02 4.20020113e-03 9.98370340e-01 -2.76901417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.22071405700007 meters 0.04171381219987393 Centerline is valid? [True, True] Translation: X:421.50, Y:-54.83, Z:-27.69 [[ 9.96973973e-01 5.46409623e-02 5.52925168e-02 4.21501390e+02] [-5.43243893e-02 9.98497284e-01 -7.21345683e-03 -5.48287976e+01] [-5.56035781e-02 4.18789650e-03 9.98444141e-01 -2.76945940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.28071405700007 meters 0.04338712683755808 Centerline is valid? [True, True] Translation: X:421.56, Y:-54.83, Z:-27.70 [[ 9.97059849e-01 5.26931803e-02 5.56335004e-02 4.21560993e+02] [-5.23696647e-02 9.98601391e-01 -7.25809446e-03 -5.48346383e+01] [-5.59381430e-02 4.32324680e-03 9.98424876e-01 -2.76978211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.34071405700007 meters 0.04337109403114966 Centerline is valid? [True, True] Translation: X:421.62, Y:-54.84, Z:-27.70 [[ 9.96975248e-01 5.28316381e-02 5.70015248e-02 4.21621748e+02] [-5.24922859e-02 9.98593649e-01 -7.43538921e-03 -5.48383724e+01] [-5.73141844e-02 4.42075866e-03 9.98346403e-01 -2.77004973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4007140570001 meters 0.04412089746673902 Centerline is valid? [True, True] Translation: X:421.68, Y:-54.84, Z:-27.70 [[ 9.96819048e-01 5.48890831e-02 5.77838562e-02 4.21681119e+02] [-5.45437649e-02 9.98482931e-01 -7.53755084e-03 -5.48432517e+01] [-5.81099234e-02 4.36182518e-03 9.98300662e-01 -2.77041149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4607140570001 meters 0.041931164793835705 Centerline is valid? [True, True] Translation: X:421.74, Y:-54.84, Z:-27.71 [[ 9.96599068e-01 5.80016316e-02 5.85329646e-02 4.21741623e+02] [-5.76526860e-02 9.98307511e-01 -7.63418304e-03 -5.48437605e+01] [-5.88766933e-02 4.23363708e-03 9.98256285e-01 -2.77077264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5207140570001 meters 0.038413315174269616 Centerline is valid? [True, True] Translation: X:421.80, Y:-54.84, Z:-27.71 [[ 9.96483640e-01 6.00344539e-02 5.84484323e-02 4.21802107e+02] [-5.96900322e-02 9.98187857e-01 -7.62248472e-03 -5.48435673e+01] [-5.88001271e-02 4.10689251e-03 9.98261328e-01 -2.77111301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5807140570001 meters 0.04142417625945343 Centerline is valid? [True, True] Translation: X:421.86, Y:-54.85, Z:-27.72 [[ 9.96417921e-01 6.25978034e-02 5.68580877e-02 4.21860011e+02] [-6.22760879e-02 9.98031421e-01 -7.41432967e-03 -5.48514931e+01] [-5.72102788e-02 3.84687169e-03 9.98354739e-01 -2.77177767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6407140570001 meters 0.039177466644444735 Centerline is valid? [True, True] Translation: X:421.92, Y:-54.86, Z:-27.72 [[ 9.96383859e-01 6.31773368e-02 5.68140004e-02 4.21918350e+02] [-6.28572267e-02 9.97995053e-01 -7.40563022e-03 -5.48550019e+01] [-5.71679593e-02 3.80767992e-03 9.98357314e-01 -2.77216195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.700714057 meters 0.039904194536908445 Centerline is valid? [True, True] Translation: X:421.98, Y:-54.86, Z:-27.73 [[ 9.96422237e-01 6.23936926e-02 5.70066054e-02 4.21976271e+02] [-6.20703600e-02 9.98044144e-01 -7.42672863e-03 -5.48605586e+01] [-5.73584897e-02 3.86173704e-03 9.98346178e-01 -2.77262631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76071405700003 meters 0.04225976278109168 Centerline is valid? [True, True] Translation: X:422.03, Y:-54.87, Z:-27.73 [[ 9.96532319e-01 6.02135263e-02 5.74253385e-02 4.22034705e+02] [-5.98821358e-02 9.98177460e-01 -7.47581200e-03 -5.48704934e+01] [-5.77708236e-02 4.01113634e-03 9.98321813e-01 -2.77308832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82071405700003 meters 0.04354493564023416 Centerline is valid? [True, True] Translation: X:422.09, Y:-54.88, Z:-27.73 [[ 9.96584412e-01 5.84983079e-02 5.82877152e-02 4.22093500e+02] [-5.81541494e-02 9.98278801e-01 -7.58482084e-03 -5.48802380e+01] [-5.86310896e-02 4.16924172e-03 9.98271012e-01 -2.77345293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88071405700003 meters 0.04613652010631231 Centerline is valid? [True, True] Translation: X:422.15, Y:-54.89, Z:-27.74 [[ 9.96754877e-01 5.68591817e-02 5.69802483e-02 4.22153165e+02] [-5.65277758e-02 9.98373510e-01 -7.41247417e-03 -5.48910988e+01] [-5.73090377e-02 4.16745308e-03 9.98347788e-01 -2.77396922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94071405700004 meters 0.047026517753872864 Centerline is valid? [True, True] Translation: X:422.21, Y:-54.90, Z:-27.75 [[ 9.96851689e-01 5.67797274e-02 5.53423155e-02 4.22210503e+02] [-5.64669786e-02 9.98378507e-01 -7.19985147e-03 -5.49005347e+01] [-5.56613839e-02 4.05217075e-03 9.98441481e-01 -2.77458841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00071405700004 meters 0.04786138995645615 Centerline is valid? [True, True] Translation: X:422.27, Y:-54.91, Z:-27.75 [[ 9.96784236e-01 5.82108924e-02 5.50697676e-02 4.22268187e+02] [-5.79035483e-02 9.98296495e-01 -7.16156362e-03 -5.49094541e+01] [-5.53928370e-02 3.94979877e-03 9.98456826e-01 -2.77497776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06071405700004 meters 0.037256562396868115 Centerline is valid? [True, True] Translation: X:422.33, Y:-54.90, Z:-27.75 [[ 9.96499963e-01 6.24708031e-02 5.55447778e-02 4.22330318e+02] [-6.21648871e-02 9.98039777e-01 -7.22009709e-03 -5.49003722e+01] [-5.58869429e-02 3.74189165e-03 9.98430092e-01 -2.77520852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12071405700004 meters 0.03786033533005422 Centerline is valid? [True, True] Translation: X:422.39, Y:-54.91, Z:-27.76 [[ 9.96267257e-01 6.59328386e-02 5.57172636e-02 4.22388580e+02] [-6.56303981e-02 9.97817717e-01 -7.24259873e-03 -5.49085929e+01] [-5.60731978e-02 3.55881779e-03 9.98420318e-01 -2.77569879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18071405700005 meters 0.03324427370877265 Centerline is valid? [True, True] Translation: X:422.45, Y:-54.91, Z:-27.76 [[ 9.95800603e-01 7.10828997e-02 5.76921185e-02 4.22449503e+02] [-7.07673362e-02 9.97464675e-01 -7.49713064e-03 -5.49078453e+01] [-5.80787680e-02 3.38292966e-03 9.98306272e-01 -2.77611096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24071405700005 meters 0.032379951736717004 Centerline is valid? [True, True] Translation: X:422.51, Y:-54.91, Z:-27.76 [[ 9.95256248e-01 7.62570729e-02 6.04140669e-02 4.22510308e+02] [-7.59204873e-02 9.97082969e-01 -7.85064402e-03 -5.49122462e+01] [-6.08365043e-02 3.22673711e-03 9.98142529e-01 -2.77631030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30071405700005 meters 0.033582020637131636 Centerline is valid? [True, True] Translation: X:422.57, Y:-54.92, Z:-27.77 [[ 9.95179794e-01 7.67405600e-02 6.10578775e-02 4.22567577e+02] [-7.63976562e-02 9.97045859e-01 -7.93433678e-03 -5.49223745e+01] [-6.14863894e-02 3.23141291e-03 9.98102691e-01 -2.77678197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36071405700005 meters 0.034558419685794754 Centerline is valid? [True, True] Translation: X:422.62, Y:-54.93, Z:-27.78 [[ 9.95282945e-01 7.71679740e-02 5.87959437e-02 4.22623832e+02] [-7.68510161e-02 9.97013343e-01 -7.63648162e-03 -5.49326575e+01] [-5.92096322e-02 3.08193190e-03 9.98240813e-01 -2.77755493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42071405700005 meters 0.0357957123714854 Centerline is valid? [True, True] Translation: X:422.68, Y:-54.94, Z:-27.78 [[ 9.95438171e-01 7.67943377e-02 5.66169315e-02 4.22680622e+02] [-7.65001884e-02 9.97042492e-01 -7.34780632e-03 -5.49436565e+01] [-5.70137563e-02 2.98308096e-03 9.98368936e-01 -2.77821250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48071405700006 meters 0.03756059485197795 Centerline is valid? [True, True] Translation: X:422.74, Y:-54.96, Z:-27.79 [[ 9.95490215e-01 7.60235025e-02 5.67420405e-02 4.22737432e+02] [-7.57270851e-02 9.97101425e-01 -7.35910387e-03 -5.49557678e+01] [-5.71370343e-02 3.02900656e-03 9.98361750e-01 -2.77865669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54071405700006 meters 0.038345692357334586 Centerline is valid? [True, True] Translation: X:422.79, Y:-54.97, Z:-27.79 [[ 9.95528016e-01 7.54303189e-02 5.68703409e-02 4.22794790e+02] [-7.51318781e-02 9.97146365e-01 -7.37077835e-03 -5.49660782e+01] [-5.72640338e-02 3.06504083e-03 9.98354364e-01 -2.77910125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60071405700006 meters 0.04008640565232567 Centerline is valid? [True, True] Translation: X:422.85, Y:-54.98, Z:-27.80 [[ 9.95638476e-01 7.39949361e-02 5.68222990e-02 4.22851517e+02] [-7.36948822e-02 9.97253670e-01 -7.36086688e-03 -5.49773706e+01] [-5.72109131e-02 3.14124965e-03 9.98357173e-01 -2.77952087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66071405700006 meters 0.034435239551374106 Centerline is valid? [True, True] Translation: X:422.91, Y:-54.98, Z:-27.80 [[ 9.95731172e-01 7.24856428e-02 5.71424877e-02 4.22910384e+02] [-7.21799932e-02 9.97364189e-01 -7.39756011e-03 -5.49783914e+01] [-5.75280877e-02 3.24143683e-03 9.98338626e-01 -2.77966525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.72071405700007 meters 0.03342668828430004 Centerline is valid? [True, True] Translation: X:422.97, Y:-54.98, Z:-27.80 [[ 9.95800630e-01 7.11477767e-02 5.76116247e-02 4.22968455e+02] [-7.08350954e-02 9.97460188e-01 -7.45408707e-03 -5.49849826e+01] [-5.79956437e-02 3.34185967e-03 9.98311243e-01 -2.78000935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.78071405700007 meters 0.034951267943554416 Centerline is valid? [True, True] Translation: X:423.03, Y:-55.00, Z:-27.81 [[ 9.95960264e-01 6.95451699e-02 5.68033544e-02 4.23026993e+02] [-6.92388709e-02 9.97573069e-01 -7.34506668e-03 -5.49980110e+01] [-5.71763105e-02 3.38239443e-03 9.98358367e-01 -2.78055805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.84071405700007 meters 0.035658586098893996 Centerline is valid? [True, True] Translation: X:423.09, Y:-55.01, Z:-27.81 [[ 9.96167180e-01 6.82439228e-02 5.47148655e-02 4.23085139e+02] [-6.79579120e-02 9.97663116e-01 -7.07308871e-03 -5.50102550e+01] [-5.50696985e-02 3.32767083e-03 9.98476968e-01 -2.78115230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9007140570001 meters 0.036027370683574846 Centerline is valid? [True, True] Translation: X:423.14, Y:-55.02, Z:-27.81 [[ 9.96268791e-01 6.73232116e-02 5.40007531e-02 4.23143309e+02] [-6.70433652e-02 9.97725653e-01 -6.97921535e-03 -5.50194612e+01] [-5.43477998e-02 3.33278223e-03 9.98516504e-01 -2.78149588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9607140570001 meters 0.03747983050414056 Centerline is valid? [True, True] Translation: X:423.20, Y:-55.03, Z:-27.82 [[ 9.96247366e-01 6.74289628e-02 5.42634362e-02 4.23200708e+02] [-6.71467582e-02 9.97718490e-01 -7.00917502e-03 -5.50310957e+01] [-5.46122550e-02 3.33925833e-03 9.98502054e-01 -2.78189067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0207140570001 meters 0.03725996793190385 Centerline is valid? [True, True] Translation: X:423.26, Y:-55.04, Z:-27.82 [[ 9.96166365e-01 6.81599476e-02 5.48342424e-02 4.23259095e+02] [-6.78730910e-02 9.97668849e-01 -7.07889997e-03 -5.50394468e+01] [-5.51889129e-02 3.32999254e-03 9.98470378e-01 -2.78226182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0807140570001 meters 0.0381108020374927 Centerline is valid? [True, True] Translation: X:423.32, Y:-55.05, Z:-27.83 [[ 9.96152266e-01 6.87770850e-02 5.43173582e-02 4.23317374e+02] [-6.84967435e-02 9.97626724e-01 -7.00828875e-03 -5.50490122e+01] [-5.46704578e-02 3.26076057e-03 9.98499128e-01 -2.78261169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1407140570001 meters 0.0399489542934097 Centerline is valid? [True, True] Translation: X:423.37, Y:-55.06, Z:-27.83 [[ 9.96346665e-01 6.74430609e-02 5.23904283e-02 4.23374698e+02] [-6.71806399e-02 9.97717956e-01 -6.75593581e-03 -5.50614256e+01] [-5.27265120e-02 3.21163161e-03 9.98603826e-01 -2.78322089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.200714057 meters 0.043011983204726205 Centerline is valid? [True, True] Translation: X:423.43, Y:-55.08, Z:-27.84 [[ 9.96722595e-01 6.33622696e-02 5.02920644e-02 4.23433900e+02] [-6.31154602e-02 9.97985180e-01 -6.48215103e-03 -5.50761266e+01] [-5.06014587e-02 3.28669961e-03 9.98713517e-01 -2.78376314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26071405700003 meters 0.047702025750395644 Centerline is valid? [True, True] Translation: X:423.49, Y:-55.09, Z:-27.84 [[ 9.97102178e-01 5.81705033e-02 4.90248940e-02 4.23491338e+02] [-5.79297327e-02 9.98300664e-01 -6.31902373e-03 -5.50931888e+01] [-4.93091650e-02 3.46071332e-03 9.98777568e-01 -2.78424077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32071405700003 meters 0.04077797510287175 Centerline is valid? [True, True] Translation: X:423.55, Y:-55.09, Z:-27.84 [[ 9.97245949e-01 5.55968817e-02 4.90866895e-02 4.23551994e+02] [-5.53524381e-02 9.98446837e-01 -6.32627748e-03 -5.50937535e+01] [-4.93621712e-02 3.59178666e-03 9.98774487e-01 -2.78428832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38071405700003 meters 0.042246859564005916 Centerline is valid? [True, True] Translation: X:423.61, Y:-55.11, Z:-27.85 [[ 9.97262461e-01 5.55783223e-02 4.87712361e-02 4.23610914e+02] [-5.53370215e-02 9.98447952e-01 -6.28501206e-03 -5.51055919e+01] [-4.90448512e-02 3.56895166e-03 9.98790201e-01 -2.78462166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44071405700004 meters 0.044170273534417305 Centerline is valid? [True, True] Translation: X:423.67, Y:-55.12, Z:-27.85 [[ 9.97202349e-01 5.56390397e-02 4.99176505e-02 4.23668904e+02] [-5.53864047e-02 9.98444283e-01 -6.43115493e-03 -5.51173748e+01] [-5.01978160e-02 3.64840361e-03 9.98732631e-01 -2.78485238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50071405700004 meters 0.04186495348196932 Centerline is valid? [True, True] Translation: X:423.73, Y:-55.12, Z:-27.85 [[ 9.97231144e-01 5.52089015e-02 4.98199055e-02 4.23728313e+02] [-5.49568661e-02 9.98468118e-01 -6.41569775e-03 -5.51228438e+01] [-5.00977909e-02 3.65998773e-03 9.98737611e-01 -2.78504973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56071405700004 meters 0.04192008256929187 Centerline is valid? [True, True] Translation: X:423.79, Y:-55.13, Z:-27.85 [[ 9.97254754e-01 5.49456961e-02 4.96379427e-02 4.23787607e+02] [-5.46952784e-02 9.98482645e-01 -6.39022395e-03 -5.51313796e+01] [-4.99137396e-02 3.65772012e-03 9.98746835e-01 -2.78545829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62071405700004 meters 0.044611910246721884 Centerline is valid? [True, True] Translation: X:423.85, Y:-55.14, Z:-27.86 [[ 9.97422653e-01 5.36397543e-02 4.76532056e-02 4.23845480e+02] [-5.34075747e-02 9.98553962e-01 -6.13315102e-03 -5.51433580e+01] [-4.79132780e-02 3.57230162e-03 9.98845111e-01 -2.78596336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68071405700005 meters 0.048105418112522065 Centerline is valid? [True, True] Translation: X:423.90, Y:-55.16, Z:-27.87 [[ 9.97567402e-01 5.22430187e-02 4.61513316e-02 4.23903355e+02] [-5.20236619e-02 9.98628173e-01 -5.94221414e-03 -5.51558424e+01] [-4.63984592e-02 3.52679785e-03 9.98916786e-01 -2.78652672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74071405700005 meters 0.04139418865169207 Centerline is valid? [True, True] Translation: X:423.96, Y:-55.15, Z:-27.87 [[ 9.97588278e-01 5.27819750e-02 4.50742703e-02 4.23964112e+02] [-5.25733597e-02 9.98600209e-01 -5.80206569e-03 -5.51516271e+01] [-4.53174202e-02 3.41836690e-03 9.98966789e-01 -2.78657310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80071405700005 meters 0.04221466252276438 Centerline is valid? [True, True] Translation: X:424.02, Y:-55.16, Z:-27.87 [[ 9.97594283e-01 5.29657828e-02 4.47244132e-02 4.24022996e+02] [-5.27606370e-02 9.98590600e-01 -5.75576076e-03 -5.51579548e+01] [-4.49662370e-02 3.38222549e-03 9.98982782e-01 -2.78693480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86071405700005 meters 0.04172427190810157 Centerline is valid? [True, True] Translation: X:424.08, Y:-55.16, Z:-27.87 [[ 9.97586443e-01 5.25725092e-02 4.53587895e-02 4.24082160e+02] [-5.23611919e-02 9.98611163e-01 -5.83523904e-03 -5.51624197e+01] [-4.56025667e-02 3.44611507e-03 9.98953718e-01 -2.78716430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92071405700005 meters 0.042610485628533507 Centerline is valid? [True, True] Translation: X:424.14, Y:-55.17, Z:-27.88 [[ 9.97665917e-01 5.14961226e-02 4.48426940e-02 4.24141414e+02] [-5.12886871e-02 9.98667230e-01 -5.76493242e-03 -5.51679127e+01] [-4.50798006e-02 3.45155369e-03 9.98977426e-01 -2.78751839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98071405700006 meters 0.041294217084070856 Centerline is valid? [True, True] Translation: X:424.20, Y:-55.17, Z:-27.88 [[ 9.97755634e-01 4.95908052e-02 4.49938497e-02 4.24200849e+02] [-4.93801001e-02 9.98763316e-01 -5.78309927e-03 -5.51702702e+01] [-4.52249951e-02 3.54831908e-03 9.98970525e-01 -2.78780955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04071405700006 meters 0.044385106348511554 Centerline is valid? [True, True] Translation: X:424.26, Y:-55.18, Z:-27.88 [[ 9.97760386e-01 4.84267284e-02 4.61417745e-02 4.24259109e+02] [-4.82040121e-02 9.98819920e-01 -5.92797468e-03 -5.51784280e+01] [-4.63743960e-02 3.69047965e-03 9.98917312e-01 -2.78813738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10071405700006 meters 0.04696281511651036 Centerline is valid? [True, True] Translation: X:424.32, Y:-55.19, Z:-27.89 [[ 9.97926421e-01 4.63615727e-02 4.46482088e-02 4.24318244e+02] [-4.61511449e-02 9.98918018e-01 -5.73289287e-03 -5.51859873e+01] [-4.48656862e-02 3.66043930e-03 9.98986322e-01 -2.78865379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16071405700006 meters 0.04574433412634786 Centerline is valid? [True, True] Translation: X:424.38, Y:-55.19, Z:-27.89 [[ 9.98005411e-01 4.57018720e-02 4.35492729e-02 4.24378058e+02] [-4.55010719e-02 9.98948641e-01 -5.59152672e-03 -5.51893703e+01] [-4.37590302e-02 3.59883532e-03 9.99035633e-01 -2.78908092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.22071405700007 meters 0.04628195941034467 Centerline is valid? [True, True] Translation: X:424.44, Y:-55.19, Z:-27.90 [[ 9.97910822e-01 4.83390252e-02 4.28640975e-02 4.24437197e+02] [-4.81469356e-02 9.98825104e-01 -5.50306276e-03 -5.51943212e+01] [-4.30797494e-02 3.42779093e-03 9.99065756e-01 -2.78954909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.28071405700007 meters 0.04489474106240215 Centerline is valid? [True, True] Translation: X:424.50, Y:-55.20, Z:-27.90 [[ 9.97680031e-01 5.18066837e-02 4.41658714e-02 4.24498239e+02] [-5.16061970e-02 9.98651426e-01 -5.66832169e-03 -5.51972037e+01] [-4.43999674e-02 3.37593870e-03 9.99008131e-01 -2.78979109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.34071405700007 meters 0.04283717828737975 Centerline is valid? [True, True] Translation: X:424.56, Y:-55.20, Z:-27.90 [[ 9.97286961e-01 5.72682172e-02 4.62500586e-02 4.24558886e+02] [-5.70542157e-02 9.98353440e-01 -5.93504571e-03 -5.51987493e+01] [-4.65137946e-02 3.28018289e-03 9.98912262e-01 -2.79003889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4007140570001 meters 0.040492858295528976 Centerline is valid? [True, True] Translation: X:424.62, Y:-55.20, Z:-27.90 [[ 9.97037974e-01 6.16192640e-02 4.60254812e-02 4.24619526e+02] [-6.14119303e-02 9.98095029e-01 -5.90660889e-03 -5.51996033e+01] [-4.63017649e-02 3.06259972e-03 9.98922803e-01 -2.79045181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4607140570001 meters 0.04291016493546039 Centerline is valid? [True, True] Translation: X:424.68, Y:-55.21, Z:-27.91 [[ 9.96944995e-01 6.42915475e-02 4.43539604e-02 4.24676904e+02] [-6.41016048e-02 9.97927139e-01 -5.69297406e-03 -5.52109677e+01] [-4.46280310e-02 2.83242195e-03 9.98999658e-01 -2.79124834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5207140570001 meters 0.03987898240017611 Centerline is valid? [True, True] Translation: X:424.74, Y:-55.21, Z:-27.91 [[ 9.96981563e-01 6.45913649e-02 4.30780535e-02 4.24735532e+02] [-6.44125246e-02 9.97908045e-01 -5.52818063e-03 -5.52105316e+01] [-4.33450089e-02 2.73672798e-03 9.99056415e-01 -2.79146037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5807140570001 meters 0.036254940092855015 Centerline is valid? [True, True] Translation: X:424.79, Y:-55.21, Z:-27.92 [[ 9.96997115e-01 6.46453869e-02 4.26348037e-02 4.24794149e+02] [-6.44704444e-02 9.97904642e-01 -5.46700151e-03 -5.52113504e+01] [-4.28988849e-02 2.70189999e-03 9.99075766e-01 -2.79171717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6407140570001 meters 0.03549746185031482 Centerline is valid? [True, True] Translation: X:424.85, Y:-55.22, Z:-27.92 [[ 9.96825948e-01 6.59073517e-02 4.46570381e-02 4.24853551e+02] [-6.57169656e-02 9.97821911e-01 -5.71966105e-03 -5.52173237e+01] [-4.49367388e-02 2.76678151e-03 9.98986003e-01 -2.79202274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.700714057 meters 0.0366151579227722 Centerline is valid? [True, True] Translation: X:424.91, Y:-55.23, Z:-27.92 [[ 9.96845752e-01 6.40501659e-02 4.68628178e-02 4.24912177e+02] [-6.38385029e-02 9.97942200e-01 -6.00098570e-03 -5.52250507e+01] [-4.71507476e-02 2.99040498e-03 9.98883309e-01 -2.79213345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76071405700003 meters 0.03841567883043964 Centerline is valid? [True, True] Translation: X:424.97, Y:-55.24, Z:-27.93 [[ 9.97056530e-01 5.99109998e-02 4.78429440e-02 4.24970649e+02] [-5.96858587e-02 9.98198437e-01 -6.12193013e-03 -5.52383913e+01] [-4.81235229e-02 3.24836322e-03 9.98836110e-01 -2.79256763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82071405700003 meters 0.04124684401232295 Centerline is valid? [True, True] Translation: X:425.03, Y:-55.25, Z:-27.93 [[ 9.97258757e-01 5.65135565e-02 4.77618072e-02 4.25028227e+02] [-5.62853139e-02 9.98396021e-01 -6.11132361e-03 -5.52523812e+01] [-4.80305709e-02 3.40628268e-03 9.98840058e-01 -2.79307931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88071405700003 meters 0.04122546283388865 Centerline is valid? [True, True] Translation: X:425.09, Y:-55.26, Z:-27.93 [[ 9.97481810e-01 5.30547708e-02 4.70662368e-02 4.25087863e+02] [-5.28294080e-02 9.98585405e-01 -6.02016013e-03 -5.52638981e+01] [-4.73190553e-02 3.51851880e-03 9.98873629e-01 -2.79348672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94071405700004 meters 0.04267535625102654 Centerline is valid? [True, True] Translation: X:425.15, Y:-55.28, Z:-27.94 [[ 9.97659653e-01 4.99467714e-02 4.66962170e-02 4.25146374e+02] [-4.97215596e-02 9.98745259e-01 -5.97280090e-03 -5.52767650e+01] [-4.69359475e-02 3.63701374e-03 9.98891280e-01 -2.79395240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00071405700004 meters 0.042727765613917675 Centerline is valid? [True, True] Translation: X:425.21, Y:-55.29, Z:-27.94 [[ 9.97743805e-01 4.83544739e-02 4.65740801e-02 4.25205566e+02] [-4.81287699e-02 9.98823381e-01 -5.95603980e-03 -5.52875655e+01] [-4.68072814e-02 3.70104862e-03 9.98897082e-01 -2.79446084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06071405700004 meters 0.04096566717446721 Centerline is valid? [True, True] Translation: X:425.26, Y:-55.30, Z:-27.95 [[ 9.97702601e-01 4.76925811e-02 4.81137914e-02 4.25264460e+02] [-4.74508982e-02 9.98854617e-01 -6.15354270e-03 -5.52959970e+01] [-4.83521610e-02 3.85636294e-03 9.98822906e-01 -2.79478119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12071405700004 meters 0.0449471988281141 Centerline is valid? [True, True] Translation: X:425.32, Y:-55.31, Z:-27.95 [[ 9.97617403e-01 4.74392446e-02 5.00902697e-02 4.25322664e+02] [-4.71770993e-02 9.98866015e-01 -6.40351683e-03 -5.53125030e+01] [-5.03372461e-02 4.02514620e-03 9.98724166e-01 -2.79521891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18071405700005 meters 0.044986263943321086 Centerline is valid? [True, True] Translation: X:425.38, Y:-55.32, Z:-27.96 [[ 9.97585867e-01 4.62326647e-02 5.18167884e-02 4.25382519e+02] [-4.59504336e-02 9.98921749e-01 -6.62548111e-03 -5.53240898e+01] [-5.20672305e-02 4.22848242e-03 9.98634630e-01 -2.79558369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24071405700005 meters 0.04747655581914839 Centerline is valid? [True, True] Translation: X:425.44, Y:-55.34, Z:-27.96 [[ 9.97739017e-01 4.29506837e-02 5.16922931e-02 4.25441079e+02] [-4.26653786e-02 9.99067547e-01 -6.61068309e-03 -5.53404085e+01] [-5.19280258e-02 4.39026519e-03 9.98641180e-01 -2.79613984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30071405700005 meters 0.050130881789997556 Centerline is valid? [True, True] Translation: X:425.50, Y:-55.36, Z:-27.97 [[ 9.97947439e-01 4.02559268e-02 4.98033068e-02 4.25500013e+02] [-3.99877792e-02 9.99179869e-01 -6.36925249e-03 -5.53566992e+01] [-5.00188617e-02 4.36465557e-03 9.98738736e-01 -2.79679351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36071405700005 meters 0.05174891026349952 Centerline is valid? [True, True] Translation: X:425.56, Y:-55.37, Z:-27.97 [[ 9.97977409e-01 3.99963307e-02 4.94103681e-02 4.25561341e+02] [-3.97322551e-02 9.99190403e-01 -6.31561468e-03 -5.53691894e+01] [-4.96229670e-02 4.33965543e-03 9.98758594e-01 -2.79726953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42071405700005 meters 0.05183780366034416 Centerline is valid? [True, True] Translation: X:425.62, Y:-55.38, Z:-27.98 [[ 9.97890790e-01 4.10399473e-02 5.02960662e-02 4.25621447e+02] [-4.07668411e-02 9.99147905e-01 -6.44428276e-03 -5.53803187e+01] [-5.05176822e-02 4.38027867e-03 9.98713561e-01 -2.79757759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48071405700006 meters 0.05412600004284937 Centerline is valid? [True, True] Translation: X:425.68, Y:-55.39, Z:-27.98 [[ 9.97806198e-01 4.21906097e-02 5.10170974e-02 4.25680938e+02] [-4.19110061e-02 9.99099953e-01 -6.53848407e-03 -5.53932348e+01] [-5.12470423e-02 4.38596205e-03 9.98676376e-01 -2.79792533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54071405700006 meters 0.04580528238790335 Centerline is valid? [True, True] Translation: X:425.74, Y:-55.39, Z:-27.98 [[ 9.97693964e-01 4.39485894e-02 5.17230584e-02 4.25743244e+02] [-4.36634472e-02 9.99024294e-01 -6.63051811e-03 -5.53930358e+01] [-5.19639938e-02 4.35682087e-03 9.98639455e-01 -2.79808740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60071405700006 meters 0.04626417234727357 Centerline is valid? [True, True] Translation: X:425.80, Y:-55.40, Z:-27.98 [[ 9.97604283e-01 4.58610228e-02 5.17924832e-02 4.25802710e+02] [-4.55774895e-02 9.98938719e-01 -6.64290716e-03 -5.54038433e+01] [-5.20421673e-02 4.26642128e-03 9.98635775e-01 -2.79849471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66071405700006 meters 0.04381720171664289 Centerline is valid? [True, True] Translation: X:425.86, Y:-55.41, Z:-27.99 [[ 9.97397664e-01 4.97846930e-02 5.21477166e-02 4.25862192e+02] [-4.95025790e-02 9.98751601e-01 -6.68840767e-03 -5.54129692e+01] [-5.24155958e-02 4.08955572e-03 9.98616984e-01 -2.79893921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.72071405700007 meters 0.046474651123741426 Centerline is valid? [True, True] Translation: X:425.92, Y:-55.43, Z:-27.99 [[ 9.97244511e-01 5.25406657e-02 5.23723514e-02 4.25919998e+02] [-5.22598595e-02 9.98610925e-01 -6.71775777e-03 -5.54279400e+01] [-5.26525577e-02 3.96227534e-03 9.98605031e-01 -2.79946206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.78071405700007 meters 0.04356071052732145 Centerline is valid? [True, True] Translation: X:425.98, Y:-55.43, Z:-28.00 [[ 9.97142534e-01 5.40646100e-02 5.27615779e-02 4.25981620e+02] [-5.37818352e-02 9.98529789e-01 -6.76568405e-03 -5.54341263e+01] [-5.30497913e-02 3.90873685e-03 9.98584219e-01 -2.79981186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.84071405700007 meters 0.03958163644585931 Centerline is valid? [True, True] Translation: X:426.04, Y:-55.44, Z:-28.00 [[ 9.97083308e-01 5.40085041e-02 5.39254982e-02 4.26042565e+02] [-5.37127690e-02 9.98532452e-01 -6.91952166e-03 -5.54376236e+01] [-5.42200730e-02 4.00285172e-03 9.98520987e-01 -2.79997575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9007140570001 meters 0.041782193206213306 Centerline is valid? [True, True] Translation: X:426.10, Y:-55.45, Z:-28.00 [[ 9.97003113e-01 5.33240397e-02 5.60476490e-02 4.26102191e+02] [-5.30034325e-02 9.98568428e-01 -7.19236715e-03 -5.54531001e+01] [-5.63509388e-02 4.20009466e-03 9.98402189e-01 -2.80029822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9607140570001 meters 0.04446659408591257 Centerline is valid? [True, True] Translation: X:426.16, Y:-55.47, Z:-28.01 [[ 9.96956653e-01 5.22272600e-02 5.78769878e-02 4.26162075e+02] [-5.18826942e-02 9.98625463e-01 -7.44120399e-03 -5.54694329e+01] [-5.81860674e-02 4.41574376e-03 9.98295990e-01 -2.80054016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0207140570001 meters 0.04535560735223586 Centerline is valid? [True, True] Translation: X:426.22, Y:-55.48, Z:-28.01 [[ 9.96868116e-01 5.26127988e-02 5.90411059e-02 4.26223290e+02] [-5.22540631e-02 9.98604868e-01 -7.60466024e-03 -5.54838578e+01] [-5.93588383e-02 4.49570565e-03 9.98226586e-01 -2.80094515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0807140570001 meters 0.04780982626651104 Centerline is valid? [True, True] Translation: X:426.28, Y:-55.50, Z:-28.02 [[ 9.96889405e-01 5.27263259e-02 5.85785637e-02 4.26283992e+02] [-5.23725341e-02 9.98599003e-01 -7.55962720e-03 -5.55003080e+01] [-5.88950867e-02 4.46820443e-03 9.98254178e-01 -2.80151687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1407140570001 meters 0.04942387470952818 Centerline is valid? [True, True] Translation: X:426.34, Y:-55.52, Z:-28.02 [[ 9.96907719e-01 5.30253214e-02 5.79940933e-02 4.26343712e+02] [-5.26784781e-02 9.98583403e-01 -7.49428853e-03 -5.55151702e+01] [-5.83093261e-02 4.41607352e-03 9.98288796e-01 -2.80199429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.200714057 meters 0.05001993253834495 Centerline is valid? [True, True] Translation: X:426.40, Y:-55.53, Z:-28.02 [[ 9.96792089e-01 5.48052576e-02 5.83259325e-02 4.26402698e+02] [-5.44569576e-02 9.98487608e-01 -7.54563233e-03 -5.55279159e+01] [-5.86512611e-02 4.34517379e-03 9.98269076e-01 -2.80240649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26071405700003 meters 0.04343600121717536 Centerline is valid? [True, True] Translation: X:426.46, Y:-55.53, Z:-28.03 [[ 9.96499755e-01 5.95710345e-02 5.86475113e-02 4.26463992e+02] [-5.92270148e-02 9.98215697e-01 -7.58831813e-03 -5.55271963e+01] [-5.89949104e-02 4.08824013e-03 9.98249912e-01 -2.80262752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32071405700003 meters 0.034782613438643306 Centerline is valid? [True, True] Translation: X:426.53, Y:-55.52, Z:-28.03 [[ 9.96021655e-01 6.58222878e-02 6.00690354e-02 4.26526170e+02] [-6.54726746e-02 9.97824094e-01 -7.77210786e-03 -5.55215643e+01] [-6.04499088e-02 3.80830732e-03 9.98163967e-01 -2.80274664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38071405700003 meters 0.03379129058565918 Centerline is valid? [True, True] Translation: X:426.59, Y:-55.53, Z:-28.03 [[ 9.95615653e-01 7.09563035e-02 6.09481355e-02 4.26586069e+02] [-7.06058707e-02 9.97473111e-01 -7.88694905e-03 -5.55272471e+01] [-6.13537550e-02 3.54907376e-03 9.98109774e-01 -2.80312705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44071405700004 meters 0.03260664483365252 Centerline is valid? [True, True] Translation: X:426.65, Y:-55.53, Z:-28.04 [[ 9.95525139e-01 7.28273184e-02 6.02152736e-02 4.26645015e+02] [-7.24886722e-02 9.97338795e-01 -7.79228517e-03 -5.55330867e+01] [-6.06225197e-02 3.39249055e-03 9.98154999e-01 -2.80360149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50071405700004 meters 0.03288600560733847 Centerline is valid? [True, True] Translation: X:426.70, Y:-55.54, Z:-28.04 [[ 9.95320561e-01 7.65728635e-02 5.89370559e-02 4.26702708e+02] [-7.62551217e-02 9.97059185e-01 -7.62485180e-03 -5.55417091e+01] [-5.93475897e-02 3.09491940e-03 9.98232581e-01 -2.80410830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56071405700004 meters 0.03131001625504146 Centerline is valid? [True, True] Translation: X:426.76, Y:-55.55, Z:-28.04 [[ 9.95075793e-01 7.94728864e-02 5.92302917e-02 4.26762057e+02] [-7.91572871e-02 9.96832712e-01 -7.65947131e-03 -5.55472878e+01] [-5.96514127e-02 2.93324528e-03 9.98214959e-01 -2.80441317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62071405700004 meters 0.03201999479027251 Centerline is valid? [True, True] Translation: X:426.82, Y:-55.56, Z:-28.05 [[ 9.94625418e-01 8.46125923e-02 5.96740129e-02 4.26820740e+02] [-8.43015920e-02 9.96410421e-01 -7.71462335e-03 -5.55551785e+01] [-6.01125626e-02 2.64254619e-03 9.98188107e-01 -2.80468479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68071405700005 meters 0.02801097273566416 Centerline is valid? [True, True] Translation: X:426.88, Y:-55.55, Z:-28.05 [[ 9.94267501e-01 8.96887043e-02 5.82071500e-02 4.26880906e+02] [-8.94015671e-02 9.95967245e-01 -7.52380014e-03 -5.55546181e+01] [-5.86472147e-02 2.27685954e-03 9.98276174e-01 -2.80501696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74071405700005 meters 0.026477257840114485 Centerline is valid? [True, True] Translation: X:426.94, Y:-55.56, Z:-28.05 [[ 9.93756861e-01 9.53151113e-02 5.79856038e-02 4.26940835e+02] [-9.50398329e-02 9.95445269e-01 -7.49307644e-03 -5.55597017e+01] [-5.84356984e-02 1.93535403e-03 9.98289299e-01 -2.80535707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80071405700005 meters 0.025581138144548002 Centerline is valid? [True, True] Translation: X:427.00, Y:-55.57, Z:-28.06 [[ 9.93287758e-01 1.00236730e-01 5.77237158e-02 4.27000482e+02] [-9.99723621e-02 9.94962271e-01 -7.45691896e-03 -5.55668707e+01] [-5.81803765e-02 1.63609010e-03 9.98304747e-01 -2.80569710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86071405700005 meters 0.025005941314991967 Centerline is valid? [True, True] Translation: X:427.06, Y:-55.58, Z:-28.06 [[ 9.93178513e-01 1.02118862e-01 5.62865790e-02 4.27058489e+02] [-1.01870557e-01 9.94771093e-01 -7.27070421e-03 -5.55753999e+01] [-5.67347377e-02 1.48716205e-03 9.98388180e-01 -2.80616319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92071405700005 meters 0.025841493806104957 Centerline is valid? [True, True] Translation: X:427.11, Y:-55.59, Z:-28.07 [[ 9.93270738e-01 1.01791794e-01 5.52419419e-02 4.27114121e+02] [-1.01552336e-01 9.94804633e-01 -7.13197819e-03 -5.55916177e+01] [-5.56809166e-02 1.47403697e-03 9.98447526e-01 -2.80662967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98071405700006 meters 0.02722161197810172 Centerline is valid? [True, True] Translation: X:427.17, Y:-55.61, Z:-28.07 [[ 9.93513720e-01 9.95797886e-02 5.49031302e-02 4.27169949e+02] [-9.93401518e-02 9.95028320e-01 -7.08349428e-03 -5.56065496e+01] [-5.53355423e-02 1.58346346e-03 9.98466560e-01 -2.80703293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04071405700006 meters 0.02635635262062799 Centerline is valid? [True, True] Translation: X:427.23, Y:-55.62, Z:-28.07 [[ 9.93997295e-01 9.47043258e-02 5.47765393e-02 4.27228693e+02] [-9.44587519e-02 9.95503736e-01 -7.06080369e-03 -5.56184419e+01] [-5.51989382e-02 1.84429624e-03 9.98473673e-01 -2.80722108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10071405700006 meters 0.02851186119834918 Centerline is valid? [True, True] Translation: X:427.29, Y:-55.64, Z:-28.08 [[ 9.94571103e-01 8.84069268e-02 5.48865764e-02 4.27286103e+02] [-8.81509029e-02 9.96082021e-01 -7.07294260e-03 -5.56365266e+01] [-5.52968291e-02 2.19624305e-03 9.98467544e-01 -2.80770947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16071405700006 meters 0.030517086006853683 Centerline is valid? [True, True] Translation: X:427.34, Y:-55.65, Z:-28.08 [[ 9.95215195e-01 8.14339111e-02 5.39929138e-02 4.27344410e+02] [-8.11760499e-02 9.96675509e-01 -6.95547776e-03 -5.56530273e+01] [-5.43798266e-02 2.53926568e-03 9.98517094e-01 -2.80821477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.22071405700007 meters 0.03274152277649367 Centerline is valid? [True, True] Translation: X:427.40, Y:-55.67, Z:-28.09 [[ 9.95786219e-01 7.48935754e-02 5.29221839e-02 4.27402728e+02] [-7.46366301e-02 9.97187491e-01 -6.81772354e-03 -5.56684105e+01] [-5.32839435e-02 2.83906168e-03 9.98575366e-01 -2.80864189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.28071405700007 meters 0.035133247655300744 Centerline is valid? [True, True] Translation: X:427.46, Y:-55.68, Z:-28.09 [[ 9.96287990e-01 6.90390370e-02 5.14183958e-02 4.27461593e+02] [-6.87887775e-02 9.97609261e-01 -6.62311232e-03 -5.56805236e+01] [-5.17527212e-02 3.06151867e-03 9.98655237e-01 -2.80900498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.34071405700007 meters 0.03732443555451168 Centerline is valid? [True, True] Translation: X:427.52, Y:-55.69, Z:-28.09 [[ 9.96643083e-01 6.39187610e-02 5.11562002e-02 4.27520845e+02] [-6.36643912e-02 9.97949618e-01 -6.58821481e-03 -5.56913090e+01] [-5.14724210e-02 3.30927038e-03 9.98668933e-01 -2.80932034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4007140570001 meters 0.03880585389596248 Centerline is valid? [True, True] Translation: X:427.58, Y:-55.70, Z:-28.10 [[ 9.96764502e-01 6.21983060e-02 5.09106963e-02 4.27580904e+02] [-6.19441474e-02 9.98058082e-01 -6.55647714e-03 -5.57007655e+01] [-5.12196337e-02 3.38164400e-03 9.98681688e-01 -2.80970986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4607140570001 meters 0.03949751549751574 Centerline is valid? [True, True] Translation: X:427.64, Y:-55.71, Z:-28.10 [[ 9.96929001e-01 5.89060409e-02 5.16008213e-02 4.27641554e+02] [-5.86405177e-02 9.98257041e-01 -6.64596814e-03 -5.57054986e+01] [-5.19023708e-02 3.59965951e-03 9.98645676e-01 -2.80991122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5207140570001 meters 0.04058524307304546 Centerline is valid? [True, True] Translation: X:427.70, Y:-55.71, Z:-28.10 [[ 9.96879587e-01 5.76512402e-02 5.39205242e-02 4.27702537e+02] [-5.73593118e-02 9.98329427e-01 -6.94730972e-03 -5.57110508e+01] [-5.42309670e-02 3.83278708e-03 9.98521062e-01 -2.81013449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5807140570001 meters 0.042370406479931746 Centerline is valid? [True, True] Translation: X:427.76, Y:-55.72, Z:-28.10 [[ 9.96869167e-01 5.59409925e-02 5.58790669e-02 4.27764038e+02] [-5.56247443e-02 9.98425784e-01 -7.20013479e-03 -5.57168167e+01] [-5.61938838e-02 4.06933356e-03 9.98411582e-01 -2.81036155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6407140570001 meters 0.04737566789273913 Centerline is valid? [True, True] Translation: X:427.82, Y:-55.73, Z:-28.11 [[ 9.97147751e-01 5.04335679e-02 5.61499546e-02 4.27822776e+02] [-5.01047168e-02 9.98717655e-01 -7.25003283e-03 -5.57260405e+01] [-5.64435960e-02 4.41597636e-03 9.98396023e-01 -2.81076808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.700714057 meters 0.05077704259019065 Centerline is valid? [True, True] Translation: X:427.88, Y:-55.74, Z:-28.11 [[ 9.97371692e-01 4.63832844e-02 5.56623579e-02 4.27882980e+02] [-4.60539618e-02 9.98913111e-01 -7.18534149e-03 -5.57352512e+01] [-5.59351389e-02 4.60298409e-03 9.98423794e-01 -2.81137223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76071405700003 meters 0.05382036583172469 Centerline is valid? [True, True] Translation: X:427.94, Y:-55.74, Z:-28.12 [[ 9.97818010e-01 4.00597990e-02 5.24826828e-02 4.27942995e+02] [-3.97583149e-02 9.99186348e-01 -6.77636119e-03 -5.57394365e+01] [-5.27114398e-02 4.67495220e-03 9.98598843e-01 -2.81213856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82071405700003 meters 0.045236836360918124 Centerline is valid? [True, True] Translation: X:428.01, Y:-55.73, Z:-28.12 [[ 9.97885400e-01 3.92974159e-02 5.17729801e-02 4.28007087e+02] [-3.90030574e-02 9.99216736e-01 -6.68406759e-03 -5.57278022e+01] [-5.19950948e-02 4.65062895e-03 9.98636511e-01 -2.81234532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88071405700003 meters 0.048684688085823595 Centerline is valid? [True, True] Translation: X:428.07, Y:-55.74, Z:-28.13 [[ 9.97811568e-01 4.01441850e-02 5.25406360e-02 4.28068067e+02] [-3.98420857e-02 9.99182952e-01 -6.78505797e-03 -5.57368858e+01] [-5.27700884e-02 4.67688081e-03 9.98595736e-01 -2.81282736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94071405700004 meters 0.04784065551605327 Centerline is valid? [True, True] Translation: X:428.13, Y:-55.74, Z:-28.13 [[ 9.97691673e-01 4.22631058e-02 5.31521880e-02 4.28129825e+02] [-4.19560315e-02 9.99095767e-01 -6.88037190e-03 -5.57359223e+01] [-5.33949120e-02 4.63443488e-03 9.98562720e-01 -2.81313616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00071405700004 meters 0.04571312928922746 Centerline is valid? [True, True] Translation: X:428.19, Y:-55.74, Z:-28.13 [[ 9.97564541e-01 4.34041727e-02 5.45991268e-02 4.28191633e+02] [-4.30817787e-02 9.99046544e-01 -7.06850049e-03 -5.57369699e+01] [-5.48538713e-02 4.69905795e-03 9.98483336e-01 -2.81336799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06071405700004 meters 0.06777134162773038 Centerline is valid? [True, True] Translation: X:428.25, Y:-55.77, Z:-28.14 [[ 9.97290672e-01 4.65445705e-02 5.69641794e-02 4.28246307e+02] [-4.61985337e-02 9.98905036e-01 -7.37725217e-03 -5.57725929e+01] [-5.72451767e-02 4.72560322e-03 9.98348966e-01 -2.81395696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12071405700004 meters 0.04619737024211214 Centerline is valid? [True, True] Translation: X:428.31, Y:-55.75, Z:-28.14 [[ 9.97346133e-01 4.66815295e-02 5.58706131e-02 4.28312655e+02] [-4.63490571e-02 9.98899122e-01 -7.23253141e-03 -5.57474999e+01] [-5.61467320e-02 4.62378700e-03 9.98411821e-01 -2.81435209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18071405700005 meters 0.043363815169094426 Centerline is valid? [True, True] Translation: X:428.37, Y:-55.75, Z:-28.15 [[ 9.97197458e-01 5.01659246e-02 5.55032330e-02 4.28373262e+02] [-4.98422863e-02 9.98731142e-01 -7.20084089e-03 -5.57466725e+01] [-5.57940442e-02 4.41425221e-03 9.98432541e-01 -2.81483013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24071405700005 meters 0.040514207284718995 Centerline is valid? [True, True] Translation: X:428.43, Y:-55.75, Z:-28.15 [[ 9.97000866e-01 5.29740922e-02 5.64182472e-02 4.28434505e+02] [-5.26441331e-02 9.98586509e-01 -7.31975142e-03 -5.57465030e+01] [-5.67262577e-02 4.32770879e-03 9.98380390e-01 -2.81521532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30071405700005 meters 0.04041242307056407 Centerline is valid? [True, True] Translation: X:428.50, Y:-55.75, Z:-28.16 [[ 9.96749556e-01 5.49472163e-02 5.89162597e-02 4.28496310e+02] [-5.45907215e-02 9.98479550e-01 -7.64465379e-03 -5.57518685e+01] [-5.92467329e-02 4.40352415e-03 9.98233657e-01 -2.81559807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36071405700005 meters 0.03972940496002595 Centerline is valid? [True, True] Translation: X:428.56, Y:-55.76, Z:-28.16 [[ 9.96612378e-01 5.60388505e-02 6.01948148e-02 4.28558420e+02] [-5.56684063e-02 9.98418728e-01 -7.81487663e-03 -5.57560206e+01] [-6.05375672e-02 4.43745337e-03 9.98156056e-01 -2.81602720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42071405700005 meters 0.04426047897970449 Centerline is valid? [True, True] Translation: X:428.62, Y:-55.77, Z:-28.17 [[ 9.96701102e-01 5.54836422e-02 5.92324168e-02 4.28618285e+02] [-5.51230871e-02 9.98449837e-01 -7.70510144e-03 -5.57690445e+01] [-5.95681040e-02 4.41460942e-03 9.98214482e-01 -2.81673420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48071405700006 meters 0.04171299461357166 Centerline is valid? [True, True] Translation: X:428.68, Y:-55.77, Z:-28.17 [[ 9.96937236e-01 5.24307161e-02 5.80273029e-02 4.28678774e+02] [-5.20787005e-02 9.98614344e-01 -7.56315273e-03 -5.57705330e+01] [-5.83434385e-02 4.51800205e-03 9.98286347e-01 -2.81736024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54071405700006 meters 0.04398948623838409 Centerline is valid? [True, True] Translation: X:428.74, Y:-55.78, Z:-28.18 [[ 9.97042811e-01 4.96773644e-02 5.86326897e-02 4.28739398e+02] [-4.93132157e-02 9.98754125e-01 -7.64224508e-03 -5.57793771e+01] [-5.89392873e-02 4.72827904e-03 9.98250371e-01 -2.81784833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60071405700006 meters 0.04540735332279302 Centerline is valid? [True, True] Translation: X:428.80, Y:-55.79, Z:-28.18 [[ 9.97103675e-01 4.87793248e-02 5.83509901e-02 4.28801230e+02] [-4.84170343e-02 9.98798237e-01 -7.60742459e-03 -5.57870668e+01] [-5.86519510e-02 4.76020913e-03 9.98267143e-01 -2.81827857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66071405700006 meters 0.04649492794725797 Centerline is valid? [True, True] Translation: X:428.86, Y:-55.79, Z:-28.19 [[ 9.97144943e-01 4.81206451e-02 5.81925001e-02 4.28863301e+02] [-4.77590240e-02 9.98830050e-01 -7.58993186e-03 -5.57927773e+01] [-5.84896502e-02 4.78904516e-03 9.98276528e-01 -2.81881282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.72071405700007 meters 0.049610005144390595 Centerline is valid? [True, True] Translation: X:428.92, Y:-55.80, Z:-28.19 [[ 9.97060381e-01 4.83970854e-02 5.93996512e-02 4.28924017e+02] [-4.80198800e-02 9.98816219e-01 -7.76223379e-03 -5.57997303e+01] [-5.97050045e-02 4.88705166e-03 9.98204102e-01 -2.81914216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.78071405700007 meters 0.05104273652933104 Centerline is valid? [True, True] Translation: X:428.99, Y:-55.80, Z:-28.20 [[ 9.97106160e-01 4.81886474e-02 5.87976260e-02 4.28986249e+02] [-4.78179167e-02 9.98826414e-01 -7.69681661e-03 -5.58040988e+01] [-5.90995212e-02 4.86296327e-03 9.98240251e-01 -2.81954688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.84071405700007 meters 0.053214549063594574 Centerline is valid? [True, True] Translation: X:429.05, Y:-55.81, Z:-28.20 [[ 9.97163505e-01 4.71805773e-02 5.86424561e-02 4.29048020e+02] [-4.68091861e-02 9.98874236e-01 -7.69154398e-03 -5.58119228e+01] [-5.89393300e-02 4.92472131e-03 9.98249419e-01 -2.82003043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9007140570001 meters 0.049954029812684396 Centerline is valid? [True, True] Translation: X:429.11, Y:-55.81, Z:-28.21 [[ 9.97321917e-01 4.56148872e-02 5.71688422e-02 4.29109355e+02] [-4.52591628e-02 9.98947107e-01 -7.50241839e-03 -5.58125678e+01] [-5.74508715e-02 4.89491235e-03 9.98336335e-01 -2.82050861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9607140570001 meters 0.05260609811357667 Centerline is valid? [True, True] Translation: X:429.17, Y:-55.82, Z:-28.21 [[ 9.97315868e-01 4.71148686e-02 5.60468390e-02 4.29169131e+02] [-4.67752847e-02 9.98878351e-01 -7.35614325e-03 -5.58200088e+01] [-5.63305578e-02 4.71479154e-03 9.98401041e-01 -2.82087001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0207140570001 meters 0.05153675135069743 Centerline is valid? [True, True] Translation: X:429.23, Y:-55.82, Z:-28.21 [[ 9.97124177e-01 5.07432469e-02 5.62894164e-02 4.29229650e+02] [-5.04063856e-02 9.98701456e-01 -7.38911250e-03 -5.58222424e+01] [-5.65912697e-02 4.53051669e-03 9.98387151e-01 -2.82120268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0807140570001 meters 0.042756055495181605 Centerline is valid? [True, True] Translation: X:429.29, Y:-55.81, Z:-28.21 [[ 9.96804546e-01 5.52973733e-02 5.76445863e-02 4.29291602e+02] [-5.49516323e-02 9.98460344e-01 -7.56701591e-03 -5.58132082e+01] [-5.79742696e-02 4.37517174e-03 9.98308490e-01 -2.82146658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1407140570001 meters 0.04062802592617053 Centerline is valid? [True, True] Translation: X:429.35, Y:-55.81, Z:-28.22 [[ 9.96600291e-01 5.84186453e-02 5.80958070e-02 4.29351921e+02] [-5.80727331e-02 9.98283226e-01 -7.62621246e-03 -5.58148008e+01] [-5.84415826e-02 4.22650326e-03 9.98281883e-01 -2.82176570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.200714057 meters 0.04220529212714214 Centerline is valid? [True, True] Translation: X:429.41, Y:-55.82, Z:-28.22 [[ 9.96591494e-01 5.94389918e-02 5.72048936e-02 4.29409688e+02] [-5.91052890e-02 9.98223509e-01 -7.50933483e-03 -5.58242095e+01] [-5.75496169e-02 4.10262745e-03 9.98334218e-01 -2.82228987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26071405700003 meters 0.04181435797012667 Centerline is valid? [True, True] Translation: X:429.47, Y:-55.83, Z:-28.23 [[ 9.96634353e-01 5.99116973e-02 5.59513670e-02 4.29468792e+02] [-5.95933943e-02 9.98195736e-01 -7.34167519e-03 -5.58312070e+01] [-5.62902682e-02 3.98263382e-03 9.98406503e-01 -2.82277219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32071405700003 meters 0.04308410530519489 Centerline is valid? [True, True] Translation: X:429.53, Y:-55.84, Z:-28.23 [[ 9.96535136e-01 6.22077726e-02 5.52079397e-02 4.29527422e+02] [-6.19014945e-02 9.98055988e-01 -7.24217795e-03 -5.58383941e+01] [-5.55511346e-02 3.79963080e-03 9.98448614e-01 -2.82325424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38071405700003 meters 0.03924866835852469 Centerline is valid? [True, True] Translation: X:429.59, Y:-55.84, Z:-28.24 [[ 9.96359148e-01 6.54503000e-02 5.46324752e-02 4.29587892e+02] [-6.51553425e-02 9.97849412e-01 -7.16463872e-03 -5.58385271e+01] [-5.49839110e-02 3.57895570e-03 9.98480826e-01 -2.82368412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44071405700004 meters 0.03359460355538647 Centerline is valid? [True, True] Translation: X:429.65, Y:-55.84, Z:-28.24 [[ 9.95908120e-01 7.42792330e-02 5.14743814e-02 4.29648549e+02] [-7.40292103e-02 9.97233232e-01 -6.74953083e-03 -5.58350244e+01] [-5.18333137e-02 2.91130475e-03 9.98651507e-01 -2.82435303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50071405700004 meters 0.03872696531606172 Centerline is valid? [True, True] Translation: X:429.71, Y:-55.85, Z:-28.25 [[ 9.95634205e-01 7.63806668e-02 5.36518741e-02 4.29705641e+02] [-7.61120637e-02 9.97074452e-01 -7.03493470e-03 -5.58489995e+01] [-5.40322460e-02 2.92066676e-03 9.98534920e-01 -2.82464979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56071405700004 meters 0.032451003803151836 Centerline is valid? [True, True] Translation: X:429.77, Y:-55.85, Z:-28.25 [[ 9.95366141e-01 7.95709964e-02 5.39879719e-02 4.29766216e+02] [-7.93038682e-02 9.96825376e-01 -7.07570726e-03 -5.58479639e+01] [-5.43796015e-02 2.76146442e-03 9.98516516e-01 -2.82497201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62071405700004 meters 0.03209109397443867 Centerline is valid? [True, True] Translation: X:429.82, Y:-55.86, Z:-28.26 [[ 9.95220046e-01 8.16524341e-02 5.35718258e-02 4.29823795e+02] [-8.13924396e-02 9.96657403e-01 -7.02076848e-03 -5.58587924e+01] [-5.39660196e-02 2.62686793e-03 9.98539317e-01 -2.82550834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68071405700005 meters 0.032502545553512154 Centerline is valid? [True, True] Translation: X:429.88, Y:-55.87, Z:-28.26 [[ 9.95139235e-01 8.27941361e-02 5.33201085e-02 4.29881565e+02] [-8.25384197e-02 9.96563412e-01 -6.98398704e-03 -5.58662901e+01] [-5.37151024e-02 2.54908203e-03 9.98553048e-01 -2.82565372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74071405700005 meters 0.034632912672736715 Centerline is valid? [True, True] Translation: X:429.94, Y:-55.88, Z:-28.26 [[ 9.95332016e-01 8.12395445e-02 5.20990788e-02 4.29937674e+02] [-8.09934820e-02 9.96691295e-01 -6.82048730e-03 -5.58822051e+01] [-5.24807916e-02 2.56896358e-03 9.98618629e-01 -2.82630415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80071405700005 meters 0.033711556392671475 Centerline is valid? [True, True] Translation: X:430.00, Y:-55.89, Z:-28.27 [[ 9.95614775e-01 7.76994105e-02 5.20962624e-02 4.29997277e+02] [-7.74487755e-02 9.96973036e-01 -6.81568938e-03 -5.58937896e+01] [-5.24681440e-02 2.75100932e-03 9.98618809e-01 -2.82659136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86071405700005 meters 0.0345196545778434 Centerline is valid? [True, True] Translation: X:430.06, Y:-55.91, Z:-28.27 [[ 9.95977698e-01 7.31225716e-02 5.17833356e-02 4.30057162e+02] [-7.28687839e-02 9.97318527e-01 -6.77460833e-03 -5.59050060e+01] [-5.21398568e-02 2.97397012e-03 9.98635364e-01 -2.82683833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92071405700005 meters 0.0349794276099121 Centerline is valid? [True, True] Translation: X:430.12, Y:-55.92, Z:-28.27 [[ 9.96268971e-01 6.87672887e-02 5.21459297e-02 4.30116122e+02] [-6.85039420e-02 9.97627515e-01 -6.82292155e-03 -5.59195374e+01] [-5.24914081e-02 3.22526329e-03 9.98616167e-01 -2.82730406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98071405700006 meters 0.041906480888366404 Centerline is valid? [True, True] Translation: X:430.17, Y:-55.94, Z:-28.28 [[ 9.96617332e-01 6.39874063e-02 5.15704003e-02 4.30172476e+02] [-6.37235019e-02 9.97944784e-01 -6.74712453e-03 -5.59424089e+01] [-5.18961430e-02 3.43805474e-03 9.98646569e-01 -2.82784579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04071405700006 meters 0.03987779127821328 Centerline is valid? [True, True] Translation: X:430.23, Y:-55.95, Z:-28.28 [[ 9.96965553e-01 6.05120259e-02 4.89691875e-02 4.30231756e+02] [-6.02699828e-02 9.98161558e-01 -6.40568846e-03 -5.59505103e+01] [-4.92667817e-02 3.43487865e-03 9.98779748e-01 -2.82833573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10071405700006 meters 0.040957313826146126 Centerline is valid? [True, True] Translation: X:430.29, Y:-55.96, Z:-28.29 [[ 9.97029036e-01 6.01485533e-02 4.81170730e-02 4.30288984e+02] [-5.99144006e-02 9.98183668e-01 -6.29519712e-03 -5.59627230e+01] [-4.84083234e-02 3.39358872e-03 9.98821865e-01 -2.82891948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16071405700006 meters 0.0421925935877324 Centerline is valid? [True, True] Translation: X:430.35, Y:-55.97, Z:-28.29 [[ 9.96909979e-01 6.10515801e-02 4.94287207e-02 4.30345424e+02] [-6.08057472e-02 9.98128692e-01 -6.46340188e-03 -5.59732697e+01] [-4.97308252e-02 3.43787954e-03 9.98756740e-01 -2.82930239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.22071405700007 meters 0.0427545379625448 Centerline is valid? [True, True] Translation: X:430.41, Y:-55.98, Z:-28.29 [[ 9.96637581e-01 6.31012158e-02 5.22663261e-02 4.30405371e+02] [-6.28294192e-02 9.98000918e-01 -6.82869789e-03 -5.59813385e+01] [-5.25927406e-02 3.52187403e-03 9.98609834e-01 -2.82938212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.28071405700007 meters 0.04344814919662675 Centerline is valid? [True, True] Translation: X:430.46, Y:-55.99, Z:-28.30 [[ 9.96519946e-01 6.34970877e-02 5.40010899e-02 4.30463674e+02] [-6.32075152e-02 9.97975468e-01 -7.05515798e-03 -5.59915315e+01] [-5.43397449e-02 3.61733094e-03 9.98515952e-01 -2.82971791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.34071405700007 meters 0.04568931197098478 Centerline is valid? [True, True] Translation: X:430.52, Y:-56.00, Z:-28.30 [[ 9.96687617e-01 6.19304972e-02 5.27105953e-02 4.30521146e+02] [-6.16527171e-02 9.98073940e-01 -6.88126727e-03 -5.60042373e+01] [-5.30352319e-02 3.60872245e-03 9.98586121e-01 -2.83021286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4007140570001 meters 0.04826393072398569 Centerline is valid? [True, True] Translation: X:430.58, Y:-56.02, Z:-28.31 [[ 9.96929951e-01 5.98807899e-02 5.04476265e-02 4.30579024e+02] [-5.96239092e-02 9.98199205e-01 -6.58298450e-03 -5.60186815e+01] [-5.07509750e-02 3.55488971e-03 9.98705012e-01 -2.83082821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4607140570001 meters 0.04906503036838223 Centerline is valid? [True, True] Translation: X:430.64, Y:-56.03, Z:-28.32 [[ 9.96929981e-01 6.12371155e-02 4.87916921e-02 4.30636807e+02] [-6.09984803e-02 9.98117556e-01 -6.36637597e-03 -5.60305409e+01] [-4.90897029e-02 3.37061201e-03 9.98788686e-01 -2.83150345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5207140570001 meters 0.03974805813159561 Centerline is valid? [True, True] Translation: X:430.70, Y:-56.03, Z:-28.32 [[ 9.96635688e-01 6.60264250e-02 4.85573515e-02 4.30698127e+02] [-6.57958340e-02 9.97813005e-01 -6.33373215e-03 -5.60250752e+01] [-4.88693504e-02 3.11755206e-03 9.98800314e-01 -2.83158259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5807140570001 meters 0.03478046262292957 Centerline is valid? [True, True] Translation: X:430.76, Y:-56.03, Z:-28.32 [[ 9.96147385e-01 7.19589216e-02 5.01228555e-02 4.30758298e+02] [-7.17206606e-02 9.97403327e-01 -6.53832056e-03 -5.60260128e+01] [-5.04631933e-02 2.91828662e-03 9.98721658e-01 -2.83170553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6407140570001 meters 0.03167990564256722 Centerline is valid? [True, True] Translation: X:430.82, Y:-56.03, Z:-28.32 [[ 9.95657752e-01 7.79326361e-02 5.09131067e-02 4.30818809e+02] [-7.76946691e-02 9.96955092e-01 -6.63952450e-03 -5.60299016e+01] [-5.12755166e-02 2.65501707e-03 9.98681016e-01 -2.83188125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.700714057 meters 0.03078365062615358 Centerline is valid? [True, True] Translation: X:430.88, Y:-56.04, Z:-28.32 [[ 9.95122240e-01 8.35555354e-02 5.24423479e-02 4.30878416e+02] [-8.33108304e-02 9.96500144e-01 -6.83880354e-03 -5.60364621e+01] [-5.28302271e-02 2.43642994e-03 9.98600536e-01 -2.83211459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76071405700003 meters 0.029580461995041944 Centerline is valid? [True, True] Translation: X:430.94, Y:-56.05, Z:-28.32 [[ 9.94554543e-01 8.91715224e-02 5.39416340e-02 4.30936682e+02] [-8.89208452e-02 9.96013856e-01 -7.03429357e-03 -5.60450344e+01] [-5.43538736e-02 2.19945294e-03 9.98519313e-01 -2.83244809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82071405700003 meters 0.0277049032108778 Centerline is valid? [True, True] Translation: X:431.00, Y:-56.05, Z:-28.33 [[ 9.94292677e-01 9.27551656e-02 5.27119644e-02 4.30995727e+02] [-9.25208724e-02 9.95687024e-01 -6.87299160e-03 -5.60514063e+01] [-5.31221245e-02 1.95680829e-03 9.98586106e-01 -2.83292253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88071405700003 meters 0.026622403017123097 Centerline is valid? [True, True] Translation: X:431.05, Y:-56.06, Z:-28.33 [[ 9.94266311e-01 9.33239421e-02 5.22029138e-02 4.31053692e+02] [-9.30950145e-02 9.95633973e-01 -6.80518542e-03 -5.60623964e+01] [-5.26100811e-02 1.90633559e-03 9.98613311e-01 -2.83333322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94071405700004 meters 0.028417206746616578 Centerline is valid? [True, True] Translation: X:431.11, Y:-56.08, Z:-28.34 [[ 9.94317301e-01 9.22857036e-02 5.30702738e-02 4.31109415e+02] [-9.20478141e-02 9.95730580e-01 -6.91466287e-03 -5.60771140e+01] [-5.34818190e-02 1.99036623e-03 9.98566840e-01 -2.83379132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00071405700004 meters 0.028339822579180156 Centerline is valid? [True, True] Translation: X:431.17, Y:-56.09, Z:-28.34 [[ 9.94268350e-01 9.12511606e-02 5.57106211e-02 4.31166720e+02] [-9.09877400e-02 9.95825607e-01 -7.25198025e-03 -5.60897966e+01] [-5.61398147e-02 2.14143094e-03 9.98420621e-01 -2.83392195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06071405700004 meters 0.03037566044385912 Centerline is valid? [True, True] Translation: X:431.22, Y:-56.11, Z:-28.34 [[ 9.94267108e-01 9.00127273e-02 5.77115872e-02 4.31222868e+02] [-8.97281670e-02 9.95937989e-01 -7.50853559e-03 -5.61064892e+01] [-5.81530259e-02 2.28713503e-03 9.98305061e-01 -2.83418897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12071405700004 meters 0.028099337670970528 Centerline is valid? [True, True] Translation: X:431.28, Y:-56.12, Z:-28.34 [[ 9.94332830e-01 8.74550398e-02 6.04469936e-02 4.31282022e+02] [-8.71386136e-02 9.96165218e-01 -7.85621396e-03 -5.61168613e+01] [-6.09022581e-02 2.54442424e-03 9.98140492e-01 -2.83436886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18071405700005 meters 0.028455809718198676 Centerline is valid? [True, True] Translation: X:431.34, Y:-56.13, Z:-28.35 [[ 9.94592836e-01 8.41640825e-02 6.08399430e-02 4.31339829e+02] [-8.38375142e-02 9.96448082e-01 -7.90512909e-03 -5.61289022e+01] [-6.12891724e-02 2.76171518e-03 9.98116231e-01 -2.83475401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24071405700005 meters 0.029833091903700787 Centerline is valid? [True, True] Translation: X:431.40, Y:-56.14, Z:-28.35 [[ 9.95004071e-01 8.00629400e-02 5.96391115e-02 4.31398652e+02] [-7.97420163e-02 9.96785441e-01 -7.74562452e-03 -5.61439803e+01] [-6.00675356e-02 2.95118493e-03 9.98189953e-01 -2.83534567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30071405700005 meters 0.03323690932463494 Centerline is valid? [True, True] Translation: X:431.46, Y:-56.17, Z:-28.36 [[ 9.95585571e-01 7.31477719e-02 5.88113388e-02 4.31455786e+02] [-7.28236776e-02 9.97315582e-01 -7.63815446e-03 -5.61657294e+01] [-5.92121786e-02 3.32157840e-03 9.98239894e-01 -2.83611592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36071405700005 meters 0.034526665385731216 Centerline is valid? [True, True] Translation: X:431.51, Y:-56.18, Z:-28.37 [[ 9.95937310e-01 6.90675175e-02 5.77802038e-02 4.31514848e+02] [-6.87478868e-02 9.97605844e-01 -7.50384428e-03 -5.61807103e+01] [-5.81601409e-02 3.50109158e-03 9.98301127e-01 -2.83661374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42071405700005 meters 0.03640439956045585 Centerline is valid? [True, True] Translation: X:431.57, Y:-56.20, Z:-28.37 [[ 9.96118968e-01 6.69584869e-02 5.71275986e-02 4.31574429e+02] [-6.66426324e-02 9.97749331e-01 -7.41839928e-03 -5.61956620e+01] [-5.74957481e-02 3.58247468e-03 9.98339324e-01 -2.83709407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48071405700006 meters 0.037231595750514865 Centerline is valid? [True, True] Translation: X:431.63, Y:-56.21, Z:-28.37 [[ 9.96129670e-01 6.55576435e-02 5.85480701e-02 4.31634514e+02] [-6.52233286e-02 9.97841712e-01 -7.60500656e-03 -5.62094781e+01] [-5.89202727e-02 3.75687266e-03 9.98255622e-01 -2.83747136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54071405700006 meters 0.03886637440496365 Centerline is valid? [True, True] Translation: X:431.70, Y:-56.22, Z:-28.38 [[ 9.96232874e-01 6.40327924e-02 5.84795821e-02 4.31695184e+02] [-6.36965348e-02 9.97940390e-01 -7.59799990e-03 -5.62224522e+01] [-5.88456581e-02 3.84443054e-03 9.98259690e-01 -2.83781752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60071405700006 meters 0.03998979114425678 Centerline is valid? [True, True] Translation: X:431.76, Y:-56.23, Z:-28.38 [[ 9.96322157e-01 6.44737832e-02 5.64383845e-02 4.31757714e+02] [-6.41611978e-02 9.97912590e-01 -7.33502672e-03 -5.62323501e+01] [-5.67934914e-02 3.68689529e-03 9.98379139e-01 -2.83842586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66071405700006 meters 0.037364588993036144 Centerline is valid? [True, True] Translation: X:431.82, Y:-56.24, Z:-28.39 [[ 9.96336622e-01 6.48964219e-02 5.56937117e-02 4.31819768e+02] [-6.45918295e-02 9.97885404e-01 -7.25372562e-03 -5.62361330e+01] [-5.60466828e-02 3.62979375e-03 9.98421551e-01 -2.83889221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.72071405700007 meters 0.04328668934336333 Centerline is valid? [True, True] Translation: X:431.88, Y:-56.25, Z:-28.39 [[ 9.96348969e-01 6.41331098e-02 5.63531411e-02 4.31879512e+02] [-6.38191726e-02 9.97934376e-01 -7.35483552e-03 -5.62511141e+01] [-5.67084252e-02 3.73157195e-03 9.98383809e-01 -2.83936616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.78071405700007 meters 0.044766547417052834 Centerline is valid? [True, True] Translation: X:431.94, Y:-56.26, Z:-28.40 [[ 9.96410892e-01 6.26002443e-02 5.69784506e-02 4.31940476e+02] [-6.22764026e-02 9.98031185e-01 -7.44334172e-03 -5.62595034e+01] [-5.73322256e-02 3.86821383e-03 9.98347661e-01 -2.83976230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.84071405700007 meters 0.040444275212951304 Centerline is valid? [True, True] Translation: X:432.00, Y:-56.26, Z:-28.40 [[ 9.96545122e-01 5.95748993e-02 5.78675283e-02 4.32002005e+02] [-5.92349686e-02 9.98215338e-01 -7.57349060e-03 -5.62597392e+01] [-5.82154443e-02 4.11954389e-03 9.98295543e-01 -2.84011282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9007140570001 meters 0.04104120049718244 Centerline is valid? [True, True] Translation: X:432.06, Y:-56.27, Z:-28.40 [[ 9.96519870e-01 5.76240999e-02 6.02296632e-02 4.32063232e+02] [-5.72522015e-02 9.98328620e-01 -7.88368663e-03 -5.62661842e+01] [-6.05832869e-02 4.40796956e-03 9.98153413e-01 -2.84035583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9607140570001 meters 0.04059349869864507 Centerline is valid? [True, True] Translation: X:432.13, Y:-56.27, Z:-28.41 [[ 9.96487199e-01 5.83188843e-02 6.01013259e-02 4.32125394e+02] [-5.79497501e-02 9.98288495e-01 -7.86816368e-03 -5.62709694e+01] [-6.04573247e-02 4.35766757e-03 9.98161271e-01 -2.84084815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0207140570001 meters 0.03682217025137538 Centerline is valid? [True, True] Translation: X:432.19, Y:-56.27, Z:-28.41 [[ 9.96461706e-01 5.99163931e-02 5.89414495e-02 4.32187695e+02] [-5.95632483e-02 9.98194590e-01 -7.73179784e-03 -5.62712274e+01] [-5.92982975e-02 4.19369627e-03 9.98231499e-01 -2.84133667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0807140570001 meters 0.036716215151056567 Centerline is valid? [True, True] Translation: X:432.25, Y:-56.27, Z:-28.42 [[ 9.96190083e-01 6.42425958e-02 5.89763332e-02 4.32247244e+02] [-6.38963513e-02 9.97926524e-01 -7.74003393e-03 -5.62728390e+01] [-5.93512871e-02 3.94217253e-03 9.98229374e-01 -2.84180567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1407140570001 meters 0.03528672288208919 Centerline is valid? [True, True] Translation: X:432.31, Y:-56.28, Z:-28.42 [[ 9.95897274e-01 6.77205372e-02 6.00212281e-02 4.32308130e+02] [-6.73682517e-02 9.97697092e-01 -7.87595957e-03 -5.62773123e+01] [-6.04163690e-02 3.80012147e-03 9.98166029e-01 -2.84217986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.200714057 meters 0.03524187861531249 Centerline is valid? [True, True] Translation: X:432.37, Y:-56.28, Z:-28.43 [[ 9.95507339e-01 7.23996756e-02 6.10198791e-02 4.32367323e+02] [-7.20442218e-02 9.97369289e-01 -8.00823388e-03 -5.62832155e+01] [-6.14391470e-02 3.57612589e-03 9.98104425e-01 -2.84255996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26071405700003 meters 0.030132967587576845 Centerline is valid? [True, True] Translation: X:432.43, Y:-56.28, Z:-28.43 [[ 9.95030634e-01 7.89236588e-02 6.07049733e-02 4.32428144e+02] [-7.85840207e-02 9.96875668e-01 -7.96585743e-03 -5.62817814e+01] [-6.11440054e-02 3.15583130e-03 9.98123966e-01 -2.84297637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32071405700003 meters 0.03113784150557661 Centerline is valid? [True, True] Translation: X:432.49, Y:-56.29, Z:-28.43 [[ 9.94486431e-01 8.56202959e-02 6.05467058e-02 4.32486811e+02] [-8.52948195e-02 9.96324082e-01 -7.94464494e-03 -5.62905883e+01] [-6.10043639e-02 2.73652125e-03 9.98133748e-01 -2.84338288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38071405700003 meters 0.030439117285464504 Centerline is valid? [True, True] Translation: X:432.55, Y:-56.30, Z:-28.44 [[ 9.94147934e-01 8.88206719e-02 6.14879939e-02 4.32546355e+02] [-8.84911680e-02 9.96044296e-01 -8.06680667e-03 -5.62989537e+01] [-6.19612648e-02 2.57845479e-03 9.98075224e-01 -2.84381389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44071405700004 meters 0.027723965358970072 Centerline is valid? [True, True] Translation: X:432.60, Y:-56.30, Z:-28.44 [[ 9.94231063e-01 8.80595362e-02 6.12381572e-02 4.32604507e+02] [-8.77313224e-02 9.96111783e-01 -8.03315628e-03 -5.63047650e+01] [-6.17074459e-02 2.61430899e-03 9.98090856e-01 -2.84427349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50071405700004 meters 0.028721198429085572 Centerline is valid? [True, True] Translation: X:432.66, Y:-56.32, Z:-28.45 [[ 9.94533455e-01 8.46350926e-02 6.11564237e-02 4.32662680e+02] [-8.43015788e-02 9.96408028e-01 -8.01788659e-03 -5.63185514e+01] [-6.16153461e-02 2.81847337e-03 9.98095990e-01 -2.84476524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56071405700004 meters 0.03166434767460915 Centerline is valid? [True, True] Translation: X:432.72, Y:-56.34, Z:-28.45 [[ 9.94948827e-01 7.94325667e-02 6.13783347e-02 4.32719751e+02] [-7.90868948e-02 9.96835265e-01 -8.04470437e-03 -5.63360189e+01] [-6.18231001e-02 3.14984727e-03 9.98082152e-01 -2.84519572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62071405700004 meters 0.03478683565861107 Centerline is valid? [True, True] Translation: X:432.78, Y:-56.35, Z:-28.46 [[ 9.95329394e-01 7.38729594e-02 6.21464677e-02 4.32778521e+02] [-7.35078772e-02 9.97261386e-01 -8.14364856e-03 -5.63528693e+01] [-6.25778679e-02 3.53735788e-03 9.98033816e-01 -2.84558033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68071405700005 meters 0.03275334664575835 Centerline is valid? [True, True] Translation: X:432.84, Y:-56.36, Z:-28.46 [[ 9.95416118e-01 7.07185077e-02 6.43866891e-02 4.32838529e+02] [-7.03200163e-02 9.97488802e-01 -8.43717613e-03 -5.63609637e+01] [-6.48216659e-02 3.87082808e-03 9.97889357e-01 -2.84589424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74071405700005 meters 0.03523044916801741 Centerline is valid? [True, True] Translation: X:432.90, Y:-56.38, Z:-28.46 [[ 9.95528388e-01 6.92424061e-02 6.42550932e-02 4.32897567e+02] [-6.88424061e-02 9.97592005e-01 -8.42114035e-03 -5.63756185e+01] [-6.46834673e-02 3.96000906e-03 9.97897974e-01 -2.84641803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80071405700005 meters 0.035578441884027506 Centerline is valid? [True, True] Translation: X:432.96, Y:-56.39, Z:-28.47 [[ 9.95550531e-01 6.88031760e-02 6.43837137e-02 4.32958538e+02] [-6.84001143e-02 9.97622215e-01 -8.44633998e-03 -5.63861159e+01] [-6.48117581e-02 4.00490488e-03 9.97889471e-01 -2.84687964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86071405700005 meters 0.0353050403222784 Centerline is valid? [True, True] Translation: X:433.02, Y:-56.40, Z:-28.47 [[ 9.95532431e-01 6.88490851e-02 6.46140969e-02 4.33020361e+02] [-6.84421486e-02 9.97618935e-01 -8.49307514e-03 -5.63955876e+01] [-6.50449870e-02 4.03280412e-03 9.97874184e-01 -2.84738146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92071405700005 meters 0.03720525020343849 Centerline is valid? [True, True] Translation: X:433.08, Y:-56.41, Z:-28.48 [[ 9.95758201e-01 6.79212545e-02 6.20669650e-02 4.33080465e+02] [-6.75430590e-02 9.97682878e-01 -8.17371668e-03 -5.64083070e+01] [-6.24783174e-02 3.94685274e-03 9.98038517e-01 -2.84810145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98071405700006 meters 0.03875233929710466 Centerline is valid? [True, True] Translation: X:433.14, Y:-56.42, Z:-28.49 [[ 9.95854719e-01 6.80239347e-02 6.03831379e-02 4.33140973e+02] [-6.76657645e-02 9.97676299e-01 -7.95911761e-03 -5.64196245e+01] [-6.07842360e-02 3.84025364e-03 9.98143541e-01 -2.84860410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04071405700006 meters 0.03961229932434195 Centerline is valid? [True, True] Translation: X:433.20, Y:-56.43, Z:-28.49 [[ 9.95885165e-01 6.86824502e-02 5.91224040e-02 4.33202500e+02] [-6.83394727e-02 9.97631586e-01 -7.80608740e-03 -5.64299777e+01] [-5.95185188e-02 3.73357273e-03 9.98220219e-01 -2.84910022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10071405700006 meters 0.039594790677637506 Centerline is valid? [True, True] Translation: X:433.26, Y:-56.44, Z:-28.50 [[ 9.95823730e-01 7.02790037e-02 5.82748620e-02 4.33264050e+02] [-6.99477039e-02 9.97520879e-01 -7.70812849e-03 -5.64389093e+01] [-5.86721111e-02 3.59974447e-03 9.98270818e-01 -2.84953980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16071405700006 meters 0.0382839568972005 Centerline is valid? [True, True] Translation: X:433.32, Y:-56.45, Z:-28.50 [[ 9.95636546e-01 7.25834181e-02 5.86473789e-02 4.33324943e+02] [-7.22509326e-02 9.97356199e-01 -7.77277578e-03 -5.64459457e+01] [-5.90565015e-02 3.50153181e-03 9.98248501e-01 -2.84987674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.22071405700007 meters 0.03655602983887084 Centerline is valid? [True, True] Translation: X:433.39, Y:-56.45, Z:-28.50 [[ 9.95602244e-01 7.37302830e-02 5.77928769e-02 4.33385517e+02] [-7.34092308e-02 9.97272473e-01 -7.66161342e-03 -5.64524452e+01] [-5.82001381e-02 3.38538888e-03 9.98299195e-01 -2.85022843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.28071405700007 meters 0.048275172474004785 Centerline is valid? [True, True] Translation: X:433.44, Y:-56.48, Z:-28.51 [[ 9.95373710e-01 7.63132772e-02 5.83734639e-02 4.33442826e+02] [-7.59900943e-02 9.97078534e-01 -7.73962085e-03 -5.64786674e+01] [-5.87935637e-02 3.26801009e-03 9.98264813e-01 -2.85074198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.34071405700007 meters 0.0384942203942829 Centerline is valid? [True, True] Translation: X:433.50, Y:-56.47, Z:-28.51 [[ 9.95550689e-01 7.37443882e-02 5.86565473e-02 4.33504781e+02] [-7.34135513e-02 9.97271251e-01 -7.77827380e-03 -5.64723221e+01] [-5.90700924e-02 3.43748039e-03 9.98247919e-01 -2.85085316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4007140570001 meters 0.03346813967140386 Centerline is valid? [True, True] Translation: X:433.57, Y:-56.47, Z:-28.51 [[ 9.95506486e-01 7.38974157e-02 5.92115549e-02 4.33566326e+02] [-7.35605544e-02 9.97259843e-01 -7.85178169e-03 -5.64719202e+01] [-5.96295323e-02 3.46086480e-03 9.98214577e-01 -2.85111565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4607140570001 meters 0.03427307600324512 Centerline is valid? [True, True] Translation: X:433.63, Y:-56.48, Z:-28.52 [[ 9.95794240e-01 7.20962245e-02 5.65328782e-02 4.33626751e+02] [-7.17862526e-02 9.97391860e-01 -7.49741915e-03 -5.64796175e+01] [-5.69259682e-02 3.40760332e-03 9.98372587e-01 -2.85171084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5207140570001 meters 0.03400309062906832 Centerline is valid? [True, True] Translation: X:433.69, Y:-56.49, Z:-28.52 [[ 9.96015564e-01 6.95309773e-02 5.58429951e-02 4.33686929e+02] [-6.92243985e-02 9.97573608e-01 -7.40808420e-03 -5.64862815e+01] [-5.62225895e-02 3.51286941e-03 9.98412079e-01 -2.85215200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5807140570001 meters 0.03698068335914527 Centerline is valid? [True, True] Translation: X:433.75, Y:-56.50, Z:-28.52 [[ 9.96198599e-01 6.71997725e-02 5.54305230e-02 4.33746450e+02] [-6.68940629e-02 9.97732979e-01 -7.35438611e-03 -5.64964140e+01] [-5.57990739e-02 3.61845624e-03 9.98435461e-01 -2.85247153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6407140570001 meters 0.03837588335315219 Centerline is valid? [True, True] Translation: X:433.81, Y:-56.50, Z:-28.53 [[ 9.96355019e-01 6.55840905e-02 5.45472515e-02 4.33806553e+02] [-6.52856139e-02 9.97840369e-01 -7.23783456e-03 -5.65036218e+01] [-5.49041364e-02 3.65030200e-03 9.98484958e-01 -2.85295771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.700714057 meters 0.03967552726720943 Centerline is valid? [True, True] Translation: X:433.87, Y:-56.51, Z:-28.53 [[ 9.96442782e-01 6.42010108e-02 5.45894992e-02 4.33867914e+02] [-6.38999390e-02 9.97930014e-01 -7.24466491e-03 -5.65105219e+01] [-5.49416145e-02 3.73062839e-03 9.98482599e-01 -2.85326563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76071405700003 meters 0.038850131391120764 Centerline is valid? [True, True] Translation: X:433.93, Y:-56.51, Z:-28.53 [[ 9.96366572e-01 6.43698404e-02 5.57689722e-02 4.33929241e+02] [-6.40550292e-02 9.97918812e-01 -7.41603807e-03 -5.65138702e+01] [-5.61302757e-02 3.81680928e-03 9.98416158e-01 -2.85339890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82071405700003 meters 0.036745788450219474 Centerline is valid? [True, True] Translation: X:433.99, Y:-56.52, Z:-28.54 [[ 9.96428603e-01 6.43514469e-02 5.46711038e-02 4.33991199e+02] [-6.40487918e-02 9.97920273e-01 -7.27194691e-03 -5.65151910e+01] [-5.50253631e-02 3.74435776e-03 9.98477936e-01 -2.85373008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88071405700003 meters 0.06984715445302096 Centerline is valid? [True, True] Translation: X:434.04, Y:-56.57, Z:-28.55 [[ 9.96076673e-01 6.81093602e-02 5.65011145e-02 4.34043665e+02] [-6.77919439e-02 9.97671155e-01 -7.51790764e-03 -5.65668712e+01] [-5.68815720e-02 3.65809206e-03 9.98374231e-01 -2.85473060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94071405700004 meters 0.03957871194348996 Centerline is valid? [True, True] Translation: X:434.11, Y:-56.53, Z:-28.55 [[ 9.96564389e-01 6.54244283e-02 5.07844712e-02 4.34110177e+02] [-6.51646351e-02 9.97851653e-01 -6.75637947e-03 -5.65291431e+01] [-5.11174008e-02 3.42381564e-03 9.98686782e-01 -2.85473269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00071405700004 meters 0.03510570454942886 Centerline is valid? [True, True] Translation: X:434.17, Y:-56.53, Z:-28.55 [[ 9.96468601e-01 6.69023862e-02 5.07385352e-02 4.34170330e+02] [-6.66449301e-02 9.97753916e-01 -6.75103414e-03 -5.65273472e+01] [-5.10762324e-02 3.34572741e-03 9.98689153e-01 -2.85487672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06071405700004 meters 0.035928832686412206 Centerline is valid? [True, True] Translation: X:434.23, Y:-56.53, Z:-28.55 [[ 9.96187228e-01 6.94319769e-02 5.28224118e-02 4.34229020e+02] [-6.91565612e-02 9.97581075e-01 -7.02624509e-03 -5.65329683e+01] [-5.31824845e-02 3.34643927e-03 9.98579203e-01 -2.85506256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12071405700004 meters 0.03623620173152643 Centerline is valid? [True, True] Translation: X:434.29, Y:-56.54, Z:-28.55 [[ 9.96108439e-01 7.03046162e-02 5.31529817e-02 4.34287780e+02] [-7.00270795e-02 9.97520049e-01 -7.06826561e-03 -5.65401652e+01] [-5.35180966e-02 3.31861094e-03 9.98561365e-01 -2.85534552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18071405700005 meters 0.03522405292694552 Centerline is valid? [True, True] Translation: X:434.35, Y:-56.54, Z:-28.56 [[ 9.96152564e-01 6.88183438e-02 5.42596120e-02 4.34347156e+02] [-6.85270299e-02 9.97623182e-01 -7.21344238e-03 -5.65445662e+01] [-5.46270639e-02 3.46743907e-03 9.98500807e-01 -2.85556523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24071405700005 meters 0.035724330698015054 Centerline is valid? [True, True] Translation: X:434.41, Y:-56.55, Z:-28.56 [[ 9.96488499e-01 6.46360490e-02 5.32245400e-02 4.34407068e+02] [-6.43499413e-02 9.97902325e-01 -7.07356219e-03 -5.65548131e+01] [-5.35700994e-02 3.62372734e-03 9.98557516e-01 -2.85601824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30071405700005 meters 0.037532096678026504 Centerline is valid? [True, True] Translation: X:434.47, Y:-56.57, Z:-28.56 [[ 9.96736719e-01 6.16340850e-02 5.21263137e-02 4.34466372e+02] [-6.13556090e-02 9.98091931e-01 -6.92729681e-03 -5.65664227e+01] [-5.24538106e-02 3.70644938e-03 9.98616473e-01 -2.85645143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36071405700005 meters 0.03640545911858369 Centerline is valid? [True, True] Translation: X:434.53, Y:-56.57, Z:-28.57 [[ 9.96699806e-01 6.37862488e-02 5.02076876e-02 4.34526653e+02] [-6.35305892e-02 9.97957581e-01 -6.67317440e-03 -5.65724732e+01] [-5.05307992e-02 3.46142766e-03 9.98716505e-01 -2.85691288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42071405700005 meters 0.033858373926431186 Centerline is valid? [True, True] Translation: X:434.59, Y:-56.58, Z:-28.57 [[ 9.96259982e-01 7.02283545e-02 5.03391229e-02 4.34587187e+02] [-6.99795238e-02 9.97525989e-01 -6.69081568e-03 -5.65751164e+01] [-5.06844683e-02 3.14308406e-03 9.98709771e-01 -2.85715631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48071405700006 meters 0.03167117325372545 Centerline is valid? [True, True] Translation: X:434.65, Y:-56.58, Z:-28.57 [[ 9.95580904e-01 7.80872822e-02 5.21635970e-02 4.34647675e+02] [-7.78308432e-02 9.96942476e-01 -6.93255946e-03 -5.65776524e+01] [-5.25454503e-02 2.84198707e-03 9.98614490e-01 -2.85727157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54071405700006 meters 0.0288097676336242 Centerline is valid? [True, True] Translation: X:434.71, Y:-56.58, Z:-28.58 [[ 9.95254767e-01 8.21232394e-02 5.21892846e-02 4.34707886e+02] [-8.18720847e-02 9.96618712e-01 -6.93580008e-03 -5.65807998e+01] [-5.25824080e-02 2.63004256e-03 9.98613125e-01 -2.85763372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60071405700006 meters 0.031741388076105555 Centerline is valid? [True, True] Translation: X:434.76, Y:-56.59, Z:-28.58 [[ 9.95297074e-01 8.22369249e-02 5.11939633e-02 4.34764435e+02] [-8.19954175e-02 9.96609484e-01 -6.80353863e-03 -5.65934207e+01] [-5.15798914e-02 2.57387171e-03 9.98665555e-01 -2.85817234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66071405700006 meters 0.029900770059865262 Centerline is valid? [True, True] Translation: X:434.82, Y:-56.60, Z:-28.58 [[ 9.95463621e-01 8.03032840e-02 5.10251167e-02 4.34823617e+02] [-8.00611004e-02 9.96766927e-01 -6.77597134e-03 -5.65984546e+01] [-5.14042815e-02 2.66010597e-03 9.98674383e-01 -2.85834977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.72071405700007 meters 0.03214141119362127 Centerline is valid? [True, True] Translation: X:434.88, Y:-56.61, Z:-28.59 [[ 9.95896919e-01 7.57773952e-02 4.94683139e-02 4.34882071e+02] [-7.55443818e-02 9.97120823e-01 -6.56585286e-03 -5.66118051e+01] [-4.98234291e-02 2.80185945e-03 9.98754112e-01 -2.85888792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.78071405700007 meters 0.03559317617436638 Centerline is valid? [True, True] Translation: X:434.94, Y:-56.63, Z:-28.59 [[ 9.96500870e-01 6.87718246e-02 4.75021351e-02 4.34940941e+02] [-6.85490663e-02 9.97627825e-01 -6.30459429e-03 -5.66264430e+01] [-4.78230302e-02 3.02630668e-03 9.98851240e-01 -2.85945140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.84071405700007 meters 0.03901856663546515 Centerline is valid? [True, True] Translation: X:435.00, Y:-56.64, Z:-28.60 [[ 9.96834669e-01 6.36232582e-02 4.76730941e-02 4.35000127e+02] [-6.33930267e-02 9.97968581e-01 -6.32738404e-03 -5.66390450e+01] [-4.79788189e-02 3.28521405e-03 9.98842951e-01 -2.85976801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9007140570001 meters 0.03879801692577649 Centerline is valid? [True, True] Translation: X:435.06, Y:-56.65, Z:-28.60 [[ 9.96800775e-01 6.26407948e-02 4.96421738e-02 4.35059599e+02] [-6.23898910e-02 9.98030101e-01 -6.58929585e-03 -5.66465076e+01] [-4.99571424e-02 3.47104540e-03 9.98745331e-01 -2.85991243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9607140570001 meters 0.03673106148301584 Centerline is valid? [True, True] Translation: X:435.12, Y:-56.65, Z:-28.60 [[ 9.96713641e-01 6.26802302e-02 5.13138004e-02 4.35119830e+02] [-6.24122758e-02 9.98027225e-01 -6.80927050e-03 -5.66496394e+01] [-5.16393765e-02 3.58428173e-03 9.98659365e-01 -2.86005638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0207140570001 meters 0.0425716034609416 Centerline is valid? [True, True] Translation: X:435.18, Y:-56.66, Z:-28.60 [[ 9.96742082e-01 6.17387569e-02 5.18993951e-02 4.35177207e+02] [-6.14634771e-02 9.98085586e-01 -6.88503743e-03 -5.66646542e+01] [-5.22251118e-02 3.67268927e-03 9.98628584e-01 -2.86046301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0807140570001 meters 0.0451307622974791 Centerline is valid? [True, True] Translation: X:435.24, Y:-56.68, Z:-28.61 [[ 9.96882064e-01 5.96414125e-02 5.16628658e-02 4.35237001e+02] [-5.93659699e-02 9.98212775e-01 -6.85113472e-03 -5.66765108e+01] [-5.19791440e-02 3.76275718e-03 9.98641082e-01 -2.86096689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1407140570001 meters 0.04349106726692734 Centerline is valid? [True, True] Translation: X:435.30, Y:-56.68, Z:-28.61 [[ 9.97347889e-01 5.36764449e-02 4.91531125e-02 4.35297017e+02] [-5.34198895e-02 9.98550857e-01 -6.51934336e-03 -5.66821844e+01] [-4.94318178e-02 3.87629950e-03 9.98769978e-01 -2.86149598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.200714057 meters 0.04728375220455435 Centerline is valid? [True, True] Translation: X:435.36, Y:-56.69, Z:-28.62 [[ 9.97746185e-01 4.88046361e-02 4.60506089e-02 4.35356113e+02] [-4.85743215e-02 9.98800896e-01 -6.10785186e-03 -5.66945001e+01] [-4.62934809e-02 3.85720881e-03 9.98920435e-01 -2.86217518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26071405700003 meters 0.04236342713413338 Centerline is valid? [True, True] Translation: X:435.42, Y:-56.69, Z:-28.62 [[ 9.97862917e-01 4.79512352e-02 4.43878241e-02 4.35418802e+02] [-4.77364896e-02 9.98842622e-01 -5.88595476e-03 -5.66942891e+01] [-4.46186894e-02 3.75445708e-03 9.98997035e-01 -2.86248031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32071405700003 meters 0.04415971926885503 Centerline is valid? [True, True] Translation: X:435.48, Y:-56.70, Z:-28.63 [[ 9.97777434e-01 4.89791295e-02 4.51800599e-02 4.35479290e+02] [-4.87574990e-02 9.98792653e-01 -5.99517563e-03 -5.67012090e+01] [-4.54191504e-02 3.77898422e-03 9.98960870e-01 -2.86275934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38071405700003 meters 0.0426739529681639 Centerline is valid? [True, True] Translation: X:435.54, Y:-56.70, Z:-28.63 [[ 9.97657915e-01 4.95619804e-02 4.71412131e-02 4.35540847e+02] [-4.93212309e-02 9.98763367e-01 -6.25724409e-03 -5.67043284e+01] [-4.73930381e-02 3.91752644e-03 9.98868636e-01 -2.86287162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44071405700004 meters 0.0451146328736576 Centerline is valid? [True, True] Translation: X:435.60, Y:-56.72, Z:-28.63 [[ 9.97717653e-01 4.75893257e-02 4.79034456e-02 4.35601150e+02] [-4.73383752e-02 9.98858661e-01 -6.36024323e-03 -5.67157522e+01] [-4.81514512e-02 4.07805567e-03 9.98831721e-01 -2.86334294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50071405700004 meters 0.0462668663215251 Centerline is valid? [True, True] Translation: X:435.66, Y:-56.73, Z:-28.64 [[ 9.97838125e-01 4.57424008e-02 4.71880243e-02 4.35661433e+02] [-4.54967690e-02 9.98944828e-01 -6.26693080e-03 -5.67257224e+01] [-4.74248973e-02 4.10647984e-03 9.98866365e-01 -2.86384457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56071405700004 meters 0.048999724023321596 Centerline is valid? [True, True] Translation: X:435.72, Y:-56.74, Z:-28.64 [[ 9.98038290e-01 4.33511689e-02 4.51691045e-02 4.35720527e+02] [-4.31235989e-02 9.99051722e-01 -6.00093777e-03 -5.67368478e+01] [-4.53864193e-02 4.04131132e-03 9.98961331e-01 -2.86436844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62071405700004 meters 0.051455391054314695 Centerline is valid? [True, True] Translation: X:435.78, Y:-56.75, Z:-28.65 [[ 9.98151537e-01 4.16736321e-02 4.42359324e-02 4.35780919e+02] [-4.14537628e-02 9.99123142e-01 -5.87651777e-03 -5.67480082e+01] [-4.44420396e-02 4.03190940e-03 9.99003828e-01 -2.86492353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68071405700005 meters 0.05318062542874757 Centerline is valid? [True, True] Translation: X:435.84, Y:-56.76, Z:-28.65 [[ 9.98178572e-01 4.17883581e-02 4.35117489e-02 4.35841741e+02] [-4.15758497e-02 9.99118644e-01 -5.77787469e-03 -5.67578520e+01] [-4.37148475e-02 3.95831278e-03 9.99036208e-01 -2.86541194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74071405700005 meters 0.046639439997300684 Centerline is valid? [True, True] Translation: X:435.90, Y:-56.75, Z:-28.65 [[ 9.98065726e-01 4.36461307e-02 4.42698791e-02 4.35903677e+02] [-4.34273169e-02 9.99039209e-01 -5.89293182e-03 -5.67547251e+01] [-4.44845487e-02 3.95901120e-03 9.99002228e-01 -2.86549269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80071405700005 meters 0.04506838503768474 Centerline is valid? [True, True] Translation: X:435.97, Y:-56.76, Z:-28.66 [[ 9.97956317e-01 4.51929533e-02 4.51750544e-02 4.35965382e+02] [-4.49666565e-02 9.98970388e-01 -6.01356712e-03 -5.67589751e+01] [-4.54003125e-02 3.96990615e-03 9.98960986e-01 -2.86570321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86071405700005 meters 0.048546922419652166 Centerline is valid? [True, True] Translation: X:436.02, Y:-56.77, Z:-28.66 [[ 9.97838700e-01 4.68258714e-02 4.61006091e-02 4.36023631e+02] [-4.65917434e-02 9.98895140e-01 -6.14071455e-03 -5.67701884e+01] [-4.63372187e-02 3.97953487e-03 9.98917927e-01 -2.86606416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92071405700005 meters 0.0436428203452297 Centerline is valid? [True, True] Translation: X:436.09, Y:-56.77, Z:-28.66 [[ 9.97806015e-01 4.63571873e-02 4.72669813e-02 4.36086196e+02] [-4.61107927e-02 9.98916525e-01 -6.29052646e-03 -5.67714788e+01] [-4.75073799e-02 4.09720717e-03 9.98862484e-01 -2.86623915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98071405700006 meters 0.04425746226742163 Centerline is valid? [True, True] Translation: X:436.15, Y:-56.78, Z:-28.67 [[ 9.97880792e-01 4.51908163e-02 4.68157635e-02 4.36147436e+02] [-4.49471202e-02 9.98969844e-01 -6.24564822e-03 -5.67802606e+01] [-4.70497818e-02 4.12817864e-03 9.98884015e-01 -2.86662688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04071405700006 meters 0.05467961703421375 Centerline is valid? [True, True] Translation: X:436.20, Y:-56.80, Z:-28.67 [[ 9.98013406e-01 4.30168988e-02 4.60302844e-02 4.36203979e+02] [-4.27788659e-02 9.99065671e-01 -6.14432862e-03 -5.68045245e+01] [-4.62515869e-02 4.16299897e-03 9.98921148e-01 -2.86749936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10071405700006 meters 0.049537176992186224 Centerline is valid? [True, True] Translation: X:436.26, Y:-56.81, Z:-28.68 [[ 9.98195690e-01 4.04375151e-02 4.43866213e-02 4.36264731e+02] [-4.02134902e-02 9.99173520e-01 -5.92885255e-03 -5.68068328e+01] [-4.45896848e-02 4.13321410e-03 9.98996835e-01 -2.86789321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16071405700006 meters 0.04646525216210841 Centerline is valid? [True, True] Translation: X:436.33, Y:-56.81, Z:-28.68 [[ 9.98285633e-01 3.89541172e-02 4.36849158e-02 4.36325458e+02] [-3.87357445e-02 9.99232456e-01 -5.83453069e-03 -5.68123186e+01] [-4.38786646e-02 4.13236043e-03 9.99028321e-01 -2.86819715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.22071405700007 meters 0.04778979355604341 Centerline is valid? [True, True] Translation: X:436.38, Y:-56.82, Z:-28.69 [[ 9.98199783e-01 4.11195226e-02 4.36620855e-02 4.36384465e+02] [-4.09032892e-02 9.99146074e-01 -5.83469801e-03 -5.68226062e+01] [-4.38647213e-02 4.03827137e-03 9.99029318e-01 -2.86868321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.28071405700007 meters 0.046268828614454485 Centerline is valid? [True, True] Translation: X:436.44, Y:-56.83, Z:-28.69 [[ 9.98066069e-01 4.38521377e-02 4.40580520e-02 4.36444688e+02] [-4.36346112e-02 9.99030210e-01 -5.88735786e-03 -5.68288335e+01] [-4.42734981e-02 3.95351615e-03 9.99011625e-01 -2.86897191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.34071405700007 meters 0.045087273826566396 Centerline is valid? [True, True] Translation: X:436.50, Y:-56.84, Z:-28.69 [[ 9.97907364e-01 4.74382520e-02 4.39375095e-02 4.36504216e+02] [-4.72253264e-02 9.98867002e-01 -5.87205832e-03 -5.68360569e+01] [-4.41662885e-02 3.78480701e-03 9.99017024e-01 -2.86933692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4007140570001 meters 0.04405510647777662 Centerline is valid? [True, True] Translation: X:436.56, Y:-56.84, Z:-28.70 [[ 9.97740731e-01 5.04096439e-02 4.44105940e-02 4.36563993e+02] [-5.01950300e-02 9.98721799e-01 -5.93516710e-03 -5.68425926e+01] [-4.46530181e-02 3.69256687e-03 9.98995732e-01 -2.86965720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4607140570001 meters 0.04401843233931766 Centerline is valid? [True, True] Translation: X:436.62, Y:-56.85, Z:-28.70 [[ 9.97645197e-01 5.23056718e-02 4.43641416e-02 4.36624587e+02] [-5.20933655e-02 9.98624618e-01 -5.92901367e-03 -5.68506429e+01] [-4.46132450e-02 3.60397457e-03 9.98997833e-01 -2.86999328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5207140570001 meters 0.04675116610024758 Centerline is valid? [True, True] Translation: X:436.68, Y:-56.86, Z:-28.71 [[ 9.97644176e-01 5.29328165e-02 4.36373140e-02 4.36683310e+02] [-5.27280472e-02 9.98591885e-01 -5.83106050e-03 -5.68630142e+01] [-4.38845221e-02 3.51641320e-03 9.99030422e-01 -2.87060168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5807140570001 meters 0.047902393295316495 Centerline is valid? [True, True] Translation: X:436.74, Y:-56.87, Z:-28.71 [[ 9.97623346e-01 5.36190012e-02 4.32742741e-02 4.36742787e+02] [-5.34180043e-02 9.98555461e-01 -5.78861924e-03 -5.68719154e+01] [-4.35221427e-02 3.46323633e-03 9.99046460e-01 -2.87104095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6407140570001 meters 0.04259593531585048 Centerline is valid? [True, True] Translation: X:436.80, Y:-56.87, Z:-28.71 [[ 9.97554036e-01 5.46992457e-02 4.35193904e-02 4.36803854e+02] [-5.44969843e-02 9.98496965e-01 -5.82140743e-03 -5.68722925e+01] [-4.37724059e-02 3.43549294e-03 9.99035622e-01 -2.87121606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.700714057 meters 0.044154947054968634 Centerline is valid? [True, True] Translation: X:436.86, Y:-56.88, Z:-28.72 [[ 9.97428661e-01 5.68981666e-02 4.35736689e-02 4.36861970e+02] [-5.66974522e-02 9.98374387e-01 -5.82939952e-03 -5.68815281e+01] [-4.38345171e-02 3.34389415e-03 9.99033209e-01 -2.87166749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76071405700003 meters 0.04186671698624944 Centerline is valid? [True, True] Translation: X:436.92, Y:-56.89, Z:-28.72 [[ 9.97409828e-01 5.67485468e-02 4.41954546e-02 4.36921170e+02] [-5.65419516e-02 9.98382722e-01 -5.91170344e-03 -5.68852359e+01] [-4.44594588e-02 3.39749385e-03 9.99005412e-01 -2.87183166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82071405700003 meters 0.04311584736510599 Centerline is valid? [True, True] Translation: X:436.98, Y:-56.90, Z:-28.72 [[ 9.97539076e-01 5.39450450e-02 4.47853034e-02 4.36980519e+02] [-5.37302820e-02 9.98537541e-01 -5.98626539e-03 -5.68958326e+01] [-4.50427361e-02 3.56520667e-03 9.98978699e-01 -2.87230978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88071405700003 meters 0.0433856912179618 Centerline is valid? [True, True] Translation: X:437.04, Y:-56.90, Z:-28.73 [[ 9.97620025e-01 5.28652638e-02 4.42668081e-02 4.37040219e+02] [-5.26544444e-02 9.98595270e-01 -5.91581464e-03 -5.69042518e+01] [-4.45173663e-02 3.57089096e-03 9.99002229e-01 -2.87269467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94071405700004 meters 0.044581856141324885 Centerline is valid? [True, True] Translation: X:437.10, Y:-56.91, Z:-28.73 [[ 9.97806797e-01 5.00997406e-02 4.32621312e-02 4.37099908e+02] [-4.98958130e-02 9.98737695e-01 -5.78145561e-03 -5.69126753e+01] [-4.34971706e-02 3.61017649e-03 9.99047027e-01 -2.87320457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00071405700004 meters 0.041835214824482235 Centerline is valid? [True, True] Translation: X:437.16, Y:-56.92, Z:-28.74 [[ 9.97788753e-01 5.02918726e-02 4.34549408e-02 4.37160641e+02] [-5.00862898e-02 9.98728009e-01 -5.80751279e-03 -5.69152553e+01] [-4.36917372e-02 3.61817419e-03 9.99038508e-01 -2.87353790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06071405700004 meters 0.04285074815283863 Centerline is valid? [True, True] Translation: X:437.22, Y:-56.92, Z:-28.74 [[ 9.97679036e-01 5.17177334e-02 4.42924132e-02 4.37220478e+02] [-5.15055380e-02 9.98655166e-01 -5.91943636e-03 -5.69220501e+01] [-4.45389871e-02 3.62439299e-03 9.99001072e-01 -2.87390862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12071405700004 meters 0.044125658556731104 Centerline is valid? [True, True] Translation: X:437.28, Y:-56.93, Z:-28.74 [[ 9.97552627e-01 5.32231917e-02 4.53436701e-02 4.37280440e+02] [-5.30023389e-02 9.98576001e-01 -6.05993104e-03 -5.69297462e+01] [-4.56016296e-02 3.64177955e-03 9.98953066e-01 -2.87423191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18071405700005 meters 0.04161955286853587 Centerline is valid? [True, True] Translation: X:437.34, Y:-56.93, Z:-28.74 [[ 9.97295507e-01 5.52860286e-02 4.84265068e-02 4.37340897e+02] [-5.50364959e-02 9.98463367e-01 -6.47216225e-03 -5.69330131e+01] [-4.87099132e-02 3.78943309e-03 9.98805779e-01 -2.87442767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24071405700005 meters 0.04304492632946686 Centerline is valid? [True, True] Translation: X:437.40, Y:-56.94, Z:-28.75 [[ 9.97216367e-01 5.59667099e-02 4.92670787e-02 4.37400203e+02] [-5.57093021e-02 9.98425325e-01 -6.58355944e-03 -5.69418323e+01] [-4.95579592e-02 3.82059866e-03 9.98763942e-01 -2.87482251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30071405700005 meters 0.04166959222389343 Centerline is valid? [True, True] Translation: X:437.46, Y:-56.95, Z:-28.75 [[ 9.97254238e-01 5.62303288e-02 4.81885412e-02 4.37460384e+02] [-5.59843848e-02 9.98410879e-01 -6.43943449e-03 -5.69471295e+01] [-4.84740553e-02 3.72394750e-03 9.98817500e-01 -2.87535516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36071405700005 meters 0.04124169257671542 Centerline is valid? [True, True] Translation: X:437.52, Y:-56.95, Z:-28.76 [[ 9.97359532e-01 5.50781310e-02 4.73324875e-02 4.37520154e+02] [-5.48395672e-02 9.98475145e-01 -6.32504003e-03 -5.69542119e+01] [-4.76086837e-02 3.71264584e-03 9.98859164e-01 -2.87571580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42071405700005 meters 0.04204811051213995 Centerline is valid? [True, True] Translation: X:437.58, Y:-56.96, Z:-28.76 [[ 9.97470599e-01 5.36340263e-02 4.66454167e-02 4.37579686e+02] [-5.34007762e-02 9.98553706e-01 -6.23322676e-03 -5.69629450e+01] [-4.69122667e-02 3.72655898e-03 9.98892062e-01 -2.87612394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48071405700006 meters 0.04469161807275326 Centerline is valid? [True, True] Translation: X:437.64, Y:-56.97, Z:-28.77 [[ 9.97540458e-01 5.28372559e-02 4.60571300e-02 4.37638308e+02] [-5.26089991e-02 9.98596220e-01 -6.15494215e-03 -5.69732070e+01] [-4.63176861e-02 3.71678430e-03 9.98919845e-01 -2.87656680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54071405700006 meters 0.04564839160708606 Centerline is valid? [True, True] Translation: X:437.70, Y:-56.98, Z:-28.77 [[ 9.97405824e-01 5.42242833e-02 4.73428825e-02 4.37698234e+02] [-5.39847001e-02 9.98521727e-01 -6.32556848e-03 -5.69815999e+01] [-4.76158962e-02 3.75336752e-03 9.98858668e-01 -2.87676921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60071405700006 meters 0.04426936196110562 Centerline is valid? [True, True] Translation: X:437.76, Y:-56.98, Z:-28.77 [[ 9.97035459e-01 5.82515217e-02 5.02698009e-02 4.37759047e+02] [-5.79864466e-02 9.98294775e-01 -6.71668343e-03 -5.69847416e+01] [-5.05753366e-02 3.78180442e-03 9.98713089e-01 -2.87671846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66071405700006 meters 0.04165606591304426 Centerline is valid? [True, True] Translation: X:437.82, Y:-56.99, Z:-28.77 [[ 9.96753556e-01 6.08418197e-02 5.27316050e-02 4.37818972e+02] [-6.05537082e-02 9.98140073e-01 -7.04576440e-03 -5.69874294e+01] [-5.30622052e-02 3.82979650e-03 9.98583865e-01 -2.87685763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.72071405700007 meters 0.0426736132067814 Centerline is valid? [True, True] Translation: X:437.88, Y:-57.00, Z:-28.78 [[ 9.96916540e-01 6.07853306e-02 4.96241461e-02 4.37877327e+02] [-6.05302121e-02 9.98144352e-01 -6.62912841e-03 -5.69976669e+01] [-4.99350149e-02 3.60492767e-03 9.98745963e-01 -2.87754896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.78071405700007 meters 0.044590925092588024 Centerline is valid? [True, True] Translation: X:437.94, Y:-57.01, Z:-28.78 [[ 9.97213305e-01 5.84826286e-02 4.63185327e-02 4.37936351e+02] [-5.82580118e-02 9.98282395e-01 -6.18573247e-03 -5.70073294e+01] [-4.66007337e-02 3.47006909e-03 9.98907568e-01 -2.87813184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.84071405700007 meters 0.04720584262858257 Centerline is valid? [True, True] Translation: X:437.99, Y:-57.02, Z:-28.79 [[ 9.97294378e-01 5.79210763e-02 4.52666811e-02 4.37993301e+02] [-5.77059850e-02 9.98315319e-01 -6.04513735e-03 -5.70199240e+01] [-4.55405620e-02 3.41662307e-03 9.98956648e-01 -2.87862285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9007140570001 meters 0.040026582603924964 Centerline is valid? [True, True] Translation: X:438.05, Y:-57.02, Z:-28.79 [[ 9.97297320e-01 5.79686963e-02 4.51407260e-02 4.38053342e+02] [-5.77549365e-02 9.98312601e-01 -6.02641086e-03 -5.70167404e+01] [-4.54138988e-02 3.40302364e-03 9.98962460e-01 -2.87872022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9607140570001 meters 0.03988532834947179 Centerline is valid? [True, True] Translation: X:438.11, Y:-57.02, Z:-28.79 [[ 9.97197427e-01 6.01065109e-02 4.45477093e-02 4.38112596e+02] [-5.99006331e-02 9.98186652e-01 -5.94328194e-03 -5.70230653e+01] [-4.48241587e-02 3.25818947e-03 9.98989579e-01 -2.87911671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0207140570001 meters 0.04015723781278396 Centerline is valid? [True, True] Translation: X:438.17, Y:-57.03, Z:-28.80 [[ 9.96794394e-01 6.59526215e-02 4.52900407e-02 4.38171447e+02] [-6.57459004e-02 9.97818114e-01 -6.04052173e-03 -5.70292399e+01] [-4.55896112e-02 3.04352370e-03 9.98955617e-01 -2.87950775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0807140570001 meters 0.03609651107115777 Centerline is valid? [True, True] Translation: X:438.23, Y:-57.03, Z:-28.80 [[ 9.96280284e-01 7.27278818e-02 4.62195900e-02 4.38232254e+02] [-7.25199228e-02 9.97347925e-01 -6.16259577e-03 -5.70283573e+01] [-4.65452047e-02 2.78783156e-03 9.98912294e-01 -2.87965555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1407140570001 meters 0.034887009310721036 Centerline is valid? [True, True] Translation: X:438.29, Y:-57.03, Z:-28.80 [[ 9.95990919e-01 7.71653137e-02 4.52504524e-02 4.38292694e+02] [-7.69705724e-02 9.97015113e-01 -6.03292876e-03 -5.70320459e+01] [-4.55809178e-02 2.52578903e-03 9.98957457e-01 -2.88003199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.200714057 meters 0.03529822616023809 Centerline is valid? [True, True] Translation: X:438.35, Y:-57.04, Z:-28.81 [[ 9.95938360e-01 7.87848098e-02 4.35859683e-02 4.38349701e+02] [-7.86056218e-02 9.96888846e-01 -5.81251386e-03 -5.70399039e+01] [-4.39083035e-02 2.36280338e-03 9.99032771e-01 -2.88055258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26071405700003 meters 0.03592977001029039 Centerline is valid? [True, True] Translation: X:438.41, Y:-57.05, Z:-28.81 [[ 9.95818589e-01 8.05552097e-02 4.30835930e-02 4.38406735e+02] [-8.03819476e-02 9.96747598e-01 -5.74172505e-03 -5.70472596e+01] [-4.34059937e-02 2.25457343e-03 9.99054972e-01 -2.88094723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32071405700003 meters 0.032879336917722886 Centerline is valid? [True, True] Translation: X:438.47, Y:-57.05, Z:-28.81 [[ 9.95878248e-01 7.95400746e-02 4.35877537e-02 4.38465522e+02] [-7.93619441e-02 9.96828966e-01 -5.80476165e-03 -5.70500230e+01] [-4.39112466e-02 2.32162699e-03 9.99032738e-01 -2.88097556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38071405700003 meters 0.03326024534948031 Centerline is valid? [True, True] Translation: X:438.52, Y:-57.06, Z:-28.81 [[ 9.95996732e-01 7.79756110e-02 4.37071366e-02 4.38523222e+02] [-7.77951443e-02 9.96952393e-01 -5.81741101e-03 -5.70618409e+01] [-4.40275506e-02 2.39391936e-03 9.99027449e-01 -2.88138363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44071405700004 meters 0.034160632018575 Centerline is valid? [True, True] Translation: X:438.58, Y:-57.07, Z:-28.82 [[ 9.95965504e-01 7.91091182e-02 4.23610893e-02 4.38579581e+02] [-7.89407019e-02 9.96863379e-01 -5.63646664e-03 -5.70721691e+01] [-4.26741145e-02 2.26971222e-03 9.99086467e-01 -2.88195797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50071405700004 meters 0.032511760652585826 Centerline is valid? [True, True] Translation: X:438.64, Y:-57.08, Z:-28.82 [[ 9.95764271e-01 8.12381849e-02 4.30566289e-02 4.38638817e+02] [-8.10665033e-02 9.96692273e-01 -5.72138572e-03 -5.70786704e+01] [-4.33790043e-02 2.20670114e-03 9.99056251e-01 -2.88225330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56071405700004 meters 0.031521349307837336 Centerline is valid? [True, True] Translation: X:438.70, Y:-57.09, Z:-28.83 [[ 9.95682719e-01 8.22886324e-02 4.29476928e-02 4.38697252e+02] [-8.21188267e-02 9.96606210e-01 -5.70613730e-03 -5.70868265e+01] [-4.32714876e-02 2.15468816e-03 9.99061027e-01 -2.88254390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62071405700004 meters 0.03282822412901693 Centerline is valid? [True, True] Translation: X:438.75, Y:-57.10, Z:-28.83 [[ 9.95752892e-01 8.13264220e-02 4.31531219e-02 4.38753532e+02] [-8.11542099e-02 9.96685083e-01 -5.73058282e-03 -5.70982179e+01] [-4.34761207e-02 2.20418690e-03 9.99052035e-01 -2.88305225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68071405700005 meters 0.034785512163399424 Centerline is valid? [True, True] Translation: X:438.81, Y:-57.12, Z:-28.83 [[ 9.96477430e-01 7.14036443e-02 4.39801317e-02 4.38812364e+02] [-7.12153849e-02 9.97443897e-01 -5.83457619e-03 -5.71153497e+01] [-4.42843240e-02 2.68196147e-03 9.99015368e-01 -2.88344884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74071405700005 meters 0.039314395280514045 Centerline is valid? [True, True] Translation: X:438.87, Y:-57.13, Z:-28.84 [[ 9.96898456e-01 6.48859472e-02 4.45340626e-02 4.38870056e+02] [-6.46864361e-02 9.97888150e-01 -5.90805234e-03 -5.71330589e+01] [-4.48233629e-02 3.00897846e-03 9.98990396e-01 -2.88389149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80071405700005 meters 0.04264716735626929 Centerline is valid? [True, True] Translation: X:438.93, Y:-57.15, Z:-28.84 [[ 9.97222209e-01 5.93545363e-02 4.49989537e-02 4.38929042e+02] [-5.91452817e-02 9.98231542e-01 -5.96862297e-03 -5.71477063e+01] [-4.52736397e-02 3.29056758e-03 9.98969204e-01 -2.88426293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86071405700005 meters 0.045259337949623196 Centerline is valid? [True, True] Translation: X:438.99, Y:-57.16, Z:-28.85 [[ 9.97327906e-01 5.66798941e-02 4.60916157e-02 4.38988125e+02] [-5.64575017e-02 9.98386285e-01 -6.11362707e-03 -5.71618256e+01] [-4.63637567e-02 3.49507341e-03 9.98918508e-01 -2.88466535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92071405700005 meters 0.04077184925781548 Centerline is valid? [True, True] Translation: X:439.05, Y:-57.16, Z:-28.85 [[ 9.97256738e-01 5.77038496e-02 4.63601672e-02 4.39048399e+02] [-5.74799401e-02 9.98327721e-01 -6.14957144e-03 -5.71637176e+01] [-4.66374940e-02 3.46792192e-03 9.98905860e-01 -2.88489054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98071405700006 meters 0.03659999116960218 Centerline is valid? [True, True] Translation: X:439.11, Y:-57.16, Z:-28.85 [[ 9.97011381e-01 6.08685693e-02 4.75744063e-02 4.39109159e+02] [-6.06363940e-02 9.98139978e-01 -6.30964391e-03 -5.71648011e+01] [-4.78699759e-02 3.40604634e-03 9.98847768e-01 -2.88501871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04071405700006 meters 0.038587768583878516 Centerline is valid? [True, True] Translation: X:439.17, Y:-57.18, Z:-28.86 [[ 9.96706634e-01 6.53188787e-02 4.80554848e-02 4.39167827e+02] [-6.50871590e-02 9.97859234e-01 -6.37269847e-03 -5.71764397e+01] [-4.83688668e-02 3.22391586e-03 9.98824338e-01 -2.88552269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10071405700006 meters 0.03427841011002949 Centerline is valid? [True, True] Translation: X:439.23, Y:-57.18, Z:-28.86 [[ 9.96226586e-01 7.17611797e-02 4.88151910e-02 4.39228557e+02] [-7.15297636e-02 9.97417459e-01 -6.47342335e-03 -5.71767563e+01] [-4.91536642e-02 2.95725737e-03 9.98786850e-01 -2.88576579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16071405700006 meters 0.032913222891624 Centerline is valid? [True, True] Translation: X:439.29, Y:-57.18, Z:-28.86 [[ 9.95534892e-01 7.98530917e-02 5.03364878e-02 4.39288398e+02] [-7.96173463e-02 9.96803155e-01 -6.67443137e-03 -5.71795996e+01] [-5.07085439e-02 2.63697173e-03 9.98710013e-01 -2.88587048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.22071405700007 meters 0.031763337876538116 Centerline is valid? [True, True] Translation: X:439.35, Y:-57.18, Z:-28.86 [[ 9.94907453e-01 8.70541785e-02 5.08008871e-02 4.39346788e+02] [-8.68234098e-02 9.96200944e-01 -6.73604885e-03 -5.71843792e+01] [-5.11942929e-02 2.29103896e-03 9.98686085e-01 -2.88622725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.28071405700007 meters 0.02942180720908283 Centerline is valid? [True, True] Translation: X:439.41, Y:-57.19, Z:-28.87 [[ 9.94511244e-01 9.07435995e-02 5.20863145e-02 4.39406187e+02] [-9.05061708e-02 9.95871964e-01 -6.90396628e-03 -5.71892601e+01] [-5.24977911e-02 2.15193922e-03 9.98618722e-01 -2.88657681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.34071405700007 meters 0.02770856241358457 Centerline is valid? [True, True] Translation: X:439.47, Y:-57.19, Z:-28.87 [[ 9.94123420e-01 9.51627159e-02 5.16011906e-02 4.39465518e+02] [-9.49357261e-02 9.95459920e-01 -6.83784208e-03 -5.71945913e+01] [-5.20176246e-02 1.89886246e-03 9.98644362e-01 -2.88700834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4007140570001 meters 0.026557538420867 Centerline is valid? [True, True] Translation: X:439.52, Y:-57.20, Z:-28.87 [[ 9.93652446e-01 9.92661078e-02 5.29250108e-02 4.39524529e+02] [-9.90332222e-02 9.95059427e-01 -7.01129357e-03 -5.72018570e+01] [-5.33595147e-02 1.72545465e-03 9.98573876e-01 -2.88728754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4607140570001 meters 0.025721999932735252 Centerline is valid? [True, True] Translation: X:439.58, Y:-57.21, Z:-28.87 [[ 9.93029928e-01 1.03825621e-01 5.57835327e-02 4.39583856e+02] [-1.03574179e-01 9.94594295e-01 -7.38766680e-03 -5.72100796e+01] [-5.62490125e-02 1.55844060e-03 9.98415555e-01 -2.88741899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5207140570001 meters 0.02441741382044405 Centerline is valid? [True, True] Translation: X:439.64, Y:-57.22, Z:-28.88 [[ 9.92539650e-01 1.09152446e-01 5.43211419e-02 4.39641712e+02] [-1.08922013e-01 9.94024269e-01 -7.19358661e-03 -5.72175182e+01] [-5.47817309e-02 1.22315183e-03 9.98497604e-01 -2.88790630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5807140570001 meters 0.023754476873797916 Centerline is valid? [True, True] Translation: X:439.70, Y:-57.23, Z:-28.89 [[ 9.92181741e-01 1.13369981e-01 5.21789305e-02 4.39699351e+02] [-1.13163360e-01 9.93552388e-01 -6.90692140e-03 -5.72303782e+01] [-5.26255386e-02 9.48178194e-04 9.98613866e-01 -2.88861409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6407140570001 meters 0.02345991268489336 Centerline is valid? [True, True] Translation: X:439.76, Y:-57.25, Z:-28.89 [[ 9.91936582e-01 1.14746002e-01 5.38068006e-02 4.39755618e+02] [-1.14528725e-01 9.93394461e-01 -7.11454954e-03 -5.72455820e+01] [-5.42677437e-02 8.94757695e-04 9.98526019e-01 -2.88891788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.700714057 meters 0.023582992957957568 Centerline is valid? [True, True] Translation: X:439.81, Y:-57.26, Z:-28.89 [[ 9.92037021e-01 1.13414576e-01 5.47693698e-02 4.39812403e+02] [-1.13187713e-01 9.93547268e-01 -7.23654298e-03 -5.72603732e+01] [-5.52366872e-02 9.79698828e-04 9.98472808e-01 -2.88929712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76071405700003 meters 0.024387749264284567 Centerline is valid? [True, True] Translation: X:439.87, Y:-57.29, Z:-28.90 [[ 9.92390983e-01 1.08947951e-01 5.73627160e-02 4.39867725e+02] [-1.08691864e-01 9.94046628e-01 -7.57491561e-03 -5.72867963e+01] [-5.78464860e-02 1.28241744e-03 9.98324666e-01 -2.88966341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82071405700003 meters 0.024870578496048814 Centerline is valid? [True, True] Translation: X:439.93, Y:-57.31, Z:-28.90 [[ 9.92772167e-01 1.04527881e-01 5.89690362e-02 4.39925145e+02] [-1.04249790e-01 9.94520706e-01 -7.78122562e-03 -5.73053135e+01] [-5.94592825e-02 1.57747456e-03 9.98229485e-01 -2.89006096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88071405700003 meters 0.02672130397724915 Centerline is valid? [True, True] Translation: X:439.98, Y:-57.33, Z:-28.91 [[ 9.93570987e-01 9.61980078e-02 5.96878299e-02 4.39982279e+02] [-9.58982140e-02 9.95360004e-01 -7.87373593e-03 -5.73312994e+01] [-6.01683163e-02 2.09915930e-03 9.98186038e-01 -2.89065539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94071405700004 meters 0.032293126675031404 Centerline is valid? [True, True] Translation: X:440.04, Y:-57.36, Z:-28.91 [[ 9.94282326e-01 8.86541670e-02 5.95238967e-02 4.40038223e+02] [-8.83425566e-02 9.96059208e-01 -7.85158029e-03 -5.73610791e+01] [-5.99854007e-02 2.54819430e-03 9.98196002e-01 -2.89138392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00071405700004 meters 0.030905587109682768 Centerline is valid? [True, True] Translation: X:440.10, Y:-57.37, Z:-28.92 [[ 9.94830259e-01 8.30010912e-02 5.85113196e-02 4.40097037e+02] [-8.26902444e-02 9.96545410e-01 -7.71815048e-03 -5.73746827e+01] [-5.89498019e-02 2.83993432e-03 9.98256909e-01 -2.89183528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06071405700004 meters 0.03340446127297798 Centerline is valid? [True, True] Translation: X:440.16, Y:-57.39, Z:-28.92 [[ 9.95303015e-01 7.82975589e-02 5.69333060e-02 4.40155082e+02] [-7.79956215e-02 9.96925418e-01 -7.50965389e-03 -5.73927770e+01] [-5.73462474e-02 3.03383257e-03 9.98349740e-01 -2.89239155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12071405700004 meters 0.0327782996489241 Centerline is valid? [True, True] Translation: X:440.22, Y:-57.40, Z:-28.93 [[ 9.95422145e-01 7.62799717e-02 5.75857535e-02 4.40215037e+02] [-7.59676925e-02 9.97081347e-01 -7.59586364e-03 -5.74025518e+01] [-5.79970929e-02 3.18643407e-03 9.98311667e-01 -2.89267479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18071405700005 meters 0.03378125789662856 Centerline is valid? [True, True] Translation: X:440.28, Y:-57.42, Z:-28.93 [[ 9.95414583e-01 7.50738071e-02 5.92767421e-02 4.40276391e+02] [-7.47407636e-02 9.97172344e-01 -7.81888741e-03 -5.74151695e+01] [-5.96961215e-02 3.35264557e-03 9.98210966e-01 -2.89288188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24071405700005 meters 0.03320678414040935 Centerline is valid? [True, True] Translation: X:440.34, Y:-57.42, Z:-28.93 [[ 9.95336424e-01 7.55104574e-02 6.00297711e-02 4.40337535e+02] [-7.51687416e-02 9.97139267e-01 -7.93365761e-03 -5.74240749e+01] [-6.04571161e-02 3.38429604e-03 9.98165058e-01 -2.89321350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30071405700005 meters 0.034624778023324816 Centerline is valid? [True, True] Translation: X:440.40, Y:-57.44, Z:-28.94 [[ 9.95275410e-01 7.60065486e-02 6.04140926e-02 4.40398126e+02] [-7.56603962e-02 9.97101551e-01 -8.00004874e-03 -5.74353974e+01] [-6.08470415e-02 3.39129761e-03 9.98141341e-01 -2.89353752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36071405700005 meters 0.03619683024992956 Centerline is valid? [True, True] Translation: X:440.46, Y:-57.45, Z:-28.94 [[ 9.95452163e-01 7.30861994e-02 6.11015511e-02 4.40457820e+02] [-7.27257044e-02 9.97319037e-01 -8.10614936e-03 -5.74475004e+01] [-6.15301878e-02 3.62563057e-03 9.98098638e-01 -2.89396212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42071405700005 meters 0.03611384285806321 Centerline is valid? [True, True] Translation: X:440.52, Y:-57.46, Z:-28.94 [[ 9.95900587e-01 6.67297941e-02 6.10668194e-02 4.40518327e+02] [-6.63577483e-02 9.97762997e-01 -8.10258229e-03 -5.74563804e+01] [-6.14708963e-02 4.01710983e-03 9.98100792e-01 -2.89434055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48071405700006 meters 0.038197311334708973 Centerline is valid? [True, True] Translation: X:440.58, Y:-57.47, Z:-28.95 [[ 9.96474337e-01 5.87129352e-02 5.99306886e-02 4.40577948e+02] [-5.83400896e-02 9.98265081e-01 -7.95370407e-03 -5.74663343e+01] [-6.02936990e-02 4.42930024e-03 9.98170853e-01 -2.89483434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54071405700006 meters 0.04104115513311325 Centerline is valid? [True, True] Translation: X:440.64, Y:-57.48, Z:-28.95 [[ 9.96879580e-01 5.19793797e-02 5.94074673e-02 4.40637109e+02] [-5.16011349e-02 9.98636650e-01 -7.88446176e-03 -5.74777604e+01] [-5.97363035e-02 4.79436620e-03 9.98202679e-01 -2.89519289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60071405700006 meters 0.04246327267918951 Centerline is valid? [True, True] Translation: X:440.70, Y:-57.49, Z:-28.95 [[ 9.97022896e-01 4.86092902e-02 5.98538430e-02 4.40696802e+02] [-4.82192740e-02 9.98805182e-01 -7.94419811e-03 -5.74850210e+01] [-6.01684904e-02 5.03443855e-03 9.98175539e-01 -2.89542642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66071405700006 meters 0.041833574443237716 Centerline is valid? [True, True] Translation: X:440.76, Y:-57.49, Z:-28.96 [[ 9.97053132e-01 4.85132622e-02 5.94265593e-02 4.40759130e+02] [-4.81286947e-02 9.98810008e-01 -7.88647448e-03 -5.74904926e+01] [-5.97384408e-02 5.00311135e-03 9.98201527e-01 -2.89582192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.72071405700007 meters 0.04038635912784513 Centerline is valid? [True, True] Translation: X:440.82, Y:-57.49, Z:-28.96 [[ 9.97042533e-01 4.97766944e-02 5.85531276e-02 4.40820650e+02] [-4.94045641e-02 9.98748494e-01 -7.78689146e-03 -5.74943254e+01] [-5.88674537e-02 4.87107024e-03 9.98253923e-01 -2.89624226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.78071405700007 meters 0.040802495039065224 Centerline is valid? [True, True] Translation: X:440.88, Y:-57.50, Z:-28.97 [[ 9.96844304e-01 5.40715151e-02 5.81180176e-02 4.40879686e+02] [-5.37119983e-02 9.98526537e-01 -7.73156373e-03 -5.74999190e+01] [-5.84504401e-02 4.58553041e-03 9.98279780e-01 -2.89667489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.84071405700007 meters 0.03869802004347739 Centerline is valid? [True, True] Translation: X:440.94, Y:-57.50, Z:-28.97 [[ 9.96329351e-01 6.26954949e-02 5.82846351e-02 4.40940910e+02] [-6.23486367e-02 9.98024321e-01 -7.75250615e-03 -5.74994045e+01] [-5.86555306e-02 4.09008189e-03 9.98269903e-01 -2.89700505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9007140570001 meters 0.03467917422858991 Centerline is valid? [True, True] Translation: X:441.00, Y:-57.50, Z:-28.97 [[ 9.95355445e-01 7.58931689e-02 5.92263859e-02 4.41000951e+02] [-7.55582262e-02 9.97110273e-01 -7.87767993e-03 -5.74958108e+01] [-5.96530999e-02 3.36605095e-03 9.98213493e-01 -2.89727037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9607140570001 meters 0.029756750791838933 Centerline is valid? [True, True] Translation: X:441.06, Y:-57.49, Z:-28.97 [[ 9.94173841e-01 8.91046932e-02 6.06525130e-02 4.41062544e+02] [-8.87778816e-02 9.96018778e-01 -8.06726907e-03 -5.74891324e+01] [-6.11298734e-02 2.63566627e-03 9.98126341e-01 -2.89745157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0207140570001 meters 0.028198088089827083 Centerline is valid? [True, True] Translation: X:441.12, Y:-57.49, Z:-28.98 [[ 9.93249177e-01 9.80753040e-02 6.19460085e-02 4.41122080e+02] [-9.77517522e-02 9.95176720e-01 -8.23962685e-03 -5.74906961e+01] [-6.24553294e-02 2.12867171e-03 9.98045490e-01 -2.89778875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0807140570001 meters 0.025492123388759315 Centerline is valid? [True, True] Translation: X:441.18, Y:-57.49, Z:-28.98 [[ 9.93127617e-01 1.00029292e-01 6.07591786e-02 4.41181443e+02] [-9.97217724e-02 9.94982551e-01 -8.08032962e-03 -5.74917405e+01] [-6.12625922e-02 1.96578552e-03 9.98119748e-01 -2.89818574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1407140570001 meters 0.026563530392573455 Centerline is valid? [True, True] Translation: X:441.24, Y:-57.50, Z:-28.99 [[ 9.93429361e-01 9.75617121e-02 5.98315718e-02 4.41238388e+02] [-9.72593171e-02 9.95227301e-01 -7.95262724e-03 -5.75036756e+01] [-6.03218857e-02 2.08119558e-03 9.98176807e-01 -2.89864255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.200714057 meters 0.028669199282476278 Centerline is valid? [True, True] Translation: X:441.30, Y:-57.52, Z:-28.99 [[ 9.94116929e-01 9.05544852e-02 5.94257231e-02 4.41297088e+02] [-9.02439621e-02 9.95888403e-01 -7.89407586e-03 -5.75179394e+01] [-5.98962324e-02 2.48482176e-03 9.98201516e-01 -2.89898123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26071405700003 meters 0.03274094785942971 Centerline is valid? [True, True] Translation: X:441.35, Y:-57.54, Z:-28.99 [[ 9.95047263e-01 8.17578620e-02 5.65384551e-02 4.41353794e+02] [-8.14626631e-02 9.96648098e-01 -7.51024680e-03 -5.75361764e+01] [-5.69629655e-02 2.86727740e-03 9.98372175e-01 -2.89948524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32071405700003 meters 0.03545653599216978 Centerline is valid? [True, True] Translation: X:441.41, Y:-57.55, Z:-29.00 [[ 9.95875292e-01 7.16024232e-02 5.57269770e-02 4.41413137e+02] [-7.12997557e-02 9.97427460e-01 -7.40320202e-03 -5.75505081e+01] [-5.61137043e-02 3.39934613e-03 9.98418598e-01 -2.89989465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38071405700003 meters 0.03660041834688563 Centerline is valid? [True, True] Translation: X:441.47, Y:-57.56, Z:-29.00 [[ 9.96309124e-01 6.44906371e-02 5.66488092e-02 4.41472458e+02] [-6.41664068e-02 9.97910835e-01 -7.52582455e-03 -5.75618106e+01] [-5.70158057e-02 3.86309713e-03 9.98365802e-01 -2.90008259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44071405700004 meters 0.0388596894241727 Centerline is valid? [True, True] Translation: X:441.53, Y:-57.57, Z:-29.01 [[ 9.96550189e-01 6.13558836e-02 5.58853858e-02 4.41532003e+02] [-6.10354542e-02 9.98107987e-01 -7.42419656e-03 -5.75719891e+01] [-5.62351681e-02 3.98759459e-03 9.98409588e-01 -2.90052235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50071405700004 meters 0.043049101590268146 Centerline is valid? [True, True] Translation: X:441.59, Y:-57.58, Z:-29.01 [[ 9.97034162e-01 5.48994521e-02 5.39344990e-02 4.41590558e+02] [-5.45915717e-02 9.98483052e-01 -7.16629524e-03 -5.75819772e+01] [-5.42461088e-02 4.20067210e-03 9.98518760e-01 -2.90113068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56071405700004 meters 0.042906612811021136 Centerline is valid? [True, True] Translation: X:441.65, Y:-57.59, Z:-29.02 [[ 9.97146888e-01 5.24979302e-02 5.42406806e-02 4.41651636e+02] [-5.21830900e-02 9.98611539e-01 -7.20553333e-03 -5.75876784e+01] [-5.45436451e-02 4.35452881e-03 9.98501892e-01 -2.90155260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62071405700004 meters 0.04322586510151179 Centerline is valid? [True, True] Translation: X:441.71, Y:-57.59, Z:-29.02 [[ 9.97298415e-01 4.89599074e-02 5.47612840e-02 4.41712357e+02] [-4.86335647e-02 9.98790179e-01 -7.27699758e-03 -5.75881926e+01] [-5.50513138e-02 4.59410171e-03 9.98472958e-01 -2.90190311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68071405700005 meters 0.04637427386345608 Centerline is valid? [True, True] Translation: X:441.77, Y:-57.60, Z:-29.02 [[ 9.97397465e-01 4.74563593e-02 5.42788318e-02 4.41772214e+02] [-4.71335342e-02 9.98862554e-01 -7.21299188e-03 -5.75956436e+01] [-5.45593950e-02 4.63586663e-03 9.98499765e-01 -2.90240335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74071405700005 meters 0.04593239329280461 Centerline is valid? [True, True] Translation: X:441.83, Y:-57.60, Z:-29.03 [[ 9.97573318e-01 4.52935315e-02 5.28769450e-02 4.41833091e+02] [-4.49841245e-02 9.98962983e-01 -7.02761964e-03 -5.75962037e+01] [-5.31404164e-02 4.63194276e-03 9.98576307e-01 -2.90291100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80071405700005 meters 0.04656544844722718 Centerline is valid? [True, True] Translation: X:441.89, Y:-57.60, Z:-29.03 [[ 9.97729975e-01 4.41039760e-02 5.08894473e-02 4.41894273e+02] [-4.38158385e-02 9.99016725e-01 -6.76435345e-03 -5.75959334e+01] [-5.11377438e-02 4.51923440e-03 9.98681384e-01 -2.90337123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86071405700005 meters 0.044984693043651415 Centerline is valid? [True, True] Translation: X:441.96, Y:-57.59, Z:-29.04 [[ 9.97602316e-01 4.56277693e-02 5.20358081e-02 4.41956407e+02] [-4.53285043e-02 9.98948184e-01 -6.91747624e-03 -5.75949606e+01] [-5.22967051e-02 4.54218497e-03 9.98621261e-01 -2.90364705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92071405700005 meters 0.045415683777483354 Centerline is valid? [True, True] Translation: X:442.02, Y:-57.59, Z:-29.04 [[ 9.97379249e-01 4.97163342e-02 5.25634903e-02 4.42016550e+02] [-4.94164547e-02 9.98753799e-01 -6.99023503e-03 -5.75939357e+01] [-5.28455145e-02 4.37441402e-03 9.98593118e-01 -2.90386768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.98071405700006 meters 0.04028949828731487 Centerline is valid? [True, True] Translation: X:442.08, Y:-57.59, Z:-29.04 [[ 9.97056622e-01 5.48263830e-02 5.35925432e-02 4.42079258e+02] [-5.45220352e-02 9.98487142e-01 -7.12565926e-03 -5.75860332e+01] [-5.39021394e-02 4.18271122e-03 9.98537463e-01 -2.90413297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.04071405700006 meters 0.04035393150438075 Centerline is valid? [True, True] Translation: X:442.14, Y:-57.59, Z:-29.04 [[ 9.96824618e-01 5.76340688e-02 5.49453813e-02 4.42139706e+02] [-5.73183255e-02 9.98329217e-01 -7.30647243e-03 -5.75904091e+01] [-5.52746812e-02 4.13389434e-03 9.98462629e-01 -2.90443157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.10071405700006 meters 0.04268795629563245 Centerline is valid? [True, True] Translation: X:442.20, Y:-57.60, Z:-29.05 [[ 9.96753654e-01 5.77863034e-02 5.60615499e-02 4.42201083e+02] [-5.74578205e-02 9.98320100e-01 -7.45494354e-03 -5.75958198e+01] [-5.63981657e-02 4.20956774e-03 9.98399482e-01 -2.90481170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.16071405700006 meters 0.04472045971890244 Centerline is valid? [True, True] Translation: X:442.26, Y:-57.60, Z:-29.05 [[ 9.96887363e-01 5.40948001e-02 5.73527513e-02 4.42260904e+02] [-5.37443828e-02 9.98525530e-01 -7.63595273e-03 -5.76026750e+01] [-5.76812518e-02 4.52979656e-03 9.98324774e-01 -2.90532282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.22071405700007 meters 0.049702155075372935 Centerline is valid? [True, True] Translation: X:442.32, Y:-57.61, Z:-29.06 [[ 9.97281660e-01 4.77795204e-02 5.60928585e-02 4.42318774e+02] [-4.74344235e-02 9.98846434e-01 -7.46838376e-03 -5.76137963e+01] [-5.63849875e-02 4.78734975e-03 9.98397623e-01 -2.90600766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.28071405700007 meters 0.058365159342709014 Centerline is valid? [True, True] Translation: X:442.38, Y:-57.63, Z:-29.06 [[ 9.97421254e-01 4.36025641e-02 5.70057849e-02 4.42376910e+02] [-4.32393035e-02 9.99035905e-01 -7.59092926e-03 -5.76300068e+01] [-5.72818099e-02 5.10646374e-03 9.98344990e-01 -2.90649346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.34071405700007 meters 0.045833104755092245 Centerline is valid? [True, True] Translation: X:442.44, Y:-57.62, Z:-29.07 [[ 9.97403387e-01 4.39013672e-02 5.70889973e-02 4.42442544e+02] [-4.35376107e-02 9.99022876e-01 -7.60058401e-03 -5.76182656e+01] [-5.73668903e-02 5.09532969e-03 9.98340161e-01 -2.90685649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4007140570001 meters 0.044332677758615754 Centerline is valid? [True, True] Translation: X:442.50, Y:-57.62, Z:-29.07 [[ 9.97181120e-01 4.72824540e-02 5.82596266e-02 4.42503372e+02] [-4.69081900e-02 9.98868940e-01 -7.77576657e-03 -5.76205814e+01] [-5.85613888e-02 5.02099398e-03 9.98271182e-01 -2.90717978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4607140570001 meters 0.04210500994528171 Centerline is valid? [True, True] Translation: X:442.56, Y:-57.62, Z:-29.07 [[ 9.96868600e-01 5.10866355e-02 6.03585185e-02 4.42564581e+02] [-5.06917899e-02 9.98681854e-01 -8.05590068e-03 -5.76228648e+01] [-6.06905060e-02 4.97099309e-03 9.98144254e-01 -2.90743334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5207140570001 meters 0.040967711531214035 Centerline is valid? [True, True] Translation: X:442.62, Y:-57.63, Z:-29.08 [[ 9.96430231e-01 5.75547393e-02 6.17595823e-02 4.42624979e+02] [-5.71535750e-02 9.98331360e-01 -8.24408474e-03 -5.76261973e+01] [-6.21310139e-02 4.68487435e-03 9.98057007e-01 -2.90784932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5807140570001 meters 0.040855940840018194 Centerline is valid? [True, True] Translation: X:442.68, Y:-57.63, Z:-29.08 [[ 9.96067276e-01 6.24264917e-02 6.28722066e-02 4.42684150e+02] [-6.20203048e-02 9.98039594e-01 -8.39344437e-03 -5.76300856e+01] [-6.32729249e-02 4.46108185e-03 9.97986290e-01 -2.90817789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6407140570001 meters 0.03816775108104322 Centerline is valid? [True, True] Translation: X:442.75, Y:-57.63, Z:-29.09 [[ 9.95945521e-01 6.36943784e-02 6.35259367e-02 4.42745082e+02] [-6.32823286e-02 9.97959641e-01 -8.47948467e-03 -5.76332880e+01] [-6.39364165e-02 4.42503558e-03 9.97944164e-01 -2.90851748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7007140570001 meters 0.04064830962287965 Centerline is valid? [True, True] Translation: X:442.80, Y:-57.64, Z:-29.09 [[ 9.95946569e-01 6.46799748e-02 6.25054636e-02 4.42804181e+02] [-6.42829352e-02 9.97896826e-01 -8.34443502e-03 -5.76427704e+01] [-6.29137216e-02 4.29257676e-03 9.98009738e-01 -2.90904526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76071405700003 meters 0.03759957097003201 Centerline is valid? [True, True] Translation: X:442.86, Y:-57.65, Z:-29.10 [[ 9.96275565e-01 6.14145574e-02 6.05247996e-02 4.42864357e+02] [-6.10363325e-02 9.98102841e-01 -8.07995404e-03 -5.76478502e+01] [-6.09062012e-02 4.35564899e-03 9.98133991e-01 -2.90980926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82071405700003 meters 0.040407359840294386 Centerline is valid? [True, True] Translation: X:442.92, Y:-57.66, Z:-29.10 [[ 9.96701318e-01 5.66445701e-02 5.81195005e-02 4.42923852e+02] [-5.62877380e-02 9.98384433e-01 -7.75977653e-03 -5.76621619e+01] [-5.84651538e-02 4.46276428e-03 9.98279475e-01 -2.91041632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88071405700003 meters 0.04206291341127827 Centerline is valid? [True, True] Translation: X:442.98, Y:-57.67, Z:-29.11 [[ 9.96682544e-01 5.58748911e-02 5.91768803e-02 4.42984880e+02] [-5.55035568e-02 9.98427224e-01 -7.90150106e-03 -5.76738819e+01] [-5.95253038e-02 4.59076084e-03 9.98216241e-01 -2.91062772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94071405700004 meters 0.043158336757984105 Centerline is valid? [True, True] Translation: X:443.05, Y:-57.68, Z:-29.11 [[ 9.96483500e-01 5.70734106e-02 6.13454183e-02 4.43045246e+02] [-5.66755287e-02 9.98358911e-01 -8.20792832e-03 -5.76837139e+01] [-6.17131995e-02 4.70228112e-03 9.98082847e-01 -2.91080786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.00071405700004 meters 0.044646457256452936 Centerline is valid? [True, True] Translation: X:443.11, Y:-57.69, Z:-29.11 [[ 9.96560345e-01 5.74926310e-02 5.96831274e-02 4.43106507e+02] [-5.71167349e-02 9.98335561e-01 -7.98659592e-03 -5.76949556e+01] [-6.00429589e-02 4.55021942e-03 9.98185423e-01 -2.91136143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06071405700004 meters 0.043774173541524034 Centerline is valid? [True, True] Translation: X:443.17, Y:-57.70, Z:-29.12 [[ 9.96967329e-01 5.36670568e-02 5.63559419e-02 4.43165385e+02] [-5.33249603e-02 9.98548612e-01 -7.55770913e-03 -5.77045801e+01] [-5.66797475e-02 4.52961072e-03 9.98382136e-01 -2.91218409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12071405700004 meters 0.051114867196505695 Centerline is valid? [True, True] Translation: X:443.22, Y:-57.72, Z:-29.13 [[ 9.97233432e-01 5.01218541e-02 5.48933709e-02 4.43222308e+02] [-4.97920334e-02 9.98732485e-01 -7.36051577e-03 -5.77245364e+01] [-5.51927154e-02 4.60689984e-03 9.98465092e-01 -2.91277695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18071405700005 meters 0.04761505207179518 Centerline is valid? [True, True] Translation: X:443.28, Y:-57.73, Z:-29.13 [[ 9.97493187e-01 4.50553898e-02 5.45651364e-02 4.43282753e+02] [-4.47219497e-02 9.98972675e-01 -7.31718444e-03 -5.77301418e+01] [-5.48387589e-02 4.85858234e-03 9.98483402e-01 -2.91304271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24071405700005 meters 0.048582509346419896 Centerline is valid? [True, True] Translation: X:443.34, Y:-57.74, Z:-29.13 [[ 9.97508741e-01 4.48113126e-02 5.44817145e-02 4.43343888e+02] [-4.44786469e-02 9.98983635e-01 -7.30389701e-03 -5.77397911e+01] [-5.47536384e-02 4.86242817e-03 9.98488055e-01 -2.91336982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30071405700005 meters 0.05056133882189771 Centerline is valid? [True, True] Translation: X:443.41, Y:-57.75, Z:-29.14 [[ 9.97379965e-01 4.47562871e-02 5.68337866e-02 4.43405740e+02] [-4.43932970e-02 9.98984963e-01 -7.63406505e-03 -5.77524955e+01] [-5.71177706e-02 5.09102437e-03 9.98354467e-01 -2.91364962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36071405700005 meters 0.04685157885383982 Centerline is valid? [True, True] Translation: X:443.47, Y:-57.76, Z:-29.14 [[ 9.97390683e-01 4.27949674e-02 5.81413520e-02 4.43466220e+02] [-4.24106649e-02 9.99069594e-01 -7.82831281e-03 -5.77587448e+01] [-5.84222694e-02 5.34207286e-03 9.98277667e-01 -2.91411119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42071405700005 meters 0.048755513805937185 Centerline is valid? [True, True] Translation: X:443.52, Y:-57.77, Z:-29.15 [[ 9.97604930e-01 4.01357577e-02 5.63340385e-02 4.43524820e+02] [-3.97707462e-02 9.99180033e-01 -7.58609303e-03 -5.77733558e+01] [-5.65923200e-02 5.32747706e-03 9.98383157e-01 -2.91469617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48071405700006 meters 0.051496581677272515 Centerline is valid? [True, True] Translation: X:443.58, Y:-57.79, Z:-29.15 [[ 9.97718092e-01 3.81562307e-02 5.57019771e-02 4.43583171e+02] [-3.77963081e-02 9.99257310e-01 -7.50120797e-03 -5.77892376e+01] [-5.59468256e-02 5.37876182e-03 9.98419261e-01 -2.91519714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54071405700006 meters 0.04892112233771941 Centerline is valid? [True, True] Translation: X:443.64, Y:-57.80, Z:-29.16 [[ 9.97757369e-01 3.82007693e-02 5.49630227e-02 4.43644235e+02] [-3.78505437e-02 9.99256016e-01 -7.39933125e-03 -5.77978618e+01] [-5.52047913e-02 5.30235699e-03 9.98460974e-01 -2.91571654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60071405700006 meters 0.05052135081189811 Centerline is valid? [True, True] Translation: X:443.70, Y:-57.81, Z:-29.16 [[ 9.97690842e-01 4.09805890e-02 5.41624929e-02 4.43702570e+02] [-4.06436643e-02 9.99146979e-01 -7.30801069e-03 -5.78089759e+01] [-5.44157777e-02 5.08977316e-03 9.98505392e-01 -2.91620064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66071405700006 meters 0.04314672325135952 Centerline is valid? [True, True] Translation: X:443.76, Y:-57.81, Z:-29.17 [[ 9.97072673e-01 5.50953897e-02 5.30149227e-02 4.43763852e+02] [-5.47924254e-02 9.98472150e-01 -7.15236511e-03 -5.78058316e+01] [-5.33279861e-02 4.22661160e-03 9.98568106e-01 -2.91652037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.72071405700007 meters 0.04090798691920391 Centerline is valid? [True, True] Translation: X:443.82, Y:-57.81, Z:-29.17 [[ 9.96424737e-01 6.40119691e-02 5.51381120e-02 4.43824997e+02] [-6.36977560e-02 9.97941509e-01 -7.43916076e-03 -5.78081284e+01] [-5.55008060e-02 3.90038981e-03 9.98451024e-01 -2.91663141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.78071405700007 meters 0.03756126953345709 Centerline is valid? [True, True] Translation: X:443.88, Y:-57.81, Z:-29.17 [[ 9.95404000e-01 7.50889138e-02 5.94351108e-02 4.43884674e+02] [-7.47433159e-02 9.97170557e-01 -8.01981101e-03 -5.78083515e+01] [-5.98691414e-02 3.54057470e-03 9.98199955e-01 -2.91653397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.84071405700007 meters 0.036105874772660446 Centerline is valid? [True, True] Translation: X:443.94, Y:-57.82, Z:-29.17 [[ 9.94932106e-01 8.11306986e-02 5.93962432e-02 4.43943087e+02] [-8.07963315e-02 9.96698418e-01 -8.01354727e-03 -5.78150825e+01] [-5.98502863e-02 3.17393691e-03 9.98202319e-01 -2.91687910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9007140570001 meters 0.03724645954239692 Centerline is valid? [True, True] Translation: X:444.00, Y:-57.83, Z:-29.18 [[ 9.95029400e-01 8.22294401e-02 5.61677119e-02 4.43999208e+02] [-8.19323334e-02 9.96609099e-01 -7.57601945e-03 -5.78279452e+01] [-5.66002246e-02 2.93641038e-03 9.98392604e-01 -2.91757134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9607140570001 meters 0.03349678275167752 Centerline is valid? [True, True] Translation: X:444.06, Y:-57.83, Z:-29.18 [[ 9.95266761e-01 8.15045401e-02 5.29252808e-02 4.44057696e+02] [-8.12399915e-02 9.96669035e-01 -7.13436173e-03 -5.78323737e+01] [-5.33304714e-02 2.80094372e-03 9.98572990e-01 -2.91801385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0207140570001 meters 0.03413955537160932 Centerline is valid? [True, True] Translation: X:444.12, Y:-57.84, Z:-29.18 [[ 9.95286293e-01 8.15706696e-02 5.24539930e-02 4.44115599e+02] [-8.13111053e-02 9.96663715e-01 -7.06710689e-03 -5.78433141e+01] [-5.28554602e-02 2.76870247e-03 9.98598335e-01 -2.91847356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0807140570001 meters 0.031727277777533584 Centerline is valid? [True, True] Translation: X:444.17, Y:-57.85, Z:-29.19 [[ 9.95095576e-01 8.38963207e-02 5.24042236e-02 4.44174577e+02] [-8.36406799e-02 9.96470996e-01 -7.05629654e-03 -5.78496832e+01] [-5.28112862e-02 2.63856458e-03 9.98601024e-01 -2.91875980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1407140570001 meters 0.030612412718140195 Centerline is valid? [True, True] Translation: X:444.23, Y:-57.86, Z:-29.19 [[ 9.94747022e-01 8.79333636e-02 5.24031167e-02 4.44234206e+02] [-8.76834285e-02 9.96123415e-01 -7.05402913e-03 -5.78573345e+01] [-5.28202560e-02 2.42208953e-03 9.98601099e-01 -2.91914202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.2007140570001 meters 0.02843337434704477 Centerline is valid? [True, True] Translation: X:444.29, Y:-57.86, Z:-29.19 [[ 9.94191334e-01 9.31430250e-02 5.39255794e-02 4.44294351e+02] [-9.28860377e-02 9.95650293e-01 -7.25789915e-03 -5.78647532e+01] [-5.43670416e-02 2.20680705e-03 9.98518580e-01 -2.91935939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26071405700003 meters 0.02807603732907589 Centerline is valid? [True, True] Translation: X:444.35, Y:-57.88, Z:-29.19 [[ 9.93915844e-01 9.45638079e-02 5.64710624e-02 4.44352419e+02] [-9.42842612e-02 9.95516306e-01 -7.60020421e-03 -5.78766198e+01] [-5.69365677e-02 2.22963099e-03 9.98375308e-01 -2.91949935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32071405700003 meters 0.028834899850931503 Centerline is valid? [True, True] Translation: X:444.41, Y:-57.89, Z:-29.20 [[ 9.94059299e-01 9.31049177e-02 5.63700693e-02 4.44410052e+02] [-9.28242646e-02 9.95653635e-01 -7.58250717e-03 -5.78889037e+01] [-5.68310332e-02 2.30495153e-03 9.98381150e-01 -2.91982133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.38071405700003 meters 0.029919230975355593 Centerline is valid? [True, True] Translation: X:444.47, Y:-57.91, Z:-29.20 [[ 9.94425733e-01 9.03365509e-02 5.43761769e-02 4.44467637e+02] [-9.00715211e-02 9.95908471e-01 -7.31014639e-03 -5.79061428e+01] [-5.48140686e-02 2.37165272e-03 9.98493762e-01 -2.92045802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.44071405700004 meters 0.028983607971549218 Centerline is valid? [True, True] Translation: X:444.53, Y:-57.92, Z:-29.21 [[ 9.94544910e-01 8.98557500e-02 5.29751391e-02 4.44525299e+02] [-8.96036123e-02 9.95952054e-01 -7.12036337e-03 -5.79191967e+01] [-5.34005042e-02 2.33475732e-03 9.98570446e-01 -2.92090521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.50071405700004 meters 0.030208066587216732 Centerline is valid? [True, True] Translation: X:444.58, Y:-57.93, Z:-29.21 [[ 9.94544810e-01 8.95973250e-02 5.34129219e-02 4.44580988e+02] [-8.93408111e-02 9.95975265e-01 -7.17578185e-03 -5.79327122e+01] [-5.38408799e-02 2.36468283e-03 9.98546728e-01 -2.92119460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.56071405700004 meters 0.02974418244471424 Centerline is valid? [True, True] Translation: X:444.64, Y:-57.95, Z:-29.22 [[ 9.94422197e-01 9.00185022e-02 5.49651196e-02 4.44638731e+02] [-8.97479174e-02 9.95937196e-01 -7.37656030e-03 -5.79465294e+01] [-5.54058340e-02 2.40241028e-03 9.98461027e-01 -2.92156225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.62071405700004 meters 0.02982042606513296 Centerline is valid? [True, True] Translation: X:444.70, Y:-57.96, Z:-29.22 [[ 9.94356075e-01 9.14384263e-02 5.38053087e-02 4.44695254e+02] [-9.11814225e-02 9.95808144e-01 -7.21728348e-03 -5.79591447e+01] [-5.42397016e-02 2.27050508e-03 9.98525363e-01 -2.92211221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.68071405700005 meters 0.028404035951075407 Centerline is valid? [True, True] Translation: X:444.75, Y:-57.97, Z:-29.22 [[ 9.94096793e-01 9.42434976e-02 5.37562103e-02 4.44752877e+02] [-9.39913199e-02 9.95546939e-01 -7.20578959e-03 -5.79701622e+01] [-5.41959295e-02 2.11063515e-03 9.98528090e-01 -2.92249293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.74071405700005 meters 0.029338921441615682 Centerline is valid? [True, True] Translation: X:444.81, Y:-57.98, Z:-29.23 [[ 9.93952963e-01 9.41427580e-02 5.65212198e-02 4.44810331e+02] [-9.38640208e-02 9.95556230e-01 -7.57215947e-03 -5.79839913e+01] [-5.69829165e-02 2.22106139e-03 9.98372683e-01 -2.92264599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.80071405700005 meters 0.029618165649118507 Centerline is valid? [True, True] Translation: X:444.87, Y:-58.00, Z:-29.23 [[ 9.94303903e-01 8.96311426e-02 5.76715409e-02 4.44868440e+02] [-8.93336197e-02 9.95971826e-01 -7.72176470e-03 -5.80000910e+01] [-5.81313405e-02 2.52577328e-03 9.98305749e-01 -2.92301732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.86071405700005 meters 0.03173537961363257 Centerline is valid? [True, True] Translation: X:444.93, Y:-58.02, Z:-29.24 [[ 9.95123769e-01 8.07424463e-02 5.66510600e-02 4.44926517e+02] [-8.04410708e-02 9.96730514e-01 -7.58394499e-03 -5.80186619e+01] [-5.70781864e-02 2.98989199e-03 9.98365234e-01 -2.92353413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.92071405700005 meters 0.03667236338846639 Centerline is valid? [True, True] Translation: X:444.98, Y:-58.04, Z:-29.24 [[ 9.96100387e-01 6.92387844e-02 5.46809913e-02 4.44982933e+02] [-6.89408226e-02 9.97593903e-01 -7.31898014e-03 -5.80401568e+01] [-5.50561808e-02 3.52068642e-03 9.98477051e-01 -2.92411824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.98071405700006 meters 0.0396131142297008 Centerline is valid? [True, True] Translation: X:445.04, Y:-58.06, Z:-29.25 [[ 9.96812165e-01 5.87877224e-02 5.39398880e-02 4.45041734e+02] [-5.84824926e-02 9.98262317e-01 -7.22114748e-03 -5.80562041e+01] [-5.42706723e-02 4.04358855e-03 9.98518074e-01 -2.92450195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.04071405700006 meters 0.043622111135507007 Centerline is valid? [True, True] Translation: X:445.10, Y:-58.07, Z:-29.25 [[ 9.97175405e-01 5.23559840e-02 5.38522317e-02 4.45101120e+02] [-5.20424532e-02 9.98618853e-01 -7.20895608e-03 -5.80711054e+01] [-5.41552858e-02 4.38599145e-03 9.98522893e-01 -2.92479101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.10071405700006 meters 0.04443171326145558 Centerline is valid? [True, True] Translation: X:445.16, Y:-58.08, Z:-29.25 [[ 9.97252125e-01 4.99814361e-02 5.46813915e-02 4.45161985e+02] [-4.96546343e-02 9.98739625e-01 -7.31969565e-03 -5.80800965e+01] [-5.49783214e-02 4.58439754e-03 9.98477024e-01 -2.92503634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.16071405700006 meters 0.041648267751213 Centerline is valid? [True, True] Translation: X:445.23, Y:-58.08, Z:-29.25 [[ 9.97258307e-01 5.02088508e-02 5.43593699e-02 4.45225023e+02] [-4.98862607e-02 9.98728402e-01 -7.27597522e-03 -5.80818342e+01] [-5.46555650e-02 4.54424103e-03 9.98494927e-01 -2.92544660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.22071405700007 meters 0.04264645329925875 Centerline is valid? [True, True] Translation: X:445.28, Y:-58.09, Z:-29.26 [[ 9.97022494e-01 5.31254921e-02 5.58912216e-02 4.45284571e+02] [-5.27878624e-02 9.98577577e-01 -7.50097981e-03 -5.80875758e+01] [-5.62102139e-02 4.52826747e-03 9.98408687e-01 -2.92578201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.28071405700007 meters 0.04159186690310336 Centerline is valid? [True, True] Translation: X:445.35, Y:-58.09, Z:-29.26 [[ 9.96718705e-01 5.70916893e-02 5.73791158e-02 4.45345472e+02] [-5.67423723e-02 9.98359159e-01 -7.70013719e-03 -5.80895747e+01] [-5.77245797e-02 4.41904361e-03 9.98322766e-01 -2.92601064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.34071405700007 meters 0.043618647914508285 Centerline is valid? [True, True] Translation: X:445.41, Y:-58.10, Z:-29.27 [[ 9.96617528e-01 5.84480335e-02 5.77696364e-02 4.45405833e+02] [-5.80962151e-02 9.98280888e-01 -7.75231722e-03 -5.80957444e+01] [-5.81234317e-02 4.36989799e-03 9.98299840e-01 -2.92652595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4007140570001 meters 0.04093465094270147 Centerline is valid? [True, True] Translation: X:445.47, Y:-58.10, Z:-29.27 [[ 9.96834648e-01 5.66455705e-02 5.57849835e-02 4.45467259e+02] [-5.63146212e-02 9.98384992e-01 -7.48807000e-03 -5.80957950e+01] [-5.61190563e-02 4.32285741e-03 9.98414726e-01 -2.92706961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4607140570001 meters 0.04131335146073385 Centerline is valid? [True, True] Translation: X:445.53, Y:-58.10, Z:-29.27 [[ 9.96991461e-01 5.44994363e-02 5.51165857e-02 4.45528431e+02] [-5.41730772e-02 9.98504146e-01 -7.39918329e-03 -5.81012260e+01] [-5.54373906e-02 4.39108751e-03 9.98452510e-01 -2.92749997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5207140570001 meters 0.04358854519350201 Centerline is valid? [True, True] Translation: X:445.59, Y:-58.10, Z:-29.28 [[ 9.97124160e-01 5.37015096e-02 5.34748284e-02 4.45590745e+02] [-5.33931064e-02 9.98547755e-01 -7.18030249e-03 -5.81036531e+01] [-5.37827630e-02 4.30446589e-03 9.98543382e-01 -2.92792909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5807140570001 meters 0.043607311919904766 Centerline is valid? [True, True] Translation: X:445.65, Y:-58.11, Z:-29.28 [[ 9.97105918e-01 5.46325319e-02 5.28684748e-02 4.45652734e+02] [-5.43322967e-02 9.98497663e-01 -7.10065598e-03 -5.81056266e+01] [-5.31769753e-02 4.20764044e-03 9.98576239e-01 -2.92834588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6407140570001 meters 0.04542467069054222 Centerline is valid? [True, True] Translation: X:445.71, Y:-58.11, Z:-29.29 [[ 9.97085576e-01 5.56712526e-02 5.21638445e-02 4.45714043e+02] [-5.53796904e-02 9.98440694e-01 -7.01929923e-03 -5.81081649e+01] [-5.24732783e-02 4.11002446e-03 9.98613871e-01 -2.92891129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.7007140570001 meters 0.047507759668896206 Centerline is valid? [True, True] Translation: X:445.77, Y:-58.11, Z:-29.29 [[ 9.97178892e-01 5.31007090e-02 5.30525417e-02 4.45774954e+02] [-5.27947155e-02 9.98579763e-01 -7.15361516e-03 -5.81143571e+01] [-5.33570566e-02 4.33254019e-03 9.98566099e-01 -2.92926361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76071405700003 meters 0.05110793993258618 Centerline is valid? [True, True] Translation: X:445.83, Y:-58.12, Z:-29.29 [[ 9.97260207e-01 4.93637081e-02 5.50935897e-02 4.45834263e+02] [-4.90278876e-02 9.98769764e-01 -7.43131423e-03 -5.81226799e+01] [-5.53926489e-02 4.70983165e-03 9.98453540e-01 -2.92949674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82071405700003 meters 0.0540177113854424 Centerline is valid? [True, True] Translation: X:445.90, Y:-58.13, Z:-29.30 [[ 9.97365044e-01 4.70093979e-02 5.52547326e-02 4.45895157e+02] [-4.66680930e-02 9.98882656e-01 -7.45180581e-03 -5.81291850e+01] [-5.55432989e-02 4.85353763e-03 9.98444483e-01 -2.92985937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.88071405700003 meters 0.047590070435169426 Centerline is valid? [True, True] Translation: X:445.96, Y:-58.12, Z:-29.30 [[ 9.97389076e-01 4.68785440e-02 5.49311628e-02 4.45958357e+02] [-4.65410420e-02 9.98888909e-01 -7.40801413e-03 -5.81234627e+01] [-5.52174062e-02 4.83211881e-03 9.98462663e-01 -2.93027259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.94071405700004 meters 0.04710627515159972 Centerline is valid? [True, True] Translation: X:446.02, Y:-58.13, Z:-29.31 [[ 9.97284419e-01 5.00582539e-02 5.40181366e-02 4.46018326e+02] [-4.97356472e-02 9.98735732e-01 -7.30089771e-03 -5.81269746e+01] [-5.43153134e-02 4.59444455e-03 9.98513264e-01 -2.93081817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.00071405700004 meters 0.043898786633141965 Centerline is valid? [True, True] Translation: X:446.08, Y:-58.13, Z:-29.31 [[ 9.97140020e-01 5.42939622e-02 5.25732499e-02 4.46079076e+02] [-5.39942312e-02 9.98515964e-01 -7.10587952e-03 -5.81261952e+01] [-5.28810356e-02 4.24690463e-03 9.98591788e-01 -2.93125997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.06071405700004 meters 0.04303131645869269 Centerline is valid? [True, True] Translation: X:446.14, Y:-58.13, Z:-29.32 [[ 9.96840960e-01 6.02249241e-02 5.17789410e-02 4.46138357e+02] [-5.99421266e-02 9.98177319e-01 -6.99871788e-03 -5.81296711e+01] [-5.21060617e-02 3.87286882e-03 9.98634047e-01 -2.93164087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.12071405700004 meters 0.03575286877004303 Centerline is valid? [True, True] Translation: X:446.20, Y:-58.12, Z:-29.32 [[ 9.96430588e-01 6.62442119e-02 5.23238726e-02 4.46200865e+02] [-6.59637433e-02 9.97796966e-01 -7.07100134e-03 -5.81236387e+01] [-5.26770142e-02 3.59428353e-03 9.98605134e-01 -2.93183494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.18071405700005 meters 0.03920521622971345 Centerline is valid? [True, True] Translation: X:446.26, Y:-58.13, Z:-29.32 [[ 9.96377446e-01 6.72084830e-02 5.21057025e-02 4.46258029e+02] [-6.69315996e-02 9.97732710e-01 -7.04271529e-03 -5.81345846e+01] [-5.24608940e-02 3.52968466e-03 9.98616741e-01 -2.93225118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.24071405700005 meters 0.037250306604274606 Centerline is valid? [True, True] Translation: X:446.32, Y:-58.14, Z:-29.33 [[ 9.96560700e-01 6.41523792e-02 5.24522952e-02 4.46318393e+02] [-6.38677742e-02 9.97933212e-01 -7.08598255e-03 -5.81393178e+01] [-5.27984701e-02 3.71160039e-03 9.98598290e-01 -2.93257359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.30071405700005 meters 0.04198628305201537 Centerline is valid? [True, True] Translation: X:446.38, Y:-58.15, Z:-29.33 [[ 9.97027562e-01 5.75781061e-02 5.11937771e-02 4.46376097e+02] [-5.72984152e-02 9.98333144e-01 -6.91553783e-03 -5.81533161e+01] [-5.15066281e-02 3.96165953e-03 9.98664795e-01 -2.93311351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.36071405700005 meters 0.045528395775705055 Centerline is valid? [True, True] Translation: X:446.44, Y:-58.16, Z:-29.34 [[ 9.97460792e-01 5.05875597e-02 5.01285171e-02 4.46435710e+02] [-5.03105298e-02 9.98710653e-01 -6.77366810e-03 -5.81644353e+01] [-5.04065474e-02 4.23447609e-03 9.98719805e-01 -2.93364113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.42071405700005 meters 0.04690143542234569 Centerline is valid? [True, True] Translation: X:446.50, Y:-58.17, Z:-29.34 [[ 9.97545076e-01 4.89000188e-02 5.01259431e-02 4.46496344e+02] [-4.86209189e-02 9.98794339e-01 -6.77301469e-03 -5.81735783e+01] [-5.03967088e-02 4.31921804e-03 9.98719939e-01 -2.93406214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.48071405700006 meters 0.049428891986734634 Centerline is valid? [True, True] Translation: X:446.56, Y:-58.18, Z:-29.34 [[ 9.97563855e-01 4.55810469e-02 5.28083712e-02 4.46556887e+02] [-4.52664983e-02 9.98949446e-01 -7.13786416e-03 -5.81784619e+01] [-5.30782445e-02 4.73002524e-03 9.98579154e-01 -2.93425757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.54071405700006 meters 0.0516104400288773 Centerline is valid? [True, True] Translation: X:446.62, Y:-58.18, Z:-29.35 [[ 9.97523717e-01 4.59959651e-02 5.32053106e-02 4.46618114e+02] [-4.56773190e-02 9.98930370e-01 -7.19021176e-03 -5.81842450e+01] [-5.34791213e-02 4.74213082e-03 9.98557708e-01 -2.93466764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.60071405700006 meters 0.053149906468519685 Centerline is valid? [True, True] Translation: X:446.68, Y:-58.19, Z:-29.35 [[ 9.97624739e-01 4.48932749e-02 5.22443623e-02 4.46678886e+02] [-4.45841027e-02 9.98980625e-01 -7.06885835e-03 -5.81903862e+01] [-5.25084499e-02 4.72279995e-03 9.98609312e-01 -2.93518311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.66071405700006 meters 0.04731218686983576 Centerline is valid? [True, True] Translation: X:446.74, Y:-58.19, Z:-29.36 [[ 9.97837437e-01 4.35503907e-02 4.92322431e-02 4.46740912e+02] [-4.32741823e-02 9.99041016e-01 -6.66285898e-03 -5.81874835e+01] [-4.94752003e-02 4.51796506e-03 9.98765134e-01 -2.93572816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.72071405700007 meters 0.056092373294926855 Centerline is valid? [True, True] Translation: X:446.80, Y:-58.21, Z:-29.36 [[ 9.97910399e-01 4.37421379e-02 4.75548289e-02 4.46799778e+02] [-4.34847428e-02 9.99033372e-01 -6.43422560e-03 -5.82056735e+01] [-4.77903079e-02 4.35287113e-03 9.98847906e-01 -2.93648295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.78071405700007 meters 0.04841658939354864 Centerline is valid? [True, True] Translation: X:446.86, Y:-58.20, Z:-29.37 [[ 9.97864473e-01 4.67196608e-02 4.56482992e-02 4.46862070e+02] [-4.64849533e-02 9.98899809e-01 -6.19030556e-03 -5.81986380e+01] [-4.58872864e-02 4.05512693e-03 9.98938393e-01 -2.93681371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.84071405700007 meters 0.054960434432424765 Centerline is valid? [True, True] Translation: X:446.92, Y:-58.21, Z:-29.37 [[ 9.97417200e-01 5.48710581e-02 4.63475604e-02 4.46920346e+02] [-5.46377317e-02 9.98486450e-01 -6.28716186e-03 -5.82094299e+01] [-4.66223942e-02 3.73859781e-03 9.98905589e-01 -2.93737865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9007140570001 meters 0.04128147306749989 Centerline is valid? [True, True] Translation: X:446.98, Y:-58.19, Z:-29.37 [[ 9.96567803e-01 6.67382632e-02 4.89757004e-02 4.46984253e+02] [-6.64919980e-02 9.97764849e-01 -6.64224971e-03 -5.81901132e+01] [-4.93095246e-02 3.36296003e-03 9.98777884e-01 -2.93707736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9607140570001 meters 0.03375911696345694 Centerline is valid? [True, True] Translation: X:447.05, Y:-58.18, Z:-29.37 [[ 9.95454496e-01 7.96193595e-02 5.22599641e-02 4.47046581e+02] [-7.93565610e-02 9.96821096e-01 -7.08786946e-03 -5.81808972e+01] [-5.26581664e-02 2.90848049e-03 9.98608361e-01 -2.93701238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0207140570001 meters 0.030922487372684014 Centerline is valid? [True, True] Translation: X:447.11, Y:-58.18, Z:-29.37 [[ 9.94506467e-01 8.98061370e-02 5.37749534e-02 4.47107463e+02] [-8.95427034e-02 9.95956281e-01 -7.29314681e-03 -5.81811004e+01] [-5.42124720e-02 2.43792696e-03 9.98526447e-01 -2.93737560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0807140570001 meters 0.03004682813499661 Centerline is valid? [True, True] Translation: X:447.17, Y:-58.19, Z:-29.38 [[ 9.94033356e-01 9.50991164e-02 5.34214028e-02 4.47167019e+02] [-9.48467631e-02 9.95465519e-01 -7.24512997e-03 -5.81872818e+01] [-5.38681700e-02 2.13505371e-03 9.98545774e-01 -2.93790124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1407140570001 meters 0.02888954539162802 Centerline is valid? [True, True] Translation: X:447.23, Y:-58.19, Z:-29.38 [[ 9.93871411e-01 9.78795226e-02 5.13733232e-02 4.47225616e+02] [-9.76498259e-02 9.95196440e-01 -6.96825254e-03 -5.81932739e+01] [-5.18085976e-02 1.90895092e-03 9.98655208e-01 -2.93835631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.2007140570001 meters 0.028966836670390177 Centerline is valid? [True, True] Translation: X:447.28, Y:-58.21, Z:-29.39 [[ 9.93783606e-01 9.87144237e-02 5.14743381e-02 4.47283561e+02] [-9.84855723e-02 9.95114071e-01 -6.96978076e-03 -5.82050937e+01] [-5.19108561e-02 1.85697421e-03 9.98649996e-01 -2.93894659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26071405700003 meters 0.028980880183598443 Centerline is valid? [True, True] Translation: X:447.34, Y:-58.22, Z:-29.39 [[ 9.93684733e-01 9.92054678e-02 5.24302004e-02 4.47341719e+02] [-9.89694339e-02 9.95065247e-01 -7.08556957e-03 -5.82163104e+01] [-5.28743976e-02 1.85183506e-03 9.98599454e-01 -2.93931863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32071405700003 meters 0.02750980052863754 Centerline is valid? [True, True] Translation: X:447.40, Y:-58.22, Z:-29.40 [[ 9.93338260e-01 1.02454600e-01 5.27461454e-02 4.47400038e+02] [-1.02220598e-01 9.94736258e-01 -7.12231388e-03 -5.82244221e+01] [-5.31982171e-02 1.68312437e-03 9.98582554e-01 -2.93968767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.38071405700003 meters 0.02607934416777648 Centerline is valid? [True, True] Translation: X:447.46, Y:-58.23, Z:-29.40 [[ 9.92573996e-01 1.09871814e-01 5.22019734e-02 4.47459391e+02] [-1.09653627e-01 9.93944969e-01 -7.03418009e-03 -5.82324411e+01] [-5.26587470e-02 1.25780852e-03 9.98611774e-01 -2.94020407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.44071405700004 meters 0.02577847663524345 Centerline is valid? [True, True] Translation: X:447.52, Y:-58.24, Z:-29.41 [[ 9.92070227e-01 1.13788686e-01 5.33741483e-02 4.47517355e+02] [-1.13566263e-01 9.93504395e-01 -7.19171684e-03 -5.82426747e+01] [-5.38457869e-02 1.07318561e-03 9.98548687e-01 -2.94059604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.50071405700004 meters 0.02604933342337007 Centerline is valid? [True, True] Translation: X:447.57, Y:-58.27, Z:-29.41 [[ 9.91761214e-01 1.14996557e-01 5.64401083e-02 4.47572187e+02] [-1.14750014e-01 9.93365323e-01 -7.60059362e-03 -5.82653587e+01] [-5.69396885e-02 1.06147072e-03 9.98377056e-01 -2.94088944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.56071405700004 meters 0.025255502003075723 Centerline is valid? [True, True] Translation: X:447.63, Y:-58.28, Z:-29.41 [[ 9.92037932e-01 1.12326478e-01 5.69517631e-02 4.47628967e+02] [-1.12071320e-01 9.93670605e-01 -7.66470689e-03 -5.82793415e+01] [-5.74522425e-02 1.22102068e-03 9.98347509e-01 -2.94122286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.62071405700004 meters 0.025587812094676445 Centerline is valid? [True, True] Translation: X:447.69, Y:-58.30, Z:-29.42 [[ 9.92684832e-01 1.07556263e-01 5.48495670e-02 4.47685244e+02] [-1.07312769e-01 9.94197965e-01 -7.37397156e-03 -5.83022852e+01] [-5.53244448e-02 1.43397078e-03 9.98467400e-01 -2.94184861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.68071405700005 meters 0.025871200523883222 Centerline is valid? [True, True] Translation: X:447.74, Y:-58.32, Z:-29.42 [[ 9.93283851e-01 1.03387718e-01 5.19439204e-02 4.47742755e+02] [-1.03163817e-01 9.94639884e-01 -6.98048948e-03 -5.83227866e+01] [-5.23871919e-02 1.57487436e-03 9.98625606e-01 -2.94234684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.74071405700005 meters 0.02655369780558718 Centerline is valid? [True, True] Translation: X:447.80, Y:-58.34, Z:-29.43 [[ 9.93641812e-01 1.00551909e-01 5.06484338e-02 4.47800101e+02] [-1.00335461e-01 9.94930396e-01 -6.80458440e-03 -5.83444522e+01] [-5.10758803e-02 1.67948561e-03 9.98693363e-01 -2.94282582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.80071405700005 meters 0.027383104404804855 Centerline is valid? [True, True] Translation: X:447.86, Y:-58.36, Z:-29.43 [[ 9.93764313e-01 9.91989931e-02 5.09121858e-02 4.47856761e+02] [-9.89785824e-02 9.95066065e-01 -6.83861539e-03 -5.83639144e+01] [-5.13393722e-02 1.75675595e-03 9.98679720e-01 -2.94325993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.86071405700005 meters 0.027652375949459667 Centerline is valid? [True, True] Translation: X:447.91, Y:-58.38, Z:-29.43 [[ 9.93796817e-01 9.79550467e-02 5.26563973e-02 4.47914160e+02] [-9.77177264e-02 9.95189065e-01 -7.06895847e-03 -5.83805667e+01] [-5.30955110e-02 1.87964499e-03 9.98587670e-01 -2.94346800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.92071405700005 meters 0.028303082067138535 Centerline is valid? [True, True] Translation: X:447.97, Y:-58.40, Z:-29.44 [[ 9.93986651e-01 9.46522938e-02 5.50588935e-02 4.47972246e+02] [-9.43879923e-02 9.95508081e-01 -7.38698082e-03 -5.83981879e+01] [-5.55107681e-02 2.14566191e-03 9.98455783e-01 -2.94368630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.98071405700006 meters 0.03051419792585289 Centerline is valid? [True, True] Translation: X:448.03, Y:-58.42, Z:-29.44 [[ 9.94728201e-01 8.57232491e-02 5.62790449e-02 4.48029942e+02] [-8.54329566e-02 9.96315328e-01 -7.54838437e-03 -5.84178467e+01] [-5.67187471e-02 2.70050560e-03 9.98386544e-01 -2.94399024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.04071405700006 meters 0.03420630119466025 Centerline is valid? [True, True] Translation: X:448.09, Y:-58.44, Z:-29.44 [[ 9.95825280e-01 7.23963764e-02 5.55947592e-02 4.48087430e+02] [-7.20924243e-02 9.97370086e-01 -7.45612658e-03 -5.84388829e+01] [-5.59883463e-02 3.41703836e-03 9.98425575e-01 -2.94448762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.10071405700006 meters 0.05238133041225972 Centerline is valid? [True, True] Translation: X:448.14, Y:-58.48, Z:-29.46 [[ 9.96705732e-01 6.19808780e-02 5.23073033e-02 4.48142172e+02] [-6.16975755e-02 9.98070237e-01 -7.01512648e-03 -5.84779021e+01] [-5.26411663e-02 3.76478298e-03 9.98606396e-01 -2.94552112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.16071405700006 meters 0.05672634939567131 Centerline is valid? [True, True] Translation: X:448.20, Y:-58.49, Z:-29.46 [[ 9.97112281e-01 5.61760375e-02 5.11013831e-02 4.48200435e+02] [-5.58981059e-02 9.98412960e-01 -6.85296478e-03 -5.84944278e+01] [-5.14052555e-02 3.97670483e-03 9.98669958e-01 -2.94600758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.22071405700007 meters 0.045636767530038855 Centerline is valid? [True, True] Translation: X:448.26, Y:-58.49, Z:-29.46 [[ 9.97159630e-01 5.63073457e-02 5.00215423e-02 4.48264543e+02] [-5.60413810e-02 9.98405934e-01 -6.70481722e-03 -5.84880766e+01] [-5.03193351e-02 3.88249675e-03 9.98725633e-01 -2.94614247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.28071405700007 meters 0.03914219687861303 Centerline is valid? [True, True] Translation: X:448.33, Y:-58.49, Z:-29.46 [[ 9.96987027e-01 5.93863298e-02 4.99012198e-02 4.48326829e+02] [-5.91246993e-02 9.98228092e-01 -6.70413444e-03 -5.84855047e+01] [-5.02109333e-02 3.73354046e-03 9.98731657e-01 -2.94629185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.34071405700007 meters 0.03964446090250701 Centerline is valid? [True, True] Translation: X:448.39, Y:-58.49, Z:-29.47 [[ 9.96914799e-01 6.04871449e-02 5.00218765e-02 4.48388406e+02] [-6.02257456e-02 9.98162176e-01 -6.71792147e-03 -5.84933141e+01] [-5.03362929e-02 3.68459052e-03 9.98725529e-01 -2.94671597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4007140570001 meters 0.03961272223839067 Centerline is valid? [True, True] Translation: X:448.45, Y:-58.50, Z:-29.47 [[ 9.96713535e-01 6.29169240e-02 5.10253846e-02 4.48449076e+02] [-6.26472340e-02 9.98012093e-01 -6.86922623e-03 -5.84993051e+01] [-5.13561414e-02 3.65005155e-03 9.98673732e-01 -2.94692215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4607140570001 meters 0.041051919617192456 Centerline is valid? [True, True] Translation: X:448.51, Y:-58.51, Z:-29.47 [[ 9.96723249e-01 6.16375966e-02 5.23791157e-02 4.48510860e+02] [-6.13516150e-02 9.98091304e-01 -7.05182054e-03 -5.85080411e+01] [-5.27137972e-02 3.81517013e-03 9.98602373e-01 -2.94724020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5207140570001 meters 0.0406672824469324 Centerline is valid? [True, True] Translation: X:448.57, Y:-58.51, Z:-29.48 [[ 9.96935853e-01 5.78384184e-02 5.26651934e-02 4.48571341e+02] [-5.75437880e-02 9.98317772e-01 -7.09492574e-03 -5.85143580e+01] [-5.29869578e-02 4.04263112e-03 9.98587021e-01 -2.94756438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5807140570001 meters 0.04175072352809106 Centerline is valid? [True, True] Translation: X:448.63, Y:-58.52, Z:-29.48 [[ 9.97286675e-01 5.33498269e-02 5.07255756e-02 4.48632185e+02] [-5.30707659e-02 9.98567373e-01 -6.83341297e-03 -5.85207432e+01] [-5.10174662e-02 4.12282654e-03 9.98689251e-01 -2.94795825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6407140570001 meters 0.04386370226102931 Centerline is valid? [True, True] Translation: X:448.69, Y:-58.53, Z:-29.48 [[ 9.97416831e-01 5.16428157e-02 4.99267930e-02 4.48692770e+02] [-5.13702701e-02 9.98657015e-01 -6.72761269e-03 -5.85275680e+01] [-5.02071750e-02 4.14548129e-03 9.98730221e-01 -2.94835538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.7007140570001 meters 0.045542629093609656 Centerline is valid? [True, True] Translation: X:448.75, Y:-58.53, Z:-29.49 [[ 9.97379920e-01 5.23604713e-02 4.99166943e-02 4.48754774e+02] [-5.20890484e-02 9.98619808e-01 -6.72385846e-03 -5.85335882e+01] [-5.01998641e-02 4.10612830e-03 9.98730751e-01 -2.94878555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76071405700003 meters 0.04626710098134797 Centerline is valid? [True, True] Translation: X:448.82, Y:-58.54, Z:-29.49 [[ 9.97366372e-01 5.32374236e-02 4.92554292e-02 4.48817042e+02] [-5.29736087e-02 9.98573790e-01 -6.64698269e-03 -5.85373909e+01] [-4.95390488e-02 4.02023918e-03 9.98764096e-01 -2.94914597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82071405700003 meters 0.047885986374472916 Centerline is valid? [True, True] Translation: X:448.88, Y:-58.54, Z:-29.50 [[ 9.97403913e-01 5.39245457e-02 4.77239664e-02 4.48878604e+02] [-5.36771301e-02 9.98537501e-01 -6.45171577e-03 -5.85444601e+01] [-4.80020760e-02 3.87328100e-03 9.98839726e-01 -2.94980219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.88071405700003 meters 0.04909672692038117 Centerline is valid? [True, True] Translation: X:448.94, Y:-58.55, Z:-29.50 [[ 9.97495962e-01 5.29469594e-02 4.68873624e-02 4.48939769e+02] [-5.27065377e-02 9.98589855e-01 -6.35006919e-03 -5.85507799e+01] [-4.71574613e-02 3.86289784e-03 9.98879999e-01 -2.95021488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.94071405700004 meters 0.04843922517924939 Centerline is valid? [True, True] Translation: X:449.00, Y:-58.56, Z:-29.51 [[ 9.97645671e-01 5.00319544e-02 4.69032867e-02 4.49000256e+02] [-4.97874919e-02 9.98739542e-01 -6.36662040e-03 -5.85559446e+01] [-4.71627015e-02 4.01643428e-03 9.98879146e-01 -2.95058969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.00071405700004 meters 0.0557241061698613 Centerline is valid? [True, True] Translation: X:449.06, Y:-58.57, Z:-29.51 [[ 9.97777837e-01 4.81663321e-02 4.60368696e-02 4.49058791e+02] [-4.79288768e-02 9.98831206e-01 -6.24856921e-03 -5.85714723e+01] [-4.62840327e-02 4.02818841e-03 9.98920198e-01 -2.95124754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.06071405700004 meters 0.05769420775391373 Centerline is valid? [True, True] Translation: X:449.12, Y:-58.58, Z:-29.51 [[ 9.97784389e-01 4.77493805e-02 4.63282771e-02 4.49121175e+02] [-4.75085360e-02 9.98851049e-01 -6.28651181e-03 -5.85773828e+01] [-4.65752253e-02 4.07159472e-03 9.98906487e-01 -2.95146419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.12071405700004 meters 0.05881116995911425 Centerline is valid? [True, True] Translation: X:449.18, Y:-58.58, Z:-29.52 [[ 9.97670473e-01 4.92559721e-02 4.71961573e-02 4.49181350e+02] [-4.90069897e-02 9.98777810e-01 -6.41885760e-03 -5.85839555e+01] [-4.74546417e-02 4.09096310e-03 9.98865016e-01 -2.95172678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.18071405700005 meters 0.04270483944636001 Centerline is valid? [True, True] Translation: X:449.25, Y:-58.56, Z:-29.52 [[ 9.97522229e-01 5.29665495e-02 4.63027837e-02 4.49245229e+02] [-5.27307858e-02 9.98588896e-01 -6.29934577e-03 -5.85645342e+01] [-4.65711003e-02 3.84215527e-03 9.98907589e-01 -2.95163381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.24071405700005 meters 0.040764481772303046 Centerline is valid? [True, True] Translation: X:449.31, Y:-58.57, Z:-29.52 [[ 9.97302528e-01 5.71734350e-02 4.60311394e-02 4.49305760e+02] [-5.69448763e-02 9.98357683e-01 -6.26247855e-03 -5.85664157e+01] [-4.63135891e-02 3.62434815e-03 9.98920375e-01 -2.95186834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.30071405700005 meters 0.0414236525622374 Centerline is valid? [True, True] Translation: X:449.37, Y:-58.57, Z:-29.52 [[ 9.96999720e-01 6.34240956e-02 4.43727728e-02 4.49365311e+02] [-6.32178714e-02 9.97981491e-01 -6.03688774e-03 -5.85706983e+01] [-4.46660901e-02 3.21362314e-03 9.98996803e-01 -2.95228122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.36071405700005 meters 0.03647105014030246 Centerline is valid? [True, True] Translation: X:449.43, Y:-58.57, Z:-29.53 [[ 9.96591016e-01 7.08788035e-02 4.22201602e-02 4.49427008e+02] [-7.06987743e-02 9.97481173e-01 -5.74391006e-03 -5.85661712e+01] [-4.25209364e-02 2.73941558e-03 9.99091820e-01 -2.95260241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.42071405700005 meters 0.03306842088273217 Centerline is valid? [True, True] Translation: X:449.49, Y:-58.57, Z:-29.53 [[ 9.95982457e-01 7.90991949e-02 4.19793148e-02 4.49488440e+02] [-7.89284919e-02 9.96863922e-01 -5.71091672e-03 -5.85651232e+01] [-4.22993933e-02 2.37460885e-03 9.99102158e-01 -2.95299869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.48071405700006 meters 0.03126706988690488 Centerline is valid? [True, True] Translation: X:449.55, Y:-58.57, Z:-29.53 [[ 9.95378832e-01 8.56656458e-02 4.33863736e-02 4.49549295e+02] [-8.54895031e-02 9.96321587e-01 -5.90255343e-03 -5.85654745e+01] [-4.37324266e-02 2.16619722e-03 9.99040931e-01 -2.95314214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.54071405700006 meters 0.031106368494485198 Centerline is valid? [True, True] Translation: X:449.61, Y:-58.57, Z:-29.53 [[ 9.95235143e-01 8.64482625e-02 4.50966499e-02 4.49607781e+02] [-8.62587188e-02 9.96253875e-01 -6.13589103e-03 -5.85710458e+01] [-4.54581494e-02 2.21667515e-03 9.98963785e-01 -2.95337677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.60071405700006 meters 0.03612638779024766 Centerline is valid? [True, True] Translation: X:449.66, Y:-58.59, Z:-29.54 [[ 9.95507982e-01 8.26991079e-02 4.60946413e-02 4.49664751e+02] [-8.24972786e-02 9.96571584e-01 -6.26714129e-03 -5.85891350e+01] [-4.64548967e-02 2.43630671e-03 9.98917418e-01 -2.95399634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.66071405700006 meters 0.03446588839418343 Centerline is valid? [True, True] Translation: X:449.72, Y:-58.60, Z:-29.54 [[ 9.95949260e-01 7.60055407e-02 4.80440327e-02 4.49724263e+02] [-7.57785203e-02 9.97103280e-01 -6.53177391e-03 -5.85978873e+01] [-4.84013137e-02 2.86460968e-03 9.98823862e-01 -2.95409313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.72071405700007 meters 0.035888175085756306 Centerline is valid? [True, True] Translation: X:449.78, Y:-58.61, Z:-29.54 [[ 9.96408375e-01 6.96405519e-02 4.81720236e-02 4.49783292e+02] [-6.94049662e-02 9.97567077e-01 -6.54803962e-03 -5.86105980e+01] [-4.85108339e-02 3.18114385e-03 9.98817591e-01 -2.95448919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.78071405700007 meters 0.039546095702881284 Centerline is valid? [True, True] Translation: X:449.84, Y:-58.63, Z:-29.55 [[ 9.96855803e-01 6.37461672e-02 4.70630923e-02 4.49841296e+02] [-6.35147609e-02 9.97960393e-01 -6.39762629e-03 -5.86257550e+01] [-4.73749262e-02 3.38830984e-03 9.98871431e-01 -2.95506848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.84071405700007 meters 0.0430578609593366 Centerline is valid? [True, True] Translation: X:449.90, Y:-58.64, Z:-29.55 [[ 9.97089971e-01 5.95262295e-02 4.76258135e-02 4.49899874e+02] [-5.92844924e-02 9.98220137e-01 -6.47355151e-03 -5.86381119e+01] [-4.79263922e-02 3.63124110e-03 9.98844270e-01 -2.95541054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9007140570001 meters 0.04190739654717694 Centerline is valid? [True, True] Translation: X:449.96, Y:-58.64, Z:-29.56 [[ 9.97203707e-01 5.79054687e-02 4.72411130e-02 4.49960166e+02] [-5.76658732e-02 9.98315296e-01 -6.42009913e-03 -5.86424320e+01] [-4.75332846e-02 3.67794662e-03 9.98862883e-01 -2.95578749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9607140570001 meters 0.044447977817407384 Centerline is valid? [True, True] Translation: X:450.02, Y:-58.65, Z:-29.56 [[ 9.97246176e-01 5.74447144e-02 4.69059519e-02 4.50018243e+02] [-5.72080469e-02 9.98341934e-01 -6.37363153e-03 -5.86514075e+01] [-4.71943102e-02 3.67268178e-03 9.98878976e-01 -2.95633623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0207140570001 meters 0.042356973229044935 Centerline is valid? [True, True] Translation: X:450.08, Y:-58.65, Z:-29.56 [[ 9.97086145e-01 5.81774508e-02 4.93417088e-02 4.50078682e+02] [-5.79162242e-02 9.98298905e-01 -6.70874140e-03 -5.86518580e+01] [-4.96480713e-02 3.83150763e-03 9.98759425e-01 -2.95634009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0807140570001 meters 0.039946310827750915 Centerline is valid? [True, True] Translation: X:450.14, Y:-58.65, Z:-29.57 [[ 9.96966090e-01 5.84922993e-02 5.13543299e-02 4.50139291e+02] [-5.82098172e-02 9.98279966e-01 -6.98045702e-03 -5.86513640e+01] [-5.16743017e-02 3.96995278e-03 9.98656100e-01 -2.95651134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1407140570001 meters 0.04011235723501212 Centerline is valid? [True, True] Translation: X:450.20, Y:-58.66, Z:-29.57 [[ 9.97087747e-01 5.72434406e-02 5.03906061e-02 4.50199443e+02] [-5.69700067e-02 9.98352410e-01 -6.84713465e-03 -5.86562248e+01] [-5.06995366e-02 3.95644089e-03 9.98706115e-01 -2.95703846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.2007140570001 meters 0.043257046512419045 Centerline is valid? [True, True] Translation: X:450.26, Y:-58.67, Z:-29.58 [[ 9.97347204e-01 5.45288635e-02 4.82198855e-02 4.50258106e+02] [-5.42753415e-02 9.98504508e-01 -6.55239760e-03 -5.86652043e+01] [-4.85050679e-02 3.91786467e-03 9.98815253e-01 -2.95764434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26071405700003 meters 0.04572293700723585 Centerline is valid? [True, True] Translation: X:450.32, Y:-58.67, Z:-29.58 [[ 9.97551269e-01 5.15368057e-02 4.72802628e-02 4.50317358e+02] [-5.12897844e-02 9.98663153e-01 -6.42380751e-03 -5.86738770e+01] [-4.75481188e-02 3.98308285e-03 9.98861007e-01 -2.95812827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32071405700003 meters 0.047793647446482054 Centerline is valid? [True, True] Translation: X:450.38, Y:-58.68, Z:-29.59 [[ 9.97769728e-01 4.87137822e-02 4.56348213e-02 4.50377837e+02] [-4.84807395e-02 9.98804873e-01 -6.20028036e-03 -5.86802237e+01] [-4.58823210e-02 3.97404217e-03 9.98938947e-01 -2.95856532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.38071405700003 meters 0.0448200414493546 Centerline is valid? [True, True] Translation: X:450.44, Y:-58.68, Z:-29.59 [[ 9.97674818e-01 4.95070000e-02 4.68403087e-02 4.50439447e+02] [-4.92623421e-02 9.98765599e-01 -6.36396856e-03 -5.86806782e+01] [-4.70975500e-02 4.04170786e-03 9.98882118e-01 -2.95875855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.44071405700004 meters 0.04523940229128096 Centerline is valid? [True, True] Translation: X:450.50, Y:-58.68, Z:-29.59 [[ 9.97407128e-01 5.27518082e-02 4.89516919e-02 4.50500548e+02] [-5.24883882e-02 9.98599379e-01 -6.65207710e-03 -5.86832685e+01] [-4.92340382e-02 4.06543370e-03 9.98778995e-01 -2.95886500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.50071405700004 meters 0.04562660227658602 Centerline is valid? [True, True] Translation: X:450.56, Y:-58.69, Z:-29.59 [[ 9.97040522e-01 5.72239433e-02 5.13382617e-02 4.50560340e+02] [-5.69400677e-02 9.98353224e-01 -6.97634534e-03 -5.86879674e+01] [-5.16529330e-02 4.03249490e-03 9.98656955e-01 -2.95906130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.56071405700004 meters 0.045969405000758565 Centerline is valid? [True, True] Translation: X:450.62, Y:-58.69, Z:-29.60 [[ 9.96844683e-01 6.04496948e-02 5.14442605e-02 4.50620569e+02] [-6.01689191e-02 9.98163730e-01 -6.99059052e-03 -5.86942283e+01] [-5.17723740e-02 3.87318745e-03 9.98651401e-01 -2.95965524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.62071405700004 meters 0.039851446309092285 Centerline is valid? [True, True] Translation: X:450.68, Y:-58.69, Z:-29.60 [[ 9.96899799e-01 6.12703508e-02 4.93632858e-02 4.50680227e+02] [-6.10128104e-02 9.98114438e-01 -6.70869608e-03 -5.86895158e+01] [-4.96812524e-02 3.67610498e-03 9.98758359e-01 -2.95991118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.68071405700005 meters 0.04876528456906523 Centerline is valid? [True, True] Translation: X:450.74, Y:-58.71, Z:-29.61 [[ 9.97101702e-01 5.97080470e-02 4.71502318e-02 4.50736360e+02] [-5.94715381e-02 9.98209457e-01 -6.40432208e-03 -5.87092757e+01] [-4.74481969e-02 3.58166364e-03 9.98867279e-01 -2.96076038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.74071405700005 meters 0.04395437937503512 Centerline is valid? [True, True] Translation: X:450.80, Y:-58.71, Z:-29.61 [[ 9.97263649e-01 5.80153292e-02 4.58196131e-02 4.50796108e+02] [-5.77903249e-02 9.98309358e-01 -6.22126204e-03 -5.87090964e+01] [-4.61030771e-02 3.55630816e-03 9.98930357e-01 -2.96106332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.80071405700005 meters 0.04533023876278373 Centerline is valid? [True, True] Translation: X:450.85, Y:-58.72, Z:-29.61 [[ 9.97257892e-01 5.73954099e-02 4.67168553e-02 4.50854782e+02] [-5.71609457e-02 9.98344843e-01 -6.34048128e-03 -5.87167246e+01] [-4.70034461e-02 3.65271536e-03 9.98888049e-01 -2.96131414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.86071405700005 meters 0.04654180321367023 Centerline is valid? [True, True] Translation: X:450.91, Y:-58.72, Z:-29.62 [[ 9.97160516e-01 5.87146431e-02 4.71539513e-02 4.50913235e+02] [-5.84774221e-02 9.98268243e-01 -6.39579803e-03 -5.87238842e+01] [-4.74478191e-02 3.62019575e-03 9.98867158e-01 -2.96160371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.92071405700005 meters 0.04122974400649997 Centerline is valid? [True, True] Translation: X:450.97, Y:-58.72, Z:-29.62 [[ 9.97126187e-01 5.95656080e-02 4.68113755e-02 4.50973457e+02] [-5.93328015e-02 9.98218071e-01 -6.34837595e-03 -5.87203179e+01] [-4.71061059e-02 3.55268185e-03 9.98883573e-01 -2.96166978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.98071405700006 meters 0.041419356321834515 Centerline is valid? [True, True] Translation: X:451.03, Y:-58.73, Z:-29.62 [[ 9.97070299e-01 6.01738599e-02 4.72220827e-02 4.51031991e+02] [-5.99377909e-02 9.98181594e-01 -6.40056861e-03 -5.87267949e+01] [-4.75213607e-02 3.55142953e-03 9.98863908e-01 -2.96207519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.04071405700006 meters 0.042675872030256856 Centerline is valid? [True, True] Translation: X:451.09, Y:-58.74, Z:-29.63 [[ 9.97171634e-01 5.94371437e-02 4.59995555e-02 4.51089463e+02] [-5.92125066e-02 9.98225947e-01 -6.23195575e-03 -5.87350858e+01] [-4.62883595e-02 3.49058052e-03 9.98922021e-01 -2.96269967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.10071405700006 meters 0.0429101348808488 Centerline is valid? [True, True] Translation: X:451.15, Y:-58.74, Z:-29.63 [[ 9.97179588e-01 5.96336738e-02 4.55707617e-02 4.51147453e+02] [-5.94136149e-02 9.98214386e-01 -6.16946111e-03 -5.87419555e+01] [-4.58572975e-02 3.44453700e-03 9.98942062e-01 -2.96316902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.16071405700006 meters 0.0435274181088459 Centerline is valid? [True, True] Translation: X:451.21, Y:-58.75, Z:-29.64 [[ 9.97026309e-01 6.22971658e-02 4.53608100e-02 4.51206855e+02] [-6.20820664e-02 9.98052182e-01 -6.13676701e-03 -5.87485075e+01] [-4.56547586e-02 3.30242534e-03 9.98951819e-01 -2.96354960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.22071405700007 meters 0.04206503577984373 Centerline is valid? [True, True] Translation: X:451.27, Y:-58.75, Z:-29.64 [[ 9.96648874e-01 6.74283269e-02 4.63081333e-02 4.51266994e+02] [-6.72096777e-02 9.97719208e-01 -6.26428531e-03 -5.87510065e+01] [-4.66249044e-02 3.13093819e-03 9.98907561e-01 -2.96382486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.28071405700007 meters 0.03867463476255581 Centerline is valid? [True, True] Translation: X:451.33, Y:-58.75, Z:-29.64 [[ 9.96345362e-01 7.17275157e-02 4.63797650e-02 4.51327844e+02] [-7.15129070e-02 9.97419954e-01 -6.27217651e-03 -5.87517980e+01] [-4.67099907e-02 2.93250215e-03 9.98904188e-01 -2.96413703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.34071405700007 meters 0.03323292179912517 Centerline is valid? [True, True] Translation: X:451.39, Y:-58.75, Z:-29.64 [[ 9.95602403e-01 8.12630067e-02 4.66066423e-02 4.51389629e+02] [-8.10566961e-02 9.96689564e-01 -6.30273457e-03 -5.87469367e+01] [-4.69645332e-02 2.49723724e-03 9.98893436e-01 -2.96438532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4007140570001 meters 0.03403480936723861 Centerline is valid? [True, True] Translation: X:451.45, Y:-58.75, Z:-29.65 [[ 9.95000327e-01 8.84140361e-02 4.64468222e-02 4.51447514e+02] [-8.82168763e-02 9.96081484e-01 -6.28166689e-03 -5.87548894e+01] [-4.68202071e-02 2.15286704e-03 9.98901013e-01 -2.96495093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4607140570001 meters 0.02915300626487227 Centerline is valid? [True, True] Translation: X:451.51, Y:-58.75, Z:-29.65 [[ 9.94607956e-01 9.24905614e-02 4.69095850e-02 4.51508358e+02] [-9.22940939e-02 9.95711597e-01 -6.34165658e-03 -5.87538741e+01] [-4.72949611e-02 1.97798445e-03 9.98879009e-01 -2.96489666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5207140570001 meters 0.030467631223597084 Centerline is valid? [True, True] Translation: X:451.56, Y:-58.77, Z:-29.65 [[ 9.94644323e-01 9.23374051e-02 4.64378563e-02 4.51564507e+02] [-9.21446702e-02 9.95725835e-01 -6.27864109e-03 -5.87650995e+01] [-4.68191267e-02 1.96601376e-03 9.98901449e-01 -2.96531792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5807140570001 meters 0.030613023109691693 Centerline is valid? [True, True] Translation: X:451.62, Y:-58.78, Z:-29.66 [[ 9.95166761e-01 8.71819941e-02 4.51931099e-02 4.51623793e+02] [-8.69944547e-02 9.96190097e-01 -6.10379279e-03 -5.87770654e+01] [-4.55530694e-02 2.14274175e-03 9.98959622e-01 -2.96576031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6407140570001 meters 0.03362909145961869 Centerline is valid? [True, True] Translation: X:451.68, Y:-58.79, Z:-29.66 [[ 9.95941716e-01 7.81315735e-02 4.46716446e-02 4.51681809e+02] [-7.79392872e-02 9.96939855e-01 -6.03273238e-03 -5.87944613e+01] [-4.50062898e-02 2.52657370e-03 9.98983509e-01 -2.96615632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.7007140570001 meters 0.03661902851643065 Centerline is valid? [True, True] Translation: X:451.74, Y:-58.81, Z:-29.67 [[ 9.96690850e-01 6.87537326e-02 4.33621283e-02 4.51740701e+02] [-6.85637640e-02 9.97629556e-01 -5.85486659e-03 -5.88105111e+01] [-4.36618847e-02 2.86242123e-03 9.99042265e-01 -2.96651753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76071405700003 meters 0.04021198748520261 Centerline is valid? [True, True] Translation: X:451.80, Y:-58.83, Z:-29.67 [[ 9.97065060e-01 6.36871618e-02 4.24877838e-02 4.51799110e+02] [-6.35001880e-02 9.97965335e-01 -5.73720277e-03 -5.88252316e+01] [-4.27667215e-02 3.02238216e-03 9.99080514e-01 -2.96695390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82071405700003 meters 0.04211958171546894 Centerline is valid? [True, True] Translation: X:451.86, Y:-58.84, Z:-29.67 [[ 9.97140274e-01 6.23199527e-02 4.27492425e-02 4.51856972e+02] [-6.21294175e-02 9.98051408e-01 -5.77255198e-03 -5.88366053e+01] [-4.30256868e-02 3.10005852e-03 9.99069157e-01 -2.96731601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.88071405700003 meters 0.042748177501969194 Centerline is valid? [True, True] Translation: X:451.91, Y:-58.84, Z:-29.68 [[ 9.97117504e-01 6.24441253e-02 4.30977316e-02 4.51914855e+02] [-6.22506708e-02 9.98043591e-01 -5.81760315e-03 -5.88449365e+01] [-4.33766899e-02 3.11797124e-03 9.99053923e-01 -2.96762813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.94071405700004 meters 0.04492757226758973 Centerline is valid? [True, True] Translation: X:451.97, Y:-58.86, Z:-29.68 [[ 9.97068321e-01 6.18316165e-02 4.50734293e-02 4.51971514e+02] [-6.16195148e-02 9.98081185e-01 -6.08134254e-03 -5.88553060e+01] [-4.53629610e-02 3.28611116e-03 9.98965166e-01 -2.96795212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.00071405700004 meters 0.04586873961373852 Centerline is valid? [True, True] Translation: X:452.03, Y:-58.86, Z:-29.68 [[ 9.97290736e-01 5.86923502e-02 4.43440705e-02 4.52030870e+02] [-5.84842340e-02 9.98270438e-01 -5.97719971e-03 -5.88638782e+01] [-4.46181906e-02 3.36757691e-03 9.98998437e-01 -2.96828232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.06071405700004 meters 0.04908513979862739 Centerline is valid? [True, True] Translation: X:452.09, Y:-58.88, Z:-29.69 [[ 9.97618807e-01 5.44987965e-02 4.22681566e-02 4.52089610e+02] [-5.43059867e-02 9.98508087e-01 -5.69732407e-03 -5.88758763e+01] [-4.25155935e-02 3.38834370e-03 9.99090058e-01 -2.96880270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.12071405700004 meters 0.04701615340467033 Centerline is valid? [True, True] Translation: X:452.15, Y:-58.88, Z:-29.69 [[ 9.97806937e-01 5.18539575e-02 4.11398057e-02 4.52149584e+02] [-5.16691015e-02 9.98648867e-01 -5.54470412e-03 -5.88812131e+01] [-4.13717353e-02 3.40688743e-03 9.99138015e-01 -2.96912653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.18071405700005 meters 0.049708152096077644 Centerline is valid? [True, True] Translation: X:452.21, Y:-58.89, Z:-29.70 [[ 9.97931550e-01 5.02172970e-02 4.01353353e-02 4.52208115e+02] [-5.00400844e-02 9.98732566e-01 -5.40847614e-03 -5.88917391e+01] [-4.03560655e-02 3.38891341e-03 9.99179615e-01 -2.96957226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.24071405700005 meters 0.049886379827868664 Centerline is valid? [True, True] Translation: X:452.27, Y:-58.90, Z:-29.70 [[ 9.97842221e-01 5.23372867e-02 3.96447949e-02 4.52267938e+02] [-5.21660709e-02 9.98624137e-01 -5.34167986e-03 -5.88970235e+01] [-3.98698181e-02 3.26204052e-03 9.99199558e-01 -2.96987510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.30071405700005 meters 0.048811861496397276 Centerline is valid? [True, True] Translation: X:452.33, Y:-58.90, Z:-29.70 [[ 9.97592301e-01 5.75594951e-02 3.86847044e-02 4.52327573e+02] [-5.74003893e-02 9.98337634e-01 -5.21197722e-03 -5.88995965e+01] [-3.89203950e-02 2.97891125e-03 9.99237874e-01 -2.97019715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.36071405700005 meters 0.04771597611703848 Centerline is valid? [True, True] Translation: X:452.39, Y:-58.90, Z:-29.71 [[ 9.97220023e-01 6.41275531e-02 3.79457917e-02 4.52387421e+02] [-6.39792483e-02 9.97938141e-01 -5.11107187e-03 -5.89019098e+01] [-3.81953133e-02 2.66911997e-03 9.99266728e-01 -2.97050152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.42071405700005 meters 0.04034845039519408 Centerline is valid? [True, True] Translation: X:452.45, Y:-58.89, Z:-29.71 [[ 9.96770199e-01 7.11452788e-02 3.72494285e-02 4.52449000e+02] [-7.10072689e-02 9.97463183e-01 -5.01663305e-03 -5.88941207e+01] [-3.75118432e-02 2.35545014e-03 9.99293407e-01 -2.97052563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.48071405700006 meters 0.03801085292822345 Centerline is valid? [True, True] Translation: X:452.51, Y:-58.89, Z:-29.71 [[ 9.96299796e-01 7.69336312e-02 3.83136121e-02 4.52509368e+02] [-7.67918976e-02 9.97033793e-01 -5.15947655e-03 -5.88945959e+01] [-3.85969033e-02 2.19821045e-03 9.99252444e-01 -2.97075875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.54071405700006 meters 0.036140058927750254 Centerline is valid? [True, True] Translation: X:452.57, Y:-58.90, Z:-29.71 [[ 9.95901260e-01 8.15508936e-02 3.91169058e-02 4.52570104e+02] [-8.14067751e-02 9.96667050e-01 -5.26572037e-03 -5.88963389e+01] [-3.94159553e-02 2.05975640e-03 9.99220766e-01 -2.97094898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.60071405700006 meters 0.03542199790065797 Centerline is valid? [True, True] Translation: X:452.63, Y:-58.90, Z:-29.71 [[ 9.95550843e-01 8.54169795e-02 3.97801333e-02 4.52629119e+02] [-8.52709818e-02 9.96343403e-01 -5.35559440e-03 -5.89001945e+01] [-4.00921321e-02 1.93967549e-03 9.99194105e-01 -2.97122328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.66071405700006 meters 0.03209119332878358 Centerline is valid? [True, True] Translation: X:452.69, Y:-58.90, Z:-29.72 [[ 9.95212993e-01 9.02306001e-02 3.75438104e-02 4.52689405e+02] [-9.01040404e-02 9.95919540e-01 -5.05292603e-03 -5.88997850e+01] [-3.78465429e-02 1.64588863e-03 9.99282208e-01 -2.97159662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.72071405700007 meters 0.03058897133584967 Centerline is valid? [True, True] Translation: X:452.75, Y:-58.91, Z:-29.72 [[ 9.94994649e-01 9.29799604e-02 3.66111478e-02 4.52747962e+02] [-9.28614374e-02 9.95666845e-01 -4.92829429e-03 -5.89052877e+01] [-3.69107386e-02 1.50386263e-03 9.99317435e-01 -2.97205800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.78071405700007 meters 0.03045809592334806 Centerline is valid? [True, True] Translation: X:452.81, Y:-58.91, Z:-29.73 [[ 9.94847889e-01 9.51314890e-02 3.50382210e-02 4.52805759e+02] [-9.50241672e-02 9.95463779e-01 -4.71939877e-03 -5.89134774e+01] [-3.53282433e-02 1.36560613e-03 9.99374830e-01 -2.97268003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.84071405700007 meters 0.029862044755616084 Centerline is valid? [True, True] Translation: X:452.87, Y:-58.92, Z:-29.73 [[ 9.94563191e-01 9.75686155e-02 3.63926437e-02 4.52865417e+02] [-9.74550591e-02 9.95227935e-01 -4.88552593e-03 -5.89210547e+01] [-3.66956496e-02 1.31231701e-03 9.99325626e-01 -2.97296652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9007140570001 meters 0.03354007904733981 Centerline is valid? [True, True] Translation: X:452.92, Y:-58.94, Z:-29.74 [[ 9.94517464e-01 9.75902074e-02 3.75654867e-02 4.52920552e+02] [-9.74691813e-02 9.95225761e-01 -5.04413612e-03 -5.89383173e+01] [-3.78783984e-02 1.35500423e-03 9.99281437e-01 -2.97388190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9607140570001 meters 0.030823957055834662 Centerline is valid? [True, True] Translation: X:452.98, Y:-58.95, Z:-29.74 [[ 9.94852970e-01 9.35698306e-02 3.88877303e-02 4.52979569e+02] [-9.34372399e-02 9.95611502e-01 -5.21717406e-03 -5.89451896e+01] [-3.92052417e-02 1.55675891e-03 9.99229966e-01 -2.97368352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0207140570001 meters 0.032528906540090795 Centerline is valid? [True, True] Translation: X:453.04, Y:-58.96, Z:-29.74 [[ 9.95413274e-01 8.73858913e-02 3.89373783e-02 4.53037779e+02] [-8.72483694e-02 9.96172911e-01 -5.22050084e-03 -5.89611088e+01] [-3.92445596e-02 1.79933307e-03 9.99228016e-01 -2.97412866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0807140570001 meters 0.03443830408526446 Centerline is valid? [True, True] Translation: X:453.10, Y:-58.98, Z:-29.75 [[ 9.95872108e-01 8.16691481e-02 3.96092877e-02 4.53096264e+02] [-8.15223345e-02 9.96657368e-01 -5.31035081e-03 -5.89780921e+01] [-3.99105803e-02 2.05938865e-03 9.99201133e-01 -2.97455453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1407140570001 meters 0.03680772520399536 Centerline is valid? [True, True] Translation: X:453.15, Y:-59.00, Z:-29.75 [[ 9.96230619e-01 7.55686819e-02 4.25902373e-02 4.53154949e+02] [-7.53933876e-02 9.97137523e-01 -5.70945743e-03 -5.89961194e+01] [-4.28997799e-02 2.47691404e-03 9.99076310e-01 -2.97490187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.2007140570001 meters 0.03520936130784844 Centerline is valid? [True, True] Translation: X:453.21, Y:-59.01, Z:-29.75 [[ 9.96250400e-01 7.44327760e-02 4.41010510e-02 4.53212780e+02] [-7.42436533e-02 9.97222600e-01 -5.91317356e-03 -5.90055805e+01] [-4.44186987e-02 2.61677838e-03 9.99009575e-01 -2.97531479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26071405700003 meters 0.03788358857159363 Centerline is valid? [True, True] Translation: X:453.27, Y:-59.02, Z:-29.76 [[ 9.96273991e-01 7.36682493e-02 4.48455467e-02 4.53268443e+02] [-7.34720342e-02 9.97279167e-01 -6.01026237e-03 -5.90197668e+01] [-4.51662949e-02 2.69297454e-03 9.98975852e-01 -2.97583719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32071405700003 meters 0.0380218628223283 Centerline is valid? [True, True] Translation: X:453.33, Y:-59.03, Z:-29.76 [[ 9.96209918e-01 7.41904168e-02 4.54046483e-02 4.53325825e+02] [-7.39900808e-02 9.97240447e-01 -6.07938173e-03 -5.90300871e+01] [-4.57303837e-02 2.69684678e-03 9.98950178e-01 -2.97631595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.38071405700003 meters 0.03995639773149761 Centerline is valid? [True, True] Translation: X:453.38, Y:-59.04, Z:-29.77 [[ 9.96439183e-01 7.10753167e-02 4.53569587e-02 4.53383828e+02] [-7.08723770e-02 9.97466929e-01 -6.06884756e-03 -5.90446304e+01] [-4.56734116e-02 2.83268202e-03 9.98952409e-01 -2.97714120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.44071405700004 meters 0.03919826003539031 Centerline is valid? [True, True] Translation: X:453.44, Y:-59.05, Z:-29.78 [[ 9.96721688e-01 6.70078070e-02 4.53412612e-02 4.53443191e+02] [-6.68008777e-02 9.97747891e-01 -6.06543438e-03 -5.90518533e+01] [-4.56455792e-02 3.01671395e-03 9.98953142e-01 -2.97753398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.50071405700004 meters 0.03937241941774364 Centerline is valid? [True, True] Translation: X:453.50, Y:-59.06, Z:-29.78 [[ 9.96785736e-01 6.56527366e-02 4.59120277e-02 4.53501181e+02] [-6.54390860e-02 9.97837659e-01 -6.14273473e-03 -5.90591886e+01] [-4.62160376e-02 3.11854922e-03 9.98926600e-01 -2.97789506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.56071405700004 meters 0.042031313255595934 Centerline is valid? [True, True] Translation: X:453.56, Y:-59.07, Z:-29.78 [[ 9.96403537e-01 6.83151653e-02 5.01301313e-02 4.53559471e+02] [-6.80640045e-02 9.97658444e-01 -6.70229147e-03 -5.90704708e+01] [-5.04706169e-02 3.26612944e-03 9.98720206e-01 -2.97825895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.62071405700004 meters 0.039184781170120184 Centerline is valid? [True, True] Translation: X:453.62, Y:-59.07, Z:-29.79 [[ 9.96169645e-01 7.16407829e-02 5.01361909e-02 4.53619596e+02] [-7.13938130e-02 9.97425690e-01 -6.70190564e-03 -5.90710823e+01] [-5.04872546e-02 3.09682113e-03 9.98719904e-01 -2.97859426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.68071405700005 meters 0.0357469479780925 Centerline is valid? [True, True] Translation: X:453.68, Y:-59.07, Z:-29.79 [[ 9.95867678e-01 7.48802291e-02 5.13859880e-02 4.53680194e+02] [-7.46251205e-02 9.97188007e-01 -6.86803973e-03 -5.90719813e+01] [-5.17557713e-02 3.00497323e-03 9.98655251e-01 -2.97887243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.74071405700005 meters 0.03393315711110291 Centerline is valid? [True, True] Translation: X:453.74, Y:-59.07, Z:-29.79 [[ 9.95535138e-01 7.98234900e-02 5.03785546e-02 4.53740861e+02] [-7.95846553e-02 9.96805377e-01 -6.73229169e-03 -5.90740563e+01] [-5.07550091e-02 2.69287304e-03 9.98707503e-01 -2.97941458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.80071405700005 meters 0.03517656403756613 Centerline is valid? [True, True] Translation: X:453.80, Y:-59.08, Z:-29.80 [[ 9.95064146e-01 8.63946820e-02 4.88190948e-02 4.53799918e+02] [-8.61782937e-02 9.96258370e-01 -6.52397850e-03 -5.90806076e+01] [-4.92000689e-02 2.28463080e-03 9.98786330e-01 -2.98011536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.86071405700005 meters 0.03419433120586258 Centerline is valid? [True, True] Translation: X:453.86, Y:-59.09, Z:-29.81 [[ 9.94747994e-01 8.99114749e-02 4.89117084e-02 4.53860022e+02] [-8.96985578e-02 9.95947518e-01 -6.53524221e-03 -5.90855007e+01] [-4.93010879e-02 2.11360938e-03 9.98781726e-01 -2.98055399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.92071405700005 meters 0.030754439511299702 Centerline is valid? [True, True] Translation: X:453.92, Y:-59.08, Z:-29.81 [[ 9.94022209e-01 9.60454253e-02 5.19145940e-02 4.53921481e+02] [-9.58139344e-02 9.95375101e-01 -6.93535706e-03 -5.90840456e+01] [-5.23406035e-02 1.91975744e-03 9.98627446e-01 -2.98055595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.98071405700006 meters 0.030732550325223085 Centerline is valid? [True, True] Translation: X:453.98, Y:-59.09, Z:-29.81 [[ 9.93722793e-01 9.80975204e-02 5.37762665e-02 4.53980015e+02] [-9.78520840e-02 9.95175036e-01 -7.18452902e-03 -5.90913467e+01] [-5.42215824e-02 1.87731050e-03 9.98527163e-01 -2.98079060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.04071405700006 meters 0.030393973362643847 Centerline is valid? [True, True] Translation: X:454.04, Y:-59.10, Z:-29.81 [[ 9.93702210e-01 9.79081149e-02 5.44969543e-02 4.54037809e+02] [-9.76558740e-02 9.95193624e-01 -7.27882431e-03 -5.90991568e+01] [-5.49476775e-02 1.91103610e-03 9.98487406e-01 -2.98104896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.10071405700006 meters 0.031199557643604384 Centerline is valid? [True, True] Translation: X:454.10, Y:-59.11, Z:-29.81 [[ 9.93854591e-01 9.46735073e-02 5.73583452e-02 4.54095777e+02] [-9.43896800e-02 9.95505984e-01 -7.64363345e-03 -5.91116346e+01] [-5.78242255e-02 2.18262434e-03 9.98324394e-01 -2.98112464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.16071405700006 meters 0.03344973953263249 Centerline is valid? [True, True] Translation: X:454.15, Y:-59.13, Z:-29.82 [[ 9.94976778e-01 8.49055360e-02 5.30307485e-02 4.54153215e+02] [-8.46492718e-02 9.96385769e-01 -7.06397824e-03 -5.91317099e+01] [-5.34388540e-02 2.53948006e-03 9.98567895e-01 -2.98186280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.22071405700007 meters 0.03524534009831997 Centerline is valid? [True, True] Translation: X:454.21, Y:-59.15, Z:-29.83 [[ 9.95484394e-01 8.03603725e-02 5.05275453e-02 4.54211293e+02] [-8.01219647e-02 9.96762351e-01 -6.72956371e-03 -5.91476330e+01] [-5.09047451e-02 2.65080944e-03 9.98699995e-01 -2.98260753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.28071405700007 meters 0.03537906667403255 Centerline is valid? [True, True] Translation: X:454.27, Y:-59.16, Z:-29.83 [[ 9.95874982e-01 7.65197656e-02 4.87621324e-02 4.54269722e+02] [-7.62931529e-02 9.97064279e-01 -6.49443927e-03 -5.91605424e+01] [-4.91159333e-02 2.74743277e-03 9.98789305e-01 -2.98318727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.34071405700007 meters 0.034977051802163366 Centerline is valid? [True, True] Translation: X:454.33, Y:-59.17, Z:-29.83 [[ 9.95581050e-01 7.90058428e-02 5.07587499e-02 4.54329199e+02] [-7.87635405e-02 9.96870410e-01 -6.75939846e-03 -5.91693659e+01] [-5.11339278e-02 2.73159016e-03 9.98688069e-01 -2.98340431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4007140570001 meters 0.03561081332696821 Centerline is valid? [True, True] Translation: X:454.39, Y:-59.18, Z:-29.84 [[ 9.95391702e-01 8.06620024e-02 5.18555864e-02 4.54386047e+02] [-8.04113480e-02 9.96737845e-01 -6.90536861e-03 -5.91787843e+01] [-5.22434263e-02 2.70376901e-03 9.98630720e-01 -2.98375730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4607140570001 meters 0.03666128286242963 Centerline is valid? [True, True] Translation: X:454.44, Y:-59.19, Z:-29.84 [[ 9.95315088e-01 8.05201361e-02 5.35199384e-02 4.54444180e+02] [-8.02531843e-02 9.96749068e-01 -7.12193317e-03 -5.91881759e+01] [-5.39194077e-02 2.79342206e-03 9.98541383e-01 -2.98400266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5207140570001 meters 0.03789178596683963 Centerline is valid? [True, True] Translation: X:454.50, Y:-59.20, Z:-29.84 [[ 9.95337455e-01 7.86791427e-02 5.57937546e-02 4.54501688e+02] [-7.83863324e-02 9.96895439e-01 -7.42065030e-03 -5.91988509e+01] [-5.62043899e-02 3.01258339e-03 9.98414739e-01 -2.98416726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5807140570001 meters 0.03525458857822111 Centerline is valid? [True, True] Translation: X:454.56, Y:-59.21, Z:-29.84 [[ 9.95734811e-01 7.22159083e-02 5.74199381e-02 4.54561088e+02] [-7.18953716e-02 9.97382984e-01 -7.63139001e-03 -5.92067781e+01] [-5.78207770e-02 3.47061291e-03 9.98320947e-01 -2.98435670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6407140570001 meters 0.03581419127958012 Centerline is valid? [True, True] Translation: X:454.62, Y:-59.22, Z:-29.85 [[ 9.96223816e-01 6.67802225e-02 5.54843288e-02 4.54620377e+02] [-6.64725849e-02 9.97761005e-01 -7.37378895e-03 -5.92183057e+01] [-5.58525229e-02 3.65775741e-03 9.98432329e-01 -2.98489424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.7007140570001 meters 0.03769633182587712 Centerline is valid? [True, True] Translation: X:454.68, Y:-59.23, Z:-29.85 [[ 9.96365293e-01 6.52763788e-02 5.47283976e-02 4.54678741e+02] [-6.49747985e-02 9.97860395e-01 -7.27371861e-03 -5.92291334e+01] [-5.50861025e-02 3.69131417e-03 9.98474785e-01 -2.98534673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76071405700003 meters 0.03778330690774915 Centerline is valid? [True, True] Translation: X:454.74, Y:-59.24, Z:-29.86 [[ 9.96346371e-01 6.60186649e-02 5.41797383e-02 4.54736904e+02] [-6.57242874e-02 9.97811851e-01 -7.19920270e-03 -5.92369301e+01] [-5.45364667e-02 3.61197480e-03 9.98505247e-01 -2.98571086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.82071405700003 meters 0.03767016660495279 Centerline is valid? [True, True] Translation: X:454.80, Y:-59.24, Z:-29.86 [[ 9.96286522e-01 6.75217820e-02 5.34226125e-02 4.54795578e+02] [-6.72379402e-02 9.97711744e-01 -7.09477120e-03 -5.92425283e+01] [-5.37794194e-02 3.47639849e-03 9.98546788e-01 -2.98614453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.88071405700003 meters 0.03946092372223782 Centerline is valid? [True, True] Translation: X:454.85, Y:-59.25, Z:-29.86 [[ 9.96215479e-01 6.77111382e-02 5.44969809e-02 4.54852902e+02] [-6.74162431e-02 9.97698714e-01 -7.23362182e-03 -5.92517865e+01] [-5.48613645e-02 3.53226431e-03 9.98487733e-01 -2.98643880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.94071405700004 meters 0.040357957529062564 Centerline is valid? [True, True] Translation: X:454.91, Y:-59.26, Z:-29.87 [[ 9.96272569e-01 6.41406215e-02 5.76797099e-02 4.54912455e+02] [-6.38046276e-02 9.97933088e-01 -7.64997416e-03 -5.92616693e+01] [-5.80511651e-02 3.94122700e-03 9.98305829e-01 -2.98651610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.00071405700004 meters 0.04097392187948093 Centerline is valid? [True, True] Translation: X:454.97, Y:-59.27, Z:-29.87 [[ 9.96783275e-01 5.68272645e-02 5.65134001e-02 4.54972341e+02] [-5.64931117e-02 9.98374862e-01 -7.49421271e-03 -5.92714041e+01] [-5.68474337e-02 4.27748806e-03 9.98373714e-01 -2.98697510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.06071405700004 meters 0.04280142388285853 Centerline is valid? [True, True] Translation: X:455.03, Y:-59.28, Z:-29.87 [[ 9.97138077e-01 5.11816378e-02 5.56425681e-02 4.55031554e+02] [-5.08490069e-02 9.98679097e-01 -7.37835847e-03 -5.92841285e+01] [-5.59467061e-02 4.52787285e-03 9.98423490e-01 -2.98749180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.12071405700004 meters 0.045203413231140896 Centerline is valid? [True, True] Translation: X:455.09, Y:-59.30, Z:-29.88 [[ 9.97345723e-01 5.07656397e-02 5.21953892e-02 4.55091535e+02] [-5.04725017e-02 9.98701478e-01 -6.91987792e-03 -5.92954355e+01] [-5.24789044e-02 4.26707878e-03 9.98612916e-01 -2.98819684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.18071405700005 meters 0.0432530238853832 Centerline is valid? [True, True] Translation: X:455.15, Y:-59.30, Z:-29.89 [[ 9.97162729e-01 5.61309738e-02 5.01578102e-02 4.55152548e+02] [-5.58666457e-02 9.98416043e-01 -6.65754581e-03 -5.92978533e+01] [-5.04520569e-02 3.83650794e-03 9.98719115e-01 -2.98861183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.24071405700005 meters 0.041112282975184156 Centerline is valid? [True, True] Translation: X:455.21, Y:-59.30, Z:-29.89 [[ 9.96482810e-01 6.55287877e-02 5.22301454e-02 4.55212810e+02] [-6.52549027e-02 9.97844537e-01 -6.93381154e-03 -5.92989148e+01] [-5.25719295e-02 3.50115095e-03 9.98611002e-01 -2.98877922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.30071405700005 meters 0.039153665963252156 Centerline is valid? [True, True] Translation: X:455.27, Y:-59.30, Z:-29.89 [[ 9.95830567e-01 7.41708302e-02 5.31052747e-02 4.55272475e+02] [-7.38999185e-02 9.97240745e-01 -7.04970010e-03 -5.92999979e+01] [-5.34816258e-02 3.09583137e-03 9.98564035e-01 -2.98912270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.36071405700005 meters 0.03799045116571899 Centerline is valid? [True, True] Translation: X:455.33, Y:-59.31, Z:-29.90 [[ 9.95383264e-01 7.88521543e-02 5.47219924e-02 4.55331154e+02] [-7.85715884e-02 9.96882016e-01 -7.26308428e-03 -5.93053083e+01] [-5.51240799e-02 2.92995867e-03 9.98475213e-01 -2.98958975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.42071405700005 meters 0.03527540169503163 Centerline is valid? [True, True] Translation: X:455.39, Y:-59.31, Z:-29.90 [[ 9.95728247e-01 7.56879184e-02 5.28828685e-02 4.55391679e+02] [-7.54215341e-02 9.97127045e-01 -7.01774536e-03 -5.93083477e+01] [-5.32620969e-02 2.99926021e-03 9.98576063e-01 -2.99005947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.48071405700006 meters 0.03610220438103296 Centerline is valid? [True, True] Translation: X:455.45, Y:-59.32, Z:-29.90 [[ 9.96027830e-01 7.20844745e-02 5.22722709e-02 4.55451094e+02] [-7.18192583e-02 9.97393540e-01 -6.93693144e-03 -5.93182406e+01] [-5.26360704e-02 3.15522104e-03 9.98608777e-01 -2.99048001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.54071405700006 meters 0.035338635841725544 Centerline is valid? [True, True] Translation: X:455.51, Y:-59.32, Z:-29.91 [[ 9.96123909e-01 7.04363120e-02 5.26866624e-02 4.55510434e+02] [-7.01646136e-02 9.97510927e-01 -6.99117597e-03 -5.93244873e+01] [-5.30479542e-02 3.26733822e-03 9.98586621e-01 -2.99076708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.60071405700006 meters 0.03539348713744919 Centerline is valid? [True, True] Translation: X:455.57, Y:-59.33, Z:-29.91 [[ 9.96325617e-01 6.82115978e-02 5.17923096e-02 4.55569588e+02] [-6.79461606e-02 9.97665332e-01 -6.87063302e-03 -5.93314096e+01] [-5.21400486e-02 3.32629909e-03 9.98634243e-01 -2.99108466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.66071405700006 meters 0.036482304009948605 Centerline is valid? [True, True] Translation: X:455.63, Y:-59.34, Z:-29.92 [[ 9.96317674e-01 6.87150185e-02 5.12770796e-02 4.55627892e+02] [-6.84555909e-02 9.97630986e-01 -6.80063187e-03 -5.93415832e+01] [-5.16229090e-02 3.26538694e-03 9.98661310e-01 -2.99155975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.72071405700007 meters 0.03582701797076994 Centerline is valid? [True, True] Translation: X:455.69, Y:-59.35, Z:-29.92 [[ 9.96007707e-01 7.30725332e-02 5.12742804e-02 4.55688483e+02] [-7.28190601e-02 9.97322008e-01 -6.79678827e-03 -5.93475611e+01] [-5.16336269e-02 3.03590859e-03 9.98661480e-01 -2.99180874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.78071405700007 meters 0.03396719942188841 Centerline is valid? [True, True] Translation: X:455.75, Y:-59.35, Z:-29.92 [[ 9.95577168e-01 7.86118587e-02 5.14419922e-02 4.55748800e+02] [-7.83640953e-02 9.96901486e-01 -6.81883854e-03 -5.93529891e+01] [-5.18186400e-02 2.75747479e-03 9.98652705e-01 -2.99213835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.84071405700007 meters 0.0319584356251516 Centerline is valid? [True, True] Translation: X:455.81, Y:-59.36, Z:-29.93 [[ 9.95165202e-01 8.44630728e-02 5.01219603e-02 4.55808639e+02] [-8.42352755e-02 9.96423745e-01 -6.64372096e-03 -5.93597051e+01] [-5.05038604e-02 2.38956277e-03 9.98721007e-01 -2.99263304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9007140570001 meters 0.02991510981448609 Centerline is valid? [True, True] Translation: X:455.87, Y:-59.37, Z:-29.93 [[ 9.94904839e-01 8.80115498e-02 4.91764965e-02 4.55868033e+02] [-8.77965781e-02 9.96117095e-01 -6.51874072e-03 -5.93662485e+01] [-4.95592733e-02 2.16799857e-03 9.98768831e-01 -2.99294436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9607140570001 meters 0.029948461896707343 Centerline is valid? [True, True] Translation: X:455.93, Y:-59.38, Z:-29.93 [[ 9.94888169e-01 8.80765871e-02 4.93968171e-02 4.55925990e+02] [-8.78598275e-02 9.96111335e-01 -6.54665279e-03 -5.93755308e+01] [-4.97813362e-02 2.17319158e-03 9.98757776e-01 -2.99329033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0207140570001 meters 0.030210924870980115 Centerline is valid? [True, True] Translation: X:455.98, Y:-59.39, Z:-29.94 [[ 9.94870005e-01 8.73509390e-02 5.10243653e-02 4.55982729e+02] [-8.71188945e-02 9.96174995e-01 -6.75846307e-03 -5.93909489e+01] [-5.14195550e-02 2.27860590e-03 9.98674540e-01 -2.99356323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0807140570001 meters 0.03094584133632008 Centerline is valid? [True, True] Translation: X:456.04, Y:-59.41, Z:-29.94 [[ 9.95258540e-01 8.26486573e-02 5.12800006e-02 4.56041067e+02] [-8.24082833e-02 9.96575536e-01 -6.78787537e-03 -5.94101637e+01] [-5.16654029e-02 2.52979412e-03 9.98661247e-01 -2.99384955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1407140570001 meters 0.03291741854443862 Centerline is valid? [True, True] Translation: X:456.10, Y:-59.43, Z:-29.94 [[ 9.95672486e-01 7.78153718e-02 5.08042243e-02 4.56099490e+02] [-7.75732360e-02 9.96963985e-01 -6.72358129e-03 -5.94309630e+01] [-5.11731799e-02 2.75343681e-03 9.98685999e-01 -2.99436686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.2007140570001 meters 0.033740721491605584 Centerline is valid? [True, True] Translation: X:456.16, Y:-59.45, Z:-29.95 [[ 9.96100658e-01 7.32113110e-02 4.92298944e-02 4.56158324e+02] [-7.29783224e-02 9.97312241e-01 -6.51599210e-03 -5.94464257e+01] [-4.95746206e-02 2.89786891e-03 9.98766219e-01 -2.99480204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26071405700003 meters 0.035208601314278345 Centerline is valid? [True, True] Translation: X:456.22, Y:-59.46, Z:-29.95 [[ 9.96307659e-01 7.09367476e-02 4.83634761e-02 4.56216539e+02] [-7.07092049e-02 9.97476429e-01 -6.40175635e-03 -5.94595925e+01] [-4.86955471e-02 2.95837594e-03 9.98809287e-01 -2.99519274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.32071405700003 meters 0.03838714044177767 Centerline is valid? [True, True] Translation: X:456.27, Y:-59.48, Z:-29.96 [[ 9.96559880e-01 6.79323688e-02 4.74720913e-02 4.56273464e+02] [-6.77098307e-02 9.97685278e-01 -6.28208138e-03 -5.94780295e+01] [-4.77889633e-02 3.04614300e-03 9.98852810e-01 -2.99573731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.38071405700003 meters 0.04081552101735506 Centerline is valid? [True, True] Translation: X:456.33, Y:-59.49, Z:-29.96 [[ 9.96808866e-01 6.48005936e-02 4.66150944e-02 4.56332634e+02] [-6.45827077e-02 9.97893304e-01 -6.16673179e-03 -5.94911553e+01] [-4.69164984e-02 3.13652391e-03 9.98893890e-01 -2.99604458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.44071405700004 meters 0.0394621855159096 Centerline is valid? [True, True] Translation: X:456.39, Y:-59.50, Z:-29.96 [[ 9.96944314e-01 6.14318461e-02 4.82510354e-02 4.56391984e+02] [-6.11945001e-02 9.98105455e-01 -6.38228325e-03 -5.94993323e+01] [-4.85516971e-02 3.41008301e-03 9.98814850e-01 -2.99623976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.50071405700004 meters 0.03966569501230304 Centerline is valid? [True, True] Translation: X:456.45, Y:-59.51, Z:-29.96 [[ 9.97013305e-01 5.89135516e-02 4.99365919e-02 4.56451440e+02] [-5.86562214e-02 9.98256395e-01 -6.60430698e-03 -5.95093239e+01] [-5.02386054e-02 3.65549014e-03 9.98730554e-01 -2.99649953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.56071405700004 meters 0.04182942275769258 Centerline is valid? [True, True] Translation: X:456.51, Y:-59.52, Z:-29.97 [[ 9.97093940e-01 5.78902405e-02 4.95216558e-02 4.56509282e+02] [-5.76359520e-02 9.98316188e-01 -6.54876673e-03 -5.95204597e+01] [-4.98173803e-02 3.67550785e-03 9.98751580e-01 -2.99691148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.62071405700004 meters 0.03908031502488094 Centerline is valid? [True, True] Translation: X:456.57, Y:-59.52, Z:-29.97 [[ 9.97239889e-01 5.67649985e-02 4.78574915e-02 4.56569392e+02] [-5.65263491e-02 9.98381063e-01 -6.32648091e-03 -5.95248802e+01] [-4.81391359e-02 3.60380984e-03 9.98834138e-01 -2.99734433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.68071405700005 meters 0.04469768545984949 Centerline is valid? [True, True] Translation: X:456.63, Y:-59.54, Z:-29.98 [[ 9.97450940e-01 5.46855193e-02 4.58379415e-02 4.56626922e+02] [-5.44644072e-02 9.98497324e-01 -6.05984011e-03 -5.95405304e+01] [-4.61004474e-02 3.54785690e-03 9.98930509e-01 -2.99814289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.74071405700005 meters 0.04256129366640886 Centerline is valid? [True, True] Translation: X:456.69, Y:-59.54, Z:-29.98 [[ 9.97638532e-01 5.15988019e-02 4.53312653e-02 4.56687072e+02] [-5.13794373e-02 9.98661230e-01 -5.99181530e-03 -5.95444932e+01] [-4.55797476e-02 3.64857092e-03 9.98954040e-01 -2.99847115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.80071405700005 meters 0.04811448194831167 Centerline is valid? [True, True] Translation: X:456.75, Y:-59.56, Z:-29.99 [[ 9.97679907e-01 5.04047524e-02 4.57620455e-02 4.56745937e+02] [-5.01800177e-02 9.98721882e-01 -6.04723210e-03 -5.95599334e+01] [-4.60083654e-02 3.73686171e-03 9.98934065e-01 -2.99912973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.86071405700005 meters 0.04259803857398078 Centerline is valid? [True, True] Translation: X:456.81, Y:-59.56, Z:-29.99 [[ 9.97555511e-01 5.15605219e-02 4.71647738e-02 4.56807353e+02] [-5.13228718e-02 9.98662639e-01 -6.23671665e-03 -5.95574540e+01] [-4.74232658e-02 3.80083942e-03 9.98867653e-01 -2.99927562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.92071405700005 meters 0.043726541167216054 Centerline is valid? [True, True] Translation: X:456.87, Y:-59.56, Z:-29.99 [[ 9.97356391e-01 5.33962916e-02 4.92855412e-02 4.56866368e+02] [-5.31389780e-02 9.98565858e-01 -6.51741719e-03 -5.95634734e+01] [-4.95628646e-02 3.88120440e-03 9.98763465e-01 -2.99949215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.98071405700006 meters 0.041549051985899026 Centerline is valid? [True, True] Translation: X:456.93, Y:-59.57, Z:-30.00 [[ 9.97063556e-01 5.51828949e-02 5.30953282e-02 4.56927343e+02] [-5.48868043e-02 9.98467907e-01 -7.01977594e-03 -5.95658008e+01] [-5.34013528e-02 4.08492987e-03 9.98564775e-01 -2.99971344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.04071405700006 meters 0.03889924497276722 Centerline is valid? [True, True] Translation: X:456.99, Y:-59.57, Z:-30.00 [[ 9.96884536e-01 5.76143026e-02 5.38684925e-02 4.56988442e+02] [-5.73129875e-02 9.98330849e-01 -7.12298869e-03 -5.95670201e+01] [-5.41889639e-02 4.01343303e-03 9.98522633e-01 -3.00020393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.10071405700006 meters 0.03639631352600789 Centerline is valid? [True, True] Translation: X:457.05, Y:-59.57, Z:-30.01 [[ 9.96724637e-01 6.02341501e-02 5.39615133e-02 4.57048896e+02] [-5.99355324e-02 9.98176738e-01 -7.13667157e-03 -5.95671840e+01] [-5.42929987e-02 3.87908435e-03 9.98517513e-01 -3.00074838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.16071405700006 meters 0.03896684330834957 Centerline is valid? [True, True] Translation: X:457.11, Y:-59.58, Z:-30.01 [[ 9.96593597e-01 6.20573961e-02 5.43146590e-02 4.57107533e+02] [-6.17576007e-02 9.98065335e-01 -7.18234082e-03 -5.95756772e+01] [-5.46552957e-02 3.80353185e-03 9.98498038e-01 -3.00131604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.22071405700007 meters 0.03660975712785319 Centerline is valid? [True, True] Translation: X:457.17, Y:-59.58, Z:-30.02 [[ 9.96446617e-01 6.52610629e-02 5.32459609e-02 4.57167387e+02] [-6.49775526e-02 9.97861890e-01 -7.04025582e-03 -5.95763880e+01] [-5.35915698e-02 3.55544688e-03 9.98556610e-01 -3.00183454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.28071405700007 meters 0.03714801013300052 Centerline is valid? [True, True] Translation: X:457.23, Y:-59.58, Z:-30.02 [[ 9.96119699e-01 7.08860252e-02 5.21604859e-02 4.57226021e+02] [-7.06217350e-02 9.97479338e-01 -6.89495106e-03 -5.95803530e+01] [-5.25177626e-02 3.18453256e-03 9.98614912e-01 -3.00238604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.34071405700007 meters 0.03449460426885131 Centerline is valid? [True, True] Translation: X:457.29, Y:-59.58, Z:-30.02 [[ 9.95639295e-01 7.57202892e-02 5.44869910e-02 4.57286710e+02] [-7.54392359e-02 9.97124410e-01 -7.19953559e-03 -5.95802266e+01] [-5.48754596e-02 3.05768358e-03 9.98488525e-01 -3.00249135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4007140570001 meters 0.034047627462984696 Centerline is valid? [True, True] Translation: X:457.35, Y:-59.58, Z:-30.03 [[ 9.95427595e-01 7.73264522e-02 5.60760427e-02 4.57345710e+02] [-7.70312720e-02 9.97001143e-01 -7.40971313e-03 -5.95847226e+01] [-5.64808455e-02 3.05622403e-03 9.98399005e-01 -3.00274888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4607140570001 meters 0.03320951726443028 Centerline is valid? [True, True] Translation: X:457.40, Y:-59.59, Z:-30.03 [[ 9.95599393e-01 7.52951325e-02 5.57897056e-02 4.57404760e+02] [-7.49999616e-02 9.97156310e-01 -7.36874798e-03 -5.95911885e+01] [-5.61858878e-02 3.15209524e-03 9.98415350e-01 -3.00318106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5207140570001 meters 0.036526466259222436 Centerline is valid? [True, True] Translation: X:457.46, Y:-59.60, Z:-30.04 [[ 9.96088254e-01 6.99256952e-02 5.40239559e-02 4.57462489e+02] [-6.96411722e-02 9.97546600e-01 -7.13361021e-03 -5.96037462e+01] [-5.43902361e-02 3.34341373e-03 9.98514158e-01 -3.00372506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5807140570001 meters 0.03933721134039727 Centerline is valid? [True, True] Translation: X:457.52, Y:-59.62, Z:-30.04 [[ 9.96552175e-01 6.46851721e-02 5.19575914e-02 4.57522000e+02] [-6.44150480e-02 9.97899625e-01 -6.85853139e-03 -5.96158255e+01] [-5.22921063e-02 3.48803362e-03 9.98625740e-01 -3.00422854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6407140570001 meters 0.04155547131836103 Centerline is valid? [True, True] Translation: X:457.58, Y:-59.63, Z:-30.05 [[ 9.96775193e-01 6.13418909e-02 5.17338114e-02 4.57581394e+02] [-6.10695968e-02 9.98110147e-01 -6.82927958e-03 -5.96264375e+01] [-5.20549630e-02 3.64789347e-03 9.98637559e-01 -3.00464630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.7007140570001 meters 0.0438067371457819 Centerline is valid? [True, True] Translation: X:457.64, Y:-59.63, Z:-30.05 [[ 9.96930452e-01 5.97407140e-02 5.06035634e-02 4.57640365e+02] [-5.94781808e-02 9.98207258e-01 -6.67946458e-03 -5.96342552e+01] [-5.09118802e-02 3.64915376e-03 9.98696483e-01 -3.00506965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76071405700003 meters 0.04736084182713452 Centerline is valid? [True, True] Translation: X:457.70, Y:-59.65, Z:-30.06 [[ 9.97237569e-01 5.62504439e-02 4.85089507e-02 4.57698360e+02] [-5.60052018e-02 9.98409957e-01 -6.40112887e-03 -5.96461886e+01] [-4.87918857e-02 3.66669263e-03 9.98802236e-01 -3.00568661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.82071405700003 meters 0.04948802837976981 Centerline is valid? [True, True] Translation: X:457.76, Y:-59.66, Z:-30.06 [[ 9.97402211e-01 5.35924710e-02 4.81318634e-02 4.57757269e+02] [-5.33479978e-02 9.98555788e-01 -6.35049506e-03 -5.96552985e+01] [-4.84026896e-02 3.76625927e-03 9.98820802e-01 -3.00601231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.88071405700003 meters 0.051849716391635846 Centerline is valid? [True, True] Translation: X:457.82, Y:-59.66, Z:-30.06 [[ 9.97524220e-01 5.08788492e-02 4.85465995e-02 4.57816815e+02] [-5.06269866e-02 9.98697097e-01 -6.40443602e-03 -5.96643553e+01] [-4.88091983e-02 3.93081201e-03 9.98800386e-01 -3.00629636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.94071405700004 meters 0.054877933243206854 Centerline is valid? [True, True] Translation: X:457.88, Y:-59.68, Z:-30.07 [[ 9.97730640e-01 4.70035246e-02 4.82103587e-02 4.57875980e+02] [-4.67507054e-02 9.98886347e-01 -6.35896128e-03 -5.96758109e+01] [-4.84555627e-02 4.09066223e-03 9.98816963e-01 -3.00670177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.00071405700004 meters 0.04778466300185691 Centerline is valid? [True, True] Translation: X:457.94, Y:-59.67, Z:-30.07 [[ 9.97944143e-01 4.42399504e-02 4.63714825e-02 4.57937474e+02] [-4.40031020e-02 9.99012670e-01 -6.11654044e-03 -5.96726886e+01] [-4.65962940e-02 4.06347664e-03 9.98905538e-01 -3.00698990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.06071405700004 meters 0.05077532785466336 Centerline is valid? [True, True] Translation: X:458.00, Y:-59.68, Z:-30.07 [[ 9.98076507e-01 4.29704231e-02 4.46858972e-02 4.57997683e+02] [-4.27492694e-02 9.99068450e-01 -5.89341520e-03 -5.96813056e+01] [-4.48975126e-02 3.97178980e-03 9.98983703e-01 -3.00743195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.12071405700004 meters 0.046798471812261884 Centerline is valid? [True, True] Translation: X:458.06, Y:-59.68, Z:-30.08 [[ 9.97988348e-01 4.48898125e-02 4.47678779e-02 4.58058469e+02] [-4.46696132e-02 9.98984348e-01 -5.90750746e-03 -5.96815444e+01] [-4.49875962e-02 3.89585982e-03 9.98979949e-01 -3.00762700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.18071405700005 meters 0.04719757881548196 Centerline is valid? [True, True] Translation: X:458.12, Y:-59.68, Z:-30.08 [[ 9.97848132e-01 4.86912733e-02 4.39120275e-02 4.58119465e+02] [-4.84830854e-02 9.98807197e-01 -5.79426626e-03 -5.96848744e+01] [-4.41417793e-02 3.65280718e-03 9.99018599e-01 -3.00791673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.24071405700005 meters 0.042584387249441975 Centerline is valid? [True, True] Translation: X:458.18, Y:-59.68, Z:-30.08 [[ 9.97588626e-01 5.38950231e-02 4.37293957e-02 4.58179970e+02] [-5.36934581e-02 9.98540785e-01 -5.77176075e-03 -5.96828432e+01] [-4.39766543e-02 3.40986040e-03 9.99026740e-01 -3.00814815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.30071405700005 meters 0.041022064367857915 Centerline is valid? [True, True] Translation: X:458.24, Y:-59.69, Z:-30.09 [[ 9.97233128e-01 6.02187974e-02 4.35865112e-02 4.58240876e+02] [-6.00246395e-02 9.98180330e-01 -5.75086249e-03 -5.96859071e+01] [-4.38535081e-02 3.11868597e-03 9.99033104e-01 -3.00854128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.36071405700005 meters 0.03678495136428632 Centerline is valid? [True, True] Translation: X:458.30, Y:-59.69, Z:-30.09 [[ 9.96869406e-01 6.66477017e-02 4.25378858e-02 4.58300969e+02] [-6.64685648e-02 9.97772730e-01 -5.61336298e-03 -5.96850752e+01] [-4.28172602e-02 2.76835760e-03 9.99079085e-01 -3.00877867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.42071405700005 meters 0.035286220776437754 Centerline is valid? [True, True] Translation: X:458.36, Y:-59.69, Z:-30.09 [[ 9.96497407e-01 7.29163300e-02 4.09405285e-02 4.58360303e+02] [-7.27557231e-02 9.97335165e-01 -5.40126362e-03 -5.96907506e+01] [-4.12252690e-02 2.40368744e-03 9.99146986e-01 -3.00926516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.48071405700006 meters 0.03708884224493761 Centerline is valid? [True, True] Translation: X:458.42, Y:-59.70, Z:-30.10 [[ 9.96148830e-01 7.76037558e-02 4.08064504e-02 4.58418707e+02] [-7.74481666e-02 9.96981851e-01 -5.38237439e-03 -5.97011046e+01] [-4.11009829e-02 2.20126119e-03 9.99152573e-01 -3.00981992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.54071405700006 meters 0.03229603316829235 Centerline is valid? [True, True] Translation: X:458.48, Y:-59.70, Z:-30.10 [[ 9.96013886e-01 7.99477717e-02 3.95561961e-02 4.58477775e+02] [-7.98033994e-02 9.96796966e-01 -5.21794953e-03 -5.97018299e+01] [-3.98466597e-02 2.04043127e-03 9.99203723e-01 -3.00991168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.60071405700006 meters 0.033551780239213874 Centerline is valid? [True, True] Translation: X:458.53, Y:-59.71, Z:-30.10 [[ 9.95937596e-01 8.05731922e-02 4.02028043e-02 4.58534188e+02] [-8.04246734e-02 9.96746595e-01 -5.30060425e-03 -5.97133478e+01] [-4.04990949e-02 2.04577365e-03 9.99177481e-01 -3.01034128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.66071405700006 meters 0.03314497254977624 Centerline is valid? [True, True] Translation: X:458.59, Y:-59.72, Z:-30.11 [[ 9.96086176e-01 7.87085751e-02 4.02155483e-02 4.58593146e+02] [-7.85586471e-02 9.96895419e-01 -5.29734359e-03 -5.97218240e+01] [-4.05076423e-02 2.11733164e-03 9.99176985e-01 -3.01059722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.72071405700007 meters 0.03508763921462412 Centerline is valid? [True, True] Translation: X:458.65, Y:-59.74, Z:-30.11 [[ 9.96291637e-01 7.57455115e-02 4.08116687e-02 4.58649474e+02] [-7.55886410e-02 9.97124597e-01 -5.37546601e-03 -5.97362973e+01] [-4.11014861e-02 2.27063326e-03 9.99152397e-01 -3.01115388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.78071405700007 meters 0.03612079168412526 Centerline is valid? [True, True] Translation: X:458.71, Y:-59.75, Z:-30.11 [[ 9.96449614e-01 7.23050695e-02 4.31293888e-02 4.58707504e+02] [-7.21268524e-02 9.97379316e-01 -5.67609614e-03 -5.97484179e+01] [-4.34267708e-02 2.54515675e-03 9.99053371e-01 -3.01136064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.84071405700007 meters 0.03730537238173537 Centerline is valid? [True, True] Translation: X:458.77, Y:-59.76, Z:-30.12 [[ 9.96634041e-01 6.92373488e-02 4.38950673e-02 4.58766172e+02] [-6.90499194e-02 9.97596498e-01 -5.77369027e-03 -5.97616772e+01] [-4.41893204e-02 2.72330541e-03 9.99019463e-01 -3.01178361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9007140570001 meters 0.03945092070121364 Centerline is valid? [True, True] Translation: X:458.83, Y:-59.78, Z:-30.12 [[ 9.96964295e-01 6.46034597e-02 4.34578746e-02 4.58825256e+02] [-6.44154144e-02 9.97906806e-01 -5.71504768e-03 -5.97764485e+01] [-4.37361207e-02 2.89834148e-03 9.99038914e-01 -3.01234653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9607140570001 meters 0.04138732968643308 Centerline is valid? [True, True] Translation: X:458.88, Y:-59.79, Z:-30.13 [[ 9.97436540e-01 5.80176539e-02 4.18843722e-02 4.58883777e+02] [-5.78371982e-02 9.98310831e-01 -5.50843722e-03 -5.97907779e+01] [-4.21332090e-02 3.07184182e-03 9.99107280e-01 -3.01292658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0207140570001 meters 0.042981788529299306 Centerline is valid? [True, True] Translation: X:458.94, Y:-59.80, Z:-30.13 [[ 9.97586665e-01 5.56919901e-02 4.14638262e-02 4.58942359e+02] [-5.55131698e-02 9.98443067e-01 -5.45254627e-03 -5.98025166e+01] [-4.17029329e-02 3.13759902e-03 9.99125128e-01 -3.01343882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0807140570001 meters 0.04383046859048696 Centerline is valid? [True, True] Translation: X:459.00, Y:-59.81, Z:-30.14 [[ 9.97762870e-01 5.23490184e-02 4.15792729e-02 4.59002331e+02] [-5.21663567e-02 9.98623446e-01 -5.46674629e-03 -5.98112833e+01] [-4.18082156e-02 3.28547729e-03 9.99120252e-01 -3.01374326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1407140570001 meters 0.045578097332943615 Centerline is valid? [True, True] Translation: X:459.06, Y:-59.82, Z:-30.14 [[ 9.97865911e-01 4.95256780e-02 4.25538602e-02 4.59061296e+02] [-4.93318012e-02 9.98766776e-01 -5.59476832e-03 -5.98219120e+01] [-4.27784664e-02 3.48357001e-03 9.99078509e-01 -3.01414932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.2007140570001 meters 0.04593155007657608 Centerline is valid? [True, True] Translation: X:459.12, Y:-59.83, Z:-30.14 [[ 9.97878752e-01 4.68701934e-02 4.51794432e-02 4.59121219e+02] [-4.66489699e-02 9.98893688e-01 -5.93908487e-03 -5.98280152e+01] [-4.54078267e-02 3.81891211e-03 9.98961233e-01 -3.01430242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26071405700003 meters 0.04713590792423612 Centerline is valid? [True, True] Translation: X:459.18, Y:-59.83, Z:-30.15 [[ 9.97684936e-01 4.78652048e-02 4.83082871e-02 4.59180335e+02] [-4.76134501e-02 9.98845656e-01 -6.34942725e-03 -5.98345038e+01] [-4.85564394e-02 4.03460370e-03 9.98812292e-01 -3.01454278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.32071405700003 meters 0.0475455128131026 Centerline is valid? [True, True] Translation: X:459.24, Y:-59.84, Z:-30.15 [[ 9.97572707e-01 4.91000926e-02 4.93748359e-02 4.59240547e+02] [-4.88386460e-02 9.98785606e-01 -6.48843594e-03 -5.98397957e+01] [-4.96334582e-02 4.06128648e-03 9.98759243e-01 -3.01491332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.38071405700003 meters 0.05045941254341114 Centerline is valid? [True, True] Translation: X:459.30, Y:-59.85, Z:-30.16 [[ 9.97624398e-01 4.81543517e-02 4.92617448e-02 4.59299745e+02] [-4.78930039e-02 9.98831500e-01 -6.47265308e-03 -5.98502975e+01] [-4.95158688e-02 4.09798370e-03 9.98764930e-01 -3.01559361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.44071405700004 meters 0.052443725745206046 Centerline is valid? [True, True] Translation: X:459.36, Y:-59.86, Z:-30.16 [[ 9.97786472e-01 4.58195730e-02 4.81946313e-02 4.59359911e+02] [-4.55665583e-02 9.98941211e-01 -6.33606409e-03 -5.98596921e+01] [-4.84339191e-02 4.12597556e-03 9.98817867e-01 -3.01620482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.50071405700004 meters 0.053264503745258415 Centerline is valid? [True, True] Translation: X:459.42, Y:-59.87, Z:-30.17 [[ 9.97880764e-01 4.35917696e-02 4.83087839e-02 4.59420199e+02] [-4.33349251e-02 9.99040409e-01 -6.35187041e-03 -5.98674945e+01] [-4.85393165e-02 4.24495177e-03 9.98812252e-01 -3.01665229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.56071405700004 meters 0.05757925281169452 Centerline is valid? [True, True] Translation: X:459.48, Y:-59.88, Z:-30.17 [[ 9.97977308e-01 4.14041902e-02 4.82388359e-02 4.59479097e+02] [-4.11455303e-02 9.99133029e-01 -6.34319468e-03 -5.98802460e+01] [-4.84596490e-02 4.34555187e-03 9.98815688e-01 -3.01729641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.62071405700004 meters 0.04854625028027822 Centerline is valid? [True, True] Translation: X:459.54, Y:-59.87, Z:-30.18 [[ 9.98028674e-01 4.00417260e-02 4.83262426e-02 4.59541609e+02] [-3.97804569e-02 9.99188226e-01 -6.35647414e-03 -5.98749886e+01] [-4.85415368e-02 4.42150345e-03 9.98811378e-01 -3.01752139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.68071405700005 meters 0.04812804560139004 Centerline is valid? [True, True] Translation: X:459.60, Y:-59.88, Z:-30.18 [[ 9.98061430e-01 3.92235886e-02 4.83207236e-02 4.59603238e+02] [-3.89613716e-02 9.99220497e-01 -6.35692954e-03 -5.98808266e+01] [-4.85323990e-02 4.46196452e-03 9.98811642e-01 -3.01785391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.74071405700005 meters 0.048435035039873786 Centerline is valid? [True, True] Translation: X:459.66, Y:-59.89, Z:-30.18 [[ 9.98007278e-01 3.94537315e-02 4.92430266e-02 4.59664791e+02] [-3.91816246e-02 9.99211098e-01 -6.47929104e-03 -5.98893561e+01] [-4.94598109e-02 4.53695783e-03 9.98765810e-01 -3.01832221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.80071405700005 meters 0.05073957807942525 Centerline is valid? [True, True] Translation: X:459.73, Y:-59.90, Z:-30.19 [[ 9.97834177e-01 3.97028216e-02 5.24465496e-02 4.59726036e+02] [-3.93936838e-02 9.99199837e-01 -6.91539939e-03 -5.99011625e+01] [-5.26791447e-02 4.83435907e-03 9.98599788e-01 -3.01861629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.86071405700005 meters 0.05027930200785553 Centerline is valid? [True, True] Translation: X:459.79, Y:-59.91, Z:-30.19 [[ 9.97707967e-01 3.90233345e-02 5.52810313e-02 4.59787409e+02] [-3.86779702e-02 9.99225033e-01 -7.30401822e-03 -5.99102522e+01] [-5.55232174e-02 5.14911909e-03 9.98444119e-01 -3.01885973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.92071405700005 meters 0.049615982436371775 Centerline is valid? [True, True] Translation: X:459.85, Y:-59.92, Z:-30.19 [[ 9.97799247e-01 3.75796752e-02 5.46299392e-02 4.59847355e+02] [-3.72393871e-02 9.99280190e-01 -7.23399185e-03 -5.99195628e+01] [-5.48624670e-02 5.18368617e-03 9.98480465e-01 -3.01939835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.98071405700006 meters 0.05854555404008902 Centerline is valid? [True, True] Translation: X:459.91, Y:-59.94, Z:-30.20 [[ 9.97875517e-01 3.65758995e-02 5.39134200e-02 4.59905029e+02] [-3.62429976e-02 9.99317501e-01 -7.13990115e-03 -5.99427075e+01] [-5.41377724e-02 5.17074860e-03 9.98520087e-01 -3.02026340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.04071405700006 meters 0.05286466013905179 Centerline is valid? [True, True] Translation: X:459.97, Y:-59.94, Z:-30.21 [[ 9.97888612e-01 3.73879211e-02 5.31080156e-02 4.59967598e+02] [-3.70660676e-02 9.99288070e-01 -7.03277703e-03 -5.99435031e+01] [-5.33331473e-02 5.04942282e-03 9.98564008e-01 -3.02063003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.10071405700006 meters 0.04650323764275894 Centerline is valid? [True, True] Translation: X:460.03, Y:-59.94, Z:-30.21 [[ 9.97721259e-01 4.00744993e-02 5.42800424e-02 4.60028531e+02] [-3.97413073e-02 9.99184030e-01 -7.20435290e-03 -5.99430331e+01] [-5.45244623e-02 5.03077620e-03 9.98499762e-01 -3.02092937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.16071405700006 meters 0.055147198298052834 Centerline is valid? [True, True] Translation: X:460.09, Y:-59.96, Z:-30.21 [[ 9.97499535e-01 4.31255025e-02 5.59899006e-02 4.60085353e+02] [-4.27756846e-02 9.99057059e-01 -7.43191518e-03 -5.99630469e+01] [-5.62576105e-02 5.01832561e-03 9.98403675e-01 -3.02134939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.22071405700007 meters 0.05451277541704558 Centerline is valid? [True, True] Translation: X:460.15, Y:-59.97, Z:-30.22 [[ 9.97318203e-01 4.56558821e-02 5.72008975e-02 4.60146104e+02] [-4.52949398e-02 9.98944812e-01 -7.59146433e-03 -5.99701280e+01] [-5.74871348e-02 4.98019436e-03 9.98333825e-01 -3.02164944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.28071405700007 meters 0.04525989744382381 Centerline is valid? [True, True] Translation: X:460.21, Y:-59.97, Z:-30.22 [[ 9.97180599e-01 4.78394762e-02 5.78120890e-02 4.60207491e+02] [-4.74743573e-02 9.98842983e-01 -7.67343053e-03 -5.99658268e+01] [-5.81122923e-02 4.90720428e-03 9.98297992e-01 -3.02198679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.34071405700007 meters 0.045921012817555285 Centerline is valid? [True, True] Translation: X:460.27, Y:-59.97, Z:-30.23 [[ 9.97195486e-01 4.93163477e-02 5.62944048e-02 4.60268585e+02] [-4.89725332e-02 9.98772180e-01 -7.47156042e-03 -5.99742692e+01] [-5.65937554e-02 4.69372672e-03 9.98386256e-01 -3.02253803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4007140570001 meters 0.04728047966649166 Centerline is valid? [True, True] Translation: X:460.33, Y:-59.98, Z:-30.23 [[ 9.97257394e-01 4.93093392e-02 5.51931064e-02 4.60329439e+02] [-4.89787866e-02 9.98772947e-01 -7.32658425e-03 -5.99842052e+01] [-5.54866506e-02 4.60319893e-03 9.98448818e-01 -3.02315169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4607140570001 meters 0.046984554353620735 Centerline is valid? [True, True] Translation: X:460.39, Y:-59.99, Z:-30.24 [[ 9.97306404e-01 4.98599438e-02 5.37951901e-02 4.60391027e+02] [-4.95460315e-02 9.98746219e-01 -7.15409261e-03 -5.99912706e+01] [-5.40844454e-02 4.46948419e-03 9.98526362e-01 -3.02369608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5207140570001 meters 0.046939806746426505 Centerline is valid? [True, True] Translation: X:460.45, Y:-60.00, Z:-30.24 [[ 9.97120358e-01 5.30096721e-02 5.42306781e-02 4.60451703e+02] [-5.26943900e-02 9.98584526e-01 -7.22818368e-03 -5.99962367e+01] [-5.45370796e-02 4.34971659e-03 9.98502272e-01 -3.02407210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5807140570001 meters 0.04732805634854525 Centerline is valid? [True, True] Translation: X:460.51, Y:-60.00, Z:-30.24 [[ 9.96630365e-01 5.84983355e-02 5.74966038e-02 4.60511134e+02] [-5.81529373e-02 9.98278270e-01 -7.66365323e-03 -6.00026181e+01] [-5.78459211e-02 4.29423312e-03 9.98316287e-01 -3.02433254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6407140570001 meters 0.03798132749259777 Centerline is valid? [True, True] Translation: X:460.57, Y:-59.99, Z:-30.24 [[ 9.96079326e-01 6.46671480e-02 6.03666905e-02 4.60573383e+02] [-6.42975409e-02 9.97898325e-01 -8.04727836e-03 -5.99920813e+01] [-6.07602139e-02 4.13429785e-03 9.98143829e-01 -3.02437833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.7007140570001 meters 0.037586851916222276 Centerline is valid? [True, True] Translation: X:460.63, Y:-60.00, Z:-30.25 [[ 9.95662253e-01 6.92495806e-02 6.21383384e-02 4.60633867e+02] [-6.88668099e-02 9.97591475e-01 -8.28326187e-03 -5.99980041e+01] [-6.25622891e-02 3.96806204e-03 9.98033173e-01 -3.02486960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76071405700003 meters 0.037359732518987804 Centerline is valid? [True, True] Translation: X:460.69, Y:-60.01, Z:-30.26 [[ 9.95703777e-01 6.96074118e-02 6.10638703e-02 4.60692017e+02] [-6.92384836e-02 9.97566930e-01 -8.13954925e-03 -6.00060423e+01] [-6.14818706e-02 3.87661015e-03 9.98100672e-01 -3.02554166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.82071405700003 meters 0.03881761819118296 Centerline is valid? [True, True] Translation: X:460.75, Y:-60.02, Z:-30.26 [[ 9.95999036e-01 6.72724082e-02 5.88246760e-02 4.60750073e+02] [-6.69262837e-02 9.97727146e-01 -7.83674108e-03 -6.00179376e+01] [-5.92181726e-02 3.86846961e-03 9.98237568e-01 -3.02637115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.88071405700003 meters 0.03846552207047403 Centerline is valid? [True, True] Translation: X:460.81, Y:-60.03, Z:-30.27 [[ 9.96095898e-01 6.63176601e-02 5.82660231e-02 4.60809282e+02] [-6.59765846e-02 9.97790995e-01 -7.76024741e-03 -6.00252469e+01] [-5.86519546e-02 3.88575741e-03 9.98270930e-01 -3.02680806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.94071405700004 meters 0.03893119150184116 Centerline is valid? [True, True] Translation: X:460.87, Y:-60.03, Z:-30.27 [[ 9.96105693e-01 6.66728020e-02 5.76904236e-02 4.60867499e+02] [-6.63391420e-02 9.97767563e-01 -7.68172624e-03 -6.00316531e+01] [-5.80737955e-02 3.82467804e-03 9.98304967e-01 -3.02717443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.00071405700004 meters 0.03826049394304924 Centerline is valid? [True, True] Translation: X:460.93, Y:-60.04, Z:-30.28 [[ 9.95708079e-01 7.06716204e-02 5.97573655e-02 4.60928042e+02] [-7.03210385e-02 9.97492714e-01 -7.95216156e-03 -6.00353748e+01] [-6.01695288e-02 3.71583151e-03 9.98181256e-01 -3.02759280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.06071405700004 meters 0.03576811957326868 Centerline is valid? [True, True] Translation: X:460.99, Y:-60.04, Z:-30.28 [[ 9.95663454e-01 7.13193604e-02 5.97313576e-02 4.60986984e+02] [-7.09702368e-02 9.97446761e-01 -7.94882266e-03 -6.00358441e+01] [-6.01457541e-02 3.67520364e-03 9.98182840e-01 -3.02790919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.12071405700004 meters 0.03875830187628208 Centerline is valid? [True, True] Translation: X:461.04, Y:-60.05, Z:-30.28 [[ 9.95736165e-01 6.98616299e-02 6.02398708e-02 4.61043317e+02] [-6.95041415e-02 9.97549488e-01 -8.01206587e-03 -6.00478343e+01] [-6.06519882e-02 3.79098324e-03 9.98151774e-01 -3.02840990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.18071405700005 meters 0.03758178435756741 Centerline is valid? [True, True] Translation: X:461.10, Y:-60.05, Z:-30.29 [[ 9.95884989e-01 6.69321613e-02 6.10997034e-02 4.61103129e+02] [-6.65592479e-02 9.97749428e-01 -8.12065841e-03 -6.00545398e+01] [-6.15057274e-02 4.02049151e-03 9.98098633e-01 -3.02877546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.24071405700005 meters 0.037623454052893 Centerline is valid? [True, True] Translation: X:461.16, Y:-60.06, Z:-30.29 [[ 9.96083723e-01 6.53434222e-02 5.95605045e-02 4.61161552e+02] [-6.49863169e-02 9.97854763e-01 -7.91518796e-03 -6.00610185e+01] [-5.99499386e-02 4.01357208e-03 9.98193316e-01 -3.02936897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.30071405700005 meters 0.040342617092834675 Centerline is valid? [True, True] Translation: X:461.22, Y:-60.07, Z:-30.30 [[ 9.96169095e-01 6.47703887e-02 5.87531440e-02 4.61218989e+02] [-6.44221118e-02 9.97892218e-01 -7.80468841e-03 -6.00728342e+01] [-5.91348178e-02 3.98978777e-03 9.98242032e-01 -3.03000499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.36071405700005 meters 0.043810123610390474 Centerline is valid? [True, True] Translation: X:461.28, Y:-60.08, Z:-30.30 [[ 9.96041534e-01 6.59568374e-02 5.95899197e-02 4.61276285e+02] [-6.56008661e-02 9.97814571e-01 -7.91251576e-03 -6.00836532e+01] [-5.99815747e-02 3.97204399e-03 9.98191582e-01 -3.03031985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.42071405700005 meters 0.038443739661713126 Centerline is valid? [True, True] Translation: X:461.34, Y:-60.08, Z:-30.31 [[ 9.96026998e-01 6.56293334e-02 6.01914481e-02 4.61335561e+02] [-6.52657253e-02 9.97835937e-01 -7.98922497e-03 -6.00803047e+01] [-6.05855175e-02 4.02904525e-03 9.98154879e-01 -3.03052947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.48071405700006 meters 0.040360992746229965 Centerline is valid? [True, True] Translation: X:461.39, Y:-60.09, Z:-30.31 [[ 9.96180191e-01 6.34287421e-02 6.00151814e-02 4.61394274e+02] [-6.30635663e-02 9.97977758e-01 -7.96129064e-03 -6.00895868e+01] [-6.03987908e-02 4.14610866e-03 9.98165716e-01 -3.03099497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.54071405700006 meters 0.0398676092665317 Centerline is valid? [True, True] Translation: X:461.45, Y:-60.10, Z:-30.31 [[ 9.96493948e-01 5.99025538e-02 5.84080130e-02 4.61454076e+02] [-5.95508092e-02 9.98195223e-01 -7.74589097e-03 -6.00953327e+01] [-5.87665982e-02 4.24048903e-03 9.98262744e-01 -3.03147013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.60071405700006 meters 0.044911228956088727 Centerline is valid? [True, True] Translation: X:461.51, Y:-60.11, Z:-30.32 [[ 9.96697474e-01 5.67341862e-02 5.80980010e-02 4.61512180e+02] [-5.63808450e-02 9.98379609e-01 -7.70437630e-03 -6.01095393e+01] [-5.84409610e-02 4.40331801e-03 9.98281155e-01 -3.03197822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.66071405700006 meters 0.04172213711347358 Centerline is valid? [True, True] Translation: X:461.57, Y:-60.11, Z:-30.32 [[ 9.96782208e-01 5.54005267e-02 5.79310898e-02 4.61573097e+02] [-5.50470710e-02 9.98454219e-01 -7.68065505e-03 -6.01115742e+01] [-5.82670533e-02 4.46700350e-03 9.98291038e-01 -3.03228881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.72071405700007 meters 0.04483552417708188 Centerline is valid? [True, True] Translation: X:461.63, Y:-60.12, Z:-30.33 [[ 9.96854462e-01 5.45975767e-02 5.74481120e-02 4.61631821e+02] [-5.42486755e-02 9.98498407e-01 -7.61659798e-03 -6.01207336e+01] [-5.77776961e-02 4.47615570e-03 9.98319439e-01 -3.03267918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.78071405700007 meters 0.04595876455074856 Centerline is valid? [True, True] Translation: X:461.69, Y:-60.13, Z:-30.33 [[ 9.96754757e-01 5.51663217e-02 5.86227888e-02 4.61691902e+02] [-5.48039481e-02 9.98466882e-01 -7.77256094e-03 -6.01268362e+01] [-5.89616967e-02 4.53457682e-03 9.98249947e-01 -3.03294785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.84071405700007 meters 0.04701733697255476 Centerline is valid? [True, True] Translation: X:461.75, Y:-60.13, Z:-30.33 [[ 9.96578889e-01 5.59704964e-02 6.08097089e-02 4.61751633e+02] [-5.55820239e-02 9.98421572e-01 -8.06251594e-03 -6.01339256e+01] [-6.11649882e-02 4.65500648e-03 9.98116814e-01 -3.03317731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9007140570001 meters 0.04298067817309887 Centerline is valid? [True, True] Translation: X:461.81, Y:-60.13, Z:-30.34 [[ 9.96620601e-01 5.55955180e-02 6.04691411e-02 4.61811981e+02] [-5.52107020e-02 9.98442537e-01 -8.01742808e-03 -6.01342144e+01] [-6.08206958e-02 4.65179026e-03 9.98137868e-01 -3.03362164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9607140570001 meters 0.05029522902398966 Centerline is valid? [True, True] Translation: X:461.87, Y:-60.15, Z:-30.34 [[ 9.96768031e-01 5.47143700e-02 5.88203186e-02 4.61870756e+02] [-5.43488343e-02 9.98491563e-01 -7.79758315e-03 -6.01508660e+01] [-5.91582317e-02 4.57556586e-03 9.98238132e-01 -3.03414456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0207140570001 meters 0.05286842694201171 Centerline is valid? [True, True] Translation: X:461.93, Y:-60.16, Z:-30.35 [[ 9.96770607e-01 5.48017207e-02 5.86952226e-02 4.61928579e+02] [-5.44378177e-02 9.98486836e-01 -7.78223725e-03 -6.01631802e+01] [-5.90328871e-02 4.56186552e-03 9.98245615e-01 -3.03467350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0807140570001 meters 0.042951037358807655 Centerline is valid? [True, True] Translation: X:461.99, Y:-60.16, Z:-30.35 [[ 9.96910641e-01 5.38753445e-02 5.71543553e-02 4.61989745e+02] [-5.35288646e-02 9.98537555e-01 -7.57702588e-03 -6.01571580e+01] [-5.74789851e-02 4.49420998e-03 9.98336601e-01 -3.03498016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1407140570001 meters 0.04265300866846681 Centerline is valid? [True, True] Translation: X:462.05, Y:-60.17, Z:-30.35 [[ 9.96972845e-01 5.29256446e-02 5.69563174e-02 4.62049349e+02] [-5.25800937e-02 9.98588172e-01 -7.54959546e-03 -6.01665063e+01] [-5.72754721e-02 4.53197317e-03 9.98348126e-01 -3.03535806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.2007140570001 meters 0.04503031831339886 Centerline is valid? [True, True] Translation: X:462.11, Y:-60.18, Z:-30.36 [[ 9.97100674e-01 5.03606126e-02 5.70443282e-02 4.62109062e+02] [-5.00098314e-02 9.98720104e-01 -7.56113139e-03 -6.01816414e+01] [-5.73521006e-02 4.68643196e-03 9.98343014e-01 -3.03566525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26071405700003 meters 0.04597621771562003 Centerline is valid? [True, True] Translation: X:462.17, Y:-60.19, Z:-30.36 [[ 9.97195193e-01 4.84961115e-02 5.70076717e-02 4.62168432e+02] [-4.81426981e-02 9.98811878e-01 -7.55731880e-03 -6.01943410e+01] [-5.73064402e-02 4.79161885e-03 9.98345137e-01 -3.03601664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.32071405700003 meters 0.04676709545516695 Centerline is valid? [True, True] Translation: X:462.23, Y:-60.21, Z:-30.36 [[ 9.97250059e-01 4.92755230e-02 5.53556043e-02 4.62229287e+02] [-4.89435755e-02 9.98774595e-01 -7.33723305e-03 -6.02061929e+01] [-5.56493173e-02 4.60775489e-03 9.98439744e-01 -3.03645465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.38071405700003 meters 0.04646877637192251 Centerline is valid? [True, True] Translation: X:462.29, Y:-60.22, Z:-30.37 [[ 9.97200499e-01 5.17238134e-02 5.39982523e-02 4.62289482e+02] [-5.14106793e-02 9.98651837e-01 -7.17293915e-03 -6.02156017e+01] [-5.42964656e-02 4.37677167e-03 9.98515267e-01 -3.03695269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.44071405700004 meters 0.046241068830063535 Centerline is valid? [True, True] Translation: X:462.35, Y:-60.23, Z:-30.37 [[ 9.97072008e-01 5.52539388e-02 5.28622186e-02 4.62349071e+02] [-5.49587257e-02 9.98463927e-01 -7.02312216e-03 -6.02252989e+01] [-5.31690735e-02 4.09731834e-03 9.98577119e-01 -3.03735699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.50071405700004 meters 0.045425231441646896 Centerline is valid? [True, True] Translation: X:462.41, Y:-60.23, Z:-30.38 [[ 9.96794705e-01 6.10029706e-02 5.17586132e-02 4.62407635e+02] [-6.07276463e-02 9.98130683e-01 -6.87693057e-03 -6.02340454e+01] [-5.20813732e-02 3.71170922e-03 9.98635947e-01 -3.03771666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.56071405700004 meters 0.038239280179570866 Centerline is valid? [True, True] Translation: X:462.47, Y:-60.23, Z:-30.38 [[ 9.96446044e-01 6.56821718e-02 5.27364619e-02 4.62469166e+02] [-6.54029274e-02 9.97834346e-01 -7.00537311e-03 -6.02338766e+01] [-5.30823810e-02 3.53135733e-03 9.98583893e-01 -3.03792784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.62071405700004 meters 0.03534838960811553 Centerline is valid? [True, True] Translation: X:462.53, Y:-60.24, Z:-30.38 [[ 9.96138977e-01 6.99797340e-02 5.30091927e-02 4.62529651e+02] [-6.97035895e-02 9.97542887e-01 -7.04261787e-03 -6.02378514e+01] [-5.33717836e-02 3.32049516e-03 9.98569190e-01 -3.03814727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.68071405700005 meters 0.037157308078180275 Centerline is valid? [True, True] Translation: X:462.59, Y:-60.25, Z:-30.39 [[ 9.96184891e-01 7.02378432e-02 5.17909993e-02 4.62585958e+02] [-6.99745521e-02 9.97525039e-01 -6.88180664e-03 -6.02500880e+01] [-5.21461818e-02 3.23149982e-03 9.98634234e-01 -3.03860556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.74071405700005 meters 0.03817163172412682 Centerline is valid? [True, True] Translation: X:462.64, Y:-60.26, Z:-30.39 [[ 9.96405246e-01 6.80532730e-02 5.04513455e-02 4.62644494e+02] [-6.78009546e-02 9.97676385e-01 -6.69787121e-03 -6.02613309e+01] [-5.07899280e-02 3.25314462e-03 9.98704060e-01 -3.03910794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.80071405700005 meters 0.04013027292396697 Centerline is valid? [True, True] Translation: X:462.70, Y:-60.28, Z:-30.40 [[ 9.96621887e-01 6.52424498e-02 4.98822336e-02 4.62703217e+02] [-6.49923956e-02 9.97863798e-01 -6.62028951e-03 -6.02755713e+01] [-5.02075990e-02 3.35595956e-03 9.98733165e-01 -3.03962064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.86071405700005 meters 0.041826242361727405 Centerline is valid? [True, True] Translation: X:462.76, Y:-60.28, Z:-30.40 [[ 9.96687048e-01 6.48112033e-02 4.91369062e-02 4.62761264e+02] [-6.45680555e-02 9.97891998e-01 -6.52130004e-03 -6.02849557e+01] [-4.94559787e-02 3.32702080e-03 9.98770763e-01 -3.03990450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.92071405700005 meters 0.042660938978393105 Centerline is valid? [True, True] Translation: X:462.82, Y:-60.30, Z:-30.40 [[ 9.96409787e-01 6.69808850e-02 5.17793128e-02 4.62819639e+02] [-6.67139921e-02 9.97748505e-01 -6.86766890e-03 -6.02953476e+01] [-5.21227345e-02 3.38860784e-03 9.98634937e-01 -3.04023128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.98071405700006 meters 0.03893545905054408 Centerline is valid? [True, True] Translation: X:462.88, Y:-60.30, Z:-30.40 [[ 9.96348847e-01 6.70660284e-02 5.28310713e-02 4.62878410e+02] [-6.67883665e-02 9.97742569e-01 -7.00571655e-03 -6.02973703e+01] [-5.31816544e-02 3.45163665e-03 9.98578889e-01 -3.04039414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.04071405700006 meters 0.04156346773659761 Centerline is valid? [True, True] Translation: X:462.94, Y:-60.31, Z:-30.41 [[ 9.96585582e-01 6.39247653e-02 5.22570722e-02 4.62935934e+02] [-6.36490440e-02 9.97948316e-01 -6.92522893e-03 -6.03100486e+01] [-5.25925508e-02 3.57547061e-03 9.98609653e-01 -3.04095956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.10071405700006 meters 0.04552228469006704 Centerline is valid? [True, True] Translation: X:462.99, Y:-60.33, Z:-30.42 [[ 9.96989340e-01 5.76779640e-02 5.18219010e-02 4.62994379e+02] [-5.73984699e-02 9.98327733e-01 -6.86675863e-03 -6.03265652e+01] [-5.21313016e-02 3.87158733e-03 9.98632734e-01 -3.04163376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.16071405700006 meters 0.0408457973635675 Centerline is valid? [True, True] Translation: X:463.06, Y:-60.33, Z:-30.42 [[ 9.97258315e-01 5.44667191e-02 5.00922063e-02 4.63055023e+02] [-5.42016103e-02 9.98507957e-01 -6.63667754e-03 -6.03267069e+01] [-5.03789446e-02 3.90340361e-03 9.98722547e-01 -3.04192876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.22071405700007 meters 0.048683231116448886 Centerline is valid? [True, True] Translation: X:463.11, Y:-60.35, Z:-30.43 [[ 9.97181200e-01 5.65979094e-02 4.92578078e-02 4.63112913e+02] [-5.63441697e-02 9.98390079e-01 -6.52575566e-03 -6.03455286e+01] [-4.95478507e-02 3.73197057e-03 9.98764779e-01 -3.04268574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.28071405700007 meters 0.04091498797532336 Centerline is valid? [True, True] Translation: X:463.17, Y:-60.34, Z:-30.43 [[ 9.96973365e-01 6.03412639e-02 4.90208257e-02 4.63174441e+02] [-6.00944565e-02 9.98171568e-01 -6.49441310e-03 -6.03420659e+01] [-4.93230755e-02 3.52887701e-03 9.98776642e-01 -3.04292525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.34071405700007 meters 0.0409791318128147 Centerline is valid? [True, True] Translation: X:463.23, Y:-60.35, Z:-30.43 [[ 9.96671076e-01 6.39518914e-02 5.05660104e-02 4.63233886e+02] [-6.36938797e-02 9.97946998e-01 -6.69917315e-03 -6.03476506e+01] [-5.08906231e-02 3.45612673e-03 9.98698253e-01 -3.04315218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4007140570001 meters 0.04076398395562218 Centerline is valid? [True, True] Translation: X:463.29, Y:-60.36, Z:-30.44 [[ 9.96501314e-01 6.69842314e-02 4.99824291e-02 4.63292660e+02] [-6.67359830e-02 9.97748701e-01 -6.62102787e-03 -6.03563608e+01] [-5.03134082e-02 3.26223643e-03 9.98728151e-01 -3.04367363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4607140570001 meters 0.042352175776436525 Centerline is valid? [True, True] Translation: X:463.35, Y:-60.37, Z:-30.44 [[ 9.96510375e-01 6.71528039e-02 4.95739227e-02 4.63349301e+02] [-6.69088569e-02 9.97737487e-01 -6.56594699e-03 -6.03681317e+01] [-4.99026828e-02 3.22609980e-03 9.98748875e-01 -3.04409873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5207140570001 meters 0.037172343257161865 Centerline is valid? [True, True] Translation: X:463.41, Y:-60.37, Z:-30.44 [[ 9.96689018e-01 6.51204516e-02 4.86860218e-02 4.63409348e+02] [-6.48829979e-02 9.97872075e-01 -6.44350731e-03 -6.03701552e+01] [-4.90020257e-02 3.26327793e-03 9.98793348e-01 -3.04441507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5807140570001 meters 0.03843203085670231 Centerline is valid? [True, True] Translation: X:463.47, Y:-60.38, Z:-30.45 [[ 9.96739075e-01 6.44214651e-02 4.85910633e-02 4.63466518e+02] [-6.41841575e-02 9.97917356e-01 -6.42999508e-03 -6.03807742e+01] [-4.89040951e-02 3.29025088e-03 9.98798060e-01 -3.04487525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6407140570001 meters 0.038109197482063754 Centerline is valid? [True, True] Translation: X:463.53, Y:-60.39, Z:-30.45 [[ 9.96944882e-01 6.16864383e-02 4.79133062e-02 4.63526355e+02] [-6.14528445e-02 9.98089886e-01 -6.33459436e-03 -6.03886948e+01] [-4.82125449e-02 3.37083247e-03 9.98831411e-01 -3.04517030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.7007140570001 meters 0.04258539643347201 Centerline is valid? [True, True] Translation: X:463.58, Y:-60.41, Z:-30.46 [[ 9.97254814e-01 5.67589029e-02 4.75527298e-02 4.63584195e+02] [-5.65232309e-02 9.98381488e-01 -6.28720507e-03 -6.04059189e+01] [-4.78326200e-02 3.58211160e-03 9.98848942e-01 -3.04574137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76071405700003 meters 0.0418891768508553 Centerline is valid? [True, True] Translation: X:463.64, Y:-60.41, Z:-30.46 [[ 9.97431434e-01 5.38048826e-02 4.72818119e-02 4.63644095e+02] [-5.35686445e-02 9.98544608e-01 -6.25029903e-03 -6.04143984e+01] [-4.75492949e-02 3.70142215e-03 9.98862035e-01 -3.04608774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.82071405700003 meters 0.04507156602630588 Centerline is valid? [True, True] Translation: X:463.70, Y:-60.43, Z:-30.47 [[ 9.97641824e-01 4.95894236e-02 4.74518757e-02 4.63703314e+02] [-4.93467461e-02 9.98762009e-01 -6.27276797e-03 -6.04286041e+01] [-4.77041937e-02 3.91638001e-03 9.98853829e-01 -3.04657863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.88071405700003 meters 0.045960169733007296 Centerline is valid? [True, True] Translation: X:463.76, Y:-60.44, Z:-30.47 [[ 9.97778642e-01 4.64180271e-02 4.77823066e-02 4.63763215e+02] [-4.61683605e-02 9.98913704e-01 -6.31613198e-03 -6.04406232e+01] [-4.80235832e-02 4.09607084e-03 9.98837804e-01 -3.04701177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.94071405700004 meters 0.047462183992870055 Centerline is valid? [True, True] Translation: X:463.82, Y:-60.45, Z:-30.47 [[ 9.97780546e-01 4.62047354e-02 4.79489761e-02 4.63824142e+02] [-4.59532054e-02 9.98923503e-01 -6.33552022e-03 -6.04510508e+01] [-4.81900902e-02 4.11804968e-03 9.98829694e-01 -3.04737027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.00071405700004 meters 0.0449967294476255 Centerline is valid? [True, True] Translation: X:463.89, Y:-60.46, Z:-30.48 [[ 9.97833250e-01 4.62731853e-02 4.67717581e-02 4.63885972e+02] [-4.60334102e-02 9.98920714e-01 -6.19125772e-03 -6.04574186e+01] [-4.70077672e-02 4.02477929e-03 9.98886415e-01 -3.04784937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.06071405700004 meters 0.051394324129363955 Centerline is valid? [True, True] Translation: X:463.94, Y:-60.47, Z:-30.48 [[ 9.97899683e-01 4.58479863e-02 4.57622554e-02 4.63944788e+02] [-4.56173012e-02 9.98940528e-01 -6.07315416e-03 -6.04743365e+01] [-4.59922134e-02 3.97284803e-03 9.98933898e-01 -3.04843821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.12071405700004 meters 0.04742528529537122 Centerline is valid? [True, True] Translation: X:464.01, Y:-60.48, Z:-30.49 [[ 9.97899566e-01 4.54309982e-02 4.61787828e-02 4.64006113e+02] [-4.51955682e-02 9.98959350e-01 -6.13014166e-03 -6.04770611e+01] [-4.64092252e-02 4.03018938e-03 9.98914381e-01 -3.04871872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.18071405700005 meters 0.04590839528240678 Centerline is valid? [True, True] Translation: X:464.07, Y:-60.48, Z:-30.49 [[ 9.97832923e-01 4.63191370e-02 4.67332418e-02 4.64067430e+02] [-4.60788993e-02 9.98918529e-01 -6.20546353e-03 -6.04830991e+01] [-4.69701328e-02 4.03859946e-03 9.98888130e-01 -3.04905393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.24071405700005 meters 0.04684611163198661 Centerline is valid? [True, True] Translation: X:464.13, Y:-60.49, Z:-30.50 [[ 9.97818983e-01 4.77806395e-02 4.55443506e-02 4.64127972e+02] [-4.75539160e-02 9.98850355e-01 -6.04923707e-03 -6.04916567e+01] [-4.57810271e-02 3.87023136e-03 9.98944002e-01 -3.04952282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.30071405700005 meters 0.04848577573990327 Centerline is valid? [True, True] Translation: X:464.19, Y:-60.50, Z:-30.50 [[ 9.97749528e-01 4.89246471e-02 4.58503933e-02 4.64187017e+02] [-4.86959543e-02 9.98795069e-01 -6.09222423e-03 -6.05022047e+01] [-4.60932067e-02 3.84578519e-03 9.98929740e-01 -3.04993266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.36071405700005 meters 0.049462603647717776 Centerline is valid? [True, True] Translation: X:464.25, Y:-60.51, Z:-30.50 [[ 9.97668480e-01 4.97175654e-02 4.67521955e-02 4.64245634e+02] [-4.94806289e-02 9.98755763e-01 -6.21235203e-03 -6.05109516e+01] [-4.70028877e-02 3.88453977e-03 9.98887200e-01 -3.05017266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.42071405700005 meters 0.04993286000650074 Centerline is valid? [True, True] Translation: X:464.31, Y:-60.52, Z:-30.51 [[ 9.97619418e-01 5.08291444e-02 4.66036020e-02 4.64305872e+02] [-5.05949798e-02 9.98700063e-01 -6.19126914e-03 -6.05191365e+01] [-4.68577172e-02 3.81862201e-03 9.98894275e-01 -3.05050554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.48071405700006 meters 0.05034003842605276 Centerline is valid? [True, True] Translation: X:464.37, Y:-60.52, Z:-30.51 [[ 9.97439195e-01 5.45482784e-02 4.62551354e-02 4.64365222e+02] [-5.43215251e-02 9.98504581e-01 -6.14607541e-03 -6.05249653e+01] [-4.65212224e-02 3.61768700e-03 9.98910751e-01 -3.05092888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.54071405700006 meters 0.05011129414422901 Centerline is valid? [True, True] Translation: X:464.43, Y:-60.53, Z:-30.51 [[ 9.97252202e-01 5.77759591e-02 4.63679131e-02 4.64425739e+02] [-5.75516116e-02 9.98323528e-01 -6.16003364e-03 -6.05292259e+01] [-4.66460805e-02 3.47455899e-03 9.98905436e-01 -3.05118565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.60071405700006 meters 0.04006220598673419 Centerline is valid? [True, True] Translation: X:464.49, Y:-60.52, Z:-30.51 [[ 9.96918864e-01 6.11432830e-02 4.91353055e-02 4.64488279e+02] [-6.08954005e-02 9.98122809e-01 -6.52752467e-03 -6.05211592e+01] [-4.94421834e-02 3.51529837e-03 9.98770801e-01 -3.05112223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.66071405700006 meters 0.037966041289697994 Centerline is valid? [True, True] Translation: X:464.55, Y:-60.52, Z:-30.51 [[ 9.96652178e-01 6.41817591e-02 5.06471954e-02 4.64548415e+02] [-6.39222745e-02 9.97932198e-01 -6.72830725e-03 -6.05240968e+01] [-5.09743017e-02 3.46829814e-03 9.98693943e-01 -3.05137899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.72071405700007 meters 0.03857931937137796 Centerline is valid? [True, True] Translation: X:464.61, Y:-60.53, Z:-30.52 [[ 9.96598893e-01 6.53696192e-02 5.01742871e-02 4.64606899e+02] [-6.51164544e-02 9.97855409e-01 -6.66559924e-03 -6.05320102e+01] [-5.05024115e-02 3.37575715e-03 9.98718234e-01 -3.05181061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.78071405700007 meters 0.039494651598136025 Centerline is valid? [True, True] Translation: X:464.66, Y:-60.54, Z:-30.52 [[ 9.96503188e-01 6.63301486e-02 5.08104991e-02 4.64664604e+02] [-6.60718896e-02 9.97792050e-01 -6.74754849e-03 -6.05423485e+01] [-5.11458780e-02 3.36680790e-03 9.98685518e-01 -3.05218615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.84071405700007 meters 0.03533621114705915 Centerline is valid? [True, True] Translation: X:464.72, Y:-60.55, Z:-30.52 [[ 9.96311113e-01 6.87057776e-02 5.14167591e-02 4.64724443e+02] [-6.84446749e-02 9.97631576e-01 -6.82390275e-03 -6.05453695e+01] [-5.17638239e-02 3.27952678e-03 9.98653970e-01 -3.05247862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9007140570001 meters 0.03898651582069553 Centerline is valid? [True, True] Translation: X:464.78, Y:-60.56, Z:-30.53 [[ 9.95975963e-01 7.33131521e-02 5.15467056e-02 4.64781613e+02] [-7.30569782e-02 9.97304320e-01 -6.83902134e-03 -6.05605529e+01] [-5.19091424e-02 3.04565432e-03 9.98647167e-01 -3.05312870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9607140570001 meters 0.037771348379009966 Centerline is valid? [True, True] Translation: X:464.84, Y:-60.57, Z:-30.54 [[ 9.95743353e-01 7.71788684e-02 5.03844956e-02 4.64841405e+02] [-7.69391022e-02 9.97013390e-01 -6.68391358e-03 -6.05666122e+01] [-5.07498737e-02 2.77892466e-03 9.98707529e-01 -3.05358355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0207140570001 meters 0.03292981876563138 Centerline is valid? [True, True] Translation: X:464.90, Y:-60.57, Z:-30.54 [[ 9.95735796e-01 7.81517178e-02 4.90156561e-02 4.64900294e+02] [-7.79260365e-02 9.96937944e-01 -6.50137055e-03 -6.05670212e+01] [-4.93736607e-02 2.65405157e-03 9.98776851e-01 -3.05369048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0807140570001 meters 0.03604831405932421 Centerline is valid? [True, True] Translation: X:464.96, Y:-60.58, Z:-30.54 [[ 9.95941059e-01 7.55556495e-02 4.89157487e-02 4.64957227e+02] [-7.53279397e-02 9.97137729e-01 -6.48463503e-03 -6.05819725e+01] [-4.92656894e-02 2.77359172e-03 9.98781858e-01 -3.05412833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1407140570001 meters 0.03863611974557617 Centerline is valid? [True, True] Translation: X:465.01, Y:-60.60, Z:-30.54 [[ 9.96131061e-01 7.29616604e-02 4.89847462e-02 4.65014328e+02] [-7.27303688e-02 9.97330524e-01 -6.49001038e-03 -6.05960159e+01] [-4.93275045e-02 2.90222227e-03 9.98778441e-01 -3.05433975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.2007140570001 meters 0.038548978839954055 Centerline is valid? [True, True] Translation: X:465.07, Y:-60.61, Z:-30.54 [[ 9.96128345e-01 7.23058144e-02 5.00018957e-02 4.65072390e+02] [-7.20641773e-02 9.97378021e-01 -6.62095834e-03 -6.06050668e+01] [-5.03495256e-02 2.99197880e-03 9.98727177e-01 -3.05447695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26071405700003 meters 0.03930274968947697 Centerline is valid? [True, True] Translation: X:465.13, Y:-60.62, Z:-30.55 [[ 9.96173179e-01 7.08794379e-02 5.11380851e-02 4.65129983e+02] [-7.06249990e-02 9.97479978e-01 -6.76776316e-03 -6.06173681e+01] [-5.14889113e-02 3.13023693e-03 9.98668661e-01 -3.05466213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.32071405700003 meters 0.0369743356979037 Centerline is valid? [True, True] Translation: X:465.19, Y:-60.62, Z:-30.55 [[ 9.96575900e-01 6.72124977e-02 4.81555451e-02 4.65189858e+02] [-6.69828351e-02 9.97733800e-01 -6.36897724e-03 -6.06245011e+01] [-4.84744898e-02 3.12157429e-03 9.98819543e-01 -3.05514283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.38071405700003 meters 0.0395058884309605 Centerline is valid? [True, True] Translation: X:465.25, Y:-60.64, Z:-30.56 [[ 9.96916852e-01 6.42256033e-02 4.50761725e-02 4.65247663e+02] [-6.40213747e-02 9.97930722e-01 -5.96136009e-03 -6.06380100e+01] [-4.53657693e-02 3.05714181e-03 9.98965766e-01 -3.05581016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.44071405700004 meters 0.042256992682105046 Centerline is valid? [True, True] Translation: X:465.31, Y:-60.65, Z:-30.56 [[ 9.97241176e-01 5.98048701e-02 4.39705984e-02 4.65307320e+02] [-5.96062726e-02 9.98205028e-01 -5.81508040e-03 -6.06501576e+01] [-4.42394425e-02 3.17811414e-03 9.99015901e-01 -3.05615760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.50071405700004 meters 0.04309157812836209 Centerline is valid? [True, True] Translation: X:465.37, Y:-60.66, Z:-30.57 [[ 9.97363941e-01 5.80505033e-02 4.35351435e-02 4.65365652e+02] [-5.78541124e-02 9.98308439e-01 -5.75860870e-03 -6.06591838e+01] [-4.37957913e-02 3.22474158e-03 9.99035300e-01 -3.05654568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.56071405700004 meters 0.048067520394965486 Centerline is valid? [True, True] Translation: X:465.42, Y:-60.67, Z:-30.57 [[ 9.97788523e-01 5.16580813e-02 4.18271015e-02 4.65422875e+02] [-5.14713451e-02 9.98659162e-01 -5.52987671e-03 -6.06742361e+01] [-4.20566810e-02 3.36475034e-03 9.99109561e-01 -3.05721017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.62071405700004 meters 0.051937357966003614 Centerline is valid? [True, True] Translation: X:465.48, Y:-60.69, Z:-30.58 [[ 9.97992445e-01 4.73102099e-02 4.21049136e-02 4.65481058e+02] [-4.71171663e-02 9.98873862e-01 -5.56600205e-03 -6.06855140e+01] [-4.23208264e-02 3.57096378e-03 9.99097691e-01 -3.05752708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.68071405700005 meters 0.053837593582043396 Centerline is valid? [True, True] Translation: X:465.54, Y:-60.69, Z:-30.58 [[ 9.98021993e-01 4.64258481e-02 4.23879886e-02 4.65540936e+02] [-4.62294949e-02 9.98915141e-01 -5.60134775e-03 -6.06922463e+01] [-4.26020509e-02 3.63069294e-03 9.99085524e-01 -3.05781159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.74071405700005 meters 0.05531675934080283 Centerline is valid? [True, True] Translation: X:465.60, Y:-60.70, Z:-30.58 [[ 9.98031927e-01 4.60229664e-02 4.25929573e-02 4.65601062e+02] [-4.58243442e-02 9.98933657e-01 -5.62843328e-03 -6.06979945e+01] [-4.28065758e-02 3.66556178e-03 9.99076654e-01 -3.05820342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.80071405700005 meters 0.046876735296503595 Centerline is valid? [True, True] Translation: X:465.66, Y:-60.69, Z:-30.58 [[ 9.98194282e-01 4.32656472e-02 4.16684403e-02 4.65662629e+02] [-4.30731869e-02 9.99056747e-01 -5.50603508e-03 -6.06918061e+01] [-4.18673586e-02 3.70130021e-03 9.99116322e-01 -3.05831913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.86071405700005 meters 0.048545947435354314 Centerline is valid? [True, True] Translation: X:465.72, Y:-60.70, Z:-30.59 [[ 9.98443135e-01 3.83487932e-02 4.05052621e-02 4.65722926e+02] [-3.81629120e-02 9.99257195e-01 -5.35263824e-03 -6.06994318e+01] [-4.06804418e-02 3.79850615e-03 9.99164988e-01 -3.05877984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.92071405700005 meters 0.06874371247726258 Centerline is valid? [True, True] Translation: X:465.78, Y:-60.73, Z:-30.60 [[ 9.98581052e-01 3.39419904e-02 4.10344288e-02 4.65779011e+02] [-3.37475301e-02 9.99415679e-01 -5.42259920e-03 -6.07322950e+01] [-4.11945053e-02 4.03009419e-03 9.99143018e-01 -3.05975531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.98071405700006 meters 0.049371189650133804 Centerline is valid? [True, True] Translation: X:465.84, Y:-60.71, Z:-30.59 [[ 9.98564654e-01 3.34429571e-02 4.18353999e-02 4.65844733e+02] [-3.32405307e-02 9.99432109e-01 -5.52513177e-03 -6.07116676e+01] [-4.19964187e-02 4.12657039e-03 9.99109239e-01 -3.05946053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.04071405700006 meters 0.048937296411105786 Centerline is valid? [True, True] Translation: X:465.91, Y:-60.71, Z:-30.60 [[ 9.98358401e-01 3.85923569e-02 4.23217905e-02 4.65905662e+02] [-3.83890718e-02 9.99247143e-01 -5.60586217e-03 -6.07128179e+01] [-4.25062717e-02 3.97196533e-03 9.99088305e-01 -3.05985918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.10071405700006 meters 0.04298119839451893 Centerline is valid? [True, True] Translation: X:465.97, Y:-60.71, Z:-30.60 [[ 9.97829288e-01 4.84913606e-02 4.45567058e-02 4.65967209e+02] [-4.82757509e-02 9.98816603e-01 -5.90299444e-03 -6.07070284e+01] [-4.47902218e-02 3.73917231e-03 9.98989417e-01 -3.05998739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.16071405700006 meters 0.0393041389424562 Centerline is valid? [True, True] Translation: X:466.03, Y:-60.71, Z:-30.60 [[ 9.97120397e-01 5.86047959e-02 4.81289148e-02 4.66028896e+02] [-5.83649028e-02 9.98274955e-01 -6.37589601e-03 -6.07050949e+01] [-4.84195483e-02 3.54849652e-03 9.98820783e-01 -3.06010416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.22071405700007 meters 0.03867951739230413 Centerline is valid? [True, True] Translation: X:466.09, Y:-60.71, Z:-30.60 [[ 9.96474995e-01 6.68894809e-02 5.06298523e-02 4.66088780e+02] [-6.66345609e-02 9.97754898e-01 -6.70816612e-03 -6.07086773e+01] [-5.09648889e-02 3.31082182e-03 9.98694958e-01 -3.06047239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.28071405700007 meters 0.034965246958442074 Centerline is valid? [True, True] Translation: X:466.15, Y:-60.71, Z:-30.61 [[ 9.96150631e-01 7.17659019e-02 5.03346366e-02 4.66149425e+02] [-7.15201440e-02 9.97416860e-01 -6.66904463e-03 -6.07085598e+01] [-5.06832252e-02 3.04343255e-03 9.98710142e-01 -3.06092998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.34071405700007 meters 0.03421590324706013 Centerline is valid? [True, True] Translation: X:466.21, Y:-60.71, Z:-30.61 [[ 9.95954360e-01 7.37832324e-02 5.12927603e-02 4.66209157e+02] [-7.35306822e-02 9.97269800e-01 -6.79600561e-03 -6.07143793e+01] [-5.16541521e-02 2.99691976e-03 9.98660536e-01 -3.06140906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4007140570001 meters 0.03587817389787187 Centerline is valid? [True, True] Translation: X:466.27, Y:-60.73, Z:-30.62 [[ 9.96173883e-01 7.11859626e-02 5.06966790e-02 4.66266750e+02] [-7.09359268e-02 9.97458261e-01 -6.71658971e-03 -6.07257949e+01] [-5.10459482e-02 3.09467535e-03 9.98691511e-01 -3.06211271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4607140570001 meters 0.040887371246365975 Centerline is valid? [True, True] Translation: X:466.32, Y:-60.74, Z:-30.63 [[ 9.96839223e-01 6.29637724e-02 4.84471511e-02 4.66323626e+02] [-6.27259855e-02 9.98010173e-01 -6.41446836e-03 -6.07426407e+01] [-4.87546288e-02 3.35529835e-03 9.98805150e-01 -3.06290932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5207140570001 meters 0.03982862778339236 Centerline is valid? [True, True] Translation: X:466.38, Y:-60.75, Z:-30.63 [[ 9.97022178e-01 5.93813371e-02 4.91999357e-02 4.66383290e+02] [-5.91315799e-02 9.98228919e-01 -6.51772049e-03 -6.07499979e+01] [-4.94998296e-02 3.58904195e-03 9.98767684e-01 -3.06311209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5807140570001 meters 0.03937484969971567 Centerline is valid? [True, True] Translation: X:466.44, Y:-60.76, Z:-30.63 [[ 9.96874757e-01 5.99561909e-02 5.14390332e-02 4.66441786e+02] [-5.96839313e-02 9.98194068e-01 -6.81407920e-03 -6.07571919e+01] [-5.17546841e-02 3.72269982e-03 9.98652890e-01 -3.06332856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6407140570001 meters 0.03932103998788542 Centerline is valid? [True, True] Translation: X:466.50, Y:-60.76, Z:-30.64 [[ 9.96416242e-01 6.64119179e-02 5.23844394e-02 4.66500505e+02] [-6.61386500e-02 9.97786343e-01 -6.93487523e-03 -6.07630637e+01] [-5.27290366e-02 3.44538622e-03 9.98602913e-01 -3.06354322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.7007140570001 meters 0.035832296321387985 Centerline is valid? [True, True] Translation: X:466.56, Y:-60.77, Z:-30.64 [[ 9.95880989e-01 7.37980396e-02 5.26773602e-02 4.66560726e+02] [-7.35320843e-02 9.97268483e-01 -6.97176400e-03 -6.07650383e+01] [-5.30479736e-02 3.06957114e-03 9.98587247e-01 -3.06386663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76071405700003 meters 0.034074718549479764 Centerline is valid? [True, True] Translation: X:466.62, Y:-60.77, Z:-30.64 [[ 9.95304531e-01 8.07495824e-02 5.33703632e-02 4.66620630e+02] [-8.04865650e-02 9.96730671e-01 -7.06276950e-03 -6.07714702e+01] [-5.37661936e-02 2.73400928e-03 9.98549809e-01 -3.06425255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.82071405700003 meters 0.033295568399376696 Centerline is valid? [True, True] Translation: X:466.68, Y:-60.78, Z:-30.64 [[ 9.95011727e-01 8.43210305e-02 5.33069194e-02 4.66679754e+02] [-8.40638568e-02 9.96435413e-01 -7.05232372e-03 -6.07786861e+01] [-5.37115615e-02 2.53595957e-03 9.98553272e-01 -3.06445650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.88071405700003 meters 0.03093224948361846 Centerline is valid? [True, True] Translation: X:466.74, Y:-60.78, Z:-30.65 [[ 9.94287456e-01 9.23843237e-02 5.34564474e-02 4.66739401e+02] [-9.21374227e-02 9.95721200e-01 -7.07016684e-03 -6.07836574e+01] [-5.38808905e-02 2.10443891e-03 9.98545152e-01 -3.06466161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.94071405700004 meters 0.0318932451410297 Centerline is valid? [True, True] Translation: X:466.80, Y:-60.80, Z:-30.65 [[ 9.94089046e-01 9.51882129e-02 5.22127618e-02 4.66796318e+02] [-9.49565973e-02 9.95457469e-01 -6.90452237e-03 -6.07959941e+01] [-5.26328128e-02 1.90576386e-03 9.98612114e-01 -3.06514094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.00071405700004 meters 0.03208073329238504 Centerline is valid? [True, True] Translation: X:466.85, Y:-60.81, Z:-30.66 [[ 9.94144894e-01 9.57231850e-02 5.01298430e-02 4.66853662e+02] [-9.55105448e-02 9.95406367e-01 -6.62574099e-03 -6.08066919e+01] [-5.05338019e-02 1.79901796e-03 9.98720731e-01 -3.06554908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.06071405700004 meters 0.030288705584559743 Centerline is valid? [True, True] Translation: X:466.91, Y:-60.82, Z:-30.66 [[ 9.94333323e-01 9.53476713e-02 4.70113286e-02 4.66912033e+02] [-9.51604011e-02 9.95442578e-01 -6.21071241e-03 -6.08151322e+01] [-4.73892551e-02 1.70190142e-03 9.98875048e-01 -3.06584563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.12071405700004 meters 0.031287586355855414 Centerline is valid? [True, True] Translation: X:466.97, Y:-60.83, Z:-30.66 [[ 9.94563079e-01 9.39359187e-02 4.49480208e-02 4.66969939e+02] [-9.37634716e-02 9.95576815e-01 -5.93431510e-03 -6.08289407e+01] [-4.53066528e-02 1.68756822e-03 9.98971701e-01 -3.06627812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.18071405700005 meters 0.031607049771149524 Centerline is valid? [True, True] Translation: X:467.03, Y:-60.85, Z:-30.66 [[ 9.94940593e-01 8.97777323e-02 4.50907414e-02 4.67027288e+02] [-8.95999831e-02 9.95960049e-01 -5.95186996e-03 -6.08450775e+01] [-4.54429224e-02 1.88162736e-03 9.98965165e-01 -3.06649257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.24071405700005 meters 0.03295571789623108 Centerline is valid? [True, True] Translation: X:467.09, Y:-60.86, Z:-30.67 [[ 9.95355141e-01 8.52627344e-02 4.47035769e-02 4.67086246e+02] [-8.50836380e-02 9.96356360e-01 -5.89731855e-03 -6.08610518e+01] [-4.50435147e-02 2.06638338e-03 9.98982889e-01 -3.06679896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.30071405700005 meters 0.03407413003739471 Centerline is valid? [True, True] Translation: X:467.14, Y:-60.88, Z:-30.67 [[ 9.96189252e-01 7.65323794e-02 4.18302532e-02 4.67144479e+02] [-7.63678863e-02 9.97064437e-01 -5.51864177e-03 -6.08766744e+01] [-4.21298127e-02 2.30312358e-03 9.99109491e-01 -3.06704884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.36071405700005 meters 0.03527334540119779 Centerline is valid? [True, True] Translation: X:467.20, Y:-60.89, Z:-30.67 [[ 9.96260114e-01 7.56648425e-02 4.17207054e-02 4.67201900e+02] [-7.55004282e-02 9.97130575e-01 -5.50476587e-03 -6.08872399e+01] [-4.20175082e-02 2.33424756e-03 9.99114148e-01 -3.06743839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.42071405700005 meters 0.03663228534634112 Centerline is valid? [True, True] Translation: X:467.26, Y:-60.90, Z:-30.67 [[ 9.96338378e-01 7.43582562e-02 4.21981838e-02 4.67258171e+02] [-7.41889881e-02 9.97228670e-01 -5.56537977e-03 -6.08989597e+01] [-4.24950706e-02 2.41436090e-03 9.99093759e-01 -3.06746670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.48071405700006 meters 0.03841329772507417 Centerline is valid? [True, True] Translation: X:467.32, Y:-60.91, Z:-30.68 [[ 9.96367390e-01 7.42891829e-02 4.16310184e-02 4.67315404e+02] [-7.41245835e-02 9.97233901e-01 -5.48566720e-03 -6.09095541e+01] [-4.19233886e-02 2.37985801e-03 9.99117994e-01 -3.06766209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.54071405700006 meters 0.036020020346969585 Centerline is valid? [True, True] Translation: X:467.37, Y:-60.91, Z:-30.68 [[ 9.96497746e-01 7.38548345e-02 3.92135924e-02 4.67374127e+02] [-7.37086112e-02 9.97266453e-01 -5.16361497e-03 -6.09126274e+01] [-3.94877581e-02 2.25515124e-03 9.99217510e-01 -3.06797395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.60071405700006 meters 0.039361092164416196 Centerline is valid? [True, True] Translation: X:467.43, Y:-60.92, Z:-30.69 [[ 9.96809017e-01 7.11574807e-02 3.61717702e-02 4.67431596e+02] [-7.10314440e-02 9.97462723e-01 -4.75925316e-03 -6.09249916e+01] [-3.64186488e-02 2.17473340e-03 9.99334255e-01 -3.06858894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.66071405700006 meters 0.041357466780116627 Centerline is valid? [True, True] Translation: X:467.49, Y:-60.94, Z:-30.69 [[ 9.97224692e-01 6.58478502e-02 3.47415509e-02 4.67490380e+02] [-6.57283980e-02 9.97827083e-01 -4.57051839e-03 -6.09372755e+01] [-3.49670192e-02 2.27432730e-03 9.99385879e-01 -3.06890066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.72071405700007 meters 0.04266572937719806 Centerline is valid? [True, True] Translation: X:467.55, Y:-60.95, Z:-30.69 [[ 9.97968726e-01 5.39856040e-02 3.38227228e-02 4.67549855e+02] [-5.38656383e-02 9.98538282e-01 -4.44877929e-03 -6.09510086e+01] [-3.40134536e-02 2.61786004e-03 9.99417947e-01 -3.06901544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.78071405700007 meters 0.04730354967346908 Centerline is valid? [True, True] Translation: X:467.61, Y:-60.97, Z:-30.69 [[ 9.98294741e-01 4.75084468e-02 3.39198603e-02 4.67607190e+02] [-4.73840893e-02 9.98866781e-01 -4.46116819e-03 -6.09673176e+01] [-3.40933649e-02 2.84629905e-03 9.99414599e-01 -3.06940382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.84071405700007 meters 0.049431779273758754 Centerline is valid? [True, True] Translation: X:467.67, Y:-60.98, Z:-30.70 [[ 9.98408267e-01 4.50944637e-02 3.38736270e-02 4.67665908e+02] [-4.49690441e-02 9.98978444e-01 -4.45573225e-03 -6.09773995e+01] [-3.40399521e-02 2.92537529e-03 9.99416192e-01 -3.06981949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9007140570001 meters 0.0592692936954557 Centerline is valid? [True, True] Translation: X:467.72, Y:-61.00, Z:-30.71 [[ 9.98379398e-01 4.40268935e-02 3.60584386e-02 4.67722247e+02] [-4.38840631e-02 9.99025370e-01 -4.74338562e-03 -6.09991069e+01] [-3.62321315e-02 3.15330768e-03 9.99338426e-01 -3.07059050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9607140570001 meters 0.05291613397668615 Centerline is valid? [True, True] Translation: X:467.78, Y:-61.00, Z:-30.71 [[ 9.98306158e-01 4.44560429e-02 3.75296693e-02 4.67783547e+02] [-4.43017283e-02 9.99006013e-01 -4.93385709e-03 -6.09959056e+01] [-3.77117051e-02 3.26287070e-03 9.99283334e-01 -3.07057932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0207140570001 meters 0.04603870031683915 Centerline is valid? [True, True] Translation: X:467.84, Y:-60.99, Z:-30.71 [[ 9.98193890e-01 4.65780305e-02 3.79400072e-02 4.67844440e+02] [-4.64218594e-02 9.98909474e-01 -4.98733394e-03 -6.09919625e+01] [-3.81309328e-02 3.21708059e-03 9.99267573e-01 -3.07077105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0807140570001 meters 0.046301870825222365 Centerline is valid? [True, True] Translation: X:467.90, Y:-61.00, Z:-30.71 [[ 9.98030227e-01 4.71963284e-02 4.13300443e-02 4.67904298e+02] [-4.70115606e-02 9.98879578e-01 -5.43164233e-03 -6.09978549e+01] [-4.15400908e-02 3.47795335e-03 9.99130785e-01 -3.07107724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1407140570001 meters 0.0467721473772941 Centerline is valid? [True, True] Translation: X:467.96, Y:-61.01, Z:-30.72 [[ 9.98015268e-01 4.71041306e-02 4.17938517e-02 4.67962977e+02] [-4.69150490e-02 9.98883774e-01 -5.49402755e-03 -6.10051834e+01] [-4.20059917e-02 3.52236277e-03 9.99111150e-01 -3.07152153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.2007140570001 meters 0.050168774925288234 Centerline is valid? [True, True] Translation: X:468.02, Y:-61.02, Z:-30.72 [[ 9.97962969e-01 4.77635746e-02 4.22912902e-02 4.68020869e+02] [-4.75708383e-02 9.98852433e-01 -5.55262585e-03 -6.10165615e+01] [-4.25079714e-02 3.52948285e-03 9.99089893e-01 -3.07211923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26071405700003 meters 0.04577427584631858 Centerline is valid? [True, True] Translation: X:468.08, Y:-61.01, Z:-30.72 [[ 9.97938363e-01 4.87040243e-02 4.17964438e-02 4.68081807e+02] [-4.85166461e-02 9.98807306e-01 -5.48642198e-03 -6.10144747e+01] [-4.20138042e-02 3.44728769e-03 9.99111083e-01 -3.07241894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.32071405700003 meters 0.04623546313914317 Centerline is valid? [True, True] Translation: X:468.14, Y:-61.02, Z:-30.73 [[ 9.97851505e-01 5.07040249e-02 4.14906637e-02 4.68141771e+02] [-5.05212027e-02 9.98708152e-01 -5.44375018e-03 -6.10198857e+01] [-4.17130841e-02 3.33589608e-03 9.99124062e-01 -3.07292201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.38071405700003 meters 0.046361274268550766 Centerline is valid? [True, True] Translation: X:468.20, Y:-61.02, Z:-30.73 [[ 9.97677375e-01 5.31543959e-02 4.25965557e-02 4.68202097e+02] [-5.29639428e-02 9.98580790e-01 -5.58804091e-03 -6.10243358e+01] [-4.28331312e-02 3.31898044e-03 9.99076727e-01 -3.07326009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.44071405700004 meters 0.04351239105189149 Centerline is valid? [True, True] Translation: X:468.26, Y:-61.02, Z:-30.73 [[ 9.97388744e-01 5.66778249e-02 4.47584328e-02 4.68263024e+02] [-5.64711056e-02 9.98386974e-01 -5.87055957e-03 -6.10245990e+01] [-4.50189669e-02 3.32767185e-03 9.98980590e-01 -3.07343915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.50071405700004 meters 0.0435989222263358 Centerline is valid? [True, True] Translation: X:468.32, Y:-61.03, Z:-30.74 [[ 9.97008367e-01 6.11551974e-02 4.72689875e-02 4.68322416e+02] [-6.09296039e-02 9.98122809e-01 -6.20009969e-03 -6.10273402e+01] [-4.75594229e-02 3.30147059e-03 9.98862954e-01 -3.07373032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.56071405700004 meters 0.04279044076948392 Centerline is valid? [True, True] Translation: X:468.38, Y:-61.03, Z:-30.74 [[ 9.96671023e-01 6.48390108e-02 4.94244375e-02 4.68382423e+02] [-6.45969492e-02 9.97890390e-01 -6.48097145e-03 -6.10317418e+01] [-4.97403910e-02 3.26672856e-03 9.98756838e-01 -3.07411455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.62071405700004 meters 0.040091649330635186 Centerline is valid? [True, True] Translation: X:468.44, Y:-61.03, Z:-30.74 [[ 9.96412336e-01 6.75399058e-02 5.09982239e-02 4.68443202e+02] [-6.72856827e-02 9.97711339e-01 -6.68740250e-03 -6.10323605e+01] [-5.13331728e-02 3.23196003e-03 9.98676354e-01 -3.07443251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.68071405700005 meters 0.04005187871678751 Centerline is valid? [True, True] Translation: X:468.50, Y:-61.04, Z:-30.75 [[ 9.96066076e-01 7.17183416e-02 5.20466293e-02 4.68501648e+02] [-7.14592713e-02 9.97420175e-01 -6.82397459e-03 -6.10394190e+01] [-5.24017623e-02 3.07791538e-03 9.98621341e-01 -3.07489800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.74071405700005 meters 0.03918768654784194 Centerline is valid? [True, True] Translation: X:468.56, Y:-61.04, Z:-30.75 [[ 9.95629288e-01 7.62502104e-02 5.39279809e-02 4.68561869e+02] [-7.59787432e-02 9.97084378e-01 -7.06927278e-03 -6.10443588e+01] [-5.43097808e-02 2.94099481e-03 9.98519804e-01 -3.07524639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.80071405700005 meters 0.03421399356033775 Centerline is valid? [True, True] Translation: X:468.62, Y:-61.04, Z:-30.76 [[ 9.95154894e-01 8.07199958e-02 5.61339370e-02 4.68623257e+02] [-8.04329291e-02 9.96732863e-01 -7.35828489e-03 -6.10420997e+01] [-5.65445005e-02 2.80761625e-03 9.98396132e-01 -3.07551348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.86071405700005 meters 0.035986845888667164 Centerline is valid? [True, True] Translation: X:468.68, Y:-61.05, Z:-30.76 [[ 9.94886765e-01 8.39450815e-02 5.61564623e-02 4.68680277e+02] [-8.36628955e-02 9.96466924e-01 -7.36139150e-03 -6.10542862e+01] [-5.65760099e-02 2.62553873e-03 9.98394843e-01 -3.07616557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.92071405700005 meters 0.03272241009346605 Centerline is valid? [True, True] Translation: X:468.74, Y:-61.06, Z:-30.77 [[ 9.94743976e-01 8.50677817e-02 5.69903061e-02 4.68739362e+02] [-8.47791510e-02 9.96371782e-01 -7.46771873e-03 -6.10571331e+01] [-5.74187952e-02 2.59687845e-03 9.98346803e-01 -3.07654343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.98071405700006 meters 0.032787020828430484 Centerline is valid? [True, True] Translation: X:468.80, Y:-61.07, Z:-30.77 [[ 9.94715705e-01 8.55970825e-02 5.66904387e-02 4.68797523e+02] [-8.53125778e-02 9.96326575e-01 -7.42430431e-03 -6.10672640e+01] [-5.71176894e-02 2.54866464e-03 9.98364199e-01 -3.07702191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.04071405700006 meters 0.03361448488441016 Centerline is valid? [True, True] Translation: X:468.85, Y:-61.08, Z:-30.77 [[ 9.94788574e-01 8.49040331e-02 5.64534977e-02 4.68853749e+02] [-8.46209995e-02 9.96385809e-01 -7.38962642e-03 -6.10794569e+01] [-5.68768730e-02 2.57396454e-03 9.98377882e-01 -3.07749871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.10071405700006 meters 0.033164864269160876 Centerline is valid? [True, True] Translation: X:468.91, Y:-61.09, Z:-30.78 [[ 9.94933434e-01 8.26268737e-02 5.72735742e-02 4.68911613e+02] [-8.23322441e-02 9.96576799e-01 -7.48902017e-03 -6.10916570e+01] [-5.76963096e-02 2.73561466e-03 9.98330432e-01 -3.07780759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.16071405700006 meters 0.03513725037210175 Centerline is valid? [True, True] Translation: X:468.97, Y:-61.11, Z:-30.78 [[ 9.95272695e-01 7.93463792e-02 5.60036980e-02 4.68969256e+02] [-7.90596913e-02 9.96843010e-01 -7.31972112e-03 -6.11080736e+01] [-5.64076882e-02 2.85748350e-03 9.98403730e-01 -3.07826268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.22071405700007 meters 0.03568379986544753 Centerline is valid? [True, True] Translation: X:469.03, Y:-61.12, Z:-30.79 [[ 9.95623051e-01 7.49800648e-02 5.57918471e-02 4.69027391e+02] [-7.46887670e-02 9.97180239e-01 -7.29104425e-03 -6.11226876e+01] [-5.61812103e-02 3.09210746e-03 9.98415800e-01 -3.07861406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.28071405700007 meters 0.03503964490211433 Centerline is valid? [True, True] Translation: X:469.09, Y:-61.13, Z:-30.79 [[ 9.95823805e-01 7.29667641e-02 5.48707719e-02 4.69085978e+02] [-7.26820052e-02 9.97329392e-01 -7.17007372e-03 -6.11298760e+01] [-5.52474106e-02 3.15201236e-03 9.98467720e-01 -3.07892133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.34071405700007 meters 0.03786394821981068 Centerline is valid? [True, True] Translation: X:469.14, Y:-61.15, Z:-30.79 [[ 9.96087860e-01 6.96392111e-02 5.43999669e-02 4.69143176e+02] [-6.93545540e-02 9.97566769e-01 -7.10540119e-03 -6.11481979e+01] [-5.47624138e-02 3.30471842e-03 9.98493944e-01 -3.07936596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4007140570001 meters 0.04176367928164844 Centerline is valid? [True, True] Translation: X:469.20, Y:-61.17, Z:-30.80 [[ 9.96401728e-01 6.59996838e-02 5.31755511e-02 4.69200434e+02] [-6.57226549e-02 9.97813770e-01 -6.94353723e-03 -6.11663647e+01] [-5.35175684e-02 3.42371409e-03 9.98561039e-01 -3.07989256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4607140570001 meters 0.038339142449352964 Centerline is valid? [True, True] Translation: X:469.26, Y:-61.17, Z:-30.80 [[ 9.96838215e-01 6.07219817e-02 5.12485557e-02 4.69260303e+02] [-6.04578315e-02 9.98148331e-01 -6.69029393e-03 -6.11713222e+01] [-5.15599082e-02 3.57076412e-03 9.98663520e-01 -3.08029577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5207140570001 meters 0.04150609091144038 Centerline is valid? [True, True] Translation: X:469.32, Y:-61.19, Z:-30.81 [[ 9.97354289e-01 5.28000771e-02 4.99657243e-02 4.69318971e+02] [-5.25391688e-02 9.98597568e-01 -6.52173580e-03 -6.11879001e+01] [-5.02399990e-02 3.87932356e-03 9.98729640e-01 -3.08076143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5807140570001 meters 0.04367627301491155 Centerline is valid? [True, True] Translation: X:469.38, Y:-61.20, Z:-30.81 [[ 9.97453112e-01 5.02453009e-02 5.06231154e-02 4.69378348e+02] [-4.99742062e-02 9.98728651e-01 -6.60753799e-03 -6.12001205e+01] [-5.08907535e-02 4.06085933e-03 9.98695970e-01 -3.08117585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6407140570001 meters 0.045716223187802905 Centerline is valid? [True, True] Translation: X:469.44, Y:-61.21, Z:-30.81 [[ 9.97444468e-01 5.03214029e-02 5.07177410e-02 4.69438182e+02] [-5.00495253e-02 9.98724816e-01 -6.61724456e-03 -6.12104188e+01] [-5.09860555e-02 4.06193512e-03 9.98691105e-01 -3.08148727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.7007140570001 meters 0.04293761172175112 Centerline is valid? [True, True] Translation: X:469.50, Y:-61.22, Z:-30.82 [[ 9.97405265e-01 5.15771650e-02 5.02248282e-02 4.69499261e+02] [-5.13115261e-02 9.98661118e-01 -6.56494124e-03 -6.12157792e+01] [-5.04961842e-02 3.97079437e-03 9.98716360e-01 -3.08198833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76071405700003 meters 0.047906615768863584 Centerline is valid? [True, True] Translation: X:469.56, Y:-61.23, Z:-30.83 [[ 9.97364897e-01 5.30945916e-02 4.94391301e-02 4.69557855e+02] [-5.28390228e-02 9.98582129e-01 -6.46297311e-03 -6.12302714e+01] [-4.97121807e-02 3.83362718e-03 9.98756228e-01 -3.08254612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.82071405700003 meters 0.04255622254299825 Centerline is valid? [True, True] Translation: X:469.62, Y:-61.23, Z:-30.83 [[ 9.97376084e-01 5.39595412e-02 4.82629694e-02 4.69618582e+02] [-5.37166808e-02 9.98536242e-01 -6.31591357e-03 -6.12297205e+01] [-4.85331279e-02 3.70681462e-03 9.98814695e-01 -3.08286309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.88071405700003 meters 0.04246924737437507 Centerline is valid? [True, True] Translation: X:469.68, Y:-61.24, Z:-30.83 [[ 9.97420605e-01 5.64696917e-02 4.43092724e-02 4.69677913e+02] [-5.62674540e-02 9.98398890e-01 -5.79922646e-03 -6.12365295e+01] [-4.45658089e-02 3.29109801e-03 9.99001030e-01 -3.08349458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.94071405700004 meters 0.03835131400917707 Centerline is valid? [True, True] Translation: X:469.74, Y:-61.24, Z:-30.83 [[ 9.97256752e-01 5.92794360e-02 4.43274022e-02 4.69738317e+02] [-5.90798619e-02 9.98236410e-01 -5.80002671e-03 -6.12350902e+01] [-4.45930492e-02 3.16525899e-03 9.99000221e-01 -3.08349758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.00071405700004 meters 0.03892133053545939 Centerline is valid? [True, True] Translation: X:469.80, Y:-61.24, Z:-30.84 [[ 9.97175676e-01 6.07099604e-02 4.42150664e-02 4.69796217e+02] [-6.05128366e-02 9.98150659e-01 -5.78441372e-03 -6.12435902e+01] [-4.44844691e-02 3.09249758e-03 9.99005290e-01 -3.08391930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.06071405700004 meters 0.03706757056694931 Centerline is valid? [True, True] Translation: X:469.86, Y:-61.25, Z:-30.84 [[ 9.96915531e-01 6.35344239e-02 4.60738551e-02 4.69856637e+02] [-6.33235732e-02 9.97974873e-01 -6.02304770e-03 -6.12458189e+01] [-4.63632206e-02 3.08690866e-03 9.98919878e-01 -3.08400855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.12071405700004 meters 0.03738025622264163 Centerline is valid? [True, True] Translation: X:469.92, Y:-61.25, Z:-30.84 [[ 9.96900171e-01 6.34175466e-02 4.65646192e-02 4.69915019e+02] [-6.32020428e-02 9.97982187e-01 -6.08733684e-03 -6.12534314e+01] [-4.68567045e-02 3.12548808e-03 9.98896732e-01 -3.08441518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.18071405700005 meters 0.03983981511557915 Centerline is valid? [True, True] Translation: X:469.97, Y:-61.26, Z:-30.85 [[ 9.97141266e-01 5.99199063e-02 4.60315182e-02 4.69974376e+02] [-5.97058120e-02 9.98197905e-01 -6.01318281e-03 -6.12648295e+01] [-4.63088744e-02 3.24764355e-03 9.98921889e-01 -3.08492826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.24071405700005 meters 0.04273400472274922 Centerline is valid? [True, True] Translation: X:470.03, Y:-61.28, Z:-30.85 [[ 9.97378078e-01 5.63834595e-02 4.53638002e-02 4.70032914e+02] [-5.61719307e-02 9.98403528e-01 -5.92526871e-03 -6.12768944e+01] [-4.56254653e-02 3.36156088e-03 9.98952960e-01 -3.08532963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.30071405700005 meters 0.04469869615355458 Centerline is valid? [True, True] Translation: X:470.09, Y:-61.29, Z:-30.86 [[ 9.97840691e-01 5.04942109e-02 4.20034571e-02 4.70091638e+02] [-5.03076846e-02 9.98718696e-01 -5.48663475e-03 -6.12881333e+01] [-4.22266812e-02 3.36169074e-03 9.99102400e-01 -3.08597317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.36071405700005 meters 0.047030125549077026 Centerline is valid? [True, True] Translation: X:470.15, Y:-61.30, Z:-30.87 [[ 9.97835171e-01 5.10892608e-02 4.14108586e-02 4.70149270e+02] [-5.09084368e-02 9.98688671e-01 -5.41010746e-03 -6.12964829e+01] [-4.16329537e-02 3.29023343e-03 9.99127555e-01 -3.08650682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.42071405700005 meters 0.04653598774734449 Centerline is valid? [True, True] Translation: X:470.21, Y:-61.30, Z:-30.87 [[ 9.97554236e-01 5.50351928e-02 4.30891280e-02 4.70209240e+02] [-5.48431888e-02 9.98479128e-01 -5.62638365e-03 -6.13004637e+01] [-4.33332441e-02 3.24947766e-03 9.99055389e-01 -3.08667275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.48071405700006 meters 0.044724978873886476 Centerline is valid? [True, True] Translation: X:470.27, Y:-61.30, Z:-30.87 [[ 9.97210500e-01 5.91805788e-02 4.54849297e-02 4.70269044e+02] [-5.89709503e-02 9.98242038e-01 -5.93802637e-03 -6.13041229e+01] [-4.57563847e-02 3.23917271e-03 9.98947377e-01 -3.08692934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.54071405700006 meters 0.04534637371691355 Centerline is valid? [True, True] Translation: X:470.33, Y:-61.31, Z:-30.87 [[ 9.97171326e-01 6.03730262e-02 4.47710140e-02 4.70327426e+02] [-6.01711551e-02 9.98170966e-01 -5.84421180e-03 -6.13107175e+01] [-4.50419591e-02 3.13375680e-03 9.98980181e-01 -3.08738921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.60071405700006 meters 0.0391845497335344 Centerline is valid? [True, True] Translation: X:470.39, Y:-61.31, Z:-30.88 [[ 9.97296086e-01 5.96628635e-02 4.29052323e-02 4.70386880e+02] [-5.94769406e-02 9.98213983e-01 -5.59802566e-03 -6.13079977e+01] [-4.31625971e-02 3.03101713e-03 9.99063463e-01 -3.08766807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.66071405700006 meters 0.04572990830788079 Centerline is valid? [True, True] Translation: X:470.44, Y:-61.32, Z:-30.88 [[ 9.97360637e-01 5.86295918e-02 4.28290804e-02 4.70442657e+02] [-5.84434978e-02 9.98275093e-01 -5.58538746e-03 -6.13246937e+01] [-4.30826732e-02 3.06756433e-03 9.99066801e-01 -3.08840293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.72071405700007 meters 0.03982543974409773 Centerline is valid? [True, True] Translation: X:470.50, Y:-61.32, Z:-30.88 [[ 9.97362544e-01 5.86436683e-02 4.27653492e-02 4.70502233e+02] [-5.84583214e-02 9.98274295e-01 -5.57288582e-03 -6.13204822e+01] [-4.30183632e-02 3.05819706e-03 9.99069601e-01 -3.08845072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.78071405700007 meters 0.03992853537035367 Centerline is valid? [True, True] Translation: X:470.56, Y:-61.33, Z:-30.89 [[ 9.97359429e-01 5.88135792e-02 4.26043635e-02 4.70560113e+02] [-5.86299128e-02 9.98264366e-01 -5.54882031e-03 -6.13268765e+01] [-4.28567639e-02 3.03627814e-03 9.99076613e-01 -3.08893978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.84071405700007 meters 0.040646710170853376 Centerline is valid? [True, True] Translation: X:470.62, Y:-61.33, Z:-30.89 [[ 9.97186289e-01 5.93614491e-02 4.57790779e-02 4.70618288e+02] [-5.91501097e-02 9.98231316e-01 -5.95859595e-03 -6.13331526e+01] [-4.60518201e-02 3.23399270e-03 9.98933817e-01 -3.08917535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9007140570001 meters 0.044686088125126096 Centerline is valid? [True, True] Translation: X:470.67, Y:-61.35, Z:-30.90 [[ 9.97117750e-01 5.87393350e-02 4.80196027e-02 4.70674447e+02] [-5.85062297e-02 9.98267499e-01 -6.24680021e-03 -6.13451362e+01] [-4.83033416e-02 3.41934946e-03 9.98826860e-01 -3.08968849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9607140570001 meters 0.041065145367520435 Centerline is valid? [True, True] Translation: X:470.73, Y:-61.35, Z:-30.90 [[ 9.97275946e-01 5.66474511e-02 4.72414390e-02 4.70733825e+02] [-5.64197307e-02 9.98388252e-01 -6.14099445e-03 -6.13455316e+01] [-4.75131694e-02 3.45891679e-03 9.98864623e-01 -3.09013133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0207140570001 meters 0.04266728668414925 Centerline is valid? [True, True] Translation: X:470.79, Y:-61.35, Z:-30.91 [[ 9.97286427e-01 5.63445546e-02 4.73822196e-02 4.70790675e+02] [-5.61152459e-02 9.98405314e-01 -6.15694427e-03 -6.13528446e+01] [-4.76535701e-02 3.48137205e-03 9.98857856e-01 -3.09064171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0807140570001 meters 0.03989957215471553 Centerline is valid? [True, True] Translation: X:470.85, Y:-61.35, Z:-30.91 [[ 9.97076377e-01 5.89574705e-02 4.86077640e-02 4.70851195e+02] [-5.87194959e-02 9.98254576e-01 -6.31056490e-03 -6.13522917e+01] [-4.88949777e-02 3.43789179e-03 9.98798009e-01 -3.09094807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1407140570001 meters 0.042213308448873686 Centerline is valid? [True, True] Translation: X:470.91, Y:-61.36, Z:-30.91 [[ 9.96726790e-01 6.37685175e-02 4.96918791e-02 4.70909676e+02] [-6.35257717e-02 9.97959350e-01 -6.45074655e-03 -6.13576192e+01] [-5.00018299e-02 3.27291693e-03 9.98743763e-01 -3.09140342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2007140570001 meters 0.03932329371654248 Centerline is valid? [True, True] Translation: X:470.97, Y:-61.36, Z:-30.92 [[ 9.96508824e-01 6.59820190e-02 5.11521033e-02 4.70969673e+02] [-6.57278088e-02 9.97815511e-01 -6.63786270e-03 -6.13573196e+01] [-5.14783417e-02 3.25257309e-03 9.98668815e-01 -3.09163943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2607140570001 meters 0.037846072802144075 Centerline is valid? [True, True] Translation: X:471.03, Y:-61.36, Z:-30.92 [[ 9.96452926e-01 6.66423678e-02 5.13844402e-02 4.71029248e+02] [-6.63867977e-02 9.97771693e-01 -6.66640313e-03 -6.13586138e+01] [-5.17142048e-02 3.23150847e-03 9.98656697e-01 -3.09196424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.32071405700003 meters 0.03977951146506784 Centerline is valid? [True, True] Translation: X:471.09, Y:-61.37, Z:-30.92 [[ 9.96349651e-01 6.61887232e-02 5.39112798e-02 4.71086747e+02] [-6.59068520e-02 9.97801285e-01 -6.99156149e-03 -6.13659157e+01] [-5.42555068e-02 3.41291711e-03 9.98521253e-01 -3.09222062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.38071405700003 meters 0.041174306780072674 Centerline is valid? [True, True] Translation: X:471.14, Y:-61.37, Z:-30.93 [[ 9.96453669e-01 6.50468753e-02 5.33759328e-02 4.71144206e+02] [-6.47692384e-02 9.97876297e-01 -6.91678386e-03 -6.13740825e+01] [-5.37124934e-02 3.43513613e-03 9.98550533e-01 -3.09286348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.44071405700004 meters 0.041912416918623005 Centerline is valid? [True, True] Translation: X:471.20, Y:-61.38, Z:-30.94 [[ 9.96672106e-01 6.42209214e-02 5.02034589e-02 4.71202584e+02] [-6.39745291e-02 9.97930356e-01 -6.50111332e-03 -6.13801614e+01] [-5.05170630e-02 3.26773566e-03 9.98717852e-01 -3.09362468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.50071405700004 meters 0.03996550726666409 Centerline is valid? [True, True] Translation: X:471.26, Y:-61.38, Z:-30.94 [[ 9.96881599e-01 6.22827891e-02 4.84554528e-02 4.71262397e+02] [-6.20511246e-02 9.98053265e-01 -6.27208396e-03 -6.13821381e+01] [-4.87517657e-02 3.24580975e-03 9.98805652e-01 -3.09406214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.56071405700004 meters 0.040741955521233574 Centerline is valid? [True, True] Translation: X:471.32, Y:-61.39, Z:-30.94 [[ 9.96933609e-01 5.95803514e-02 5.07302688e-02 4.71321503e+02] [-5.93230189e-02 9.98217254e-01 -6.56459022e-03 -6.13909694e+01] [-5.10309502e-02 3.53498793e-03 9.98690816e-01 -3.09445580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.62071405700004 meters 0.04305610632071489 Centerline is valid? [True, True] Translation: X:471.38, Y:-61.40, Z:-30.95 [[ 9.96956110e-01 5.67740092e-02 5.34343206e-02 4.71380458e+02] [-5.64845915e-02 9.98379543e-01 -6.91223952e-03 -6.14012650e+01] [-5.37401681e-02 3.87298366e-03 9.98547442e-01 -3.09476099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.68071405700005 meters 0.04535132426644584 Centerline is valid? [True, True] Translation: X:471.44, Y:-61.41, Z:-30.95 [[ 9.96946371e-01 5.38968684e-02 5.65071849e-02 4.71440177e+02] [-5.35686343e-02 9.98537424e-01 -7.30853230e-03 -6.14126907e+01] [-5.68184459e-02 4.25920203e-03 9.98375442e-01 -3.09496933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.74071405700005 meters 0.04615210104913447 Centerline is valid? [True, True] Translation: X:471.50, Y:-61.42, Z:-30.95 [[ 9.97155023e-01 4.86198652e-02 5.76018093e-02 4.71499520e+02] [-4.82700208e-02 9.98806538e-01 -7.45020872e-03 -6.14232232e+01] [-5.78952918e-02 4.64857251e-03 9.98311838e-01 -3.09534363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.80071405700005 meters 0.051790489566435116 Centerline is valid? [True, True] Translation: X:471.56, Y:-61.44, Z:-30.96 [[ 9.97475060e-01 4.44690788e-02 5.53715184e-02 4.71557790e+02] [-4.41395467e-02 9.98999712e-01 -7.16072040e-03 -6.14409726e+01] [-5.56345616e-02 4.69856629e-03 9.98440143e-01 -3.09613853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.86071405700005 meters 0.05388652959536229 Centerline is valid? [True, True] Translation: X:471.62, Y:-61.45, Z:-30.97 [[ 9.97659697e-01 4.30300224e-02 5.31370583e-02 4.71617963e+02] [-4.27245469e-02 9.99063256e-01 -6.87196095e-03 -6.14528806e+01] [-5.33829831e-02 4.58562174e-03 9.98563583e-01 -3.09687535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.92071405700005 meters 0.05298219898322329 Centerline is valid? [True, True] Translation: X:471.68, Y:-61.46, Z:-30.97 [[ 9.97715915e-01 4.37409389e-02 5.14750668e-02 4.71679716e+02] [-4.34552822e-02 9.99033200e-01 -6.65610688e-03 -6.14589816e+01] [-5.17164451e-02 4.40404021e-03 9.98652098e-01 -3.09741004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.98071405700006 meters 0.04659078983654316 Centerline is valid? [True, True] Translation: X:471.74, Y:-61.45, Z:-30.98 [[ 9.97616335e-01 4.56724285e-02 5.17269462e-02 4.71741297e+02] [-4.53857292e-02 9.98947040e-01 -6.70428840e-03 -6.14547963e+01] [-5.19786809e-02 4.34064244e-03 9.98638761e-01 -3.09762378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.04071405700006 meters 0.05036245063894547 Centerline is valid? [True, True] Translation: X:471.80, Y:-61.46, Z:-30.98 [[ 9.97174390e-01 4.93915555e-02 5.66013287e-02 4.71799901e+02] [-4.90541327e-02 9.98769179e-01 -7.33619621e-03 -6.14647112e+01] [-5.68940087e-02 4.53893789e-03 9.98369906e-01 -3.09777661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.10071405700006 meters 0.048938176655628995 Centerline is valid? [True, True] Translation: X:471.86, Y:-61.47, Z:-30.98 [[ 9.97097184e-01 4.93296504e-02 5.79981961e-02 4.71861413e+02] [-4.89753236e-02 9.98771711e-01 -7.51578627e-03 -6.14692902e+01] [-5.82977086e-02 4.65348891e-03 9.98288396e-01 -3.09807296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.16071405700006 meters 0.04571433775322013 Centerline is valid? [True, True] Translation: X:471.92, Y:-61.47, Z:-30.99 [[ 9.97329605e-01 4.83718537e-02 5.47158316e-02 4.71923119e+02] [-4.80551244e-02 9.98819519e-01 -7.09033217e-03 -6.14714162e+01] [-5.49942132e-02 4.44202208e-03 9.98476792e-01 -3.09868063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.22071405700007 meters 0.04739914239252393 Centerline is valid? [True, True] Translation: X:471.98, Y:-61.48, Z:-30.99 [[ 9.97391110e-01 4.79146725e-02 5.39922016e-02 4.71983504e+02] [-4.76048211e-02 9.98841642e-01 -7.01110217e-03 -6.14823095e+01] [-5.42655940e-02 4.42252188e-03 9.98516743e-01 -3.09923111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.28071405700007 meters 0.045753725172454324 Centerline is valid? [True, True] Translation: X:472.04, Y:-61.49, Z:-31.00 [[ 9.97353690e-01 5.04844782e-02 5.23157159e-02 4.72043906e+02] [-5.01970028e-02 9.98716218e-01 -6.79530295e-03 -6.14869198e+01] [-5.25916113e-02 4.15122833e-03 9.98607475e-01 -3.09970536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.34071405700007 meters 0.04014159438337728 Centerline is valid? [True, True] Translation: X:472.10, Y:-61.49, Z:-31.00 [[ 9.97042648e-01 5.58316269e-02 5.28089655e-02 4.72104138e+02] [-5.55460402e-02 9.98432551e-01 -6.86138522e-03 -6.14857954e+01] [-5.31092724e-02 3.90776477e-03 9.98581061e-01 -3.10003540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4007140570001 meters 0.03784216279063203 Centerline is valid? [True, True] Translation: X:472.17, Y:-61.49, Z:-31.00 [[ 9.96446156e-01 6.48354920e-02 5.37719094e-02 4.72165040e+02] [-6.45525145e-02 9.97889868e-01 -6.98460722e-03 -6.14877799e+01] [-5.41112940e-02 3.48867305e-03 9.98528816e-01 -3.10033303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4607140570001 meters 0.035683187789160964 Centerline is valid? [True, True] Translation: X:472.22, Y:-61.49, Z:-31.01 [[ 9.95722246e-01 7.47795434e-02 5.42699555e-02 4.72224314e+02] [-7.45059900e-02 9.97195650e-01 -7.04927373e-03 -6.14892542e+01] [-5.46449050e-02 2.97568191e-03 9.98501417e-01 -3.10063854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5207140570001 meters 0.03269222959343784 Centerline is valid? [True, True] Translation: X:472.28, Y:-61.49, Z:-31.01 [[ 9.95063673e-01 8.23511235e-02 5.53767105e-02 4.72284301e+02] [-8.20780303e-02 9.96599957e-01 -7.19183014e-03 -6.14907987e+01] [-5.57806826e-02 2.61111759e-03 9.98439631e-01 -3.10084355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5807140570001 meters 0.03178896493058938 Centerline is valid? [True, True] Translation: X:472.34, Y:-61.50, Z:-31.01 [[ 9.94715707e-01 8.61147854e-02 5.59008588e-02 4.72343922e+02] [-8.58425238e-02 9.96282281e-01 -7.25799257e-03 -6.14970486e+01] [-5.63180556e-02 2.42096841e-03 9.98409944e-01 -3.10123353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6407140570001 meters 0.032280933973755574 Centerline is valid? [True, True] Translation: X:472.40, Y:-61.51, Z:-31.02 [[ 9.94780978e-01 8.62704016e-02 5.44814081e-02 4.72400324e+02] [-8.60120448e-02 9.96268986e-01 -7.07359713e-03 -6.15073180e+01] [-5.48883793e-02 2.35062256e-03 9.98489730e-01 -3.10174532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7007140570001 meters 0.03045837176138077 Centerline is valid? [True, True] Translation: X:472.46, Y:-61.51, Z:-31.02 [[ 9.94891006e-01 8.39466465e-02 5.60789402e-02 4.72459118e+02] [-8.36695742e-02 9.96467000e-01 -7.27467629e-03 -6.15142824e+01] [-5.64914979e-02 2.54540897e-03 9.98399836e-01 -3.10186561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7607140570001 meters 0.03507866019241521 Centerline is valid? [True, True] Translation: X:472.52, Y:-61.53, Z:-31.02 [[ 9.95357570e-01 7.86203431e-02 5.55171155e-02 4.72516798e+02] [-7.83407875e-02 9.96900657e-01 -7.19734394e-03 -6.15329069e+01] [-5.59109065e-02 2.81467623e-03 9.98431794e-01 -3.10229735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.82071405700003 meters 0.03520724428503175 Centerline is valid? [True, True] Translation: X:472.58, Y:-61.54, Z:-31.03 [[ 9.95952162e-01 7.16064465e-02 5.43305409e-02 4.72576463e+02] [-7.13284133e-02 9.97428027e-01 -7.04188062e-03 -6.15434245e+01] [-5.46950483e-02 3.13806495e-03 9.98498174e-01 -3.10277424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.88071405700003 meters 0.036213431660971754 Centerline is valid? [True, True] Translation: X:472.64, Y:-61.56, Z:-31.03 [[ 9.96350529e-01 6.64134777e-02 5.36178403e-02 4.72635071e+02] [-6.61351948e-02 9.97786468e-01 -6.94979464e-03 -6.15557671e+01] [-5.39607155e-02 3.37840526e-03 9.98537344e-01 -3.10330991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.94071405700004 meters 0.03668111557698299 Centerline is valid? [True, True] Translation: X:472.69, Y:-61.56, Z:-31.04 [[ 9.96476178e-01 6.54074106e-02 5.25080669e-02 4.72693589e+02] [-6.51391683e-02 9.97852981e-01 -6.80562391e-03 -6.15633826e+01] [-5.28404694e-02 3.36131029e-03 9.98597309e-01 -3.10360740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.00071405700004 meters 0.035933483635275626 Centerline is valid? [True, True] Translation: X:472.75, Y:-61.57, Z:-31.04 [[ 9.96205969e-01 6.86647086e-02 5.34679858e-02 4.72753640e+02] [-6.83914741e-02 9.97634525e-01 -6.92543750e-03 -6.15694827e+01] [-5.38170417e-02 3.24240780e-03 9.98545549e-01 -3.10385792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.06071405700004 meters 0.03457332807025986 Centerline is valid? [True, True] Translation: X:472.81, Y:-61.57, Z:-31.04 [[ 9.95977720e-01 7.20460792e-02 5.32704754e-02 4.72813884e+02] [-7.17797168e-02 9.97396649e-01 -6.89911579e-03 -6.15736301e+01] [-5.36288479e-02 3.04762597e-03 9.98556287e-01 -3.10426597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.12071405700004 meters 0.03511802446267071 Centerline is valid? [True, True] Translation: X:472.87, Y:-61.58, Z:-31.05 [[ 9.95948700e-01 7.23140043e-02 5.34497185e-02 4.72871814e+02] [-7.20463222e-02 9.97377277e-01 -6.92059429e-03 -6.15824002e+01] [-5.38099906e-02 3.04170125e-03 9.98546560e-01 -3.10473247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.18071405700005 meters 0.035025259445671246 Centerline is valid? [True, True] Translation: X:472.93, Y:-61.59, Z:-31.05 [[ 9.96075927e-01 7.13472071e-02 5.23671993e-02 4.72930308e+02] [-7.10891332e-02 9.97446946e-01 -6.77675470e-03 -6.15899777e+01] [-5.27170056e-02 3.02742341e-03 9.98604903e-01 -3.10513850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.24071405700005 meters 0.035373819177732496 Centerline is valid? [True, True] Translation: X:472.99, Y:-61.60, Z:-31.06 [[ 9.96285078e-01 7.02854111e-02 4.97594585e-02 4.72989168e+02] [-7.00513020e-02 9.97522632e-01 -6.43538618e-03 -6.15977383e+01] [-5.00884997e-02 2.92576437e-03 9.98740498e-01 -3.10563557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.30071405700005 meters 0.03555868401093331 Centerline is valid? [True, True] Translation: X:473.05, Y:-61.61, Z:-31.06 [[ 9.96369339e-01 6.97197361e-02 4.88599907e-02 4.73047668e+02] [-6.94934030e-02 9.97562405e-01 -6.31788057e-03 -6.16050808e+01] [-4.91813708e-02 2.89949546e-03 9.98785656e-01 -3.10600592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.36071405700005 meters 0.03581297959266673 Centerline is valid? [True, True] Translation: X:473.11, Y:-61.61, Z:-31.06 [[ 9.96468470e-01 6.90925367e-02 4.77159227e-02 4.73106276e+02] [-6.88761336e-02 9.97606160e-01 -6.16659556e-03 -6.16116444e+01] [-4.80277641e-02 2.85832978e-03 9.98841911e-01 -3.10640563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.42071405700005 meters 0.03487627726373879 Centerline is valid? [True, True] Translation: X:473.16, Y:-61.62, Z:-31.07 [[ 9.96408978e-01 6.94208142e-02 4.84757688e-02 4.73164987e+02] [-6.91980190e-02 9.97583295e-01 -6.26121468e-03 -6.16160931e+01] [-4.87932758e-02 2.88430335e-03 9.98804734e-01 -3.10653868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.48071405700006 meters 0.03538772407322627 Centerline is valid? [True, True] Translation: X:473.22, Y:-61.62, Z:-31.07 [[ 9.96288714e-01 6.90243361e-02 5.14241050e-02 4.73223102e+02] [-6.87732710e-02 9.97610232e-01 -6.63794240e-03 -6.16238857e+01] [-5.17593929e-02 3.07670319e-03 9.98654845e-01 -3.10664228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.54071405700006 meters 0.03735019044491834 Centerline is valid? [True, True] Translation: X:473.28, Y:-61.63, Z:-31.07 [[ 9.96229834e-01 6.83336003e-02 5.34475136e-02 4.73280528e+02] [-6.80615862e-02 9.97657294e-01 -6.89521495e-03 -6.16333258e+01] [-5.37934766e-02 3.23149630e-03 9.98546854e-01 -3.10685424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.60071405700006 meters 0.039779234099381625 Centerline is valid? [True, True] Translation: X:473.34, Y:-61.65, Z:-31.07 [[ 9.96380001e-01 6.56197491e-02 5.40457435e-02 4.73337717e+02] [-6.53379184e-02 9.97838873e-01 -6.96708384e-03 -6.16465634e+01] [-5.43861221e-02 3.41062662e-03 9.98514155e-01 -3.10738337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.66071405700006 meters 0.03753408051990098 Centerline is valid? [True, True] Translation: X:473.40, Y:-61.65, Z:-31.08 [[ 9.96761247e-01 6.09325743e-02 5.24808324e-02 4.73397634e+02] [-6.06605509e-02 9.98135548e-01 -6.76212673e-03 -6.16520409e+01] [-5.27950182e-02 3.55670966e-03 9.98599037e-01 -3.10781106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.72071405700007 meters 0.04157961636368007 Centerline is valid? [True, True] Translation: X:473.46, Y:-61.67, Z:-31.08 [[ 9.97184175e-01 5.61853108e-02 4.96682223e-02 4.73455429e+02] [-5.59358235e-02 9.98413854e-01 -6.39996294e-03 -6.16655790e+01] [-4.99490252e-02 3.60370885e-03 9.98745267e-01 -3.10842347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.78071405700007 meters 0.04093325942930696 Centerline is valid? [True, True] Translation: X:473.51, Y:-61.67, Z:-31.09 [[ 9.97286593e-01 5.41727961e-02 4.98473579e-02 4.73514648e+02] [-5.39190339e-02 9.98524657e-01 -6.42246636e-03 -6.16729784e+01] [-5.01217389e-02 3.71731822e-03 9.98736198e-01 -3.10886035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.84071405700007 meters 0.03966948968529816 Centerline is valid? [True, True] Translation: X:473.57, Y:-61.68, Z:-31.09 [[ 9.97119005e-01 5.56148553e-02 5.15817556e-02 4.73574542e+02] [-5.53451254e-02 9.98445179e-01 -6.64397310e-03 -6.16755850e+01] [-5.18710588e-02 3.77003312e-03 9.98646674e-01 -3.10893569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9007140570001 meters 0.044104248208699175 Centerline is valid? [True, True] Translation: X:473.63, Y:-61.69, Z:-31.09 [[ 9.96977988e-01 5.72688299e-02 5.24897310e-02 4.73632436e+02] [-5.69918923e-02 9.98351762e-01 -6.75894383e-03 -6.16877600e+01] [-5.27902922e-02 3.74702913e-03 9.98598590e-01 -3.10933237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9607140570001 meters 0.041606750274553544 Centerline is valid? [True, True] Translation: X:473.69, Y:-61.69, Z:-31.10 [[ 9.97100065e-01 5.45843909e-02 5.30283336e-02 4.73692409e+02] [-5.42980714e-02 9.98501438e-01 -6.82620468e-03 -6.16920130e+01] [-5.33214716e-02 3.92707289e-03 9.98569676e-01 -3.10976032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0207140570001 meters 0.04941872634766176 Centerline is valid? [True, True] Translation: X:473.75, Y:-61.71, Z:-31.11 [[ 9.97388327e-01 5.10181130e-02 5.11241377e-02 4.73749410e+02] [-5.07474280e-02 9.98689845e-01 -6.57965176e-03 -6.17122645e+01] [-5.13928386e-02 3.96804936e-03 9.98670632e-01 -3.11051382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0807140570001 meters 0.0504879468780105 Centerline is valid? [True, True] Translation: X:473.81, Y:-61.72, Z:-31.11 [[ 9.97505813e-01 4.97579061e-02 5.00629918e-02 4.73808713e+02] [-4.94967515e-02 9.98753499e-01 -6.44359144e-03 -6.17216824e+01] [-5.03212079e-02 3.94956445e-03 9.98725276e-01 -3.11101292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1407140570001 meters 0.04269550820784853 Centerline is valid? [True, True] Translation: X:473.87, Y:-61.72, Z:-31.11 [[ 9.97562036e-01 5.03012435e-02 4.83711693e-02 4.73869334e+02] [-5.00581174e-02 9.98726905e-01 -6.22535633e-03 -6.17173786e+01] [-4.86227314e-02 3.78880946e-03 9.98810029e-01 -3.11132488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2007140570001 meters 0.03983949838804754 Centerline is valid? [True, True] Translation: X:473.93, Y:-61.72, Z:-31.12 [[ 9.97529313e-01 5.17330343e-02 4.75285534e-02 4.73928870e+02] [-5.15000089e-02 9.98654271e-01 -6.11521164e-03 -6.17201854e+01] [-4.77809513e-02 3.65238194e-03 9.98851161e-01 -3.11167340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2607140570001 meters 0.043986772309491544 Centerline is valid? [True, True] Translation: X:473.99, Y:-61.73, Z:-31.12 [[ 9.97443058e-01 5.23626215e-02 4.86364189e-02 4.73986348e+02] [-5.21194163e-02 9.98621263e-01 -6.25615983e-03 -6.17327503e+01] [-4.88969510e-02 3.70526143e-03 9.98796956e-01 -3.11204699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.32071405700003 meters 0.04164740474870597 Centerline is valid? [True, True] Translation: X:474.05, Y:-61.74, Z:-31.12 [[ 9.97346625e-01 5.32605528e-02 4.96288478e-02 4.74045490e+02] [-5.30085545e-02 9.98573671e-01 -6.38102157e-03 -6.17364198e+01] [-4.98979174e-02 3.73333685e-03 9.98747345e-01 -3.11223965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.38071405700003 meters 0.04015162811799228 Centerline is valid? [True, True] Translation: X:474.10, Y:-61.74, Z:-31.12 [[ 9.97258775e-01 5.42367709e-02 5.03319919e-02 4.74104388e+02] [-5.39789374e-02 9.98521120e-01 -6.46889321e-03 -6.17398126e+01] [-5.06084089e-02 3.73429307e-03 9.98711592e-01 -3.11248149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.44071405700004 meters 0.04137650023308325 Centerline is valid? [True, True] Translation: X:474.16, Y:-61.75, Z:-31.13 [[ 9.97330497e-01 5.27520494e-02 5.04886170e-02 4.74162695e+02] [-5.24909185e-02 9.98600344e-01 -6.48504106e-03 -6.17492344e+01] [-5.07600495e-02 3.81753534e-03 9.98703582e-01 -3.11301100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.50071405700004 meters 0.04481232723206295 Centerline is valid? [True, True] Translation: X:474.22, Y:-61.76, Z:-31.14 [[ 9.97625408e-01 4.82389362e-02 4.91584240e-02 4.74221378e+02] [-4.79861248e-02 9.98828066e-01 -6.31074156e-03 -6.17632705e+01] [-4.94052371e-02 3.93683386e-03 9.98771057e-01 -3.11366382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.56071405700004 meters 0.045564915323705844 Centerline is valid? [True, True] Translation: X:474.28, Y:-61.77, Z:-31.14 [[ 9.97780803e-01 4.41516722e-02 4.98407312e-02 4.74280560e+02] [-4.38867310e-02 9.99016025e-01 -6.39818651e-03 -6.17737446e+01] [-5.00741798e-02 4.19664091e-03 9.98736684e-01 -3.11402852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.62071405700004 meters 0.04634249020744883 Centerline is valid? [True, True] Translation: X:474.34, Y:-61.78, Z:-31.14 [[ 9.97694393e-01 4.46796129e-02 5.10845372e-02 4.74340497e+02] [-4.44019237e-02 9.98992220e-01 -6.55844861e-03 -6.17840148e+01] [-5.13260842e-02 4.27507568e-03 9.98672798e-01 -3.11431524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.68071405700005 meters 0.045130747358827536 Centerline is valid? [True, True] Translation: X:474.40, Y:-61.79, Z:-31.15 [[ 9.97458758e-01 5.03064984e-02 5.04507948e-02 4.74401032e+02] [-5.00427055e-02 9.98726063e-01 -6.47910928e-03 -6.17893177e+01] [-5.07124649e-02 3.93795003e-03 9.98705531e-01 -3.11482624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.74071405700005 meters 0.038911319977729855 Centerline is valid? [True, True] Translation: X:474.46, Y:-61.79, Z:-31.15 [[ 9.97039713e-01 5.95566714e-02 4.86293569e-02 4.74462628e+02] [-5.93224722e-02 9.98219328e-01 -6.24642926e-03 -6.17860886e+01] [-4.89147805e-02 3.34312436e-03 9.98797361e-01 -3.11525517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.80071405700005 meters 0.03874381651018196 Centerline is valid? [True, True] Translation: X:474.52, Y:-61.79, Z:-31.16 [[ 9.96246625e-01 7.12770534e-02 4.91145932e-02 4.74521768e+02] [-7.10523112e-02 9.97452639e-01 -6.30891385e-03 -6.17909449e+01] [-4.94391614e-02 2.79552878e-03 9.98773225e-01 -3.11580914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.86071405700005 meters 0.03263542643973394 Centerline is valid? [True, True] Translation: X:474.58, Y:-61.79, Z:-31.16 [[ 9.95499301e-01 8.02259413e-02 5.04473948e-02 4.74583041e+02] [-8.00003159e-02 9.96773781e-01 -6.47915103e-03 -6.17860851e+01] [-5.08044364e-02 2.41418281e-03 9.98705703e-01 -3.11592997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.92071405700005 meters 0.03210450852558121 Centerline is valid? [True, True] Translation: X:474.64, Y:-61.79, Z:-31.16 [[ 9.95250504e-01 8.19684890e-02 5.25128583e-02 4.74641529e+02] [-8.17262989e-02 9.96631977e-01 -6.74648155e-03 -6.17942561e+01] [-5.28889927e-02 2.42275762e-03 9.98597459e-01 -3.11620326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.98071405700006 meters 0.03361012333917593 Centerline is valid? [True, True] Translation: X:474.70, Y:-61.81, Z:-31.17 [[ 9.95384018e-01 8.01149244e-02 5.28417995e-02 4.74698516e+02] [-7.98678266e-02 9.96782440e-01 -6.77478220e-03 -6.18052347e+01] [-5.32145390e-02 2.52315025e-03 9.98579915e-01 -3.11663598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.04071405700006 meters 0.03844066854274021 Centerline is valid? [True, True] Translation: X:474.76, Y:-61.83, Z:-31.17 [[ 9.96402831e-01 6.71812892e-02 5.16533954e-02 4.74756007e+02] [-6.69281351e-02 9.97735856e-01 -6.61714135e-03 -6.18265046e+01] [-5.19809927e-02 3.13627295e-03 9.98643150e-01 -3.11721068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.10071405700006 meters 0.04410801264945922 Centerline is valid? [True, True] Translation: X:474.81, Y:-61.85, Z:-31.18 [[ 9.97143997e-01 5.63904076e-02 5.02391443e-02 4.74813964e+02] [-5.61373420e-02 9.98402317e-01 -6.43522225e-03 -6.18464296e+01] [-5.05217629e-02 3.59655121e-03 9.98716484e-01 -3.11776178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.16071405700006 meters 0.04834812539197865 Centerline is valid? [True, True] Translation: X:474.87, Y:-61.86, Z:-31.18 [[ 9.97543623e-01 5.00328404e-02 4.90248512e-02 4.74872642e+02] [-4.97842683e-02 9.98740256e-01 -6.27911252e-03 -6.18636065e+01] [-4.92772543e-02 3.82302231e-03 9.98777822e-01 -3.11834463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.22071405700007 meters 0.043946472679514376 Centerline is valid? [True, True] Translation: X:474.93, Y:-61.87, Z:-31.19 [[ 9.97695486e-01 4.70877357e-02 4.88514302e-02 4.74932483e+02] [-4.68374315e-02 9.98882931e-01 -6.25655184e-03 -6.18662043e+01] [-4.90914666e-02 3.95405801e-03 9.98786460e-01 -3.11860666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.28071405700007 meters 0.04536417777531794 Centerline is valid? [True, True] Translation: X:474.99, Y:-61.88, Z:-31.19 [[ 9.97719668e-01 4.72388762e-02 4.82074019e-02 4.74991536e+02] [-4.69953432e-02 9.98876032e-01 -6.17338788e-03 -6.18758328e+01] [-4.84448423e-02 3.89378710e-03 9.98818270e-01 -3.11900678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.34071405700007 meters 0.04670874289208396 Centerline is valid? [True, True] Translation: X:475.05, Y:-61.89, Z:-31.19 [[ 9.97560095e-01 4.92944619e-02 4.94359573e-02 4.75050748e+02] [-4.90409096e-02 9.98776715e-01 -6.32952853e-03 -6.18861921e+01] [-4.96874937e-02 3.88970077e-03 9.98757239e-01 -3.11933115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4007140570001 meters 0.04645597826163817 Centerline is valid? [True, True] Translation: X:475.11, Y:-61.89, Z:-31.20 [[ 9.97426162e-01 5.10663572e-02 5.03316861e-02 4.75110293e+02] [-5.08057515e-02 9.98687761e-01 -6.44445457e-03 -6.18942436e+01] [-5.05947337e-02 3.87072845e-03 9.98711765e-01 -3.11970459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4607140570001 meters 0.04767320800024271 Centerline is valid? [True, True] Translation: X:475.17, Y:-61.90, Z:-31.20 [[ 9.97444260e-01 5.17376740e-02 4.92763745e-02 4.75170055e+02] [-5.14887619e-02 9.98653650e-01 -6.30823570e-03 -6.19042177e+01] [-4.95364047e-02 3.75493398e-03 9.98765260e-01 -3.12022054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5207140570001 meters 0.042181073684953475 Centerline is valid? [True, True] Translation: X:475.23, Y:-61.91, Z:-31.21 [[ 9.97543259e-01 5.06788141e-02 4.83642885e-02 4.75229544e+02] [-5.04377620e-02 9.98708009e-01 -6.19233864e-03 -6.19055965e+01] [-4.86156226e-02 3.73773919e-03 9.98810568e-01 -3.12058806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5807140570001 meters 0.04077970604592235 Centerline is valid? [True, True] Translation: X:475.29, Y:-61.91, Z:-31.21 [[ 9.97606907e-01 4.89387355e-02 4.88411631e-02 4.75288559e+02] [-4.86909678e-02 9.98794333e-01 -6.25058687e-03 -6.19113519e+01] [-4.90881727e-02 3.85750514e-03 9.98787000e-01 -3.12086818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6407140570001 meters 0.04379684199072022 Centerline is valid? [True, True] Translation: X:475.35, Y:-61.92, Z:-31.21 [[ 9.97726986e-01 4.62475786e-02 4.90104303e-02 4.75346754e+02] [-4.59950593e-02 9.98922000e-01 -6.26829624e-03 -6.19245398e+01] [-4.92474906e-02 3.99981068e-03 9.98778597e-01 -3.12129390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7007140570001 meters 0.04596320304330021 Centerline is valid? [True, True] Translation: X:475.41, Y:-61.94, Z:-31.22 [[ 9.97740173e-01 4.41264659e-02 5.06695391e-02 4.75406760e+02] [-4.38536658e-02 9.99016926e-01 -6.48362499e-03 -6.19371821e+01] [-5.09058267e-02 4.24692808e-03 9.98694428e-01 -3.12161656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7607140570001 meters 0.047087080824579415 Centerline is valid? [True, True] Translation: X:475.47, Y:-61.95, Z:-31.22 [[ 9.97629740e-01 4.44843636e-02 5.24980355e-02 4.75467531e+02] [-4.41920136e-02 9.99000474e-01 -6.71707631e-03 -6.19488563e+01] [-5.27443672e-02 4.38116119e-03 9.98598436e-01 -3.12195333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.82071405700003 meters 0.04698147970048323 Centerline is valid? [True, True] Translation: X:475.53, Y:-61.96, Z:-31.22 [[ 9.97570100e-01 4.66037615e-02 5.17878933e-02 4.75527111e+02] [-4.63212989e-02 9.98904512e-01 -6.64180061e-03 -6.19593869e+01] [-5.20406931e-02 4.22677921e-03 9.98636020e-01 -3.12248858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.88071405700003 meters 0.047779407040907725 Centerline is valid? [True, True] Translation: X:475.59, Y:-61.97, Z:-31.23 [[ 9.97550116e-01 4.90098323e-02 4.99179551e-02 4.75585575e+02] [-4.87503578e-02 9.98790470e-01 -6.40307279e-03 -6.19704093e+01] [-5.01713914e-02 3.95386783e-03 9.98732796e-01 -3.12318833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.94071405700004 meters 0.048154955105833855 Centerline is valid? [True, True] Translation: X:475.64, Y:-61.98, Z:-31.24 [[ 9.97525943e-01 5.03381972e-02 4.90719757e-02 4.75644892e+02] [-5.00890487e-02 9.98724920e-01 -6.29455738e-03 -6.19820246e+01] [-4.93262617e-02 3.82101570e-03 9.98775410e-01 -3.12381319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.00071405700004 meters 0.04108488477482488 Centerline is valid? [True, True] Translation: X:475.71, Y:-61.98, Z:-31.24 [[ 9.97521062e-01 5.18557977e-02 4.75679303e-02 4.75706046e+02] [-5.16234171e-02 9.98647982e-01 -6.10163056e-03 -6.19810424e+01] [-4.78200225e-02 3.63088588e-03 9.98849369e-01 -3.12415608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.06071405700004 meters 0.04206510520437916 Centerline is valid? [True, True] Translation: X:475.76, Y:-61.99, Z:-31.25 [[ 9.97481420e-01 5.25858046e-02 4.75978004e-02 4.75764554e+02] [-5.23539290e-02 9.98609925e-01 -6.10605901e-03 -6.19912227e+01] [-4.78527279e-02 3.59874855e-03 9.98847919e-01 -3.12458440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.12071405700004 meters 0.041940644042510675 Centerline is valid? [True, True] Translation: X:475.82, Y:-62.00, Z:-31.25 [[ 9.97281368e-01 5.46057893e-02 4.94780943e-02 4.75824358e+02] [-5.43577889e-02 9.98501362e-01 -6.34512917e-03 -6.19998390e+01] [-4.97504254e-02 3.63835929e-03 9.98755054e-01 -3.12480043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.18071405700005 meters 0.042648346038170144 Centerline is valid? [True, True] Translation: X:475.88, Y:-62.01, Z:-31.25 [[ 9.97181210e-01 5.52761215e-02 5.07364201e-02 4.75883552e+02] [-5.50162304e-02 9.98464265e-01 -6.50579713e-03 -6.20078112e+01] [-5.10181177e-02 3.69613208e-03 9.98690888e-01 -3.12514827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.24071405700005 meters 0.04469972546234067 Centerline is valid? [True, True] Translation: X:475.94, Y:-62.02, Z:-31.26 [[ 9.97239767e-01 5.38437595e-02 5.11243214e-02 4.75942738e+02] [-5.35781214e-02 9.98542157e-01 -6.55325079e-03 -6.20196366e+01] [-5.14026418e-02 3.79601720e-03 9.98670796e-01 -3.12556812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.30071405700005 meters 0.04328164025714416 Centerline is valid? [True, True] Translation: X:476.00, Y:-62.03, Z:-31.26 [[ 9.97438287e-01 5.12811760e-02 4.98708847e-02 4.76002250e+02] [-5.10252216e-02 9.98676904e-01 -6.39283826e-03 -6.20271089e+01] [-5.01327330e-02 3.83178870e-03 9.98735213e-01 -3.12609911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.36071405700005 meters 0.04501514208700977 Centerline is valid? [True, True] Translation: X:476.06, Y:-62.04, Z:-31.27 [[ 9.97570807e-01 4.98216984e-02 4.86855642e-02 4.76062282e+02] [-4.95761206e-02 9.98750858e-01 -6.23949618e-03 -6.20377219e+01] [-4.89356113e-02 3.81069784e-03 9.98794666e-01 -3.12655523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.42071405700005 meters 0.046123089323286966 Centerline is valid? [True, True] Translation: X:476.12, Y:-62.05, Z:-31.27 [[ 9.97531223e-01 5.02993034e-02 4.90044808e-02 4.76122435e+02] [-5.00510153e-02 9.98726909e-01 -6.28141192e-03 -6.20466754e+01] [-4.92580443e-02 3.81318050e-03 9.98778807e-01 -3.12697054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.48071405700006 meters 0.04343188730495719 Centerline is valid? [True, True] Translation: X:476.18, Y:-62.05, Z:-31.27 [[ 9.97298524e-01 5.34767631e-02 5.03576219e-02 4.76183188e+02] [-5.32185594e-02 9.98562023e-01 -6.45530895e-03 -6.20483860e+01] [-5.06304178e-02 3.75791000e-03 9.98710388e-01 -3.12722484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.54071405700006 meters 0.03747857817507971 Centerline is valid? [True, True] Translation: X:476.24, Y:-62.04, Z:-31.27 [[ 9.97061020e-01 5.80247875e-02 5.00244521e-02 4.76244721e+02] [-5.77756799e-02 9.98308995e-01 -6.41264118e-03 -6.20411223e+01] [-5.03119527e-02 3.50359782e-03 9.98727406e-01 -3.12742627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.60071405700006 meters 0.037016655575265026 Centerline is valid? [True, True] Translation: X:476.31, Y:-62.04, Z:-31.28 [[ 9.96786661e-01 6.25505884e-02 5.00377475e-02 4.76305208e+02] [-6.23070274e-02 9.98036418e-01 -6.41418692e-03 -6.20442111e+01] [-5.03407054e-02 3.27587266e-03 9.98726730e-01 -3.12789519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.66071405700006 meters 0.037042492006102816 Centerline is valid? [True, True] Translation: X:476.36, Y:-62.05, Z:-31.28 [[ 9.96699111e-01 6.47185203e-02 4.90142382e-02 4.76364980e+02] [-6.44874372e-02 9.97898739e-01 -6.28304103e-03 -6.20501239e+01] [-4.93178757e-02 3.10149880e-03 9.98778318e-01 -3.12845279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.72071405700007 meters 0.03705914223777992 Centerline is valid? [True, True] Translation: X:476.42, Y:-62.05, Z:-31.29 [[ 9.96652091e-01 6.67820453e-02 4.71674415e-02 4.76423912e+02] [-6.65703742e-02 9.97763414e-01 -6.04609455e-03 -6.20540331e+01] [-4.74657180e-02 2.88589855e-03 9.98868699e-01 -3.12892768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.78071405700007 meters 0.03709187659777753 Centerline is valid? [True, True] Translation: X:476.48, Y:-62.06, Z:-31.29 [[ 9.96399668e-01 7.05200640e-02 4.70597806e-02 4.76482019e+02] [-7.03136309e-02 9.97506709e-01 -6.02974654e-03 -6.20600797e+01] [-4.73676650e-02 2.69909340e-03 9.98873876e-01 -3.12927420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.84071405700007 meters 0.03535388124525656 Centerline is valid? [True, True] Translation: X:476.54, Y:-62.06, Z:-31.29 [[ 9.95824156e-01 7.77393880e-02 4.78627039e-02 4.76541666e+02] [-7.75342904e-02 9.96970842e-01 -6.12969726e-03 -6.20620064e+01] [-4.81942391e-02 2.39309982e-03 9.98835116e-01 -3.12938785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9007140570001 meters 0.03440123111603984 Centerline is valid? [True, True] Translation: X:476.60, Y:-62.07, Z:-31.30 [[ 9.95573139e-01 8.04401899e-02 4.86158398e-02 4.76601487e+02] [-8.02318728e-02 9.96756792e-01 -6.22447713e-03 -6.20678232e+01] [-4.89588666e-02 2.29638236e-03 9.98798156e-01 -3.12966461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9607140570001 meters 0.030864791585087016 Centerline is valid? [True, True] Translation: X:476.66, Y:-62.07, Z:-31.30 [[ 9.94585673e-01 9.19690185e-02 4.83842855e-02 4.76660711e+02] [-9.17763044e-02 9.95760383e-01 -6.19431810e-03 -6.20688102e+01] [-4.87488400e-02 1.72024913e-03 9.98809587e-01 -3.12995507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0207140570001 meters 0.029642760950678162 Centerline is valid? [True, True] Translation: X:476.72, Y:-62.07, Z:-31.30 [[ 9.94092973e-01 9.73347148e-02 4.80116010e-02 4.76719723e+02] [-9.71512926e-02 9.95250656e-01 -6.14479380e-03 -6.20743262e+01] [-4.83816792e-02 1.44410724e-03 9.98827877e-01 -3.13031345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0807140570001 meters 0.029322900396504793 Centerline is valid? [True, True] Translation: X:476.78, Y:-62.08, Z:-31.31 [[ 9.93923769e-01 9.86454937e-02 4.88324547e-02 4.76777845e+02] [-9.84573770e-02 9.95121650e-01 -6.24869774e-03 -6.20839455e+01] [-4.92106388e-02 1.40281380e-03 9.98787437e-01 -3.13066265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1407140570001 meters 0.026053524503490737 Centerline is valid? [True, True] Translation: X:476.84, Y:-62.09, Z:-31.30 [[ 9.93763698e-01 9.95151281e-02 5.03035960e-02 4.76836884e+02] [-9.93166456e-02 9.95035064e-01 -6.43621781e-03 -6.20898354e+01] [-5.06943429e-02 1.40009520e-03 9.98713234e-01 -3.13049093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2007140570001 meters 0.025600828277812883 Centerline is valid? [True, True] Translation: X:476.89, Y:-62.10, Z:-31.31 [[ 9.93420400e-01 1.01900237e-01 5.22709345e-02 4.76894689e+02] [-1.01690065e-01 9.94793757e-01 -6.67168130e-03 -6.21032771e+01] [-5.26786452e-02 1.31234959e-03 9.98610654e-01 -3.13058336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2607140570001 meters 0.02483980934143606 Centerline is valid? [True, True] Translation: X:476.95, Y:-62.12, Z:-31.31 [[ 9.93258123e-01 1.03597412e-01 5.20180523e-02 4.76951878e+02] [-1.03391674e-01 9.94618570e-01 -6.63787723e-03 -6.21188501e+01] [-5.24257877e-02 1.21489197e-03 9.98624084e-01 -3.13099653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.32071405700003 meters 0.024342167963948818 Centerline is valid? [True, True] Translation: X:477.01, Y:-62.14, Z:-31.32 [[ 9.93295585e-01 1.04290405e-01 4.98737607e-02 4.77008314e+02] [-1.04102903e-01 9.94546262e-01 -6.34960422e-03 -6.21368218e+01] [-5.02639651e-02 1.11503058e-03 9.98735346e-01 -3.13150738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.38071405700003 meters 0.024532108557292286 Centerline is valid? [True, True] Translation: X:477.06, Y:-62.16, Z:-31.32 [[ 9.93634499e-01 1.02073819e-01 4.76593854e-02 4.77064762e+02] [-1.01900072e-01 9.94776136e-01 -6.06749324e-03 -6.21557629e+01] [-4.80297515e-02 1.17237583e-03 9.98845218e-01 -3.13186321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.44071405700004 meters 0.02611389064307981 Centerline is valid? [True, True] Translation: X:477.12, Y:-62.18, Z:-31.32 [[ 9.94455176e-01 9.53463243e-02 4.43619431e-02 4.77121986e+02] [-9.51897909e-02 9.95443207e-01 -5.63254556e-03 -6.21790765e+01] [-4.46968375e-02 1.37850999e-03 9.98999646e-01 -3.13244553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.50071405700004 meters 0.028013512020268368 Centerline is valid? [True, True] Translation: X:477.18, Y:-62.20, Z:-31.33 [[ 9.95180825e-01 8.79064929e-02 4.34462138e-02 4.77179581e+02] [-8.77493091e-02 9.96127320e-01 -5.51554015e-03 -6.22014154e+01] [-4.37628123e-02 1.67658456e-03 9.99040542e-01 -3.13278542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.56071405700004 meters 0.030974363161005013 Centerline is valid? [True, True] Translation: X:477.24, Y:-62.22, Z:-31.33 [[ 9.95776907e-01 8.08973266e-02 4.34047733e-02 4.77236651e+02] [-8.07337858e-02 9.96720468e-01 -5.51049202e-03 -6.22221441e+01] [-4.37082100e-02 1.98298903e-03 9.99042372e-01 -3.13311173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.62071405700004 meters 0.03418095467642726 Centerline is valid? [True, True] Translation: X:477.29, Y:-62.24, Z:-31.34 [[ 9.96353289e-01 7.40582818e-02 4.23732812e-02 4.77294441e+02] [-7.38962915e-02 9.97251426e-01 -5.37872170e-03 -6.22414741e+01] [-4.26551540e-02 2.22787871e-03 9.99087371e-01 -3.13353242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.68071405700005 meters 0.03617311562371589 Centerline is valid? [True, True] Translation: X:477.35, Y:-62.26, Z:-31.34 [[ 9.96575419e-01 7.06989723e-02 4.28846144e-02 4.77353592e+02] [-7.05299914e-02 9.97494811e-01 -5.44256370e-03 -6.22567166e+01] [-4.31619641e-02 2.39927371e-03 9.99065207e-01 -3.13384423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.74071405700005 meters 0.033336216332443776 Centerline is valid? [True, True] Translation: X:477.41, Y:-62.26, Z:-31.34 [[ 9.96657426e-01 6.92329855e-02 4.33678329e-02 4.77412386e+02] [-6.90587227e-02 9.97597405e-01 -5.50541350e-03 -6.22621484e+01] [-4.36447938e-02 2.49208410e-03 9.99044004e-01 -3.13383037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.80071405700005 meters 0.03327538746177307 Centerline is valid? [True, True] Translation: X:477.47, Y:-62.27, Z:-31.34 [[ 9.96494902e-01 7.15274823e-02 4.33789102e-02 4.77469906e+02] [-7.13554525e-02 9.97435769e-01 -5.50324392e-03 -6.22726211e+01] [-4.36613098e-02 2.38863274e-03 9.99043535e-01 -3.13422660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.86071405700005 meters 0.030416603493640424 Centerline is valid? [True, True] Translation: X:477.53, Y:-62.28, Z:-31.34 [[ 9.96238255e-01 7.53164780e-02 4.28575283e-02 4.77530165e+02] [-7.51521640e-02 9.97157268e-01 -5.43458175e-03 -6.22766899e+01] [-4.31450094e-02 2.19330223e-03 9.99066413e-01 -3.13449345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.92071405700005 meters 0.030032944811834307 Centerline is valid? [True, True] Translation: X:477.59, Y:-62.28, Z:-31.35 [[ 9.95920600e-01 8.03559183e-02 4.10497805e-02 4.77588822e+02] [-8.02095249e-02 9.96764443e-01 -5.20353520e-03 -6.22838932e+01] [-4.13350965e-02 1.88972451e-03 9.99143553e-01 -3.13500242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.98071405700006 meters 0.02987001184612103 Centerline is valid? [True, True] Translation: X:477.65, Y:-62.29, Z:-31.35 [[ 9.95566288e-01 8.46407245e-02 4.10330743e-02 4.77646698e+02] [-8.44981426e-02 9.96410069e-01 -5.19989965e-03 -6.22932959e+01] [-4.13258917e-02 1.70962623e-03 9.99144258e-01 -3.13543823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.04071405700006 meters 0.027142706128343675 Centerline is valid? [True, True] Translation: X:477.71, Y:-62.30, Z:-31.36 [[ 9.95070252e-01 8.98862200e-02 4.19006127e-02 4.77707041e+02] [-8.97422626e-02 9.95950879e-01 -5.30789336e-03 -6.22970732e+01] [-4.22080585e-02 1.52147099e-03 9.99107684e-01 -3.13562017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.10071405700006 meters 0.025737911092472435 Centerline is valid? [True, True] Translation: X:477.77, Y:-62.30, Z:-31.36 [[ 9.94385974e-01 9.59193965e-02 4.46766655e-02 4.77767018e+02] [-9.57618450e-02 9.95388191e-01 -5.65841428e-03 -6.23036810e+01] [-4.50133770e-02 1.34832788e-03 9.98985474e-01 -3.13574854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.16071405700006 meters 0.02426079634970439 Centerline is valid? [True, True] Translation: X:477.83, Y:-62.31, Z:-31.36 [[ 9.93850930e-01 1.00513078e-01 4.64483626e-02 4.77826732e+02] [-1.00347777e-01 9.94935031e-01 -5.88289512e-03 -6.23114810e+01] [-4.68044109e-02 1.18573085e-03 9.98903369e-01 -3.13596699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.22071405700007 meters 0.024569914028658844 Centerline is valid? [True, True] Translation: X:477.88, Y:-62.32, Z:-31.36 [[ 9.93709787e-01 1.01208759e-01 4.79337776e-02 4.77884861e+02] [-1.01033532e-01 9.94864499e-01 -6.07070180e-03 -6.23230582e+01] [-4.83020219e-02 1.18959694e-03 9.98832068e-01 -3.13643779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.28071405700007 meters 0.025047472459746232 Centerline is valid? [True, True] Translation: X:477.94, Y:-62.34, Z:-31.37 [[ 9.94015119e-01 9.83314012e-02 4.75907511e-02 4.77942021e+02] [-9.81554893e-02 9.95152852e-01 -6.02499562e-03 -6.23383194e+01] [-4.79525180e-02 1.31764327e-03 9.98848747e-01 -3.13708297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.34071405700007 meters 0.02531151700485006 Centerline is valid? [True, True] Translation: X:478.00, Y:-62.35, Z:-31.37 [[ 9.94282055e-01 9.52158518e-02 4.83439336e-02 4.77999037e+02] [-9.50308050e-02 9.95455538e-01 -6.11706217e-03 -6.23510898e+01] [-4.87066777e-02 1.48792222e-03 9.98812017e-01 -3.13747979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4007140570001 meters 0.026998302310751635 Centerline is valid? [True, True] Translation: X:478.06, Y:-62.37, Z:-31.38 [[ 9.94746032e-01 8.99202443e-02 4.89354836e-02 4.78055290e+02] [-8.97244758e-02 9.95947407e-01 -6.18708473e-03 -6.23689203e+01] [-4.92935122e-02 1.76386737e-03 9.98782778e-01 -3.13798418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4607140570001 meters 0.02737493362953759 Centerline is valid? [True, True] Translation: X:478.11, Y:-62.38, Z:-31.38 [[ 9.95154008e-01 8.58183716e-02 4.79969558e-02 4.78113820e+02] [-8.56255057e-02 9.96308939e-01 -6.06383502e-03 -6.23826247e+01] [-4.83401846e-02 1.92468611e-03 9.98829076e-01 -3.13847508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5207140570001 meters 0.02867528098389525 Centerline is valid? [True, True] Translation: X:478.17, Y:-62.40, Z:-31.39 [[ 9.95296807e-01 8.38026513e-02 4.85940544e-02 4.78169534e+02] [-8.36025438e-02 9.96480266e-01 -6.13950368e-03 -6.23965569e+01] [-4.89375229e-02 2.04804185e-03 9.98799742e-01 -3.13895885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5807140570001 meters 0.02878184967622036 Centerline is valid? [True, True] Translation: X:478.23, Y:-62.41, Z:-31.39 [[ 9.95363310e-01 8.14900498e-02 5.11004131e-02 4.78227362e+02] [-8.12659788e-02 9.96671574e-01 -6.45087963e-03 -6.24084227e+01] [-5.14560116e-02 2.26824382e-03 9.98672686e-01 -3.13915616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6407140570001 meters 0.03078329444158751 Centerline is valid? [True, True] Translation: X:478.29, Y:-62.42, Z:-31.40 [[ 9.95653569e-01 7.68868446e-02 5.25583900e-02 4.78285856e+02] [-7.66436386e-02 9.97036505e-01 -6.63031120e-03 -6.24221191e+01] [-5.29124172e-02 2.57322675e-03 9.98595842e-01 -3.13958817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7007140570001 meters 0.033883762164960626 Centerline is valid? [True, True] Translation: X:478.34, Y:-62.44, Z:-31.40 [[ 9.96009296e-01 7.09001291e-02 5.42093464e-02 4.78343734e+02] [-7.06326313e-02 9.97478966e-01 -6.83701348e-03 -6.24363137e+01] [-5.45574280e-02 2.98078021e-03 9.98506185e-01 -3.14005127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7607140570001 meters 0.03422610280977084 Centerline is valid? [True, True] Translation: X:478.40, Y:-62.44, Z:-31.40 [[ 9.96262806e-01 6.62855059e-02 5.53773697e-02 4.78403402e+02] [-6.59991740e-02 9.97795225e-01 -6.98550788e-03 -6.24440239e+01] [-5.57183130e-02 3.30454102e-03 9.98441060e-01 -3.14035583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.82071405700003 meters 0.03427218361768506 Centerline is valid? [True, True] Translation: X:478.46, Y:-62.45, Z:-31.41 [[ 9.96273279e-01 6.58935443e-02 5.56560426e-02 4.78464913e+02] [-6.56038177e-02 9.97821064e-01 -7.01875297e-03 -6.24518780e+01] [-5.59972622e-02 3.34134717e-03 9.98425331e-01 -3.14071849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.88071405700003 meters 0.035606458590343185 Centerline is valid? [True, True] Translation: X:478.53, Y:-62.46, Z:-31.41 [[ 9.96310620e-01 6.33797207e-02 5.78632792e-02 4.78525517e+02] [-6.30613217e-02 9.97982853e-01 -7.31396457e-03 -6.24596519e+01] [-5.82101175e-02 3.63804572e-03 9.98297725e-01 -3.14107416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.94071405700004 meters 0.035814827461972336 Centerline is valid? [True, True] Translation: X:478.59, Y:-62.47, Z:-31.42 [[ 9.96482405e-01 6.02273816e-02 5.82707477e-02 4.78586640e+02] [-5.98989870e-02 9.98177254e-01 -7.36760262e-03 -6.24652461e+01] [-5.86082663e-02 3.85132761e-03 9.98273629e-01 -3.14150632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.00071405700004 meters 0.038169101340614534 Centerline is valid? [True, True] Translation: X:478.65, Y:-62.47, Z:-31.42 [[ 9.96807045e-01 5.53803764e-02 5.75215504e-02 4.78646255e+02] [-5.50522217e-02 9.98456972e-01 -7.27519492e-03 -6.24737510e+01] [-5.78356961e-02 4.08527640e-03 9.98317756e-01 -3.14204175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.06071405700004 meters 0.04317542692457847 Centerline is valid? [True, True] Translation: X:478.71, Y:-62.49, Z:-31.43 [[ 9.97167063e-01 4.86704853e-02 5.73500810e-02 4.78705050e+02] [-4.83332455e-02 9.98804927e-01 -7.25369581e-03 -6.24852421e+01] [-5.76345843e-02 4.46123101e-03 9.98327778e-01 -3.14262689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.12071405700004 meters 0.04445562225541744 Centerline is valid? [True, True] Translation: X:478.77, Y:-62.49, Z:-31.43 [[ 9.97393186e-01 4.23253717e-02 5.84413790e-02 4.78765009e+02] [-4.19643360e-02 9.99091765e-01 -7.39181051e-03 -6.24918474e+01] [-5.87011617e-02 4.92008777e-03 9.98263475e-01 -3.14289051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.18071405700005 meters 0.04989183407551324 Centerline is valid? [True, True] Translation: X:478.82, Y:-62.50, Z:-31.43 [[ 9.97517728e-01 3.90400447e-02 5.86025426e-02 4.78823612e+02] [-3.86713773e-02 9.99224490e-01 -7.41237948e-03 -6.25015649e+01] [-5.88464753e-02 5.12773890e-03 9.98253875e-01 -3.14322818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.24071405700005 meters 0.043629227948728456 Centerline is valid? [True, True] Translation: X:478.89, Y:-62.50, Z:-31.44 [[ 9.97490247e-01 3.88165673e-02 5.92155549e-02 4.78886327e+02] [-3.84398432e-02 9.99232858e-01 -7.48824899e-03 -6.24967494e+01] [-5.94607963e-02 5.19321868e-03 9.98217133e-01 -3.14357352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.30071405700005 meters 0.043638205582920704 Centerline is valid? [True, True] Translation: X:478.95, Y:-62.50, Z:-31.44 [[ 9.97329477e-01 4.16050220e-02 6.00244708e-02 4.78946907e+02] [-4.12223676e-02 9.99121094e-01 -7.59977942e-03 -6.24987582e+01] [-6.02879039e-02 5.10513323e-03 9.98167975e-01 -3.14390355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.36071405700005 meters 0.04378318662358473 Centerline is valid? [True, True] Translation: X:479.01, Y:-62.50, Z:-31.44 [[ 9.97135383e-01 4.63434681e-02 5.97771860e-02 4.79007012e+02] [-4.59724097e-02 9.98914038e-01 -7.56851392e-03 -6.24979894e+01] [-6.00630214e-02 4.79873174e-03 9.98183052e-01 -3.14416722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.42071405700005 meters 0.03855399170829989 Centerline is valid? [True, True] Translation: X:479.07, Y:-62.49, Z:-31.45 [[ 9.96873696e-01 5.14886223e-02 5.99312670e-02 4.79068802e+02] [-5.11249546e-02 9.98663447e-01 -7.58673323e-03 -6.24923964e+01] [-6.02417961e-02 4.49903149e-03 9.98173675e-01 -3.14467776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.48071405700006 meters 0.041080666817387965 Centerline is valid? [True, True] Translation: X:479.13, Y:-62.50, Z:-31.45 [[ 9.96755675e-01 5.47283795e-02 5.90163475e-02 4.79128254e+02] [-5.43813513e-02 9.98492286e-01 -7.47156192e-03 -6.24990436e+01] [-5.93362741e-02 4.23793302e-03 9.98229055e-01 -3.14515832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.54071405700006 meters 0.03710126568207485 Centerline is valid? [True, True] Translation: X:479.19, Y:-62.49, Z:-31.45 [[ 9.96498998e-01 5.91956769e-02 5.90391285e-02 4.79190051e+02] [-5.88561741e-02 9.98238490e-01 -7.47444435e-03 -6.24934534e+01] [-5.93775853e-02 3.97345908e-03 9.98227686e-01 -3.14540093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.60071405700006 meters 0.03478965975966352 Centerline is valid? [True, True] Translation: X:479.25, Y:-62.49, Z:-31.46 [[ 9.96166351e-01 6.41939291e-02 5.94284520e-02 4.79251375e+02] [-6.38587721e-02 9.97930584e-01 -7.52375579e-03 -6.24884150e+01] [-5.97884493e-02 3.69988437e-03 9.98204214e-01 -3.14571749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.66071405700006 meters 0.03554343560840338 Centerline is valid? [True, True] Translation: X:479.31, Y:-62.49, Z:-31.46 [[ 9.96117568e-01 6.55833172e-02 5.87249415e-02 4.79311359e+02] [-6.52584696e-02 9.97840698e-01 -7.43457475e-03 -6.24930258e+01] [-5.90857207e-02 3.57341071e-03 9.98246517e-01 -3.14620820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.72071405700007 meters 0.036192583574229636 Centerline is valid? [True, True] Translation: X:479.37, Y:-62.50, Z:-31.47 [[ 9.96167854e-01 6.50634744e-02 5.84495598e-02 4.79370805e+02] [-6.47407060e-02 9.97874675e-01 -7.40096555e-03 -6.24997537e+01] [-5.88068680e-02 3.58853820e-03 9.98262929e-01 -3.14664324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.78071405700007 meters 0.03890087496060153 Centerline is valid? [True, True] Translation: X:479.43, Y:-62.51, Z:-31.47 [[ 9.96393674e-01 6.12722040e-02 5.86972161e-02 4.79430321e+02] [-6.09402123e-02 9.98113755e-01 -7.43114681e-03 -6.25100309e+01] [-5.90418215e-02 3.82732686e-03 9.98248173e-01 -3.14705965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.84071405700007 meters 0.03739712071201157 Centerline is valid? [True, True] Translation: X:479.49, Y:-62.51, Z:-31.47 [[ 9.96746130e-01 5.59755172e-02 5.79990782e-02 4.79491141e+02] [-5.56424602e-02 9.98423757e-01 -7.34286421e-03 -6.25144081e+01] [-5.83186782e-02 4.09176009e-03 9.98289632e-01 -3.14745228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9007140570001 meters 0.04029227203429038 Centerline is valid? [True, True] Translation: X:479.55, Y:-62.52, Z:-31.48 [[ 9.97144408e-01 5.11472149e-02 5.55607115e-02 4.79551464e+02] [-5.08340775e-02 9.98682330e-01 -7.03561248e-03 -6.25248765e+01] [-5.58473528e-02 4.19114412e-03 9.98430522e-01 -3.14798498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9607140570001 meters 0.04149288217545068 Centerline is valid? [True, True] Translation: X:479.61, Y:-62.53, Z:-31.48 [[ 9.97428907e-01 4.67546534e-02 5.43100140e-02 4.79610909e+02] [-4.64488994e-02 9.98896980e-01 -6.87915638e-03 -6.25317189e+01] [-5.45717415e-02 4.33882905e-03 9.98500425e-01 -3.14844772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0207140570001 meters 0.04303450370260547 Centerline is valid? [True, True] Translation: X:479.67, Y:-62.54, Z:-31.49 [[ 9.97617558e-01 4.38517168e-02 5.32563068e-02 4.79670958e+02] [-4.35536749e-02 9.99028321e-01 -6.74467142e-03 -6.25379278e+01] [-5.35003242e-02 4.40909476e-03 9.98558098e-01 -3.14884939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0807140570001 meters 0.04321176370841058 Centerline is valid? [True, True] Translation: X:479.73, Y:-62.54, Z:-31.49 [[ 9.97653322e-01 4.15930017e-02 5.43863130e-02 4.79731463e+02] [-4.12788226e-02 9.99123924e-01 -6.88792031e-03 -6.25429762e+01] [-5.46251557e-02 4.62675361e-03 9.98496212e-01 -3.14913823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1407140570001 meters 0.05002393799031062 Centerline is valid? [True, True] Translation: X:479.79, Y:-62.56, Z:-31.50 [[ 9.97763259e-01 4.03369983e-02 5.33048278e-02 4.79790010e+02] [-4.00333655e-02 9.99175529e-01 -6.75211675e-03 -6.25561107e+01] [-5.35332397e-02 4.60304237e-03 9.98555459e-01 -3.14959017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2007140570001 meters 0.04651556340767961 Centerline is valid? [True, True] Translation: X:479.85, Y:-62.56, Z:-31.50 [[ 9.97821560e-01 4.09920202e-02 5.16893517e-02 4.79853010e+02] [-4.07074649e-02 9.99149662e-01 -6.54635756e-03 -6.25563535e+01] [-5.19137468e-02 4.42795424e-03 9.98641756e-01 -3.15001296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2607140570001 meters 0.05242411981831712 Centerline is valid? [True, True] Translation: X:479.91, Y:-62.57, Z:-31.51 [[ 9.97804644e-01 4.30783088e-02 5.03006112e-02 4.79911839e+02] [-4.28112753e-02 9.99062840e-01 -6.37463851e-03 -6.25685718e+01] [-5.05280802e-02 4.20721059e-03 9.98713779e-01 -3.15055705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.32071405700003 meters 0.04126085243232422 Centerline is valid? [True, True] Translation: X:479.98, Y:-62.56, Z:-31.51 [[ 9.97711182e-01 4.67935018e-02 4.88135814e-02 4.79975042e+02] [-4.65461329e-02 9.98896946e-01 -6.19271842e-03 -6.25551763e+01] [-4.90495164e-02 3.90646097e-03 9.98788709e-01 -3.15075840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.38071405700003 meters 0.039352309812108306 Centerline is valid? [True, True] Translation: X:480.04, Y:-62.56, Z:-31.51 [[ 9.97435296e-01 5.21615116e-02 4.90102754e-02 4.80036249e+02] [-5.19185692e-02 9.98631964e-01 -6.21786703e-03 -6.25551164e+01] [-4.92675609e-02 3.65737667e-03 9.98778920e-01 -3.15108595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.44071405700004 meters 0.037877692746498375 Centerline is valid? [True, True] Translation: X:480.10, Y:-62.55, Z:-31.51 [[ 9.97078102e-01 5.90879702e-02 4.84135266e-02 4.80097163e+02] [-5.88589868e-02 9.98247406e-01 -6.14303779e-03 -6.25542790e+01] [-4.86916570e-02 3.27551734e-03 9.98808487e-01 -3.15146162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.50071405700004 meters 0.03600840709120381 Centerline is valid? [True, True] Translation: X:480.16, Y:-62.55, Z:-31.52 [[ 9.96708213e-01 6.47580912e-02 4.87762984e-02 4.80157772e+02] [-6.45323842e-02 9.97896417e-01 -6.18968332e-03 -6.25517781e+01] [-4.90745255e-02 3.02165737e-03 9.98790549e-01 -3.15165775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.56071405700004 meters 0.03546031739053148 Centerline is valid? [True, True] Translation: X:480.22, Y:-62.55, Z:-31.52 [[ 9.96458682e-01 6.83307886e-02 4.89999836e-02 4.80218265e+02] [-6.81073689e-02 9.97658628e-01 -6.21677392e-03 -6.25532939e+01] [-4.93100535e-02 2.85749838e-03 9.98779432e-01 -3.15201342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.62071405700004 meters 0.03466653288467365 Centerline is valid? [True, True] Translation: X:480.28, Y:-62.56, Z:-31.52 [[ 9.96322840e-01 6.97976574e-02 4.96898947e-02 4.80277730e+02] [-6.95697895e-02 9.97557176e-01 -6.30276689e-03 -6.25557655e+01] [-5.00084294e-02 2.82267510e-03 9.98744807e-01 -3.15236463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.68071405700005 meters 0.033745126975796076 Centerline is valid? [True, True] Translation: X:480.34, Y:-62.56, Z:-31.53 [[ 9.96290252e-01 7.04728450e-02 4.93893866e-02 4.80336791e+02] [-7.02486727e-02 9.97509854e-01 -6.26226469e-03 -6.25582291e+01] [-4.97077194e-02 2.76949441e-03 9.98759967e-01 -3.15273000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.74071405700005 meters 0.03495017879103553 Centerline is valid? [True, True] Translation: X:480.39, Y:-62.57, Z:-31.53 [[ 9.96354279e-01 6.99829318e-02 4.87907789e-02 4.80394916e+02] [-6.97637548e-02 9.97544381e-01 -6.18282277e-03 -6.25662535e+01] [-4.91036594e-02 2.75645398e-03 9.98789884e-01 -3.15322839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.80071405700005 meters 0.03410688883095866 Centerline is valid? [True, True] Translation: X:480.46, Y:-62.57, Z:-31.54 [[ 9.96655159e-01 6.61029781e-02 4.80509230e-02 4.80455004e+02] [-6.58861183e-02 9.97808596e-01 -6.08479699e-03 -6.25707035e+01] [-4.83478472e-02 2.89855551e-03 9.98826353e-01 -3.15358737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.86071405700005 meters 0.03717290475185724 Centerline is valid? [True, True] Translation: X:480.51, Y:-62.58, Z:-31.54 [[ 9.96973103e-01 6.11619191e-02 4.79984495e-02 4.80514394e+02] [-6.09398846e-02 9.98122938e-01 -6.07704038e-03 -6.25810775e+01] [-4.82800369e-02 3.13362583e-03 9.98828924e-01 -3.15401563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.92071405700005 meters 0.03818538648082402 Centerline is valid? [True, True] Translation: X:480.57, Y:-62.59, Z:-31.54 [[ 9.97127591e-01 5.83230263e-02 4.83217520e-02 4.80574321e+02] [-5.80946698e-02 9.98292332e-01 -6.11798668e-03 -6.25879519e+01] [-4.85960540e-02 3.29317710e-03 9.98813085e-01 -3.15430011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.98071405700006 meters 0.039376399988753634 Centerline is valid? [True, True] Translation: X:480.63, Y:-62.59, Z:-31.55 [[ 9.97090550e-01 5.76108214e-02 4.99142091e-02 4.80632914e+02] [-5.73662800e-02 9.98333199e-01 -6.31924211e-03 -6.25941774e+01] [-5.01950688e-02 3.43746410e-03 9.98733517e-01 -3.15454903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.04071405700006 meters 0.03801758216148179 Centerline is valid? [True, True] Translation: X:480.69, Y:-62.60, Z:-31.55 [[ 9.97042453e-01 5.79546269e-02 5.04738324e-02 4.80691242e+02] [-5.77051906e-02 9.98313240e-01 -6.38640883e-03 -6.25990060e+01] [-5.07588171e-02 3.45491860e-03 9.98704964e-01 -3.15492961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.10071405700006 meters 0.039291132798973324 Centerline is valid? [True, True] Translation: X:480.75, Y:-62.61, Z:-31.55 [[ 9.97026079e-01 5.83450579e-02 5.03473075e-02 4.80748145e+02] [-5.80975394e-02 9.98290608e-01 -6.36700232e-03 -6.26074740e+01] [-5.06327273e-02 3.42301267e-03 9.98711475e-01 -3.15537016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.16071405700006 meters 0.04112602070906191 Centerline is valid? [True, True] Translation: X:480.81, Y:-62.62, Z:-31.56 [[ 9.96973446e-01 5.86524812e-02 5.10277839e-02 4.80805188e+02] [-5.83988701e-02 9.98272504e-01 -6.44818519e-03 -6.26174104e+01] [-5.13178356e-02 3.44870449e-03 9.98676417e-01 -3.15569534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.22071405700007 meters 0.04168004491628244 Centerline is valid? [True, True] Translation: X:480.86, Y:-62.63, Z:-31.56 [[ 9.96963339e-01 5.89427595e-02 5.08905947e-02 4.80863141e+02] [-5.86911308e-02 9.98255507e-01 -6.42610912e-03 -6.26266286e+01] [-5.11805890e-02 3.41976865e-03 9.98683560e-01 -3.15607496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.28071405700007 meters 0.042559683261666495 Centerline is valid? [True, True] Translation: X:480.92, Y:-62.64, Z:-31.57 [[ 9.97017666e-01 5.88657877e-02 4.99058436e-02 4.80921355e+02] [-5.86238882e-02 9.98260272e-01 -6.29836165e-03 -6.26354228e+01] [-5.01897790e-02 3.35390324e-03 9.98734067e-01 -3.15660536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.34071405700007 meters 0.04376332403418056 Centerline is valid? [True, True] Translation: X:480.98, Y:-62.65, Z:-31.57 [[ 9.97104133e-01 5.89777561e-02 4.80101266e-02 4.80979008e+02] [-5.87541848e-02 9.98254112e-01 -6.05595329e-03 -6.26468581e+01] [-4.82834728e-02 3.21762021e-03 9.98828490e-01 -3.15717525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4007140570001 meters 0.03788729273872208 Centerline is valid? [True, True] Translation: X:481.04, Y:-62.65, Z:-31.57 [[ 9.96977833e-01 6.03530080e-02 4.89153922e-02 4.81038657e+02] [-6.01227286e-02 9.98171943e-01 -6.16680435e-03 -6.26461600e+01] [-4.91981572e-02 3.20724039e-03 9.98783888e-01 -3.15710607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4607140570001 meters 0.03816803308767983 Centerline is valid? [True, True] Translation: X:481.10, Y:-62.65, Z:-31.57 [[ 9.96830304e-01 6.18526287e-02 5.00359564e-02 4.81096893e+02] [-6.16137356e-02 9.98080159e-01 -6.30431847e-03 -6.26546288e+01] [-5.03298340e-02 3.20143351e-03 9.98727520e-01 -3.15731718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5207140570001 meters 0.03678288105472536 Centerline is valid? [True, True] Translation: X:481.16, Y:-62.66, Z:-31.58 [[ 9.96457129e-01 6.52108236e-02 5.31106323e-02 4.81156338e+02] [-6.49466360e-02 9.97866333e-01 -6.68692966e-03 -6.26647271e+01] [-5.34333721e-02 3.21388183e-03 9.98566245e-01 -3.15760686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5807140570001 meters 0.03646671881906744 Centerline is valid? [True, True] Translation: X:481.21, Y:-62.67, Z:-31.58 [[ 9.96224215e-01 6.90291992e-02 5.26524766e-02 4.81214372e+02] [-6.87748585e-02 9.97610180e-01 -6.62936315e-03 -6.26737010e+01] [-5.29842663e-02 2.98316547e-03 9.98590891e-01 -3.15796187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6407140570001 meters 0.03420277691138089 Centerline is valid? [True, True] Translation: X:481.27, Y:-62.68, Z:-31.58 [[ 9.96193763e-01 6.99515450e-02 5.20073872e-02 4.81272858e+02] [-6.97047270e-02 9.97546185e-01 -6.54681252e-03 -6.26798462e+01] [-5.23377304e-02 2.89673307e-03 9.98625241e-01 -3.15838322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7007140570001 meters 0.03255645563610964 Centerline is valid? [True, True] Translation: X:481.33, Y:-62.69, Z:-31.59 [[ 9.96332535e-01 6.90901856e-02 5.04779722e-02 4.81330613e+02] [-6.88567627e-02 9.97606342e-01 -6.35077839e-03 -6.26902568e+01] [-5.07959216e-02 2.85173738e-03 9.98704982e-01 -3.15896370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7607140570001 meters 0.04051024849831439 Centerline is valid? [True, True] Translation: X:481.39, Y:-62.71, Z:-31.60 [[ 9.96365431e-01 6.96091353e-02 4.90967956e-02 4.81385024e+02] [-6.93891141e-02 9.97570567e-01 -6.17372271e-03 -6.27138331e+01] [-4.94072657e-02 2.74450074e-03 9.98774945e-01 -3.15976845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.82071405700003 meters 0.03284482175218053 Centerline is valid? [True, True] Translation: X:481.45, Y:-62.71, Z:-31.60 [[ 9.96147508e-01 7.16749876e-02 5.05256247e-02 4.81445628e+02] [-7.14449040e-02 9.97424350e-01 -6.34756937e-03 -6.27140217e+01] [-5.08504504e-02 2.71331701e-03 9.98702593e-01 -3.15981428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.88071405700003 meters 0.03375525038649486 Centerline is valid? [True, True] Translation: X:481.50, Y:-62.72, Z:-31.60 [[ 9.96132770e-01 7.13748527e-02 5.12360741e-02 4.81502855e+02] [-7.11378397e-02 9.97445724e-01 -6.43703484e-03 -6.27247152e+01] [-5.15646454e-02 2.76731773e-03 9.98665825e-01 -3.16009810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.94071405700004 meters 0.03517895012308326 Centerline is valid? [True, True] Translation: X:481.56, Y:-62.74, Z:-31.61 [[ 9.96249257e-01 6.93821660e-02 5.17062108e-02 4.81560996e+02] [-6.91384450e-02 9.97585967e-01 -6.48956195e-03 -6.27401545e+01] [-5.20316501e-02 2.89033426e-03 9.98641254e-01 -3.16058239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.00071405700004 meters 0.03693016068537756 Centerline is valid? [True, True] Translation: X:481.62, Y:-62.76, Z:-31.61 [[ 9.96446542e-01 6.67198130e-02 5.14077452e-02 4.81619000e+02] [-6.64754650e-02 9.97767211e-01 -6.45028217e-03 -6.27555444e+01] [-5.17233241e-02 3.01000760e-03 9.98656917e-01 -3.16104163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.06071405700004 meters 0.03910347225488193 Centerline is valid? [True, True] Translation: X:481.68, Y:-62.77, Z:-31.62 [[ 9.96558894e-01 6.62712989e-02 4.97843976e-02 4.81675325e+02] [-6.60416342e-02 9.97797320e-01 -6.24586239e-03 -6.27700968e+01] [-5.00886599e-02 2.93652674e-03 9.98740458e-01 -3.16150939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.12071405700004 meters 0.03948363471657303 Centerline is valid? [True, True] Translation: X:481.73, Y:-62.78, Z:-31.62 [[ 9.96542519e-01 6.68298734e-02 4.93637144e-02 4.81733468e+02] [-6.66050208e-02 9.97760233e-01 -6.18784086e-03 -6.27793492e+01] [-4.96666838e-02 2.87857529e-03 9.98761700e-01 -3.16199523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.18071405700005 meters 0.03857487401968867 Centerline is valid? [True, True] Translation: X:481.79, Y:-62.79, Z:-31.62 [[ 9.96288823e-01 7.04828103e-02 4.94039904e-02 4.81792281e+02] [-7.02622548e-02 9.97509354e-01 -6.18904355e-03 -6.27874119e+01] [-4.97171637e-02 2.69483916e-03 9.98759702e-01 -3.16245706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.24071405700005 meters 0.03677919637993165 Centerline is valid? [True, True] Translation: X:481.85, Y:-62.79, Z:-31.63 [[ 9.95738774e-01 7.63528883e-02 5.17158618e-02 4.81850885e+02] [-7.61191604e-02 9.97077691e-01 -6.47697215e-03 -6.27922304e+01] [-5.20592676e-02 2.51280433e-03 9.98640836e-01 -3.16260060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.30071405700005 meters 0.03675161798314 Centerline is valid? [True, True] Translation: X:481.91, Y:-62.80, Z:-31.63 [[ 9.95672294e-01 7.72918739e-02 5.16008678e-02 4.81908944e+02] [-7.70605390e-02 9.97005483e-01 -6.46071276e-03 -6.28011290e+01] [-5.19457087e-02 2.45636201e-03 9.98646889e-01 -3.16296609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.36071405700005 meters 0.032166895651540094 Centerline is valid? [True, True] Translation: X:481.97, Y:-62.80, Z:-31.63 [[ 9.95815173e-01 7.55912981e-02 5.13624176e-02 4.81968494e+02] [-7.53600343e-02 9.97135676e-01 -6.42716066e-03 -6.28048692e+01] [-5.17011364e-02 2.52959055e-03 9.98659398e-01 -3.16314521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.42071405700005 meters 0.03380946444928914 Centerline is valid? [True, True] Translation: X:482.03, Y:-62.82, Z:-31.64 [[ 9.96008618e-01 7.31551394e-02 5.11386136e-02 4.82026499e+02] [-7.29227814e-02 9.97317072e-01 -6.39733304e-03 -6.28197966e+01] [-5.14694102e-02 2.64262890e-03 9.98671075e-01 -3.16363365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.48071405700006 meters 0.033010980450161306 Centerline is valid? [True, True] Translation: X:482.08, Y:-62.83, Z:-31.64 [[ 9.96171361e-01 7.05569765e-02 5.16171751e-02 4.82084762e+02] [-7.03168510e-02 9.97503817e-01 -6.45560717e-03 -6.28300244e+01] [-5.19438173e-02 2.80133377e-03 9.98646080e-01 -3.16389002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.54071405700006 meters 0.033398892966238616 Centerline is valid? [True, True] Translation: X:482.14, Y:-62.84, Z:-31.64 [[ 9.96262277e-01 6.91064572e-02 5.18244460e-02 4.82142666e+02] [-6.88625785e-02 9.97605117e-01 -6.47891264e-03 -6.28425548e+01] [-5.21480672e-02 2.88593127e-03 9.98635194e-01 -3.16430084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.60071405700006 meters 0.038309127785001736 Centerline is valid? [True, True] Translation: X:482.20, Y:-62.86, Z:-31.65 [[ 9.96252874e-01 6.86778296e-02 5.25696447e-02 4.82198476e+02] [-6.84264807e-02 9.97634539e-01 -6.56836910e-03 -6.28589880e+01] [-5.28963945e-02 2.94660082e-03 9.98595658e-01 -3.16483036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.66071405700006 meters 0.03288514179169451 Centerline is valid? [True, True] Translation: X:482.26, Y:-62.86, Z:-31.65 [[ 9.96187047e-01 6.79997929e-02 5.46570654e-02 4.82256898e+02] [-6.77273355e-02 9.97680531e-01 -6.82391409e-03 -6.28625440e+01] [-5.49943148e-02 3.09611743e-03 9.98481867e-01 -3.16499747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.72071405700007 meters 0.03421506511838315 Centerline is valid? [True, True] Translation: X:482.32, Y:-62.87, Z:-31.65 [[ 9.96275304e-01 6.60661693e-02 5.54146146e-02 4.82315325e+02] [-6.57833687e-02 9.97809974e-01 -6.91400698e-03 -6.28749163e+01] [-5.57500371e-02 3.24289438e-03 9.98439491e-01 -3.16546602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.78071405700007 meters 0.036299119787326535 Centerline is valid? [True, True] Translation: X:482.37, Y:-62.89, Z:-31.66 [[ 9.96597274e-01 6.19792598e-02 5.43364081e-02 4.82374490e+02] [-6.17014464e-02 9.98071641e-01 -6.77719231e-03 -6.28901296e+01] [-5.46516734e-02 3.40149641e-03 9.98499687e-01 -3.16596730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.84071405700007 meters 0.03703942546131441 Centerline is valid? [True, True] Translation: X:482.43, Y:-62.90, Z:-31.66 [[ 9.96957554e-01 5.70705302e-02 5.30903882e-02 4.82433488e+02] [-5.67984087e-02 9.98363709e-01 -6.62160421e-03 -6.29031661e+01] [-5.33814154e-02 3.58600877e-03 9.98567757e-01 -3.16648434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9007140570001 meters 0.06631589395472376 Centerline is valid? [True, True] Translation: X:482.49, Y:-62.96, Z:-31.68 [[ 9.97342050e-01 5.18501014e-02 5.11898632e-02 4.82486823e+02] [-5.15902928e-02 9.98647925e-01 -6.38462035e-03 -6.29554568e+01] [-5.14516939e-02 3.72675032e-03 9.98668531e-01 -3.16774057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9607140570001 meters 0.04287768052264598 Centerline is valid? [True, True] Translation: X:482.55, Y:-62.93, Z:-31.67 [[ 9.97510017e-01 4.83371150e-02 5.13545480e-02 4.82551153e+02] [-4.80709673e-02 9.98823381e-01 -6.40584417e-03 -6.29308028e+01] [-5.16037634e-02 3.92123093e-03 9.98659940e-01 -3.16736959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0207140570001 meters 0.03842723266287002 Centerline is valid? [True, True] Translation: X:482.61, Y:-62.93, Z:-31.67 [[ 9.97533168e-01 4.62508638e-02 5.28056405e-02 4.82612793e+02] [-4.59665397e-02 9.98921263e-01 -6.58685885e-03 -6.29309855e+01] [-5.30533250e-02 4.14331760e-03 9.98583085e-01 -3.16747545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0807140570001 meters 0.043408290648874595 Centerline is valid? [True, True] Translation: X:482.67, Y:-62.95, Z:-31.68 [[ 9.97506217e-01 4.48091049e-02 5.45297325e-02 4.82672161e+02] [-4.45036980e-02 9.98986057e-01 -6.80281377e-03 -6.29451066e+01] [-5.47792704e-02 4.35907427e-03 9.98488973e-01 -3.16784830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1407140570001 meters 0.04257319890839518 Centerline is valid? [True, True] Translation: X:482.73, Y:-62.95, Z:-31.68 [[ 9.97624827e-01 4.30562607e-02 5.37667385e-02 4.82732719e+02] [-4.27567057e-02 9.99062982e-01 -6.70981883e-03 -6.29502610e+01] [-5.40052578e-02 4.39499324e-03 9.98530979e-01 -3.16822231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2007140570001 meters 0.04379215153557598 Centerline is valid? [True, True] Translation: X:482.79, Y:-62.96, Z:-31.69 [[ 9.97842865e-01 4.03525956e-02 5.17811323e-02 4.82792189e+02] [-4.00711143e-02 9.99175928e-01 -6.46310083e-03 -6.29593896e+01] [-5.19992638e-02 4.37423138e-03 9.98637543e-01 -3.16886154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2607140570001 meters 0.04274459510238852 Centerline is valid? [True, True] Translation: X:482.85, Y:-62.96, Z:-31.69 [[ 9.98047170e-01 3.72348514e-02 5.01538920e-02 4.82852408e+02] [-3.69668842e-02 9.99296882e-01 -6.26026778e-03 -6.29647550e+01] [-5.03517281e-02 4.39400942e-03 9.98721881e-01 -3.16935274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.32071405700003 meters 0.04514756816853589 Centerline is valid? [True, True] Translation: X:482.91, Y:-62.97, Z:-31.70 [[ 9.98054435e-01 3.79541469e-02 4.94654088e-02 4.82913367e+02] [-3.76945516e-02 9.99270255e-01 -6.17068833e-03 -6.29737054e+01] [-4.96635149e-02 4.29410645e-03 9.98756775e-01 -3.16979859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.38071405700003 meters 0.042794478301321166 Centerline is valid? [True, True] Translation: X:482.98, Y:-62.97, Z:-31.70 [[ 9.97952001e-01 4.07630210e-02 4.92968514e-02 4.82975030e+02] [-4.05077832e-02 9.99160197e-01 -6.16600995e-03 -6.29733601e+01] [-4.95067970e-02 4.15647581e-03 9.98765138e-01 -3.17002015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.44071405700004 meters 0.04072508159003124 Centerline is valid? [True, True] Translation: X:483.04, Y:-62.97, Z:-31.70 [[ 9.97837701e-01 4.42580248e-02 4.85916582e-02 4.83035675e+02] [-4.40140812e-02 9.99012413e-01 -6.07936604e-03 -6.29727080e+01] [-4.88127304e-02 3.92750344e-03 9.98800226e-01 -3.17040645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.50071405700004 meters 0.0409257279532333 Centerline is valid? [True, True] Translation: X:483.09, Y:-62.98, Z:-31.71 [[ 9.97550351e-01 4.90633116e-02 4.98606956e-02 4.83094910e+02] [-4.88123769e-02 9.98788481e-01 -6.23871656e-03 -6.29765183e+01] [-5.01063805e-02 3.78961482e-03 9.98736697e-01 -3.17058743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.56071405700004 meters 0.04019880760240398 Centerline is valid? [True, True] Translation: X:483.16, Y:-62.98, Z:-31.71 [[ 9.97316140e-01 5.20511135e-02 5.14897848e-02 4.83155669e+02] [-5.17875310e-02 9.98637354e-01 -6.44100193e-03 -6.29807932e+01] [-5.17548837e-02 3.75718636e-03 9.98652750e-01 -3.17081340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.62071405700004 meters 0.037548818416116826 Centerline is valid? [True, True] Translation: X:483.22, Y:-62.98, Z:-31.71 [[ 9.96897612e-01 5.91541357e-02 5.19224429e-02 4.83217432e+02] [-5.88956281e-02 9.98243010e-01 -6.49606217e-03 -6.29795197e+01] [-5.22154846e-02 3.41790398e-03 9.98629992e-01 -3.17108951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.68071405700005 meters 0.03721252954031053 Centerline is valid? [True, True] Translation: X:483.28, Y:-62.98, Z:-31.71 [[ 9.96717005e-01 6.18845127e-02 5.22065131e-02 4.83277544e+02] [-6.16268271e-02 9.98077881e-01 -6.53284071e-03 -6.29826204e+01] [-5.25104476e-02 3.29407166e-03 9.98614942e-01 -3.17143201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.74071405700005 meters 0.03794704212300889 Centerline is valid? [True, True] Translation: X:483.34, Y:-62.99, Z:-31.72 [[ 9.96631927e-01 6.32445247e-02 5.22008915e-02 4.83336218e+02] [-6.29887899e-02 9.97992862e-01 -6.53140536e-03 -6.29875001e+01] [-5.25091928e-02 3.22133611e-03 9.98615245e-01 -3.17185289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.80071405700005 meters 0.04080297505749399 Centerline is valid? [True, True] Translation: X:483.39, Y:-63.00, Z:-31.72 [[ 9.96764389e-01 6.05173630e-02 5.28999160e-02 4.83394243e+02] [-6.02510038e-02 9.98161326e-01 -6.61695388e-03 -6.29969247e+01] [-5.32030909e-02 3.40827095e-03 9.98577896e-01 -3.17229897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.86071405700005 meters 0.03653470060389981 Centerline is valid? [True, True] Translation: X:483.45, Y:-63.00, Z:-31.73 [[ 9.97089566e-01 5.61112447e-02 5.16132407e-02 4.83454558e+02] [-5.58519258e-02 9.98418203e-01 -6.45407450e-03 -6.29968321e+01] [-5.18937452e-02 3.55259145e-03 9.98646293e-01 -3.17271424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.92071405700005 meters 0.03902130379254152 Centerline is valid? [True, True] Translation: X:483.51, Y:-63.01, Z:-31.73 [[ 9.97283089e-01 5.27907614e-02 5.13768124e-02 4.83513673e+02] [-5.25294909e-02 9.98598715e-01 -6.42339383e-03 -6.30051959e+01] [-5.16439146e-02 3.70714424e-03 9.98658682e-01 -3.17304148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.98071405700006 meters 0.041288950776542134 Centerline is valid? [True, True] Translation: X:483.57, Y:-63.02, Z:-31.73 [[ 9.97395300e-01 5.01885798e-02 5.18046612e-02 4.83572414e+02] [-4.99194824e-02 9.98732249e-01 -6.47617634e-03 -6.30154549e+01] [-5.20640159e-02 3.87324597e-03 9.98636238e-01 -3.17345598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.04071405700006 meters 0.04376321880072135 Centerline is valid? [True, True] Translation: X:483.63, Y:-63.03, Z:-31.74 [[ 9.97551148e-01 4.68776331e-02 5.19056310e-02 4.83632285e+02] [-4.66030333e-02 9.98892413e-01 -6.48875104e-03 -6.30262179e+01] [-5.21523183e-02 4.05390120e-03 9.98630914e-01 -3.17389020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.10071405700006 meters 0.047003156508252056 Centerline is valid? [True, True] Translation: X:483.69, Y:-63.04, Z:-31.74 [[ 9.97752217e-01 4.34685241e-02 5.10000133e-02 4.83690533e+02] [-4.31990075e-02 9.99046144e-01 -6.37560392e-03 -6.30365180e+01] [-5.12285047e-02 4.15812299e-03 9.98678302e-01 -3.17438786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.16071405700006 meters 0.04066470619810175 Centerline is valid? [True, True] Translation: X:483.75, Y:-63.03, Z:-31.75 [[ 9.97750651e-01 4.27133512e-02 5.16643892e-02 4.83753784e+02] [-4.24358793e-02 9.99078332e-01 -6.45623592e-03 -6.30346449e+01] [-5.18925393e-02 4.24928980e-03 9.98643634e-01 -3.17468802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.22071405700007 meters 0.048144357767381234 Centerline is valid? [True, True] Translation: X:483.81, Y:-63.05, Z:-31.75 [[ 9.97669259e-01 4.53823978e-02 5.09557363e-02 4.83811911e+02] [-4.51150918e-02 9.98961394e-01 -6.38442724e-03 -6.30486909e+01] [-5.11925540e-02 4.07067407e-03 9.98680506e-01 -3.17513413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.28071405700007 meters 0.040897839323796044 Centerline is valid? [True, True] Translation: X:483.87, Y:-63.04, Z:-31.75 [[ 9.97449936e-01 4.98065231e-02 5.11168831e-02 4.83874074e+02] [-4.95433030e-02 9.98751443e-01 -6.40438979e-03 -6.30428036e+01] [-5.13720411e-02 3.85555896e-03 9.98672142e-01 -3.17538200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.34071405700007 meters 0.04033433340011398 Centerline is valid? [True, True] Translation: X:483.93, Y:-63.05, Z:-31.76 [[ 9.97322743e-01 5.18996929e-02 5.15147453e-02 4.83934999e+02] [-5.16350946e-02 9.98645158e-01 -6.45490577e-03 -6.30475091e+01] [-5.17799586e-02 3.77765558e-03 9.98651373e-01 -3.17576183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4007140570001 meters 0.03982843595495306 Centerline is valid? [True, True] Translation: X:484.00, Y:-63.05, Z:-31.76 [[ 9.97100171e-01 5.55822211e-02 5.19794806e-02 4.83995952e+02] [-5.53176729e-02 9.98447547e-01 -6.51547965e-03 -6.30504068e+01] [-5.22609297e-02 3.62120197e-03 9.98626898e-01 -3.17606328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4607140570001 meters 0.03874848178326387 Centerline is valid? [True, True] Translation: X:484.06, Y:-63.05, Z:-31.76 [[ 9.97068465e-01 5.58485553e-02 5.23011892e-02 4.84055513e+02] [-5.55810554e-02 9.98432652e-01 -6.55632483e-03 -6.30542999e+01] [-5.25853763e-02 3.63014944e-03 9.98609834e-01 -3.17645968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5207140570001 meters 0.040140696153471545 Centerline is valid? [True, True] Translation: X:484.11, Y:-63.06, Z:-31.77 [[ 9.97177246e-01 5.39377268e-02 5.22327654e-02 4.84114853e+02] [-5.36684312e-02 9.98537357e-01 -6.54563720e-03 -6.30630489e+01] [-5.25094243e-02 3.72390990e-03 9.98613485e-01 -3.17693542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5807140570001 meters 0.04218467195782813 Centerline is valid? [True, True] Translation: X:484.17, Y:-63.07, Z:-31.78 [[ 9.97578324e-01 4.79445523e-02 5.03865868e-02 4.84174612e+02] [-4.76864423e-02 9.98842405e-01 -6.31300370e-03 -6.30727591e+01] [-5.06309337e-02 3.89495858e-03 9.98709837e-01 -3.17751965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6407140570001 meters 0.046870023235937135 Centerline is valid? [True, True] Translation: X:484.23, Y:-63.09, Z:-31.78 [[ 9.97949813e-01 4.18114327e-02 4.84558981e-02 4.84232451e+02] [-4.15655431e-02 9.99117332e-01 -6.07152304e-03 -6.30862951e+01] [-4.86669867e-02 4.04497957e-03 9.98806870e-01 -3.17810805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7007140570001 meters 0.04982916307630158 Centerline is valid? [True, True] Translation: X:484.29, Y:-63.10, Z:-31.78 [[ 9.98151608e-01 3.82250432e-02 4.72463006e-02 4.84292056e+02] [-3.79872465e-02 9.99260681e-01 -5.92113163e-03 -6.30951178e+01] [-4.74377060e-02 4.11543019e-03 9.98865720e-01 -3.17844702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7607140570001 meters 0.04740371104498909 Centerline is valid? [True, True] Translation: X:484.35, Y:-63.10, Z:-31.79 [[ 9.98093062e-01 3.79865297e-02 4.86545389e-02 4.84354085e+02] [-3.77342319e-02 9.99269229e-01 -6.09388747e-03 -6.30980655e+01] [-4.88504692e-02 4.24632515e-03 9.98797077e-01 -3.17859021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.82071405700003 meters 0.0531285739082161 Centerline is valid? [True, True] Translation: X:484.41, Y:-63.11, Z:-31.79 [[ 9.97971930e-01 3.88903583e-02 5.03941231e-02 4.84413559e+02] [-3.86199905e-02 9.99233932e-01 -6.32810424e-03 -6.31123585e+01] [-5.06016201e-02 4.36904985e-03 9.98709361e-01 -3.17897014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.88071405700003 meters 0.048330040082537135 Centerline is valid? [True, True] Translation: X:484.48, Y:-63.11, Z:-31.79 [[ 9.97842856e-01 4.19516828e-02 5.04944604e-02 4.84475259e+02] [-4.16840096e-02 9.99110710e-01 -6.34296048e-03 -6.31105871e+01] [-5.07156540e-02 4.22446623e-03 9.98704199e-01 -3.17923073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.94071405700004 meters 0.048237498356514905 Centerline is valid? [True, True] Translation: X:484.54, Y:-63.12, Z:-31.80 [[ 9.97758519e-01 4.51652865e-02 4.93764501e-02 4.84535454e+02] [-4.49132470e-02 9.98971635e-01 -6.20265770e-03 -6.31159592e+01] [-4.96058179e-02 3.97109786e-03 9.98760979e-01 -3.17974936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.00071405700004 meters 0.04605629894173895 Centerline is valid? [True, True] Translation: X:484.60, Y:-63.12, Z:-31.80 [[ 9.97715281e-01 4.84032898e-02 4.71310823e-02 4.84595831e+02] [-4.81772572e-02 9.98821254e-01 -5.92069694e-03 -6.31195917e+01] [-4.73621080e-02 3.63652353e-03 9.98871166e-01 -3.18033827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.06071405700004 meters 0.045920551034944405 Centerline is valid? [True, True] Translation: X:484.66, Y:-63.13, Z:-31.81 [[ 9.97652985e-01 5.09834906e-02 4.57078233e-02 4.84655466e+02] [-5.07735420e-02 9.98693678e-01 -5.74330698e-03 -6.31253347e+01] [-4.59409280e-02 3.40907927e-03 9.98938341e-01 -3.18087771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.12071405700004 meters 0.03669066974500581 Centerline is valid? [True, True] Translation: X:484.72, Y:-63.12, Z:-31.81 [[ 9.97152383e-01 5.95081782e-02 4.63238730e-02 4.84717668e+02] [-5.93017215e-02 9.98223140e-01 -5.81962479e-03 -6.31151529e+01] [-4.65878772e-02 3.05596731e-03 9.98909521e-01 -3.18086764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.18071405700005 meters 0.03876001327133518 Centerline is valid? [True, True] Translation: X:484.78, Y:-63.12, Z:-31.81 [[ 9.96715708e-01 6.58360223e-02 4.71531159e-02 4.84775734e+02] [-6.56291132e-02 9.97826498e-01 -5.92451891e-03 -6.31236874e+01] [-4.74406753e-02 2.81044388e-03 9.98870104e-01 -3.18125091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.24071405700005 meters 0.03219655562581583 Centerline is valid? [True, True] Translation: X:484.84, Y:-63.12, Z:-31.81 [[ 9.95870902e-01 7.66330558e-02 4.86674638e-02 4.84837229e+02] [-7.64256234e-02 9.97056554e-01 -6.11160014e-03 -6.31180003e+01] [-4.89925643e-02 2.36692349e-03 9.98796339e-01 -3.18126469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.30071405700005 meters 0.028746231035453537 Centerline is valid? [True, True] Translation: X:484.90, Y:-63.12, Z:-31.81 [[ 9.94909786e-01 8.77098393e-02 4.96135207e-02 4.84898129e+02] [-8.75079872e-02 9.96144335e-01 -6.23029297e-03 -6.31184578e+01] [-4.99686856e-02 1.85700011e-03 9.98749059e-01 -3.18145569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.36071405700005 meters 0.02672886126518052 Centerline is valid? [True, True] Translation: X:484.96, Y:-63.12, Z:-31.82 [[ 9.94019362e-01 9.72513730e-02 4.96757249e-02 4.84958220e+02] [-9.70609311e-02 9.95258896e-01 -6.23743679e-03 -6.31230470e+01] [-5.00468064e-02 1.37856083e-03 9.98745922e-01 -3.18178684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.42071405700005 meters 0.02622600713641304 Centerline is valid? [True, True] Translation: X:485.02, Y:-63.13, Z:-31.82 [[ 9.93558719e-01 1.02545932e-01 4.82224375e-02 4.85016065e+02] [-1.02372660e-01 9.94727684e-01 -6.05586740e-03 -6.31320593e+01] [-4.85891981e-02 1.08020067e-03 9.98818263e-01 -3.18226444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.48071405700006 meters 0.026074701525789508 Centerline is valid? [True, True] Translation: X:485.07, Y:-63.15, Z:-31.83 [[ 9.93745772e-01 1.01384058e-01 4.68039948e-02 4.85073440e+02] [-1.01219552e-01 9.94846750e-01 -5.87767203e-03 -6.31470879e+01] [-4.71587044e-02 1.10343234e-03 9.98886800e-01 -3.18281813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.54071405700006 meters 0.026643431406884546 Centerline is valid? [True, True] Translation: X:485.13, Y:-63.17, Z:-31.83 [[ 9.94328998e-01 9.52272372e-02 4.73457116e-02 4.85130661e+02] [-9.50526670e-02 9.95454582e-01 -5.93013361e-03 -6.31662405e+01] [-4.76952158e-02 1.39616766e-03 9.98860960e-01 -3.18298638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.60071405700006 meters 0.028565298942446537 Centerline is valid? [True, True] Translation: X:485.19, Y:-63.19, Z:-31.83 [[ 9.95060888e-01 8.70197844e-02 4.77638512e-02 4.85188589e+02] [-8.68328358e-02 9.96204954e-01 -5.97903191e-03 -6.31885752e+01] [-4.81028793e-02 1.80203016e-03 9.98840761e-01 -3.18323153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.66071405700006 meters 0.03105523155822487 Centerline is valid? [True, True] Translation: X:485.25, Y:-63.21, Z:-31.84 [[ 9.95441270e-01 8.20684833e-02 4.85946819e-02 4.85246249e+02] [-8.18690785e-02 9.96624528e-01 -6.08305238e-03 -6.32072984e+01] [-4.89298788e-02 2.07691956e-03 9.98800057e-01 -3.18356598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.72071405700007 meters 0.032541164777395305 Centerline is valid? [True, True] Translation: X:485.30, Y:-63.23, Z:-31.84 [[ 9.95872540e-01 7.63425668e-02 4.90886696e-02 4.85304487e+02] [-7.61321955e-02 9.97078804e-01 -6.14382725e-03 -6.32294252e+01] [-4.94143075e-02 2.38124065e-03 9.98775528e-01 -3.18395672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.78071405700007 meters 0.03159278409641381 Centerline is valid? [True, True] Translation: X:485.36, Y:-63.24, Z:-31.84 [[ 9.96022895e-01 7.45660288e-02 4.87678083e-02 4.85362642e+02] [-7.43562558e-02 9.97213060e-01 -6.10412012e-03 -6.32393997e+01] [-4.90870553e-02 2.45365176e-03 9.98791490e-01 -3.18433753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.84071405700007 meters 0.0326794250547312 Centerline is valid? [True, True] Translation: X:485.42, Y:-63.25, Z:-31.85 [[ 9.96081817e-01 7.41691240e-02 4.81659210e-02 4.85420144e+02] [-7.39641511e-02 9.97242692e-01 -6.02647723e-03 -6.32530494e+01] [-4.84800913e-02 2.44031292e-03 9.98821168e-01 -3.18479385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9007140570001 meters 0.034850213704939084 Centerline is valid? [True, True] Translation: X:485.48, Y:-63.27, Z:-31.85 [[ 9.96128388e-01 7.35934064e-02 4.80858067e-02 4.85475964e+02] [-7.33885911e-02 9.97285292e-01 -6.01347503e-03 -6.32679922e+01] [-4.83978199e-02 2.46124358e-03 9.98825106e-01 -3.18534178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9607140570001 meters 0.034172721927880546 Centerline is valid? [True, True] Translation: X:485.53, Y:-63.28, Z:-31.86 [[ 9.96134037e-01 7.33628884e-02 4.83204528e-02 4.85534111e+02] [-7.31560560e-02 9.97302231e-01 -6.03750368e-03 -6.32767906e+01] [-4.86330241e-02 2.47922917e-03 9.98813637e-01 -3.18568545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0207140570001 meters 0.03591825697602053 Centerline is valid? [True, True] Translation: X:485.59, Y:-63.29, Z:-31.86 [[ 9.96111055e-01 7.18824497e-02 5.09478042e-02 4.85590459e+02] [-7.16507431e-02 9.97409491e-01 -6.36220135e-03 -6.32889957e+01] [-5.12731541e-02 2.68701107e-03 9.98681052e-01 -3.18599751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0807140570001 meters 0.03451552660735053 Centerline is valid? [True, True] Translation: X:485.65, Y:-63.30, Z:-31.86 [[ 9.96143453e-01 6.92642671e-02 5.38579916e-02 4.85648830e+02] [-6.90017741e-02 9.97593901e-01 -6.72035805e-03 -6.32976198e+01] [-5.41938846e-02 2.97814370e-03 9.98525990e-01 -3.18623103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1407140570001 meters 0.03449538307596696 Centerline is valid? [True, True] Translation: X:485.71, Y:-63.31, Z:-31.87 [[ 9.96168609e-01 6.66718995e-02 5.65947017e-02 4.85707081e+02] [-6.63780294e-02 9.97769579e-01 -7.05867838e-03 -6.33078735e+01] [-5.69390872e-02 3.27498905e-03 9.98372283e-01 -3.18654946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2007140570001 meters 0.03403979393503337 Centerline is valid? [True, True] Translation: X:485.77, Y:-63.32, Z:-31.87 [[ 9.96119690e-01 6.66207160e-02 5.75086325e-02 4.85765551e+02] [-6.63173704e-02 9.97772823e-01 -7.16938375e-03 -6.33161062e+01] [-5.78581801e-02 3.32774304e-03 9.98319266e-01 -3.18695322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2607140570001 meters 0.03132831892101791 Centerline is valid? [True, True] Translation: X:485.83, Y:-63.32, Z:-31.88 [[ 9.95829412e-01 7.03857265e-02 5.80485327e-02 4.85825405e+02] [-7.00831515e-02 9.97514920e-01 -7.23444315e-03 -6.33226891e+01] [-5.84134789e-02 3.13604716e-03 9.98287549e-01 -3.18762485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.32071405700003 meters 0.0307046544595971 Centerline is valid? [True, True] Translation: X:485.88, Y:-63.33, Z:-31.88 [[ 9.95538230e-01 7.44758996e-02 5.79393940e-02 4.85884611e+02] [-7.41814140e-02 9.97218627e-01 -7.21997187e-03 -6.33307526e+01] [-5.83159569e-02 2.88973183e-03 9.98293994e-01 -3.18822635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.38071405700003 meters 0.03025930217497854 Centerline is valid? [True, True] Translation: X:485.94, Y:-63.34, Z:-31.89 [[ 9.95249539e-01 7.71234509e-02 5.94165712e-02 4.85943140e+02] [-7.68185311e-02 9.97017611e-01 -7.40249811e-03 -6.33404560e+01] [-5.98102741e-02 2.80303910e-03 9.98205828e-01 -3.18873255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.44071405700004 meters 0.029800143051974367 Centerline is valid? [True, True] Translation: X:486.00, Y:-63.35, Z:-31.89 [[ 9.95234576e-01 7.68758277e-02 5.99853812e-02 4.86000985e+02] [-7.65647082e-02 9.97036622e-01 -7.47133088e-03 -6.33473466e+01] [-6.03819865e-02 2.84296361e-03 9.98171295e-01 -3.18908544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.50071405700004 meters 0.031104040019468638 Centerline is valid? [True, True] Translation: X:486.06, Y:-63.36, Z:-31.89 [[ 9.95142678e-01 7.52334518e-02 6.34899811e-02 4.86058697e+02] [-7.48818413e-02 9.97161097e-01 -7.90290366e-03 -6.33586108e+01] [-6.39043019e-02 3.11027002e-03 9.97951184e-01 -3.18933912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.56071405700004 meters 0.03265220116274561 Centerline is valid? [True, True] Translation: X:486.12, Y:-63.37, Z:-31.90 [[ 9.95226261e-01 7.27246317e-02 6.50831527e-02 4.86117204e+02] [-7.23500121e-02 9.97346431e-01 -8.09763815e-03 -6.33721908e+01] [-6.54993478e-02 3.35021526e-03 9.97846988e-01 -3.18980414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.62071405700004 meters 0.034774563346895236 Centerline is valid? [True, True] Translation: X:486.18, Y:-63.39, Z:-31.90 [[ 9.95443838e-01 6.94243108e-02 6.53592375e-02 4.86177202e+02] [-6.90394855e-02 9.97580793e-01 -8.13088578e-03 -6.33852050e+01] [-6.57656011e-02 3.58147201e-03 9.97828672e-01 -3.19034538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.68071405700005 meters 0.03743442816147148 Centerline is valid? [True, True] Translation: X:486.24, Y:-63.40, Z:-31.91 [[ 9.95652659e-01 6.65370582e-02 6.51813008e-02 4.86235964e+02] [-6.61480192e-02 9.97776854e-01 -8.11099759e-03 -6.33977896e+01] [-6.55760752e-02 3.76412239e-03 9.97840473e-01 -3.19078760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.74071405700005 meters 0.03737456423579104 Centerline is valid? [True, True] Translation: X:486.30, Y:-63.41, Z:-31.91 [[ 9.95698160e-01 6.49376325e-02 6.60929519e-02 4.86297530e+02] [-6.45340982e-02 9.97881610e-01 -8.22457379e-03 -6.34066656e+01] [-6.64870256e-02 3.92394394e-03 9.97779574e-01 -3.19123671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.80071405700005 meters 0.0342472262366816 Centerline is valid? [True, True] Translation: X:486.36, Y:-63.41, Z:-31.92 [[ 9.95767030e-01 6.36162968e-02 6.63399501e-02 4.86359219e+02] [-6.32065052e-02 9.97966287e-01 -8.25996355e-03 -6.34112829e+01] [-6.67305020e-02 4.03188297e-03 9.97762890e-01 -3.19165720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.86071405700005 meters 0.03208281469973743 Centerline is valid? [True, True] Translation: X:486.42, Y:-63.42, Z:-31.92 [[ 9.95659102e-01 6.55651821e-02 6.60617930e-02 4.86420595e+02] [-6.51627758e-02 9.97840708e-01 -8.23012740e-03 -6.34161794e+01] [-6.64587561e-02 3.88963145e-03 9.97781592e-01 -3.19222171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.92071405700005 meters 0.030452700177966353 Centerline is valid? [True, True] Translation: X:486.48, Y:-63.42, Z:-31.93 [[ 9.95328697e-01 6.95440881e-02 6.69657022e-02 4.86480924e+02] [-6.91392867e-02 9.97572101e-01 -8.34645068e-03 -6.34208429e+01] [-6.73835625e-02 3.67750100e-03 9.97720367e-01 -3.19268836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.98071405700006 meters 0.030637252024547146 Centerline is valid? [True, True] Translation: X:486.54, Y:-63.43, Z:-31.93 [[ 9.95059699e-01 7.32449510e-02 6.70177020e-02 4.86540016e+02] [-7.28477959e-02 9.97308080e-01 -8.35414593e-03 -6.34284668e+01] [-6.74491947e-02 3.43078206e-03 9.97716811e-01 -3.19314904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.04071405700006 meters 0.029729868676683743 Centerline is valid? [True, True] Translation: X:486.60, Y:-63.44, Z:-31.94 [[ 9.95015237e-01 7.49929425e-02 6.57323134e-02 4.86601957e+02] [-7.46146755e-02 9.97178772e-01 -8.19431523e-03 -6.34359384e+01] [-6.61613833e-02 3.24887328e-03 9.97803646e-01 -3.19363148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.10071405700006 meters 0.03109833511593741 Centerline is valid? [True, True] Translation: X:486.66, Y:-63.45, Z:-31.94 [[ 9.95150694e-01 7.37676147e-02 6.50648567e-02 4.86662237e+02] [-7.33932968e-02 9.97269955e-01 -8.12782150e-03 -6.34492293e+01] [-6.54867967e-02 3.31308286e-03 9.97847936e-01 -3.19413090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.16071405700006 meters 0.03198578146605591 Centerline is valid? [True, True] Translation: X:486.72, Y:-63.46, Z:-31.95 [[ 9.95156460e-01 7.28774328e-02 6.59734728e-02 4.86723014e+02] [-7.24895643e-02 9.97334990e-01 -8.25718974e-03 -6.34606369e+01] [-6.63994156e-02 3.43480741e-03 9.97787212e-01 -3.19452038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.22071405700007 meters 0.03321590340130225 Centerline is valid? [True, True] Translation: X:486.78, Y:-63.47, Z:-31.95 [[ 9.95092077e-01 7.35499716e-02 6.61978839e-02 4.86783000e+02] [-7.31598996e-02 9.97285679e-01 -8.30082358e-03 -6.34724312e+01] [-6.66287269e-02 3.41705324e-03 9.97771986e-01 -3.19489342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.28071405700007 meters 0.030781532272913602 Centerline is valid? [True, True] Translation: X:486.84, Y:-63.48, Z:-31.95 [[ 9.94988697e-01 7.48207659e-02 6.63275620e-02 4.86844628e+02] [-7.44309452e-02 9.97191358e-01 -8.33246249e-03 -6.34777068e+01] [-6.67647128e-02 3.35388286e-03 9.97763110e-01 -3.19530135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.34071405700007 meters 0.03169478073278137 Centerline is valid? [True, True] Translation: X:486.91, Y:-63.49, Z:-31.96 [[ 9.95146423e-01 7.31706241e-02 6.58001204e-02 4.86905793e+02] [-7.27823011e-02 9.97313458e-01 -8.28268210e-03 -6.34897153e+01] [-6.62293947e-02 3.45339729e-03 9.97798447e-01 -3.19580037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4007140570001 meters 0.0321600277869061 Centerline is valid? [True, True] Translation: X:486.96, Y:-63.50, Z:-31.96 [[ 9.95581621e-01 6.73685125e-02 6.54119169e-02 4.86964829e+02] [-6.69719803e-02 9.97720843e-01 -8.23850517e-03 -6.35020199e+01] [-6.58178487e-02 3.82133873e-03 9.97824337e-01 -3.19632336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4607140570001 meters 0.03467449593509478 Centerline is valid? [True, True] Translation: X:487.02, Y:-63.52, Z:-31.97 [[ 9.95858979e-01 6.42941205e-02 6.42741012e-02 4.87023315e+02] [-6.39048976e-02 9.97923158e-01 -8.09541668e-03 -6.35157255e+01] [-6.46611017e-02 3.95446353e-03 9.97899446e-01 -3.19680060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5207140570001 meters 0.034946895882498066 Centerline is valid? [True, True] Translation: X:487.08, Y:-63.53, Z:-31.97 [[ 9.96145513e-01 6.11890153e-02 6.28492001e-02 4.87083393e+02] [-6.08104319e-02 9.98117905e-01 -7.92075108e-03 -6.35266619e+01] [-6.32155749e-02 4.06833364e-03 9.97991603e-01 -3.19736823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5807140570001 meters 0.03627964797444893 Centerline is valid? [True, True] Translation: X:487.14, Y:-63.54, Z:-31.98 [[ 9.96324602e-01 5.94919164e-02 6.16279183e-02 4.87144330e+02] [-5.91246357e-02 9.98220386e-01 -7.76782106e-03 -6.35387544e+01] [-6.19803669e-02 4.09554301e-03 9.98068966e-01 -3.19785407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6407140570001 meters 0.03789764871878883 Centerline is valid? [True, True] Translation: X:487.21, Y:-63.55, Z:-31.98 [[ 9.96283934e-01 5.88208422e-02 6.29160686e-02 4.87205830e+02] [-5.84364059e-02 9.98259599e-01 -7.93466583e-03 -6.35492155e+01] [-6.32732932e-02 4.22859116e-03 9.97987279e-01 -3.19811749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7007140570001 meters 0.03740807025288277 Centerline is valid? [True, True] Translation: X:487.27, Y:-63.56, Z:-31.99 [[ 9.96416010e-01 5.80590413e-02 6.15165323e-02 4.87267501e+02] [-5.76891536e-02 9.98304330e-01 -7.77345607e-03 -6.35578306e+01] [-6.18635400e-02 4.19675940e-03 9.98075794e-01 -3.19858072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7607140570001 meters 0.040225474759075376 Centerline is valid? [True, True] Translation: X:487.33, Y:-63.57, Z:-31.99 [[ 9.96436238e-01 5.79026592e-02 6.13360020e-02 4.87326996e+02] [-5.75336626e-02 9.98313356e-01 -7.76659102e-03 -6.35702587e+01] [-6.16822563e-02 4.21002789e-03 9.98086958e-01 -3.19902573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.82071405700003 meters 0.03964664218882308 Centerline is valid? [True, True] Translation: X:487.39, Y:-63.58, Z:-31.99 [[ 9.96349383e-01 6.03573268e-02 6.03730160e-02 4.87388134e+02] [-6.00035711e-02 9.98168794e-01 -7.65704707e-03 -6.35766526e+01] [-6.07246195e-02 4.00649756e-03 9.98146517e-01 -3.19944027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.88071405700003 meters 0.0361853747642196 Centerline is valid? [True, True] Translation: X:487.45, Y:-63.58, Z:-32.00 [[ 9.96195033e-01 6.37133355e-02 5.94648476e-02 4.87448974e+02] [-6.33758224e-02 9.97961199e-01 -7.54659717e-03 -6.35794446e+01] [-5.98244294e-02 3.74924900e-03 9.98201874e-01 -3.19996658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.94071405700004 meters 0.03448910055489101 Centerline is valid? [True, True] Translation: X:487.51, Y:-63.59, Z:-32.00 [[ 9.96076650e-01 6.57330749e-02 5.92492244e-02 4.87509936e+02] [-6.54015056e-02 9.97830692e-01 -7.52021587e-03 -6.35855226e+01] [-5.96150215e-02 3.61572295e-03 9.98214895e-01 -3.20036206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.00071405700004 meters 0.03597701242822829 Centerline is valid? [True, True] Translation: X:487.57, Y:-63.60, Z:-32.01 [[ 9.96039048e-01 6.69138310e-02 5.85555574e-02 4.87570351e+02] [-6.65919314e-02 9.97752602e-01 -7.43370993e-03 -6.35968984e+01] [-5.89213778e-02 3.50493770e-03 9.98256473e-01 -3.20084994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.06071405700004 meters 0.03501359482314454 Centerline is valid? [True, True] Translation: X:487.63, Y:-63.61, Z:-32.01 [[ 9.96037529e-01 6.68691001e-02 5.86324551e-02 4.87631934e+02] [-6.65458056e-02 9.97755547e-01 -7.45143351e-03 -6.36055760e+01] [-5.89991279e-02 3.52016347e-03 9.98251828e-01 -3.20122597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.12071405700004 meters 0.03261880452395417 Centerline is valid? [True, True] Translation: X:487.69, Y:-63.61, Z:-32.02 [[ 9.96038596e-01 6.62538538e-02 5.93088646e-02 4.87693486e+02] [-6.59210467e-02 9.97796258e-01 -7.55267417e-03 -6.36132401e+01] [-5.96785569e-02 3.61305255e-03 9.98211108e-01 -3.20153063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.18071405700005 meters 0.03376697148011888 Centerline is valid? [True, True] Translation: X:487.75, Y:-63.63, Z:-32.02 [[ 9.95990582e-01 6.68579811e-02 5.94371133e-02 4.87753021e+02] [-6.65238478e-02 9.97756006e-01 -7.58492835e-03 -6.36263449e+01] [-5.98108497e-02 3.60053173e-03 9.98203235e-01 -3.20191333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.24071405700005 meters 0.03512191210966544 Centerline is valid? [True, True] Translation: X:487.81, Y:-63.64, Z:-32.02 [[ 9.96004948e-01 6.64579233e-02 5.96446736e-02 4.87813285e+02] [-6.61198351e-02 9.97782544e-01 -7.62637788e-03 -6.36386501e+01] [-6.00192475e-02 3.65221412e-03 9.98190539e-01 -3.20228162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.30071405700005 meters 0.03750235153203844 Centerline is valid? [True, True] Translation: X:487.87, Y:-63.65, Z:-32.03 [[ 9.96307776e-01 6.34994691e-02 5.77808983e-02 4.87873279e+02] [-6.31767579e-02 9.97974943e-01 -7.39662931e-03 -6.36526040e+01] [-5.81335707e-02 3.71890948e-03 9.98301887e-01 -3.20283550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.36071405700005 meters 0.03921830894960084 Centerline is valid? [True, True] Translation: X:487.93, Y:-63.67, Z:-32.03 [[ 9.96442852e-01 6.12767805e-02 5.78515221e-02 4.87933229e+02] [-6.09494297e-02 9.98113366e-01 -7.40775804e-03 -6.36652568e+01] [-5.81963011e-02 3.85539027e-03 9.98297714e-01 -3.20326975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.42071405700005 meters 0.03998792838562778 Centerline is valid? [True, True] Translation: X:487.99, Y:-63.67, Z:-32.04 [[ 9.96434607e-01 6.08474726e-02 5.84436443e-02 4.87994545e+02] [-6.05125899e-02 9.98139374e-01 -7.48446588e-03 -6.36746483e+01] [-5.87903134e-02 3.92120453e-03 9.98262652e-01 -3.20356909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.48071405700006 meters 0.03767005461394552 Centerline is valid? [True, True] Translation: X:488.06, Y:-63.68, Z:-32.04 [[ 9.96373104e-01 6.25843037e-02 5.76527820e-02 4.88056093e+02] [-6.22604375e-02 9.98032515e-01 -7.39850894e-03 -6.36792797e+01] [-5.80023816e-02 3.78218788e-03 9.98309280e-01 -3.20400788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.54071405700006 meters 0.03878965430698384 Centerline is valid? [True, True] Translation: X:488.12, Y:-63.69, Z:-32.04 [[ 9.96360561e-01 6.33705575e-02 5.70070619e-02 4.88117647e+02] [-6.30550999e-02 9.97983222e-01 -7.31731045e-03 -6.36876845e+01] [-5.73557934e-02 3.69609355e-03 9.98346960e-01 -3.20444577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.60071405700006 meters 0.038039381667630955 Centerline is valid? [True, True] Translation: X:488.18, Y:-63.69, Z:-32.05 [[ 9.96445483e-01 6.21584736e-02 5.68570486e-02 4.88179214e+02] [-6.18418327e-02 9.98059167e-01 -7.31342171e-03 -6.36933642e+01] [-5.72012897e-02 3.77128194e-03 9.98355543e-01 -3.20485475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.66071405700006 meters 0.04015622895625043 Centerline is valid? [True, True] Translation: X:488.24, Y:-63.70, Z:-32.05 [[ 9.96857805e-01 5.74402772e-02 5.45447583e-02 4.88238929e+02] [-5.71416413e-02 9.98341399e-01 -7.02020837e-03 -6.37038742e+01] [-5.48575330e-02 3.88137250e-03 9.98486648e-01 -3.20539902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.72071405700007 meters 0.04516090155754888 Centerline is valid? [True, True] Translation: X:488.30, Y:-63.72, Z:-32.06 [[ 9.97225716e-01 5.05883696e-02 5.46048374e-02 4.88296668e+02] [-5.02787838e-02 9.98710484e-01 -7.02939585e-03 -6.37191296e+01] [-5.48900292e-02 4.26442950e-03 9.98483300e-01 -3.20583699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.78071405700007 meters 0.04443017290266119 Centerline is valid? [True, True] Translation: X:488.36, Y:-63.72, Z:-32.06 [[ 9.97357125e-01 4.69890172e-02 5.54147740e-02 4.88356896e+02] [-4.66645746e-02 9.98885133e-01 -7.13500524e-03 -6.37239340e+01] [-5.56882608e-02 4.53024146e-03 9.98437927e-01 -3.20597414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.84071405700007 meters 0.046412961120674806 Centerline is valid? [True, True] Translation: X:488.42, Y:-63.73, Z:-32.06 [[ 9.97404571e-01 4.64482869e-02 5.50152481e-02 4.88417976e+02] [-4.61278021e-02 9.98910445e-01 -7.08164016e-03 -6.37313164e+01] [-5.52842360e-02 4.52552780e-03 9.98460401e-01 -3.20643255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9007140570001 meters 0.04760418592184329 Centerline is valid? [True, True] Translation: X:488.48, Y:-63.74, Z:-32.07 [[ 9.97367290e-01 4.73399434e-02 5.49310444e-02 4.88479418e+02] [-4.70210861e-02 9.98868782e-01 -7.08339604e-03 -6.37387760e+01] [-5.52042329e-02 4.48183014e-03 9.98465025e-01 -3.20685472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9607140570001 meters 0.046679069143040514 Centerline is valid? [True, True] Translation: X:488.54, Y:-63.74, Z:-32.07 [[ 9.96996340e-01 5.30101144e-02 5.64643691e-02 4.88540033e+02] [-5.26812830e-02 9.98584714e-01 -7.29740733e-03 -6.37399392e+01] [-5.67712922e-02 4.30087299e-03 9.98377946e-01 -3.20703979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0207140570001 meters 0.04058379836826436 Centerline is valid? [True, True] Translation: X:488.60, Y:-63.74, Z:-32.07 [[ 9.96625333e-01 5.80233631e-02 5.80623307e-02 4.88601654e+02] [-5.76840863e-02 9.98306686e-01 -7.50382440e-03 -6.37362683e+01] [-5.83994101e-02 4.12922900e-03 9.98284758e-01 -3.20719417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0807140570001 meters 0.04036008285415422 Centerline is valid? [True, True] Translation: X:488.66, Y:-63.74, Z:-32.07 [[ 9.96037362e-01 6.61455414e-02 5.94503150e-02 4.88661251e+02] [-6.58042121e-02 9.97802974e-01 -7.68312264e-03 -6.37403520e+01] [-5.98279054e-02 3.74059608e-03 9.98201698e-01 -3.20749904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1407140570001 meters 0.03481648040979507 Centerline is valid? [True, True] Translation: X:488.72, Y:-63.74, Z:-32.08 [[ 9.95561313e-01 7.32216001e-02 5.91292643e-02 4.88722666e+02] [-7.28963791e-02 9.97310245e-01 -7.64151374e-03 -6.37379968e+01] [-5.95297449e-02 3.29728618e-03 9.98221086e-01 -3.20789165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2007140570001 meters 0.03246571983263536 Centerline is valid? [True, True] Translation: X:488.78, Y:-63.74, Z:-32.08 [[ 9.95399996e-01 7.70278540e-02 5.69697927e-02 4.88783450e+02] [-7.67321588e-02 9.97024554e-01 -7.36304545e-03 -6.37404407e+01] [-5.73674418e-02 2.95776023e-03 9.98348751e-01 -3.20834736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2607140570001 meters 0.031113629545690046 Centerline is valid? [True, True] Translation: X:488.84, Y:-63.75, Z:-32.09 [[ 9.95379565e-01 7.77055263e-02 5.64036559e-02 4.88843284e+02] [-7.74166578e-02 9.96972161e-01 -7.29185589e-03 -6.37453468e+01] [-5.67994922e-02 2.89158182e-03 9.98381418e-01 -3.20876584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.32071405700003 meters 0.03170079164149421 Centerline is valid? [True, True] Translation: X:488.90, Y:-63.75, Z:-32.09 [[ 9.95341105e-01 7.73609068e-02 5.75445465e-02 4.88902605e+02] [-7.70597003e-02 9.96998733e-01 -7.43839005e-03 -6.37541561e+01] [-5.79472805e-02 2.96936987e-03 9.98315229e-01 -3.20913827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.38071405700003 meters 0.03262921674830904 Centerline is valid? [True, True] Translation: X:488.96, Y:-63.76, Z:-32.09 [[ 9.95420511e-01 7.58668241e-02 5.81569627e-02 4.88962562e+02] [-7.55567610e-02 9.97113182e-01 -7.51519208e-03 -6.37633264e+01] [-5.85592278e-02 3.08662461e-03 9.98279164e-01 -3.20943611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.44071405700004 meters 0.03444934696376118 Centerline is valid? [True, True] Translation: X:489.02, Y:-63.77, Z:-32.10 [[ 9.95617547e-01 7.32376907e-02 5.81544560e-02 4.89022637e+02] [-7.29231981e-02 9.97309249e-01 -7.51465447e-03 -6.37747557e+01] [-5.85483328e-02 3.24091294e-03 9.98279314e-01 -3.20985639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.50071405700004 meters 0.03438910091040946 Centerline is valid? [True, True] Translation: X:489.08, Y:-63.78, Z:-32.10 [[ 9.95800846e-01 7.06680408e-02 5.81953942e-02 4.89083300e+02] [-7.03486122e-02 9.97494106e-01 -7.52201568e-03 -6.37829446e+01] [-5.85811289e-02 3.39646435e-03 9.98276873e-01 -3.21027869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.56071405700004 meters 0.03350137648579763 Centerline is valid? [True, True] Translation: X:489.14, Y:-63.79, Z:-32.11 [[ 9.95849743e-01 6.98383722e-02 5.83600160e-02 4.89144120e+02] [-6.95155881e-02 9.97552329e-01 -7.54541084e-03 -6.37883204e+01] [-5.87441291e-02 3.45716462e-03 9.98267086e-01 -3.21055701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.62071405700004 meters 0.03157076947332694 Centerline is valid? [True, True] Translation: X:489.21, Y:-63.79, Z:-32.11 [[ 9.95737828e-01 7.10458453e-02 5.88104207e-02 4.89206657e+02] [-7.07200917e-02 9.97467212e-01 -7.60461549e-03 -6.37913746e+01] [-5.92017427e-02 3.41312496e-03 9.98240204e-01 -3.21096764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.68071405700005 meters 0.03180980615365457 Centerline is valid? [True, True] Translation: X:489.27, Y:-63.80, Z:-32.11 [[ 9.95555982e-01 7.35380179e-02 5.88255567e-02 4.89266469e+02] [-7.32154527e-02 9.97287013e-01 -7.62301982e-03 -6.37980964e+01] [-5.92265455e-02 3.28220322e-03 9.98239171e-01 -3.21143022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.74071405700005 meters 0.03193682334838509 Centerline is valid? [True, True] Translation: X:489.33, Y:-63.80, Z:-32.12 [[ 9.95376908e-01 7.66427466e-02 5.78852279e-02 4.89325461e+02] [-7.63352343e-02 9.97053939e-01 -7.50835557e-03 -6.38032566e+01] [-5.82901554e-02 3.05496132e-03 9.98295009e-01 -3.21186506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.80071405700005 meters 0.029379785353987723 Centerline is valid? [True, True] Translation: X:489.39, Y:-63.80, Z:-32.12 [[ 9.95096044e-01 8.02386893e-02 5.78413066e-02 4.89386009e+02] [-7.99377576e-02 9.96771629e-01 -7.50160779e-03 -6.38033912e+01] [-5.82564926e-02 2.84111589e-03 9.98297606e-01 -3.21222317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.86071405700005 meters 0.028576171660925017 Centerline is valid? [True, True] Translation: X:489.45, Y:-63.81, Z:-32.13 [[ 9.95015543e-01 8.31396338e-02 5.50624294e-02 4.89445934e+02] [-8.28714374e-02 9.96534667e-01 -7.14024106e-03 -6.38085822e+01] [-5.54652567e-02 2.54154817e-03 9.98457383e-01 -3.21277305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.92071405700005 meters 0.027863547453824123 Centerline is valid? [True, True] Translation: X:489.50, Y:-63.81, Z:-32.13 [[ 9.94905200e-01 8.42123431e-02 5.54249440e-02 4.89504994e+02] [-8.39422890e-02 9.96444702e-01 -7.18671495e-03 -6.38120344e+01] [-5.58331019e-02 2.49760341e-03 9.98436992e-01 -3.21308900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.98071405700006 meters 0.027754517942981165 Centerline is valid? [True, True] Translation: X:489.56, Y:-63.82, Z:-32.13 [[ 9.94818509e-01 8.44191358e-02 5.66528373e-02 4.89563004e+02] [-8.41375521e-02 9.96427104e-01 -7.34157365e-03 -6.38201631e+01] [-5.70701919e-02 2.53690231e-03 9.98366945e-01 -3.21342989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.04071405700006 meters 0.030799085020054417 Centerline is valid? [True, True] Translation: X:489.62, Y:-63.83, Z:-32.14 [[ 9.95122388e-01 8.13989040e-02 5.57283702e-02 4.89620480e+02] [-8.11219616e-02 9.96678050e-01 -7.21752179e-03 -6.38326626e+01] [-5.61307417e-02 2.66152281e-03 9.98419880e-01 -3.21395141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.10071405700006 meters 0.031110733938940385 Centerline is valid? [True, True] Translation: X:489.68, Y:-63.84, Z:-32.14 [[ 9.95489618e-01 7.64573413e-02 5.61666692e-02 4.89680438e+02] [-7.61683718e-02 9.97068460e-01 -7.27086319e-03 -6.38394946e+01] [-5.65579252e-02 2.95994507e-03 9.98394932e-01 -3.21420775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.16071405700006 meters 0.03333230362706048 Centerline is valid? [True, True] Translation: X:489.74, Y:-63.85, Z:-32.14 [[ 9.95653125e-01 7.21037129e-02 5.89568462e-02 4.89739798e+02] [-7.17777426e-02 9.97391460e-01 -7.63089982e-03 -6.38509316e+01] [-5.93532712e-02 3.36593991e-03 9.98231366e-01 -3.21440042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.22071405700007 meters 0.033406370580295885 Centerline is valid? [True, True] Translation: X:489.80, Y:-63.86, Z:-32.15 [[ 9.95693539e-01 7.08388379e-02 5.98016407e-02 4.89799435e+02] [-7.05012370e-02 9.97481669e-01 -7.73918879e-03 -6.38586427e+01] [-6.01992755e-02 3.48977063e-03 9.98180279e-01 -3.21474295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.28071405700007 meters 0.034878567708767357 Centerline is valid? [True, True] Translation: X:489.86, Y:-63.87, Z:-32.15 [[ 9.95936527e-01 6.75783529e-02 5.95281490e-02 4.89860039e+02] [-6.72380480e-02 9.97707221e-01 -7.70362628e-03 -6.38671866e+01] [-5.99122625e-02 3.66976626e-03 9.98196901e-01 -3.21520696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.34071405700007 meters 0.03366949092839128 Centerline is valid? [True, True] Translation: X:489.92, Y:-63.87, Z:-32.16 [[ 9.96067955e-01 6.70937053e-02 5.78538224e-02 4.89922540e+02] [-6.67714503e-02 9.97740201e-01 -7.48758000e-03 -6.38705858e+01] [-5.82254539e-02 3.59515487e-03 9.98296986e-01 -3.21576704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4007140570001 meters 0.03592458377858562 Centerline is valid? [True, True] Translation: X:489.98, Y:-63.88, Z:-32.16 [[ 9.96077037e-01 6.74132670e-02 5.73235369e-02 4.89982495e+02] [-6.70965618e-02 9.97718792e-01 -7.43392410e-03 -6.38792874e+01] [-5.76939151e-02 3.55854885e-03 9.98327977e-01 -3.21631343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4607140570001 meters 0.036507741243286936 Centerline is valid? [True, True] Translation: X:490.04, Y:-63.89, Z:-32.17 [[ 9.96075298e-01 6.77662169e-02 5.69362820e-02 4.90043034e+02] [-6.74534904e-02 9.97694986e-01 -7.39878338e-03 -6.38855294e+01] [-5.73064306e-02 3.52919441e-03 9.98350398e-01 -3.21672541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5207140570001 meters 0.03507713262307046 Centerline is valid? [True, True] Translation: X:490.10, Y:-63.88, Z:-32.17 [[ 9.96212481e-01 6.65304358e-02 5.59856544e-02 4.90104410e+02] [-6.62260808e-02 9.97778113e-01 -7.27622778e-03 -6.38844993e+01] [-5.63453512e-02 3.54095845e-03 9.98405060e-01 -3.21716648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5807140570001 meters 0.03544771124400412 Centerline is valid? [True, True] Translation: X:490.16, Y:-63.89, Z:-32.18 [[ 9.96111191e-01 6.77954215e-02 5.62696751e-02 4.90164553e+02] [-6.74899082e-02 9.97693146e-01 -7.31432227e-03 -6.38895095e+01] [-5.66357467e-02 3.48824306e-03 9.98388814e-01 -3.21754841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6407140570001 meters 0.03470124797511829 Centerline is valid? [True, True] Translation: X:490.23, Y:-63.89, Z:-32.18 [[ 9.95822804e-01 7.18540698e-02 5.63376985e-02 4.90226044e+02] [-7.15542793e-02 9.97409823e-01 -7.32319691e-03 -6.38872630e+01] [-5.67179754e-02 3.26140307e-03 9.98384913e-01 -3.21783226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7007140570001 meters 0.035176774423924126 Centerline is valid? [True, True] Translation: X:490.29, Y:-63.89, Z:-32.18 [[ 9.95720451e-01 7.31729931e-02 5.64490555e-02 4.90285833e+02] [-7.28741329e-02 9.97314154e-01 -7.33754039e-03 -6.38923620e+01] [-5.68343518e-02 3.19246306e-03 9.98378518e-01 -3.21824286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7607140570001 meters 0.03629418965398008 Centerline is valid? [True, True] Translation: X:490.34, Y:-63.90, Z:-32.19 [[ 9.95675873e-01 7.31960169e-02 5.72005226e-02 4.90344393e+02] [-7.28892122e-02 9.97312333e-01 -7.43455532e-03 -6.38971150e+01] [-5.75909665e-02 3.23310633e-03 9.98335028e-01 -3.21850694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.82071405700003 meters 0.03252374946241075 Centerline is valid? [True, True] Translation: X:490.40, Y:-63.90, Z:-32.19 [[ 9.95563136e-01 7.38014395e-02 5.83728512e-02 4.90404435e+02] [-7.34831985e-02 9.97267628e-01 -7.58268591e-03 -6.38952888e+01] [-5.87729680e-02 3.25961875e-03 9.98266053e-01 -3.21867656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.88071405700003 meters 0.03291580697640732 Centerline is valid? [True, True] Translation: X:490.46, Y:-63.90, Z:-32.19 [[ 9.95620832e-01 7.27827319e-02 5.86671401e-02 4.90463266e+02] [-7.24597058e-02 9.97342250e-01 -7.61757081e-03 -6.39023066e+01] [-5.90656452e-02 3.33320847e-03 9.98248536e-01 -3.21910468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.94071405700004 meters 0.033138863918596544 Centerline is valid? [True, True] Translation: X:490.52, Y:-63.91, Z:-32.20 [[ 9.95863833e-01 7.01250213e-02 5.77728988e-02 4.90523386e+02] [-6.98074615e-02 9.97532296e-01 -7.49914486e-03 -6.39094223e+01] [-5.81562101e-02 3.43514773e-03 9.98301585e-01 -3.21957547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.00071405700004 meters 0.03683144026676605 Centerline is valid? [True, True] Translation: X:490.58, Y:-63.92, Z:-32.20 [[ 9.96162085e-01 6.62990488e-02 5.71448767e-02 4.90581009e+02] [-6.59820850e-02 9.97793235e-01 -7.41783106e-03 -6.39216605e+01] [-5.75105665e-02 3.61882395e-03 9.98338339e-01 -3.22008188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.06071405700004 meters 0.037841119711735406 Centerline is valid? [True, True] Translation: X:490.64, Y:-63.93, Z:-32.20 [[ 9.96360908e-01 6.32259148e-02 5.71613993e-02 4.90640417e+02] [-6.29038375e-02 9.97992023e-01 -7.41818842e-03 -6.39292284e+01] [-5.75156423e-02 3.79552157e-03 9.98337390e-01 -3.22042477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.12071405700004 meters 0.03896098227219356 Centerline is valid? [True, True] Translation: X:490.70, Y:-63.94, Z:-32.21 [[ 9.96472799e-01 6.12847287e-02 5.73248876e-02 4.90700353e+02] [-6.09576683e-02 9.98112636e-01 -7.43836916e-03 -6.39393353e+01] [-5.76725530e-02 3.91774105e-03 9.98327866e-01 -3.22090109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.18071405700005 meters 0.04018828937249852 Centerline is valid? [True, True] Translation: X:490.76, Y:-63.95, Z:-32.21 [[ 9.96648686e-01 5.94067875e-02 5.62337114e-02 4.90760131e+02] [-5.90890474e-02 9.98226040e-01 -7.29777179e-03 -6.39485661e+01] [-5.65674922e-02 3.95051822e-03 9.98390962e-01 -3.22135863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.24071405700005 meters 0.036877648020945 Centerline is valid? [True, True] Translation: X:490.82, Y:-63.95, Z:-32.21 [[ 9.96543982e-01 5.96599388e-02 5.77995216e-02 4.90821661e+02] [-5.93246001e-02 9.98210555e-01 -7.50192112e-03 -6.39512457e+01] [-5.81436567e-02 4.04706084e-03 9.98300023e-01 -3.22148032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.30071405700005 meters 0.0376563431400392 Centerline is valid? [True, True] Translation: X:490.88, Y:-63.96, Z:-32.22 [[ 9.96463663e-01 6.21377765e-02 5.65602758e-02 4.90881300e+02] [-6.18205263e-02 9.98060268e-01 -7.34327575e-03 -6.39596965e+01] [-5.69068589e-02 3.82072143e-03 9.98372181e-01 -3.22203086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.36071405700005 meters 0.035800522627846436 Centerline is valid? [True, True] Translation: X:490.94, Y:-63.96, Z:-32.22 [[ 9.96213669e-01 6.63428000e-02 5.61868126e-02 4.90942112e+02] [-6.60363213e-02 9.97790546e-01 -7.29588703e-03 -6.39638422e+01] [-5.65467001e-02 3.55789197e-03 9.98393616e-01 -3.22237972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.42071405700005 meters 0.033843327650308286 Centerline is valid? [True, True] Translation: X:491.00, Y:-63.97, Z:-32.23 [[ 9.96025553e-01 6.89367097e-02 5.63988297e-02 4.91002037e+02] [-6.86320191e-02 9.97615159e-01 -7.32394514e-03 -6.39665302e+01] [-5.67692162e-02 3.42407095e-03 9.98381456e-01 -3.22260834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.48071405700006 meters 0.033154773267013236 Centerline is valid? [True, True] Translation: X:491.06, Y:-63.97, Z:-32.23 [[ 9.95800787e-01 7.28507623e-02 5.54396846e-02 4.91061534e+02] [-7.25625205e-02 9.97337897e-01 -7.19721008e-03 -6.39715096e+01] [-5.58164207e-02 3.14414421e-03 9.98436098e-01 -3.22295471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.54071405700006 meters 0.0330532166429241 Centerline is valid? [True, True] Translation: X:491.12, Y:-63.98, Z:-32.24 [[ 9.95675956e-01 7.56561495e-02 5.39030367e-02 4.91120348e+02] [-7.53878198e-02 9.97129740e-01 -6.99695581e-03 -6.39789966e+01] [-5.42776837e-02 2.90306825e-03 9.98521660e-01 -3.22351060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.60071405700006 meters 0.033394933298922846 Centerline is valid? [True, True] Translation: X:491.18, Y:-63.99, Z:-32.24 [[ 9.95644110e-01 7.70619720e-02 5.24810363e-02 4.91178646e+02] [-7.68096496e-02 9.97022512e-01 -6.81094791e-03 -6.39871033e+01] [-5.28496397e-02 2.75023016e-03 9.98598694e-01 -3.22400730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.66071405700006 meters 0.034497588275878004 Centerline is valid? [True, True] Translation: X:491.24, Y:-64.00, Z:-32.24 [[ 9.95671213e-01 7.72805991e-02 5.16386025e-02 4.91235801e+02] [-7.70367874e-02 9.97005750e-01 -6.69828698e-03 -6.39979589e+01] [-5.20016313e-02 2.69121948e-03 9.98643374e-01 -3.22445459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.72071405700007 meters 0.03566136469029268 Centerline is valid? [True, True] Translation: X:491.29, Y:-64.01, Z:-32.25 [[ 9.95748277e-01 7.65832561e-02 5.11895961e-02 4.91293419e+02] [-7.63430132e-02 9.97059538e-01 -6.63498418e-03 -6.40092958e+01] [-5.15472037e-02 2.69880606e-03 9.98666913e-01 -3.22492058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.78071405700007 meters 0.036856627854947345 Centerline is valid? [True, True] Translation: X:491.35, Y:-64.02, Z:-32.25 [[ 9.95784688e-01 7.57539133e-02 5.17126749e-02 4.91350555e+02] [-7.55077928e-02 9.97122706e-01 -6.69938517e-03 -6.40205967e+01] [-5.20713870e-02 2.76643522e-03 9.98639533e-01 -3.22526178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.84071405700007 meters 0.031503969913489874 Centerline is valid? [True, True] Translation: X:491.41, Y:-64.02, Z:-32.25 [[ 9.95903167e-01 7.33737721e-02 5.28504622e-02 4.91410492e+02] [-7.31136233e-02 9.97300150e-01 -6.84166117e-03 -6.40209911e+01] [-5.32097724e-02 2.94954324e-03 9.98579001e-01 -3.22533729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9007140570001 meters 0.034748854260887634 Centerline is valid? [True, True] Translation: X:491.47, Y:-64.04, Z:-32.26 [[ 9.96322175e-01 6.69829782e-02 5.34359910e-02 4.91468458e+02] [-6.67079900e-02 9.97748577e-01 -6.91521878e-03 -6.40375448e+01] [-5.37788860e-02 3.32517826e-03 9.98547332e-01 -3.22572767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9607140570001 meters 0.038324282948038246 Centerline is valid? [True, True] Translation: X:491.53, Y:-64.05, Z:-32.26 [[ 9.96636357e-01 6.14688947e-02 5.41991353e-02 4.91526711e+02] [-6.11779361e-02 9.98102240e-01 -7.01277129e-03 -6.40529936e+01] [-5.45273456e-02 3.67339160e-03 9.98505521e-01 -3.22615326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0207140570001 meters 0.03820030681124526 Centerline is valid? [True, True] Translation: X:491.59, Y:-64.06, Z:-32.26 [[ 9.96770921e-01 5.91650210e-02 5.42884098e-02 4.91587757e+02] [-5.88697002e-02 9.98240961e-01 -7.02437460e-03 -6.40603834e+01] [-5.46085116e-02 3.80574993e-03 9.98500589e-01 -3.22646367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0807140570001 meters 0.03940229208489009 Centerline is valid? [True, True] Translation: X:491.65, Y:-64.07, Z:-32.27 [[ 9.96971815e-01 5.85315911e-02 5.11981648e-02 4.91648689e+02] [-5.82681830e-02 9.98278992e-01 -6.62370409e-03 -6.40691753e+01] [-5.14977483e-02 3.62042225e-03 9.98666548e-01 -3.22714153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1407140570001 meters 0.037353333911822544 Centerline is valid? [True, True] Translation: X:491.71, Y:-64.07, Z:-32.28 [[ 9.97063452e-01 5.77688193e-02 5.02716153e-02 4.91709294e+02] [-5.75131567e-02 9.98323467e-01 -6.51861583e-03 -6.40730791e+01] [-5.05639061e-02 3.60819432e-03 9.98714310e-01 -3.22752246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2007140570001 meters 0.038789002679169925 Centerline is valid? [True, True] Translation: X:491.77, Y:-64.08, Z:-32.28 [[ 9.97096052e-01 5.57978626e-02 5.18272325e-02 4.91769228e+02] [-5.55234670e-02 9.98434766e-01 -6.72032948e-03 -6.40817389e+01] [-5.21210908e-02 3.82318635e-03 9.98633454e-01 -3.22781785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2607140570001 meters 0.03774253749970371 Centerline is valid? [True, True] Translation: X:491.83, Y:-64.09, Z:-32.28 [[ 9.97172772e-01 5.38750876e-02 5.23826150e-02 4.91830360e+02] [-5.35921593e-02 9.98539809e-01 -6.79190347e-03 -6.40859228e+01] [-5.26720407e-02 3.96540376e-03 9.98603991e-01 -3.22815251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.32071405700003 meters 0.04075650811860935 Centerline is valid? [True, True] Translation: X:491.89, Y:-64.09, Z:-32.29 [[ 9.97340693e-01 5.13563571e-02 5.17113859e-02 4.91889346e+02] [-5.10772008e-02 9.98672191e-01 -6.70635321e-03 -6.40943340e+01] [-5.19871369e-02 4.04724612e-03 9.98639553e-01 -3.22860171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.38071405700003 meters 0.04200601415228544 Centerline is valid? [True, True] Translation: X:491.95, Y:-64.10, Z:-32.29 [[ 9.97455671e-01 4.93929945e-02 5.14054089e-02 4.91950117e+02] [-4.91143210e-02 9.98770885e-01 -6.67102579e-03 -6.41001652e+01] [-5.16717277e-02 4.12931075e-03 9.98655587e-01 -3.22892743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.44071405700004 meters 0.040927405054815756 Centerline is valid? [True, True] Translation: X:492.01, Y:-64.10, Z:-32.29 [[ 9.97459147e-01 4.79746598e-02 5.26657621e-02 4.92012343e+02] [-4.76802575e-02 9.98839278e-01 -6.83300842e-03 -6.41022693e+01] [-5.29324431e-02 4.30452965e-03 9.98588818e-01 -3.22915469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.50071405700004 meters 0.04399881762060353 Centerline is valid? [True, True] Translation: X:492.07, Y:-64.11, Z:-32.30 [[ 9.97588604e-01 4.50959883e-02 5.27572690e-02 4.92071537e+02] [-4.47957306e-02 9.98972610e-01 -6.86060418e-03 -6.41108365e+01] [-5.30124524e-02 4.48076013e-03 9.98583799e-01 -3.22957986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.56071405700004 meters 0.04856917327973084 Centerline is valid? [True, True] Translation: X:492.13, Y:-64.12, Z:-32.30 [[ 9.97783015e-01 4.22028645e-02 5.14584668e-02 4.92130457e+02] [-4.19134411e-02 9.99098840e-01 -6.69109289e-03 -6.41213495e+01] [-5.16944778e-02 4.51945741e-03 9.98652720e-01 -3.23011194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.62071405700004 meters 0.049438550484528034 Centerline is valid? [True, True] Translation: X:492.19, Y:-64.13, Z:-32.30 [[ 9.97759244e-01 4.27035040e-02 5.15063375e-02 4.92192284e+02] [-4.24144144e-02 9.99077684e-01 -6.69323055e-03 -6.41257762e+01] [-5.17446567e-02 4.49362150e-03 9.98650238e-01 -3.23039758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.68071405700005 meters 0.042984756654702125 Centerline is valid? [True, True] Translation: X:492.25, Y:-64.12, Z:-32.31 [[ 9.97455458e-01 4.88178753e-02 5.19559765e-02 4.92254303e+02] [-4.85311039e-02 9.98798744e-01 -6.76761395e-03 -6.41188427e+01] [-5.22239446e-02 4.22891258e-03 9.98626445e-01 -3.23053737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.74071405700005 meters 0.038355774541679294 Centerline is valid? [True, True] Translation: X:492.32, Y:-64.11, Z:-32.31 [[ 9.96754969e-01 6.11140949e-02 5.23889214e-02 4.92316516e+02] [-6.08393599e-02 9.98124240e-01 -6.82444305e-03 -6.41131968e+01] [-5.27077221e-02 3.61498907e-03 9.98603439e-01 -3.23087273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.80071405700005 meters 0.034225709987791814 Centerline is valid? [True, True] Translation: X:492.38, Y:-64.11, Z:-32.31 [[ 9.96142228e-01 6.99039645e-02 5.30480580e-02 4.92378087e+02] [-6.96346324e-02 9.97548625e-01 -6.91082323e-03 -6.41096034e+01] [-5.34011112e-02 3.19018084e-03 9.98568047e-01 -3.23114182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.86071405700005 meters 0.03155210211876377 Centerline is valid? [True, True] Translation: X:492.44, Y:-64.11, Z:-32.31 [[ 9.95322152e-01 7.86657945e-02 5.60848202e-02 4.92439195e+02] [-7.83785644e-02 9.96896896e-01 -7.30616490e-03 -6.41082222e+01] [-5.64855284e-02 2.87614008e-03 9.98399275e-01 -3.23136467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.92071405700005 meters 0.031563918053555816 Centerline is valid? [True, True] Translation: X:492.50, Y:-64.11, Z:-32.32 [[ 9.95208927e-01 7.86277546e-02 5.81108316e-02 4.92497507e+02] [-7.83193079e-02 9.96899584e-01 -7.57004396e-03 -6.41136585e+01] [-5.85258794e-02 2.98257521e-03 9.98281436e-01 -3.23163927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.98071405700006 meters 0.032284849971622336 Centerline is valid? [True, True] Translation: X:492.56, Y:-64.12, Z:-32.32 [[ 9.95600458e-01 7.35686061e-02 5.80292052e-02 4.92557138e+02] [-7.32527337e-02 9.97284795e-01 -7.55476535e-03 -6.41236574e+01] [-5.84274376e-02 3.27072992e-03 9.98286300e-01 -3.23217191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.04071405700006 meters 0.03512280138860382 Centerline is valid? [True, True] Translation: X:492.62, Y:-64.14, Z:-32.33 [[ 9.95900433e-01 6.96500958e-02 5.77164792e-02 4.92615114e+02] [-6.93310708e-02 9.97565407e-01 -7.51402053e-03 -6.41359036e+01] [-5.80993153e-02 3.48167099e-03 9.98304737e-01 -3.23270043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.10071405700006 meters 0.034521131974846506 Centerline is valid? [True, True] Translation: X:492.67, Y:-64.14, Z:-32.33 [[ 9.95866635e-01 6.99420061e-02 5.79461989e-02 4.92673787e+02] [-6.96210350e-02 9.97545001e-01 -7.54204420e-03 -6.41421903e+01] [-5.83314468e-02 3.47659583e-03 9.98291218e-01 -3.23305152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.16071405700006 meters 0.033555999512629754 Centerline is valid? [True, True] Translation: X:492.73, Y:-64.15, Z:-32.34 [[ 9.95517624e-01 7.49075657e-02 5.77366201e-02 4.92733786e+02] [-7.45974989e-02 9.97185445e-01 -7.51012853e-03 -6.41476647e+01] [-5.81366827e-02 3.16945785e-03 9.98303601e-01 -3.23362040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.22071405700007 meters 0.032632184845657025 Centerline is valid? [True, True] Translation: X:492.79, Y:-64.15, Z:-32.34 [[ 9.95081549e-01 8.06370646e-02 5.75358638e-02 4.92792907e+02] [-8.03386973e-02 9.96739527e-01 -7.48392877e-03 -6.41527620e+01] [-5.79517517e-02 2.82476309e-03 9.98315389e-01 -3.23404412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.28071405700007 meters 0.033009207343295106 Centerline is valid? [True, True] Translation: X:492.85, Y:-64.16, Z:-32.34 [[ 9.94819438e-01 8.37810647e-02 5.75761986e-02 4.92851429e+02] [-8.34875905e-02 9.96480683e-01 -7.48807152e-03 -6.41604080e+01] [-5.80009283e-02 2.64238101e-03 9.98313032e-01 -3.23441475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.34071405700007 meters 0.034470180033139224 Centerline is valid? [True, True] Translation: X:492.91, Y:-64.17, Z:-32.35 [[ 9.94812422e-01 8.38725374e-02 5.75642555e-02 4.92908093e+02] [-8.35794353e-02 9.96473008e-01 -7.48484021e-03 -6.41701614e+01] [-5.79889994e-02 2.63482405e-03 9.98313745e-01 -3.23482377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4007140570001 meters 0.03626663305022557 Centerline is valid? [True, True] Translation: X:492.97, Y:-64.18, Z:-32.35 [[ 9.95038209e-01 8.12574584e-02 5.74124337e-02 4.92966224e+02] [-8.09618553e-02 9.96689283e-01 -7.46002829e-03 -6.41812457e+01] [-5.78285403e-02 2.77479604e-03 9.98322674e-01 -3.23528921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4607140570001 meters 0.035842576809541615 Centerline is valid? [True, True] Translation: X:493.03, Y:-64.19, Z:-32.36 [[ 9.95445565e-01 7.71127115e-02 5.60513818e-02 4.93025663e+02] [-7.68245916e-02 9.97018044e-01 -7.28021051e-03 -6.41882914e+01] [-5.64456358e-02 2.94092874e-03 9.98401343e-01 -3.23573179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5207140570001 meters 0.050449471052628696 Centerline is valid? [True, True] Translation: X:493.08, Y:-64.22, Z:-32.36 [[ 9.95621749e-01 7.45399306e-02 5.64015240e-02 4.93080716e+02] [-7.42441220e-02 9.97213194e-01 -7.32497395e-03 -6.42180276e+01] [-5.67903470e-02 3.10542174e-03 9.98381296e-01 -3.23630351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5807140570001 meters 0.0357311219040829 Centerline is valid? [True, True] Translation: X:493.14, Y:-64.20, Z:-32.36 [[ 9.96070329e-01 6.95145652e-02 5.48782803e-02 4.93143935e+02] [-6.92271144e-02 9.97575489e-01 -7.12397991e-03 -6.42020683e+01] [-5.52404477e-02 3.29692003e-03 9.98467638e-01 -3.23638099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6407140570001 meters 0.03823642118367441 Centerline is valid? [True, True] Translation: X:493.20, Y:-64.21, Z:-32.37 [[ 9.95976141e-01 7.05803324e-02 5.52262959e-02 4.93201082e+02] [-7.02908088e-02 9.97500774e-01 -7.16991399e-03 -6.42114924e+01] [-5.55943278e-02 3.25916227e-03 9.98448120e-01 -3.23676743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7007140570001 meters 0.03308682430257391 Centerline is valid? [True, True] Translation: X:493.26, Y:-64.21, Z:-32.37 [[ 9.95776510e-01 7.40624953e-02 5.42576160e-02 4.93261979e+02] [-7.37884964e-02 9.97249073e-01 -7.03870621e-03 -6.42078993e+01] [-5.46296614e-02 3.00539041e-03 9.98502162e-01 -3.23708584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7607140570001 meters 0.034334955209599886 Centerline is valid? [True, True] Translation: X:493.32, Y:-64.21, Z:-32.38 [[ 9.95632697e-01 7.73905742e-02 5.22133356e-02 4.93320142e+02] [-7.71414404e-02 9.96997154e-01 -6.77301796e-03 -6.42138234e+01] [-5.25807147e-02 2.71562621e-03 9.98612985e-01 -3.23770970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.82071405700003 meters 0.033832504528237405 Centerline is valid? [True, True] Translation: X:493.38, Y:-64.22, Z:-32.38 [[ 9.95711558e-01 7.71272538e-02 5.10869944e-02 4.93378582e+02] [-7.68885459e-02 9.97017687e-01 -6.62443321e-03 -6.42178117e+01] [-5.14455613e-02 2.66801999e-03 9.98672236e-01 -3.23814760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.88071405700003 meters 0.03459013217188409 Centerline is valid? [True, True] Translation: X:493.44, Y:-64.22, Z:-32.38 [[ 9.95999522e-01 7.33530750e-02 5.10321265e-02 4.93438629e+02] [-7.31101792e-02 9.97301947e-01 -6.61271435e-03 -6.42246205e+01] [-5.13795020e-02 2.85529242e-03 9.98675119e-01 -3.23844901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.94071405700004 meters 0.03747180034404555 Centerline is valid? [True, True] Translation: X:493.50, Y:-64.24, Z:-32.39 [[ 9.96251947e-01 6.80947197e-02 5.33401075e-02 4.93496820e+02] [-6.78218240e-02 9.97673508e-01 -6.91175261e-03 -6.42364017e+01] [-5.36866660e-02 3.26822361e-03 9.98552483e-01 -3.23863342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.00071405700004 meters 0.04143692043475882 Centerline is valid? [True, True] Translation: X:493.56, Y:-64.25, Z:-32.39 [[ 9.96562543e-01 6.15138552e-02 5.54900251e-02 4.93555126e+02] [-6.12083177e-02 9.98099112e-01 -7.19061754e-03 -6.42509714e+01] [-5.58268673e-02 3.76944902e-03 9.98433349e-01 -3.23889479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.06071405700004 meters 0.04479285826282873 Centerline is valid? [True, True] Translation: X:493.61, Y:-64.26, Z:-32.39 [[ 9.96821652e-01 5.75606973e-02 5.50759479e-02 4.93613369e+02] [-5.72537403e-02 9.98334153e-01 -7.13636365e-03 -6.42643827e+01] [-5.53949739e-02 3.96037778e-03 9.98456665e-01 -3.23939423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.12071405700004 meters 0.04748505277943134 Centerline is valid? [True, True] Translation: X:493.67, Y:-64.28, Z:-32.40 [[ 9.97059059e-01 5.47030002e-02 5.36732203e-02 4.93672130e+02] [-5.44074402e-02 9.98494606e-01 -6.95355291e-03 -6.42772965e+01] [-5.39728012e-02 4.01288040e-03 9.98534343e-01 -3.24001894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.18071405700005 meters 0.04817585280204084 Centerline is valid? [True, True] Translation: X:493.73, Y:-64.29, Z:-32.41 [[ 9.97198219e-01 5.45375720e-02 5.11992641e-02 4.93731784e+02] [-5.42684799e-02 9.98504354e-01 -6.63235225e-03 -6.42872678e+01] [-5.14844004e-02 3.83526362e-03 9.98666434e-01 -3.24072347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.24071405700005 meters 0.047485985587613584 Centerline is valid? [True, True] Translation: X:493.79, Y:-64.29, Z:-32.41 [[ 9.97083302e-01 5.84631021e-02 4.90607276e-02 4.93791694e+02] [-5.82207638e-02 9.98283503e-01 -6.35536875e-03 -6.42921841e+01] [-4.93480696e-02 3.48047903e-03 9.98775578e-01 -3.24123373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.30071405700005 meters 0.03558628912142448 Centerline is valid? [True, True] Translation: X:493.85, Y:-64.28, Z:-32.41 [[ 9.96580617e-01 6.65255097e-02 4.90043833e-02 4.93853892e+02] [-6.62934247e-02 9.97779978e-01 -6.34799408e-03 -6.42805648e+01] [-4.93178961e-02 3.07761946e-03 9.98778391e-01 -3.24138626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.36071405700005 meters 0.033314715250649184 Centerline is valid? [True, True] Translation: X:493.91, Y:-64.28, Z:-32.42 [[ 9.96100868e-01 7.35737833e-02 4.86822352e-02 4.93914387e+02] [-7.33531339e-02 9.97286093e-01 -6.30600863e-03 -6.42826121e+01] [-4.90140731e-02 2.71042615e-03 9.98794410e-01 -3.24185749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.42071405700005 meters 0.03621389559356517 Centerline is valid? [True, True] Translation: X:493.97, Y:-64.29, Z:-32.42 [[ 9.95891273e-01 7.66195625e-02 4.82702292e-02 4.93972513e+02] [-7.64062094e-02 9.97057169e-01 -6.25244495e-03 -6.42935576e+01] [-4.86072377e-02 2.53861012e-03 9.98814744e-01 -3.24234876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.48071405700006 meters 0.03225793470357412 Centerline is valid? [True, True] Translation: X:494.03, Y:-64.29, Z:-32.42 [[ 9.95599861e-01 7.91366463e-02 5.01827539e-02 4.94033078e+02] [-7.89093096e-02 9.96860618e-01 -6.49841899e-03 -6.42937119e+01] [-5.05394741e-02 2.50993858e-03 9.98718910e-01 -3.24237305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.54071405700006 meters 0.03225233068066909 Centerline is valid? [True, True] Translation: X:494.09, Y:-64.30, Z:-32.43 [[ 9.95611552e-01 7.82849360e-02 5.12748040e-02 4.94091397e+02] [-7.80465688e-02 9.96927617e-01 -6.63774823e-03 -6.43029256e+01] [-5.16369039e-02 2.60679630e-03 9.98662523e-01 -3.24272073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.60071405700006 meters 0.03329914127749956 Centerline is valid? [True, True] Translation: X:494.15, Y:-64.32, Z:-32.43 [[ 9.95838801e-01 7.50707940e-02 5.16667987e-02 4.94150465e+02] [-7.48246969e-02 9.97174304e-01 -6.68379442e-03 -6.43157349e+01] [-5.20225618e-02 2.79002927e-03 9.98642012e-01 -3.24315974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.66071405700006 meters 0.03471348582652959 Centerline is valid? [True, True] Translation: X:494.21, Y:-64.33, Z:-32.44 [[ 9.96208234e-01 7.15778222e-02 4.94547227e-02 4.94208753e+02] [-7.13480600e-02 9.97430960e-01 -6.39799550e-03 -6.43287082e+01] [-4.97856261e-02 2.84523728e-03 9.98755874e-01 -3.24382877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.72071405700007 meters 0.03562462055552424 Centerline is valid? [True, True] Translation: X:494.27, Y:-64.34, Z:-32.44 [[ 9.96598689e-01 6.74751747e-02 4.73091407e-02 4.94267641e+02] [-6.72603995e-02 9.97716692e-01 -6.11894869e-03 -6.43391430e+01] [-4.76139965e-02 2.91610454e-03 9.98861554e-01 -3.24439405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.78071405700007 meters 0.03910629606569999 Centerline is valid? [True, True] Translation: X:494.32, Y:-64.35, Z:-32.45 [[ 9.96730973e-01 6.61361179e-02 4.64045307e-02 4.94324127e+02] [-6.59280031e-02 9.97806327e-01 -6.00273777e-03 -6.43525844e+01] [-4.66997321e-02 2.92375662e-03 9.98904694e-01 -3.24501488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.84071405700007 meters 0.03570410993062399 Centerline is valid? [True, True] Translation: X:494.38, Y:-64.35, Z:-32.45 [[ 9.96792371e-01 6.53728345e-02 4.61666821e-02 4.94382754e+02] [-6.51661180e-02 9.97856570e-01 -5.97017532e-03 -6.43533351e+01] [-4.64580143e-02 2.94252176e-03 9.98915910e-01 -3.24525576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9007140570001 meters 0.03759281480216978 Centerline is valid? [True, True] Translation: X:494.44, Y:-64.36, Z:-32.45 [[ 9.96788462e-01 6.36440563e-02 4.86024293e-02 4.94440653e+02] [-6.34131319e-02 9.97967602e-01 -6.28009952e-03 -6.43613104e+01] [-4.89033409e-02 3.17789848e-03 9.98798460e-01 -3.24548493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9607140570001 meters 0.03712336251911517 Centerline is valid? [True, True] Translation: X:494.50, Y:-64.37, Z:-32.45 [[ 9.96763221e-01 6.11907815e-02 5.21418306e-02 4.94499630e+02] [-6.09218448e-02 9.98119829e-01 -6.73313879e-03 -6.43665405e+01] [-5.24558011e-02 3.53476860e-03 9.98616991e-01 -3.24549508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0207140570001 meters 0.042691161496081195 Centerline is valid? [True, True] Translation: X:494.56, Y:-64.38, Z:-32.46 [[ 9.96951353e-01 5.76178499e-02 5.26135224e-02 4.94556644e+02] [-5.73392373e-02 9.98331656e-01 -6.79090107e-03 -6.43813128e+01] [-5.29170221e-02 3.75337877e-03 9.98591859e-01 -3.24603532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0807140570001 meters 0.04724749680919176 Centerline is valid? [True, True] Translation: X:494.61, Y:-64.40, Z:-32.47 [[ 9.97388785e-01 5.23095147e-02 4.97928349e-02 4.94614147e+02] [-5.20535144e-02 9.98623627e-01 -6.42513672e-03 -6.43950261e+01] [-5.00603972e-02 3.81646726e-03 9.98738900e-01 -3.24687891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1407140570001 meters 0.044479889241959406 Centerline is valid? [True, True] Translation: X:494.67, Y:-64.40, Z:-32.47 [[ 9.97719083e-01 4.79652098e-02 4.74970603e-02 4.94674492e+02] [-4.77274855e-02 9.98841601e-01 -6.12719806e-03 -6.43963017e+01] [-4.77359321e-02 3.84630717e-03 9.98852585e-01 -3.24740640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2007140570001 meters 0.04414786713024588 Centerline is valid? [True, True] Translation: X:494.73, Y:-64.40, Z:-32.48 [[ 9.97868071e-01 4.62322345e-02 4.60640071e-02 4.94734944e+02] [-4.60068633e-02 9.98923455e-01 -5.94137328e-03 -6.43988530e+01] [-4.62891001e-02 3.80944622e-03 9.98920821e-01 -3.24788155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2607140570001 meters 0.04475381499636301 Centerline is valid? [True, True] Translation: X:494.79, Y:-64.40, Z:-32.48 [[ 9.97865101e-01 4.58136843e-02 4.65440187e-02 4.94793869e+02] [-4.55831053e-02 9.98942508e-01 -6.00392211e-03 -6.44043442e+01] [-4.67698605e-02 3.86948344e-03 9.98898197e-01 -3.24827268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.32071405700003 meters 0.04533247640818053 Centerline is valid? [True, True] Translation: X:494.85, Y:-64.41, Z:-32.48 [[ 9.97715074e-01 4.72669259e-02 4.82749347e-02 4.94854553e+02] [-4.70206652e-02 9.98874521e-01 -6.22479475e-03 -6.44076454e+01] [-4.85148292e-02 3.94065201e-03 9.98814689e-01 -3.24848927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.38071405700003 meters 0.04439574883789915 Centerline is valid? [True, True] Translation: X:494.91, Y:-64.41, Z:-32.49 [[ 9.97622547e-01 4.78552309e-02 4.95896156e-02 4.94914580e+02] [-4.75960548e-02 9.98846195e-01 -6.39484334e-03 -6.44087325e+01] [-4.98384256e-02 4.01936984e-03 9.98749206e-01 -3.24883050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.44071405700004 meters 0.04457344538237654 Centerline is valid? [True, True] Translation: X:494.97, Y:-64.41, Z:-32.49 [[ 9.97564621e-01 4.79190038e-02 5.06813281e-02 4.94974493e+02] [-4.76484554e-02 9.98842798e-01 -6.53373696e-03 -6.44128047e+01] [-5.09357697e-02 4.10293783e-03 9.98693503e-01 -3.24922615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.50071405700004 meters 0.03935146070901692 Centerline is valid? [True, True] Translation: X:495.04, Y:-64.41, Z:-32.50 [[ 9.97396347e-01 5.19355514e-02 5.00322439e-02 4.95035631e+02] [-5.16770304e-02 9.98643035e-01 -6.44774804e-03 -6.44101935e+01] [-5.02992192e-02 3.84544255e-03 9.98726790e-01 -3.24965676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.56071405700004 meters 0.040538716821382124 Centerline is valid? [True, True] Translation: X:495.09, Y:-64.42, Z:-32.50 [[ 9.97076224e-01 5.76620648e-02 5.01406925e-02 4.95094174e+02] [-5.74095747e-02 9.98329793e-01 -6.46252199e-03 -6.44157636e+01] [-5.04295896e-02 3.56507120e-03 9.98721256e-01 -3.25005822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.62071405700004 meters 0.0381049854156249 Centerline is valid? [True, True] Translation: X:495.15, Y:-64.42, Z:-32.50 [[ 9.96989301e-01 5.97663601e-02 4.93995542e-02 4.95154630e+02] [-5.95239993e-02 9.98206588e-01 -6.36410512e-03 -6.44165805e+01] [-4.96913198e-02 3.40448569e-03 9.98758821e-01 -3.25044653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.68071405700005 meters 0.038016722832715004 Centerline is valid? [True, True] Translation: X:495.21, Y:-64.42, Z:-32.51 [[ 9.96974861e-01 6.03043558e-02 4.90358134e-02 4.95213290e+02] [-6.00662190e-02 9.98174407e-01 -6.31689755e-03 -6.44232126e+01] [-4.93272304e-02 3.35239215e-03 9.98777045e-01 -3.25095939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.74071405700005 meters 0.039515462338033124 Centerline is valid? [True, True] Translation: X:495.27, Y:-64.43, Z:-32.51 [[ 9.96928512e-01 5.97037383e-02 5.06853635e-02 4.95271430e+02] [-5.94486575e-02 9.98210028e-01 -6.52671006e-03 -6.44311945e+01] [-5.09843071e-02 3.49348653e-03 9.98693344e-01 -3.25126036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.80071405700005 meters 0.0392064916520694 Centerline is valid? [True, True] Translation: X:495.33, Y:-64.44, Z:-32.51 [[ 9.96902146e-01 5.89222904e-02 5.20987106e-02 4.95329954e+02] [-5.86519117e-02 9.98255979e-01 -6.70481248e-03 -6.44356407e+01] [-5.24029123e-02 3.62835297e-03 9.98619432e-01 -3.25144881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.86071405700005 meters 0.03920504169585294 Centerline is valid? [True, True] Translation: X:495.39, Y:-64.44, Z:-32.52 [[ 9.97011584e-01 5.69520461e-02 5.21954672e-02 4.95388739e+02] [-5.66781998e-02 9.98369930e-01 -6.71300614e-03 -6.44433712e+01] [-5.24927044e-02 3.73459976e-03 9.98614324e-01 -3.25189393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.92071405700005 meters 0.042281962971033135 Centerline is valid? [True, True] Translation: X:495.45, Y:-64.46, Z:-32.53 [[ 9.97227914e-01 5.51370061e-02 4.99639738e-02 4.95445897e+02] [-5.48839088e-02 9.98472074e-01 -6.42452828e-03 -6.44569904e+01] [-5.02418618e-02 3.66450075e-03 9.98730357e-01 -3.25264258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.98071405700006 meters 0.04004398661267614 Centerline is valid? [True, True] Translation: X:495.50, Y:-64.46, Z:-32.53 [[ 9.97267588e-01 5.59083937e-02 4.82867430e-02 4.95503965e+02] [-5.56730251e-02 9.98429763e-01 -6.20668809e-03 -6.44625216e+01] [-4.85579274e-02 3.50145980e-03 9.98814231e-01 -3.25317557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.04071405700006 meters 0.03997969155141754 Centerline is valid? [True, True] Translation: X:495.56, Y:-64.47, Z:-32.54 [[ 9.97289000e-01 5.57936992e-02 4.79761757e-02 4.95562363e+02] [-5.55613873e-02 9.98436250e-01 -6.16329845e-03 -6.44717756e+01] [-4.82450262e-02 3.48096687e-03 9.98829465e-01 -3.25363486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.10071405700006 meters 0.042333611489690455 Centerline is valid? [True, True] Translation: X:495.62, Y:-64.48, Z:-32.54 [[ 9.97302600e-01 5.39960905e-02 4.97186783e-02 4.95619737e+02] [-5.37445615e-02 9.98534315e-01 -6.38307927e-03 -6.44848103e+01] [-4.99904677e-02 3.69375298e-03 9.98742864e-01 -3.25384297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.16071405700006 meters 0.04534428293420182 Centerline is valid? [True, True] Translation: X:495.68, Y:-64.50, Z:-32.54 [[ 9.97325624e-01 5.05309385e-02 5.28036442e-02 4.95676933e+02] [-5.02425354e-02 9.98714061e-01 -6.77587457e-03 -6.45010462e+01] [-5.30781332e-02 4.10476436e-03 9.98581926e-01 -3.25399886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.22071405700007 meters 0.044581734227315754 Centerline is valid? [True, True] Translation: X:495.74, Y:-64.51, Z:-32.54 [[ 9.97603101e-01 4.57789523e-02 5.18877708e-02 4.95736616e+02] [-4.54942134e-02 9.98942427e-01 -6.65608414e-03 -6.45118554e+01] [-5.21376043e-02 4.27953686e-03 9.98630740e-01 -3.25434325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.28071405700007 meters 0.04690870367824868 Centerline is valid? [True, True] Translation: X:495.80, Y:-64.53, Z:-32.55 [[ 9.97838470e-01 4.16152303e-02 5.08582375e-02 4.95795893e+02] [-4.13363342e-02 9.99123990e-01 -6.52382929e-03 -6.45276404e+01] [-5.10851758e-02 4.40743473e-03 9.98684575e-01 -3.25484207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.34071405700007 meters 0.04717500581611699 Centerline is valid? [True, True] Translation: X:495.86, Y:-64.54, Z:-32.55 [[ 9.97991576e-01 3.85002913e-02 5.03044839e-02 4.95855500e+02] [-3.82234313e-02 9.99248372e-01 -6.45451336e-03 -6.45412133e+01] [-5.05151743e-02 4.51873998e-03 9.98713071e-01 -3.25535436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4007140570001 meters 0.04629341334867413 Centerline is valid? [True, True] Translation: X:495.92, Y:-64.55, Z:-32.56 [[ 9.98056519e-01 3.69747888e-02 5.01602469e-02 4.95915513e+02] [-3.66976275e-02 9.99305693e-01 -6.43558591e-03 -6.45517169e+01] [-5.03633747e-02 4.58231641e-03 9.98720448e-01 -3.25575151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4607140570001 meters 0.05329497226740813 Centerline is valid? [True, True] Translation: X:495.97, Y:-64.57, Z:-32.56 [[ 9.98085830e-01 3.65009403e-02 4.99235229e-02 4.95974047e+02] [-3.62257363e-02 9.99323097e-01 -6.40657324e-03 -6.45744455e+01] [-5.01235755e-02 4.58579360e-03 9.98732496e-01 -3.25628550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5207140570001 meters 0.04990577366559822 Centerline is valid? [True, True] Translation: X:496.04, Y:-64.58, Z:-32.57 [[ 9.98129735e-01 3.64474067e-02 4.90776771e-02 4.96035363e+02] [-3.61811590e-02 9.99325372e-01 -6.30281514e-03 -6.45833383e+01] [-4.92742892e-02 4.51533996e-03 9.98775078e-01 -3.25669417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5807140570001 meters 0.05194117957402146 Centerline is valid? [True, True] Translation: X:496.09, Y:-64.60, Z:-32.57 [[ 9.98128976e-01 3.72982996e-02 4.84498071e-02 4.96094997e+02] [-3.70392181e-02 9.99294364e-01 -6.23457027e-03 -6.45964710e+01] [-4.86481580e-02 4.42836227e-03 9.98806161e-01 -3.25719204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6407140570001 meters 0.04379232156892661 Centerline is valid? [True, True] Translation: X:496.16, Y:-64.60, Z:-32.57 [[ 9.97986448e-01 4.14577572e-02 4.80031753e-02 4.96155658e+02] [-4.12074947e-02 9.99131425e-01 -6.19181347e-03 -6.45966610e+01] [-4.82181796e-02 4.20125533e-03 9.98827992e-01 -3.25738691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7007140570001 meters 0.043092288911189505 Centerline is valid? [True, True] Translation: X:496.22, Y:-64.60, Z:-32.58 [[ 9.97818544e-01 4.54313328e-02 4.78972586e-02 4.96215114e+02] [-4.51867235e-02 9.98959455e-01 -6.17799136e-03 -6.46049799e+01] [-4.81280937e-02 4.00019417e-03 9.98833162e-01 -3.25766325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7607140570001 meters 0.04034231865982636 Centerline is valid? [True, True] Translation: X:496.28, Y:-64.61, Z:-32.58 [[ 9.97474873e-01 5.25802290e-02 4.77409477e-02 4.96275264e+02] [-5.23453283e-02 9.98610056e-01 -6.15814696e-03 -6.46099772e+01] [-4.79983873e-02 3.64358127e-03 9.98840768e-01 -3.25798385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.82071405700003 meters 0.039869332431332165 Centerline is valid? [True, True] Translation: X:496.33, Y:-64.62, Z:-32.58 [[ 9.97035161e-01 5.97157701e-02 4.85274630e-02 4.96333916e+02] [-5.94814313e-02 9.98209783e-01 -6.26011598e-03 -6.46196379e+01] [-4.88144160e-02 3.35507279e-03 9.98802231e-01 -3.25841297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.88071405700003 meters 0.036946256392436365 Centerline is valid? [True, True] Translation: X:496.39, Y:-64.62, Z:-32.59 [[ 9.96607267e-01 6.67324620e-02 4.81739948e-02 4.96394500e+02] [-6.65097531e-02 9.97766431e-01 -6.21304459e-03 -6.46242607e+01] [-4.84810067e-02 2.98792489e-03 9.98819636e-01 -3.25869603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.94071405700004 meters 0.03381045213345277 Centerline is valid? [True, True] Translation: X:496.45, Y:-64.63, Z:-32.59 [[ 9.96213942e-01 7.27466858e-02 4.75993834e-02 4.96454355e+02] [-7.25360779e-02 9.97346893e-01 -6.13934247e-03 -6.46294062e+01] [-4.79197140e-02 2.66342599e-03 9.98847640e-01 -3.25908508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.00071405700004 meters 0.03177455241980224 Centerline is valid? [True, True] Translation: X:496.51, Y:-64.64, Z:-32.59 [[ 9.95939449e-01 7.69755281e-02 4.66838568e-02 4.96514134e+02] [-7.67775578e-02 9.97030063e-01 -6.02171770e-03 -6.46369976e+01] [-4.70087336e-02 2.41299369e-03 9.98891564e-01 -3.25947802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.06071405700004 meters 0.031188032249855235 Centerline is valid? [True, True] Translation: X:496.57, Y:-64.65, Z:-32.60 [[ 9.95789515e-01 7.92268941e-02 4.61122755e-02 4.96572497e+02] [-7.90362165e-02 9.96854009e-01 -5.94660172e-03 -6.46472864e+01] [-4.64383374e-02 2.27702386e-03 9.98918563e-01 -3.25988708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.12071405700004 meters 0.03129858141301412 Centerline is valid? [True, True] Translation: X:496.63, Y:-64.66, Z:-32.60 [[ 9.95575166e-01 8.18706493e-02 4.61225101e-02 4.96630408e+02] [-8.16828487e-02 9.96640642e-01 -5.94505384e-03 -6.46584894e+01] [-4.64542935e-02 2.15132995e-03 9.98918100e-01 -3.26023791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.18071405700005 meters 0.0298581570683898 Centerline is valid? [True, True] Translation: X:496.69, Y:-64.67, Z:-32.61 [[ 9.95320895e-01 8.45769619e-02 4.67231526e-02 4.96689403e+02] [-8.43872877e-02 9.96414841e-01 -6.02077098e-03 -6.46657049e+01] [-4.70648612e-02 2.04975904e-03 9.98889732e-01 -3.26053429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.24071405700005 meters 0.028372519995686827 Centerline is valid? [True, True] Translation: X:496.75, Y:-64.68, Z:-32.61 [[ 9.94948426e-01 8.86726813e-02 4.70614963e-02 4.96748630e+02] [-8.84849134e-02 9.96059069e-01 -6.06234339e-03 -6.46759181e+01] [-4.74135944e-02 1.86748659e-03 9.98873597e-01 -3.26077041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.30071405700005 meters 0.030188285745936 Centerline is valid? [True, True] Translation: X:496.80, Y:-64.69, Z:-32.61 [[ 9.95023648e-01 8.73051079e-02 4.80183091e-02 4.96804502e+02] [-8.71079857e-02 9.96179665e-01 -6.18654568e-03 -6.46914508e+01] [-4.83749802e-02 1.97298106e-03 9.98827297e-01 -3.26118019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.36071405700005 meters 0.02822756335787866 Centerline is valid? [True, True] Translation: X:496.86, Y:-64.70, Z:-32.61 [[ 9.95429390e-01 8.23186001e-02 4.84146458e-02 4.96863666e+02] [-8.21127260e-02 9.96603580e-01 -6.22933021e-03 -6.47041255e+01] [-4.87629991e-02 2.22539982e-03 9.98807898e-01 -3.26127478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.42071405700005 meters 0.03101960540982616 Centerline is valid? [True, True] Translation: X:496.92, Y:-64.73, Z:-32.62 [[ 9.95843288e-01 7.69382293e-02 4.87509424e-02 4.96920641e+02] [-7.67230881e-02 9.97032713e-01 -6.27186105e-03 -6.47261137e+01] [-4.90888302e-02 2.50546788e-03 9.98791274e-01 -3.26186038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.48071405700006 meters 0.032244953720745595 Centerline is valid? [True, True] Translation: X:496.98, Y:-64.74, Z:-32.62 [[ 9.96111925e-01 7.31481144e-02 4.90956760e-02 4.96978675e+02] [-7.29254159e-02 9.97317408e-01 -6.31443215e-03 -6.47434545e+01] [-4.94258611e-02 2.70955858e-03 9.98774120e-01 -3.26231114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.54071405700006 meters 0.0345594630752393 Centerline is valid? [True, True] Translation: X:497.04, Y:-64.76, Z:-32.63 [[ 9.96381860e-01 7.03342760e-02 4.77103680e-02 4.97035837e+02] [-7.01207912e-02 9.97519638e-01 -6.13571579e-03 -6.47597796e+01] [-4.80235802e-02 2.76802716e-03 9.98842367e-01 -3.26283155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.60071405700006 meters 0.03618486136430259 Centerline is valid? [True, True] Translation: X:497.09, Y:-64.77, Z:-32.63 [[ 9.96634535e-01 6.64070720e-02 4.80593850e-02 4.97094303e+02] [-6.61859995e-02 9.97788173e-01 -6.17856942e-03 -6.47747645e+01] [-4.83633866e-02 2.97691723e-03 9.98825371e-01 -3.26317285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.66071405700006 meters 0.03524654041623937 Centerline is valid? [True, True] Translation: X:497.15, Y:-64.78, Z:-32.63 [[ 9.96781352e-01 6.38852288e-02 4.84315432e-02 4.97153394e+02] [-6.36577811e-02 9.97952367e-01 -6.22582134e-03 -6.47837885e+01] [-4.87301111e-02 3.12273804e-03 9.98807101e-01 -3.26346551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.72071405700007 meters 0.03734436423404668 Centerline is valid? [True, True] Translation: X:497.21, Y:-64.80, Z:-32.64 [[ 9.96903687e-01 6.10267574e-02 4.95860173e-02 4.97212531e+02] [-6.07849233e-02 9.98130549e-01 -6.37189142e-03 -6.47971040e+01] [-4.98821745e-02 3.33807980e-03 9.98749531e-01 -3.26381278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.78071405700007 meters 0.036903061436009875 Centerline is valid? [True, True] Translation: X:497.27, Y:-64.80, Z:-32.64 [[ 9.96864431e-01 6.11025589e-02 5.02770748e-02 4.97272513e+02] [-6.08540257e-02 9.98125767e-01 -6.46069355e-03 -6.48043461e+01] [-5.05776088e-02 3.38087319e-03 9.98714411e-01 -3.26407914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.84071405700007 meters 0.03940775541874777 Centerline is valid? [True, True] Translation: X:497.33, Y:-64.82, Z:-32.64 [[ 9.96881211e-01 6.07638898e-02 5.03547603e-02 4.97331076e+02] [-6.05141448e-02 9.98146365e-01 -6.47092299e-03 -6.48154585e+01] [-5.06546194e-02 3.40356629e-03 9.98710431e-01 -3.26445937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9007140570001 meters 0.03656746434252151 Centerline is valid? [True, True] Translation: X:497.39, Y:-64.82, Z:-32.65 [[ 9.96754189e-01 6.20365616e-02 5.13084000e-02 4.97391787e+02] [-6.17789945e-02 9.98068083e-01 -6.59230329e-03 -6.48193381e+01] [-5.16182402e-02 3.40112456e-03 9.98661099e-01 -3.26466649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9607140570001 meters 0.03509088559213809 Centerline is valid? [True, True] Translation: X:497.45, Y:-64.82, Z:-32.65 [[ 9.96603153e-01 6.43423306e-02 5.14025315e-02 4.97452696e+02] [-6.40868800e-02 9.97922470e-01 -6.60416447e-03 -6.48236027e+01] [-5.17206686e-02 3.28750327e-03 9.98656179e-01 -3.26496914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0207140570001 meters 0.03522936011413639 Centerline is valid? [True, True] Translation: X:497.51, Y:-64.83, Z:-32.65 [[ 9.96485902e-01 6.68949893e-02 5.04074074e-02 4.97512429e+02] [-6.66525237e-02 9.97755221e-01 -6.47771040e-03 -6.48298052e+01] [-5.07275802e-02 3.09516618e-03 9.98707731e-01 -3.26544665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0807140570001 meters 0.035894374998206656 Centerline is valid? [True, True] Translation: X:497.57, Y:-64.84, Z:-32.66 [[ 9.96455528e-01 6.77987508e-02 4.97966870e-02 4.97571516e+02] [-6.75632863e-02 9.97694472e-01 -6.39859448e-03 -6.48370036e+01] [-5.01156961e-02 3.01148702e-03 9.98738879e-01 -3.26586135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1407140570001 meters 0.037071436147874226 Centerline is valid? [True, True] Translation: X:497.63, Y:-64.85, Z:-32.66 [[ 9.96401946e-01 6.82102864e-02 5.03042588e-02 4.97629081e+02] [-6.79705945e-02 9.97666396e-01 -6.46223508e-03 -6.48456520e+01] [-5.06276595e-02 3.01977324e-03 9.98713032e-01 -3.26621515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2007140570001 meters 0.03763889777680831 Centerline is valid? [True, True] Translation: X:497.69, Y:-64.85, Z:-32.67 [[ 9.96436167e-01 6.81961979e-02 4.96411539e-02 4.97688256e+02] [-6.79629137e-02 9.97667485e-01 -6.37422743e-03 -6.48542294e+01] [-4.99600633e-02 2.97775328e-03 9.98746777e-01 -3.26665845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2607140570001 meters 0.036861840981126395 Centerline is valid? [True, True] Translation: X:497.75, Y:-64.86, Z:-32.67 [[ 9.96494367e-01 6.69159935e-02 5.02118085e-02 4.97747796e+02] [-6.66757795e-02 9.97753874e-01 -6.44575373e-03 -6.48586348e+01] [-5.05303505e-02 3.07524580e-03 9.98717791e-01 -3.26697489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.32071405700003 meters 0.037879096709889794 Centerline is valid? [True, True] Translation: X:497.81, Y:-64.87, Z:-32.67 [[ 9.96603154e-01 6.48034806e-02 5.08199054e-02 4.97806083e+02] [-6.45547536e-02 9.97892852e-01 -6.52222946e-03 -6.48678114e+01] [-5.11354836e-02 3.21940797e-03 9.98686536e-01 -3.26728835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.38071405700003 meters 0.04307337549029469 Centerline is valid? [True, True] Translation: X:497.86, Y:-64.88, Z:-32.68 [[ 9.97013608e-01 5.76547275e-02 5.13789629e-02 4.97864152e+02] [-5.73912397e-02 9.98330013e-01 -6.59020387e-03 -6.48820148e+01] [-5.16731171e-02 3.62182056e-03 9.98657485e-01 -3.26773537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.44071405700004 meters 0.04554650905746327 Centerline is valid? [True, True] Translation: X:497.92, Y:-64.89, Z:-32.68 [[ 9.97230571e-01 5.41975405e-02 5.09295073e-02 4.97923572e+02] [-5.39340781e-02 9.98523119e-01 -6.53424164e-03 -6.48923635e+01] [-5.12084303e-02 3.76930950e-03 9.98680874e-01 -3.26820367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.50071405700004 meters 0.04199345916717726 Centerline is valid? [True, True] Translation: X:497.98, Y:-64.89, Z:-32.69 [[ 9.97459236e-01 5.02487872e-02 5.04988376e-02 4.97984796e+02] [-4.99847212e-02 9.98728965e-01 -6.47930541e-03 -6.48935332e+01] [-5.07602291e-02 3.93867270e-03 9.98703102e-01 -3.26855167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.56071405700004 meters 0.040325815051862134 Centerline is valid? [True, True] Translation: X:498.05, Y:-64.90, Z:-32.69 [[ 9.97646410e-01 4.81021075e-02 4.88654141e-02 4.98046220e+02] [-4.78523259e-02 9.98834746e-01 -6.26936669e-03 -6.48963419e+01] [-4.91100432e-02 3.91628745e-03 9.98785696e-01 -3.26900755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.62071405700004 meters 0.04129023817873496 Centerline is valid? [True, True] Translation: X:498.11, Y:-64.90, Z:-32.69 [[ 9.97550083e-01 4.97378244e-02 4.91932995e-02 4.98107619e+02] [-4.94865913e-02 9.98754839e-01 -6.31263951e-03 -6.49021100e+01] [-4.94460228e-02 3.86276537e-03 9.98769328e-01 -3.26939675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.68071405700005 meters 0.04015002309258191 Centerline is valid? [True, True] Translation: X:498.17, Y:-64.90, Z:-32.70 [[ 9.97345341e-01 5.34320579e-02 4.94700532e-02 4.98168742e+02] [-5.31822410e-02 9.98564612e-01 -6.35337488e-03 -6.49043385e+01] [-4.97385183e-02 3.70558054e-03 9.98755400e-01 -3.26977834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.74071405700005 meters 0.04042474138999162 Centerline is valid? [True, True] Translation: X:498.23, Y:-64.91, Z:-32.70 [[ 9.97123050e-01 5.75766848e-02 4.93005962e-02 4.98228172e+02] [-5.73336088e-02 9.98334997e-01 -6.33170072e-03 -6.49067917e+01] [-4.95830689e-02 3.48690364e-03 9.98763916e-01 -3.27017697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.80071405700005 meters 0.04011945938478899 Centerline is valid? [True, True] Translation: X:498.29, Y:-64.91, Z:-32.71 [[ 9.96888422e-01 6.09616364e-02 4.99715141e-02 4.98288270e+02] [-6.07161747e-02 9.98134445e-01 -6.41680468e-03 -6.49113419e+01] [-5.02694684e-02 3.36275911e-03 9.98730030e-01 -3.27052562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.86071405700005 meters 0.038920434120909266 Centerline is valid? [True, True] Translation: X:498.35, Y:-64.91, Z:-32.71 [[ 9.96583418e-01 6.61591043e-02 4.94415260e-02 4.98348807e+02] [-6.59252052e-02 9.97804372e-01 -6.34845259e-03 -6.49137150e+01] [-4.97529787e-02 3.06731983e-03 9.98756844e-01 -3.27106007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.92071405700005 meters 0.035070882385536864 Centerline is valid? [True, True] Translation: X:498.41, Y:-64.91, Z:-32.71 [[ 9.96403049e-01 6.87810560e-02 4.94987955e-02 4.98409377e+02] [-6.85498067e-02 9.97627446e-01 -6.35637518e-03 -6.49103792e+01] [-4.98185551e-02 2.94037875e-03 9.98753957e-01 -3.27134502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.98071405700006 meters 0.03571816982966485 Centerline is valid? [True, True] Translation: X:498.47, Y:-64.91, Z:-32.72 [[ 9.96255992e-01 6.97830428e-02 5.10325838e-02 4.98468586e+02] [-6.95385895e-02 9.97557744e-01 -6.55224958e-03 -6.49145428e+01] [-5.13651850e-02 2.97898402e-03 9.98675495e-01 -3.27164918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.04071405700006 meters 0.03673205711339892 Centerline is valid? [True, True] Translation: X:498.53, Y:-64.92, Z:-32.72 [[ 9.96224289e-01 6.92740716e-02 5.23284727e-02 4.98527535e+02] [-6.90166384e-02 9.97592924e-01 -6.71282902e-03 -6.49196251e+01] [-5.26675390e-02 3.07594804e-03 9.98607365e-01 -3.27197688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.10071405700006 meters 0.0353109965595797 Centerline is valid? [True, True] Translation: X:498.59, Y:-64.92, Z:-32.72 [[ 9.96473875e-01 6.46876843e-02 5.34352033e-02 4.98588344e+02] [-6.44129132e-02 9.97899820e-01 -6.85022818e-03 -6.49224677e+01] [-5.37661052e-02 3.38415630e-03 9.98547822e-01 -3.27223463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.16071405700006 meters 0.03980567825791992 Centerline is valid? [True, True] Translation: X:498.65, Y:-64.94, Z:-32.73 [[ 9.96742866e-01 5.95614732e-02 5.43699407e-02 4.98645721e+02] [-5.92694036e-02 9.98217690e-01 -6.97004730e-03 -6.49375083e+01] [-5.46881828e-02 3.72487097e-03 9.98496534e-01 -3.27268099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.22071405700007 meters 0.04325470673301682 Centerline is valid? [True, True] Translation: X:498.70, Y:-64.95, Z:-32.73 [[ 9.96974891e-01 5.56495024e-02 5.42604791e-02 4.98703782e+02] [-5.53529659e-02 9.98442634e-01 -6.95383845e-03 -6.49484728e+01] [-5.45629534e-02 3.92932388e-03 9.98502601e-01 -3.27316439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.28071405700007 meters 0.04551310168127075 Centerline is valid? [True, True] Translation: X:498.76, Y:-64.96, Z:-32.74 [[ 9.97094860e-01 5.47594175e-02 5.29456886e-02 4.98763489e+02] [-5.44759342e-02 9.98492040e-01 -6.78371516e-03 -6.49576153e+01] [-5.32373209e-02 3.87974167e-03 9.98574351e-01 -3.27383414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.34071405700007 meters 0.04486760582202338 Centerline is valid? [True, True] Translation: X:498.82, Y:-64.96, Z:-32.74 [[ 9.97087319e-01 5.49528791e-02 5.28872352e-02 4.98823992e+02] [-5.46700788e-02 9.98481452e-01 -6.78024125e-03 -6.49615555e+01] [-5.31795172e-02 3.86914326e-03 9.98577473e-01 -3.27429545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4007140570001 meters 0.04485842462372502 Centerline is valid? [True, True] Translation: X:498.88, Y:-64.97, Z:-32.75 [[ 9.97040371e-01 5.51415172e-02 5.35715515e-02 4.98884529e+02] [-5.48516126e-02 9.98470897e-01 -6.86797187e-03 -6.49651514e+01] [-5.38683454e-02 3.90915923e-03 9.98540395e-01 -3.27468982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4607140570001 meters 0.040781695199727755 Centerline is valid? [True, True] Translation: X:498.95, Y:-64.96, Z:-32.75 [[ 9.97133759e-01 5.32433731e-02 5.37532243e-02 4.98946015e+02] [-5.29487654e-02 9.98573453e-01 -6.89107302e-03 -6.49639111e+01] [-5.40434468e-02 4.02515468e-03 9.98530472e-01 -3.27502269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5207140570001 meters 0.042136840339273285 Centerline is valid? [True, True] Translation: X:499.01, Y:-64.97, Z:-32.75 [[ 9.97229997e-01 5.03159940e-02 5.47780459e-02 4.99006328e+02] [-5.00055864e-02 9.98724242e-01 -7.02347426e-03 -6.49707932e+01] [-5.50615555e-02 4.26481091e-03 9.98473854e-01 -3.27534457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5807140570001 meters 0.044169341826498364 Centerline is valid? [True, True] Translation: X:499.07, Y:-64.98, Z:-32.76 [[ 9.97383891e-01 4.77557872e-02 5.42656388e-02 4.99066468e+02] [-4.74473505e-02 9.98849501e-01 -6.95875276e-03 -6.49789435e+01] [-5.45355270e-02 4.36578712e-03 9.98502287e-01 -3.27586610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6407140570001 meters 0.04405949186075556 Centerline is valid? [True, True] Translation: X:499.13, Y:-64.99, Z:-32.76 [[ 9.97472455e-01 4.59747367e-02 5.41758818e-02 4.99126720e+02] [-4.56646596e-02 9.98932661e-01 -6.94821994e-03 -6.49854160e+01] [-5.44375003e-02 4.45673480e-03 9.98507234e-01 -3.27634855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7007140570001 meters 0.04463454020117692 Centerline is valid? [True, True] Translation: X:499.19, Y:-64.99, Z:-32.77 [[ 9.97524622e-01 4.55070391e-02 5.36072487e-02 4.99188183e+02] [-4.52028575e-02 9.98954180e-01 -6.87376375e-03 -6.49923144e+01] [-5.38639898e-02 4.43354776e-03 9.98538439e-01 -3.27680264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7607140570001 meters 0.04664684469065838 Centerline is valid? [True, True] Translation: X:499.25, Y:-65.00, Z:-32.77 [[ 9.97565047e-01 4.63965452e-02 5.20705037e-02 4.99248158e+02] [-4.61100942e-02 9.98913964e-01 -6.68975007e-03 -6.50011252e+01] [-5.23243346e-02 4.27248501e-03 9.98621004e-01 -3.27734580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.82071405700003 meters 0.044848519485838845 Centerline is valid? [True, True] Translation: X:499.31, Y:-65.01, Z:-32.78 [[ 9.97441858e-01 4.81498283e-02 5.28330716e-02 4.99309153e+02] [-4.78565721e-02 9.98831054e-01 -6.80247216e-03 -6.50051458e+01] [-5.30988505e-02 4.25666077e-03 9.98580189e-01 -3.27773590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.88071405700003 meters 0.045259686440627105 Centerline is valid? [True, True] Translation: X:499.37, Y:-65.01, Z:-32.78 [[ 9.97263515e-01 4.98797572e-02 5.45663912e-02 4.99370536e+02] [-4.95693849e-02 9.98745959e-01 -7.02752830e-03 -6.50116586e+01] [-5.48484941e-02 4.30347512e-03 9.98485414e-01 -3.27799836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.94071405700004 meters 0.04538009706664361 Centerline is valid? [True, True] Translation: X:499.43, Y:-65.02, Z:-32.78 [[ 9.97238058e-01 4.99068548e-02 5.50051044e-02 4.99431988e+02] [-4.95914405e-02 9.98744456e-01 -7.08521032e-03 -6.50188100e+01] [-5.52896436e-02 4.33785901e-03 9.98460935e-01 -3.27835357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.00071405700004 meters 0.0425362223633074 Centerline is valid? [True, True] Translation: X:499.49, Y:-65.02, Z:-32.79 [[ 9.97235827e-01 4.88695476e-02 5.59685002e-02 4.99494334e+02] [-4.85404694e-02 9.98795086e-01 -7.22493721e-03 -6.50231651e+01] [-5.62541424e-02 4.48822896e-03 9.98406394e-01 -3.27873855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.06071405700004 meters 0.04801388292460563 Centerline is valid? [True, True] Translation: X:499.55, Y:-65.04, Z:-32.79 [[ 9.97225058e-01 4.79742522e-02 5.69267429e-02 4.99553908e+02] [-4.76321229e-02 9.98837886e-01 -7.35250405e-03 -6.50387992e+01] [-5.72133184e-02 4.62055967e-03 9.98351284e-01 -3.27921806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.12071405700004 meters 0.04932431083046638 Centerline is valid? [True, True] Translation: X:499.61, Y:-65.05, Z:-32.80 [[ 9.97090432e-01 5.04399155e-02 5.71531726e-02 4.99612860e+02] [-5.00985914e-02 9.98716935e-01 -7.39017063e-03 -6.50476627e+01] [-5.74526010e-02 4.50537498e-03 9.98338069e-01 -3.27974934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.18071405700005 meters 0.049224924797864104 Centerline is valid? [True, True] Translation: X:499.67, Y:-65.05, Z:-32.80 [[ 9.96996342e-01 5.26208356e-02 5.68272895e-02 4.99672590e+02] [-5.22869164e-02 9.98605069e-01 -7.34803242e-03 -6.50543842e+01] [-5.71346789e-02 4.35463771e-03 9.98356983e-01 -3.28027274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.24071405700005 meters 0.041093079011868434 Centerline is valid? [True, True] Translation: X:499.73, Y:-65.05, Z:-32.81 [[ 9.96846252e-01 5.50976213e-02 5.71121897e-02 4.99734662e+02] [-5.47643862e-02 9.98471996e-01 -7.38474294e-03 -6.50507473e+01] [-5.74318038e-02 4.23373931e-03 9.98340455e-01 -3.28064338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.30071405700005 meters 0.04074587376889485 Centerline is valid? [True, True] Translation: X:499.79, Y:-65.06, Z:-32.81 [[ 9.96689648e-01 5.72051300e-02 5.77695353e-02 4.99794715e+02] [-5.68676176e-02 9.98353775e-01 -7.47092294e-03 -6.50580809e+01] [-5.81018087e-02 4.16097571e-03 9.98301991e-01 -3.28102526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.36071405700005 meters 0.03743222567380896 Centerline is valid? [True, True] Translation: X:499.86, Y:-65.06, Z:-32.81 [[ 9.96460992e-01 6.01499988e-02 5.87151491e-02 4.99855519e+02] [-5.98064175e-02 9.98181114e-01 -7.59311180e-03 -6.50613664e+01] [-5.90650787e-02 4.05469699e-03 9.98245900e-01 -3.28136144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.42071405700005 meters 0.037064337887897696 Centerline is valid? [True, True] Translation: X:499.92, Y:-65.07, Z:-32.82 [[ 9.96188058e-01 6.35708812e-02 5.97335426e-02 4.99915024e+02] [-6.32212997e-02 9.97969626e-01 -7.72605621e-03 -6.50686556e+01] [-6.01034134e-02 3.92017273e-03 9.98184458e-01 -3.28164416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.48071405700006 meters 0.03545129675045787 Centerline is valid? [True, True] Translation: X:499.98, Y:-65.07, Z:-32.82 [[ 9.95942283e-01 6.80610284e-02 5.88783975e-02 4.99975498e+02] [-6.77292349e-02 9.97674678e-01 -7.61494553e-03 -6.50738750e+01] [-5.92597673e-02 3.59625742e-03 9.98236118e-01 -3.28208766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.54071405700006 meters 0.033623284506153026 Centerline is valid? [True, True] Translation: X:500.04, Y:-65.08, Z:-32.83 [[ 9.95484337e-01 7.51011698e-02 5.80581547e-02 5.00035260e+02] [-7.47904939e-02 9.97170999e-01 -7.50873382e-03 -6.50791923e+01] [-5.84578228e-02 3.13262884e-03 9.98284964e-01 -3.28262102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.60071405700006 meters 0.030552529081584793 Centerline is valid? [True, True] Translation: X:500.10, Y:-65.08, Z:-32.83 [[ 9.94849146e-01 8.37135336e-02 5.71596045e-02 5.00095243e+02] [-8.34266026e-02 9.96486508e-01 -7.39197410e-03 -6.50793489e+01] [-5.75775830e-02 2.58526752e-03 9.98337688e-01 -3.28292369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.66071405700006 meters 0.02802392579629607 Centerline is valid? [True, True] Translation: X:500.16, Y:-65.08, Z:-32.83 [[ 9.94130496e-01 9.22533546e-02 5.65143777e-02 5.00155397e+02] [-9.19867384e-02 9.95733425e-01 -7.30658075e-03 -6.50828334e+01] [-5.69473115e-02 2.06512147e-03 9.98375049e-01 -3.28337943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.72071405700007 meters 0.02749082397759883 Centerline is valid? [True, True] Translation: X:500.21, Y:-65.09, Z:-32.84 [[ 9.93683851e-01 9.72531807e-02 5.59841311e-02 5.00213067e+02] [-9.69994546e-02 9.95258114e-01 -7.23822227e-03 -6.50916914e+01] [-5.64226009e-02 1.76207440e-03 9.98405421e-01 -3.28389678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.78071405700007 meters 0.028935833097962483 Centerline is valid? [True, True] Translation: X:500.27, Y:-65.11, Z:-32.84 [[ 9.93609137e-01 9.81158458e-02 5.58046918e-02 5.00269262e+02] [-9.78652564e-02 9.95173540e-01 -7.21230761e-03 -6.51061304e+01] [-5.62429943e-02 1.70487426e-03 9.98415654e-01 -3.28437172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.84071405700007 meters 0.027085182032043444 Centerline is valid? [True, True] Translation: X:500.33, Y:-65.11, Z:-32.85 [[ 9.93643220e-01 9.75971416e-02 5.61065917e-02 5.00327394e+02] [-9.73432947e-02 9.95224485e-01 -7.24621109e-03 -6.51134938e+01] [-5.65458633e-02 1.73854803e-03 9.98398489e-01 -3.28453750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9007140570001 meters 0.027802769405734062 Centerline is valid? [True, True] Translation: X:500.39, Y:-65.13, Z:-32.85 [[ 9.94109744e-01 9.35391471e-02 5.47379709e-02 5.00385388e+02] [-9.32916346e-02 9.95613757e-01 -7.06527287e-03 -6.51282375e+01] [-5.51587564e-02 1.91706183e-03 9.98475757e-01 -3.28498982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9607140570001 meters 0.02851980639877841 Centerline is valid? [True, True] Translation: X:500.44, Y:-65.14, Z:-32.85 [[ 9.94803147e-01 8.69314019e-02 5.30059372e-02 5.00443813e+02] [-8.66900731e-02 9.96211851e-01 -6.83952116e-03 -6.51444799e+01] [-5.33997120e-02 2.20888860e-03 9.98570774e-01 -3.28542368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0207140570001 meters 0.03003354155412078 Centerline is valid? [True, True] Translation: X:500.50, Y:-65.16, Z:-32.86 [[ 9.95415822e-01 8.02111255e-02 5.20914299e-02 5.00502508e+02] [-7.99689009e-02 9.96774700e-01 -6.72109268e-03 -6.51620183e+01] [-5.24625258e-02 2.52458759e-03 9.98619702e-01 -3.28576247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0807140570001 meters 0.03124694760134364 Centerline is valid? [True, True] Translation: X:500.56, Y:-65.18, Z:-32.86 [[ 9.95658885e-01 7.72215770e-02 5.19635682e-02 5.00559301e+02] [-7.69764354e-02 9.97010364e-01 -6.70548135e-03 -6.51762986e+01] [-5.23260239e-02 2.67640183e-03 9.98626469e-01 -3.28595008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1407140570001 meters 0.03073961584902354 Centerline is valid? [True, True] Translation: X:500.62, Y:-65.19, Z:-32.86 [[ 9.95726432e-01 7.71851416e-02 5.07082502e-02 5.00617396e+02] [-7.69518578e-02 9.97013362e-01 -6.53973714e-03 -6.51853165e+01] [-5.10615735e-02 2.60969507e-03 9.98692097e-01 -3.28628146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2007140570001 meters 0.0324982349397846 Centerline is valid? [True, True] Translation: X:500.67, Y:-65.20, Z:-32.87 [[ 9.95817148e-01 7.59672372e-02 5.07660030e-02 5.00673760e+02] [-7.57320247e-02 9.97106735e-01 -6.54365097e-03 -6.51984001e+01] [-5.11162266e-02 2.67166765e-03 9.98689138e-01 -3.28665915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2607140570001 meters 0.03215542801201934 Centerline is valid? [True, True] Translation: X:500.73, Y:-65.21, Z:-32.87 [[ 9.96019193e-01 7.39748374e-02 4.97341960e-02 5.00732149e+02] [-7.37468697e-02 9.97256419e-01 -6.40572922e-03 -6.52078956e+01] [-5.00716090e-02 2.71248798e-03 9.98741947e-01 -3.28694332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3207140570001 meters 0.03192582220916109 Centerline is valid? [True, True] Translation: X:500.79, Y:-65.22, Z:-32.87 [[ 9.96153517e-01 7.27299624e-02 4.88725215e-02 5.00789967e+02] [-7.25084546e-02 9.97347948e-01 -6.29242686e-03 -6.52164239e+01] [-4.92005570e-02 2.72455215e-03 9.98785203e-01 -3.28723651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.38071405700003 meters 0.03259619526331939 Centerline is valid? [True, True] Translation: X:500.85, Y:-65.23, Z:-32.88 [[ 9.96230971e-01 7.28154641e-02 4.71355551e-02 5.00847268e+02] [-7.26096883e-02 9.97341989e-01 -6.06547416e-03 -6.52267325e+01] [-4.74519286e-02 2.62011525e-03 9.98870086e-01 -3.28775190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.44071405700004 meters 0.0308639658317689 Centerline is valid? [True, True] Translation: X:500.91, Y:-65.23, Z:-32.88 [[ 9.96080191e-01 7.49132413e-02 4.70346621e-02 5.00905942e+02] [-7.47108368e-02 9.97186893e-01 -6.04910738e-03 -6.52317076e+01] [-4.73555068e-02 2.51139708e-03 9.98874942e-01 -3.28800381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.50071405700004 meters 0.02809652052337554 Centerline is valid? [True, True] Translation: X:500.97, Y:-65.23, Z:-32.88 [[ 9.95487261e-01 8.32816487e-02 4.54893432e-02 5.00965969e+02] [-8.31012276e-02 9.96523962e-01 -5.84631632e-03 -6.52325990e+01] [-4.58181113e-02 2.03971316e-03 9.98947717e-01 -3.28818872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.56071405700004 meters 0.027186648914664956 Centerline is valid? [True, True] Translation: X:501.03, Y:-65.24, Z:-32.89 [[ 9.95111174e-01 8.79962451e-02 4.48376197e-02 5.01025409e+02] [-8.78257998e-02 9.96119189e-01 -5.76108873e-03 -6.52383300e+01] [-4.51705675e-02 1.79502396e-03 9.98977676e-01 -3.28861041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.62071405700004 meters 0.02736315477959745 Centerline is valid? [True, True] Translation: X:501.08, Y:-65.24, Z:-32.89 [[ 9.94881844e-01 9.04189838e-02 4.51057075e-02 5.01083460e+02] [-9.02489684e-02 9.95902371e-01 -5.79572811e-03 -6.52448197e+01] [-4.54449249e-02 1.69532110e-03 9.98965407e-01 -3.28895258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.68071405700005 meters 0.027792167473879355 Centerline is valid? [True, True] Translation: X:501.14, Y:-65.25, Z:-32.89 [[ 9.94995821e-01 8.91583077e-02 4.51011260e-02 5.01141695e+02] [-8.89871835e-02 9.96015931e-01 -5.79185377e-03 -6.52538115e+01] [-4.54378319e-02 1.74944813e-03 9.98965637e-01 -3.28915864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.74071405700005 meters 0.029603031729464026 Centerline is valid? [True, True] Translation: X:501.20, Y:-65.27, Z:-32.89 [[ 9.95403878e-01 8.35923388e-02 4.67272980e-02 5.01200217e+02] [-8.34027312e-02 9.96497883e-01 -5.99620651e-03 -6.52680922e+01] [-4.70648904e-02 2.07146294e-03 9.98889686e-01 -3.28944152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.80071405700005 meters 0.031062065762181842 Centerline is valid? [True, True] Translation: X:501.26, Y:-65.28, Z:-32.90 [[ 9.96238015e-01 7.39680513e-02 4.51502492e-02 5.01258715e+02] [-7.37812102e-02 9.97257627e-01 -5.79303339e-03 -6.52807258e+01] [-4.54549297e-02 2.44000006e-03 9.98963411e-01 -3.28980707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.86071405700005 meters 0.03284229959150115 Centerline is valid? [True, True] Translation: X:501.32, Y:-65.29, Z:-32.90 [[ 9.96662964e-01 6.78926085e-02 4.53158873e-02 5.01317905e+02] [-6.76981811e-02 9.97688911e-01 -5.81325455e-03 -6.52927939e+01] [-4.56058353e-02 2.72605236e-03 9.98955793e-01 -3.29020786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.92071405700005 meters 0.03341636891948073 Centerline is valid? [True, True] Translation: X:501.38, Y:-65.30, Z:-32.91 [[ 9.96657762e-01 6.76639959e-02 4.57699495e-02 5.01376361e+02] [-6.74653456e-02 9.97704333e-01 -5.87288129e-03 -6.53006925e+01] [-4.60622596e-02 2.76536726e-03 9.98934743e-01 -3.29051878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.98071405700006 meters 0.03395886070559298 Centerline is valid? [True, True] Translation: X:501.43, Y:-65.31, Z:-32.91 [[ 9.96552312e-01 6.99795278e-02 4.45685543e-02 5.01434316e+02] [-6.97936416e-02 9.97545079e-01 -5.71521116e-03 -6.53074370e+01] [-4.48590898e-02 2.58490518e-03 9.98989980e-01 -3.29095067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.04071405700006 meters 0.034109093997216754 Centerline is valid? [True, True] Translation: X:501.49, Y:-65.31, Z:-32.91 [[ 9.96288019e-01 7.27984243e-02 4.59409767e-02 5.01492451e+02] [-7.26040368e-02 9.97343464e-01 -5.88800427e-03 -6.53141037e+01] [-4.62475702e-02 2.53064775e-03 9.98926803e-01 -3.29131670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.10071405700006 meters 0.03076181453745273 Centerline is valid? [True, True] Translation: X:501.55, Y:-65.31, Z:-32.91 [[ 9.96076456e-01 7.51485553e-02 4.67374508e-02 5.01553434e+02] [-7.49499892e-02 9.97169309e-01 -5.98905978e-03 -6.53137230e+01] [-4.70552207e-02 2.46259001e-03 9.98889254e-01 -3.29136380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.16071405700006 meters 0.02997965349991871 Centerline is valid? [True, True] Translation: X:501.61, Y:-65.32, Z:-32.92 [[ 9.95949298e-01 7.68444978e-02 4.66896062e-02 5.01611543e+02] [-7.66481906e-02 9.97040249e-01 -5.98303778e-03 -6.53188077e+01] [-4.70111801e-02 2.38012844e-03 9.98891528e-01 -3.29179663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.22071405700007 meters 0.03121618404357079 Centerline is valid? [True, True] Translation: X:501.67, Y:-65.33, Z:-32.92 [[ 9.96010083e-01 7.65049175e-02 4.59446597e-02 5.01668102e+02] [-7.63146086e-02 9.97066423e-01 -5.88457409e-03 -6.53270914e+01] [-4.62600763e-02 2.35484641e-03 9.98926654e-01 -3.29232772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.28071405700007 meters 0.03567428092054772 Centerline is valid? [True, True] Translation: X:501.72, Y:-65.34, Z:-32.93 [[ 9.96237366e-01 7.37999914e-02 4.54386503e-02 5.01724908e+02] [-7.36112503e-02 9.97270056e-01 -5.81539047e-03 -6.53398414e+01] [-4.57437811e-02 2.44871343e-03 9.98950204e-01 -3.29287253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.34071405700007 meters 0.034041443013065616 Centerline is valid? [True, True] Translation: X:501.78, Y:-65.34, Z:-32.93 [[ 9.96332130e-01 7.15262308e-02 4.69711084e-02 5.01783974e+02] [-7.13222039e-02 9.97435238e-01 -6.00751495e-03 -6.53435421e+01] [-4.72803335e-02 2.63539720e-03 9.98878183e-01 -3.29305617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4007140570001 meters 0.034761591294213995 Centerline is valid? [True, True] Translation: X:501.84, Y:-65.35, Z:-32.93 [[ 9.96374646e-01 7.00476896e-02 4.82792487e-02 5.01841935e+02] [-6.98305156e-02 9.97539774e-01 -6.17244764e-03 -6.53510647e+01] [-4.85928365e-02 2.77870551e-03 9.98814805e-01 -3.29339310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4607140570001 meters 0.03317007859648747 Centerline is valid? [True, True] Translation: X:501.90, Y:-65.35, Z:-32.93 [[ 9.96199041e-01 7.07063797e-02 5.08731634e-02 5.01900900e+02] [-7.04662675e-02 9.97492983e-01 -6.50027410e-03 -6.53531392e+01] [-5.12052344e-02 2.89072488e-03 9.98683968e-01 -3.29347080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5207140570001 meters 0.030810903830959475 Centerline is valid? [True, True] Translation: X:501.96, Y:-65.36, Z:-32.94 [[ 9.95941629e-01 7.24785164e-02 5.33585557e-02 5.01960794e+02] [-7.22171150e-02 9.97365663e-01 -6.81338566e-03 -6.53556517e+01] [-5.37118154e-02 2.93233345e-03 9.98552173e-01 -3.29361396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5807140570001 meters 0.030255669270295278 Centerline is valid? [True, True] Translation: X:502.02, Y:-65.36, Z:-32.94 [[ 9.95828455e-01 7.38804071e-02 5.35478678e-02 5.02019052e+02] [-7.36192508e-02 9.97262992e-01 -6.83596126e-03 -6.53598139e+01] [-5.39063505e-02 2.86529083e-03 9.98541885e-01 -3.29400014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6407140570001 meters 0.030769252060425398 Centerline is valid? [True, True] Translation: X:502.08, Y:-65.37, Z:-32.95 [[ 9.95804751e-01 7.49591226e-02 5.24788276e-02 5.02077515e+02] [-7.47099950e-02 9.97182824e-01 -6.69568262e-03 -6.53669811e+01] [-5.28328880e-02 2.74689962e-03 9.98599590e-01 -3.29457224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7007140570001 meters 0.030111026881803088 Centerline is valid? [True, True] Translation: X:502.14, Y:-65.37, Z:-32.95 [[ 9.95682849e-01 7.70984498e-02 5.16864926e-02 5.02136234e+02] [-7.68598614e-02 9.97020121e-01 -6.59089109e-03 -6.53717034e+01] [-5.20406206e-02 2.58982056e-03 9.98641611e-01 -3.29509227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7607140570001 meters 0.02919177699898084 Centerline is valid? [True, True] Translation: X:502.20, Y:-65.38, Z:-32.96 [[ 9.95444631e-01 7.96585687e-02 5.23879689e-02 5.02195323e+02] [-7.94172143e-02 9.96819109e-01 -6.67603490e-03 -6.53768816e+01] [-5.27531318e-02 2.48511654e-03 9.98604492e-01 -3.29552672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8207140570001 meters 0.02883876088648722 Centerline is valid? [True, True] Translation: X:502.25, Y:-65.38, Z:-32.96 [[ 9.95274076e-01 8.10403664e-02 5.34974143e-02 5.02254337e+02] [-8.07907568e-02 9.96707781e-01 -6.81561821e-03 -6.53824788e+01] [-5.38736293e-02 2.46131152e-03 9.98544728e-01 -3.29585097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.88071405700003 meters 0.029137882846041442 Centerline is valid? [True, True] Translation: X:502.31, Y:-65.39, Z:-32.96 [[ 9.95155051e-01 8.18135581e-02 5.45249141e-02 5.02312835e+02] [-8.15555727e-02 9.96644608e-01 -6.94364050e-03 -6.53907781e+01] [-5.49100455e-02 2.46318832e-03 9.98488267e-01 -3.29618912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.94071405700004 meters 0.030232128913351516 Centerline is valid? [True, True] Translation: X:502.37, Y:-65.40, Z:-32.97 [[ 9.95245862e-01 8.04946867e-02 5.48295546e-02 5.02369571e+02] [-8.02320224e-02 9.96751785e-01 -6.97861470e-03 -6.54017342e+01] [-5.52131979e-02 2.54635135e-03 9.98471341e-01 -3.29661397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.00071405700004 meters 0.03232463923729094 Centerline is valid? [True, True] Translation: X:502.43, Y:-65.42, Z:-32.97 [[ 9.95509821e-01 7.70146432e-02 5.50358223e-02 5.02428249e+02] [-7.67450014e-02 9.97026185e-01 -6.99932056e-03 -6.54153774e+01] [-5.54112062e-02 2.74416809e-03 9.98459848e-01 -3.29715527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.06071405700004 meters 0.03559284822984918 Centerline is valid? [True, True] Translation: X:502.49, Y:-65.43, Z:-32.98 [[ 9.95866869e-01 7.28402604e-02 5.42538157e-02 5.02486187e+02] [-7.25721116e-02 9.97339307e-01 -6.89892956e-03 -6.54302857e+01] [-5.46119828e-02 2.93310141e-03 9.98503344e-01 -3.29770110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.12071405700004 meters 0.034481763718608706 Centerline is valid? [True, True] Translation: X:502.55, Y:-65.44, Z:-32.98 [[ 9.96061772e-01 7.04828490e-02 5.37876706e-02 5.02545252e+02] [-7.02158984e-02 9.97508373e-01 -6.83910911e-03 -6.54360660e+01] [-5.41356917e-02 3.03542553e-03 9.98528975e-01 -3.29803351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.18071405700005 meters 0.03670639284636995 Centerline is valid? [True, True] Translation: X:502.60, Y:-65.45, Z:-32.98 [[ 9.96176167e-01 6.88103986e-02 5.38346874e-02 5.02602782e+02] [-6.85407009e-02 9.97624857e-01 -6.84226990e-03 -6.54461888e+01] [-5.41776417e-02 3.12623900e-03 9.98526419e-01 -3.29842019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.24071405700005 meters 0.033632161926057 Centerline is valid? [True, True] Translation: X:502.66, Y:-65.45, Z:-32.99 [[ 9.96300034e-01 6.61414342e-02 5.48776205e-02 5.02662703e+02] [-6.58573232e-02 9.97804696e-01 -6.97151770e-03 -6.54472982e+01] [-5.52182537e-02 3.33163012e-03 9.98468750e-01 -3.29856655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.30071405700005 meters 0.03419890061363426 Centerline is valid? [True, True] Translation: X:502.72, Y:-65.45, Z:-32.99 [[ 9.96315925e-01 6.42864327e-02 5.67611906e-02 5.02721508e+02] [-6.39795762e-02 9.97925171e-01 -7.20877585e-03 -6.54533986e+01] [-5.71068473e-02 3.55066126e-03 9.98361759e-01 -3.29873382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.36071405700005 meters 0.03562483183100051 Centerline is valid? [True, True] Translation: X:502.78, Y:-65.46, Z:-32.99 [[ 9.96404480e-01 6.30842492e-02 5.65551989e-02 5.02780188e+02] [-6.27778688e-02 9.98001700e-01 -7.17950404e-03 -6.54602345e+01] [-5.68950983e-02 3.60327513e-03 9.98373660e-01 -3.29913619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.42071405700005 meters 0.03488337686924335 Centerline is valid? [True, True] Translation: X:502.84, Y:-65.46, Z:-33.00 [[ 9.96208794e-01 6.74892588e-02 5.48929713e-02 5.02840388e+02] [-6.72074863e-02 9.97714709e-01 -6.96514123e-03 -6.54627830e+01] [-5.52375971e-02 3.24951633e-03 9.98467951e-01 -3.29966991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.48071405700006 meters 0.03165916963403466 Centerline is valid? [True, True] Translation: X:502.90, Y:-65.46, Z:-33.00 [[ 9.95757311e-01 7.41953816e-02 5.44281455e-02 5.02900601e+02] [-7.39283394e-02 9.97239643e-01 -6.90619533e-03 -6.54614778e+01] [-5.47903122e-02 2.85311207e-03 9.98493806e-01 -3.30006025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.54071405700006 meters 0.027589717426798086 Centerline is valid? [True, True] Translation: X:502.96, Y:-65.46, Z:-33.01 [[ 9.95122325e-01 8.26032547e-02 5.39282972e-02 5.02960907e+02] [-8.23534819e-02 9.96579701e-01 -6.84127982e-03 -6.54588167e+01] [-5.43089583e-02 2.36672723e-03 9.98521375e-01 -3.30051532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.60071405700006 meters 0.02723535628270123 Centerline is valid? [True, True] Translation: X:503.02, Y:-65.46, Z:-33.01 [[ 9.94904343e-01 8.54328117e-02 5.35404722e-02 5.03019246e+02] [-8.51907697e-02 9.96341516e-01 -6.79094361e-03 -6.54644697e+01] [-5.39247646e-02 2.19518526e-03 9.98542588e-01 -3.30093115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.66071405700006 meters 0.0255560032537992 Centerline is valid? [True, True] Translation: X:503.08, Y:-65.47, Z:-33.01 [[ 9.94220868e-01 9.30603486e-02 5.35223017e-02 5.03080066e+02] [-9.28297441e-02 9.95658885e-01 -6.78398078e-03 -6.54669993e+01] [-5.39212749e-02 1.77631370e-03 9.98543610e-01 -3.30142971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.72071405700007 meters 0.02506878574290737 Centerline is valid? [True, True] Translation: X:503.14, Y:-65.47, Z:-33.02 [[ 9.93673666e-01 9.79632449e-02 5.49167363e-02 5.03138744e+02] [-9.77279188e-02 9.95188827e-01 -6.96085428e-03 -6.54734521e+01] [-5.53344302e-02 1.54991924e-03 9.98466674e-01 -3.30171004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.78071405700007 meters 0.025194968110105923 Centerline is valid? [True, True] Translation: X:503.20, Y:-65.48, Z:-33.02 [[ 9.93620275e-01 9.81214921e-02 5.55960665e-02 5.03196539e+02] [-9.78806463e-02 9.95173223e-01 -7.04522585e-03 -6.54840166e+01] [-5.60190047e-02 1.55850032e-03 9.98428486e-01 -3.30214640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.84071405700007 meters 0.02708632299630286 Centerline is valid? [True, True] Translation: X:503.25, Y:-65.50, Z:-33.03 [[ 9.94179900e-01 9.26240493e-02 5.50191985e-02 5.03253101e+02] [-9.23800198e-02 9.95699444e-01 -6.96767057e-03 -6.55040636e+01] [-5.54279592e-02 1.84444339e-03 9.98460985e-01 -3.30284733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9007140570001 meters 0.02845770193505308 Centerline is valid? [True, True] Translation: X:503.31, Y:-65.52, Z:-33.03 [[ 9.94507439e-01 8.90575551e-02 5.49882401e-02 5.03310675e+02] [-8.88083662e-02 9.96024388e-01 -6.96359979e-03 -6.55183251e+01] [-5.53897894e-02 2.04193603e-03 9.98462719e-01 -3.30325988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9607140570001 meters 0.02909095416085396 Centerline is valid? [True, True] Translation: X:503.37, Y:-65.53, Z:-33.03 [[ 9.94913086e-01 8.33629903e-02 5.65558397e-02 5.03369573e+02] [-8.30903798e-02 9.96516302e-01 -7.15881377e-03 -6.55321785e+01] [-5.69555964e-02 2.42315130e-03 9.98373772e-01 -3.30344792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0207140570001 meters 0.02953586495934989 Centerline is valid? [True, True] Translation: X:503.43, Y:-65.55, Z:-33.04 [[ 9.94963582e-01 7.99613593e-02 6.04454401e-02 5.03428193e+02] [-7.96437137e-02 9.96794039e-01 -7.65006607e-03 -6.55463118e+01] [-6.08633640e-02 2.79743782e-03 9.98142187e-01 -3.30361330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0807140570001 meters 0.03135025732491831 Centerline is valid? [True, True] Translation: X:503.49, Y:-65.56, Z:-33.04 [[ 9.95432825e-01 7.49426247e-02 5.91362392e-02 5.03486611e+02] [-7.46299108e-02 9.97183230e-01 -7.48214075e-03 -6.55634638e+01] [-5.95303973e-02 3.03463624e-03 9.98221881e-01 -3.30432738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1407140570001 meters 0.03356633557092557 Centerline is valid? [True, True] Translation: X:503.54, Y:-65.58, Z:-33.05 [[ 9.95709392e-01 7.21188983e-02 5.79799161e-02 5.03544643e+02] [-7.18135648e-02 9.97391099e-01 -7.33540537e-03 -6.55780625e+01] [-5.83576736e-02 3.14018756e-03 9.98290800e-01 -3.30497011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2007140570001 meters 0.034355211063719956 Centerline is valid? [True, True] Translation: X:503.60, Y:-65.59, Z:-33.05 [[ 9.96101468e-01 6.79905551e-02 5.62063186e-02 5.03603662e+02] [-6.76971489e-02 9.97680582e-01 -7.11000520e-03 -6.55882463e+01] [-5.65593658e-02 3.27727910e-03 9.98393859e-01 -3.30547822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2607140570001 meters 0.037042763002454245 Centerline is valid? [True, True] Translation: X:503.66, Y:-65.60, Z:-33.06 [[ 9.96569057e-01 6.39035734e-02 5.25970371e-02 5.03663007e+02] [-6.36410471e-02 9.97950679e-01 -6.65277298e-03 -6.55989528e+01] [-5.29143849e-02 3.28261718e-03 9.98593657e-01 -3.30621797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3207140570001 meters 0.03834696543169407 Centerline is valid? [True, True] Translation: X:503.72, Y:-65.61, Z:-33.06 [[ 9.96503447e-01 6.35965705e-02 5.41881521e-02 5.03721905e+02] [-6.33174361e-02 9.97969900e-01 -6.85426018e-03 -6.56055872e+01] [-5.45140522e-02 3.39923903e-03 9.98507217e-01 -3.30647334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.38071405700003 meters 0.034684096922718496 Centerline is valid? [True, True] Translation: X:503.78, Y:-65.60, Z:-33.07 [[ 9.96348066e-01 6.33404462e-02 5.72583478e-02 5.03782015e+02] [-6.30284407e-02 9.97985466e-01 -7.24051034e-03 -6.56036304e+01] [-5.76016161e-02 3.60516409e-03 9.98333139e-01 -3.30655420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.44071405700004 meters 0.03634998910642174 Centerline is valid? [True, True] Translation: X:503.84, Y:-65.61, Z:-33.07 [[ 9.96547851e-01 5.97072688e-02 5.76838144e-02 5.03842343e+02] [-5.93846865e-02 9.98208539e-01 -7.29188600e-03 -6.56109943e+01] [-5.80158547e-02 3.84117809e-03 9.98308272e-01 -3.30697316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.50071405700004 meters 0.03820897411263858 Centerline is valid? [True, True] Translation: X:503.90, Y:-65.62, Z:-33.08 [[ 9.96929975e-01 5.37096182e-02 5.69728212e-02 5.03902714e+02] [-5.33851872e-02 9.98548020e-01 -7.20237457e-03 -6.56213442e+01] [-5.72769346e-02 4.13875837e-03 9.98349750e-01 -3.30758417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.56071405700004 meters 0.042660290864014815 Centerline is valid? [True, True] Translation: X:503.96, Y:-65.63, Z:-33.08 [[ 9.97108169e-01 5.07231112e-02 5.65903248e-02 5.03961611e+02] [-5.03981347e-02 9.98703569e-01 -7.15600032e-03 -6.56333909e+01] [-5.68799339e-02 4.28325957e-03 9.98371838e-01 -3.30807324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.62071405700004 meters 0.04221574157879928 Centerline is valid? [True, True] Translation: X:504.02, Y:-65.64, Z:-33.09 [[ 9.97001241e-01 5.29669244e-02 5.64183448e-02 5.04022787e+02] [-5.26475015e-02 9.98587675e-01 -7.13408950e-03 -6.56358314e+01] [-5.67165346e-02 4.14241119e-03 9.98381728e-01 -3.30855541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.68071405700005 meters 0.04229062570377361 Centerline is valid? [True, True] Translation: X:504.08, Y:-65.64, Z:-33.09 [[ 9.96694068e-01 5.72055060e-02 5.76928487e-02 5.04082675e+02] [-5.68784503e-02 9.98354447e-01 -7.29652506e-03 -6.56378188e+01] [-5.80153135e-02 3.99092342e-03 9.98307716e-01 -3.30899947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.74071405700005 meters 0.036592372294335575 Centerline is valid? [True, True] Translation: X:504.15, Y:-65.63, Z:-33.09 [[ 9.96459096e-01 5.79462148e-02 6.09221288e-02 5.04145381e+02] [-5.75829194e-02 9.98311005e-01 -7.70360519e-03 -6.56308105e+01] [-6.12656264e-02 4.16825343e-03 9.98112794e-01 -3.30916949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.80071405700005 meters 0.03774188872350477 Centerline is valid? [True, True] Translation: X:504.21, Y:-65.64, Z:-33.10 [[ 9.96560071e-01 5.45043139e-02 6.24283889e-02 5.04205579e+02] [-5.41159350e-02 9.98503436e-01 -7.89648250e-03 -6.56375880e+01] [-6.27653532e-02 4.49094853e-03 9.98018207e-01 -3.30963501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.86071405700005 meters 0.04106576869275312 Centerline is valid? [True, True] Translation: X:504.27, Y:-65.65, Z:-33.10 [[ 9.97071755e-01 4.68412837e-02 6.04467423e-02 5.04265160e+02] [-4.64631866e-02 9.98890738e-01 -7.64629144e-03 -6.56475709e+01] [-6.07378532e-02 4.81535296e-03 9.98142137e-01 -3.31023174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.92071405700005 meters 0.04604477355205352 Centerline is valid? [True, True] Translation: X:504.32, Y:-65.66, Z:-33.11 [[ 9.97521238e-01 4.06039132e-02 5.74691330e-02 5.04322705e+02] [-4.02519081e-02 9.99163115e-01 -7.26997569e-03 -6.56603618e+01] [-5.77162274e-02 4.93871289e-03 9.98320813e-01 -3.31109746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.98071405700006 meters 0.047363207996443626 Centerline is valid? [True, True] Translation: X:504.38, Y:-65.66, Z:-33.12 [[ 9.97524651e-01 4.19337977e-02 5.64457971e-02 5.04383242e+02] [-4.15964188e-02 9.99108988e-01 -7.13925573e-03 -6.56647679e+01] [-5.66948793e-02 4.77364056e-03 9.98380140e-01 -3.31159985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.04071405700006 meters 0.04585791167905373 Centerline is valid? [True, True] Translation: X:504.44, Y:-65.67, Z:-33.12 [[ 9.97159524e-01 4.73078476e-02 5.86076045e-02 5.04444519e+02] [-4.69531658e-02 9.98869570e-01 -7.41495808e-03 -6.56656987e+01] [-5.88921385e-02 4.64208350e-03 9.98253559e-01 -3.31192480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.10071405700006 meters 0.046351601818040024 Centerline is valid? [True, True] Translation: X:504.50, Y:-65.67, Z:-33.12 [[ 9.96933650e-01 5.07326671e-02 5.95776260e-02 5.04504111e+02] [-5.03721271e-02 9.98702064e-01 -7.53891766e-03 -6.56694749e+01] [-5.98827674e-02 4.51474896e-03 9.98195207e-01 -3.31228018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.16071405700006 meters 0.03824759369117908 Centerline is valid? [True, True] Translation: X:504.57, Y:-65.66, Z:-33.12 [[ 9.96615287e-01 5.39877228e-02 6.19943215e-02 5.04567394e+02] [-5.36036126e-02 9.98531487e-01 -7.84364255e-03 -6.56583305e+01] [-6.23267424e-02 4.49397447e-03 9.98045681e-01 -3.31244765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.22071405700007 meters 0.044242792129635986 Centerline is valid? [True, True] Translation: X:504.63, Y:-65.67, Z:-33.13 [[ 9.96678699e-01 5.15375610e-02 6.30511746e-02 5.04626280e+02] [-5.11352340e-02 9.98659862e-01 -7.97915436e-03 -6.56738028e+01] [-6.33779035e-02 4.72851662e-03 9.97978398e-01 -3.31281638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.28071405700007 meters 0.042725654388536656 Centerline is valid? [True, True] Translation: X:504.69, Y:-65.68, Z:-33.13 [[ 9.96911934e-01 4.79965261e-02 6.21524617e-02 5.04686239e+02] [-4.75986987e-02 9.98835563e-01 -7.86656413e-03 -6.56783606e+01] [-6.24576568e-02 4.88389536e-03 9.98035665e-01 -3.31336270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.34071405700007 meters 0.04467544051760607 Centerline is valid? [True, True] Translation: X:504.75, Y:-65.69, Z:-33.14 [[ 9.97117460e-01 4.64033332e-02 6.00291681e-02 5.04746267e+02] [-4.60293945e-02 9.98911191e-01 -7.59790321e-03 -6.56895361e+01] [-6.03163758e-02 4.81289569e-03 9.98167707e-01 -3.31410153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4007140570001 meters 0.046200434762105974 Centerline is valid? [True, True] Translation: X:504.81, Y:-65.70, Z:-33.15 [[ 9.97169969e-01 4.64520820e-02 5.91122461e-02 5.04807611e+02] [-4.60895229e-02 9.98909287e-01 -7.48284902e-03 -6.56979006e+01] [-5.93953655e-02 4.73721710e-03 9.98223296e-01 -3.31462373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4607140570001 meters 0.04380209744567278 Centerline is valid? [True, True] Translation: X:504.87, Y:-65.70, Z:-33.15 [[ 9.97200369e-01 4.64074348e-02 5.86325336e-02 5.04870205e+02] [-4.60498242e-02 9.98911464e-01 -7.43643400e-03 -6.57016818e+01] [-5.89138158e-02 4.71559687e-03 9.98251935e-01 -3.31504940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5207140570001 meters 0.04264890014979682 Centerline is valid? [True, True] Translation: X:504.93, Y:-65.71, Z:-33.16 [[ 9.97221800e-01 4.69187871e-02 5.78559410e-02 5.04931648e+02] [-4.65706127e-02 9.98887942e-01 -7.35240729e-03 -6.57074118e+01] [-5.81365678e-02 4.63759421e-03 9.98297868e-01 -3.31551117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5807140570001 meters 0.04616766339706696 Centerline is valid? [True, True] Translation: X:504.99, Y:-65.72, Z:-33.16 [[ 9.97097865e-01 4.97970564e-02 5.75856041e-02 5.04990346e+02] [-4.94559497e-02 9.98749376e-01 -7.33442160e-03 -6.57177014e+01] [-5.78788188e-02 4.46518537e-03 9.98313630e-01 -3.31595567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6407140570001 meters 0.045205148906970166 Centerline is valid? [True, True] Translation: X:505.05, Y:-65.72, Z:-33.16 [[ 9.96927487e-01 5.35554124e-02 5.71612123e-02 5.05051400e+02] [-5.32254661e-02 9.98555981e-01 -7.28023782e-03 -6.57211430e+01] [-5.74685665e-02 4.21543703e-03 9.98338417e-01 -3.31626264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7007140570001 meters 0.04077168753157838 Centerline is valid? [True, True] Translation: X:505.11, Y:-65.72, Z:-33.17 [[ 9.96765396e-01 5.60147157e-02 5.76289591e-02 5.05112526e+02] [-5.56833610e-02 9.98421491e-01 -7.34090301e-03 -6.57206782e+01] [-5.79491898e-02 4.10818397e-03 9.98311081e-01 -3.31654055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7607140570001 meters 0.040547536061099704 Centerline is valid? [True, True] Translation: X:505.17, Y:-65.73, Z:-33.17 [[ 9.96797990e-01 5.58567074e-02 5.72170943e-02 5.05172794e+02] [-5.55297543e-02 9.98430422e-01 -7.28957907e-03 -6.57278902e+01] [-5.75344595e-02 4.08898657e-03 9.98335147e-01 -3.31695081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8207140570001 meters 0.044252078276885 Centerline is valid? [True, True] Translation: X:505.23, Y:-65.74, Z:-33.17 [[ 9.96880782e-01 5.49986829e-02 5.66025704e-02 5.05232183e+02] [-5.46773576e-02 9.98478035e-01 -7.21115337e-03 -6.57403983e+01] [-5.69130272e-02 4.09378123e-03 9.98370747e-01 -3.31727577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.88071405700003 meters 0.04006291009598586 Centerline is valid? [True, True] Translation: X:505.29, Y:-65.74, Z:-33.18 [[ 9.96909776e-01 5.53322142e-02 5.57605940e-02 5.05293465e+02] [-5.50208545e-02 9.98459927e-01 -7.10485353e-03 -6.57415443e+01] [-5.60678459e-02 4.01490242e-03 9.98418889e-01 -3.31760761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.94071405700004 meters 0.03933968622073964 Centerline is valid? [True, True] Translation: X:505.35, Y:-65.75, Z:-33.18 [[ 9.96911581e-01 5.69701965e-02 5.40527148e-02 5.05353476e+02] [-5.66799738e-02 9.98368635e-01 -6.88836887e-03 -6.57474981e+01] [-5.43569668e-02 3.80338824e-03 9.98514324e-01 -3.31814980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.000714057 meters 0.03818478061396633 Centerline is valid? [True, True] Translation: X:505.41, Y:-65.75, Z:-33.19 [[ 9.96950033e-01 5.81371784e-02 5.20643812e-02 5.05412800e+02] [-5.78694985e-02 9.98302105e-01 -6.63542204e-03 -6.57519435e+01] [-5.23617460e-02 3.60224460e-03 9.98621686e-01 -3.31855243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.060714057 meters 0.038825288789428404 Centerline is valid? [True, True] Translation: X:505.47, Y:-65.76, Z:-33.19 [[ 9.97081290e-01 5.68512633e-02 5.09591433e-02 5.05471648e+02] [-5.65932629e-02 9.98376205e-01 -6.49274765e-03 -6.57601343e+01] [-5.12455170e-02 3.58985301e-03 9.98679633e-01 -3.31893877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.120714057 meters 0.03841273265538805 Centerline is valid? [True, True] Translation: X:505.53, Y:-65.77, Z:-33.19 [[ 9.97194633e-01 5.49552150e-02 5.08211417e-02 5.05530638e+02] [-5.46962572e-02 9.98482056e-01 -6.47332931e-03 -6.57675583e+01] [-5.10997412e-02 3.67544301e-03 9.98686792e-01 -3.31928406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.180714057 meters 0.042851510173060575 Centerline is valid? [True, True] Translation: X:505.59, Y:-65.78, Z:-33.20 [[ 9.97177979e-01 5.40193423e-02 5.21343434e-02 5.05587785e+02] [-5.37456345e-02 9.98532590e-01 -6.63882001e-03 -6.57821126e+01] [-5.24164656e-02 3.81809175e-03 9.98618013e-01 -3.31959602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.240714057 meters 0.045043873283492866 Centerline is valid? [True, True] Translation: X:505.65, Y:-65.79, Z:-33.20 [[ 9.97329630e-01 5.14854704e-02 5.17962885e-02 5.05646566e+02] [-5.12120811e-02 9.98666041e-01 -6.59246146e-03 -6.57923991e+01] [-5.20666104e-02 3.92226142e-03 9.98635912e-01 -3.32000971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.300714057 meters 0.04205298887675652 Centerline is valid? [True, True] Translation: X:505.71, Y:-65.80, Z:-33.20 [[ 9.97572463e-01 4.80106967e-02 5.04396038e-02 5.05706651e+02] [-4.77470914e-02 9.98838833e-01 -6.41885918e-03 -6.57958992e+01] [-5.06892088e-02 3.99493279e-03 9.98706486e-01 -3.32035036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.360714057 meters 0.045388578972258974 Centerline is valid? [True, True] Translation: X:505.77, Y:-65.81, Z:-33.21 [[ 9.97771558e-01 4.48962670e-02 4.93583130e-02 5.05765354e+02] [-4.46400736e-02 9.98983388e-01 -6.28119394e-03 -6.58081105e+01] [-4.95901369e-02 4.06383794e-03 9.98761385e-01 -3.32077603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.420714057 meters 0.04507396751512599 Centerline is valid? [True, True] Translation: X:505.83, Y:-65.82, Z:-33.21 [[ 9.97751703e-01 4.54331025e-02 4.92683709e-02 5.05826354e+02] [-4.51784620e-02 9.98959253e-01 -6.27036677e-03 -6.58152333e+01] [-4.95019772e-02 4.03039989e-03 9.98765894e-01 -3.32115952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.480714057 meters 0.04487827442567824 Centerline is valid? [True, True] Translation: X:505.89, Y:-65.82, Z:-33.21 [[ 9.97606076e-01 4.77601074e-02 5.00109020e-02 5.05886679e+02] [-4.75005227e-02 9.98850921e-01 -6.36695664e-03 -6.58212144e+01] [-5.02575220e-02 3.97617064e-03 9.98728377e-01 -3.32142184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5407140570001 meters 0.04387750716252766 Centerline is valid? [True, True] Translation: X:505.95, Y:-65.83, Z:-33.22 [[ 9.97428543e-01 5.15988527e-02 4.97379121e-02 5.05946728e+02] [-5.13467813e-02 9.98660802e-01 -6.33332322e-03 -6.58257077e+01] [-4.99980954e-02 3.76315565e-03 9.98742224e-01 -3.32179077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.600714057 meters 0.038321504835879934 Centerline is valid? [True, True] Translation: X:506.01, Y:-65.82, Z:-33.22 [[ 9.97232358e-01 5.61373901e-02 4.87464667e-02 5.06007888e+02] [-5.59006633e-02 9.98417041e-01 -6.20715072e-03 -6.58229903e+01] [-4.90177563e-02 3.46501172e-03 9.98791897e-01 -3.32205846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.660714057 meters 0.03735735045109477 Centerline is valid? [True, True] Translation: X:506.07, Y:-65.83, Z:-33.23 [[ 9.97097632e-01 6.05002420e-02 4.62172425e-02 5.06068543e+02] [-6.02921255e-02 9.98163426e-01 -5.88510481e-03 -6.58267849e+01] [-4.64884114e-02 3.08148828e-03 9.98914076e-01 -3.32261331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.720714057 meters 0.03444841294814221 Centerline is valid? [True, True] Translation: X:506.13, Y:-65.82, Z:-33.23 [[ 9.96645685e-01 6.86731912e-02 4.45125893e-02 5.06129334e+02] [-6.84882726e-02 9.97635821e-01 -5.66792765e-03 -6.58248606e+01] [-4.47965882e-02 2.60032528e-03 9.98992745e-01 -3.32296253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.780714057 meters 0.02975945263344753 Centerline is valid? [True, True] Translation: X:506.19, Y:-65.82, Z:-33.23 [[ 9.95898598e-01 7.81615728e-02 4.55713856e-02 5.06191487e+02] [-7.79776565e-02 9.96938222e-01 -5.80233895e-03 -6.58186770e+01] [-4.58853760e-02 2.22499138e-03 9.98944234e-01 -3.32286666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.840714057 meters 0.028935926010834688 Centerline is valid? [True, True] Translation: X:506.25, Y:-65.82, Z:-33.23 [[ 9.95239652e-01 8.52506342e-02 4.72267360e-02 5.06250776e+02] [-8.50610450e-02 9.96357595e-01 -6.01337447e-03 -6.58225725e+01] [-4.75673611e-02 1.96759319e-03 9.98866095e-01 -3.32315285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.900714057 meters 0.027303099353800705 Centerline is valid? [True, True] Translation: X:506.31, Y:-65.83, Z:-33.24 [[ 9.94347005e-01 9.49414892e-02 4.75410091e-02 5.06310513e+02] [-9.47604713e-02 9.95481705e-01 -6.05213718e-03 -6.58252672e+01] [-4.79008037e-02 1.51291605e-03 9.98850952e-01 -3.32355074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.960714057 meters 0.027431649385607007 Centerline is valid? [True, True] Translation: X:506.37, Y:-65.83, Z:-33.24 [[ 9.94283740e-01 9.67806052e-02 4.50927765e-02 5.06368741e+02] [-9.66196669e-02 9.95304823e-01 -5.74015061e-03 -6.58338334e+01] [-4.54365932e-02 1.35048937e-03 9.98966312e-01 -3.32411007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.020714057 meters 0.027177093623714996 Centerline is valid? [True, True] Translation: X:506.43, Y:-65.85, Z:-33.24 [[ 9.94333175e-01 9.62920751e-02 4.50485647e-02 5.06425700e+02] [-9.61309083e-02 9.95352175e-01 -5.73547873e-03 -6.58456928e+01] [-4.53914680e-02 1.37241733e-03 9.98968333e-01 -3.32448767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.080714057 meters 0.027794987524900058 Centerline is valid? [True, True] Translation: X:506.48, Y:-65.86, Z:-33.25 [[ 9.94665683e-01 9.24174707e-02 4.58169307e-02 5.06483219e+02] [-9.22474548e-02 9.95719128e-01 -5.81588181e-03 -6.58608437e+01] [-4.61582834e-02 1.55836281e-03 9.98932923e-01 -3.32473617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.140714057 meters 0.030014512948917344 Centerline is valid? [True, True] Translation: X:506.54, Y:-65.88, Z:-33.25 [[ 9.95324437e-01 8.48984569e-02 4.60599213e-02 5.06541205e+02] [-8.47188196e-02 9.96387773e-01 -5.84180305e-03 -6.58800860e+01] [-4.63895025e-02 1.91234717e-03 9.98921597e-01 -3.32520748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.200714057 meters 0.03204608188254746 Centerline is valid? [True, True] Translation: X:506.60, Y:-65.90, Z:-33.25 [[ 9.95946006e-01 7.64420889e-02 4.74147634e-02 5.06599926e+02] [-7.62421565e-02 9.97071196e-01 -6.01360606e-03 -6.58977121e+01] [-4.77355875e-02 2.37422312e-03 9.98857185e-01 -3.32545812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.260714057 meters 0.036484185916526586 Centerline is valid? [True, True] Translation: X:506.66, Y:-65.92, Z:-33.26 [[ 9.96513105e-01 6.80689098e-02 4.82520016e-02 5.06656811e+02] [-6.78520826e-02 9.97676625e-01 -6.11934522e-03 -6.59162655e+01] [-4.85564313e-02 2.82400890e-03 9.98816449e-01 -3.32582544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.320714057 meters 0.04025536773859484 Centerline is valid? [True, True] Translation: X:506.71, Y:-65.93, Z:-33.26 [[ 9.97009024e-01 6.10629347e-02 4.73743067e-02 5.06714350e+02] [-6.08460483e-02 9.98129080e-01 -6.00814232e-03 -6.59334586e+01] [-4.76525480e-02 3.10763275e-03 9.98859138e-01 -3.32633680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.380714057 meters 0.04299143368593736 Centerline is valid? [True, True] Translation: X:506.77, Y:-65.95, Z:-33.27 [[ 9.97240761e-01 5.74389973e-02 4.70279413e-02 5.06773218e+02] [-5.72213081e-02 9.98343709e-01 -5.96328030e-03 -6.59464462e+01] [-4.72925742e-02 3.25582586e-03 9.98875774e-01 -3.32685356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.440714057 meters 0.041976419221898924 Centerline is valid? [True, True] Translation: X:506.83, Y:-65.95, Z:-33.27 [[ 9.97383735e-01 5.47313235e-02 4.72246481e-02 5.06832792e+02] [-5.45087983e-02 9.98495335e-01 -5.98802594e-03 -6.59527455e+01] [-4.74813234e-02 3.39820087e-03 9.98866346e-01 -3.32714727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.500714057 meters 0.04170620639857415 Centerline is valid? [True, True] Translation: X:506.89, Y:-65.96, Z:-33.27 [[ 9.97190194e-01 5.60687739e-02 4.96790570e-02 5.06892182e+02] [-5.58241758e-02 9.98420748e-01 -6.29855912e-03 -6.59575168e+01] [-4.99537537e-02 3.50756898e-03 9.98745373e-01 -3.32730417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.560714057 meters 0.03693284429041063 Centerline is valid? [True, True] Translation: X:506.95, Y:-65.95, Z:-33.28 [[ 9.96996349e-01 5.85354510e-02 5.07137145e-02 5.06953408e+02] [-5.82838255e-02 9.98279360e-01 -6.42767639e-03 -6.59538989e+01] [-5.10027014e-02 3.45258061e-03 9.98692547e-01 -3.32754826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.620714057 meters 0.03791993243443396 Centerline is valid? [True, True] Translation: X:507.01, Y:-65.96, Z:-33.28 [[ 9.97017064e-01 5.93029728e-02 4.93976912e-02 5.07011955e+02] [-5.90651918e-02 9.98234494e-01 -6.26079852e-03 -6.59581685e+01] [-4.96817633e-02 3.32443885e-03 9.98759566e-01 -3.32808790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.680714057 meters 0.04034459615204727 Centerline is valid? [True, True] Translation: X:507.07, Y:-65.96, Z:-33.29 [[ 9.97210642e-01 5.87687186e-02 4.60127474e-02 5.07070269e+02] [-5.85620269e-02 9.98266757e-01 -5.82842102e-03 -6.59635058e+01] [-4.62755250e-02 3.11756372e-03 9.98923849e-01 -3.32884725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.740714057 meters 0.04089872128091592 Centerline is valid? [True, True] Translation: X:507.13, Y:-65.97, Z:-33.29 [[ 9.97129815e-01 6.13011575e-02 4.44331061e-02 5.07129501e+02] [-6.11110446e-02 9.98115119e-01 -5.62570539e-03 -6.59657943e+01] [-4.46942173e-02 2.89420504e-03 9.98996522e-01 -3.32935731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.800714057 meters 0.039875808317330605 Centerline is valid? [True, True] Translation: X:507.19, Y:-65.97, Z:-33.30 [[ 9.96752575e-01 6.57063473e-02 4.65508445e-02 5.07190284e+02] [-6.55025522e-02 9.97835009e-01 -5.89153913e-03 -6.59658617e+01] [-4.68371739e-02 2.82320767e-03 9.98898548e-01 -3.32955861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.860714057 meters 0.03970674453689078 Centerline is valid? [True, True] Translation: X:507.25, Y:-65.97, Z:-33.30 [[ 9.96486528e-01 6.74391882e-02 4.96644200e-02 5.07250560e+02] [-6.72093314e-02 9.97719097e-01 -6.28564041e-03 -6.59674352e+01] [-4.99750387e-02 2.92564353e-03 9.98746182e-01 -3.32964208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.920714057 meters 0.042085537068850466 Centerline is valid? [True, True] Translation: X:507.31, Y:-65.98, Z:-33.30 [[ 9.96632389e-01 6.42951341e-02 5.08922005e-02 5.07309671e+02] [-6.40497230e-02 9.97925928e-01 -6.44013888e-03 -6.59750276e+01] [-5.12007160e-02 3.15881965e-03 9.98683388e-01 -3.33004207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.980714057 meters 0.03845512257734445 Centerline is valid? [True, True] Translation: X:507.37, Y:-65.97, Z:-33.30 [[ 9.97178543e-01 5.55070736e-02 5.05363010e-02 5.07370091e+02] [-5.52539070e-02 9.98451863e-01 -6.39402900e-03 -6.59744836e+01] [-5.08129778e-02 3.58366045e-03 9.98701757e-01 -3.33041900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0407140570001 meters 0.04184896938820407 Centerline is valid? [True, True] Translation: X:507.43, Y:-65.98, Z:-33.31 [[ 9.97674393e-01 4.78151026e-02 4.85749008e-02 5.07429152e+02] [-4.75721589e-02 9.98848896e-01 -6.14592480e-03 -6.59837015e+01] [-4.88128540e-02 3.82081890e-03 9.98800634e-01 -3.33105394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.100714057 meters 0.0776135413546781 Centerline is valid? [True, True] Translation: X:507.48, Y:-66.04, Z:-33.33 [[ 9.97646146e-01 4.80432591e-02 4.89286472e-02 5.07482768e+02] [-4.77970507e-02 9.98837886e-01 -6.19032023e-03 -6.60371149e+01] [-4.91691896e-02 3.83710409e-03 9.98783093e-01 -3.33251100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.160714057 meters 0.045905795715837035 Centerline is valid? [True, True] Translation: X:507.55, Y:-66.00, Z:-33.32 [[ 9.97682336e-01 5.02825795e-02 4.58434059e-02 5.07547917e+02] [-5.00687382e-02 9.98728923e-01 -5.80172423e-03 -6.59966664e+01] [-4.60768611e-02 3.49295629e-03 9.98931791e-01 -3.33239488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.220714057 meters 0.03955291365941695 Centerline is valid? [True, True] Translation: X:507.61, Y:-65.99, Z:-33.32 [[ 9.97135555e-01 5.79529316e-02 4.86018902e-02 5.07610295e+02] [-5.77217185e-02 9.98313777e-01 -6.14857256e-03 -6.59898335e+01] [-4.88762644e-02 3.32557568e-03 9.98799305e-01 -3.33249149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.280714057 meters 0.03740873855649884 Centerline is valid? [True, True] Translation: X:507.67, Y:-65.99, Z:-33.33 [[ 9.96518704e-01 6.58128027e-02 5.11776079e-02 5.07669937e+02] [-6.55667381e-02 9.97827185e-01 -6.47397915e-03 -6.59895602e+01] [-5.14924792e-02 3.09589249e-03 9.98668584e-01 -3.33272073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.340714057 meters 0.03273201962364447 Centerline is valid? [True, True] Translation: X:507.73, Y:-65.98, Z:-33.33 [[ 9.96069531e-01 7.11080630e-02 5.28122483e-02 5.07731536e+02] [-7.08534529e-02 9.97464367e-01 -6.68014534e-03 -6.59849369e+01] [-5.31533480e-02 2.91195909e-03 9.98582116e-01 -3.33297768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.400714057 meters 0.037199849287319856 Centerline is valid? [True, True] Translation: X:507.79, Y:-66.00, Z:-33.34 [[ 9.95999633e-01 7.16985076e-02 5.33296777e-02 5.07787612e+02] [-7.14396790e-02 9.97422107e-01 -6.74638195e-03 -6.59990226e+01] [-5.36759050e-02 2.90953889e-03 9.98554171e-01 -3.33356753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.460714057 meters 0.03390877396218803 Centerline is valid? [True, True] Translation: X:507.85, Y:-66.00, Z:-33.34 [[ 9.96007433e-01 7.26877740e-02 5.18235609e-02 5.07847147e+02] [-7.24449677e-02 9.97350897e-01 -6.55088714e-03 -6.59993152e+01] [-5.21624444e-02 2.77037609e-03 9.98634770e-01 -3.33409547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.520714057 meters 0.032423368361447165 Centerline is valid? [True, True] Translation: X:507.91, Y:-66.00, Z:-33.34 [[ 9.95894784e-01 7.46073633e-02 5.12573951e-02 5.07905964e+02] [-7.43724987e-02 9.97209497e-01 -6.47687388e-03 -6.60026603e+01] [-5.15975837e-02 2.63814437e-03 9.98664473e-01 -3.33439270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.580714057 meters 0.030563036902164116 Centerline is valid? [True, True] Translation: X:507.97, Y:-66.01, Z:-33.35 [[ 9.95416786e-01 8.01928655e-02 5.21011196e-02 5.07965892e+02] [-7.99580656e-02 9.96776518e-01 -6.57883330e-03 -6.60061023e+01] [-5.24607481e-02 2.38277635e-03 9.98620144e-01 -3.33471427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.640714057 meters 0.029373677755566346 Centerline is valid? [True, True] Translation: X:508.03, Y:-66.01, Z:-33.35 [[ 9.94877187e-01 8.55563419e-02 5.38469612e-02 5.08025937e+02] [-8.53133662e-02 9.96330970e-01 -6.79910825e-03 -6.60123371e+01] [-5.42311019e-02 2.17041217e-03 9.98526052e-01 -3.33508727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.700714057 meters 0.027987103106650774 Centerline is valid? [True, True] Translation: X:508.09, Y:-66.02, Z:-33.36 [[ 9.94463034e-01 9.02383068e-02 5.38546310e-02 5.08085693e+02] [-9.00021157e-02 9.95918360e-01 -6.79996199e-03 -6.60184047e+01] [-5.42484328e-02 1.91528011e-03 9.98525633e-01 -3.33550547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.760714057 meters 0.02768321313043927 Centerline is valid? [True, True] Translation: X:508.14, Y:-66.03, Z:-33.36 [[ 9.94444306e-01 9.16601778e-02 5.17584132e-02 5.08143769e+02] [-9.14439669e-02 9.95788780e-01 -6.53505989e-03 -6.60280136e+01] [-5.21394519e-02 1.76575847e-03 9.98638253e-01 -3.33610694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.820714057 meters 0.027308297861201602 Centerline is valid? [True, True] Translation: X:508.20, Y:-66.04, Z:-33.36 [[ 9.94750076e-01 8.90050996e-02 5.05012802e-02 5.08202267e+02] [-8.87960278e-02 9.96029443e-01 -6.37299325e-03 -6.60376828e+01] [-5.08679908e-02 1.85522244e-03 9.98703663e-01 -3.33642514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.880714057 meters 0.028763254743379107 Centerline is valid? [True, True] Translation: X:508.26, Y:-66.05, Z:-33.37 [[ 9.95153636e-01 8.44531776e-02 5.03676711e-02 5.08260656e+02] [-8.42396329e-02 9.96425283e-01 -6.35138289e-03 -6.60533522e+01] [-5.07240153e-02 2.07764766e-03 9.98710548e-01 -3.33678624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.940714057 meters 0.029275745538912663 Centerline is valid? [True, True] Translation: X:508.32, Y:-66.07, Z:-33.37 [[ 9.95619587e-01 7.85702022e-02 5.06790114e-02 5.08319621e+02] [-7.83464534e-02 9.96905716e-01 -6.38963099e-03 -6.60669651e+01] [-5.10242308e-02 2.39112096e-03 9.98694553e-01 -3.33704479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.000714057 meters 0.034230211984090896 Centerline is valid? [True, True] Translation: X:508.38, Y:-66.09, Z:-33.37 [[ 9.95959497e-01 7.29950152e-02 5.23106895e-02 5.08377192e+02] [-7.27489786e-02 9.97328480e-01 -6.59466341e-03 -6.60873640e+01] [-5.26523180e-02 2.76246842e-03 9.98609084e-01 -3.33739688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.060714057 meters 0.03766178211642072 Centerline is valid? [True, True] Translation: X:508.44, Y:-66.10, Z:-33.38 [[ 9.96280578e-01 6.79480719e-02 5.29912269e-02 5.08435186e+02] [-6.76884989e-02 9.97684141e-01 -6.67991702e-03 -6.61045080e+01] [-5.33223942e-02 3.06817498e-03 9.98572636e-01 -3.33771839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.120714057 meters 0.03517038105791802 Centerline is valid? [True, True] Translation: X:508.50, Y:-66.11, Z:-33.38 [[ 9.96674373e-01 6.34138959e-02 5.11749250e-02 5.08495471e+02] [-6.31658724e-02 9.97982192e-01 -6.45106395e-03 -6.61121567e+01] [-5.14807509e-02 3.19710133e-03 9.98668869e-01 -3.33799008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.180714057 meters 0.03761204986249992 Centerline is valid? [True, True] Translation: X:508.55, Y:-66.13, Z:-33.39 [[ 9.97099768e-01 5.97416050e-02 4.71486399e-02 5.08553989e+02] [-5.95270246e-02 9.98209001e-01 -5.94344556e-03 -6.61277053e+01] [-4.74192677e-02 3.11958994e-03 9.98870202e-01 -3.33860354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.240714057 meters 0.037200051341475804 Centerline is valid? [True, True] Translation: X:508.61, Y:-66.14, Z:-33.39 [[ 9.97159960e-01 5.95026611e-02 4.61676114e-02 5.08612376e+02] [-5.92966133e-02 9.98223436e-01 -5.82101267e-03 -6.61356679e+01] [-4.64319574e-02 3.06689776e-03 9.98916747e-01 -3.33901019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.300714057 meters 0.03606918559835943 Centerline is valid? [True, True] Translation: X:508.67, Y:-66.14, Z:-33.39 [[ 9.97182564e-01 6.09221664e-02 4.37655634e-02 5.08670793e+02] [-6.07385095e-02 9.98138475e-01 -5.51519640e-03 -6.61435292e+01] [-4.40200904e-02 2.84140260e-03 9.99026605e-01 -3.33939764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.360714057 meters 0.03566164748608797 Centerline is valid? [True, True] Translation: X:508.73, Y:-66.15, Z:-33.40 [[ 9.96701425e-01 6.82579062e-02 4.38990600e-02 5.08729711e+02] [-6.80804016e-02 9.97664525e-01 -5.52764273e-03 -6.61509017e+01] [-4.41738402e-02 2.52074375e-03 9.99020679e-01 -3.33966027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.420714057 meters 0.030552464205894372 Centerline is valid? [True, True] Translation: X:508.79, Y:-66.15, Z:-33.40 [[ 9.95936341e-01 7.85052018e-02 4.41331879e-02 5.08790668e+02] [-7.83358621e-02 9.96911542e-01 -5.55613520e-03 -6.61484967e+01] [-4.44330699e-02 2.07634564e-03 9.99010206e-01 -3.33968918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.480714057 meters 0.02823362712098702 Centerline is valid? [True, True] Translation: X:508.85, Y:-66.15, Z:-33.40 [[ 9.95313499e-01 8.64270990e-02 4.33750477e-02 5.08851693e+02] [-8.62710407e-02 9.96256739e-01 -5.46047695e-03 -6.61505167e+01] [-4.36846168e-02 1.69287591e-03 9.99043937e-01 -3.33996508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5407140570001 meters 0.028099271658363338 Centerline is valid? [True, True] Translation: X:508.91, Y:-66.16, Z:-33.40 [[ 9.95047958e-01 8.95218423e-02 4.31902863e-02 5.08909773e+02] [-8.93699848e-02 9.95983651e-01 -5.43803799e-03 -6.61596500e+01] [-4.35036422e-02 1.55119337e-03 9.99052064e-01 -3.34036599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.600714057 meters 0.02830884812743306 Centerline is valid? [True, True] Translation: X:508.97, Y:-66.17, Z:-33.41 [[ 9.95194462e-01 8.79078608e-02 4.31299333e-02 5.08967468e+02] [-8.77548832e-02 9.96127293e-01 -5.43116066e-03 -6.61725099e+01] [-4.34403454e-02 1.62019875e-03 9.99054709e-01 -3.34065941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.660714057 meters 0.02918534496916839 Centerline is valid? [True, True] Translation: X:509.03, Y:-66.19, Z:-33.41 [[ 9.95545302e-01 8.36724130e-02 4.34566390e-02 5.09025230e+02] [-8.35137276e-02 9.96491682e-01 -5.45749669e-03 -6.61881619e+01] [-4.37608212e-02 1.80395928e-03 9.99040408e-01 -3.34102925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.720714057 meters 0.030097579741868673 Centerline is valid? [True, True] Translation: X:509.08, Y:-66.20, Z:-33.41 [[ 9.95767734e-01 8.02322695e-02 4.48263618e-02 5.09082910e+02] [-8.00601253e-02 9.96774163e-01 -5.62534440e-03 -6.62017769e+01] [-4.51330934e-02 2.01273231e-03 9.98978955e-01 -3.34136631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.780714057 meters 0.03185035526677265 Centerline is valid? [True, True] Translation: X:509.14, Y:-66.22, Z:-33.42 [[ 9.96172592e-01 7.37993957e-02 4.68381860e-02 5.09140903e+02] [-7.36045160e-02 9.97270209e-01 -5.87420636e-03 -6.62219116e+01] [-4.71438404e-02 2.40422136e-03 9.98885218e-01 -3.34169781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.840714057 meters 0.032675228550369306 Centerline is valid? [True, True] Translation: X:509.20, Y:-66.23, Z:-33.42 [[ 9.96359757e-01 7.10983427e-02 4.70346796e-02 5.09198918e+02] [-7.08987720e-02 9.97466067e-01 -5.89992473e-03 -6.62341555e+01] [-4.73349717e-02 2.54374655e-03 9.98875833e-01 -3.34204124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.900714057 meters 0.032311241467507267 Centerline is valid? [True, True] Translation: X:509.26, Y:-66.25, Z:-33.42 [[ 9.96588412e-01 6.63140826e-02 4.91322758e-02 5.09258193e+02] [-6.60907452e-02 9.97794613e-01 -6.15814446e-03 -6.62461166e+01] [-4.94322918e-02 2.88994669e-03 9.98773296e-01 -3.34230556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.960714057 meters 0.0348222460457449 Centerline is valid? [True, True] Translation: X:509.32, Y:-66.26, Z:-33.43 [[ 9.96737886e-01 6.24990447e-02 5.10632626e-02 5.09316143e+02] [-6.22528537e-02 9.98039895e-01 -6.39916550e-03 -6.62611234e+01] [-5.13631150e-02 3.19945687e-03 9.98674919e-01 -3.34273722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.020714057 meters 0.03592744357567187 Centerline is valid? [True, True] Translation: X:509.38, Y:-66.27, Z:-33.43 [[ 9.96978482e-01 5.86828331e-02 5.08943244e-02 5.09375574e+02] [-5.84333649e-02 9.98270942e-01 -6.37712927e-03 -6.62723116e+01] [-5.11805532e-02 3.38393403e-03 9.98683684e-01 -3.34321214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.080714057 meters 0.038523633379734246 Centerline is valid? [True, True] Translation: X:509.43, Y:-66.29, Z:-33.44 [[ 9.97275192e-01 5.48289412e-02 4.93556321e-02 5.09434387e+02] [-5.45897176e-02 9.98489726e-01 -6.18295045e-03 -6.62852196e+01] [-4.96200962e-02 3.47179308e-03 9.98762130e-01 -3.34387117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.140714057 meters 0.03771204612505162 Centerline is valid? [True, True] Translation: X:509.49, Y:-66.29, Z:-33.44 [[ 9.97476279e-01 5.22069486e-02 4.81197227e-02 5.09493775e+02] [-5.19765345e-02 9.98630113e-01 -6.02810550e-03 -6.62904169e+01] [-4.83685131e-02 3.51179582e-03 9.98823385e-01 -3.34429106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.200714057 meters 0.039943043596810515 Centerline is valid? [True, True] Translation: X:509.55, Y:-66.30, Z:-33.45 [[ 9.97537603e-01 5.10698397e-02 4.80687272e-02 5.09551901e+02] [-5.08386308e-02 9.98688730e-01 -6.02111663e-03 -6.62993648e+01] [-4.83131936e-02 3.56254198e-03 9.98825883e-01 -3.34472376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.260714057 meters 0.03902425407984981 Centerline is valid? [True, True] Translation: X:509.61, Y:-66.30, Z:-33.45 [[ 9.97517096e-01 5.08145816e-02 4.87598403e-02 5.09611226e+02] [-5.05764554e-02 9.98701527e-01 -6.10587395e-03 -6.63022925e+01] [-4.90067944e-02 3.62461377e-03 9.98791868e-01 -3.34503145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.320714057 meters 0.039887318721778676 Centerline is valid? [True, True] Translation: X:509.67, Y:-66.31, Z:-33.45 [[ 9.97466810e-01 5.08951941e-02 4.96955026e-02 5.09670196e+02] [-5.06480247e-02 9.98697189e-01 -6.22115935e-03 -6.63068135e+01] [-4.99473859e-02 3.68842093e-03 9.98745040e-01 -3.34540206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.380714057 meters 0.03860331618723551 Centerline is valid? [True, True] Translation: X:509.73, Y:-66.31, Z:-33.46 [[ 9.97387780e-01 5.24131081e-02 4.97039388e-02 5.09730658e+02] [-5.21678455e-02 9.98618961e-01 -6.21986742e-03 -6.63081705e+01] [-4.99612983e-02 3.61067236e-03 9.98744628e-01 -3.34575377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.440714057 meters 0.03842158656511554 Centerline is valid? [True, True] Translation: X:509.79, Y:-66.31, Z:-33.46 [[ 9.97261064e-01 5.47196562e-02 4.97607163e-02 5.09790555e+02] [-5.44766630e-02 9.98495624e-01 -6.22745154e-03 -6.63130943e+01] [-5.00266215e-02 3.49959718e-03 9.98741753e-01 -3.34613275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.500714057 meters 0.036518134670518884 Centerline is valid? [True, True] Translation: X:509.85, Y:-66.31, Z:-33.47 [[ 9.96855507e-01 6.13955453e-02 5.00967631e-02 5.09851128e+02] [-6.11577407e-02 9.98108436e-01 -6.26749368e-03 -6.63134650e+01] [-5.03867980e-02 3.18398075e-03 9.98724703e-01 -3.34651060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.560714057 meters 0.03576616013152647 Centerline is valid? [True, True] Translation: X:509.91, Y:-66.32, Z:-33.47 [[ 9.96415178e-01 6.89088422e-02 4.90750925e-02 5.09910318e+02] [-6.86897373e-02 9.97619180e-01 -6.13928384e-03 -6.63170787e+01] [-4.93813045e-02 2.74632039e-03 9.98776223e-01 -3.34704575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.620714057 meters 0.030727965316624327 Centerline is valid? [True, True] Translation: X:509.97, Y:-66.31, Z:-33.47 [[ 9.95668090e-01 7.86945885e-02 4.95198636e-02 5.09972123e+02] [-7.84835827e-02 9.96896163e-01 -6.19417001e-03 -6.63129740e+01] [-4.98536097e-02 2.28084111e-03 9.98753931e-01 -3.34730826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.680714057 meters 0.029310861451609622 Centerline is valid? [True, True] Translation: X:510.03, Y:-66.32, Z:-33.48 [[ 9.94660906e-01 8.94538778e-02 5.14556742e-02 5.10031272e+02] [-8.92403884e-02 9.95989321e-01 -6.43624731e-03 -6.63154012e+01] [-5.18250493e-02 1.80995923e-03 9.98654539e-01 -3.34761933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.740714057 meters 0.02674181070330768 Centerline is valid? [True, True] Translation: X:510.09, Y:-66.32, Z:-33.48 [[ 9.94033109e-01 9.58437931e-02 5.20782560e-02 5.10091702e+02] [-9.56339708e-02 9.95395268e-01 -6.51182970e-03 -6.63168083e+01] [-5.24625680e-02 1.49252391e-03 9.98621776e-01 -3.34786440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.800714057 meters 0.026629016156898513 Centerline is valid? [True, True] Translation: X:510.15, Y:-66.33, Z:-33.48 [[ 9.94087057e-01 9.56742309e-02 5.13552785e-02 5.10149046e+02] [-9.54699846e-02 9.95411598e-01 -6.42121161e-03 -6.63270476e+01] [-5.17339843e-02 1.48035571e-03 9.98659804e-01 -3.34841659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.860714057 meters 0.028491691143988352 Centerline is valid? [True, True] Translation: X:510.21, Y:-66.34, Z:-33.49 [[ 9.94603717e-01 8.95999418e-02 5.23000626e-02 5.10206852e+02] [-8.93799525e-02 9.95976164e-01 -6.53485519e-03 -6.63435676e+01] [-5.26751384e-02 1.82501415e-03 9.98610034e-01 -3.34891499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.920714057 meters 0.029276935486336985 Centerline is valid? [True, True] Translation: X:510.27, Y:-66.36, Z:-33.49 [[ 9.95221277e-01 8.19107034e-02 5.31530517e-02 5.10266253e+02] [-8.16725838e-02 9.96637093e-01 -6.64030065e-03 -6.63584015e+01] [-5.35182146e-02 2.26742143e-03 9.98564299e-01 -3.34918654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.980714057 meters 0.03205383103769025 Centerline is valid? [True, True] Translation: X:510.32, Y:-66.38, Z:-33.50 [[ 9.95690147e-01 7.51132638e-02 5.43978772e-02 5.10323536e+02] [-7.48537230e-02 9.97171368e-01 -6.79588029e-03 -6.63773028e+01] [-5.47544664e-02 2.69470741e-03 9.98496213e-01 -3.34952402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0407140570001 meters 0.03461892461774137 Centerline is valid? [True, True] Translation: X:510.38, Y:-66.40, Z:-33.50 [[ 9.96434298e-01 6.54693769e-02 5.32207724e-02 5.10382022e+02] [-6.52073050e-02 9.97849596e-01 -6.64770717e-03 -6.63959022e+01] [-5.35415474e-02 3.15362029e-03 9.98560643e-01 -3.35002304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.100714057 meters 0.03783126871498509 Centerline is valid? [True, True] Translation: X:510.44, Y:-66.41, Z:-33.50 [[ 9.96798417e-01 5.95337752e-02 5.33726987e-02 5.10440618e+02] [-5.92617533e-02 9.98220219e-01 -6.66625984e-03 -6.64117866e+01] [-5.36745746e-02 3.48195755e-03 9.98552410e-01 -3.35043197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.160714057 meters 0.05855708174735926 Centerline is valid? [True, True] Translation: X:510.50, Y:-66.45, Z:-33.51 [[ 9.96698823e-01 5.99559538e-02 5.47424863e-02 5.10495553e+02] [-5.96703920e-02 9.98194716e-01 -6.83759223e-03 -6.64490450e+01] [-5.50536150e-02 3.54851451e-03 9.98477094e-01 -3.35116183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.220714057 meters 0.037650544211127554 Centerline is valid? [True, True] Translation: X:510.56, Y:-66.43, Z:-33.51 [[ 9.96994462e-01 5.61577392e-02 5.33699497e-02 5.10559354e+02] [-5.58809759e-02 9.98415191e-01 -6.66510756e-03 -6.64270986e+01] [-5.36596659e-02 3.66271046e-03 9.98552565e-01 -3.35106273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.280714057 meters 0.03921762368616936 Centerline is valid? [True, True] Translation: X:510.62, Y:-66.44, Z:-33.51 [[ 9.97051361e-01 5.58745636e-02 5.25986342e-02 5.10619217e+02] [-5.56053759e-02 9.98431218e-01 -6.56847675e-03 -6.64364969e+01] [-5.28831292e-02 3.62434187e-03 9.98594131e-01 -3.35149910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.340714057 meters 0.036536513663624065 Centerline is valid? [True, True] Translation: X:510.68, Y:-66.44, Z:-33.52 [[ 9.97127468e-01 5.73313387e-02 4.94967662e-02 5.10679446e+02] [-5.70947685e-02 9.98349627e-01 -6.18138660e-03 -6.64384164e+01] [-4.97694652e-02 3.33762396e-03 9.98755156e-01 -3.35200705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.400714057 meters 0.03550709646650375 Centerline is valid? [True, True] Translation: X:510.74, Y:-66.44, Z:-33.52 [[ 9.97068564e-01 6.01767615e-02 4.72550081e-02 5.10739224e+02] [-5.99643583e-02 9.98183077e-01 -5.90092654e-03 -6.64402735e+01] [-4.75242480e-02 3.05001212e-03 9.98865428e-01 -3.35248030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.460714057 meters 0.034396160467033976 Centerline is valid? [True, True] Translation: X:510.80, Y:-66.44, Z:-33.53 [[ 9.96657675e-01 6.57332474e-02 4.85038068e-02 5.10800018e+02] [-6.55160940e-02 9.97833141e-01 -6.05508859e-03 -6.64408083e+01] [-4.87967266e-02 2.85707055e-03 9.98804644e-01 -3.35275409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.520714057 meters 0.03348453790775726 Centerline is valid? [True, True] Translation: X:510.86, Y:-66.44, Z:-33.53 [[ 9.96219500e-01 7.01494880e-02 5.12421417e-02 5.10861030e+02] [-6.99130545e-02 9.97532595e-01 -6.39420276e-03 -6.64430993e+01] [-5.15642567e-02 2.78753483e-03 9.98665789e-01 -3.35291528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.580714057 meters 0.03246541704422097 Centerline is valid? [True, True] Translation: X:510.92, Y:-66.45, Z:-33.53 [[ 9.96057420e-01 7.16663504e-02 5.22833582e-02 5.10920527e+02] [-7.14222596e-02 9.97424830e-01 -6.52455590e-03 -6.64453525e+01] [-5.26163107e-02 2.76463674e-03 9.98610976e-01 -3.35318280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.640714057 meters 0.035659641985142876 Centerline is valid? [True, True] Translation: X:510.98, Y:-66.46, Z:-33.54 [[ 9.96232795e-01 7.02557080e-02 5.08365406e-02 5.10977871e+02] [-7.00232608e-02 9.97525203e-01 -6.34131705e-03 -6.64567405e+01] [-5.11562442e-02 2.75768767e-03 9.98686855e-01 -3.35389027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.700714057 meters 0.0382195501485278 Centerline is valid? [True, True] Translation: X:511.04, Y:-66.47, Z:-33.55 [[ 9.96505754e-01 6.75805872e-02 4.90830534e-02 5.11035967e+02] [-6.73608383e-02 9.97709913e-01 -6.11939905e-03 -6.64654253e+01] [-4.93842015e-02 2.79174074e-03 9.98775954e-01 -3.35452643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.760714057 meters 0.04046718123009887 Centerline is valid? [True, True] Translation: X:511.10, Y:-66.47, Z:-33.55 [[ 9.96676131e-01 6.43776879e-02 4.99219637e-02 5.11095007e+02] [-6.41463700e-02 9.97921094e-01 -6.22364956e-03 -6.64748809e+01] [-5.02188448e-02 3.00065022e-03 9.98733730e-01 -3.35491014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.820714057 meters 0.04298969244005386 Centerline is valid? [True, True] Translation: X:511.15, Y:-66.48, Z:-33.55 [[ 9.96815840e-01 6.17392192e-02 5.04623669e-02 5.11152347e+02] [-6.14995041e-02 9.98087289e-01 -6.29082971e-03 -6.64843982e+01] [-5.07542379e-02 3.16738816e-03 9.98706150e-01 -3.35536161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.880714057 meters 0.03779185052113831 Centerline is valid? [True, True] Translation: X:511.21, Y:-66.48, Z:-33.56 [[ 9.97066475e-01 5.69551950e-02 5.11326728e-02 5.11213745e+02] [-5.67030185e-02 9.98370767e-01 -6.37015222e-03 -6.64828800e+01] [-5.14121790e-02 3.45208832e-03 9.98671553e-01 -3.35555126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.940714057 meters 0.03973152731228842 Centerline is valid? [True, True] Translation: X:511.27, Y:-66.49, Z:-33.56 [[ 9.97383454e-01 5.19796624e-02 5.02430140e-02 5.11273629e+02] [-5.17299294e-02 9.98641497e-01 -6.25902289e-03 -6.64916327e+01] [-5.05001006e-02 3.64357829e-03 9.98717410e-01 -3.35604531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.000714057 meters 0.039485995963867516 Centerline is valid? [True, True] Translation: X:511.33, Y:-66.49, Z:-33.56 [[ 9.97516986e-01 4.93577881e-02 5.02361620e-02 5.11334041e+02] [-4.91048149e-02 9.98774024e-01 -6.25823476e-03 -6.64949922e+01] [-5.04834663e-02 3.77585804e-03 9.98717759e-01 -3.35635880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.060714057 meters 0.041393389356401425 Centerline is valid? [True, True] Translation: X:511.39, Y:-66.50, Z:-33.57 [[ 9.97520795e-01 4.90224542e-02 5.04882380e-02 5.11393112e+02] [-4.87664936e-02 9.98790402e-01 -6.28988568e-03 -6.65018352e+01] [-5.07355132e-02 3.81215742e-03 9.98704849e-01 -3.35681879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.120714057 meters 0.04072570880006821 Centerline is valid? [True, True] Translation: X:511.45, Y:-66.50, Z:-33.57 [[ 9.97443994e-01 5.09907580e-02 5.00541826e-02 5.11453859e+02] [-5.07417053e-02 9.98692349e-01 -6.23465737e-03 -6.65024228e+01] [-5.03066391e-02 3.67888697e-03 9.98727044e-01 -3.35710936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.180714057 meters 0.037699794118570225 Centerline is valid? [True, True] Translation: X:511.51, Y:-66.50, Z:-33.57 [[ 9.97168074e-01 5.61034967e-02 5.00822295e-02 5.11514567e+02] [-5.58605521e-02 9.98419090e-01 -6.23859827e-03 -6.64979516e+01] [-5.03530611e-02 3.42331003e-03 9.98725613e-01 -3.35734506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.240714057 meters 0.03623537560528904 Centerline is valid? [True, True] Translation: X:511.58, Y:-66.50, Z:-33.58 [[ 9.96727987e-01 6.32298011e-02 5.03518845e-02 5.11575473e+02] [-6.29933818e-02 9.97994248e-01 -6.27009694e-03 -6.64974955e+01] [-5.06473481e-02 3.07774562e-03 9.98711857e-01 -3.35778640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.300714057 meters 0.03260747137912898 Centerline is valid? [True, True] Translation: X:511.64, Y:-66.49, Z:-33.58 [[ 9.96127711e-01 7.13185603e-02 5.14125178e-02 5.11636177e+02] [-7.10827673e-02 9.97449872e-01 -6.40261482e-03 -6.64941108e+01] [-5.17380345e-02 2.72327801e-03 9.98656978e-01 -3.35809106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.360714057 meters 0.030670529353355944 Centerline is valid? [True, True] Translation: X:511.70, Y:-66.49, Z:-33.59 [[ 9.95605081e-01 7.76209246e-02 5.23976637e-02 5.11696804e+02] [-7.73847561e-02 9.96979957e-01 -6.52414257e-03 -6.64946041e+01] [-5.27458305e-02 2.44068906e-03 9.98604987e-01 -3.35850422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.420714057 meters 0.029607653781873623 Centerline is valid? [True, True] Translation: X:511.76, Y:-66.50, Z:-33.59 [[ 9.95428025e-01 8.06719020e-02 5.11379644e-02 5.11756820e+02] [-8.04509758e-02 9.96738229e-01 -6.36734050e-03 -6.64979837e+01] [-5.14848295e-02 2.22413005e-03 9.98671300e-01 -3.35906976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.480714057 meters 0.02867143037127707 Centerline is valid? [True, True] Translation: X:511.81, Y:-66.50, Z:-33.60 [[ 9.95406373e-01 8.14704478e-02 5.02863753e-02 5.11814790e+02] [-8.12578480e-02 9.96673447e-01 -6.26118651e-03 -6.65034067e+01] [-5.06291966e-02 2.14626232e-03 9.98715214e-01 -3.35952845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5407140570001 meters 0.030977933893616798 Centerline is valid? [True, True] Translation: X:511.87, Y:-66.52, Z:-33.60 [[ 9.95603397e-01 7.95777728e-02 4.94090411e-02 5.11872180e+02] [-7.93703851e-02 9.96826233e-01 -6.14839747e-03 -6.65150261e+01] [-4.97415041e-02 2.19975079e-03 9.98759703e-01 -3.36015030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.600714057 meters 0.031889179163409 Centerline is valid? [True, True] Translation: X:511.93, Y:-66.53, Z:-33.60 [[ 9.95775463e-01 7.61758307e-02 5.12686080e-02 5.11930568e+02] [-7.59482426e-02 9.97091378e-01 -6.37558931e-03 -6.65260523e+01] [-5.16051529e-02 2.45489472e-03 9.98664549e-01 -3.36036928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.660714057 meters 0.03166746227332377 Centerline is valid? [True, True] Translation: X:511.99, Y:-66.53, Z:-33.60 [[ 9.95816700e-01 7.29051364e-02 5.50812147e-02 5.11989921e+02] [-7.26375952e-02 9.97334902e-01 -6.84637654e-03 -6.65341333e+01] [-5.54335539e-02 2.81676911e-03 9.98458405e-01 -3.36026932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.720714057 meters 0.03265447245046768 Centerline is valid? [True, True] Translation: X:512.05, Y:-66.54, Z:-33.61 [[ 9.96147740e-01 6.76441382e-02 5.58027854e-02 5.12049385e+02] [-6.73614365e-02 9.97704546e-01 -6.93372939e-03 -6.65446744e+01] [-5.61437188e-02 3.14806308e-03 9.98417735e-01 -3.36061350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.780714057 meters 0.040321959478450194 Centerline is valid? [True, True] Translation: X:512.11, Y:-66.57, Z:-33.62 [[ 9.96638471e-01 6.18625838e-02 5.37101367e-02 5.12105563e+02] [-6.15923774e-02 9.98079079e-01 -6.67318674e-03 -6.65683168e+01] [-5.40197843e-02 3.34261962e-03 9.98534271e-01 -3.36153700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.840714057 meters 0.037731062019278956 Centerline is valid? [True, True] Translation: X:512.17, Y:-66.57, Z:-33.62 [[ 9.97062523e-01 5.67014057e-02 5.14905472e-02 5.12165703e+02] [-5.64461570e-02 9.98385138e-01 -6.39909723e-03 -6.65735844e+01] [-5.17702349e-02 3.47385652e-03 9.98652980e-01 -3.36194979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.900714057 meters 0.03698236852129367 Centerline is valid? [True, True] Translation: X:512.22, Y:-66.58, Z:-33.62 [[ 9.97149118e-01 5.68421332e-02 4.96246844e-02 5.12223953e+02] [-5.66051847e-02 9.98377586e-01 -6.16833658e-03 -6.65797997e+01] [-4.98947940e-02 3.34173696e-03 9.98748889e-01 -3.36241315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.960714057 meters 0.03574912727419016 Centerline is valid? [True, True] Translation: X:512.28, Y:-66.58, Z:-33.63 [[ 9.96822655e-01 6.21503612e-02 4.98189439e-02 5.12283787e+02] [-6.19183664e-02 9.98062034e-01 -6.18811826e-03 -6.65834851e+01] [-5.01069903e-02 3.08374885e-03 9.98739095e-01 -3.36281097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.020714057 meters 0.03351940315910212 Centerline is valid? [True, True] Translation: X:512.34, Y:-66.58, Z:-33.63 [[ 9.96279843e-01 6.99303953e-02 5.03608455e-02 5.12344177e+02] [-6.97032886e-02 9.97548164e-01 -6.25398582e-03 -6.65833918e+01] [-5.06747126e-02 2.72040347e-03 9.98711506e-01 -3.36302615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.080714057 meters 0.03230756637818833 Centerline is valid? [True, True] Translation: X:512.40, Y:-66.59, Z:-33.63 [[ 9.95864632e-01 7.46433379e-02 5.17881054e-02 5.12404804e+02] [-7.44095679e-02 9.97207034e-01 -6.43013924e-03 -6.65871304e+01] [-5.21234300e-02 2.55001770e-03 9.98637394e-01 -3.36328723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.140714057 meters 0.031167111590140427 Centerline is valid? [True, True] Translation: X:512.46, Y:-66.59, Z:-33.64 [[ 9.95511144e-01 7.87245023e-02 5.25358466e-02 5.12464247e+02] [-7.84895803e-02 9.96893592e-01 -6.52316490e-03 -6.65921782e+01] [-5.28861818e-02 2.37036680e-03 9.98597733e-01 -3.36361057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.200714057 meters 0.028908825104791966 Centerline is valid? [True, True] Translation: X:512.52, Y:-66.60, Z:-33.64 [[ 9.95509890e-01 7.99802459e-02 5.06282518e-02 5.12522839e+02] [-7.97637706e-02 9.96793980e-01 -6.28512998e-03 -6.65958910e+01] [-5.09686228e-02 2.21860879e-03 9.98697791e-01 -3.36401234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.260714057 meters 0.03298135772746254 Centerline is valid? [True, True] Translation: X:512.58, Y:-66.61, Z:-33.65 [[ 9.95719176e-01 7.91299155e-02 4.77679634e-02 5.12578470e+02] [-7.89363967e-02 9.96862034e-01 -5.92708131e-03 -6.66117189e+01] [-4.80870786e-02 2.13107762e-03 9.98840874e-01 -3.36472553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.320714057 meters 0.03457992147159597 Centerline is valid? [True, True] Translation: X:512.63, Y:-66.62, Z:-33.65 [[ 9.95879163e-01 7.78051349e-02 4.65945759e-02 5.12634758e+02] [-7.76197653e-02 9.96966296e-01 -5.77728922e-03 -6.66246375e+01] [-4.69027246e-02 2.13682190e-03 9.98897176e-01 -3.36529687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.380714057 meters 0.031921409079646 Centerline is valid? [True, True] Translation: X:512.69, Y:-66.63, Z:-33.65 [[ 9.95844775e-01 7.73206395e-02 4.81113519e-02 5.12693418e+02] [-7.71226417e-02 9.97003794e-01 -5.96098565e-03 -6.66274624e+01] [-4.84281075e-02 2.22574186e-03 9.98824191e-01 -3.36517180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.440714057 meters 0.030682774010375866 Centerline is valid? [True, True] Translation: X:512.75, Y:-66.63, Z:-33.65 [[ 9.95676453e-01 7.74874965e-02 5.12258698e-02 5.12752321e+02] [-7.72634264e-02 9.96990536e-01 -6.34301268e-03 -6.66335041e+01] [-5.15632116e-02 2.35770214e-03 9.98666950e-01 -3.36515460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.500714057 meters 0.030185996646535068 Centerline is valid? [True, True] Translation: X:512.81, Y:-66.64, Z:-33.65 [[ 9.95654109e-01 7.58880716e-02 5.39805228e-02 5.12810715e+02] [-7.56371070e-02 9.97113036e-01 -6.67998592e-03 -6.66420646e+01] [-5.43316142e-02 2.56802484e-03 9.98519645e-01 -3.36528307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.560714057 meters 0.03606725662366428 Centerline is valid? [True, True] Translation: X:512.87, Y:-66.66, Z:-33.66 [[ 9.95842873e-01 7.28228462e-02 5.47156809e-02 5.12866689e+02] [-7.25605994e-02 9.97341049e-01 -6.76694456e-03 -6.66622684e+01] [-5.50629828e-02 2.76861090e-03 9.98479045e-01 -3.36577308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.620714057 meters 0.03504719933390973 Centerline is valid? [True, True] Translation: X:512.93, Y:-66.67, Z:-33.66 [[ 9.96148662e-01 6.98727553e-02 5.29683073e-02 5.12926443e+02] [-6.96231124e-02 9.97551890e-01 -6.54596766e-03 -6.66717616e+01] [-5.32960198e-02 2.83293852e-03 9.98574739e-01 -3.36636491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.680714057 meters 0.034142420688782316 Centerline is valid? [True, True] Translation: X:512.98, Y:-66.68, Z:-33.67 [[ 9.96377906e-01 6.89327340e-02 4.97930460e-02 5.12984523e+02] [-6.87109449e-02 9.97617627e-01 -6.15433548e-03 -6.66808342e+01] [-5.00986556e-02 2.71071665e-03 9.98740595e-01 -3.36706347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.740714057 meters 0.03312104685992692 Centerline is valid? [True, True] Translation: X:513.04, Y:-66.69, Z:-33.68 [[ 9.96580444e-01 6.83857181e-02 4.63768600e-02 5.13042707e+02] [-6.81928432e-02 9.97655703e-01 -5.73017852e-03 -6.66876993e+01] [-4.66600012e-02 2.54801391e-03 9.98907579e-01 -3.36761654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.800714057 meters 0.03512086547511856 Centerline is valid? [True, True] Translation: X:513.10, Y:-66.70, Z:-33.68 [[ 9.96864036e-01 6.53209541e-02 4.46684062e-02 5.13102080e+02] [-6.51391757e-02 9.97860951e-01 -5.51458638e-03 -6.66995374e+01] [-4.49330764e-02 2.58762967e-03 9.98986648e-01 -3.36813356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.860714057 meters 0.03596690438986762 Centerline is valid? [True, True] Translation: X:513.16, Y:-66.71, Z:-33.68 [[ 9.97128107e-01 6.04736440e-02 4.55903158e-02 5.13161418e+02] [-6.02792282e-02 9.98165685e-01 -5.62846881e-03 -6.67104419e+01] [-4.58470629e-02 2.86415539e-03 9.98944365e-01 -3.36839234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.920714057 meters 0.04067043915503573 Centerline is valid? [True, True] Translation: X:513.22, Y:-66.73, Z:-33.69 [[ 9.97164178e-01 5.77094137e-02 4.83034852e-02 5.13217911e+02] [-5.74878845e-02 9.98328389e-01 -5.96410228e-03 -6.67257803e+01] [-4.85669254e-02 3.17032397e-03 9.98814899e-01 -3.36862162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.980714057 meters 0.038829484119190676 Centerline is valid? [True, True] Translation: X:513.28, Y:-66.73, Z:-33.69 [[ 9.97201150e-01 5.60543704e-02 4.94749744e-02 5.13277691e+02] [-5.58200900e-02 9.98422176e-01 -6.10547893e-03 -6.67302831e+01] [-4.97391504e-02 3.32669309e-03 9.98756702e-01 -3.36873454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0407140570001 meters 0.03687964699186843 Centerline is valid? [True, True] Translation: X:513.34, Y:-66.74, Z:-33.69 [[ 9.97250407e-01 5.54580800e-02 4.91531034e-02 5.13336257e+02] [-5.52261790e-02 9.98455452e-01 -6.06457886e-03 -6.67350544e+01] [-4.94135140e-02 3.33336565e-03 9.98772844e-01 -3.36910833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.100714057 meters 0.03734222174278582 Centerline is valid? [True, True] Translation: X:513.39, Y:-66.74, Z:-33.70 [[ 9.97285987e-01 5.59723373e-02 4.78305091e-02 5.13394365e+02] [-5.57535130e-02 9.98427143e-01 -5.89798338e-03 -6.67434380e+01] [-4.80854025e-02 3.21525727e-03 9.98838053e-01 -3.36957400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.160714057 meters 0.03602317206670462 Centerline is valid? [True, True] Translation: X:513.45, Y:-66.75, Z:-33.70 [[ 9.97315567e-01 5.78217284e-02 4.49255702e-02 5.13452804e+02] [-5.76307008e-02 9.98322616e-01 -5.53680380e-03 -6.67481526e+01] [-4.51703604e-02 2.93284853e-03 9.98974993e-01 -3.37003286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.220714057 meters 0.03556434742833791 Centerline is valid? [True, True] Translation: X:513.51, Y:-66.75, Z:-33.71 [[ 9.97208379e-01 6.05714435e-02 4.36640494e-02 5.13512587e+02] [-6.03938112e-02 9.98160145e-01 -5.37710706e-03 -6.67540967e+01] [-4.39094130e-02 2.72505786e-03 9.99031800e-01 -3.37054775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.280714057 meters 0.0347611788363995 Centerline is valid? [True, True] Translation: X:513.57, Y:-66.76, Z:-33.71 [[ 9.96977300e-01 6.36467374e-02 4.45573325e-02 5.13572646e+02] [-6.34648521e-02 9.97968994e-01 -5.48627100e-03 -6.67593987e+01] [-4.48160195e-02 2.64186313e-03 9.98991764e-01 -3.37091821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.340714057 meters 0.03460026897290002 Centerline is valid? [True, True] Translation: X:513.63, Y:-66.76, Z:-33.71 [[ 9.96893788e-01 6.39022011e-02 4.60356856e-02 5.13631470e+02] [-6.37083008e-02 9.97952465e-01 -5.66842287e-03 -6.67647176e+01] [-4.63036506e-02 2.71796024e-03 9.98923713e-01 -3.37117613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.400714057 meters 0.03600421362387045 Centerline is valid? [True, True] Translation: X:513.69, Y:-66.77, Z:-33.72 [[ 9.96948569e-01 6.23511177e-02 4.69668955e-02 5.13688612e+02] [-6.21477256e-02 9.98050226e-01 -5.77983834e-03 -6.67744070e+01] [-4.72357001e-02 2.84331582e-03 9.98879725e-01 -3.37154056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.460714057 meters 0.03760841277325244 Centerline is valid? [True, True] Translation: X:513.75, Y:-66.78, Z:-33.72 [[ 9.97065693e-01 5.98241573e-02 4.77606004e-02 5.13747390e+02] [-5.96111951e-02 9.98204399e-01 -5.87219343e-03 -6.67847640e+01] [-4.80261404e-02 3.00789615e-03 9.98841550e-01 -3.37195343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.520714057 meters 0.04022253651583577 Centerline is valid? [True, True] Translation: X:513.80, Y:-66.80, Z:-33.72 [[ 9.97123188e-01 5.71550875e-02 4.97859738e-02 5.13804724e+02] [-5.69204340e-02 9.98359963e-01 -6.11952343e-03 -6.67963206e+01] [-5.00540849e-02 3.26807948e-03 9.98741162e-01 -3.37230913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.580714057 meters 0.041888046808689544 Centerline is valid? [True, True] Translation: X:513.86, Y:-66.81, Z:-33.73 [[ 9.97215062e-01 5.53390617e-02 4.99970798e-02 5.13863368e+02] [-5.51002715e-02 9.98461930e-01 -6.14287272e-03 -6.68074755e+01] [-5.02601216e-02 3.37091253e-03 9.98730473e-01 -3.37283947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.640714057 meters 0.04390411535247363 Centerline is valid? [True, True] Translation: X:513.92, Y:-66.82, Z:-33.73 [[ 9.97352455e-01 5.38221017e-02 4.89005230e-02 5.13922095e+02] [-5.35919492e-02 9.98544854e-01 -6.00649099e-03 -6.68178007e+01] [-4.91526475e-02 3.36991420e-03 9.98785593e-01 -3.37347633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.700714057 meters 0.039965616030702006 Centerline is valid? [True, True] Translation: X:513.98, Y:-66.82, Z:-33.74 [[ 9.97355896e-01 5.42491588e-02 4.83554180e-02 5.13981625e+02] [-5.40246774e-02 9.98521944e-01 -5.93821714e-03 -6.68188458e+01] [-4.86060893e-02 3.31013001e-03 9.98812541e-01 -3.37386921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.760714057 meters 0.03739613163270402 Centerline is valid? [True, True] Translation: X:514.04, Y:-66.82, Z:-33.74 [[ 9.97205371e-01 5.57816402e-02 4.96976472e-02 5.14041779e+02] [-5.55465428e-02 9.98437463e-01 -6.10025924e-03 -6.68204144e+01] [-4.99602753e-02 3.32267879e-03 9.98745679e-01 -3.37410951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.820714057 meters 0.0394485288151858 Centerline is valid? [True, True] Translation: X:514.10, Y:-66.83, Z:-33.74 [[ 9.97089747e-01 5.55118969e-02 5.22538629e-02 5.14098543e+02] [-5.52517179e-02 9.98451871e-01 -6.41169610e-03 -6.68301815e+01] [-5.25288926e-02 3.50592074e-03 9.98613250e-01 -3.37441588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.880714057 meters 0.041729417314956524 Centerline is valid? [True, True] Translation: X:514.16, Y:-66.84, Z:-33.75 [[ 9.97132665e-01 5.34416381e-02 5.35764833e-02 5.14155829e+02] [-5.31654200e-02 9.98564115e-01 -6.56864912e-03 -6.68426431e+01] [-5.38505930e-02 3.70139836e-03 9.98542144e-01 -3.37479103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.940714057 meters 0.03848706575497994 Centerline is valid? [True, True] Translation: X:514.22, Y:-66.85, Z:-33.75 [[ 9.97264247e-01 5.13587886e-02 5.31629172e-02 5.14216208e+02] [-5.10840595e-02 9.98673109e-01 -6.51459663e-03 -6.68468732e+01] [-5.34269576e-02 3.78099668e-03 9.98564602e-01 -3.37504185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.000714057 meters 0.03767542703574621 Centerline is valid? [True, True] Translation: X:514.28, Y:-66.85, Z:-33.75 [[ 9.97333119e-01 5.14640083e-02 5.17504204e-02 5.14275466e+02] [-5.12038177e-02 9.98668087e-01 -6.34197019e-03 -6.68536803e+01] [-5.20078765e-02 3.67523783e-03 9.98639912e-01 -3.37549434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.060714057 meters 0.03766397238947958 Centerline is valid? [True, True] Translation: X:514.33, Y:-66.86, Z:-33.76 [[ 9.97213686e-01 5.57144169e-02 4.96061243e-02 5.14333731e+02] [-5.54806919e-02 9.98441265e-01 -6.07722421e-03 -6.68618079e+01] [-4.98673905e-02 3.30810905e-03 9.98750369e-01 -3.37605746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.120714057 meters 0.035044527712334635 Centerline is valid? [True, True] Translation: X:514.39, Y:-66.86, Z:-33.76 [[ 9.96594679e-01 6.53020451e-02 5.03456931e-02 5.14394663e+02] [-6.50735296e-02 9.97861418e-01 -6.16652602e-03 -6.68640154e+01] [-5.06407115e-02 2.86935507e-03 9.98712814e-01 -3.37647686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.180714057 meters 0.03150812962897333 Centerline is valid? [True, True] Translation: X:514.45, Y:-66.87, Z:-33.77 [[ 9.95611564e-01 7.78610653e-02 5.19159680e-02 5.14454749e+02] [-7.76350826e-02 9.96961566e-01 -6.35842211e-03 -6.68651016e+01] [-5.22532983e-02 2.30001812e-03 9.98631215e-01 -3.37675413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.240714057 meters 0.02811992952799228 Centerline is valid? [True, True] Translation: X:514.52, Y:-66.87, Z:-33.77 [[ 9.94432856e-01 8.99103334e-02 5.49493100e-02 5.14515447e+02] [-8.96754926e-02 9.95948301e-01 -6.72961232e-03 -6.68659422e+01] [-5.53317337e-02 1.76454116e-03 9.98466467e-01 -3.37688192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.300714057 meters 0.026467833087169403 Centerline is valid? [True, True] Translation: X:514.57, Y:-66.87, Z:-33.77 [[ 9.93492889e-01 9.76823251e-02 5.85665659e-02 5.14574167e+02] [-9.74290020e-02 9.95216634e-01 -7.17224960e-03 -6.68729354e+01] [-5.89870226e-02 1.41949692e-03 9.98257740e-01 -3.37709468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.360714057 meters 0.02622627061193665 Centerline is valid? [True, True] Translation: X:514.63, Y:-66.89, Z:-33.78 [[ 9.93296049e-01 9.95909137e-02 5.86907911e-02 5.14630385e+02] [-9.93398803e-02 9.95027607e-01 -7.18678283e-03 -6.68865155e+01] [-5.91146957e-02 1.30826683e-03 9.98250340e-01 -3.37768279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.420714057 meters 0.027952962475417897 Centerline is valid? [True, True] Translation: X:514.69, Y:-66.91, Z:-33.78 [[ 9.93981346e-01 9.29713271e-02 5.79432239e-02 5.14687973e+02] [-9.27158661e-02 9.95667382e-01 -7.08756660e-03 -6.69103604e+01] [-5.83511184e-02 1.67265280e-03 9.98294721e-01 -3.37827750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.480714057 meters 0.026894539002666643 Centerline is valid? [True, True] Translation: X:514.75, Y:-66.92, Z:-33.79 [[ 9.94725002e-01 8.50281292e-02 5.73793288e-02 5.14746382e+02] [-8.47644813e-02 9.96376303e-01 -7.01758232e-03 -6.69247604e+01] [-5.77680954e-02 2.11683554e-03 9.98327785e-01 -3.37870641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5407140570001 meters 0.028632952292002915 Centerline is valid? [True, True] Translation: X:514.80, Y:-66.94, Z:-33.79 [[ 9.95244253e-01 7.89049222e-02 5.71217089e-02 5.14804411e+02] [-7.86335918e-02 9.96879109e-01 -6.98575445e-03 -6.69410019e+01] [-5.74946487e-02 2.46084683e-03 9.98342782e-01 -3.37918707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.600714057 meters 0.03536031708082034 Centerline is valid? [True, True] Translation: X:514.86, Y:-66.97, Z:-33.80 [[ 9.96295787e-01 6.53677264e-02 5.58727675e-02 5.14860532e+02] [-6.50869651e-02 9.97856207e-01 -6.83199552e-03 -6.69692885e+01] [-5.61995799e-02 3.17009948e-03 9.98414522e-01 -3.37976283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.660714057 meters 0.04046422336694643 Centerline is valid? [True, True] Translation: X:514.92, Y:-66.99, Z:-33.80 [[ 9.96971426e-01 5.50419112e-02 5.49396406e-02 5.14919168e+02] [-5.47548847e-02 9.98477232e-01 -6.71718275e-03 -6.69884495e+01] [-5.52257069e-02 3.68862558e-03 9.98467083e-01 -3.38019338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.720714057 meters 0.042426663071830954 Centerline is valid? [True, True] Translation: X:514.98, Y:-67.00, Z:-33.80 [[ 9.97330041e-01 4.77563485e-02 5.52459956e-02 5.14979027e+02] [-4.74549828e-02 9.98850538e-01 -6.75477935e-03 -6.70011144e+01] [-5.55050761e-02 4.11504660e-03 9.98449925e-01 -3.38048392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.780714057 meters 0.04193629831662396 Centerline is valid? [True, True] Translation: X:515.04, Y:-67.01, Z:-33.81 [[ 9.97426624e-01 4.47928726e-02 5.59797086e-02 5.15039290e+02] [-4.44787984e-02 9.98986881e-01 -6.84452316e-03 -6.70069269e+01] [-5.62295804e-02 4.33699946e-03 9.98408446e-01 -3.38070950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.840714057 meters 0.04127490048679546 Centerline is valid? [True, True] Translation: X:515.10, Y:-67.01, Z:-33.81 [[ 9.97469566e-01 4.46370818e-02 5.53352962e-02 5.15101571e+02] [-4.43300315e-02 9.98994038e-01 -6.76460314e-03 -6.70120438e+01] [-5.55815832e-02 4.29447033e-03 9.98444913e-01 -3.38111228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.900714057 meters 0.04328140824609726 Centerline is valid? [True, True] Translation: X:515.16, Y:-67.02, Z:-33.82 [[ 9.97577322e-01 4.39662738e-02 5.39115416e-02 5.15162058e+02] [-4.36731251e-02 9.99024045e-01 -6.60425400e-03 -6.70195338e+01] [-5.41492908e-02 4.23376851e-03 9.98523875e-01 -3.38168033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.960714057 meters 0.04352397834341735 Centerline is valid? [True, True] Translation: X:515.22, Y:-67.02, Z:-33.82 [[ 9.97756238e-01 4.13018627e-02 5.26938853e-02 5.15223042e+02] [-4.10173613e-02 9.99137488e-01 -6.46965515e-03 -6.70243376e+01] [-5.29156450e-02 4.29377465e-03 9.98589755e-01 -3.38216798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.020714057 meters 0.046566963920556266 Centerline is valid? [True, True] Translation: X:515.28, Y:-67.03, Z:-33.83 [[ 9.98034631e-01 3.65190830e-02 5.09237861e-02 5.15283173e+02] [-3.62471700e-02 9.99323291e-01 -6.25325229e-03 -6.70334876e+01] [-5.11176885e-02 4.39511921e-03 9.98682965e-01 -3.38275035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.080714057 meters 0.05085708719146798 Centerline is valid? [True, True] Translation: X:515.34, Y:-67.04, Z:-33.83 [[ 9.98371642e-01 3.06359242e-02 4.81196988e-02 5.15342719e+02] [-3.03863522e-02 9.99520758e-01 -5.90963429e-03 -6.70439444e+01] [-4.82776849e-02 4.43782917e-03 9.98824094e-01 -3.38345421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.140714057 meters 0.04715135722261259 Centerline is valid? [True, True] Translation: X:515.40, Y:-67.04, Z:-33.84 [[ 9.98444121e-01 2.92998504e-02 4.74431890e-02 5.15404902e+02] [-2.90557769e-02 9.99560812e-01 -5.82618224e-03 -6.70419548e+01] [-4.75930588e-02 4.43861869e-03 9.98856946e-01 -3.38372431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.200714057 meters 0.0466554273522408 Centerline is valid? [True, True] Translation: X:515.47, Y:-67.04, Z:-33.84 [[ 9.98256716e-01 3.19505329e-02 4.96255267e-02 5.15465824e+02] [-3.16865873e-02 9.99479260e-01 -6.09658913e-03 -6.70432913e+01] [-4.97944740e-02 4.51349746e-03 9.98749287e-01 -3.38380523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.260714057 meters 0.044933508098177144 Centerline is valid? [True, True] Translation: X:515.53, Y:-67.04, Z:-33.84 [[ 9.97914075e-01 3.75004967e-02 5.25472248e-02 5.15527338e+02] [-3.72121275e-02 9.99286535e-01 -6.45582297e-03 -6.70429728e+01] [-5.27518308e-02 4.48696258e-03 9.98597572e-01 -3.38387233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.320714057 meters 0.04124718421339969 Centerline is valid? [True, True] Translation: X:515.59, Y:-67.04, Z:-33.84 [[ 9.97480578e-01 4.47699115e-02 5.50286416e-02 5.15589010e+02] [-4.44645743e-02 9.98988082e-01 -6.76118430e-03 -6.70409716e+01] [-5.52756547e-02 4.29732491e-03 9.98461885e-01 -3.38406848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.380714057 meters 0.039431926659592095 Centerline is valid? [True, True] Translation: X:515.65, Y:-67.04, Z:-33.84 [[ 9.97092982e-01 5.35423025e-02 5.42107656e-02 5.15649188e+02] [-5.32588630e-02 9.98558525e-01 -6.66074570e-03 -6.70407947e+01] [-5.44892538e-02 3.75417905e-03 9.98507300e-01 -3.38449512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.440714057 meters 0.03613696757196861 Centerline is valid? [True, True] Translation: X:515.71, Y:-67.04, Z:-33.85 [[ 9.96654412e-01 6.34222247e-02 5.15519651e-02 5.15710176e+02] [-6.31790599e-02 9.97982104e-01 -6.33451091e-03 -6.70384057e+01] [-5.18496874e-02 3.05631355e-03 9.98650224e-01 -3.38513261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.500714057 meters 0.031844067996530896 Centerline is valid? [True, True] Translation: X:515.77, Y:-67.04, Z:-33.86 [[ 9.95994302e-01 7.41351218e-02 4.99933447e-02 5.15771024e+02] [-7.39199012e-02 9.97245263e-01 -6.14279074e-03 -6.70351613e+01] [-5.03110228e-02 2.42268147e-03 9.98730660e-01 -3.38562543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.560714057 meters 0.02935274997307591 Centerline is valid? [True, True] Translation: X:515.83, Y:-67.03, Z:-33.86 [[ 9.95194986e-01 8.38473372e-02 5.05624849e-02 5.15831345e+02] [-8.36396760e-02 9.96476696e-01 -6.21273834e-03 -6.70344841e+01] [-5.09052595e-02 1.95385620e-03 9.98701576e-01 -3.38588266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.620714057 meters 0.02831697870858141 Centerline is valid? [True, True] Translation: X:515.89, Y:-67.04, Z:-33.86 [[ 9.94509287e-01 9.11619449e-02 5.13884931e-02 5.15890595e+02] [-9.09572296e-02 9.95834788e-01 -6.31321372e-03 -6.70390575e+01] [-5.17499739e-02 1.60439472e-03 9.98658784e-01 -3.38629089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.680714057 meters 0.026499473938342843 Centerline is valid? [True, True] Translation: X:515.95, Y:-67.04, Z:-33.86 [[ 9.94275602e-01 9.31726042e-02 5.22962033e-02 5.15949590e+02] [-9.29632878e-02 9.95648799e-01 -6.42613750e-03 -6.70441090e+01] [-5.26673920e-02 1.52772473e-03 9.98610941e-01 -3.38649284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.740714057 meters 0.029130278875856137 Centerline is valid? [True, True] Translation: X:516.01, Y:-67.06, Z:-33.87 [[ 9.94451981e-01 9.05366785e-02 5.35571483e-02 5.16005644e+02] [-9.03141096e-02 9.95891683e-01 -6.56644293e-03 -6.70624764e+01] [-5.39316225e-02 1.69304602e-03 9.98543196e-01 -3.38687513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.800714057 meters 0.027603996942350342 Centerline is valid? [True, True] Translation: X:516.06, Y:-67.07, Z:-33.87 [[ 9.94767191e-01 8.75476607e-02 5.26653831e-02 5.16064745e+02] [-8.73285449e-02 9.96158671e-01 -6.45186652e-03 -6.70705286e+01] [-5.30279239e-02 1.81891386e-03 9.98591373e-01 -3.38715347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.860714057 meters 0.02772823540977996 Centerline is valid? [True, True] Translation: X:516.12, Y:-67.08, Z:-33.88 [[ 9.94889443e-01 8.61255802e-02 5.27008665e-02 5.16122335e+02] [-8.59042567e-02 9.96282488e-01 -6.45471780e-03 -6.70801609e+01] [-5.30608667e-02 1.89450183e-03 9.98589483e-01 -3.38761733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.920714057 meters 0.029230287134992514 Centerline is valid? [True, True] Translation: X:516.18, Y:-67.10, Z:-33.88 [[ 9.95442485e-01 8.02036045e-02 5.15910970e-02 5.16180344e+02] [-7.99837934e-02 9.96776163e-01 -6.31456119e-03 -6.70958067e+01] [-5.19312263e-02 2.15933084e-03 9.98648329e-01 -3.38807434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.980714057 meters 0.030830855419283276 Centerline is valid? [True, True] Translation: X:516.24, Y:-67.11, Z:-33.88 [[ 9.95730829e-01 7.61461606e-02 5.21716273e-02 5.16239287e+02] [-7.59158877e-02 9.97093787e-01 -6.38419630e-03 -6.71099332e+01] [-5.25061375e-02 2.39628567e-03 9.98617726e-01 -3.38837556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0407140570001 meters 0.03206447859044868 Centerline is valid? [True, True] Translation: X:516.30, Y:-67.12, Z:-33.89 [[ 9.95932305e-01 7.41131157e-02 5.12453958e-02 5.16297602e+02] [-7.38883106e-02 9.97246812e-01 -6.27008120e-03 -6.71237984e+01] [-5.15690028e-02 2.45814070e-03 9.98666409e-01 -3.38888003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.100714057 meters 0.03333813818267167 Centerline is valid? [True, True] Translation: X:516.36, Y:-67.13, Z:-33.89 [[ 9.96097126e-01 7.27419869e-02 4.99911896e-02 5.16355567e+02] [-7.25264026e-02 9.97347744e-01 -6.11538483e-03 -6.71342183e+01] [-5.03034454e-02 2.46583611e-03 9.98730936e-01 -3.38934367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.160714057 meters 0.03442335665493852 Centerline is valid? [True, True] Translation: X:516.41, Y:-67.14, Z:-33.90 [[ 9.96316562e-01 7.15457920e-02 4.72705847e-02 5.16412492e+02] [-7.13518644e-02 9.97434464e-01 -5.77937637e-03 -6.71444599e+01] [-4.75628004e-02 2.38524405e-03 9.98865402e-01 -3.39003671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.220714057 meters 0.03561544388575866 Centerline is valid? [True, True] Translation: X:516.47, Y:-67.15, Z:-33.91 [[ 9.96467174e-01 7.04893543e-02 4.56554689e-02 5.16470963e+02] [-7.03074998e-02 9.97509766e-01 -5.57881923e-03 -6.71537002e+01] [-4.59350235e-02 2.34918836e-03 9.98941667e-01 -3.39057449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.280714057 meters 0.03784571821139208 Centerline is valid? [True, True] Translation: X:516.53, Y:-67.16, Z:-33.91 [[ 9.96630878e-01 6.82014833e-02 4.55571212e-02 5.16528395e+02] [-6.80180720e-02 9.97668564e-01 -5.56587015e-03 -6.71626278e+01] [-4.58305083e-02 2.44841050e-03 9.98946230e-01 -3.39091968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.340714057 meters 0.03921827574640768 Centerline is valid? [True, True] Translation: X:516.59, Y:-67.17, Z:-33.91 [[ 9.96650976e-01 6.65206032e-02 4.75588307e-02 5.16586285e+02] [-6.63189610e-02 9.97781576e-01 -5.80702221e-03 -6.71716674e+01] [-4.78396116e-02 2.63352212e-03 9.98851559e-01 -3.39107931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.400714057 meters 0.03627679236682719 Centerline is valid? [True, True] Translation: X:516.65, Y:-67.17, Z:-33.91 [[ 9.96514799e-01 6.66422191e-02 5.01704028e-02 5.16645232e+02] [-6.64181320e-02 9.97773095e-01 -6.12236800e-03 -6.71725222e+01] [-5.04666862e-02 2.76880589e-03 9.98721907e-01 -3.39105495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.460714057 meters 0.036127478536762785 Centerline is valid? [True, True] Translation: X:516.70, Y:-67.18, Z:-33.91 [[ 9.96490725e-01 6.55705413e-02 5.20263363e-02 5.16704033e+02] [-6.53282921e-02 9.97843652e-01 -6.34508027e-03 -6.71780137e+01] [-5.23301998e-02 2.92402194e-03 9.98625556e-01 -3.39130374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.520714057 meters 0.0350290341019526 Centerline is valid? [True, True] Translation: X:516.76, Y:-67.18, Z:-33.92 [[ 9.96723030e-01 6.21884476e-02 5.17281227e-02 5.16763621e+02] [-6.19446520e-02 9.98059674e-01 -6.30451063e-03 -6.71846378e+01] [-5.20198210e-02 3.07957038e-03 9.98641304e-01 -3.39181821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.580714057 meters 0.04073180942271117 Centerline is valid? [True, True] Translation: X:516.82, Y:-67.20, Z:-33.92 [[ 9.97033697e-01 5.83677763e-02 5.01698030e-02 5.16821405e+02] [-5.81337009e-02 9.98290087e-01 -6.11351308e-03 -6.72006908e+01] [-5.04408492e-02 3.17882222e-03 9.98721991e-01 -3.39249255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.640714057 meters 0.039260819686974265 Centerline is valid? [True, True] Translation: X:516.88, Y:-67.21, Z:-33.93 [[ 9.97184713e-01 5.60255154e-02 4.98376304e-02 5.16881025e+02] [-5.57916889e-02 9.98423969e-01 -6.07168000e-03 -6.72050346e+01] [-5.00992538e-02 3.27406090e-03 9.98738877e-01 -3.39283399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.700714057 meters 0.035444142030092794 Centerline is valid? [True, True] Translation: X:516.94, Y:-67.20, Z:-33.93 [[ 9.97111618e-01 5.67954391e-02 5.04251952e-02 5.16941214e+02] [-5.65570728e-02 9.98380471e-01 -6.14262161e-03 -6.72042867e+01] [-5.06924031e-02 3.27297793e-03 9.98708951e-01 -3.39297844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.760714057 meters 0.03457768311051777 Centerline is valid? [True, True] Translation: X:517.00, Y:-67.21, Z:-33.93 [[ 9.97000784e-01 5.69188152e-02 5.24374324e-02 5.16999510e+02] [-5.66612767e-02 9.98373035e-01 -6.38614189e-03 -6.72079437e+01] [-5.27156102e-02 3.39581661e-03 9.98603792e-01 -3.39324392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.820714057 meters 0.038128069695663035 Centerline is valid? [True, True] Translation: X:517.06, Y:-67.22, Z:-33.94 [[ 9.97070824e-01 5.48956679e-02 5.32563372e-02 5.17057183e+02] [-5.46273842e-02 9.98485774e-01 -6.48134277e-03 -6.72201689e+01] [-5.35314928e-02 3.55310338e-03 9.98559840e-01 -3.39374764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.880714057 meters 0.03866651137959393 Centerline is valid? [True, True] Translation: X:517.12, Y:-67.23, Z:-33.94 [[ 9.97350457e-01 4.96593256e-02 5.31602956e-02 5.17116924e+02] [-4.93847426e-02 9.98758891e-01 -6.46718310e-03 -6.72265587e+01] [-5.34154739e-02 3.82474051e-03 9.98565050e-01 -3.39405479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.940714057 meters 0.041363551951952314 Centerline is valid? [True, True] Translation: X:517.18, Y:-67.24, Z:-33.95 [[ 9.97706554e-01 4.23442889e-02 5.28071380e-02 5.17176485e+02] [-4.20631416e-02 9.99094298e-01 -6.42461639e-03 -6.72373942e+01] [-5.30313563e-02 4.18864776e-03 9.98584063e-01 -3.39450223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.000714057 meters 0.047420578549990704 Centerline is valid? [True, True] Translation: X:517.23, Y:-67.26, Z:-33.95 [[ 9.98017717e-01 3.50998431e-02 5.22363565e-02 5.17234048e+02] [-3.48148803e-02 9.99373570e-01 -6.35550000e-03 -6.72550103e+01] [-5.24267111e-02 4.52429911e-03 9.98614526e-01 -3.39511440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.060714057 meters 0.046677800975096294 Centerline is valid? [True, True] Translation: X:517.29, Y:-67.26, Z:-33.95 [[ 9.98139876e-01 3.12994048e-02 5.23176398e-02 5.17294144e+02] [-3.10083504e-02 9.99498853e-01 -6.36588689e-03 -6.72610199e+01] [-5.24906694e-02 4.73176184e-03 9.98610204e-01 -3.39549501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.120714057 meters 0.046313962424300845 Centerline is valid? [True, True] Translation: X:517.36, Y:-67.27, Z:-33.96 [[ 9.98026815e-01 3.29478543e-02 5.34501286e-02 5.17355653e+02] [-3.26464105e-02 9.99445806e-01 -6.50329088e-03 -6.72663550e+01] [-5.36347764e-02 4.74550384e-03 9.98549343e-01 -3.39580338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.180714057 meters 0.04846805677766793 Centerline is valid? [True, True] Translation: X:517.41, Y:-67.28, Z:-33.96 [[ 9.97926263e-01 3.62132199e-02 5.32144287e-02 5.17414828e+02] [-3.59188499e-02 9.99333713e-01 -6.47809046e-03 -6.72753224e+01] [-5.34135651e-02 4.55325553e-03 9.98562096e-01 -3.39630743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.240714057 meters 0.044199199315322 Centerline is valid? [True, True] Translation: X:517.48, Y:-67.27, Z:-33.97 [[ 9.98018763e-01 3.79139399e-02 5.02103759e-02 5.17476752e+02] [-3.76540788e-02 9.99272144e-01 -6.11162302e-03 -6.72749501e+01] [-5.04055457e-02 4.20888900e-03 9.98719964e-01 -3.39697225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.300714057 meters 0.045319266092228104 Centerline is valid? [True, True] Translation: X:517.54, Y:-67.28, Z:-33.97 [[ 9.98012852e-01 3.88037909e-02 4.96448690e-02 5.17538247e+02] [-3.85507953e-02 9.99238364e-01 -6.04387358e-03 -6.72827972e+01] [-4.98415829e-02 4.11801433e-03 9.98748646e-01 -3.39746181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.360714057 meters 0.044934819006235305 Centerline is valid? [True, True] Translation: X:517.60, Y:-67.29, Z:-33.98 [[ 9.98000599e-01 3.90712808e-02 4.96813755e-02 5.17600824e+02] [-3.88176402e-02 9.99227933e-01 -6.06036020e-03 -6.72878107e+01] [-4.98798042e-02 4.11972936e-03 9.98746731e-01 -3.39783463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.420714057 meters 0.04472505373623725 Centerline is valid? [True, True] Translation: X:517.66, Y:-67.29, Z:-33.98 [[ 9.97966984e-01 3.77720940e-02 5.13338803e-02 5.17662383e+02] [-3.74987369e-02 9.99276953e-01 -6.27814720e-03 -6.72933673e+01] [-5.15339023e-02 4.34042796e-03 9.98661813e-01 -3.39807194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.480714057 meters 0.04831067772897348 Centerline is valid? [True, True] Translation: X:517.72, Y:-67.31, Z:-33.98 [[ 9.98023610e-01 3.28322906e-02 5.35809175e-02 5.17721868e+02] [-3.25265495e-02 9.99449288e-01 -6.56847963e-03 -6.73055744e+01] [-5.37670680e-02 4.81269539e-03 9.98541907e-01 -3.39832514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5407140570001 meters 0.052346701197964376 Centerline is valid? [True, True] Translation: X:517.78, Y:-67.32, Z:-33.99 [[ 9.98189602e-01 2.68244719e-02 5.38327610e-02 5.17781225e+02] [-2.65070575e-02 9.99626827e-01 -6.60178820e-03 -6.73192247e+01] [-5.39897615e-02 5.16288824e-03 9.98528142e-01 -3.39875414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.600714057 meters 0.05658922289268631 Centerline is valid? [True, True] Translation: X:517.84, Y:-67.33, Z:-33.99 [[ 9.98272158e-01 2.42549295e-02 5.35200561e-02 5.17839718e+02] [-2.39375410e-02 9.99691910e-01 -6.56344743e-03 -6.73330269e+01] [-5.36627631e-02 5.27096829e-03 9.98545204e-01 -3.39931753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.660714057 meters 0.05828993544480469 Centerline is valid? [True, True] Translation: X:517.90, Y:-67.34, Z:-34.00 [[ 9.98266952e-01 2.54342547e-02 5.30678020e-02 5.17900328e+02] [-2.51238138e-02 9.99663157e-01 -6.50892404e-03 -6.73429053e+01] [-5.32154761e-02 5.16437818e-03 9.98569698e-01 -3.39987383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.720714057 meters 0.05709885779948567 Centerline is valid? [True, True] Translation: X:517.96, Y:-67.35, Z:-34.00 [[ 9.98164151e-01 3.00325790e-02 5.25963163e-02 5.17960542e+02] [-2.97338485e-02 9.99537020e-01 -6.45316940e-03 -6.73478788e+01] [-5.27657706e-02 4.87743146e-03 9.98595005e-01 -3.40031527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.780714057 meters 0.0559259235911638 Centerline is valid? [True, True] Translation: X:518.02, Y:-67.35, Z:-34.01 [[ 9.98042903e-01 3.39378612e-02 5.25222292e-02 5.18020578e+02] [-3.36452953e-02 9.99413057e-01 -6.44476404e-03 -6.73525220e+01] [-5.27101232e-02 4.66502510e-03 9.98598959e-01 -3.40071585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.840714057 meters 0.0455025052355708 Centerline is valid? [True, True] Translation: X:518.08, Y:-67.34, Z:-34.01 [[ 9.97804259e-01 3.99952353e-02 5.27924371e-02 5.18083385e+02] [-3.97080321e-02 9.99190324e-01 -6.47836384e-03 -6.73423216e+01] [-5.30087960e-02 4.36785525e-03 9.98584493e-01 -3.40091389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.900714057 meters 0.04260578642088982 Centerline is valid? [True, True] Translation: X:518.14, Y:-67.34, Z:-34.01 [[ 9.97527039e-01 4.58160601e-02 5.32981717e-02 5.18144400e+02] [-4.55315576e-02 9.98941489e-01 -6.54062524e-03 -6.73417679e+01] [-5.35414206e-02 4.09770175e-03 9.98557222e-01 -3.40124722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.960714057 meters 0.04832044222483678 Centerline is valid? [True, True] Translation: X:518.20, Y:-67.35, Z:-34.02 [[ 9.97262067e-01 5.14900262e-02 5.30768007e-02 5.18203164e+02] [-5.12158150e-02 9.98666362e-01 -6.51447778e-03 -6.73539897e+01] [-5.33414461e-02 3.77826997e-03 9.98569184e-01 -3.40195597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.020714057 meters 0.04693118034555737 Centerline is valid? [True, True] Translation: X:518.26, Y:-67.36, Z:-34.02 [[ 9.96985276e-01 5.63822342e-02 5.33048099e-02 5.18264156e+02] [-5.61125841e-02 9.98403009e-01 -6.54297593e-03 -6.73566543e+01] [-5.35885901e-02 3.53218004e-03 9.98556852e-01 -3.40232437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.080714057 meters 0.03604972207073181 Centerline is valid? [True, True] Translation: X:518.33, Y:-67.34, Z:-34.03 [[ 9.96782280e-01 6.00943339e-02 5.30448564e-02 5.18325821e+02] [-5.98324746e-02 9.98187189e-01 -6.51229526e-03 -6.73449021e+01] [-5.33400482e-02 3.31753550e-03 9.98570895e-01 -3.40253021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.140714057 meters 0.0347885919056596 Centerline is valid? [True, True] Translation: X:518.39, Y:-67.35, Z:-34.03 [[ 9.96633592e-01 6.40652834e-02 5.11578293e-02 5.18385799e+02] [-6.38270238e-02 9.97941222e-01 -6.27921965e-03 -6.73479135e+01] [-5.14547866e-02 2.99282925e-03 9.98670841e-01 -3.40315344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.200714057 meters 0.037613252223664656 Centerline is valid? [True, True] Translation: X:518.44, Y:-67.36, Z:-34.04 [[ 9.96379060e-01 6.76836797e-02 5.14556935e-02 5.18444058e+02] [-6.74474769e-02 9.97702840e-01 -6.31506167e-03 -6.73575317e+01] [-5.17649182e-02 2.82163851e-03 9.98655312e-01 -3.40369200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.260714057 meters 0.032765335495543065 Centerline is valid? [True, True] Translation: X:518.50, Y:-67.36, Z:-34.04 [[ 9.96192682e-01 6.97888447e-02 5.22461254e-02 5.18504487e+02] [-6.95483055e-02 9.97557990e-01 -6.41017353e-03 -6.73550994e+01] [-5.25658984e-02 2.75213847e-03 9.98613665e-01 -3.40390427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.320714057 meters 0.03284330474368922 Centerline is valid? [True, True] Translation: X:518.56, Y:-67.36, Z:-34.04 [[ 9.96162669e-01 6.98485961e-02 5.27362288e-02 5.18562887e+02] [-6.96036825e-02 9.97553749e-01 -6.46877530e-03 -6.73602701e+01] [-5.30590576e-02 2.77331674e-03 9.98587525e-01 -3.40426526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.380714057 meters 0.03451798685397386 Centerline is valid? [True, True] Translation: X:518.62, Y:-67.37, Z:-34.05 [[ 9.96412445e-01 6.63114562e-02 5.25835645e-02 5.18620864e+02] [-6.60632901e-02 9.97794616e-01 -6.44554388e-03 -6.73694117e+01] [-5.28950110e-02 2.94857686e-03 9.98595726e-01 -3.40468204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.440714057 meters 0.03594483081536805 Centerline is valid? [True, True] Translation: X:518.68, Y:-67.38, Z:-34.05 [[ 9.96575581e-01 6.39292241e-02 5.24420279e-02 5.18679514e+02] [-6.36791324e-02 9.97949724e-01 -6.42773024e-03 -6.73785841e+01] [-5.27454271e-02 3.06625616e-03 9.98603284e-01 -3.40517280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.500714057 meters 0.03785222441302001 Centerline is valid? [True, True] Translation: X:518.74, Y:-67.39, Z:-34.06 [[ 9.96814919e-01 6.17280204e-02 5.04942388e-02 5.18736446e+02] [-6.14934442e-02 9.98088308e-01 -6.18749357e-03 -6.73885675e+01] [-5.07796512e-02 3.06272125e-03 9.98705185e-01 -3.40579448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.560714057 meters 0.039256752498555765 Centerline is valid? [True, True] Translation: X:518.79, Y:-67.40, Z:-34.06 [[ 9.96918907e-01 6.12612430e-02 4.89872776e-02 5.18793462e+02] [-6.10399946e-02 9.98117280e-01 -6.00116080e-03 -6.73960571e+01] [-4.92626869e-02 2.99248751e-03 9.98781374e-01 -3.40622158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.620714057 meters 0.037235289521459665 Centerline is valid? [True, True] Translation: X:518.85, Y:-67.40, Z:-34.06 [[ 9.96881247e-01 6.11184116e-02 4.99231260e-02 5.18851898e+02] [-6.08887151e-02 9.98125858e-01 -6.11036938e-03 -6.73995929e+01] [-5.02030190e-02 3.05155765e-03 9.98734372e-01 -3.40636456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.680714057 meters 0.039590482325761206 Centerline is valid? [True, True] Translation: X:518.91, Y:-67.41, Z:-34.07 [[ 9.96972815e-01 5.92598028e-02 5.03337027e-02 5.18909113e+02] [-5.90241336e-02 9.98237568e-01 -6.15700541e-03 -6.74101990e+01] [-5.06098560e-02 3.16746382e-03 9.98713477e-01 -3.40690555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.740714057 meters 0.04021647220131275 Centerline is valid? [True, True] Translation: X:518.97, Y:-67.42, Z:-34.07 [[ 9.97099224e-01 5.68425424e-02 5.06168275e-02 5.18967685e+02] [-5.66013051e-02 9.98377686e-01 -6.18783445e-03 -6.74193793e+01] [-5.08864433e-02 3.30490643e-03 9.98698977e-01 -3.40729892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.800714057 meters 0.04192766567142428 Centerline is valid? [True, True] Translation: X:519.03, Y:-67.43, Z:-34.08 [[ 9.97578790e-01 4.96951475e-02 4.86513099e-02 5.19026511e+02] [-4.94639973e-02 9.98758218e-01 -5.94438886e-03 -6.74329873e+01] [-4.88863029e-02 3.52350799e-03 9.98798135e-01 -3.40778905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.860714057 meters 0.04478047271106982 Centerline is valid? [True, True] Translation: X:519.09, Y:-67.45, Z:-34.08 [[ 9.97721102e-01 4.62733254e-02 4.91058298e-02 5.19085396e+02] [-4.60337249e-02 9.98921869e-01 -5.99965466e-03 -6.74472372e+01] [-4.93305112e-02 3.72545779e-03 9.98775561e-01 -3.40813011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.920714057 meters 0.046418792163237174 Centerline is valid? [True, True] Translation: X:519.14, Y:-67.46, Z:-34.08 [[ 9.97542030e-01 4.79620404e-02 5.10836585e-02 5.19144312e+02] [-4.77049398e-02 9.98841973e-01 -6.24106913e-03 -6.74594147e+01] [-5.13238366e-02 3.78878592e-03 9.98674877e-01 -3.40837016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.980714057 meters 0.044041030414120844 Centerline is valid? [True, True] Translation: X:519.21, Y:-67.46, Z:-34.09 [[ 9.97200621e-01 5.40084951e-02 5.17107819e-02 5.19205007e+02] [-5.37531260e-02 9.98534271e-01 -6.31749700e-03 -6.74647051e+01] [-5.19761864e-02 3.52019576e-03 9.98642120e-01 -3.40866144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0407140570001 meters 0.04042617448127922 Centerline is valid? [True, True] Translation: X:519.26, Y:-67.47, Z:-34.09 [[ 9.96545482e-01 6.45287538e-02 5.22794716e-02 5.19264914e+02] [-6.42820725e-02 9.97911323e-01 -6.38807486e-03 -6.74668675e+01] [-5.25824912e-02 3.00537435e-03 9.98612062e-01 -3.40912181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.100714057 meters 0.03632342501426576 Centerline is valid? [True, True] Translation: X:519.33, Y:-67.47, Z:-34.09 [[ 9.95663721e-01 7.57751038e-02 5.39619164e-02 5.19326265e+02] [-7.55287584e-02 9.97121828e-01 -6.59289753e-03 -6.74674315e+01] [-5.43061822e-02 2.48863235e-03 9.98521229e-01 -3.40933125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.160714057 meters 0.02889725724063327 Centerline is valid? [True, True] Translation: X:519.39, Y:-67.46, Z:-34.09 [[ 9.95108048e-01 8.23290774e-02 5.46067401e-02 5.19387700e+02] [-8.20865941e-02 9.96602864e-01 -6.67250921e-03 -6.74617904e+01] [-5.49705751e-02 2.15738631e-03 9.98485644e-01 -3.40940564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.220714057 meters 0.028696497003216356 Centerline is valid? [True, True] Translation: X:519.45, Y:-67.47, Z:-34.10 [[ 9.94971578e-01 8.43248159e-02 5.40452092e-02 5.19445641e+02] [-8.40902146e-02 9.96436259e-01 -6.60429762e-03 -6.74727588e+01] [-5.44095123e-02 2.02641518e-03 9.98516649e-01 -3.41000906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.280714057 meters 0.0293636646588096 Centerline is valid? [True, True] Translation: X:519.50, Y:-67.49, Z:-34.11 [[ 9.95308943e-01 8.13867451e-02 5.23097196e-02 5.19502987e+02] [-8.11631387e-02 9.96680357e-01 -6.38834365e-03 -6.74871657e+01] [-5.26559965e-02 2.11275454e-03 9.98610476e-01 -3.41062907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.340714057 meters 0.030910355142471452 Centerline is valid? [True, True] Translation: X:519.56, Y:-67.50, Z:-34.11 [[ 9.95692993e-01 7.61724181e-02 5.28509824e-02 5.19561479e+02] [-7.59370035e-02 9.97091748e-01 -6.45110558e-03 -6.75040500e+01] [-5.31886748e-02 2.40997538e-03 9.98581573e-01 -3.41093891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.400714057 meters 0.033473409409091395 Centerline is valid? [True, True] Translation: X:519.62, Y:-67.53, Z:-34.11 [[ 9.96226393e-01 6.79700264e-02 5.39726731e-02 5.19620012e+02] [-6.77125613e-02 9.97683128e-01 -6.58681103e-03 -6.75254144e+01] [-5.42953311e-02 2.90732705e-03 9.98520688e-01 -3.41130366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.460714057 meters 0.03994169864224258 Centerline is valid? [True, True] Translation: X:519.68, Y:-67.55, Z:-34.12 [[ 9.97227447e-01 5.51143859e-02 4.99982338e-02 5.19676381e+02] [-5.48773604e-02 9.98474456e-01 -6.10214473e-03 -6.75517637e+01] [-5.02582753e-02 3.34145511e-03 9.98730665e-01 -3.41201974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.520714057 meters 0.03987878036215054 Centerline is valid? [True, True] Translation: X:519.74, Y:-67.56, Z:-34.12 [[ 9.97589827e-01 4.98554720e-02 4.82594011e-02 5.19735569e+02] [-4.96285966e-02 9.98750382e-01 -5.88877097e-03 -6.75629382e+01] [-4.84926828e-02 3.47953165e-03 9.98817477e-01 -3.41240763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.580714057 meters 0.04297105786323926 Centerline is valid? [True, True] Translation: X:519.80, Y:-67.58, Z:-34.13 [[ 9.97941521e-01 4.31239964e-02 4.74662228e-02 5.19795050e+02] [-4.28969854e-02 9.99062715e-01 -5.79136361e-03 -6.75788188e+01] [-4.76714801e-02 3.74328434e-03 9.98856055e-01 -3.41278542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.640714057 meters 0.05003441001347776 Centerline is valid? [True, True] Translation: X:519.85, Y:-67.60, Z:-34.13 [[ 9.97904255e-01 4.27572851e-02 4.85686414e-02 5.19854329e+02] [-4.25192730e-02 9.99078086e-01 -5.92363959e-03 -6.75977629e+01] [-4.87771440e-02 3.84612183e-03 9.98802282e-01 -3.41328723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.700714057 meters 0.050146110774436425 Centerline is valid? [True, True] Translation: X:519.92, Y:-67.61, Z:-34.14 [[ 9.97843369e-01 4.37141381e-02 4.89661597e-02 5.19915962e+02] [-4.34727941e-02 9.99036693e-01 -5.98349194e-03 -6.76059556e+01] [-4.91805534e-02 3.84189197e-03 9.98782515e-01 -3.41364682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.760714057 meters 0.05070452186737104 Centerline is valid? [True, True] Translation: X:519.98, Y:-67.61, Z:-34.14 [[ 9.97776946e-01 4.56072947e-02 4.85915764e-02 5.19977427e+02] [-4.53711857e-02 9.98952468e-01 -5.95157693e-03 -6.76125107e+01] [-4.88121106e-02 3.73368882e-03 9.98801000e-01 -3.41391305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.820714057 meters 0.05309739393447857 Centerline is valid? [True, True] Translation: X:520.04, Y:-67.62, Z:-34.14 [[ 9.97737464e-01 4.56921415e-02 4.93171578e-02 5.20038574e+02] [-4.54489592e-02 9.98948392e-01 -6.04175227e-03 -6.76234231e+01] [-4.95413561e-02 3.78666909e-03 9.98764895e-01 -3.41423106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.880714057 meters 0.042207666448004395 Centerline is valid? [True, True] Translation: X:520.10, Y:-67.62, Z:-34.14 [[ 9.97829204e-01 4.46142186e-02 4.84401737e-02 5.20102028e+02] [-4.43777816e-02 9.98997125e-01 -5.94608952e-03 -6.76153507e+01] [-4.86568745e-02 3.78351433e-03 9.98808387e-01 -3.41438732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.940714057 meters 0.04213482773055147 Centerline is valid? [True, True] Translation: X:520.16, Y:-67.62, Z:-34.15 [[ 9.97894240e-01 4.65887201e-02 4.51284580e-02 5.20163774e+02] [-4.63851149e-02 9.98908219e-01 -5.54896999e-03 -6.76214736e+01] [-4.53377071e-02 3.44399648e-03 9.98965781e-01 -3.41500846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.000714057 meters 0.041101697900841457 Centerline is valid? [True, True] Translation: X:520.22, Y:-67.62, Z:-34.15 [[ 9.97741940e-01 5.08272524e-02 4.39045770e-02 5.20224535e+02] [-5.06379296e-02 9.98702401e-01 -5.41430922e-03 -6.76243374e+01] [-4.41228010e-02 3.17884651e-03 9.99021058e-01 -3.41536560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.060714057 meters 0.04068377585182502 Centerline is valid? [True, True] Translation: X:520.28, Y:-67.63, Z:-34.16 [[ 9.97477883e-01 5.58101192e-02 4.38532099e-02 5.20283835e+02] [-5.56260064e-02 9.98437027e-01 -5.40846175e-03 -6.76299091e+01] [-4.40865154e-02 2.95544204e-03 9.99023345e-01 -3.41573931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.120714057 meters 0.03510788073965046 Centerline is valid? [True, True] Translation: X:520.35, Y:-67.63, Z:-34.16 [[ 9.96990615e-01 6.26690261e-02 4.56323071e-02 5.20345205e+02] [-6.24768672e-02 9.98030552e-01 -5.62655085e-03 -6.76279821e+01] [-4.58950471e-02 2.75865480e-03 9.98942458e-01 -3.41575388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.180714057 meters 0.032329584958606696 Centerline is valid? [True, True] Translation: X:520.41, Y:-67.63, Z:-34.16 [[ 9.96356512e-01 7.10912804e-02 4.71140218e-02 5.20406100e+02] [-7.08958121e-02 9.97466811e-01 -5.80907114e-03 -6.76302291e+01] [-4.74076473e-02 2.44771902e-03 9.98872626e-01 -3.41596800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.240714057 meters 0.03045935976301715 Centerline is valid? [True, True] Translation: X:520.47, Y:-67.63, Z:-34.16 [[ 9.95958384e-01 7.65505356e-02 4.69777971e-02 5.20466303e+02] [-7.63622502e-02 9.97063316e-01 -5.79225903e-03 -6.76344879e+01] [-4.72832387e-02 2.18151865e-03 9.98879140e-01 -3.41638283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.300714057 meters 0.030950929339990094 Centerline is valid? [True, True] Translation: X:520.52, Y:-67.65, Z:-34.17 [[ 9.95960063e-01 7.70993520e-02 4.60352450e-02 5.20523868e+02] [-7.69190870e-02 9.97021175e-01 -5.67712646e-03 -6.76453421e+01] [-4.63358168e-02 2.11320221e-03 9.98923684e-01 -3.41684456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.360714057 meters 0.02976177777635852 Centerline is valid? [True, True] Translation: X:520.58, Y:-67.65, Z:-34.17 [[ 9.96045013e-01 7.70772771e-02 4.41975759e-02 5.20581694e+02] [-7.69112376e-02 9.97023062e-01 -5.44754318e-03 -6.76534742e+01] [-4.44858843e-02 2.02670796e-03 9.99007957e-01 -3.41722118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.420714057 meters 0.03152494601009612 Centerline is valid? [True, True] Translation: X:520.64, Y:-67.67, Z:-34.18 [[ 9.95992068e-01 7.74607516e-02 4.47172452e-02 5.20638160e+02] [-7.72913020e-02 9.96993335e-01 -5.50859641e-03 -6.76661298e+01] [-4.50094954e-02 2.03026423e-03 9.98984496e-01 -3.41766870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.480714057 meters 0.029255674474757815 Centerline is valid? [True, True] Translation: X:520.70, Y:-67.67, Z:-34.18 [[ 9.95717882e-01 8.00163249e-02 4.62956444e-02 5.20697818e+02] [-7.98376951e-02 9.96791592e-01 -5.69771132e-03 -6.76714694e+01] [-4.66030191e-02 1.97717551e-03 9.98911532e-01 -3.41777354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5407140570001 meters 0.028723515677679935 Centerline is valid? [True, True] Translation: X:520.76, Y:-67.68, Z:-34.18 [[ 9.95413346e-01 8.22599067e-02 4.88423844e-02 5.20756949e+02] [-8.20638528e-02 9.96608957e-01 -6.00923903e-03 -6.76806218e+01] [-4.91710772e-02 1.97348248e-03 9.98788421e-01 -3.41804226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.600714057 meters 0.027680650025621062 Centerline is valid? [True, True] Translation: X:520.81, Y:-67.69, Z:-34.18 [[ 9.95436184e-01 8.14837339e-02 4.96709723e-02 5.20814887e+02] [-8.12800649e-02 9.96672574e-01 -6.10990985e-03 -6.76900872e+01] [-5.00035541e-02 2.04476549e-03 9.98746947e-01 -3.41842200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.660714057 meters 0.029765095678980693 Centerline is valid? [True, True] Translation: X:520.87, Y:-67.71, Z:-34.19 [[ 9.95921892e-01 7.70625040e-02 4.69143411e-02 5.20871902e+02] [-7.68761199e-02 9.97023974e-01 -5.76696107e-03 -6.77055969e+01] [-4.72191393e-02 2.13685026e-03 9.98882269e-01 -3.41908171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.720714057 meters 0.03156459311246476 Centerline is valid? [True, True] Translation: X:520.93, Y:-67.72, Z:-34.19 [[ 9.96602981e-01 6.89165536e-02 4.50888886e-02 5.20930490e+02] [-6.87361749e-02 9.97619487e-01 -5.54061178e-03 -6.77215232e+01] [-4.53633938e-02 2.42255248e-03 9.98967614e-01 -3.41949297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.780714057 meters 0.03307998953767008 Centerline is valid? [True, True] Translation: X:520.99, Y:-67.73, Z:-34.20 [[ 9.96779185e-01 6.61296828e-02 4.53665337e-02 5.20989030e+02] [-6.59442106e-02 9.97807740e-01 -5.57443908e-03 -6.77335972e+01] [-4.56357144e-02 2.56482459e-03 9.98954855e-01 -3.41991227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.840714057 meters 0.03424934007794709 Centerline is valid? [True, True] Translation: X:521.05, Y:-67.74, Z:-34.20 [[ 9.96865425e-01 6.38420035e-02 4.67281744e-02 5.21048009e+02] [-6.36428001e-02 9.97956235e-01 -5.73997325e-03 -6.77449695e+01] [-4.69991244e-02 2.74806901e-03 9.98891150e-01 -3.42010622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.900714057 meters 0.03337791069409206 Centerline is valid? [True, True] Translation: X:521.11, Y:-67.75, Z:-34.20 [[ 9.96960947e-01 6.12260029e-02 4.81689369e-02 5.21106438e+02] [-6.10113461e-02 9.98119544e-01 -5.91544457e-03 -6.77535414e+01] [-4.84405364e-02 2.95861554e-03 9.98821686e-01 -3.42040910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.960714057 meters 0.03713216937562331 Centerline is valid? [True, True] Translation: X:521.16, Y:-67.77, Z:-34.21 [[ 9.97195879e-01 5.68555204e-02 4.86603399e-02 5.21164139e+02] [-5.66314369e-02 9.98377288e-01 -5.97251876e-03 -6.77689691e+01] [-4.89209489e-02 3.20006613e-03 9.98797527e-01 -3.42082543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.020714057 meters 0.04033426487523863 Centerline is valid? [True, True] Translation: X:521.22, Y:-67.78, Z:-34.21 [[ 9.97438048e-01 5.25020095e-02 4.85888786e-02 5.21222532e+02] [-5.22735097e-02 9.98615006e-01 -5.96241606e-03 -6.77826253e+01] [-4.88346221e-02 3.40722942e-03 9.98801067e-01 -3.42133181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.080714057 meters 0.0407732690670507 Centerline is valid? [True, True] Translation: X:521.28, Y:-67.79, Z:-34.22 [[ 9.97622360e-01 4.90018275e-02 4.84607815e-02 5.21282563e+02] [-4.87704799e-02 9.98792316e-01 -5.94558143e-03 -6.77913826e+01] [-4.86936005e-02 3.56798941e-03 9.98807390e-01 -3.42171593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.140714057 meters 0.04264742001972446 Centerline is valid? [True, True] Translation: X:521.34, Y:-67.80, Z:-34.22 [[ 9.97707982e-01 4.74063194e-02 4.82848084e-02 5.21343073e+02] [-4.71747930e-02 9.98869083e-01 -5.92399971e-03 -6.78012939e+01] [-4.85110373e-02 3.63259595e-03 9.98816041e-01 -3.42221598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.200714057 meters 0.04299974352703615 Centerline is valid? [True, True] Translation: X:521.41, Y:-67.81, Z:-34.22 [[ 9.97643070e-01 4.73701108e-02 4.96425047e-02 5.21405660e+02] [-4.71254118e-02 9.98870423e-01 -6.08877697e-03 -6.78078605e+01] [-4.98748557e-02 3.73500267e-03 9.98748491e-01 -3.42242382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.260714057 meters 0.041229068724026936 Centerline is valid? [True, True] Translation: X:521.47, Y:-67.81, Z:-34.23 [[ 9.97557811e-01 4.77698945e-02 5.09553771e-02 5.21468176e+02] [-4.75117909e-02 9.98851028e-01 -6.26528773e-03 -6.78105798e+01] [-5.11961229e-02 3.82900549e-03 9.98681278e-01 -3.42270361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.320714057 meters 0.03939705555797677 Centerline is valid? [True, True] Translation: X:521.53, Y:-67.81, Z:-34.23 [[ 9.97512908e-01 4.92922400e-02 5.03812822e-02 5.21529907e+02] [-4.90410608e-02 9.98777455e-01 -6.21037858e-03 -6.78121350e+01] [-5.06258123e-02 3.72418128e-03 9.98710748e-01 -3.42302062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.380714057 meters 0.03882633789500059 Centerline is valid? [True, True] Translation: X:521.59, Y:-67.82, Z:-34.23 [[ 9.97538193e-01 4.93462319e-02 4.98247236e-02 5.21591753e+02] [-4.91007131e-02 9.98774957e-01 -6.14040624e-03 -6.78159171e+01] [-5.00666921e-02 3.67886029e-03 9.98739101e-01 -3.42341002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.440714057 meters 0.041629377612081166 Centerline is valid? [True, True] Translation: X:521.65, Y:-67.82, Z:-34.24 [[ 9.97760925e-01 4.69516713e-02 4.76306252e-02 5.21651246e+02] [-4.67238621e-02 9.98890505e-01 -5.88559919e-03 -6.78246482e+01] [-4.78541180e-02 3.64693413e-03 9.98847678e-01 -3.42397964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.500714057 meters 0.04259474376326659 Centerline is valid? [True, True] Translation: X:521.71, Y:-67.83, Z:-34.24 [[ 9.97849788e-01 4.51544011e-02 4.75066453e-02 5.21712122e+02] [-4.49257271e-02 9.98973079e-01 -5.87083951e-03 -6.78298387e+01] [-4.77229540e-02 3.72394538e-03 9.98853669e-01 -3.42437176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.560714057 meters 0.04444879652105897 Centerline is valid? [True, True] Translation: X:521.77, Y:-67.84, Z:-34.25 [[ 9.97846968e-01 4.58382379e-02 4.69071826e-02 5.21773596e+02] [-4.56161499e-02 9.98942235e-01 -5.79474094e-03 -6.78363927e+01] [-4.71231865e-02 3.64253961e-03 9.98882444e-01 -3.42478127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.620714057 meters 0.04473022813692402 Centerline is valid? [True, True] Translation: X:521.84, Y:-67.84, Z:-34.25 [[ 9.97818937e-01 4.62911826e-02 4.70584161e-02 5.21835479e+02] [-4.60676011e-02 9.98921340e-01 -5.82521345e-03 -6.78431617e+01] [-4.72773120e-02 3.64463996e-03 9.98875154e-01 -3.42516382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.680714057 meters 0.04066187323022856 Centerline is valid? [True, True] Translation: X:521.90, Y:-67.84, Z:-34.25 [[ 9.97680861e-01 4.83204857e-02 4.79377769e-02 5.21897100e+02] [-4.80900191e-02 9.98825284e-01 -5.95002848e-03 -6.78415788e+01] [-4.81689719e-02 3.63090093e-03 9.98832602e-01 -3.42537361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.740714057 meters 0.03894997191009966 Centerline is valid? [True, True] Translation: X:521.96, Y:-67.84, Z:-34.26 [[ 9.97620200e-01 5.03971147e-02 4.70538784e-02 5.21958500e+02] [-5.01773432e-02 9.98723244e-01 -5.84093752e-03 -6.78432589e+01] [-4.72881685e-02 3.46599865e-03 9.98875276e-01 -3.42571520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.800714057 meters 0.03924555067101887 Centerline is valid? [True, True] Translation: X:522.02, Y:-67.85, Z:-34.26 [[ 9.97640010e-01 5.19302316e-02 4.49183787e-02 5.22018377e+02] [-5.17314146e-02 9.98645455e-01 -5.57813371e-03 -6.78490055e+01] [-4.51472085e-02 3.24127810e-03 9.98975087e-01 -3.42627087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.860714057 meters 0.0410769311624655 Centerline is valid? [True, True] Translation: X:522.08, Y:-67.86, Z:-34.27 [[ 9.97672658e-01 5.21074506e-02 4.39781863e-02 5.22076643e+02] [-5.19170128e-02 9.98636465e-01 -5.46216449e-03 -6.78575220e+01] [-4.42028400e-02 3.16623610e-03 9.99017559e-01 -3.42677108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.920714057 meters 0.0408326520450682 Centerline is valid? [True, True] Translation: X:522.14, Y:-67.86, Z:-34.27 [[ 9.97614288e-01 5.28733703e-02 4.43862400e-02 5.22136180e+02] [-5.26802298e-02 9.98596228e-01 -5.51067529e-03 -6.78643883e+01] [-4.46152998e-02 3.15925109e-03 9.98999246e-01 -3.42710775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.980714057 meters 0.038618865726383775 Centerline is valid? [True, True] Translation: X:522.20, Y:-67.87, Z:-34.27 [[ 9.97415853e-01 5.65673662e-02 4.42916356e-02 5.22196407e+02] [-5.63787186e-02 9.98394318e-01 -5.49785995e-03 -6.78670911e+01] [-4.45315168e-02 2.98654701e-03 9.99003516e-01 -3.42741195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0407140570001 meters 0.037693472525870575 Centerline is valid? [True, True] Translation: X:522.26, Y:-67.87, Z:-34.28 [[ 9.97334764e-01 5.84011490e-02 4.37341401e-02 5.22255954e+02] [-5.82189568e-02 9.98289075e-01 -5.42915584e-03 -6.78728317e+01] [-4.39763832e-02 2.86852984e-03 9.99028453e-01 -3.42774030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.100714057 meters 0.038152102320609775 Centerline is valid? [True, True] Translation: X:522.31, Y:-67.88, Z:-34.28 [[ 9.97312955e-01 5.85031621e-02 4.40936381e-02 5.22313789e+02] [-5.83180992e-02 9.98283050e-01 -5.47287876e-03 -6.78819509e+01] [-4.43381122e-02 2.88671573e-03 9.99012412e-01 -3.42820642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.160714057 meters 0.03699820148964322 Centerline is valid? [True, True] Translation: X:522.37, Y:-67.89, Z:-34.29 [[ 9.97416614e-01 5.75601523e-02 4.29758947e-02 5.22372430e+02] [-5.73836333e-02 9.98337969e-01 -5.33080993e-03 -6.78877759e+01] [-4.32113096e-02 2.85092541e-03 9.99061887e-01 -3.42858114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.220714057 meters 0.0399820465182829 Centerline is valid? [True, True] Translation: X:522.43, Y:-67.90, Z:-34.29 [[ 9.97609506e-01 5.45092042e-02 4.24737680e-02 5.22430476e+02] [-5.43341533e-02 9.98508924e-01 -5.26581631e-03 -6.79007212e+01] [-4.26974718e-02 2.94545219e-03 9.99083705e-01 -3.42910367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.280714057 meters 0.04019405174208633 Centerline is valid? [True, True] Translation: X:522.49, Y:-67.91, Z:-34.29 [[ 9.97659925e-01 5.34531440e-02 4.26313908e-02 5.22489023e+02] [-5.32758811e-02 9.98565851e-01 -5.28419722e-03 -6.79088629e+01] [-4.28527080e-02 3.00060690e-03 9.99076895e-01 -3.42940323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.340714057 meters 0.04149288969945479 Centerline is valid? [True, True] Translation: X:522.55, Y:-67.92, Z:-34.30 [[ 9.97722055e-01 5.14722148e-02 4.36040456e-02 5.22547689e+02] [-5.12850064e-02 9.98669448e-01 -5.40193895e-03 -6.79182295e+01] [-4.38240779e-02 3.15339987e-03 9.99034287e-01 -3.42972398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.400714057 meters 0.04431940845717273 Centerline is valid? [True, True] Translation: X:522.61, Y:-67.93, Z:-34.30 [[ 9.97722823e-01 5.06441537e-02 4.45459220e-02 5.22606254e+02] [-5.04480326e-02 9.98711451e-01 -5.51661681e-03 -6.79301287e+01] [-4.47679068e-02 3.25680037e-03 9.98992106e-01 -3.43022534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.460714057 meters 0.04223067022296535 Centerline is valid? [True, True] Translation: X:522.67, Y:-67.93, Z:-34.31 [[ 9.97849070e-01 4.81164742e-02 4.45200995e-02 5.22666744e+02] [-4.79181304e-02 9.98836056e-01 -5.51228606e-03 -6.79339171e+01] [-4.47335124e-02 3.36710958e-03 9.98993281e-01 -3.43050683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.520714057 meters 0.04139915434028099 Centerline is valid? [True, True] Translation: X:522.73, Y:-67.94, Z:-34.31 [[ 9.97970550e-01 4.47550991e-02 4.52963870e-02 5.22727293e+02] [-4.45463363e-02 9.98991577e-01 -5.60829126e-03 -6.79381562e+01] [-4.55017087e-02 3.57912142e-03 9.98957849e-01 -3.43075588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.580714057 meters 0.045399673589734985 Centerline is valid? [True, True] Translation: X:522.79, Y:-67.95, Z:-34.31 [[ 9.98130007e-01 4.06460117e-02 4.56551220e-02 5.22786131e+02] [-4.04296268e-02 9.99166395e-01 -5.65336834e-03 -6.79493282e+01] [-4.58468505e-02 3.79697704e-03 9.98941264e-01 -3.43118923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.640714057 meters 0.04583495467271943 Centerline is valid? [True, True] Translation: X:522.85, Y:-67.96, Z:-34.32 [[ 9.98344431e-01 3.50071692e-02 4.56387372e-02 5.22846302e+02] [-3.47851343e-02 9.99378841e-01 -5.65044042e-03 -6.79564127e+01] [-4.58081942e-02 4.05353612e-03 9.98942029e-01 -3.43162102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.700714057 meters 0.04760044588808134 Centerline is valid? [True, True] Translation: X:522.91, Y:-67.97, Z:-34.32 [[ 9.98494893e-01 3.08630043e-02 4.53367864e-02 5.22906529e+02] [-3.06397014e-02 9.99514738e-01 -5.61227039e-03 -6.79650262e+01] [-4.54879977e-02 4.21471773e-03 9.98955994e-01 -3.43212442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.760714057 meters 0.04977978672018342 Centerline is valid? [True, True] Translation: X:522.97, Y:-67.97, Z:-34.33 [[ 9.98508327e-01 3.08600124e-02 4.50419798e-02 5.22967648e+02] [-3.06397245e-02 9.99514956e-01 -5.57310840e-03 -6.79718436e+01] [-4.51921187e-02 4.18472129e-03 9.98969549e-01 -3.43251031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.820714057 meters 0.0473072868463307 Centerline is valid? [True, True] Translation: X:523.03, Y:-67.97, Z:-34.33 [[ 9.98220536e-01 3.83005747e-02 4.57036973e-02 5.23029242e+02] [-3.80807925e-02 9.99258576e-01 -5.67019148e-03 -6.79698839e+01] [-4.58869831e-02 3.91966857e-03 9.98938948e-01 -3.43285604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.880714057 meters 0.04536461125070211 Centerline is valid? [True, True] Translation: X:523.09, Y:-67.97, Z:-34.33 [[ 9.97906524e-01 4.53458333e-02 4.61120892e-02 5.23090735e+02] [-4.51295510e-02 9.98964760e-01 -5.72119138e-03 -6.79687610e+01] [-4.63237843e-02 3.62819632e-03 9.98919888e-01 -3.43319135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.940714057 meters 0.044608193783313786 Centerline is valid? [True, True] Translation: X:523.15, Y:-67.97, Z:-34.34 [[ 9.97674464e-01 5.04519793e-02 4.58286029e-02 5.23151375e+02] [-5.02436481e-02 9.98720798e-01 -5.68719587e-03 -6.79702257e+01] [-4.60569091e-02 3.37137390e-03 9.98933128e-01 -3.43360225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.000714057 meters 0.045935569117295634 Centerline is valid? [True, True] Translation: X:523.21, Y:-67.98, Z:-34.34 [[ 9.97589296e-01 5.16273819e-02 4.63703562e-02 5.23209268e+02] [-5.14153151e-02 9.98660774e-01 -5.75525427e-03 -6.79766017e+01] [-4.66053845e-02 3.35723358e-03 9.98907737e-01 -3.43407967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.060714057 meters 0.044124473314613985 Centerline is valid? [True, True] Translation: X:523.27, Y:-67.98, Z:-34.34 [[ 9.97819594e-01 4.88899592e-02 4.43376723e-02 5.23269425e+02] [-4.86935332e-02 9.98798623e-01 -5.50011683e-03 -6.79781983e+01] [-4.45533065e-02 3.32916642e-03 9.99001461e-01 -3.43444385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.120714057 meters 0.04580457216130851 Centerline is valid? [True, True] Translation: X:523.33, Y:-67.99, Z:-34.35 [[ 9.98103495e-01 4.47279585e-02 4.22944750e-02 5.23328888e+02] [-4.45455689e-02 9.98993582e-01 -5.24549504e-03 -6.79860486e+01] [-4.24865294e-02 3.35151548e-03 9.99091418e-01 -3.43501640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.180714057 meters 0.04651963536561886 Centerline is valid? [True, True] Translation: X:523.39, Y:-67.99, Z:-34.35 [[ 9.98211680e-01 4.19975737e-02 4.25399218e-02 5.23388249e+02] [-4.18105585e-02 9.99111622e-01 -5.27683478e-03 -6.79933000e+01] [-4.27237445e-02 3.48878022e-03 9.99080833e-01 -3.43535521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.240714057 meters 0.04695503060644461 Centerline is valid? [True, True] Translation: X:523.45, Y:-68.00, Z:-34.36 [[ 9.98145893e-01 4.17626805e-02 4.42792898e-02 5.23448408e+02] [-4.15598716e-02 9.99120925e-01 -5.49134281e-03 -6.79998436e+01] [-4.44696982e-02 3.64091967e-03 9.99004099e-01 -3.43555879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.300714057 meters 0.049516922926251754 Centerline is valid? [True, True] Translation: X:523.51, Y:-68.01, Z:-34.36 [[ 9.97941490e-01 4.48423232e-02 4.58470185e-02 5.23507160e+02] [-4.46280984e-02 9.98987488e-01 -5.68605823e-03 -6.80090524e+01] [-4.60555740e-02 3.62828817e-03 9.98932290e-01 -3.43594007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.360714057 meters 0.04080002007612525 Centerline is valid? [True, True] Translation: X:523.57, Y:-68.00, Z:-34.36 [[ 9.97865069e-01 4.79237935e-02 4.43690701e-02 5.23569510e+02] [-4.77262559e-02 9.98845303e-01 -5.50140847e-03 -6.80012748e+01] [-4.45814857e-02 3.37209374e-03 9.99000060e-01 -3.43618006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.420714057 meters 0.04118530302574695 Centerline is valid? [True, True] Translation: X:523.63, Y:-68.01, Z:-34.37 [[ 9.97809930e-01 4.97214832e-02 4.36247330e-02 5.23629070e+02] [-4.95321639e-02 9.98757873e-01 -5.41064215e-03 -6.80080344e+01] [-4.38395707e-02 3.23796504e-03 9.99033337e-01 -3.43678143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.480714057 meters 0.038208294999670954 Centerline is valid? [True, True] Translation: X:523.69, Y:-68.01, Z:-34.37 [[ 9.97719507e-01 5.16343450e-02 4.34704574e-02 5.23689396e+02] [-5.14482021e-02 9.98661115e-01 -5.39073532e-03 -6.80103144e+01] [-4.36906025e-02 3.14196491e-03 9.99040169e-01 -3.43712214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5407140570001 meters 0.03969072848217998 Centerline is valid? [True, True] Translation: X:523.75, Y:-68.02, Z:-34.38 [[ 9.97517766e-01 5.63029952e-02 4.22880537e-02 5.23748010e+02] [-5.61310495e-02 9.98409641e-01 -5.24342264e-03 -6.80165569e+01] [-4.25160209e-02 2.85673440e-03 9.99091701e-01 -3.43760391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.600714057 meters 0.03622111756614709 Centerline is valid? [True, True] Translation: X:523.81, Y:-68.02, Z:-34.38 [[ 9.97179328e-01 6.10004566e-02 4.37302310e-02 5.23808803e+02] [-6.08211281e-02 9.98133961e-01 -5.42086564e-03 -6.80170430e+01] [-4.39793040e-02 2.74585316e-03 9.99028669e-01 -3.43778453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.660714057 meters 0.03526950037274094 Centerline is valid? [True, True] Translation: X:523.87, Y:-68.02, Z:-34.38 [[ 9.96862299e-01 6.43224196e-02 4.61322353e-02 5.23868567e+02] [-6.41263736e-02 9.97925401e-01 -5.71860760e-03 -6.80231364e+01] [-4.64043641e-02 2.74237136e-03 9.98918973e-01 -3.43800089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.720714057 meters 0.033899320378199184 Centerline is valid? [True, True] Translation: X:523.93, Y:-68.03, Z:-34.38 [[ 9.96570521e-01 6.72886423e-02 4.81605129e-02 5.23928352e+02] [-6.70784286e-02 9.97729847e-01 -5.96966617e-03 -6.80282613e+01] [-4.84528719e-02 2.71866180e-03 9.98821770e-01 -3.43818827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.780714057 meters 0.03197065127241486 Centerline is valid? [True, True] Translation: X:523.99, Y:-68.03, Z:-34.38 [[ 9.96278607e-01 7.06727315e-02 4.93386541e-02 5.23988233e+02] [-7.04562618e-02 9.97496126e-01 -6.11507444e-03 -6.80339971e+01] [-4.96472854e-02 2.61610071e-03 9.98763387e-01 -3.43839010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.840714057 meters 0.03224857808277823 Centerline is valid? [True, True] Translation: X:524.05, Y:-68.04, Z:-34.39 [[ 9.96224635e-01 7.15667197e-02 4.91394074e-02 5.24046350e+02] [-7.13531497e-02 9.97432530e-01 -6.08897827e-03 -6.80444214e+01] [-4.94490117e-02 2.55973866e-03 9.98773369e-01 -3.43887624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.900714057 meters 0.030669083387866787 Centerline is valid? [True, True] Translation: X:524.10, Y:-68.05, Z:-34.39 [[ 9.96222271e-01 7.23149665e-02 4.80804688e-02 5.24104920e+02] [-7.21115428e-02 9.97378800e-01 -5.95438365e-03 -6.80506502e+01] [-4.83850314e-02 2.46473282e-03 9.98825717e-01 -3.43930104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.960714057 meters 0.03178942087991402 Centerline is valid? [True, True] Translation: X:524.16, Y:-68.06, Z:-34.40 [[ 9.96197337e-01 7.35330727e-02 4.67306347e-02 5.24161790e+02] [-7.33423688e-02 9.97290044e-01 -5.78483056e-03 -6.80610086e+01] [-4.70293732e-02 2.33549735e-03 9.98890777e-01 -3.43978243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.020714057 meters 0.030500958274736277 Centerline is valid? [True, True] Translation: X:524.22, Y:-68.07, Z:-34.40 [[ 9.95981583e-01 7.60040612e-02 4.73716010e-02 5.24220756e+02] [-7.58112513e-02 9.97104989e-01 -5.85622073e-03 -6.80675434e+01] [-4.76795563e-02 2.24138765e-03 9.98860168e-01 -3.44002847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.080714057 meters 0.030950081532698046 Centerline is valid? [True, True] Translation: X:524.28, Y:-68.08, Z:-34.40 [[ 9.95734962e-01 7.87690310e-02 4.80346237e-02 5.24278419e+02] [-7.85740623e-02 9.96890602e-01 -5.93667355e-03 -6.80771176e+01] [-4.83528910e-02 2.13707790e-03 9.98828029e-01 -3.44043458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.140714057 meters 0.029855800716498074 Centerline is valid? [True, True] Translation: X:524.34, Y:-68.08, Z:-34.41 [[ 9.95676026e-01 7.94496442e-02 4.81352855e-02 5.24336910e+02] [-7.92547613e-02 9.96836656e-01 -5.94681889e-03 -6.80836104e+01] [-4.84554897e-02 2.10615444e-03 9.98823122e-01 -3.44066739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.200714057 meters 0.030039752308360253 Centerline is valid? [True, True] Translation: X:524.39, Y:-68.09, Z:-34.41 [[ 9.95954141e-01 7.65279857e-02 4.71043221e-02 5.24394930e+02] [-7.63382811e-02 9.97065015e-01 -5.81581512e-03 -6.80943990e+01] [-4.74111443e-02 2.19642216e-03 9.98873045e-01 -3.44100585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.260714057 meters 0.03183849079688021 Centerline is valid? [True, True] Translation: X:524.45, Y:-68.11, Z:-34.41 [[ 9.96275705e-01 7.23960471e-02 4.68351529e-02 5.24452698e+02] [-7.22041051e-02 9.97373133e-01 -5.77934764e-03 -6.81101080e+01] [-4.71305251e-02 2.37613334e-03 9.98885913e-01 -3.44148130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.320714057 meters 0.03193269954802469 Centerline is valid? [True, True] Translation: X:524.51, Y:-68.12, Z:-34.42 [[ 9.96613420e-01 6.82099160e-02 4.59249309e-02 5.24511598e+02] [-6.80209747e-02 9.97667801e-01 -5.66621898e-03 -6.81219082e+01] [-4.62043171e-02 2.52317131e-03 9.98928824e-01 -3.44182504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.380714057 meters 0.03397572504112825 Centerline is valid? [True, True] Translation: X:524.57, Y:-68.14, Z:-34.42 [[ 9.96987151e-01 6.38886048e-02 4.39871175e-02 5.24570166e+02] [-6.37111384e-02 9.97953630e-01 -5.42610527e-03 -6.81356647e+01] [-4.42437699e-02 2.60728790e-03 9.99017363e-01 -3.44226183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.440714057 meters 0.03599207115021264 Centerline is valid? [True, True] Translation: X:524.63, Y:-68.15, Z:-34.43 [[ 9.97256118e-01 5.91099502e-02 4.45673566e-02 5.24629210e+02] [-5.89230288e-02 9.98247392e-01 -5.49735719e-03 -6.81498725e+01] [-4.48141960e-02 2.85622945e-03 9.98991256e-01 -3.44259106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.500714057 meters 0.03672582806241251 Centerline is valid? [True, True] Translation: X:524.69, Y:-68.16, Z:-34.43 [[ 9.97420023e-01 5.56079425e-02 4.53988292e-02 5.24688486e+02] [-5.54103552e-02 9.98447961e-01 -5.60012406e-03 -6.81609490e+01] [-4.56397798e-02 3.07011062e-03 9.98953245e-01 -3.44281175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.560714057 meters 0.036838557053575104 Centerline is valid? [True, True] Translation: X:524.75, Y:-68.17, Z:-34.43 [[ 9.97348147e-01 5.56123918e-02 4.69460944e-02 5.24746220e+02] [-5.54010966e-02 9.98447386e-01 -5.79102866e-03 -6.81696867e+01] [-4.71952582e-02 3.17480659e-03 9.98880638e-01 -3.44306352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.620714057 meters 0.03671759317426641 Centerline is valid? [True, True] Translation: X:524.81, Y:-68.18, Z:-34.43 [[ 9.97188168e-01 5.80356458e-02 4.74090915e-02 5.24805702e+02] [-5.78230806e-02 9.98309741e-01 -5.84399822e-03 -6.81782897e+01] [-4.76681180e-02 3.08622615e-03 9.98858461e-01 -3.44347320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.680714057 meters 0.03634944466312925 Centerline is valid? [True, True] Translation: X:524.86, Y:-68.19, Z:-34.44 [[ 9.97102973e-01 5.99112562e-02 4.68647265e-02 5.24864657e+02] [-5.97056919e-02 9.98199318e-01 -5.77517996e-03 -6.81859438e+01] [-4.71263363e-02 2.96035819e-03 9.98884550e-01 -3.44393700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.740714057 meters 0.034895515800872724 Centerline is valid? [True, True] Translation: X:524.92, Y:-68.19, Z:-34.44 [[ 9.96993083e-01 6.20040204e-02 4.64789549e-02 5.24924043e+02] [-6.18041866e-02 9.98071871e-01 -5.72564695e-03 -6.81939130e+01] [-4.67443506e-02 2.83583641e-03 9.98902860e-01 -3.44439853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.800714057 meters 0.03377459824687042 Centerline is valid? [True, True] Translation: X:524.98, Y:-68.20, Z:-34.45 [[ 9.96854204e-01 6.42102823e-02 4.64622022e-02 5.24983639e+02] [-6.40129906e-02 9.97932653e-01 -5.72333378e-03 -6.82001088e+01] [-4.67336456e-02 2.73114483e-03 9.98903653e-01 -3.44475827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.860714057 meters 0.033705962961131215 Centerline is valid? [True, True] Translation: X:525.04, Y:-68.21, Z:-34.45 [[ 9.96652796e-01 6.68929413e-02 4.69950883e-02 5.25042804e+02] [-6.66941953e-02 9.97756686e-01 -5.78620377e-03 -6.82068081e+01] [-4.72767198e-02 2.63253657e-03 9.98878362e-01 -3.44511301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.920714057 meters 0.03458699464655244 Centerline is valid? [True, True] Translation: X:525.10, Y:-68.22, Z:-34.45 [[ 9.96538589e-01 6.78888496e-02 4.79785833e-02 5.25100188e+02] [-6.76828991e-02 9.97689402e-01 -5.90607177e-03 -6.82160288e+01] [-4.82686805e-02 2.63829881e-03 9.98830904e-01 -3.44545141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.980714057 meters 0.03678347921352923 Centerline is valid? [True, True] Translation: X:525.16, Y:-68.23, Z:-34.46 [[ 9.96681372e-01 6.31177547e-02 5.14042072e-02 5.25159349e+02] [-6.28752450e-02 9.98001365e-01 -6.32282765e-03 -6.82299672e+01] [-5.17005517e-02 3.06979241e-03 9.98657914e-01 -3.44576774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0407140570001 meters 0.03668639752673904 Centerline is valid? [True, True] Translation: X:525.22, Y:-68.24, Z:-34.46 [[ 9.97095075e-01 5.60965322e-02 5.15227215e-02 5.25218288e+02] [-5.58435570e-02 9.98419417e-01 -6.33761685e-03 -6.82398877e+01] [-5.17968038e-02 3.44199452e-03 9.98651713e-01 -3.44617524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.100714057 meters 0.03994445834066529 Centerline is valid? [True, True] Translation: X:525.28, Y:-68.25, Z:-34.47 [[ 9.97391895e-01 5.14013384e-02 5.06686395e-02 5.25276224e+02] [-5.11507239e-02 9.98671504e-01 -6.23135966e-03 -6.82536176e+01] [-5.09216267e-02 3.62337002e-03 9.98696079e-01 -3.44676050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.160714057 meters 0.04275992613610048 Centerline is valid? [True, True] Translation: X:525.34, Y:-68.27, Z:-34.47 [[ 9.97745247e-01 4.36931123e-02 5.09444185e-02 5.25335384e+02] [-4.34297386e-02 9.99036834e-01 -6.26591316e-03 -6.82685272e+01] [-5.11691279e-02 4.03928229e-03 9.98681834e-01 -3.44743718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.220714057 meters 0.043132921931146734 Centerline is valid? [True, True] Translation: X:525.40, Y:-68.28, Z:-34.48 [[ 9.97809553e-01 4.10225857e-02 5.18964756e-02 5.25395399e+02] [-4.07456881e-02 9.99149162e-01 -6.38280931e-03 -6.82760995e+01] [-5.21141595e-02 4.25427049e-03 9.98632072e-01 -3.44787473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.280714057 meters 0.043582254369047835 Centerline is valid? [True, True] Translation: X:525.46, Y:-68.28, Z:-34.48 [[ 9.97825907e-01 3.87506478e-02 5.33089833e-02 5.25455869e+02] [-3.84551077e-02 9.99238803e-01 -6.55889777e-03 -6.82826283e+01] [-5.35225662e-02 4.49463541e-03 9.98556525e-01 -3.44822667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.340714057 meters 0.04434562997137675 Centerline is valid? [True, True] Translation: X:525.52, Y:-68.29, Z:-34.49 [[ 9.97820841e-01 3.68567099e-02 5.47279894e-02 5.25516267e+02] [-3.65423216e-02 9.99309414e-01 -6.73452699e-03 -6.82906736e+01] [-5.49384075e-02 4.71996360e-03 9.98478589e-01 -3.44864917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.400714057 meters 0.04359041302378229 Centerline is valid? [True, True] Translation: X:525.58, Y:-68.30, Z:-34.49 [[ 9.97824720e-01 3.64483220e-02 5.49303921e-02 5.25577654e+02] [-3.61310451e-02 9.99324208e-01 -6.75838182e-03 -6.82967741e+01] [-5.51396023e-02 4.75898797e-03 9.98467314e-01 -3.44901059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.460714057 meters 0.045970101491079524 Centerline is valid? [True, True] Translation: X:525.64, Y:-68.31, Z:-34.50 [[ 9.97868887e-01 3.43315816e-02 5.54889752e-02 5.25638040e+02] [-3.40037085e-02 9.99398283e-01 -6.84245840e-03 -6.83066638e+01] [-5.56904990e-02 4.94104542e-03 9.98435854e-01 -3.44953256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.520714057 meters 0.0469404155262598 Centerline is valid? [True, True] Translation: X:525.70, Y:-68.31, Z:-34.50 [[ 9.97841277e-01 3.40654681e-02 5.61456141e-02 5.25699892e+02] [-3.37293418e-02 9.99407021e-01 -6.92375529e-03 -6.83146486e+01] [-5.63481818e-02 5.01505421e-03 9.98398584e-01 -3.45001730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.580714057 meters 0.04637933911573035 Centerline is valid? [True, True] Translation: X:525.76, Y:-68.32, Z:-34.50 [[ 9.97691431e-01 3.75438988e-02 5.65885587e-02 5.25760752e+02] [-3.72070553e-02 9.99283097e-01 -6.99475838e-03 -6.83183374e+01] [-5.68106007e-02 4.87311687e-03 9.98373081e-01 -3.45041449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.640714057 meters 0.04603366078279727 Centerline is valid? [True, True] Translation: X:525.82, Y:-68.32, Z:-34.51 [[ 9.97491509e-01 4.23139853e-02 5.67469549e-02 5.25820557e+02] [-4.19828433e-02 9.99093701e-01 -7.01546917e-03 -6.83230101e+01] [-5.69923777e-02 4.61547241e-03 9.98363945e-01 -3.45095334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.700714057 meters 0.04061697754704399 Centerline is valid? [True, True] Translation: X:525.88, Y:-68.32, Z:-34.51 [[ 9.97225722e-01 4.59893965e-02 5.85306369e-02 5.25881422e+02] [-4.56433247e-02 9.98931588e-01 -7.23661158e-03 -6.83200129e+01] [-5.88009095e-02 4.54500233e-03 9.98259383e-01 -3.45122512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.760714057 meters 0.04105345135821114 Centerline is valid? [True, True] Translation: X:525.94, Y:-68.33, Z:-34.52 [[ 9.97008793e-01 4.85215326e-02 6.01591890e-02 5.25941790e+02] [-4.81604828e-02 9.98811917e-01 -7.43793636e-03 -6.83270764e+01] [-6.04486149e-02 4.51839236e-03 9.98161084e-01 -3.45160312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.820714057 meters 0.03969277383149514 Centerline is valid? [True, True] Translation: X:526.00, Y:-68.33, Z:-34.52 [[ 9.96895145e-01 4.98445308e-02 6.09556553e-02 5.26003239e+02] [-4.94762131e-02 9.98746858e-01 -7.53780538e-03 -6.83310982e+01] [-6.12549876e-02 4.49854660e-03 9.98112013e-01 -3.45201540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.880714057 meters 0.04062979049785841 Centerline is valid? [True, True] Translation: X:526.06, Y:-68.34, Z:-34.53 [[ 9.96895425e-01 5.02562971e-02 6.06120162e-02 5.26064394e+02] [-4.98927950e-02 9.98726443e-01 -7.49675948e-03 -6.83393825e+01] [-6.09115827e-02 4.44938233e-03 9.98133249e-01 -3.45254685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.940714057 meters 0.04198180657407664 Centerline is valid? [True, True] Translation: X:526.12, Y:-68.35, Z:-34.53 [[ 9.96915737e-01 5.00946232e-02 6.04114426e-02 5.26124360e+02] [-4.97322850e-02 9.98734518e-01 -7.48751913e-03 -6.83482839e+01] [-6.07100775e-02 4.46002657e-03 9.98145478e-01 -3.45301462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.000714057 meters 0.04339412234826 Centerline is valid? [True, True] Translation: X:526.19, Y:-68.36, Z:-34.53 [[ 9.96926407e-01 4.96251491e-02 6.06224678e-02 5.26185503e+02] [-4.92586830e-02 9.98757702e-01 -7.52555991e-03 -6.83571273e+01] [-6.09206136e-02 4.51624648e-03 9.98132397e-01 -3.45344088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.060714057 meters 0.043536765080341606 Centerline is valid? [True, True] Translation: X:526.25, Y:-68.36, Z:-34.54 [[ 9.96933739e-01 4.93348072e-02 6.07387537e-02 5.26247030e+02] [-4.89654761e-02 9.98771898e-01 -7.55504269e-03 -6.83635808e+01] [-6.10368869e-02 4.55777497e-03 9.98125105e-01 -3.45396978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.120714057 meters 0.0393412442615995 Centerline is valid? [True, True] Translation: X:526.31, Y:-68.36, Z:-34.54 [[ 9.96943588e-01 4.76699448e-02 6.18955453e-02 5.26308455e+02] [-4.72821970e-02 9.98851777e-01 -7.71502885e-03 -6.83639364e+01] [-6.21922504e-02 4.76489118e-03 9.98052814e-01 -3.45434622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.180714057 meters 0.04280255632525184 Centerline is valid? [True, True] Translation: X:526.37, Y:-68.37, Z:-34.55 [[ 9.97136589e-01 4.37017149e-02 6.17153312e-02 5.26367182e+02] [-4.33084593e-02 9.99032105e-01 -7.69609101e-03 -6.83747615e+01] [-6.19919297e-02 5.00125803e-03 9.98064120e-01 -3.45468011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.240714057 meters 0.045146247738438276 Centerline is valid? [True, True] Translation: X:526.43, Y:-68.38, Z:-34.55 [[ 9.97243631e-01 4.07011063e-02 6.20367652e-02 5.26426665e+02] [-4.02980387e-02 9.99157763e-01 -7.73515459e-03 -6.83846813e+01] [-6.22993449e-02 5.21387368e-03 9.98043890e-01 -3.45511926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.300714057 meters 0.045936509166949475 Centerline is valid? [True, True] Translation: X:526.49, Y:-68.39, Z:-34.56 [[ 9.97255533e-01 4.31395502e-02 6.01696009e-02 5.26486817e+02] [-4.27647814e-02 9.99056994e-01 -7.50303261e-03 -6.83893910e+01] [-6.04365381e-02 4.90930096e-03 9.98159969e-01 -3.45561376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.360714057 meters 0.04313544133013328 Centerline is valid? [True, True] Translation: X:526.55, Y:-68.39, Z:-34.56 [[ 9.97158039e-01 4.66061388e-02 5.91921706e-02 5.26547961e+02] [-4.62495296e-02 9.98902648e-01 -7.38113157e-03 -6.83892888e+01] [-5.94712220e-02 4.62254464e-03 9.98219318e-01 -3.45600814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.420714057 meters 0.04011575254962669 Centerline is valid? [True, True] Translation: X:526.61, Y:-68.39, Z:-34.56 [[ 9.96828725e-01 5.23620842e-02 5.99224945e-02 5.26608798e+02] [-5.20069247e-02 9.98618768e-01 -7.47237923e-03 -6.83886909e+01] [-6.02309969e-02 4.33229761e-03 9.98175064e-01 -3.45634919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.480714057 meters 0.04057174796154569 Centerline is valid? [True, True] Translation: X:526.67, Y:-68.39, Z:-34.57 [[ 9.96612932e-01 5.59840667e-02 6.02366042e-02 5.26667610e+02] [-5.56316923e-02 9.98423096e-01 -7.51239686e-03 -6.83937408e+01] [-6.05621914e-02 4.13588763e-03 9.98155857e-01 -3.45668657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5407140570001 meters 0.04239499466709148 Centerline is valid? [True, True] Translation: X:526.73, Y:-68.40, Z:-34.57 [[ 9.96722886e-01 5.48752651e-02 5.94322640e-02 5.26727879e+02] [-5.45304206e-02 9.98484615e-01 -7.40994499e-03 -6.84035169e+01] [-5.97488240e-02 4.14479540e-03 9.98204838e-01 -3.45724512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.600714057 meters 0.04436763187255529 Centerline is valid? [True, True] Translation: X:526.79, Y:-68.41, Z:-34.58 [[ 9.96833763e-01 5.31831317e-02 5.91100975e-02 5.26787935e+02] [-5.28389357e-02 9.98575837e-01 -7.37192389e-03 -6.84139586e+01] [-5.94179771e-02 4.22526799e-03 9.98224249e-01 -3.45764539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.660714057 meters 0.04060169076171069 Centerline is valid? [True, True] Translation: X:526.85, Y:-68.41, Z:-34.58 [[ 9.97145106e-01 4.97100796e-02 5.68378878e-02 5.26848690e+02] [-4.93862057e-02 9.98754595e-01 -7.08958548e-03 -6.84144902e+01] [-5.71195255e-02 4.26233785e-03 9.98358249e-01 -3.45797337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.720714057 meters 0.05115421436450136 Centerline is valid? [True, True] Translation: X:526.91, Y:-68.44, Z:-34.59 [[ 9.97501549e-01 4.56056204e-02 5.39517088e-02 5.26905810e+02] [-4.53079131e-02 9.98950406e-01 -6.72897079e-03 -6.84364508e+01] [-5.42019603e-02 4.26771945e-03 9.98520873e-01 -3.45868861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.780714057 meters 0.043658858349216866 Centerline is valid? [True, True] Translation: X:526.97, Y:-68.43, Z:-34.59 [[ 9.97575968e-01 4.40345362e-02 5.38808737e-02 5.26968102e+02] [-4.37350778e-02 9.99020530e-01 -6.72489406e-03 -6.84322161e+01] [-5.41242266e-02 4.35210849e-03 9.98524725e-01 -3.45882961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.840714057 meters 0.050800028492469854 Centerline is valid? [True, True] Translation: X:527.03, Y:-68.45, Z:-34.59 [[ 9.97446277e-01 4.49338187e-02 5.55146577e-02 5.27027519e+02] [-4.46172606e-02 9.98980123e-01 -6.92918395e-03 -6.84482265e+01] [-5.57693943e-02 4.43457678e-03 9.98433828e-01 -3.45916102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.900714057 meters 0.042049208171715 Centerline is valid? [True, True] Translation: X:527.09, Y:-68.44, Z:-34.59 [[ 9.97322220e-01 4.62746963e-02 5.66307517e-02 5.27090520e+02] [-4.59465574e-02 9.98918785e-01 -7.08344483e-03 -6.84423121e+01] [-5.68973060e-02 4.46248884e-03 9.98370063e-01 -3.45922143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.960714057 meters 0.0414452809605193 Centerline is valid? [True, True] Translation: X:527.15, Y:-68.45, Z:-34.60 [[ 9.97365142e-01 4.70496738e-02 5.52186651e-02 5.27152162e+02] [-4.67388327e-02 9.98883257e-01 -6.90796947e-03 -6.84479783e+01] [-5.54820177e-02 4.30891200e-03 9.98450389e-01 -3.45970742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.020714057 meters 0.04377509879445004 Centerline is valid? [True, True] Translation: X:527.21, Y:-68.46, Z:-34.60 [[ 9.97574548e-01 4.54887700e-02 5.26858001e-02 5.27211102e+02] [-4.52028272e-02 9.98955982e-01 -6.60688406e-03 -6.84581819e+01] [-5.29313342e-02 4.20931226e-03 9.98589283e-01 -3.46034501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.080714057 meters 0.04683488310675053 Centerline is valid? [True, True] Translation: X:527.27, Y:-68.47, Z:-34.61 [[ 9.97832321e-01 4.27568838e-02 5.00250817e-02 5.27269162e+02] [-4.24957056e-02 9.99076954e-01 -6.27342577e-03 -6.84704730e+01] [-5.02471383e-02 4.13397585e-03 9.98728259e-01 -3.46099668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.140714057 meters 0.04859723329524513 Centerline is valid? [True, True] Translation: X:527.33, Y:-68.48, Z:-34.61 [[ 9.97924892e-01 4.14009383e-02 4.93140245e-02 5.27329745e+02] [-4.11455673e-02 9.99134032e-01 -6.18283812e-03 -6.84796028e+01] [-4.95272954e-02 4.14095455e-03 9.98764186e-01 -3.46142573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.200714057 meters 0.047971310296518625 Centerline is valid? [True, True] Translation: X:527.39, Y:-68.48, Z:-34.62 [[ 9.97763581e-01 4.55250683e-02 4.89418448e-02 5.27389544e+02] [-4.52783552e-02 9.98955550e-01 -6.13842225e-03 -6.84847823e+01] [-4.91701795e-02 3.90868793e-03 9.98782767e-01 -3.46186611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.260714057 meters 0.04583133766212271 Centerline is valid? [True, True] Translation: X:527.45, Y:-68.49, Z:-34.62 [[ 9.97461684e-01 5.15377095e-02 4.91330284e-02 5.27450907e+02] [-5.12963258e-02 9.98664466e-01 -6.16203921e-03 -6.84868916e+01] [-4.93849870e-02 3.62605417e-03 9.98773235e-01 -3.46219466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.320714057 meters 0.04615624915750518 Centerline is valid? [True, True] Translation: X:527.51, Y:-68.49, Z:-34.63 [[ 9.97249949e-01 5.46983584e-02 5.00062941e-02 5.27509765e+02] [-5.44521708e-02 9.98496673e-01 -6.27329859e-03 -6.84938280e+01] [-5.02742575e-02 3.53309543e-03 9.98729201e-01 -3.46252449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.380714057 meters 0.04294487510881482 Centerline is valid? [True, True] Translation: X:527.57, Y:-68.50, Z:-34.63 [[ 9.97023073e-01 5.71693529e-02 5.17364283e-02 5.27569295e+02] [-5.69091734e-02 9.98358269e-01 -6.48937823e-03 -6.84971535e+01] [-5.20224846e-02 3.52578245e-03 9.98639690e-01 -3.46278255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.440714057 meters 0.039549378705304554 Centerline is valid? [True, True] Translation: X:527.63, Y:-68.50, Z:-34.63 [[ 9.97102405e-01 5.59186409e-02 5.15742116e-02 5.27628602e+02] [-5.56585071e-02 9.98428917e-01 -6.46751072e-03 -6.85006398e+01] [-5.18548387e-02 3.57822687e-03 9.98648222e-01 -3.46302533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.500714057 meters 0.0410923279937351 Centerline is valid? [True, True] Translation: X:527.69, Y:-68.51, Z:-34.64 [[ 9.97373783e-01 5.23330538e-02 5.00678421e-02 5.27688220e+02] [-5.20835848e-02 9.98623012e-01 -6.27528144e-03 -6.85127131e+01] [-5.03273040e-02 3.65108849e-03 9.98726105e-01 -3.46357537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.560714057 meters 0.04302929012704588 Centerline is valid? [True, True] Translation: X:527.75, Y:-68.53, Z:-34.64 [[ 9.97503393e-01 5.01496956e-02 4.97191115e-02 5.27747313e+02] [-4.99010060e-02 9.98734729e-01 -6.23140500e-03 -6.85256523e+01] [-4.99687064e-02 3.73481395e-03 9.98743801e-01 -3.46408900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.620714057 meters 0.045065654310044896 Centerline is valid? [True, True] Translation: X:527.81, Y:-68.54, Z:-34.64 [[ 9.97446529e-01 4.98133125e-02 5.11767126e-02 5.27806282e+02] [-4.95493705e-02 9.98751080e-01 -6.41408934e-03 -6.85381438e+01] [-5.14323040e-02 3.86193725e-03 9.98669016e-01 -3.46442939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.680714057 meters 0.04451855059843649 Centerline is valid? [True, True] Translation: X:527.87, Y:-68.55, Z:-34.65 [[ 9.97236342e-01 5.24072340e-02 5.26608043e-02 5.27866878e+02] [-5.21313471e-02 9.98618428e-01 -6.59989339e-03 -6.85457320e+01] [-5.29339318e-02 3.83637487e-03 9.98590647e-01 -3.46470104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.740714057 meters 0.039971803469828676 Centerline is valid? [True, True] Translation: X:527.93, Y:-68.55, Z:-34.65 [[ 9.97164851e-01 5.40115297e-02 5.23928900e-02 5.27927562e+02] [-5.37405889e-02 9.98533333e-01 -6.56742700e-03 -6.85468555e+01] [-5.26707639e-02 3.73318260e-03 9.98604954e-01 -3.46502641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.800714057 meters 0.041402190528883547 Centerline is valid? [True, True] Translation: X:527.99, Y:-68.56, Z:-34.66 [[ 9.97214558e-01 5.50361892e-02 5.03402755e-02 5.27986037e+02] [-5.47874039e-02 9.98478106e-01 -6.30972294e-03 -6.85585472e+01] [-5.06109260e-02 3.53413457e-03 9.98712193e-01 -3.46575838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.860714057 meters 0.0429615810080616 Centerline is valid? [True, True] Translation: X:528.04, Y:-68.57, Z:-34.66 [[ 9.97287931e-01 5.52466213e-02 4.86270907e-02 5.28043161e+02] [-5.50146279e-02 9.98466931e-01 -6.09742397e-03 -6.85688644e+01] [-4.88894041e-02 3.40568603e-03 9.98798392e-01 -3.46637603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.920714057 meters 0.04009518539229346 Centerline is valid? [True, True] Translation: X:528.10, Y:-68.57, Z:-34.67 [[ 9.97407028e-01 5.38107442e-02 4.77872899e-02 5.28102695e+02] [-5.35851520e-02 9.98545316e-01 -5.99028441e-03 -6.85730873e+01] [-4.80401162e-02 3.41406258e-03 9.98839572e-01 -3.46677925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.980714057 meters 0.04490125305391889 Centerline is valid? [True, True] Translation: X:528.16, Y:-68.59, Z:-34.67 [[ 9.97505990e-01 5.16537851e-02 4.81007960e-02 5.28160643e+02] [-5.14228261e-02 9.98658781e-01 -6.02753259e-03 -6.85874376e+01] [-4.83476272e-02 3.53902100e-03 9.98824300e-01 -3.46725752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0407140570001 meters 0.0479978921258657 Centerline is valid? [True, True] Translation: X:528.22, Y:-68.60, Z:-34.68 [[ 9.97501306e-01 5.03298162e-02 4.95787694e-02 5.28218986e+02] [-5.00828512e-02 9.98725749e-01 -6.21181018e-03 -6.86004717e+01] [-4.98282329e-02 3.71324264e-03 9.98750899e-01 -3.46764702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.100714057 meters 0.04616020390315002 Centerline is valid? [True, True] Translation: X:528.28, Y:-68.61, Z:-34.68 [[ 9.97451732e-01 5.04083923e-02 5.04879839e-02 5.28278760e+02] [-5.01524328e-02 9.98721549e-01 -6.32460725e-03 -6.86062440e+01] [-5.07422508e-02 3.77639523e-03 9.98704642e-01 -3.46805124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.160714057 meters 0.039140461807770734 Centerline is valid? [True, True] Translation: X:528.34, Y:-68.60, Z:-34.68 [[ 9.97438404e-01 5.03842674e-02 5.07745695e-02 5.28340495e+02] [-5.01253595e-02 9.98722680e-01 -6.36050770e-03 -6.86040318e+01] [-5.10301837e-02 3.79912109e-03 9.98689885e-01 -3.46826444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.220714057 meters 0.03960549415011951 Centerline is valid? [True, True] Translation: X:528.40, Y:-68.61, Z:-34.69 [[ 9.97357833e-01 5.06296200e-02 5.20960048e-02 5.28400042e+02] [-5.03573766e-02 9.98709941e-01 -6.52604331e-03 -6.86147676e+01] [-5.23592090e-02 3.88538228e-03 9.98620757e-01 -3.46872701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.280714057 meters 0.04125290810375924 Centerline is valid? [True, True] Translation: X:528.46, Y:-68.63, Z:-34.69 [[ 9.97385373e-01 5.02930132e-02 5.18944218e-02 5.28460059e+02] [-5.00224457e-02 9.98726940e-01 -6.50034413e-03 -6.86269754e+01] [-5.21552790e-02 3.88746226e-03 9.98631421e-01 -3.46929379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.340714057 meters 0.046333635724430944 Centerline is valid? [True, True] Translation: X:528.52, Y:-68.64, Z:-34.70 [[ 9.97461173e-01 4.92807113e-02 5.14064170e-02 5.28519410e+02] [-4.90138432e-02 9.98777338e-01 -6.43989822e-03 -6.86446538e+01] [-5.16609271e-02 3.90392237e-03 9.98657052e-01 -3.46993953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.400714057 meters 0.047665129218825264 Centerline is valid? [True, True] Translation: X:528.58, Y:-68.66, Z:-34.70 [[ 9.97441151e-01 4.99361712e-02 5.11617872e-02 5.28579822e+02] [-4.96724257e-02 9.98744965e-01 -6.41451469e-03 -6.86567713e+01] [-5.14178936e-02 3.85677084e-03 9.98669778e-01 -3.47037408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.460714057 meters 0.040239611345637014 Centerline is valid? [True, True] Translation: X:528.64, Y:-68.66, Z:-34.71 [[ 9.97249306e-01 5.46159956e-02 5.01090250e-02 5.28641264e+02] [-5.43681726e-02 9.98501105e-01 -6.29646149e-03 -6.86551399e+01] [-5.03778043e-02 3.55480574e-03 9.98723906e-01 -3.47075453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.520714057 meters 0.03828818687685684 Centerline is valid? [True, True] Translation: X:528.70, Y:-68.66, Z:-34.71 [[ 9.96960722e-01 5.98482770e-02 4.98748723e-02 5.28701556e+02] [-5.96092730e-02 9.98202113e-01 -6.26713803e-03 -6.86601743e+01] [-5.01602803e-02 3.27508558e-03 9.98735811e-01 -3.47116719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.580714057 meters 0.03766770849903224 Centerline is valid? [True, True] Translation: X:528.76, Y:-68.67, Z:-34.71 [[ 9.96769130e-01 6.19012186e-02 5.11814547e-02 5.28760950e+02] [-6.16521743e-02 9.98076971e-01 -6.43195177e-03 -6.86671948e+01] [-5.14811769e-02 3.25572300e-03 9.98668658e-01 -3.47136657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.640714057 meters 0.03735170251639383 Centerline is valid? [True, True] Translation: X:528.82, Y:-68.68, Z:-34.72 [[ 9.96752323e-01 6.05980480e-02 5.30347444e-02 5.28819798e+02] [-6.03288895e-02 9.98156316e-01 -6.66287033e-03 -6.86780790e+01] [-5.33407220e-02 3.44170424e-03 9.98570439e-01 -3.47177594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.700714057 meters 0.037160205456739565 Centerline is valid? [True, True] Translation: X:528.88, Y:-68.69, Z:-34.72 [[ 9.96908823e-01 5.70569665e-02 5.40120425e-02 5.28878649e+02] [-5.67727314e-02 9.98364083e-01 -6.78347301e-03 -6.86875686e+01] [-5.43107277e-02 3.69609291e-03 9.98517243e-01 -3.47222696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.760714057 meters 0.03972414221297571 Centerline is valid? [True, True] Translation: X:528.94, Y:-68.70, Z:-34.73 [[ 9.96911826e-01 5.44698369e-02 5.65671928e-02 5.28937871e+02] [-5.41539721e-02 9.98507333e-01 -7.10299374e-03 -6.87009075e+01] [-5.68696557e-02 4.01772029e-03 9.98373527e-01 -3.47265684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.820714057 meters 0.04151505616595146 Centerline is valid? [True, True] Translation: X:529.00, Y:-68.71, Z:-34.73 [[ 9.96923623e-01 5.36864335e-02 5.71056686e-02 5.28998322e+02] [-5.33632667e-02 9.98549423e-01 -7.17014736e-03 -6.87116419e+01] [-5.74077720e-02 4.10074426e-03 9.98342392e-01 -3.47321916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.880714057 meters 0.042334721921261184 Centerline is valid? [True, True] Translation: X:529.06, Y:-68.72, Z:-34.74 [[ 9.97008637e-01 5.20879760e-02 5.71018421e-02 5.29058541e+02] [-5.17614024e-02 9.98633638e-01 -7.18435092e-03 -6.87211374e+01] [-5.73980386e-02 4.20718849e-03 9.98342509e-01 -3.47374275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.940714057 meters 0.04405987895476177 Centerline is valid? [True, True] Translation: X:529.12, Y:-68.73, Z:-34.74 [[ 9.97105156e-01 4.95178143e-02 5.77000313e-02 5.29118812e+02] [-4.91799556e-02 9.98763535e-01 -7.26169416e-03 -6.87325730e+01] [-5.79882705e-02 4.40298771e-03 9.98307555e-01 -3.47426422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.000714057 meters 0.04308787458926695 Centerline is valid? [True, True] Translation: X:529.18, Y:-68.74, Z:-34.75 [[ 9.97130879e-01 4.90130852e-02 5.76864541e-02 5.29180846e+02] [-4.86745096e-02 9.98788304e-01 -7.26062391e-03 -6.87390891e+01] [-5.79724212e-02 4.43193244e-03 9.98308347e-01 -3.47475927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.060714057 meters 0.046509412824647836 Centerline is valid? [True, True] Translation: X:529.24, Y:-68.75, Z:-34.75 [[ 9.97078227e-01 4.97043268e-02 5.80042136e-02 5.29241039e+02] [-4.93623038e-02 9.98754148e-01 -7.31540316e-03 -6.87520274e+01] [-5.82955561e-02 4.43080761e-03 9.98289535e-01 -3.47523589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.120714057 meters 0.03832400150683086 Centerline is valid? [True, True] Translation: X:529.30, Y:-68.75, Z:-34.76 [[ 9.96953915e-01 5.32705027e-02 5.69661766e-02 5.29302345e+02] [-5.29455854e-02 9.98571450e-01 -7.19891264e-03 -6.87462574e+01] [-5.72682872e-02 4.16087658e-03 9.98350154e-01 -3.47565771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.180714057 meters 0.03707663025019666 Centerline is valid? [True, True] Translation: X:529.36, Y:-68.75, Z:-34.76 [[ 9.96752264e-01 5.78869977e-02 5.59823244e-02 5.29362670e+02] [-5.75804291e-02 9.98315800e-01 -7.07511587e-03 -6.87481194e+01] [-5.62975962e-02 3.82865150e-03 9.98406692e-01 -3.47619905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.240714057 meters 0.038064546003366055 Centerline is valid? [True, True] Translation: X:529.42, Y:-68.76, Z:-34.77 [[ 9.96713078e-01 5.83343861e-02 5.62151272e-02 5.29422713e+02] [-5.80259811e-02 9.98289795e-01 -7.10428279e-03 -6.87574178e+01] [-5.65334118e-02 3.81899366e-03 9.98393404e-01 -3.47662305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.300714057 meters 0.03933296483424541 Centerline is valid? [True, True] Translation: X:529.48, Y:-68.76, Z:-34.77 [[ 9.96683664e-01 5.79730643e-02 5.71033878e-02 5.29483101e+02] [-5.76541277e-02 9.98310521e-01 -7.21835813e-03 -6.87642302e+01] [-5.74253831e-02 3.90217362e-03 9.98342175e-01 -3.47701937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.360714057 meters 0.03787155954270284 Centerline is valid? [True, True] Translation: X:529.54, Y:-68.77, Z:-34.77 [[ 9.96671567e-01 5.72215573e-02 5.80644502e-02 5.29543985e+02] [-5.68902242e-02 9.98353423e-01 -7.34474669e-03 -6.87683850e+01] [-5.83891204e-02 4.01700060e-03 9.98285818e-01 -3.47729659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.420714057 meters 0.036862672076411425 Centerline is valid? [True, True] Translation: X:529.61, Y:-68.77, Z:-34.78 [[ 9.96502564e-01 5.87812026e-02 5.93920057e-02 5.29605666e+02] [-5.84371485e-02 9.98262805e-01 -7.51481456e-03 -6.87735379e+01] [-5.97305600e-02 4.01783252e-03 9.98206450e-01 -3.47764533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.480714057 meters 0.03674255811608246 Centerline is valid? [True, True] Translation: X:529.67, Y:-68.78, Z:-34.78 [[ 9.96244975e-01 6.17148893e-02 6.07225071e-02 5.29666088e+02] [-6.13604191e-02 9.98086074e-01 -7.68681111e-03 -6.87778312e+01] [-6.10806795e-02 3.93198845e-03 9.98125087e-01 -3.47795327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5407140570001 meters 0.03702288816071924 Centerline is valid? [True, True] Translation: X:529.73, Y:-68.78, Z:-34.78 [[ 9.96183212e-01 6.28557313e-02 6.05653725e-02 5.29725881e+02] [-6.25051938e-02 9.98015190e-01 -7.66691956e-03 -6.87846947e+01] [-6.09270715e-02 3.85200621e-03 9.98134788e-01 -3.47836434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.600714057 meters 0.035801609936017886 Centerline is valid? [True, True] Translation: X:529.79, Y:-68.79, Z:-34.79 [[ 9.96251537e-01 6.29458813e-02 5.93354191e-02 5.29786349e+02] [-6.26096166e-02 9.98009828e-01 -7.51122079e-03 -6.87881846e+01] [-5.96901318e-02 3.76809742e-03 9.98209843e-01 -3.47883942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.660714057 meters 0.037394843710954834 Centerline is valid? [True, True] Translation: X:529.84, Y:-68.80, Z:-34.79 [[ 9.96312701e-01 6.29038538e-02 5.83447334e-02 5.29844938e+02] [-6.25786622e-02 9.98012705e-01 -7.38591566e-03 -6.87964936e+01] [-5.86933878e-02 3.70754621e-03 9.98269172e-01 -3.47930361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.720714057 meters 0.03916701013529645 Centerline is valid? [True, True] Translation: X:529.90, Y:-68.80, Z:-34.80 [[ 9.96514570e-01 6.16976959e-02 5.61436282e-02 5.29903001e+02] [-6.13947875e-02 9.98088266e-01 -7.10581294e-03 -6.88049965e+01] [-5.64747088e-02 3.63412000e-03 9.98397416e-01 -3.47997235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.780714057 meters 0.04270667179604265 Centerline is valid? [True, True] Translation: X:529.96, Y:-68.82, Z:-34.80 [[ 9.96794743e-01 5.77997714e-02 5.53120830e-02 5.29961797e+02] [-5.74996477e-02 9.98320961e-01 -7.00347406e-03 -6.88153369e+01] [-5.56240110e-02 3.80060084e-03 9.98444553e-01 -3.48034888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.840714057 meters 0.042647089791290844 Centerline is valid? [True, True] Translation: X:530.02, Y:-68.82, Z:-34.81 [[ 9.96843704e-01 5.52866140e-02 5.69738584e-02 5.30022237e+02] [-5.49641457e-02 9.98462277e-01 -7.21271032e-03 -6.88205449e+01] [-5.72850147e-02 4.05842542e-03 9.98349616e-01 -3.48054696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.900714057 meters 0.044752905267081936 Centerline is valid? [True, True] Translation: X:530.08, Y:-68.83, Z:-34.81 [[ 9.96832159e-01 5.51107216e-02 5.73450530e-02 5.30082884e+02] [-5.47837656e-02 9.98471853e-01 -7.25930157e-03 -6.88309178e+01] [-5.76574867e-02 4.09472732e-03 9.98328026e-01 -3.48095924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.960714057 meters 0.04707774061221561 Centerline is valid? [True, True] Translation: X:530.14, Y:-68.84, Z:-34.82 [[ 9.97077358e-01 5.31636994e-02 5.48667728e-02 5.30143160e+02] [-5.28607445e-02 9.98577644e-01 -6.95922632e-03 -6.88399240e+01] [-5.51587109e-02 4.03858854e-03 9.98469432e-01 -3.48154286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.020714057 meters 0.0397962739928034 Centerline is valid? [True, True] Translation: X:530.20, Y:-68.84, Z:-34.82 [[ 9.97346945e-01 4.93355067e-02 5.35264326e-02 5.30204322e+02] [-4.90416566e-02 9.98773652e-01 -6.79024826e-03 -6.88363863e+01] [-5.37957909e-02 4.14720843e-03 9.98543346e-01 -3.48195508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.080714057 meters 0.043389346967119886 Centerline is valid? [True, True] Translation: X:530.26, Y:-68.85, Z:-34.83 [[ 9.97507681e-01 4.67153005e-02 5.28782288e-02 5.30262551e+02] [-4.64248650e-02 9.98899260e-01 -6.70823600e-03 -6.88490092e+01] [-5.31334009e-02 4.23665230e-03 9.98578436e-01 -3.48250164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.140714057 meters 0.042813586748679106 Centerline is valid? [True, True] Translation: X:530.32, Y:-68.85, Z:-34.83 [[ 9.97653767e-01 4.57326708e-02 5.09458913e-02 5.30324445e+02] [-4.54618768e-02 9.98945173e-01 -6.46211415e-03 -6.88525258e+01] [-5.11876820e-02 4.13085669e-03 9.98680508e-01 -3.48295436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.200714057 meters 0.04405844225661967 Centerline is valid? [True, True] Translation: X:530.39, Y:-68.86, Z:-34.83 [[ 9.97708367e-01 4.47842848e-02 5.07186649e-02 5.30386567e+02] [-4.45144955e-02 9.98988000e-01 -6.43704822e-03 -6.88584427e+01] [-5.09556162e-02 4.16458109e-03 9.98692236e-01 -3.48328992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.260714057 meters 0.04736494152039792 Centerline is valid? [True, True] Translation: X:530.45, Y:-68.87, Z:-34.84 [[ 9.97725612e-01 4.28750568e-02 5.20128124e-02 5.30446043e+02] [-4.25884906e-02 9.99070860e-01 -6.60590980e-03 -6.88692044e+01] [-5.22477140e-02 4.37573822e-03 9.98624569e-01 -3.48354351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.320714057 meters 0.04810723205768333 Centerline is valid? [True, True] Translation: X:530.51, Y:-68.88, Z:-34.84 [[ 9.97780237e-01 4.08164745e-02 5.26176209e-02 5.30506843e+02] [-4.05203171e-02 9.99156362e-01 -6.68347467e-03 -6.88758905e+01] [-5.28460265e-02 4.53655625e-03 9.98592368e-01 -3.48390400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.380714057 meters 0.050156731513545105 Centerline is valid? [True, True] Translation: X:530.57, Y:-68.88, Z:-34.84 [[ 9.97792330e-01 4.14736929e-02 5.18690621e-02 5.30567948e+02] [-4.11868341e-02 9.99129745e-01 -6.58760784e-03 -6.88840109e+01] [-5.20971353e-02 4.43674212e-03 9.98632166e-01 -3.48432839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.440714057 meters 0.05097213709786337 Centerline is valid? [True, True] Translation: X:530.63, Y:-68.89, Z:-34.85 [[ 9.97737022e-01 4.19341845e-02 5.25581419e-02 5.30629781e+02] [-4.16395728e-02 9.99110310e-01 -6.68845273e-03 -6.88917798e+01] [-5.27918563e-02 4.48481833e-03 9.98595467e-01 -3.48464848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.500714057 meters 0.05404208738281277 Centerline is valid? [True, True] Translation: X:530.69, Y:-68.90, Z:-34.85 [[ 9.97819042e-01 4.04030768e-02 5.21991490e-02 5.30689079e+02] [-4.01095974e-02 9.99173103e-01 -6.65810870e-03 -6.89025364e+01] [-5.24249937e-02 4.54990080e-03 9.98614499e-01 -3.48506711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.560714057 meters 0.0483198371278814 Centerline is valid? [True, True] Translation: X:530.75, Y:-68.90, Z:-34.85 [[ 9.97898200e-01 3.91601230e-02 5.16301026e-02 5.30751037e+02] [-3.88713324e-02 9.99222519e-01 -6.58615897e-03 -6.89022449e+01] [-5.18478759e-02 4.56538531e-03 9.98644559e-01 -3.48542977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.620714057 meters 0.050363590563400625 Centerline is valid? [True, True] Translation: X:530.81, Y:-68.91, Z:-34.86 [[ 9.97872446e-01 4.29809495e-02 4.90226459e-02 5.30809606e+02] [-4.27250730e-02 9.99067280e-01 -6.25603092e-03 -6.89134006e+01] [-4.92458116e-02 4.14822475e-03 9.98778075e-01 -3.48623791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.680714057 meters 0.04189739315042113 Centerline is valid? [True, True] Translation: X:530.87, Y:-68.91, Z:-34.86 [[ 9.97652103e-01 4.87087116e-02 4.81429408e-02 5.30872115e+02] [-4.84686300e-02 9.98805818e-01 -6.14241411e-03 -6.89076359e+01] [-4.83846385e-02 3.79456997e-03 9.98821570e-01 -3.48637165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.740714057 meters 0.03865223901298415 Centerline is valid? [True, True] Translation: X:530.93, Y:-68.91, Z:-34.87 [[ 9.97543944e-01 5.06024010e-02 4.84301141e-02 5.30933229e+02] [-5.03616212e-02 9.98711929e-01 -6.17985756e-03 -6.89107339e+01] [-4.86804483e-02 3.72566042e-03 9.98807456e-01 -3.48665579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.800714057 meters 0.04075916684517388 Centerline is valid? [True, True] Translation: X:530.99, Y:-68.92, Z:-34.87 [[ 9.97400031e-01 5.32149575e-02 4.85936821e-02 5.30991830e+02] [-5.29755683e-02 9.98576549e-01 -6.20194196e-03 -6.89232680e+01] [-4.88545475e-02 3.61153918e-03 9.98799374e-01 -3.48713457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.860714057 meters 0.044273137142633444 Centerline is valid? [True, True] Translation: X:531.05, Y:-68.93, Z:-34.87 [[ 9.97249946e-01 5.45172205e-02 5.02037617e-02 5.31049888e+02] [-5.42633018e-02 9.98506100e-01 -6.40793640e-03 -6.89346982e+01] [-5.04781052e-02 3.66609236e-03 9.98718439e-01 -3.48736283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.920714057 meters 0.037362864813458116 Centerline is valid? [True, True] Translation: X:531.11, Y:-68.93, Z:-34.87 [[ 9.97072860e-01 5.65628173e-02 5.14427803e-02 5.31110812e+02] [-5.62990125e-02 9.98392376e-01 -6.56395424e-03 -6.89329389e+01] [-5.17313554e-02 3.64856289e-03 9.98654372e-01 -3.48748766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.980714057 meters 0.03874085252651803 Centerline is valid? [True, True] Translation: X:531.17, Y:-68.94, Z:-34.88 [[ 9.97015611e-01 5.72660494e-02 5.17732731e-02 5.31169986e+02] [-5.69998157e-02 9.98352337e-01 -6.60549585e-03 -6.89437029e+01] [-5.20662388e-02 3.63471545e-03 9.98637019e-01 -3.48793610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0407140570001 meters 0.03968532192835501 Centerline is valid? [True, True] Translation: X:531.23, Y:-68.95, Z:-34.88 [[ 9.97003186e-01 5.81586090e-02 5.10119910e-02 5.31228222e+02] [-5.79014445e-02 9.98301105e-01 -6.50590261e-03 -6.89537804e+01] [-5.13037012e-02 3.53273766e-03 9.98676850e-01 -3.48825700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.100714057 meters 0.038782672955738916 Centerline is valid? [True, True] Translation: X:531.29, Y:-68.96, Z:-34.89 [[ 9.97004699e-01 5.88855919e-02 5.01409738e-02 5.31286347e+02] [-5.86381227e-02 9.98258831e-01 -6.39353850e-03 -6.89609983e+01] [-5.04301572e-02 3.43421535e-03 9.98721686e-01 -3.48861543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.160714057 meters 0.03872146296073232 Centerline is valid? [True, True] Translation: X:531.34, Y:-68.97, Z:-34.89 [[ 9.96858631e-01 6.20994608e-02 4.91581813e-02 5.31344105e+02] [-6.18656805e-02 9.98064825e-01 -6.26446808e-03 -6.89702288e+01] [-4.94520716e-02 3.20358474e-03 9.98771360e-01 -3.48910954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.220714057 meters 0.03671615097990764 Centerline is valid? [True, True] Translation: X:531.40, Y:-68.98, Z:-34.89 [[ 9.96430825e-01 6.82951033e-02 4.96123991e-02 5.31404176e+02] [-6.80647849e-02 9.97660892e-01 -6.31906195e-03 -6.89754634e+01] [-4.99279113e-02 2.91965084e-03 9.98748557e-01 -3.48932489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.280714057 meters 0.03533683362599276 Centerline is valid? [True, True] Translation: X:531.46, Y:-68.98, Z:-34.90 [[ 9.95631471e-01 7.77184537e-02 5.17476275e-02 5.31462982e+02] [-7.74805611e-02 9.96972080e-01 -6.59051236e-03 -6.89831168e+01] [-5.21031443e-02 2.55228629e-03 9.98638447e-01 -3.48966761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.340714057 meters 0.030710888828836307 Centerline is valid? [True, True] Translation: X:531.52, Y:-68.98, Z:-34.90 [[ 9.94916851e-01 8.52999538e-02 5.35198878e-02 5.31523409e+02] [-8.50564598e-02 9.96352825e-01 -6.81512665e-03 -6.89848148e+01] [-5.39060215e-02 2.22827215e-03 9.98543527e-01 -3.48977665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.400714057 meters 0.03015912624386107 Centerline is valid? [True, True] Translation: X:531.58, Y:-68.99, Z:-34.90 [[ 9.94428474e-01 9.06909734e-02 5.37322681e-02 5.31581895e+02] [-9.04534666e-02 9.95877189e-01 -6.84074623e-03 -6.89942001e+01] [-5.41311340e-02 1.94236293e-03 9.98531946e-01 -3.49013941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.460714057 meters 0.027506045568691132 Centerline is valid? [True, True] Translation: X:531.64, Y:-69.00, Z:-34.90 [[ 9.94154290e-01 9.39732240e-02 5.31627704e-02 5.31640513e+02] [-9.37454602e-02 9.95573197e-01 -6.76736139e-03 -6.90018330e+01] [-5.35633801e-02 1.74403299e-03 9.98562929e-01 -3.49038364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.520714057 meters 0.026510108512386787 Centerline is valid? [True, True] Translation: X:531.70, Y:-69.01, Z:-34.91 [[ 9.94030676e-01 9.58707876e-02 5.20750086e-02 5.31697818e+02] [-9.56551997e-02 9.95392499e-01 -6.62236935e-03 -6.90137817e+01] [-5.24699647e-02 1.60159294e-03 9.98621218e-01 -3.49074671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.580714057 meters 0.027112735297119158 Centerline is valid? [True, True] Translation: X:531.75, Y:-69.03, Z:-34.91 [[ 9.94120770e-01 9.58997139e-02 5.02706613e-02 5.31753735e+02] [-9.56990254e-02 9.95389808e-01 -6.38959077e-03 -6.90305837e+01] [-5.06516638e-02 1.54117160e-03 9.98715192e-01 -3.49136696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.640714057 meters 0.02702805209053023 Centerline is valid? [True, True] Translation: X:531.81, Y:-69.05, Z:-34.92 [[ 9.94140010e-01 9.52667114e-02 5.10871293e-02 5.31810561e+02] [-9.50588678e-02 9.95450507e-01 -6.48837443e-03 -6.90464869e+01] [-5.14728349e-02 1.59406795e-03 9.98673123e-01 -3.49171685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.700714057 meters 0.027210634252402964 Centerline is valid? [True, True] Translation: X:531.87, Y:-69.06, Z:-34.92 [[ 9.94381977e-01 9.22638136e-02 5.18832504e-02 5.31868324e+02] [-9.20455760e-02 9.95733020e-01 -6.58524423e-03 -6.90625920e+01] [-5.22694453e-02 1.77262452e-03 9.98631445e-01 -3.49198593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.760714057 meters 0.028953651340390026 Centerline is valid? [True, True] Translation: X:531.93, Y:-69.08, Z:-34.92 [[ 9.94922453e-01 8.49280472e-02 5.40049962e-02 5.31926831e+02] [-8.46809230e-02 9.96384560e-01 -6.85202107e-03 -6.90835465e+01] [-5.43916731e-02 2.24403669e-03 9.98517156e-01 -3.49236446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.820714057 meters 0.0328837398136564 Centerline is valid? [True, True] Translation: X:531.98, Y:-69.11, Z:-34.93 [[ 9.95941270e-01 7.32692090e-02 5.22743737e-02 5.31984378e+02] [-7.30216249e-02 9.97308300e-01 -6.63308644e-03 -6.91063202e+01] [-5.26196678e-02 2.78900482e-03 9.98610731e-01 -3.49300194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.880714057 meters 0.038709290201704674 Centerline is valid? [True, True] Translation: X:532.04, Y:-69.13, Z:-34.94 [[ 9.96891235e-01 6.08786830e-02 5.00165143e-02 5.32040629e+02] [-6.06365074e-02 9.98139738e-01 -6.34650170e-03 -6.91287964e+01] [-5.03098371e-02 3.29394517e-03 9.98728226e-01 -3.49366951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.940714057 meters 0.04370524587922785 Centerline is valid? [True, True] Translation: X:532.10, Y:-69.15, Z:-34.94 [[ 9.97314472e-01 5.27240810e-02 5.08332050e-02 5.32098139e+02] [-5.24633843e-02 9.98602017e-01 -6.45013860e-03 -6.91464944e+01] [-5.11022187e-02 3.76593461e-03 9.98686328e-01 -3.49395306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.000714057 meters 0.047484624196228085 Centerline is valid? [True, True] Translation: X:532.16, Y:-69.16, Z:-34.94 [[ 9.97429970e-01 4.90731645e-02 5.22042022e-02 5.32156149e+02] [-4.87932021e-02 9.98786933e-01 -6.62462721e-03 -6.91607209e+01] [-5.24659665e-02 4.06039154e-03 9.98614458e-01 -3.49419613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.060714057 meters 0.04859213903162009 Centerline is valid? [True, True] Translation: X:532.22, Y:-69.17, Z:-34.95 [[ 9.97394111e-01 4.91026407e-02 5.28575358e-02 5.32218123e+02] [-4.88157663e-02 9.98785291e-01 -6.70552277e-03 -6.91709294e+01] [-5.31225882e-02 4.10776780e-03 9.98579550e-01 -3.49457915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.120714057 meters 0.0420643818628984 Centerline is valid? [True, True] Translation: X:532.28, Y:-69.17, Z:-34.95 [[ 9.97285678e-01 4.92317826e-02 5.47494947e-02 5.32281666e+02] [-4.89232440e-02 9.98778275e-01 -6.96233611e-03 -6.91694738e+01] [-5.50253740e-02 4.26491521e-03 9.98475848e-01 -3.49458030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.180714057 meters 0.0424886018302436 Centerline is valid? [True, True] Translation: X:532.34, Y:-69.18, Z:-34.95 [[ 9.97308120e-01 4.93553037e-02 5.42270094e-02 5.32343003e+02] [-4.90524520e-02 9.98772352e-01 -6.90253875e-03 -6.91775153e+01] [-5.45011146e-02 4.22399017e-03 9.98504775e-01 -3.49504794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.240714057 meters 0.043603689581089886 Centerline is valid? [True, True] Translation: X:532.40, Y:-69.19, Z:-34.96 [[ 9.97389280e-01 5.01396854e-02 5.19676481e-02 5.32403885e+02] [-4.98619761e-02 9.98734129e-01 -6.62748070e-03 -6.91866632e+01] [-5.22341635e-02 4.01896857e-03 9.98626777e-01 -3.49582300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.300714057 meters 0.040382488008596416 Centerline is valid? [True, True] Translation: X:532.47, Y:-69.19, Z:-34.96 [[ 9.97369838e-01 5.30812256e-02 4.93537247e-02 5.32465458e+02] [-5.28336151e-02 9.98583399e-01 -6.30908066e-03 -6.91868304e+01] [-4.96187039e-02 3.68495106e-03 9.98761436e-01 -3.49628355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.360714057 meters 0.038017350614083976 Centerline is valid? [True, True] Translation: X:532.53, Y:-69.19, Z:-34.96 [[ 9.96882798e-01 6.14794422e-02 4.94465864e-02 5.32526513e+02] [-6.12411122e-02 9.98102980e-01 -6.32203651e-03 -6.91851814e+01] [-4.97414605e-02 3.27416550e-03 9.98756761e-01 -3.49645944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.420714057 meters 0.03318123570470724 Centerline is valid? [True, True] Translation: X:532.59, Y:-69.18, Z:-34.97 [[ 9.96063122e-01 7.18291118e-02 5.19503145e-02 5.32587898e+02] [-7.15799932e-02 9.97412744e-01 -6.64250115e-03 -6.91794079e+01] [-5.22930307e-02 2.89774728e-03 9.98627579e-01 -3.49653195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.480714057 meters 0.032351700991835534 Centerline is valid? [True, True] Translation: X:532.65, Y:-69.18, Z:-34.97 [[ 9.95596738e-01 7.68189004e-02 5.37214209e-02 5.32647577e+02] [-7.65597003e-02 9.97041335e-01 -6.86934897e-03 -6.91822075e+01] [-5.40901731e-02 2.72620555e-03 9.98532333e-01 -3.49685516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5407140570001 meters 0.03206553204423434 Centerline is valid? [True, True] Translation: X:532.71, Y:-69.19, Z:-34.97 [[ 9.95838138e-01 7.37933958e-02 5.34877430e-02 5.32706420e+02] [-7.35321395e-02 9.97269400e-01 -6.83870092e-03 -6.91873216e+01] [-5.38463404e-02 2.87717101e-03 9.98545088e-01 -3.49716563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.600714057 meters 0.033257189034484894 Centerline is valid? [True, True] Translation: X:532.77, Y:-69.20, Z:-34.97 [[ 9.96284300e-01 6.79605213e-02 5.29052168e-02 5.32766557e+02] [-6.76969215e-02 9.97683025e-01 -6.76074254e-03 -6.91966698e+01] [-5.32421003e-02 3.15410133e-03 9.98576652e-01 -3.49747244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.660714057 meters 0.03888503621239036 Centerline is valid? [True, True] Translation: X:532.82, Y:-69.21, Z:-34.98 [[ 9.96681780e-01 6.36164603e-02 5.07777031e-02 5.32823847e+02] [-6.33680280e-02 9.97969130e-01 -6.48915839e-03 -6.92123735e+01] [-5.10873974e-02 3.24994302e-03 9.98688898e-01 -3.49814308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.720714057 meters 0.035217116506095866 Centerline is valid? [True, True] Translation: X:532.88, Y:-69.21, Z:-34.99 [[ 9.96895049e-01 6.19214325e-02 4.86415312e-02 5.32883741e+02] [-6.16915070e-02 9.98075912e-01 -6.21551847e-03 -6.92126647e+01] [-4.89328144e-02 3.19545022e-03 9.98796961e-01 -3.49859693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.780714057 meters 0.03992069051533709 Centerline is valid? [True, True] Translation: X:532.94, Y:-69.22, Z:-34.99 [[ 9.96752857e-01 6.47165419e-02 4.79114911e-02 5.32941390e+02] [-6.44967708e-02 9.97899146e-01 -6.12048124e-03 -6.92247447e+01] [-4.82069325e-02 3.01047070e-03 9.98832833e-01 -3.49932992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.840714057 meters 0.032991216118127394 Centerline is valid? [True, True] Translation: X:533.00, Y:-69.22, Z:-34.99 [[ 9.96432342e-01 6.91843117e-02 4.83334096e-02 5.33003707e+02] [-6.89659915e-02 9.97599918e-01 -6.17211454e-03 -6.92160718e+01] [-4.86444189e-02 2.81673304e-03 9.98812188e-01 -3.49933584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.900714057 meters 0.03206318971790937 Centerline is valid? [True, True] Translation: X:533.06, Y:-69.22, Z:-35.00 [[ 9.96143855e-01 7.20331794e-02 5.00863381e-02 5.33063673e+02] [-7.18023126e-02 9.97398376e-01 -6.39583059e-03 -6.92192376e+01] [-5.04167443e-02 2.77485244e-03 9.98724413e-01 -3.49961651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.960714057 meters 0.03415387934379625 Centerline is valid? [True, True] Translation: X:533.12, Y:-69.23, Z:-35.00 [[ 9.96028116e-01 7.36858960e-02 4.99837988e-02 5.33121191e+02] [-7.34580554e-02 9.97277883e-01 -6.38258367e-03 -6.92281909e+01] [-5.03180434e-02 2.68552013e-03 9.98729634e-01 -3.50005626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.020714057 meters 0.032648689133148626 Centerline is valid? [True, True] Translation: X:533.18, Y:-69.23, Z:-35.00 [[ 9.96150986e-01 7.34953517e-02 4.77665801e-02 5.33179507e+02] [-7.32872195e-02 9.97292242e-01 -6.09648383e-03 -6.92311391e+01] [-4.80853030e-02 2.57233855e-03 9.98839920e-01 -3.50044090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.080714057 meters 0.0357677586117467 Centerline is valid? [True, True] Translation: X:533.24, Y:-69.24, Z:-35.01 [[ 9.96437095e-01 6.97801049e-02 4.73693149e-02 5.33237487e+02] [-6.95715023e-02 9.97558681e-01 -6.04027531e-03 -6.92432900e+01] [-4.76751623e-02 2.72319999e-03 9.98859181e-01 -3.50094053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.140714057 meters 0.0371535669307702 Centerline is valid? [True, True] Translation: X:533.30, Y:-69.25, Z:-35.01 [[ 9.96738428e-01 6.52112898e-02 4.75394013e-02 5.33297498e+02] [-6.49960565e-02 9.97867114e-01 -6.06096016e-03 -6.92534945e+01] [-4.78332482e-02 2.95131829e-03 9.98850975e-01 -3.50127706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.200714057 meters 0.040714793392263214 Centerline is valid? [True, True] Translation: X:533.36, Y:-69.26, Z:-35.02 [[ 9.97021615e-01 6.08089172e-02 4.74360114e-02 5.33356159e+02] [-6.05896534e-02 9.98144437e-01 -6.04790274e-03 -6.92634702e+01] [-4.77157573e-02 3.15575827e-03 9.98855969e-01 -3.50170413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.260714057 meters 0.040069321516553555 Centerline is valid? [True, True] Translation: X:533.42, Y:-69.27, Z:-35.02 [[ 9.97144941e-01 5.74389389e-02 4.90176941e-02 5.33416304e+02] [-5.72007880e-02 9.98343140e-01 -6.24864642e-03 -6.92673293e+01] [-4.92953943e-02 3.42695544e-03 9.98778364e-01 -3.50175328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.320714057 meters 0.0407811099662066 Centerline is valid? [True, True] Translation: X:533.48, Y:-69.27, Z:-35.02 [[ 9.97267513e-01 5.35968756e-02 5.08417436e-02 5.33476581e+02] [-5.33357523e-02 9.98555611e-01 -6.47986898e-03 -6.92726387e+01] [-5.11156091e-02 3.75048018e-03 9.98685701e-01 -3.50187440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.380714057 meters 0.04265121295577903 Centerline is valid? [True, True] Translation: X:533.54, Y:-69.28, Z:-35.02 [[ 9.97566187e-01 4.82911819e-02 5.02957722e-02 5.33536730e+02] [-4.80289696e-02 9.98825377e-01 -6.40972227e-03 -6.92793126e+01] [-5.05462267e-02 3.97846809e-03 9.98713798e-01 -3.50235161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.440714057 meters 0.04489295776148304 Centerline is valid? [True, True] Translation: X:533.60, Y:-69.29, Z:-35.03 [[ 9.97834000e-01 4.59864143e-02 4.70378366e-02 5.33596554e+02] [-4.57545921e-02 9.98934728e-01 -5.99387019e-03 -6.92865079e+01] [-4.72633651e-02 3.82869044e-03 9.98875125e-01 -3.50311313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.500714057 meters 0.0464485462201397 Centerline is valid? [True, True] Translation: X:533.66, Y:-69.29, Z:-35.04 [[ 9.97943612e-01 4.71744810e-02 4.33948916e-02 5.33657646e+02] [-4.69784896e-02 9.98880617e-01 -5.52578933e-03 -6.92882921e+01] [-4.36069924e-02 3.47579969e-03 9.99042716e-01 -3.50371166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.560714057 meters 0.04624795719822788 Centerline is valid? [True, True] Translation: X:533.72, Y:-69.29, Z:-35.04 [[ 9.97762988e-01 5.01731856e-02 4.41777287e-02 5.33718311e+02] [-4.99723017e-02 9.98734676e-01 -5.64056359e-03 -6.92886668e+01] [-4.44048347e-02 3.42028279e-03 9.99007764e-01 -3.50392886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.620714057 meters 0.040685299102910986 Centerline is valid? [True, True] Translation: X:533.78, Y:-69.28, Z:-35.04 [[ 9.97470937e-01 5.34605751e-02 4.68369147e-02 5.33779608e+02] [-5.32383644e-02 9.98563927e-01 -5.97991132e-03 -6.92829479e+01] [-4.70893430e-02 3.47126701e-03 9.98884650e-01 -3.50396954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.680714057 meters 0.04013264414471904 Centerline is valid? [True, True] Translation: X:533.84, Y:-69.28, Z:-35.04 [[ 9.97293475e-01 5.53084228e-02 4.84427879e-02 5.33840296e+02] [-5.50728605e-02 9.98463182e-01 -6.18501748e-03 -6.92839400e+01] [-4.87104237e-02 3.50039468e-03 9.98806809e-01 -3.50418911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.740714057 meters 0.038895931365356226 Centerline is valid? [True, True] Translation: X:533.90, Y:-69.29, Z:-35.05 [[ 9.97243025e-01 5.60328540e-02 4.86484189e-02 5.33899229e+02] [-5.57961443e-02 9.98422862e-01 -6.21123343e-03 -6.92853038e+01] [-4.89197268e-02 3.47971500e-03 9.98796652e-01 -3.50451619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.800714057 meters 0.03952969850292555 Centerline is valid? [True, True] Translation: X:533.96, Y:-69.29, Z:-35.05 [[ 9.97408645e-01 5.55030843e-02 4.57755668e-02 5.33958215e+02] [-5.52931507e-02 9.98453081e-01 -5.84064648e-03 -6.92911187e+01] [-4.60289295e-02 3.29443598e-03 9.98934675e-01 -3.50507112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.860714057 meters 0.0391686276949914 Centerline is valid? [True, True] Translation: X:534.02, Y:-69.29, Z:-35.06 [[ 9.97587652e-01 5.49647200e-02 4.23999633e-02 5.34017835e+02] [-5.47842048e-02 9.98483569e-01 -5.40857941e-03 -6.92948479e+01] [-4.26329478e-02 3.07268376e-03 9.99086078e-01 -3.50569791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.920714057 meters 0.03962006053683756 Centerline is valid? [True, True] Translation: X:534.08, Y:-69.30, Z:-35.06 [[ 9.97519624e-01 5.69182069e-02 4.14115656e-02 5.34077779e+02] [-5.67477686e-02 9.98374582e-01 -5.28060680e-03 -6.92989196e+01] [-4.16448172e-02 2.91749496e-03 9.99128219e-01 -3.50618386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.980714057 meters 0.03763724729192008 Centerline is valid? [True, True] Translation: X:534.14, Y:-69.30, Z:-35.06 [[ 9.97229413e-01 6.01244608e-02 4.38012232e-02 5.34138743e+02] [-5.99368953e-02 9.98186549e-01 -5.58416121e-03 -6.93009685e+01] [-4.40575365e-02 2.94338047e-03 9.99024659e-01 -3.50638673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0407140570001 meters 0.037705848875538336 Centerline is valid? [True, True] Translation: X:534.20, Y:-69.31, Z:-35.07 [[ 9.96892060e-01 6.40214805e-02 4.59072012e-02 5.34198056e+02] [-6.38195319e-02 9.97944293e-01 -5.85281844e-03 -6.93071613e+01] [-4.61875356e-02 2.90485214e-03 9.98928563e-01 -3.50672049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.100714057 meters 0.03536631163712982 Centerline is valid? [True, True] Translation: X:534.26, Y:-69.31, Z:-35.07 [[ 9.96800266e-01 6.59455481e-02 4.51709407e-02 5.34256980e+02] [-6.57519955e-02 9.97819377e-01 -5.75899119e-03 -6.93097825e+01] [-4.54522197e-02 2.77048446e-03 9.98962672e-01 -3.50715550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.160714057 meters 0.03527216065103035 Centerline is valid? [True, True] Translation: X:534.31, Y:-69.31, Z:-35.08 [[ 9.96936692e-01 6.67634189e-02 4.07416097e-02 5.34314999e+02] [-6.66067718e-02 9.97765796e-01 -5.19176977e-03 -6.93147910e+01] [-4.09972050e-02 2.46219868e-03 9.99156227e-01 -3.50803097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.220714057 meters 0.036246525175416155 Centerline is valid? [True, True] Translation: X:534.37, Y:-69.32, Z:-35.09 [[ 9.96981707e-01 6.79603071e-02 3.75349509e-02 5.34373557e+02] [-6.78282968e-02 9.97685555e-01 -4.78076029e-03 -6.93204682e+01] [-3.77729802e-02 2.22039877e-03 9.99283880e-01 -3.50872412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.280714057 meters 0.031879577497082374 Centerline is valid? [True, True] Translation: X:534.43, Y:-69.32, Z:-35.09 [[ 9.96640061e-01 7.21806531e-02 3.87110140e-02 5.34434486e+02] [-7.20435873e-02 9.97389321e-01 -4.92591797e-03 -6.93191959e+01] [-3.89655079e-02 2.12048687e-03 9.99238306e-01 -3.50874338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.340714057 meters 0.03254576080492782 Centerline is valid? [True, True] Translation: X:534.49, Y:-69.33, Z:-35.09 [[ 9.96380488e-01 7.33452466e-02 4.29697414e-02 5.34493121e+02] [-7.31773969e-02 9.97303949e-01 -5.46835042e-03 -6.93262411e+01] [-4.32549703e-02 2.30414383e-03 9.99061409e-01 -3.50881551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.400714057 meters 0.037158162976460726 Centerline is valid? [True, True] Translation: X:534.55, Y:-69.34, Z:-35.09 [[ 9.96427845e-01 7.06179482e-02 4.63104294e-02 5.34549349e+02] [-7.04200690e-02 9.97500021e-01 -5.89256664e-03 -6.93442271e+01] [-4.66107753e-02 2.61033384e-03 9.98909717e-01 -3.50917916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.460714057 meters 0.0397204773223148 Centerline is valid? [True, True] Translation: X:534.61, Y:-69.36, Z:-35.09 [[ 9.96655131e-01 6.67076123e-02 4.72085221e-02 5.34607864e+02] [-6.64978647e-02 9.97768519e-01 -6.00140515e-03 -6.93605524e+01] [-4.75035166e-02 2.84206533e-03 9.98867028e-01 -3.50949855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.520714057 meters 0.03601290756556052 Centerline is valid? [True, True] Translation: X:534.67, Y:-69.37, Z:-35.10 [[ 9.96926261e-01 6.39781574e-02 4.52197449e-02 5.34667800e+02] [-6.37829916e-02 9.97947243e-01 -5.74718857e-03 -6.93671938e+01] [-4.54946143e-02 2.84527261e-03 9.98960532e-01 -3.50993177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.580714057 meters 0.03538832639107583 Centerline is valid? [True, True] Translation: X:534.73, Y:-69.38, Z:-35.11 [[ 9.96963242e-01 6.66056193e-02 4.03483046e-02 5.34725001e+02] [-6.64523380e-02 9.97776414e-01 -5.12977468e-03 -6.93806511e+01] [-4.06002585e-02 2.43295763e-03 9.99172508e-01 -3.51077668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.640714057 meters 0.03411322292502722 Centerline is valid? [True, True] Translation: X:534.78, Y:-69.39, Z:-35.11 [[ 9.96594145e-01 7.22774838e-02 3.96998201e-02 5.34784392e+02] [-7.21337542e-02 9.97382219e-01 -5.04284781e-03 -6.93905132e+01] [-3.99603790e-02 2.16197554e-03 9.99198926e-01 -3.51107694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.700714057 meters 0.0326206251231532 Centerline is valid? [True, True] Translation: X:534.84, Y:-69.40, Z:-35.11 [[ 9.96142947e-01 7.72306090e-02 4.16492747e-02 5.34844169e+02] [-7.70767274e-02 9.97011129e-01 -5.29032611e-03 -6.93985818e+01] [-4.19333654e-02 2.05973125e-03 9.99118287e-01 -3.51127355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.760714057 meters 0.029653223502399108 Centerline is valid? [True, True] Translation: X:534.90, Y:-69.41, Z:-35.11 [[ 9.94954434e-01 8.80290754e-02 4.81306135e-02 5.34903611e+02] [-8.78361258e-02 9.96116178e-01 -6.11343289e-03 -6.94067130e+01] [-4.84818426e-02 1.85498054e-03 9.98822342e-01 -3.51110568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.820714057 meters 0.0273532641441065 Centerline is valid? [True, True] Translation: X:534.96, Y:-69.42, Z:-35.11 [[ 9.94371067e-01 9.33639655e-02 5.00934258e-02 5.34962933e+02] [-9.31617008e-02 9.95630662e-01 -6.36265044e-03 -6.94150777e+01] [-5.04685929e-02 1.66004676e-03 9.98724269e-01 -3.51114872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.880714057 meters 0.026860921389403714 Centerline is valid? [True, True] Translation: X:535.02, Y:-69.43, Z:-35.12 [[ 9.94231150e-01 9.47528535e-02 5.02624890e-02 5.35020638e+02] [-9.45509983e-02 9.95499550e-01 -6.38399090e-03 -6.94291692e+01] [-5.06411865e-02 1.59479410e-03 9.98715639e-01 -3.51160649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.940714057 meters 0.02666372527634787 Centerline is valid? [True, True] Translation: X:535.08, Y:-69.44, Z:-35.12 [[ 9.94240900e-01 9.47270432e-02 5.01180650e-02 5.35077044e+02] [-9.45264744e-02 9.95502016e-01 -6.36248645e-03 -6.94404927e+01] [-5.04953343e-02 1.58836027e-03 9.98723034e-01 -3.51210331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.000714057 meters 0.027697124789687354 Centerline is valid? [True, True] Translation: X:535.13, Y:-69.47, Z:-35.13 [[ 9.94753635e-01 9.03052526e-02 4.80641933e-02 5.35133030e+02] [-9.01159414e-02 9.95912627e-01 -6.09562004e-03 -6.94669213e+01] [-4.84182035e-02 1.73229017e-03 9.98825649e-01 -3.51298319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.060714057 meters 0.02868446125239178 Centerline is valid? [True, True] Translation: X:535.19, Y:-69.49, Z:-35.13 [[ 9.94964118e-01 8.80815135e-02 4.78335714e-02 5.35190195e+02] [-8.78915333e-02 9.96111589e-01 -6.06466277e-03 -6.94873461e+01] [-4.81817595e-02 1.82995592e-03 9.98836908e-01 -3.51345133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.120714057 meters 0.027474770609806794 Centerline is valid? [True, True] Translation: X:535.25, Y:-69.50, Z:-35.14 [[ 9.94572629e-01 9.04406517e-02 5.14370972e-02 5.35248393e+02] [-9.02241904e-02 9.95900141e-01 -6.51956489e-03 -6.95028537e+01] [-5.18158461e-02 1.84331033e-03 9.98654956e-01 -3.51352447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.180714057 meters 0.02623477066556982 Centerline is valid? [True, True] Translation: X:535.31, Y:-69.52, Z:-35.14 [[ 9.94251643e-01 9.24251113e-02 5.40487673e-02 5.35306317e+02] [-9.21891125e-02 9.95717963e-01 -6.84875914e-03 -6.95181061e+01] [-5.44503258e-02 1.82668214e-03 9.98514810e-01 -3.51377409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.240714057 meters 0.025804534537396083 Centerline is valid? [True, True] Translation: X:535.36, Y:-69.53, Z:-35.14 [[ 9.94408628e-01 9.03725779e-02 5.46285433e-02 5.35362946e+02] [-9.01285362e-02 9.95906103e-01 -6.91960417e-03 -6.95340135e+01] [-5.50302422e-02 1.95732344e-03 9.98482770e-01 -3.51408682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.300714057 meters 0.02692292075771302 Centerline is valid? [True, True] Translation: X:535.42, Y:-69.55, Z:-35.15 [[ 9.94810730e-01 8.55386503e-02 5.50885814e-02 5.35421135e+02] [-8.52834101e-02 9.96332340e-01 -6.97190323e-03 -6.95547909e+01] [-5.54829025e-02 2.23758206e-03 9.98457130e-01 -3.51459726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.360714057 meters 0.02976605927963923 Centerline is valid? [True, True] Translation: X:535.48, Y:-69.58, Z:-35.15 [[ 9.95268108e-01 7.98810202e-02 5.53210322e-02 5.35477601e+02] [-7.96148807e-02 9.96801107e-01 -7.00163796e-03 -6.95769941e+01] [-5.57033642e-02 2.56412958e-03 9.98444070e-01 -3.51512864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.420714057 meters 0.029816342216733474 Centerline is valid? [True, True] Translation: X:535.54, Y:-69.59, Z:-35.16 [[ 9.95629022e-01 7.57119637e-02 5.46859228e-02 5.35535967e+02] [-7.54457510e-02 9.97125902e-01 -6.91916427e-03 -6.95920954e+01] [-5.50526136e-02 2.76310023e-03 9.98479632e-01 -3.51553273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.480714057 meters 0.029528023503136637 Centerline is valid? [True, True] Translation: X:535.59, Y:-69.60, Z:-35.16 [[ 9.95699065e-01 7.40398798e-02 5.56908296e-02 5.35594762e+02] [-7.37612240e-02 9.97251044e-01 -7.04542742e-03 -6.96049620e+01] [-5.60593805e-02 2.90730174e-03 9.98423204e-01 -3.51583258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5407140570001 meters 0.031091903801537604 Centerline is valid? [True, True] Translation: X:535.65, Y:-69.62, Z:-35.16 [[ 9.95684031e-01 7.26306183e-02 5.77763299e-02 5.35652643e+02] [-7.23284561e-02 9.97354103e-01 -7.30673680e-03 -6.96197829e+01] [-5.81541525e-02 3.09632840e-03 9.98302813e-01 -3.51607355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.600714057 meters 0.03304684649292947 Centerline is valid? [True, True] Translation: X:535.71, Y:-69.63, Z:-35.17 [[ 9.95947483e-01 6.88855607e-02 5.78220642e-02 5.35711844e+02] [-6.85766226e-02 9.97619051e-01 -7.31265986e-03 -6.96335092e+01] [-5.81881295e-02 3.31778330e-03 9.98300122e-01 -3.51652871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.660714057 meters 0.03573573117487926 Centerline is valid? [True, True] Translation: X:535.77, Y:-69.65, Z:-35.17 [[ 9.96442178e-01 6.11910945e-02 5.79537449e-02 5.35771169e+02] [-6.08676381e-02 9.98118918e-01 -7.33183323e-03 -6.96481840e+01] [-5.82933721e-02 3.77824030e-03 9.98292346e-01 -3.51693938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.720714057 meters 0.03883058139353757 Centerline is valid? [True, True] Translation: X:535.83, Y:-69.66, Z:-35.17 [[ 9.96866199e-01 5.30402296e-02 5.86899909e-02 5.35830731e+02] [-5.26943894e-02 9.98583076e-01 -7.42579578e-03 -6.96607863e+01] [-5.90006976e-02 4.30989158e-03 9.98248638e-01 -3.51719520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.780714057 meters 0.042463495169203676 Centerline is valid? [True, True] Translation: X:535.89, Y:-69.67, Z:-35.18 [[ 9.97206362e-01 4.64067605e-02 5.85310460e-02 5.35890197e+02] [-4.60514202e-02 9.98911616e-01 -7.40603430e-03 -6.96741980e+01] [-5.88110318e-02 4.68990673e-03 9.98258117e-01 -3.51768756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.840714057 meters 0.04232713585254044 Centerline is valid? [True, True] Translation: X:535.95, Y:-69.68, Z:-35.18 [[ 9.97376230e-01 4.46087027e-02 5.70150839e-02 5.35951539e+02] [-4.42686504e-02 9.98993616e-01 -7.21404755e-03 -6.96782698e+01] [-5.72795141e-02 4.67113873e-03 9.98347253e-01 -3.51811288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.900714057 meters 0.0436341126282546 Centerline is valid? [True, True] Translation: X:536.01, Y:-69.68, Z:-35.19 [[ 9.97313201e-01 4.71641294e-02 5.60528759e-02 5.36011310e+02] [-4.68393494e-02 9.98877241e-01 -7.09462207e-03 -6.96833430e+01] [-5.63245537e-02 4.45008000e-03 9.98402595e-01 -3.51864743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.960714057 meters 0.0435781801394941 Centerline is valid? [True, True] Translation: X:536.07, Y:-69.68, Z:-35.19 [[ 9.97292508e-01 4.90780206e-02 5.47631378e-02 5.36072875e+02] [-4.87709183e-02 9.98785942e-01 -6.93104197e-03 -6.96847437e+01] [-5.50368140e-02 4.24142771e-03 9.98475317e-01 -3.51910298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.020714057 meters 0.04030449947347831 Centerline is valid? [True, True] Translation: X:536.14, Y:-69.68, Z:-35.19 [[ 9.97272271e-01 4.92981353e-02 5.49336987e-02 5.36136711e+02] [-4.89894693e-02 9.98775099e-01 -6.95221184e-03 -6.96840322e+01] [-5.52091414e-02 4.24207534e-03 9.98465801e-01 -3.51941952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.080714057 meters 0.04154990127024379 Centerline is valid? [True, True] Translation: X:536.20, Y:-69.69, Z:-35.20 [[ 9.97189783e-01 5.09723133e-02 5.49031824e-02 5.36196929e+02] [-5.06654740e-02 9.98691378e-01 -6.96711476e-03 -6.96879917e+01] [-5.51864648e-02 4.16583990e-03 9.98467376e-01 -3.51973907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.140714057 meters 0.04072841335386199 Centerline is valid? [True, True] Translation: X:536.26, Y:-69.69, Z:-35.20 [[ 9.97041532e-01 5.33672306e-02 5.53183765e-02 5.36258010e+02] [-5.30593228e-02 9.98566680e-01 -7.02098972e-03 -6.96878767e+01] [-5.56137783e-02 4.06506275e-03 9.98444081e-01 -3.51991675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.200714057 meters 0.03950616403478158 Centerline is valid? [True, True] Translation: X:536.32, Y:-69.69, Z:-35.20 [[ 9.96996963e-01 5.36413347e-02 5.58539446e-02 5.36321335e+02] [-5.33279920e-02 9.98551905e-01 -7.08653319e-03 -6.96893834e+01] [-5.61531939e-02 4.08667336e-03 9.98413801e-01 -3.52023232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.260714057 meters 0.042744476718533854 Centerline is valid? [True, True] Translation: X:536.38, Y:-69.70, Z:-35.21 [[ 9.97154871e-01 5.23965826e-02 5.41918981e-02 5.36381374e+02] [-5.20988342e-02 9.98618141e-01 -6.89349574e-03 -6.96961721e+01] [-5.44782082e-02 4.05054814e-03 9.98506744e-01 -3.52083729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.320714057 meters 0.04295726749811446 Centerline is valid? [True, True] Translation: X:536.44, Y:-69.70, Z:-35.21 [[ 9.97140557e-01 5.30837104e-02 5.37850247e-02 5.36443750e+02] [-5.27914295e-02 9.98582124e-01 -6.84147541e-03 -6.97011776e+01] [-5.40719352e-02 3.98252426e-03 9.98529101e-01 -3.52122907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.380714057 meters 0.036854000613133306 Centerline is valid? [True, True] Translation: X:536.51, Y:-69.70, Z:-35.21 [[ 9.97081872e-01 5.45940185e-02 5.33594855e-02 5.36506654e+02] [-5.43076867e-02 9.98501077e-01 -6.80247200e-03 -6.96963179e+01] [-5.36508780e-02 3.88479130e-03 9.98552198e-01 -3.52145702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.440714057 meters 0.042867713881714446 Centerline is valid? [True, True] Translation: X:536.56, Y:-69.71, Z:-35.22 [[ 9.96771026e-01 5.96057199e-02 5.38022223e-02 5.36564577e+02] [-5.93216591e-02 9.98215329e-01 -6.86276865e-03 -6.97110360e+01] [-5.41152633e-02 3.64897186e-03 9.98528028e-01 -3.52204895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.500714057 meters 0.04002913458563346 Centerline is valid? [True, True] Translation: X:536.63, Y:-69.71, Z:-35.22 [[ 9.96329589e-01 6.75819768e-02 5.25359468e-02 5.36625658e+02] [-6.73222458e-02 9.97708788e-01 -6.69992036e-03 -6.97109010e+01] [-5.28683697e-02 3.13849098e-03 9.98596558e-01 -3.52244468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.560714057 meters 0.03708822742182104 Centerline is valid? [True, True] Translation: X:536.69, Y:-69.71, Z:-35.23 [[ 9.95758463e-01 7.55921107e-02 5.24491707e-02 5.36686120e+02] [-7.53442690e-02 9.97135142e-01 -6.68945812e-03 -6.97122640e+01] [-5.28045815e-02 2.70934011e-03 9.98601190e-01 -3.52288064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.620714057 meters 0.03199132328635179 Centerline is valid? [True, True] Translation: X:536.75, Y:-69.71, Z:-35.23 [[ 9.95424007e-01 7.92981343e-02 5.33184045e-02 5.36746512e+02] [-7.90472736e-02 9.96847670e-01 -6.80077713e-03 -6.97120851e+01] [-5.36896162e-02 2.55498232e-03 9.98554404e-01 -3.52307249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.680714057 meters 0.0331698183987621 Centerline is valid? [True, True] Translation: X:536.80, Y:-69.72, Z:-35.23 [[ 9.95433229e-01 7.82657061e-02 5.46549686e-02 5.36803160e+02] [-7.80006247e-02 9.96928947e-01 -6.96979995e-03 -6.97228058e+01] [-5.50326165e-02 2.67484878e-03 9.98480974e-01 -3.52330229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.740714057 meters 0.03677592615714825 Centerline is valid? [True, True] Translation: X:536.86, Y:-69.74, Z:-35.24 [[ 9.95824880e-01 7.24841089e-02 5.54874912e-02 5.36860406e+02] [-7.22022746e-02 9.97364953e-01 -7.06985271e-03 -6.97394894e+01] [-5.58537311e-02 3.03401214e-03 9.98434352e-01 -3.52370750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.800714057 meters 0.03511105079142266 Centerline is valid? [True, True] Translation: X:536.92, Y:-69.75, Z:-35.24 [[ 9.96232770e-01 6.71397859e-02 5.48864100e-02 5.36920298e+02] [-6.68560725e-02 9.97738137e-01 -6.99106783e-03 -6.97484383e+01] [-5.52316433e-02 3.29524106e-03 9.98468130e-01 -3.52407928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.860714057 meters 0.040279637132915186 Centerline is valid? [True, True] Translation: X:536.98, Y:-69.76, Z:-35.25 [[ 9.96304316e-01 6.62821874e-02 5.46294881e-02 5.36978476e+02] [-6.59998345e-02 9.97795370e-01 -6.95850805e-03 -6.97641083e+01] [-5.49702754e-02 3.32725443e-03 9.98482448e-01 -3.52456241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.920714057 meters 0.0342857157565267 Centerline is valid? [True, True] Translation: X:537.04, Y:-69.76, Z:-35.25 [[ 9.96345227e-01 6.78022471e-02 5.19523225e-02 5.37038314e+02] [-6.75490108e-02 9.97694015e-01 -6.61686865e-03 -6.97641356e+01] [-5.22811598e-02 3.08335750e-03 9.98627645e-01 -3.52490543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.980714057 meters 0.03181821439912133 Centerline is valid? [True, True] Translation: X:537.10, Y:-69.77, Z:-35.25 [[ 9.96244091e-01 7.01658896e-02 5.07391333e-02 5.37098160e+02] [-6.99275105e-02 9.97531156e-01 -6.46033571e-03 -6.97691317e+01] [-5.10671615e-02 2.88800999e-03 9.98691046e-01 -3.52531797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0407140570001 meters 0.03298040079118189 Centerline is valid? [True, True] Translation: X:537.16, Y:-69.78, Z:-35.26 [[ 9.95941205e-01 7.46291351e-02 5.03150887e-02 5.37156064e+02] [-7.44004433e-02 9.97207874e-01 -6.40551382e-03 -6.97797467e+01] [-5.06526406e-02 2.63605024e-03 9.98712852e-01 -3.52577403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.100714057 meters 0.02991781729556797 Centerline is valid? [True, True] Translation: X:537.22, Y:-69.78, Z:-35.26 [[ 9.95421825e-01 8.05078147e-02 5.15158526e-02 5.37216381e+02] [-8.02759930e-02 9.96751109e-01 -6.55678012e-03 -6.97831954e+01] [-5.18763552e-02 2.39127581e-03 9.98650652e-01 -3.52594958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.160714057 meters 0.02855576245900615 Centerline is valid? [True, True] Translation: X:537.28, Y:-69.79, Z:-35.26 [[ 9.95097363e-01 8.35990155e-02 5.28435613e-02 5.37276065e+02] [-8.33594238e-02 9.96496849e-01 -6.72575105e-03 -6.97882671e+01] [-5.32207085e-02 2.28776831e-03 9.98580153e-01 -3.52615792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.220714057 meters 0.02744423043896672 Centerline is valid? [True, True] Translation: X:537.33, Y:-69.79, Z:-35.26 [[ 9.94879454e-01 8.53884501e-02 5.40711133e-02 5.37334756e+02] [-8.51402453e-02 9.96345213e-01 -6.88154341e-03 -6.97937245e+01] [-5.44610992e-02 2.24267830e-03 9.98513375e-01 -3.52628709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.280714057 meters 0.028854840053937802 Centerline is valid? [True, True] Translation: X:537.39, Y:-69.81, Z:-35.27 [[ 9.95272031e-01 8.11905337e-02 5.33074198e-02 5.37393516e+02] [-8.09435297e-02 9.96695630e-01 -6.77989858e-03 -6.98086507e+01] [-5.36817359e-02 2.43295271e-03 9.98555132e-01 -3.52671654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.340714057 meters 0.030776929548618586 Centerline is valid? [True, True] Translation: X:537.45, Y:-69.82, Z:-35.27 [[ 9.95859254e-01 7.40369093e-02 5.27530273e-02 5.37452736e+02] [-7.37850724e-02 9.97251605e-01 -6.70822819e-03 -6.98236238e+01] [-5.31046976e-02 2.78806518e-03 9.98585058e-01 -3.52716379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.400714057 meters 0.030417874703203066 Centerline is valid? [True, True] Translation: X:537.51, Y:-69.83, Z:-35.28 [[ 9.96254739e-01 6.92904853e-02 5.17235322e-02 5.37512259e+02] [-6.90420085e-02 9.97592070e-01 -6.57747933e-03 -6.98328818e+01] [-5.20547423e-02 2.98174841e-03 9.98639781e-01 -3.52758449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.460714057 meters 0.032650334491352226 Centerline is valid? [True, True] Translation: X:537.57, Y:-69.85, Z:-35.28 [[ 9.96582038e-01 6.58869593e-02 4.98312104e-02 5.37571176e+02] [-6.56521236e-02 9.97822452e-01 -6.33659475e-03 -6.98452152e+01] [-5.01401995e-02 3.04341173e-03 9.98737552e-01 -3.52822803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.520714057 meters 0.0354039317915553 Centerline is valid? [True, True] Translation: X:537.63, Y:-69.86, Z:-35.29 [[ 9.96667917e-01 6.48477645e-02 4.94755477e-02 5.37628590e+02] [-6.46150164e-02 9.97890436e-01 -6.29099030e-03 -6.98563896e+01] [-4.97791326e-02 3.07316487e-03 9.98755522e-01 -3.52866093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.580714057 meters 0.03397787112814349 Centerline is valid? [True, True] Translation: X:537.69, Y:-69.86, Z:-35.29 [[ 9.96459031e-01 6.71523212e-02 5.05961065e-02 5.37688672e+02] [-6.69120152e-02 9.97738158e-01 -6.43036702e-03 -6.98584976e+01] [-5.09134802e-02 3.02210985e-03 9.98698495e-01 -3.52870653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.640714057 meters 0.03368212114581794 Centerline is valid? [True, True] Translation: X:537.75, Y:-69.87, Z:-35.29 [[ 9.96152698e-01 6.99806597e-02 5.27495020e-02 5.37747853e+02] [-6.97234949e-02 9.97543842e-01 -6.70202672e-03 -6.98655426e+01] [-5.30889531e-02 2.99836236e-03 9.98585286e-01 -3.52902202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.700714057 meters 0.03137853529069409 Centerline is valid? [True, True] Translation: X:537.81, Y:-69.87, Z:-35.29 [[ 9.95918910e-01 7.26554609e-02 5.35416601e-02 5.37807521e+02] [-7.23944600e-02 9.97352893e-01 -6.80073103e-03 -6.98674198e+01] [-5.38940398e-02 2.89685706e-03 9.98542458e-01 -3.52927818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.760714057 meters 0.03130819894086313 Centerline is valid? [True, True] Translation: X:537.87, Y:-69.87, Z:-35.30 [[ 9.95602902e-01 7.69014721e-02 5.34885611e-02 5.37865675e+02] [-7.66472004e-02 9.97035142e-01 -6.79201405e-03 -6.98741939e+01] [-5.38522910e-02 2.66240043e-03 9.98545363e-01 -3.52976115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.820714057 meters 0.028675627628983805 Centerline is valid? [True, True] Translation: X:537.93, Y:-69.88, Z:-35.30 [[ 9.95249746e-01 8.12317207e-02 5.36595810e-02 5.37925364e+02] [-8.09822061e-02 9.96692272e-01 -6.81160992e-03 -6.98778919e+01] [-5.40354085e-02 2.43378180e-03 9.98536054e-01 -3.53009750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.880714057 meters 0.028748512699255407 Centerline is valid? [True, True] Translation: X:537.98, Y:-69.89, Z:-35.30 [[ 9.95001706e-01 8.40023363e-02 5.39927167e-02 5.37983724e+02] [-8.37538226e-02 9.96462911e-01 -6.85307682e-03 -6.98858310e+01] [-5.43774141e-02 2.29672671e-03 9.98517813e-01 -3.53044938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.940714057 meters 0.02812201210989057 Centerline is valid? [True, True] Translation: X:538.04, Y:-69.90, Z:-35.31 [[ 9.94856334e-01 8.47177067e-02 5.55318294e-02 5.38041255e+02] [-8.44560163e-02 9.96402291e-01 -7.04666642e-03 -6.98951516e+01] [-5.59290195e-02 2.32042364e-03 9.98432051e-01 -3.53087613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.000714057 meters 0.028828441120668676 Centerline is valid? [True, True] Translation: X:538.10, Y:-69.91, Z:-35.31 [[ 9.95015745e-01 8.26269429e-02 5.58252303e-02 5.38099400e+02] [-8.23594422e-02 9.96577545e-01 -7.07949053e-03 -6.99076447e+01] [-5.62191276e-02 2.44646971e-03 9.98415457e-01 -3.53125438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.060714057 meters 0.032192211975524535 Centerline is valid? [True, True] Translation: X:538.16, Y:-69.92, Z:-35.32 [[ 9.95164130e-01 8.03633780e-02 5.64808030e-02 5.38155601e+02] [-8.00860301e-02 9.96762235e-01 -7.16058889e-03 -6.99245183e+01] [-5.68733806e-02 2.60263792e-03 9.98378007e-01 -3.53167815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.120714057 meters 0.03181162917686096 Centerline is valid? [True, True] Translation: X:538.21, Y:-69.94, Z:-35.32 [[ 9.95274887e-01 7.82649476e-02 5.74673551e-02 5.38214080e+02] [-7.79744629e-02 9.96928752e-01 -7.28329710e-03 -6.99357232e+01] [-5.78608854e-02 2.76789655e-03 9.98320819e-01 -3.53196841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.180714057 meters 0.032528228508797385 Centerline is valid? [True, True] Translation: X:538.27, Y:-69.95, Z:-35.33 [[ 9.95333623e-01 7.71285185e-02 5.79842280e-02 5.38272581e+02] [-7.68309756e-02 9.97017064e-01 -7.34675158e-03 -6.99480467e+01] [-5.83779088e-02 2.85748406e-03 9.98290466e-01 -3.53250292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.240714057 meters 0.03578321007816047 Centerline is valid? [True, True] Translation: X:538.33, Y:-69.96, Z:-35.33 [[ 9.95553604e-01 7.25881629e-02 6.00331583e-02 5.38330423e+02] [-7.22611087e-02 9.97356763e-01 -7.60392980e-03 -6.99646171e+01] [-6.04264317e-02 3.23205715e-03 9.98167421e-01 -3.53289990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.300714057 meters 0.035443851340345785 Centerline is valid? [True, True] Translation: X:538.39, Y:-69.97, Z:-35.33 [[ 9.96056606e-01 6.35822750e-02 6.18751366e-02 5.38390561e+02] [-6.32174025e-02 9.97968994e-01 -7.83881324e-03 -6.99747519e+01] [-6.22478774e-02 3.89631629e-03 9.98053115e-01 -3.53319167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.360714057 meters 0.03886511909645404 Centerline is valid? [True, True] Translation: X:538.45, Y:-69.99, Z:-35.34 [[ 9.96594245e-01 5.45946723e-02 6.18007499e-02 5.38449119e+02] [-5.42134527e-02 9.98498670e-01 -7.82988446e-03 -6.99891162e+01] [-6.21354365e-02 4.45278576e-03 9.98057794e-01 -3.53369989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.420714057 meters 0.042192969581466885 Centerline is valid? [True, True] Translation: X:538.51, Y:-70.00, Z:-35.34 [[ 9.96909420e-01 4.78979357e-02 6.22687429e-02 5.38508485e+02] [-4.74978989e-02 9.98840179e-01 -7.88967033e-03 -7.00031437e+01] [-6.25744213e-02 4.90765221e-03 9.98028234e-01 -3.53419418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.480714057 meters 0.04074382793123109 Centerline is valid? [True, True] Translation: X:538.57, Y:-70.01, Z:-35.35 [[ 9.97153970e-01 4.28598770e-02 6.20241129e-02 5.38569221e+02] [-4.24532787e-02 9.99067542e-01 -7.85914594e-03 -7.00085473e+01] [-6.23031200e-02 5.20365162e-03 9.98043708e-01 -3.53478351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5407140570001 meters 0.043240216906189684 Centerline is valid? [True, True] Translation: X:538.63, Y:-70.02, Z:-35.35 [[ 9.97052447e-01 4.20567884e-02 6.41688692e-02 5.38629339e+02] [-4.16197488e-02 9.99100421e-01 -8.13295642e-03 -7.00169712e+01] [-6.44531903e-02 5.43829189e-03 9.97905913e-01 -3.53515071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.600714057 meters 0.04383021894768737 Centerline is valid? [True, True] Translation: X:538.69, Y:-70.02, Z:-35.35 [[ 9.96854887e-01 4.40599053e-02 6.58715361e-02 5.38691324e+02] [-4.36034835e-02 9.99014009e-01 -8.35136219e-03 -7.00211324e+01] [-6.61745476e-02 5.45286777e-03 9.97793163e-01 -3.53543966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.660714057 meters 0.04394863278854139 Centerline is valid? [True, True] Translation: X:538.75, Y:-70.02, Z:-35.36 [[ 9.96726160e-01 4.64239675e-02 6.61949940e-02 5.38752052e+02] [-4.59678656e-02 9.98907621e-01 -8.39762628e-03 -7.00243712e+01] [-6.65125351e-02 5.32729121e-03 9.97771368e-01 -3.53580790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.720714057 meters 0.04496298765013267 Centerline is valid? [True, True] Translation: X:538.81, Y:-70.03, Z:-35.36 [[ 9.96684068e-01 4.70271492e-02 6.64026788e-02 5.38813548e+02] [-4.65693671e-02 9.98879520e-01 -8.42601624e-03 -7.00314231e+01] [-6.67245274e-02 5.30574542e-03 9.97757328e-01 -3.53621356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.780714057 meters 0.045724576363589016 Centerline is valid? [True, True] Translation: X:538.87, Y:-70.04, Z:-35.37 [[ 9.96615101e-01 4.91416078e-02 6.59048023e-02 5.38872712e+02] [-4.86942043e-02 9.98778589e-01 -8.37884831e-03 -7.00357264e+01] [-6.62360555e-02 5.14130484e-03 9.97790736e-01 -3.53677850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.840714057 meters 0.043679778640575095 Centerline is valid? [True, True] Translation: X:538.93, Y:-70.04, Z:-35.37 [[ 9.96524973e-01 5.07447638e-02 6.60526099e-02 5.38933897e+02] [-5.02989152e-02 9.98698912e-01 -8.39656884e-03 -7.00373849e+01] [-6.63927516e-02 5.04501591e-03 9.97780813e-01 -3.53722834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.900714057 meters 0.04081148767756358 Centerline is valid? [True, True] Translation: X:539.00, Y:-70.04, Z:-35.38 [[ 9.96436614e-01 5.33132036e-02 6.53588239e-02 5.38995234e+02] [-5.28820259e-02 9.98566184e-01 -8.31066691e-03 -7.00351807e+01] [-6.57081796e-02 4.82474578e-03 9.97827218e-01 -3.53771472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.960714057 meters 0.04103095498565723 Centerline is valid? [True, True] Translation: X:539.06, Y:-70.04, Z:-35.38 [[ 9.96488999e-01 5.60126093e-02 6.22275091e-02 5.39056125e+02] [-5.56269887e-02 9.98420259e-01 -7.91356776e-03 -7.00357376e+01] [-6.25724653e-02 4.42425426e-03 9.98030617e-01 -3.53832417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.020714057 meters 0.039579654073357375 Centerline is valid? [True, True] Translation: X:539.12, Y:-70.04, Z:-35.38 [[ 9.96373905e-01 5.65399420e-02 6.35788962e-02 5.39118929e+02] [-5.61383419e-02 9.98390250e-01 -8.08676932e-03 -7.00360303e+01] [-6.39337756e-02 4.48823211e-03 9.97944051e-01 -3.53845225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.080714057 meters 0.040537602332701636 Centerline is valid? [True, True] Translation: X:539.18, Y:-70.04, Z:-35.39 [[ 9.96408547e-01 5.50074835e-02 6.43753378e-02 5.39180854e+02] [-5.45914903e-02 9.98475064e-01 -8.20458708e-03 -7.00425891e+01] [-6.47284832e-02 4.66077506e-03 9.97892029e-01 -3.53882694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.140714057 meters 0.04306673694844879 Centerline is valid? [True, True] Translation: X:539.24, Y:-70.05, Z:-35.39 [[ 9.96775096e-01 5.07164501e-02 6.21872173e-02 5.39240691e+02] [-5.03197238e-02 9.98701676e-01 -7.93018508e-03 -7.00508108e+01] [-6.25086690e-02 4.77536739e-03 9.98032997e-01 -3.53940510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.200714057 meters 0.04583041498384011 Centerline is valid? [True, True] Translation: X:539.30, Y:-70.06, Z:-35.40 [[ 9.97161116e-01 4.56776325e-02 5.98603589e-02 5.39300867e+02] [-4.53010672e-02 9.98944214e-01 -7.63350037e-03 -7.00592710e+01] [-6.01458394e-02 4.90009161e-03 9.98177573e-01 -3.53999017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.260714057 meters 0.05470305291752984 Centerline is valid? [True, True] Translation: X:539.36, Y:-70.08, Z:-35.40 [[ 9.97346564e-01 4.13472853e-02 5.99185600e-02 5.39359254e+02] [-4.09621002e-02 9.99131467e-01 -7.64310618e-03 -7.00766472e+01] [-6.01825405e-02 5.16843562e-03 9.98174007e-01 -3.54027054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.320714057 meters 0.052928588613633684 Centerline is valid? [True, True] Translation: X:539.42, Y:-70.08, Z:-35.40 [[ 9.97342144e-01 4.01821996e-02 6.07786009e-02 5.39421076e+02] [-3.97836049e-02 9.99178228e-01 -7.75459008e-03 -7.00785635e+01] [-6.10402513e-02 5.31598765e-03 9.98121149e-01 -3.54049426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.380714057 meters 0.050895569453782104 Centerline is valid? [True, True] Translation: X:539.48, Y:-70.08, Z:-35.41 [[ 9.97351092e-01 4.06775293e-02 6.03003985e-02 5.39484095e+02] [-4.02852859e-02 9.99158496e-01 -7.70683288e-03 -7.00785691e+01] [-6.05631504e-02 5.25719939e-03 9.98150523e-01 -3.54084747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.440714057 meters 0.05044994386739528 Centerline is valid? [True, True] Translation: X:539.54, Y:-70.08, Z:-35.41 [[ 9.97288286e-01 4.43402103e-02 5.87368707e-02 5.39544067e+02] [-4.39734678e-02 9.99004378e-01 -7.52236048e-03 -7.00816668e+01] [-5.90119340e-02 4.91909810e-03 9.98245157e-01 -3.54143811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.500714057 meters 0.04381458403784892 Centerline is valid? [True, True] Translation: X:539.61, Y:-70.08, Z:-35.42 [[ 9.97288721e-01 4.69268550e-02 5.66840208e-02 5.39605578e+02] [-4.65894831e-02 9.98887742e-01 -7.25943993e-03 -7.00760908e+01] [-5.69616362e-02 4.59887833e-03 9.98365776e-01 -3.54200147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.560714057 meters 0.043124241357197356 Centerline is valid? [True, True] Translation: X:539.67, Y:-70.08, Z:-35.42 [[ 9.97264512e-01 4.86326375e-02 5.56629034e-02 5.39667024e+02] [-4.83099829e-02 9.98806954e-01 -7.12835631e-03 -7.00801436e+01] [-5.59431658e-02 4.41978287e-03 9.98424172e-01 -3.54235246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.620714057 meters 0.042731300082565246 Centerline is valid? [True, True] Translation: X:539.73, Y:-70.08, Z:-35.43 [[ 9.97184013e-01 5.12886442e-02 5.47130638e-02 5.39728036e+02] [-5.09807743e-02 9.98675041e-01 -7.00885135e-03 -7.00813275e+01] [-5.50000457e-02 4.19980016e-03 9.98477519e-01 -3.54285115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.680714057 meters 0.041095427190518556 Centerline is valid? [True, True] Translation: X:539.79, Y:-70.08, Z:-35.43 [[ 9.97170442e-01 5.24978532e-02 5.38059903e-02 5.39791106e+02] [-5.22018860e-02 9.98612767e-01 -6.89232976e-03 -7.00816247e+01] [-5.40931814e-02 4.06405334e-03 9.98527622e-01 -3.54323608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.740714057 meters 0.04505981413361556 Centerline is valid? [True, True] Translation: X:539.85, Y:-70.09, Z:-35.44 [[ 9.97234921e-01 5.01933768e-02 5.48008796e-02 5.39850622e+02] [-4.98823821e-02 9.98730364e-01 -7.02901374e-03 -7.00890666e+01] [-5.50841124e-02 4.27597955e-03 9.98472562e-01 -3.54368318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.800714057 meters 0.046650166526454206 Centerline is valid? [True, True] Translation: X:539.91, Y:-70.10, Z:-35.44 [[ 9.97256213e-01 4.95848594e-02 5.49671472e-02 5.39912569e+02] [-4.92711803e-02 9.98760570e-01 -7.04805979e-03 -7.00964742e+01] [-5.52484963e-02 4.32042519e-03 9.98463288e-01 -3.54408652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.860714057 meters 0.04312176830321761 Centerline is valid? [True, True] Translation: X:539.97, Y:-70.10, Z:-35.44 [[ 9.97423663e-01 4.67826390e-02 5.43821726e-02 5.39974493e+02] [-4.64706314e-02 9.98895211e-01 -6.98844342e-03 -7.00954621e+01] [-5.46490296e-02 4.44326494e-03 9.98495739e-01 -3.54438157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.920714057 meters 0.04633525065274606 Centerline is valid? [True, True] Translation: X:540.03, Y:-70.11, Z:-35.45 [[ 9.97632370e-01 4.23530453e-02 5.41837052e-02 5.40034010e+02] [-4.20367254e-02 9.99091790e-01 -6.96485847e-03 -7.01069129e+01] [-5.44294780e-02 4.67066273e-03 9.98506693e-01 -3.54484107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.980714057 meters 0.049599395672461924 Centerline is valid? [True, True] Translation: X:540.09, Y:-70.12, Z:-35.45 [[ 9.97809014e-01 3.86405250e-02 5.37036424e-02 5.40093505e+02] [-3.83243222e-02 9.99241491e-01 -6.90570853e-03 -7.01183493e+01] [-5.39297479e-02 4.83242252e-03 9.98533039e-01 -3.54530546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0407140570001 meters 0.0500789599655409 Centerline is valid? [True, True] Translation: X:540.15, Y:-70.12, Z:-35.46 [[ 9.97931994e-01 3.78383680e-02 5.19614549e-02 5.40154843e+02] [-3.75414353e-02 9.99272751e-01 -6.67900355e-03 -7.01238588e+01] [-5.21763886e-02 4.71448373e-03 9.98626756e-01 -3.54567422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.100714057 meters 0.04959923663891904 Centerline is valid? [True, True] Translation: X:540.22, Y:-70.13, Z:-35.46 [[ 9.97956869e-01 3.83571072e-02 5.10961898e-02 5.40216801e+02] [-3.80700745e-02 9.99253412e-01 -6.57931477e-03 -7.01290237e+01] [-5.13104054e-02 4.62063661e-03 9.98672064e-01 -3.54613507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.160714057 meters 0.05348816342902496 Centerline is valid? [True, True] Translation: X:540.28, Y:-70.14, Z:-35.47 [[ 9.97914858e-01 4.10206705e-02 4.98321177e-02 5.40275869e+02] [-4.07501758e-02 9.99148661e-01 -6.43244092e-03 -7.01367569e+01] [-5.00535567e-02 4.38836081e-03 9.98736894e-01 -3.54670219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.220714057 meters 0.055113718261936694 Centerline is valid? [True, True] Translation: X:540.34, Y:-70.14, Z:-35.47 [[ 9.97935261e-01 4.25990394e-02 4.80680359e-02 5.40335930e+02] [-4.23492196e-02 9.99083606e-01 -6.20417187e-03 -7.01442478e+01] [-4.82882785e-02 4.15571807e-03 9.98824796e-01 -3.54718323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.280714057 meters 0.05099824179283118 Centerline is valid? [True, True] Translation: X:540.40, Y:-70.14, Z:-35.47 [[ 9.97914197e-01 4.35882179e-02 4.76164197e-02 5.40398959e+02] [-4.33442814e-02 9.99041303e-01 -6.14402099e-03 -7.01435466e+01] [-4.78385769e-02 4.06730628e-03 9.98846799e-01 -3.54742329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.340714057 meters 0.05291832335151632 Centerline is valid? [True, True] Translation: X:540.46, Y:-70.15, Z:-35.48 [[ 9.97768890e-01 4.63750783e-02 4.80270162e-02 5.40459013e+02] [-4.61293535e-02 9.98916155e-01 -6.21277424e-03 -7.01501165e+01] [-4.82630803e-02 3.98345765e-03 9.98826715e-01 -3.54765946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.400714057 meters 0.05323296290732562 Centerline is valid? [True, True] Translation: X:540.52, Y:-70.16, Z:-35.48 [[ 9.97611027e-01 4.93946545e-02 4.82949916e-02 5.40519089e+02] [-4.91496669e-02 9.98771883e-01 -6.24790220e-03 -7.01568304e+01] [-4.85442927e-02 3.85929338e-03 9.98813575e-01 -3.54803040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.460714057 meters 0.05177792770727678 Centerline is valid? [True, True] Translation: X:540.58, Y:-70.16, Z:-35.48 [[ 9.97497208e-01 5.17606925e-02 4.81679497e-02 5.40579041e+02] [-5.15197201e-02 9.98652534e-01 -6.23173178e-03 -7.01626557e+01] [-4.84256038e-02 3.73453576e-03 9.98819811e-01 -3.54845524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.520714057 meters 0.04286985243528307 Centerline is valid? [True, True] Translation: X:540.64, Y:-70.16, Z:-35.49 [[ 9.97241867e-01 5.68641626e-02 4.76982745e-02 5.40640925e+02] [-5.66336425e-02 9.98375952e-01 -6.17156799e-03 -7.01558982e+01] [-4.79717513e-02 3.45321896e-03 9.98842724e-01 -3.54854201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.580714057 meters 0.04475446501688102 Centerline is valid? [True, True] Translation: X:540.70, Y:-70.17, Z:-35.49 [[ 9.97132271e-01 5.90373779e-02 4.73478948e-02 5.40698456e+02] [-5.88127392e-02 9.98250243e-01 -6.12480740e-03 -7.01666144e+01] [-4.76266401e-02 3.32258372e-03 9.98859682e-01 -3.54907614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.640714057 meters 0.04172094212766696 Centerline is valid? [True, True] Translation: X:540.76, Y:-70.17, Z:-35.49 [[ 9.97263678e-01 5.75152874e-02 4.64451054e-02 5.40757648e+02] [-5.72976116e-02 9.98339079e-01 -6.00563103e-03 -7.01710558e+01] [-4.67133793e-02 3.32800408e-03 9.98902790e-01 -3.54943383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.700714057 meters 0.04442363404164519 Centerline is valid? [True, True] Translation: X:540.81, Y:-70.18, Z:-35.50 [[ 9.97340147e-01 5.59068002e-02 4.67660306e-02 5.40814529e+02] [-5.56844837e-02 9.98430121e-01 -6.04417659e-03 -7.01842272e+01] [-4.70305242e-02 3.42395770e-03 9.98887584e-01 -3.54986767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.760714057 meters 0.0440562642920126 Centerline is valid? [True, True] Translation: X:540.87, Y:-70.19, Z:-35.50 [[ 9.97173600e-01 5.83909801e-02 4.72790151e-02 5.40874517e+02] [-5.81666234e-02 9.98288200e-01 -6.10852662e-03 -7.01895882e+01] [-4.75547657e-02 3.34120081e-03 9.98863044e-01 -3.55020803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.820714057 meters 0.0418090629092229 Centerline is valid? [True, True] Translation: X:540.93, Y:-70.19, Z:-35.51 [[ 9.97271008e-01 5.66013316e-02 4.74006882e-02 5.40933851e+02] [-5.63738332e-02 9.98390951e-01 -6.12370391e-03 -7.01943237e+01] [-4.76710280e-02 3.43483389e-03 9.98857185e-01 -3.55052727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.880714057 meters 0.0419488479400625 Centerline is valid? [True, True] Translation: X:540.99, Y:-70.20, Z:-35.51 [[ 9.97405460e-01 5.47239472e-02 4.67721834e-02 5.40992706e+02] [-5.45004744e-02 9.98495472e-01 -6.04082875e-03 -7.02039941e+01] [-4.70323913e-02 3.47604940e-03 9.98887317e-01 -3.55101018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.940714057 meters 0.04685616149915312 Centerline is valid? [True, True] Translation: X:541.05, Y:-70.22, Z:-35.52 [[ 9.97592371e-01 5.12696221e-02 4.66999685e-02 5.41050353e+02] [-5.10431887e-02 9.98678248e-01 -6.02914243e-03 -7.02207571e+01] [-4.69473546e-02 3.63091119e-03 9.98890766e-01 -3.55160675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.000714057 meters 0.06655304605975959 Centerline is valid? [True, True] Translation: X:541.10, Y:-70.26, Z:-35.52 [[ 9.97295272e-01 5.40715290e-02 4.97836414e-02 5.41104896e+02] [-5.38176239e-02 9.98530095e-01 -6.42755599e-03 -7.02594027e+01] [-5.00580119e-02 3.73093390e-03 9.98739343e-01 -3.55242095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.060714057 meters 0.04314831476608201 Centerline is valid? [True, True] Translation: X:541.17, Y:-70.24, Z:-35.52 [[ 9.97744627e-01 4.82154616e-02 4.67004136e-02 5.41168970e+02] [-4.79857287e-02 9.98829828e-01 -6.02860346e-03 -7.02374928e+01] [-4.69364380e-02 3.77405334e-03 9.98890748e-01 -3.55235539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.120714057 meters 0.04403940880757467 Centerline is valid? [True, True] Translation: X:541.23, Y:-70.25, Z:-35.53 [[ 9.97728945e-01 4.87334089e-02 4.64973815e-02 5.41228575e+02] [-4.85062289e-02 9.98804844e-01 -6.00240901e-03 -7.02504272e+01] [-4.67343277e-02 3.73336458e-03 9.98900378e-01 -3.55274320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.180714057 meters 0.04396739046542245 Centerline is valid? [True, True] Translation: X:541.29, Y:-70.26, Z:-35.53 [[ 9.97516291e-01 5.27441967e-02 4.66829583e-02 5.41286849e+02] [-5.25195450e-02 9.98601711e-01 -6.02668108e-03 -7.02618179e+01] [-4.69355545e-02 3.55994483e-03 9.98891576e-01 -3.55308284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.240714057 meters 0.044613064167470205 Centerline is valid? [True, True] Translation: X:541.34, Y:-70.27, Z:-35.54 [[ 9.97433899e-01 5.45807300e-02 4.63309921e-02 5.41344894e+02] [-5.43614640e-02 9.98503413e-01 -5.98040695e-03 -7.02747470e+01] [-4.65880687e-02 3.44644007e-03 9.98908241e-01 -3.55350402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.300714057 meters 0.04391492414001644 Centerline is valid? [True, True] Translation: X:541.40, Y:-70.29, Z:-35.54 [[ 9.97195634e-01 5.72094709e-02 4.82487828e-02 5.41404079e+02] [-5.69747673e-02 9.98356200e-01 -6.22690877e-03 -7.02855228e+01] [-4.85257096e-02 3.46048307e-03 9.98815939e-01 -3.55376152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.360714057 meters 0.04099373361604762 Centerline is valid? [True, True] Translation: X:541.46, Y:-70.29, Z:-35.54 [[ 9.97002947e-01 5.92513340e-02 4.97433646e-02 5.41463030e+02] [-5.90043779e-02 9.98237081e-01 -6.41975272e-03 -7.02931815e+01] [-5.00360500e-02 3.46543611e-03 9.98741400e-01 -3.55395625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.420714057 meters 0.04268989142088597 Centerline is valid? [True, True] Translation: X:541.52, Y:-70.31, Z:-35.54 [[ 9.97023953e-01 5.90217097e-02 4.95951208e-02 5.41520180e+02] [-5.87760182e-02 9.98250686e-01 -6.39910090e-03 -7.03058257e+01] [-4.98860492e-02 3.46505315e-03 9.98748905e-01 -3.55434230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.480714057 meters 0.044379511924116266 Centerline is valid? [True, True] Translation: X:541.58, Y:-70.32, Z:-35.55 [[ 9.97099103e-01 5.68986092e-02 5.05561764e-02 5.41578804e+02] [-5.66407431e-02 9.98373336e-01 -6.51987885e-03 -7.03206669e+01] [-5.08449105e-02 3.63742596e-03 9.98699937e-01 -3.55480519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5407140570001 meters 0.04606659567415851 Centerline is valid? [True, True] Translation: X:541.64, Y:-70.34, Z:-35.55 [[ 9.97315126e-01 5.26507965e-02 5.08963069e-02 5.41637888e+02] [-5.23840062e-02 9.98605452e-01 -6.56257376e-03 -7.03353642e+01] [-5.11708543e-02 3.87880162e-03 9.98682381e-01 -3.55516429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.600714057 meters 0.0462381304950867 Centerline is valid? [True, True] Translation: X:541.70, Y:-70.35, Z:-35.56 [[ 9.97425477e-01 4.98975264e-02 5.15039235e-02 5.41697734e+02] [-4.96206752e-02 9.98746057e-01 -6.64089376e-03 -7.03463784e+01] [-5.17707047e-02 4.06813717e-03 9.98650712e-01 -3.55557140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.660714057 meters 0.04791299967885908 Centerline is valid? [True, True] Translation: X:541.76, Y:-70.36, Z:-35.56 [[ 9.97470719e-01 5.01143054e-02 5.04055593e-02 5.41758093e+02] [-4.98495399e-02 9.98735607e-01 -6.49699777e-03 -7.03604618e+01] [-5.06674194e-02 3.96787110e-03 9.98707699e-01 -3.55632334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.720714057 meters 0.049471877422219125 Centerline is valid? [True, True] Translation: X:541.82, Y:-70.37, Z:-35.57 [[ 9.97574495e-01 4.91523838e-02 4.92866114e-02 5.41818886e+02] [-4.88974880e-02 9.98783522e-01 -6.36489611e-03 -7.03722157e+01] [-4.95395051e-02 3.93946654e-03 9.98764396e-01 -3.55682932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.780714057 meters 0.04690338315882276 Centerline is valid? [True, True] Translation: X:541.88, Y:-70.38, Z:-35.57 [[ 9.97602922e-01 4.89073689e-02 4.89538476e-02 5.41880253e+02] [-4.86550762e-02 9.98795564e-01 -6.33283944e-03 -7.03779830e+01] [-4.92046083e-02 3.93580595e-03 9.98780965e-01 -3.55729980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.840714057 meters 0.05001595322536219 Centerline is valid? [True, True] Translation: X:541.94, Y:-70.39, Z:-35.58 [[ 9.97628271e-01 4.87305725e-02 4.86123887e-02 5.41939688e+02] [-4.84810296e-02 9.98804235e-01 -6.29996707e-03 -7.03909846e+01] [-4.88612607e-02 3.92824660e-03 9.98797850e-01 -3.55787718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.900714057 meters 0.05016442700640661 Centerline is valid? [True, True] Translation: X:542.00, Y:-70.40, Z:-35.58 [[ 9.97729151e-01 4.75363487e-02 4.77162095e-02 5.42000147e+02] [-4.72939072e-02 9.98861789e-01 -6.19773467e-03 -7.03988810e+01] [-4.79565161e-02 3.92697456e-03 9.98841705e-01 -3.55841163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.960714057 meters 0.05307837219139852 Centerline is valid? [True, True] Translation: X:542.06, Y:-70.41, Z:-35.59 [[ 9.97867555e-01 4.35013374e-02 4.86618646e-02 5.42058957e+02] [-4.32442958e-02 9.99044518e-01 -6.32308164e-03 -7.04106340e+01] [-4.88904316e-02 4.20524995e-03 9.98795295e-01 -3.55884221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.020714057 meters 0.056156129124739294 Centerline is valid? [True, True] Translation: X:542.12, Y:-70.42, Z:-35.59 [[ 9.98005928e-01 4.01374530e-02 4.87150192e-02 5.42117989e+02] [-3.98759231e-02 9.99184595e-01 -6.32899599e-03 -7.04222115e+01] [-4.89293265e-02 4.37381916e-03 9.98792667e-01 -3.55931403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.080714057 meters 0.054619008048898327 Centerline is valid? [True, True] Translation: X:542.18, Y:-70.43, Z:-35.60 [[ 9.98076020e-01 3.87437449e-02 4.84064092e-02 5.42179062e+02] [-3.84839146e-02 9.99239432e-01 -6.28853314e-03 -7.04266290e+01] [-4.86132342e-02 4.41356600e-03 9.98807926e-01 -3.55971549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.140714057 meters 0.05254094921193777 Centerline is valid? [True, True] Translation: X:542.24, Y:-70.43, Z:-35.60 [[ 9.98050387e-01 3.90977413e-02 4.86496833e-02 5.42241242e+02] [-3.88357858e-02 9.99225629e-01 -6.31852187e-03 -7.04296563e+01] [-4.88590504e-02 4.41685452e-03 9.98795917e-01 -3.56010132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.200714057 meters 0.04801556606827582 Centerline is valid? [True, True] Translation: X:542.30, Y:-70.43, Z:-35.60 [[ 9.97930808e-01 4.24755550e-02 4.82693488e-02 5.42302714e+02] [-4.22208284e-02 9.99088535e-01 -6.28503621e-03 -7.04276094e+01] [-4.84923134e-02 4.23405937e-03 9.98814582e-01 -3.56043120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.260714057 meters 0.05295020680333753 Centerline is valid? [True, True] Translation: X:542.36, Y:-70.44, Z:-35.61 [[ 9.97777023e-01 4.53532638e-02 4.88271822e-02 5.42361657e+02] [-4.50960130e-02 9.98962425e-01 -6.35794955e-03 -7.04377360e+01] [-4.90648741e-02 4.14190473e-03 9.98787006e-01 -3.56094414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.320714057 meters 0.04545511802667851 Centerline is valid? [True, True] Translation: X:542.42, Y:-70.43, Z:-35.61 [[ 9.97731622e-01 4.62542189e-02 4.89096882e-02 5.42424998e+02] [-4.59974035e-02 9.98921288e-01 -6.36397302e-03 -7.04308426e+01] [-4.91512894e-02 4.09981846e-03 9.98782931e-01 -3.56116754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.380714057 meters 0.05023766209533659 Centerline is valid? [True, True] Translation: X:542.48, Y:-70.44, Z:-35.61 [[ 9.97688915e-01 4.46857704e-02 5.11860433e-02 5.42484708e+02] [-4.44015440e-02 9.98991451e-01 -6.67710095e-03 -7.04431642e+01] [-5.14327910e-02 4.38893025e-03 9.98666814e-01 -3.56146997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.440714057 meters 0.049976697317729704 Centerline is valid? [True, True] Translation: X:542.54, Y:-70.45, Z:-35.62 [[ 9.97895162e-01 3.88758851e-02 5.19029109e-02 5.42544494e+02] [-3.85757147e-02 9.99232726e-01 -6.77298558e-03 -7.04507305e+01] [-5.21263930e-02 4.75653766e-03 9.98629168e-01 -3.56185368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.500714057 meters 0.05379707004659001 Centerline is valid? [True, True] Translation: X:542.60, Y:-70.46, Z:-35.62 [[ 9.98118630e-01 3.43866311e-02 5.07617887e-02 5.42603723e+02] [-3.40937816e-02 9.99396686e-01 -6.62401023e-03 -7.04637031e+01] [-5.09589409e-02 4.88088668e-03 9.98688822e-01 -3.56235596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.560714057 meters 0.05131698039720047 Centerline is valid? [True, True] Translation: X:542.66, Y:-70.47, Z:-35.63 [[ 9.98184171e-01 3.30754655e-02 5.03425735e-02 5.42664702e+02] [-3.27857623e-02 9.99440809e-01 -6.56980842e-03 -7.04680514e+01] [-5.05317219e-02 4.90735913e-03 9.98710400e-01 -3.56267638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.620714057 meters 0.05003257368753618 Centerline is valid? [True, True] Translation: X:542.73, Y:-70.47, Z:-35.63 [[ 9.98231060e-01 3.27598281e-02 4.96139648e-02 5.42726475e+02] [-3.24782041e-02 9.99451489e-01 -6.47210630e-03 -7.04739852e+01] [-4.97987761e-02 4.84928506e-03 9.98747499e-01 -3.56316655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.680714057 meters 0.050643036114699475 Centerline is valid? [True, True] Translation: X:542.79, Y:-70.48, Z:-35.64 [[ 9.98102173e-01 3.56614392e-02 5.02027385e-02 5.42786636e+02] [-3.53758659e-02 9.99352510e-01 -6.56577990e-03 -7.04812957e+01] [-5.04043778e-02 4.77735384e-03 9.98717465e-01 -3.56356168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.740714057 meters 0.04920613320347516 Centerline is valid? [True, True] Translation: X:542.85, Y:-70.48, Z:-35.64 [[ 9.97755648e-01 4.21687753e-02 5.20140444e-02 5.42847766e+02] [-4.18709523e-02 9.99099868e-01 -6.80275231e-03 -7.04838002e+01] [-5.22540886e-02 4.60960697e-03 9.98623183e-01 -3.56376699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.800714057 meters 0.04922928441230554 Centerline is valid? [True, True] Translation: X:542.91, Y:-70.49, Z:-35.64 [[ 9.97584786e-01 4.50093105e-02 5.29032757e-02 5.42907749e+02] [-4.47051574e-02 9.98976263e-01 -6.91919199e-03 -7.04904360e+01] [-5.31605447e-02 4.53743139e-03 9.98575670e-01 -3.56415579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.860714057 meters 0.047677685885291046 Centerline is valid? [True, True] Translation: X:542.97, Y:-70.50, Z:-35.65 [[ 9.97692476e-01 4.42276470e-02 5.15134789e-02 5.42969369e+02] [-4.39382719e-02 9.99011532e-01 -6.73699635e-03 -7.04955840e+01] [-5.17605210e-02 4.45803733e-03 9.98649575e-01 -3.56465671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.920714057 meters 0.048319044870898636 Centerline is valid? [True, True] Translation: X:543.03, Y:-70.51, Z:-35.65 [[ 9.97907038e-01 4.15264141e-02 4.95691397e-02 5.43029260e+02] [-4.12549713e-02 9.99127592e-01 -6.48709783e-03 -7.05055531e+01] [-4.97952811e-02 4.42854715e-03 9.98749627e-01 -3.56528511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.980714057 meters 0.05873403177161649 Centerline is valid? [True, True] Translation: X:543.09, Y:-70.53, Z:-35.66 [[ 9.98040584e-01 3.97173175e-02 4.83479875e-02 5.43086014e+02] [-3.94569724e-02 9.99201235e-01 -6.32772833e-03 -7.05284430e+01] [-4.85606892e-02 4.40766447e-03 9.98810509e-01 -3.56595508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0407140570001 meters 0.0563021857822711 Centerline is valid? [True, True] Translation: X:543.15, Y:-70.53, Z:-35.66 [[ 9.97990543e-01 4.02492059e-02 4.89374782e-02 5.43148455e+02] [-3.99831645e-02 9.99179834e-01 -6.40357563e-03 -7.05337267e+01] [-4.91550802e-02 4.43403268e-03 9.98781316e-01 -3.56617836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.100714057 meters 0.04752214557167401 Centerline is valid? [True, True] Translation: X:543.21, Y:-70.53, Z:-35.66 [[ 9.97850356e-01 4.20999350e-02 5.02221305e-02 5.43210066e+02] [-4.18217644e-02 9.99103438e-01 -6.57732572e-03 -7.05298292e+01] [-5.04540082e-02 4.46280870e-03 9.98716414e-01 -3.56641075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1607140570001 meters 0.04760777681713991 Centerline is valid? [True, True] Translation: X:543.27, Y:-70.54, Z:-35.67 [[ 9.97669108e-01 4.51867962e-02 5.11322159e-02 5.43270487e+02] [-4.49024639e-02 9.98968932e-01 -6.69645113e-03 -7.05367409e+01] [-5.13820862e-02 4.38487995e-03 9.98669442e-01 -3.56668384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.220714057 meters 0.046059289189089136 Centerline is valid? [True, True] Translation: X:543.33, Y:-70.54, Z:-35.67 [[ 9.97499613e-01 4.86937271e-02 5.12195570e-02 5.43331139e+02] [-4.84129929e-02 9.98804877e-01 -6.70818802e-03 -7.05402879e+01] [-5.14849900e-02 4.21172291e-03 9.98664887e-01 -3.56704219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.280714057 meters 0.04667929064019086 Centerline is valid? [True, True] Translation: X:543.39, Y:-70.55, Z:-35.68 [[ 9.97475933e-01 4.98917568e-02 5.05230268e-02 5.43392792e+02] [-4.96201978e-02 9.98746247e-01 -6.61583127e-03 -7.05487930e+01] [-5.07897589e-02 4.09216988e-03 9.98700984e-01 -3.56771665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.340714057 meters 0.04858717264037015 Centerline is valid? [True, True] Translation: X:543.45, Y:-70.56, Z:-35.68 [[ 9.97567310e-01 4.92805522e-02 4.93040471e-02 5.43453178e+02] [-4.90211038e-02 9.98776862e-01 -6.45838738e-03 -7.05581598e+01] [-4.95620144e-02 4.02573732e-03 9.98762935e-01 -3.56830031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.400714057 meters 0.050352737308533436 Centerline is valid? [True, True] Translation: X:543.51, Y:-70.57, Z:-35.69 [[ 9.97640887e-01 4.82247629e-02 4.88572660e-02 5.43514359e+02] [-4.79681206e-02 9.98828283e-01 -6.41253175e-03 -7.05655823e+01] [-4.91092619e-02 4.05381264e-03 9.98785186e-01 -3.56873397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.460714057 meters 0.0475390842552561 Centerline is valid? [True, True] Translation: X:543.58, Y:-70.57, Z:-35.69 [[ 9.97686124e-01 4.60092853e-02 5.00554039e-02 5.43576135e+02] [-4.57367404e-02 9.98931874e-01 -6.57731681e-03 -7.05668852e+01] [-5.03045561e-02 4.27272670e-03 9.98724785e-01 -3.56901453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.520714057 meters 0.04867162753034023 Centerline is valid? [True, True] Translation: X:543.64, Y:-70.58, Z:-35.69 [[ 9.97750939e-01 4.25181387e-02 5.18196079e-02 5.43636014e+02] [-4.22212265e-02 9.99085067e-01 -6.81149678e-03 -7.05757212e+01] [-5.20618086e-02 4.60828991e-03 9.98633232e-01 -3.56931085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.580714057 meters 0.05045382606552037 Centerline is valid? [True, True] Translation: X:543.70, Y:-70.59, Z:-35.70 [[ 9.97842532e-01 3.86786152e-02 5.30494649e-02 5.43695179e+02] [-3.83620244e-02 9.99239573e-01 -6.97355629e-03 -7.05860773e+01] [-5.32788522e-02 4.92342620e-03 9.98567536e-01 -3.56974316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.640714057 meters 0.05081043065944238 Centerline is valid? [True, True] Translation: X:543.76, Y:-70.59, Z:-35.70 [[ 9.97964858e-01 3.62148850e-02 5.24845090e-02 5.43755614e+02] [-3.59016921e-02 9.99331518e-01 -6.89820490e-03 -7.05937466e+01] [-5.26992417e-02 4.99988339e-03 9.98597913e-01 -3.57016534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.700714057 meters 0.05397171267188801 Centerline is valid? [True, True] Translation: X:543.81, Y:-70.61, Z:-35.71 [[ 9.98068038e-01 3.39167964e-02 5.20561572e-02 5.43814562e+02] [-3.36055895e-02 9.99411751e-01 -6.84222849e-03 -7.06064674e+01] [-5.22576017e-02 5.07963171e-03 9.98620719e-01 -3.57073474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.760714057 meters 0.054580626363397465 Centerline is valid? [True, True] Translation: X:543.88, Y:-70.61, Z:-35.71 [[ 9.98095290e-01 3.37786201e-02 5.16216717e-02 5.43875544e+02] [-3.34724407e-02 9.99416613e-01 -6.78452869e-03 -7.06142845e+01] [-5.18207283e-02 5.04370278e-03 9.98643667e-01 -3.57125576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.820714057 meters 0.05154811180619603 Centerline is valid? [True, True] Translation: X:543.94, Y:-70.62, Z:-35.72 [[ 9.98061231e-01 3.61169335e-02 5.06887201e-02 5.43936460e+02] [-3.58242955e-02 9.99335843e-01 -6.67023635e-03 -7.06152435e+01] [-5.08959634e-02 4.84141662e-03 9.98692226e-01 -3.57165834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.880714057 meters 0.04915217073664088 Centerline is valid? [True, True] Translation: X:544.00, Y:-70.62, Z:-35.72 [[ 9.97886475e-01 3.94510459e-02 5.16352421e-02 5.43996621e+02] [-3.91517220e-02 9.99210167e-01 -6.79598451e-03 -7.06184125e+01] [-5.18625676e-02 4.76001238e-03 9.98642887e-01 -3.57197240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.940714057 meters 0.055891279011768685 Centerline is valid? [True, True] Translation: X:544.05, Y:-70.63, Z:-35.72 [[ 9.97712348e-01 4.17775416e-02 5.31479811e-02 5.44054758e+02] [-4.14636710e-02 9.99115525e-01 -6.99506998e-03 -7.06334461e+01] [-5.33932099e-02 4.77535729e-03 9.98562147e-01 -3.57233986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.000714057 meters 0.05030588199360427 Centerline is valid? [True, True] Translation: X:544.12, Y:-70.63, Z:-35.73 [[ 9.97719310e-01 4.18866379e-02 5.29309765e-02 5.44117180e+02] [-4.15756312e-02 9.99111092e-01 -6.96368077e-03 -7.06337429e+01] [-5.31756110e-02 4.74716001e-03 9.98573893e-01 -3.57275531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.060714057 meters 0.05299887889372264 Centerline is valid? [True, True] Translation: X:544.18, Y:-70.65, Z:-35.73 [[ 9.97799980e-01 4.03560669e-02 5.25983618e-02 5.44176018e+02] [-4.00460311e-02 9.99173766e-01 -6.93546958e-03 -7.06474512e+01] [-5.28347915e-02 4.81385578e-03 9.98591664e-01 -3.57342578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.120714057 meters 0.0562205620464615 Centerline is valid? [True, True] Translation: X:544.23, Y:-70.66, Z:-35.74 [[ 9.98011489e-01 3.83938683e-02 4.99897808e-02 5.44234490e+02] [-3.81113137e-02 9.99251746e-01 -6.59356661e-03 -7.06597914e+01] [-5.02055282e-02 4.67527902e-03 9.98727964e-01 -3.57405027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.180714057 meters 0.05313312014090381 Centerline is valid? [True, True] Translation: X:544.30, Y:-70.66, Z:-35.74 [[ 9.97991346e-01 3.93882268e-02 4.96169409e-02 5.44296643e+02] [-3.91110885e-02 9.99213437e-01 -6.54449008e-03 -7.06639840e+01] [-4.98356899e-02 4.59077190e-03 9.98746879e-01 -3.57443846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.240714057 meters 0.05284053929406568 Centerline is valid? [True, True] Translation: X:544.36, Y:-70.67, Z:-35.75 [[ 9.97694834e-01 4.43298263e-02 5.13798057e-02 5.44356188e+02] [-4.40382686e-02 9.99006747e-01 -6.79337707e-03 -7.06692312e+01] [-5.16299218e-02 4.51503952e-03 9.98656080e-01 -3.57458682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.300714057 meters 0.05238248889673443 Centerline is valid? [True, True] Translation: X:544.42, Y:-70.67, Z:-35.75 [[ 9.97466164e-01 4.87510271e-02 5.18130299e-02 5.44417281e+02] [-4.84604057e-02 9.98801606e-01 -6.85134896e-03 -7.06729061e+01] [-5.20849477e-02 4.32310831e-03 9.98633301e-01 -3.57490336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.360714057 meters 0.04716647440546807 Centerline is valid? [True, True] Translation: X:544.48, Y:-70.67, Z:-35.75 [[ 9.97380551e-01 5.02831598e-02 5.19965399e-02 5.44479614e+02] [-4.99925357e-02 9.98725924e-01 -6.87569623e-03 -7.06725435e+01] [-5.22760241e-02 4.25824681e-03 9.98623595e-01 -3.57525494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.420714057 meters 0.047734924284257664 Centerline is valid? [True, True] Translation: X:544.54, Y:-70.68, Z:-35.76 [[ 9.97353480e-01 5.13730057e-02 5.14475553e-02 5.44540434e+02] [-5.10897002e-02 9.98670866e-01 -6.80758823e-03 -7.06776374e+01] [-5.17289008e-02 4.16113164e-03 9.98652495e-01 -3.57563656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.480714057 meters 0.04868144997893213 Centerline is valid? [True, True] Translation: X:544.60, Y:-70.69, Z:-35.76 [[ 9.97350277e-01 5.20893273e-02 5.07851116e-02 5.44599878e+02] [-5.18140852e-02 9.98634124e-01 -6.72219709e-03 -7.06855647e+01] [-5.10659001e-02 4.07300103e-03 9.98686980e-01 -3.57606343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5407140570001 meters 0.04816580072741772 Centerline is valid? [True, True] Translation: X:544.66, Y:-70.69, Z:-35.77 [[ 9.97125759e-01 5.65567459e-02 5.04138327e-02 5.44659386e+02] [-5.62911754e-02 9.98392093e-01 -6.67330536e-03 -7.06899129e+01] [-5.07101924e-02 3.81627077e-03 9.98706119e-01 -3.57656483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.600714057 meters 0.040191673141282885 Centerline is valid? [True, True] Translation: X:544.72, Y:-70.68, Z:-35.77 [[ 9.96767385e-01 6.28806913e-02 5.00079815e-02 5.44721697e+02] [-6.26273532e-02 9.98015036e-01 -6.61838894e-03 -7.06828895e+01] [-5.03248863e-02 3.46512672e-03 9.98726889e-01 -3.57679662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6607140570001 meters 0.03821533026312886 Centerline is valid? [True, True] Translation: X:544.78, Y:-70.68, Z:-35.77 [[ 9.96377854e-01 6.82042201e-02 5.07873626e-02 5.44781596e+02] [-6.79497662e-02 9.97666098e-01 -6.72206289e-03 -7.06848554e+01] [-5.11273029e-02 3.24672518e-03 9.98686867e-01 -3.57709528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.720714057 meters 0.037600610182939746 Centerline is valid? [True, True] Translation: X:544.84, Y:-70.69, Z:-35.77 [[ 9.96098125e-01 7.06926055e-02 5.28306851e-02 5.44841258e+02] [-7.04208273e-02 9.97492877e-01 -6.99056589e-03 -7.06909690e+01] [-5.31924134e-02 3.24290902e-03 9.98579016e-01 -3.57726859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.780714057 meters 0.03831916880951103 Centerline is valid? [True, True] Translation: X:544.90, Y:-70.70, Z:-35.78 [[ 9.95970578e-01 7.18113824e-02 5.37190173e-02 5.44898119e+02] [-7.15320104e-02 9.97412979e-01 -7.10785640e-03 -7.06995593e+01] [-5.40904700e-02 3.23658655e-03 9.98530794e-01 -3.57761389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.840714057 meters 0.03987181211011385 Centerline is valid? [True, True] Translation: X:544.96, Y:-70.71, Z:-35.78 [[ 9.95917248e-01 7.46341220e-02 5.07797480e-02 5.44955204e+02] [-7.43884121e-02 9.97206741e-01 -6.71422790e-03 -7.07121370e+01] [-5.11390175e-02 2.90939054e-03 9.98687307e-01 -3.57842642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.900714057 meters 0.03444824746543043 Centerline is valid? [True, True] Translation: X:545.01, Y:-70.71, Z:-35.79 [[ 9.95830637e-01 7.61202307e-02 5.02698045e-02 5.45014462e+02] [-7.58814397e-02 9.97094709e-01 -6.64448324e-03 -7.07117802e+01] [-5.06295357e-02 2.80223484e-03 9.98713571e-01 -3.57869057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.960714057 meters 0.03835695174666406 Centerline is valid? [True, True] Translation: X:545.07, Y:-70.73, Z:-35.79 [[ 9.95620245e-01 7.94297859e-02 4.93075706e-02 5.45072147e+02] [-7.92043067e-02 9.96837126e-01 -6.51316408e-03 -7.07261548e+01] [-4.96689562e-02 2.57926607e-03 9.98762405e-01 -3.57935364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.020714057 meters 0.033202138208166455 Centerline is valid? [True, True] Translation: X:545.13, Y:-70.72, Z:-35.79 [[ 9.95390400e-01 8.22508393e-02 4.93229209e-02 5.45132827e+02] [-8.20287740e-02 9.96608679e-01 -6.51312107e-03 -7.07247656e+01] [-4.96913607e-02 2.43719946e-03 9.98761648e-01 -3.57945003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.080714057 meters 0.034247876490545996 Centerline is valid? [True, True] Translation: X:545.19, Y:-70.73, Z:-35.80 [[ 9.95448104e-01 7.98054958e-02 5.20975602e-02 5.45191804e+02] [-7.95544196e-02 9.96806791e-01 -6.87871095e-03 -7.07349910e+01] [-5.24801607e-02 2.70280861e-03 9.98618309e-01 -3.57965597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.140714057 meters 0.03743916243377409 Centerline is valid? [True, True] Translation: X:545.25, Y:-70.75, Z:-35.80 [[ 9.95950696e-01 7.19301280e-02 5.39283678e-02 5.45250022e+02] [-7.16496888e-02 9.97404458e-01 -7.11820092e-03 -7.07503326e+01] [-5.43004076e-02 3.22542639e-03 9.98519435e-01 -3.57998946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.200714057 meters 0.0382910481867481 Centerline is valid? [True, True] Translation: X:545.31, Y:-70.76, Z:-35.80 [[ 9.96449320e-01 6.37965580e-02 5.49431689e-02 5.45309325e+02] [-6.34931914e-02 9.97955928e-01 -7.25123514e-03 -7.07627681e+01] [-5.52934650e-02 3.73697118e-03 9.98463153e-01 -3.58035660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.260714057 meters 0.043901901250598806 Centerline is valid? [True, True] Translation: X:545.37, Y:-70.78, Z:-35.81 [[ 9.96915012e-01 5.81156502e-02 5.27544253e-02 5.45366253e+02] [-5.78281577e-02 9.98302283e-01 -6.96107824e-03 -7.07807210e+01] [-5.30694107e-02 3.88891218e-03 9.98583253e-01 -3.58101659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.320714057 meters 0.04603546645996838 Centerline is valid? [True, True] Translation: X:545.42, Y:-70.79, Z:-35.82 [[ 9.97166600e-01 5.68660266e-02 4.92445572e-02 5.45424057e+02] [-5.66139615e-02 9.98374987e-01 -6.49954304e-03 -7.07925238e+01] [-4.95341373e-02 3.69319777e-03 9.98765603e-01 -3.58179161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.380714057 meters 0.04612213508855036 Centerline is valid? [True, True] Translation: X:545.48, Y:-70.80, Z:-35.82 [[ 9.97004118e-01 6.03119537e-02 4.84278453e-02 5.45482905e+02] [-6.00723199e-02 9.98173575e-01 -6.38987841e-03 -7.07989851e+01] [-4.87247815e-02 3.46156207e-03 9.98806244e-01 -3.58230585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.440714057 meters 0.03922094345686422 Centerline is valid? [True, True] Translation: X:545.54, Y:-70.79, Z:-35.82 [[ 9.96511873e-01 6.64838763e-02 5.04379047e-02 5.45544311e+02] [-6.62318379e-02 9.97782075e-01 -6.65386869e-03 -7.07940686e+01] [-5.07684122e-02 3.29006402e-03 9.98705033e-01 -3.58242316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.500714057 meters 0.037617885893473126 Centerline is valid? [True, True] Translation: X:545.60, Y:-70.80, Z:-35.83 [[ 9.96140307e-01 7.09686999e-02 5.16520350e-02 5.45604678e+02] [-7.07104095e-02 9.97473618e-01 -6.81322265e-03 -7.07962353e+01] [-5.20050678e-02 3.13458916e-03 9.98641901e-01 -3.58268346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.560714057 meters 0.039706612346949624 Centerline is valid? [True, True] Translation: X:545.66, Y:-70.81, Z:-35.83 [[ 9.96331821e-01 6.82998563e-02 5.15561080e-02 5.45663611e+02] [-6.80389664e-02 9.97659486e-01 -6.80059693e-03 -7.08069384e+01] [-5.18999200e-02 3.26782683e-03 9.98646944e-01 -3.58310664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.620714057 meters 0.04072423858181686 Centerline is valid? [True, True] Translation: X:545.72, Y:-70.82, Z:-35.83 [[ 9.96539756e-01 6.44748686e-02 5.24548064e-02 5.45723469e+02] [-6.41995815e-02 9.97913100e-01 -6.91796935e-03 -7.08163244e+01] [-5.27913736e-02 3.52645487e-03 9.98599337e-01 -3.58339108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.680714057 meters 0.04731388363338944 Centerline is valid? [True, True] Translation: X:545.78, Y:-70.83, Z:-35.84 [[ 9.96674254e-01 6.14717082e-02 5.34944878e-02 5.45781231e+02] [-6.11810692e-02 9.98101748e-01 -7.05536180e-03 -7.08335732e+01] [-5.38266469e-02 3.75904750e-03 9.98543220e-01 -3.58382077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.740714057 meters 0.039355121662848595 Centerline is valid? [True, True] Translation: X:545.84, Y:-70.83, Z:-35.84 [[ 9.96768850e-01 6.10945105e-02 5.21471074e-02 5.45841029e+02] [-6.08178553e-02 9.98125189e-01 -6.87720142e-03 -7.08278320e+01] [-5.24695006e-02 3.68350492e-03 9.98615734e-01 -3.58409017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.800714057 meters 0.04287048915954 Centerline is valid? [True, True] Translation: X:545.90, Y:-70.84, Z:-35.85 [[ 9.96855954e-01 6.03768950e-02 5.13111889e-02 5.45897904e+02] [-6.01082973e-02 9.98168950e-01 -6.76319888e-03 -7.08393154e+01] [-5.16255765e-02 3.65770688e-03 9.98659812e-01 -3.58457342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.860714057 meters 0.042350426318782844 Centerline is valid? [True, True] Translation: X:545.96, Y:-70.85, Z:-35.85 [[ 9.96796658e-01 6.12512813e-02 5.14266733e-02 5.45956472e+02] [-6.09828274e-02 9.98115825e-01 -6.77459001e-03 -7.08453608e+01] [-5.17447287e-02 3.61674475e-03 9.98653795e-01 -3.58497876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.920714057 meters 0.040540120228051736 Centerline is valid? [True, True] Translation: X:546.02, Y:-70.85, Z:-35.85 [[ 9.96694040e-01 6.31029493e-02 5.11762453e-02 5.46016849e+02] [-6.28397567e-02 9.98000889e-01 -6.73727592e-03 -7.08473606e+01] [-5.14990803e-02 3.49909996e-03 9.98666912e-01 -3.58537654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.980714057 meters 0.04107366784177887 Centerline is valid? [True, True] Translation: X:546.08, Y:-70.85, Z:-35.86 [[ 9.96543290e-01 6.47910356e-02 5.19960908e-02 5.46076777e+02] [-6.45216690e-02 9.97892835e-01 -6.84424312e-03 -7.08531196e+01] [-5.23299721e-02 3.46571000e-03 9.98623835e-01 -3.58570662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0407140570001 meters 0.04051554482122592 Centerline is valid? [True, True] Translation: X:546.14, Y:-70.86, Z:-35.86 [[ 9.96629277e-01 6.27658790e-02 5.28254523e-02 5.46136349e+02] [-6.24850504e-02 9.98021683e-01 -6.95266363e-03 -7.08577272e+01] [-5.31573369e-02 3.62842708e-03 9.98579557e-01 -3.58601104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.100714057 meters 0.04591708395320715 Centerline is valid? [True, True] Translation: X:546.19, Y:-70.87, Z:-35.87 [[ 9.96871275e-01 5.94450158e-02 5.20955913e-02 5.46193802e+02] [-5.91675034e-02 9.98224535e-01 -6.85449017e-03 -7.08730208e+01] [-5.24105627e-02 3.75067828e-03 9.98618579e-01 -3.58653242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1607140570001 meters 0.04452181047905222 Centerline is valid? [True, True] Translation: X:546.25, Y:-70.88, Z:-35.87 [[ 9.97038086e-01 5.70591453e-02 5.15684820e-02 5.46253132e+02] [-5.67840945e-02 9.98363430e-01 -6.78435802e-03 -7.08788450e+01] [-5.18711963e-02 3.83599378e-03 9.98646416e-01 -3.58692743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.220714057 meters 0.041155312305926436 Centerline is valid? [True, True] Translation: X:546.31, Y:-70.88, Z:-35.87 [[ 9.96997832e-01 5.75685708e-02 5.17801415e-02 5.46313058e+02] [-5.72919737e-02 9.98334229e-01 -6.81151418e-03 -7.08804608e+01] [-5.20860168e-02 3.82447836e-03 9.98635279e-01 -3.58716716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.280714057 meters 0.045729036862324615 Centerline is valid? [True, True] Translation: X:546.37, Y:-70.89, Z:-35.88 [[ 9.96768016e-01 6.07485747e-02 5.25655181e-02 5.46370596e+02] [-6.04680093e-02 9.98146197e-01 -6.91291972e-03 -7.08927042e+01] [-5.28880221e-02 3.71204504e-03 9.98593550e-01 -3.58756810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.340714057 meters 0.041038256429285845 Centerline is valid? [True, True] Translation: X:546.43, Y:-70.89, Z:-35.88 [[ 9.96698123e-01 6.20797775e-02 5.23350134e-02 5.46429966e+02] [-6.18035978e-02 9.98064613e-01 -6.88065631e-03 -7.08921588e+01] [-5.26608745e-02 3.62344511e-03 9.98605880e-01 -3.58785476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.400714057 meters 0.04493250339102458 Centerline is valid? [True, True] Translation: X:546.49, Y:-70.90, Z:-35.89 [[ 9.96548320e-01 6.54230471e-02 5.11005912e-02 5.46487269e+02] [-6.51643254e-02 9.97851956e-01 -6.71453137e-03 -7.09038060e+01] [-5.14301100e-02 3.36141940e-03 9.98670939e-01 -3.58854506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.460714057 meters 0.03975877712096522 Centerline is valid? [True, True] Translation: X:546.55, Y:-70.90, Z:-35.89 [[ 9.96552225e-01 6.62689859e-02 4.99207802e-02 5.46546960e+02] [-6.60232583e-02 9.97796539e-01 -6.55718573e-03 -7.09024532e+01] [-5.02453198e-02 3.23864546e-03 9.98731655e-01 -3.58881823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.520714057 meters 0.03824193231491661 Centerline is valid? [True, True] Translation: X:546.61, Y:-70.91, Z:-35.89 [[ 9.96406591e-01 6.69153028e-02 5.19253980e-02 5.46606213e+02] [-6.66504716e-02 9.97753097e-01 -6.81711391e-03 -7.09063694e+01] [-5.22648959e-02 3.33176497e-03 9.98627698e-01 -3.58899087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.580714057 meters 0.039064386171330755 Centerline is valid? [True, True] Translation: X:546.67, Y:-70.91, Z:-35.89 [[ 9.96328157e-01 6.67382090e-02 5.36303516e-02 5.46665084e+02] [-6.64557940e-02 9.97764576e-01 -7.03411452e-03 -7.09133378e+01] [-5.39799092e-02 3.44423876e-03 9.98536082e-01 -3.58910071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.640714057 meters 0.043415600798063024 Centerline is valid? [True, True] Translation: X:546.72, Y:-70.93, Z:-35.90 [[ 9.96544569e-01 6.38394643e-02 5.31360996e-02 5.46722257e+02] [-6.35583615e-02 9.97953818e-01 -6.96507927e-03 -7.09289847e+01] [-5.34720204e-02 3.56376849e-03 9.98562989e-01 -3.58977780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.700714057 meters 0.04555861416923223 Centerline is valid? [True, True] Translation: X:546.78, Y:-70.94, Z:-35.91 [[ 9.96977958e-01 5.94712903e-02 4.99811735e-02 5.46781339e+02] [-5.92172598e-02 9.98223633e-01 -6.54936076e-03 -7.09403213e+01] [-5.02818875e-02 3.56982018e-03 9.98728686e-01 -3.59057739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.760714057 meters 0.04769927124921298 Centerline is valid? [True, True] Translation: X:546.84, Y:-70.95, Z:-35.91 [[ 9.97323835e-01 5.35979528e-02 4.97235204e-02 5.46840047e+02] [-5.33392657e-02 9.98555189e-01 -6.51588701e-03 -7.09514015e+01] [-5.00009176e-02 3.84623335e-03 9.98741766e-01 -3.59096655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.820714057 meters 0.04683664741284716 Centerline is valid? [True, True] Translation: X:546.90, Y:-70.96, Z:-35.91 [[ 9.97442140e-01 5.18944306e-02 4.91543083e-02 5.46899665e+02] [-5.16396202e-02 9.98645016e-01 -6.44055957e-03 -7.09574891e+01] [-4.94219342e-02 3.88577571e-03 9.98770431e-01 -3.59137574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.880714057 meters 0.04767675103415498 Centerline is valid? [True, True] Translation: X:546.96, Y:-70.96, Z:-35.92 [[ 9.97386603e-01 5.25317906e-02 4.96021740e-02 5.46958670e+02] [-5.22731256e-02 9.98611681e-01 -6.49859777e-03 -7.09640677e+01] [-4.98746934e-02 3.88875368e-03 9.98747912e-01 -3.59172464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.940714057 meters 0.04777364536735923 Centerline is valid? [True, True] Translation: X:547.02, Y:-70.97, Z:-35.92 [[ 9.97246742e-01 5.42455371e-02 5.05604262e-02 5.47018530e+02] [-5.39790539e-02 9.98520109e-01 -6.62225365e-03 -7.09706372e+01] [-5.08448300e-02 3.87481690e-03 9.98699048e-01 -3.59206631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.000714057 meters 0.047455578403583026 Centerline is valid? [True, True] Translation: X:547.08, Y:-70.98, Z:-35.93 [[ 9.97031454e-01 5.76625815e-02 5.10226034e-02 5.47078916e+02] [-5.73957444e-02 9.98329152e-01 -6.68083380e-03 -7.09767458e+01] [-5.13225865e-02 3.73252113e-03 9.98675153e-01 -3.59253057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.060714057 meters 0.04307524185345544 Centerline is valid? [True, True] Translation: X:547.14, Y:-70.98, Z:-35.93 [[ 9.96847830e-01 6.02644798e-02 5.16003475e-02 5.47139435e+02] [-5.99950220e-02 9.98175810e-01 -6.75651309e-03 -7.09759828e+01] [-5.19133964e-02 3.63945143e-03 9.98644959e-01 -3.59272139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.120714057 meters 0.040551564657897866 Centerline is valid? [True, True] Translation: X:547.20, Y:-70.98, Z:-35.93 [[ 9.96749270e-01 6.16763878e-02 5.18354729e-02 5.47198457e+02] [-6.14063778e-02 9.98089772e-01 -6.78704446e-03 -7.09790234e+01] [-5.21550557e-02 3.58195298e-03 9.98632575e-01 -3.59309038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.180714057 meters 0.04013807614025661 Centerline is valid? [True, True] Translation: X:547.26, Y:-70.99, Z:-35.93 [[ 9.96793419e-01 6.07974028e-02 5.20245605e-02 5.47256486e+02] [-6.05244252e-02 9.98143499e-01 -6.80800836e-03 -7.09851918e+01] [-5.23418861e-02 3.63742131e-03 9.98622599e-01 -3.59349366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.240714057 meters 0.0468451452987029 Centerline is valid? [True, True] Translation: X:547.31, Y:-71.00, Z:-35.94 [[ 9.96904025e-01 5.98283749e-02 5.10189276e-02 5.47312338e+02] [-5.95647871e-02 9.98202139e-01 -6.67273555e-03 -7.10035961e+01] [-5.13264216e-02 3.61314536e-03 9.98675395e-01 -3.59433009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.300714057 meters 0.040146304448173936 Centerline is valid? [True, True] Translation: X:547.37, Y:-71.00, Z:-35.95 [[ 9.96952338e-01 5.97253367e-02 5.01888368e-02 5.47371791e+02] [-5.94703134e-02 9.98208515e-01 -6.56065550e-03 -7.10003809e+01] [-5.04907616e-02 3.55591499e-03 9.98718198e-01 -3.59462946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.360714057 meters 0.04108119501530644 Centerline is valid? [True, True] Translation: X:547.43, Y:-71.01, Z:-35.95 [[ 9.96901144e-01 6.11021048e-02 4.95443373e-02 5.47430058e+02] [-6.08554672e-02 9.98125601e-01 -6.47279330e-03 -7.10065208e+01] [-4.98469727e-02 3.43769125e-03 9.98750951e-01 -3.59505140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.420714057 meters 0.04187610177664535 Centerline is valid? [True, True] Translation: X:547.49, Y:-71.01, Z:-35.95 [[ 9.96762811e-01 6.30239325e-02 4.99187512e-02 5.47489460e+02] [-6.27761681e-02 9.98006352e-01 -6.51729306e-03 -7.10141131e+01] [-5.02299762e-02 3.36248744e-03 9.98732018e-01 -3.59549326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.480714057 meters 0.03927268444364396 Centerline is valid? [True, True] Translation: X:547.55, Y:-71.02, Z:-35.96 [[ 9.96267624e-01 6.92628574e-02 5.15119168e-02 5.47549835e+02] [-6.90073565e-02 9.97593489e-01 -6.72427802e-03 -7.10156688e+01] [-5.18536955e-02 3.14447928e-03 9.98649742e-01 -3.59575088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5407140570001 meters 0.035205591509239784 Centerline is valid? [True, True] Translation: X:547.61, Y:-71.01, Z:-35.96 [[ 9.95897337e-01 7.40693038e-02 5.19829939e-02 5.47611320e+02] [-7.38156637e-02 9.97248822e-01 -6.78496906e-03 -7.10140929e+01] [-5.23425373e-02 2.91997342e-03 9.98624921e-01 -3.59591701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.600714057 meters 0.03421404459023396 Centerline is valid? [True, True] Translation: X:547.67, Y:-71.02, Z:-35.96 [[ 9.95646575e-01 7.70809622e-02 5.24063216e-02 5.47670631e+02] [-7.68273137e-02 9.97020949e-01 -6.84044059e-03 -7.10189186e+01] [-5.27774682e-02 2.78442434e-03 9.98602416e-01 -3.59630877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6607140570001 meters 0.03501121012917939 Centerline is valid? [True, True] Translation: X:547.73, Y:-71.03, Z:-35.97 [[ 9.95648203e-01 7.75389708e-02 5.16949059e-02 5.47728662e+02] [-7.72928582e-02 9.96985608e-01 -6.74616792e-03 -7.10278707e+01] [-5.20621681e-02 2.72116293e-03 9.98640138e-01 -3.59679106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.720714057 meters 0.03636409767683917 Centerline is valid? [True, True] Translation: X:547.79, Y:-71.04, Z:-35.97 [[ 9.95985187e-01 7.43528592e-02 4.98513766e-02 5.47787447e+02] [-7.41202382e-02 9.97228120e-01 -6.50137859e-03 -7.10391637e+01] [-5.01965906e-02 2.78028086e-03 9.98735487e-01 -3.59744630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.780714057 meters 0.03848231691482835 Centerline is valid? [True, True] Translation: X:547.85, Y:-71.05, Z:-35.98 [[ 9.96316850e-01 7.06646873e-02 4.85719741e-02 5.47845573e+02] [-7.04395392e-02 9.97495943e-01 -6.33367543e-03 -7.10533039e+01] [-4.88979143e-02 2.88896008e-03 9.98799603e-01 -3.59802542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.840714057 meters 0.04005338145663308 Centerline is valid? [True, True] Translation: X:547.90, Y:-71.07, Z:-35.98 [[ 9.96629072e-01 6.72436094e-02 4.69977545e-02 5.47904840e+02] [-6.70290805e-02 9.97732206e-01 -6.12762198e-03 -7.10653337e+01] [-4.73032167e-02 2.95674994e-03 9.98876200e-01 -3.59849099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.900714057 meters 0.04063495434123145 Centerline is valid? [True, True] Translation: X:547.96, Y:-71.08, Z:-35.99 [[ 9.96728119e-01 6.42564937e-02 4.90322333e-02 5.47963098e+02] [-6.40193892e-02 9.97928180e-01 -6.39253904e-03 -7.10782293e+01] [-4.93414095e-02 3.23260979e-03 9.98776740e-01 -3.59864298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.960714057 meters 0.04351997226519167 Centerline is valid? [True, True] Translation: X:548.02, Y:-71.09, Z:-35.99 [[ 9.96798201e-01 6.24879904e-02 4.98858511e-02 5.48020565e+02] [-6.22404839e-02 9.98040008e-01 -6.50108388e-03 -7.10915442e+01] [-5.01943149e-02 3.37534921e-03 9.98733767e-01 -3.59881559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.020714057 meters 0.044026468998274476 Centerline is valid? [True, True] Translation: X:548.08, Y:-71.10, Z:-35.99 [[ 9.96748722e-01 6.19759544e-02 5.14875391e-02 5.48078561e+02] [-6.17117372e-02 9.98071478e-01 -6.70719981e-03 -7.11035088e+01] [-5.18039293e-02 3.50800736e-03 9.98651114e-01 -3.59910581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.080714057 meters 0.04504699418823707 Centerline is valid? [True, True] Translation: X:548.13, Y:-71.12, Z:-36.00 [[ 9.96731616e-01 6.28367807e-02 5.07703199e-02 5.48134757e+02] [-6.25811585e-02 9.98017986e-01 -6.61051880e-03 -7.11160254e+01] [-5.10850761e-02 3.41164765e-03 9.98688478e-01 -3.59967360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.140714057 meters 0.04409419413667956 Centerline is valid? [True, True] Translation: X:548.19, Y:-71.12, Z:-36.00 [[ 9.96471095e-01 6.71232760e-02 5.03966570e-02 5.48194276e+02] [-6.68771341e-02 9.97739676e-01 -6.55647756e-03 -7.11249852e+01] [-5.07228365e-02 3.16295638e-03 9.98707760e-01 -3.60010557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.200714057 meters 0.03766404406397049 Centerline is valid? [True, True] Translation: X:548.25, Y:-71.13, Z:-36.00 [[ 9.96023571e-01 7.36114258e-02 5.01837021e-02 5.48254226e+02] [-7.33755479e-02 9.97283010e-01 -6.52899422e-03 -7.11257688e+01] [-5.05279621e-02 2.82077550e-03 9.98718663e-01 -3.60037775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.260714057 meters 0.034439071108600075 Centerline is valid? [True, True] Translation: X:548.31, Y:-71.13, Z:-36.01 [[ 9.95679854e-01 7.81680079e-02 5.01137802e-02 5.48314083e+02] [-7.79386121e-02 9.96936850e-01 -6.51839964e-03 -7.11290807e+01] [-5.04698045e-02 2.58444073e-03 9.98722243e-01 -3.60064283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.320714057 meters 0.032669723626536314 Centerline is valid? [True, True] Translation: X:548.37, Y:-71.14, Z:-36.01 [[ 9.95070435e-01 8.52727852e-02 5.06298471e-02 5.48373833e+02] [-8.50478771e-02 9.96355112e-01 -6.58400949e-03 -7.11379283e+01] [-5.10067438e-02 2.24559217e-03 9.98695784e-01 -3.60106284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.380714057 meters 0.03173365897958901 Centerline is valid? [True, True] Translation: X:548.43, Y:-71.15, Z:-36.01 [[ 9.94610492e-01 9.01453074e-02 5.12229649e-02 5.48433167e+02] [-8.99215297e-02 9.95926577e-01 -6.66127985e-03 -7.11494429e+01] [-5.16147952e-02 2.01933148e-03 9.98665027e-01 -3.60146868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.440714057 meters 0.03195300645020326 Centerline is valid? [True, True] Translation: X:548.49, Y:-71.17, Z:-36.02 [[ 9.94581037e-01 8.94966404e-02 5.29047436e-02 5.48489098e+02] [-8.92570596e-02 9.95984869e-01 -6.87879367e-03 -7.11653741e+01] [-5.33079530e-02 2.11939590e-03 9.98575871e-01 -3.60170544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.500714057 meters 0.033541967658370704 Centerline is valid? [True, True] Translation: X:548.55, Y:-71.19, Z:-36.02 [[ 9.94934742e-01 8.47929005e-02 5.39909497e-02 5.48546844e+02] [-8.45368347e-02 9.96395674e-01 -7.01312648e-03 -7.11872409e+01] [-5.43910121e-02 2.41337919e-03 9.98516797e-01 -3.60221079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.560714057 meters 0.03608959969222535 Centerline is valid? [True, True] Translation: X:548.60, Y:-71.21, Z:-36.03 [[ 9.95582059e-01 7.86526062e-02 5.12848161e-02 5.48603654e+02] [-7.84135193e-02 9.96898669e-01 -6.66055884e-03 -7.12100681e+01] [-5.16496352e-02 2.60970996e-03 9.98661857e-01 -3.60297525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.620714057 meters 0.03538162546726787 Centerline is valid? [True, True] Translation: X:548.66, Y:-71.22, Z:-36.03 [[ 9.96137882e-01 7.29738649e-02 4.88275986e-02 5.48662070e+02] [-7.27503531e-02 9.97330021e-01 -6.34156761e-03 -7.12242580e+01] [-4.91599987e-02 2.76485068e-03 9.98787090e-01 -3.60343852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.680714057 meters 0.03764831464026348 Centerline is valid? [True, True] Translation: X:548.72, Y:-71.24, Z:-36.04 [[ 9.96511808e-01 6.73627725e-02 4.92592491e-02 5.48720357e+02] [-6.71285163e-02 9.97723833e-01 -6.39645284e-03 -7.12446455e+01] [-4.95780097e-02 3.06744047e-03 9.98765544e-01 -3.60380208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.740714057 meters 0.0386540050766111 Centerline is valid? [True, True] Translation: X:548.78, Y:-71.26, Z:-36.04 [[ 9.96683916e-01 6.43531131e-02 4.97980715e-02 5.48778894e+02] [-6.41099439e-02 9.97921889e-01 -6.46672033e-03 -7.12585224e+01] [-5.01107392e-02 3.25272457e-03 9.98738371e-01 -3.60412290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.800714057 meters 0.04004488591008233 Centerline is valid? [True, True] Translation: X:548.84, Y:-71.27, Z:-36.05 [[ 9.96853106e-01 6.15590749e-02 4.99436262e-02 5.48837648e+02] [-6.13110436e-02 9.98097644e-01 -6.48457756e-03 -7.12719146e+01] [-5.02478003e-02 3.40207543e-03 9.98730987e-01 -3.60452902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.860714057 meters 0.044012788214598114 Centerline is valid? [True, True] Translation: X:548.90, Y:-71.29, Z:-36.05 [[ 9.97027054e-01 5.92985979e-02 4.92009060e-02 5.48895425e+02] [-5.90552152e-02 9.98234285e-01 -6.38700031e-03 -7.12883737e+01] [-4.94927714e-02 3.46244202e-03 9.98768480e-01 -3.60503138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.920714057 meters 0.04568998174615588 Centerline is valid? [True, True] Translation: X:548.95, Y:-71.30, Z:-36.05 [[ 9.97142938e-01 5.72417320e-02 4.92883964e-02 5.48954908e+02] [-5.69949833e-02 9.98353962e-01 -6.39835786e-03 -7.13008949e+01] [-4.95735189e-02 3.57088602e-03 9.98764094e-01 -3.60545651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.980714057 meters 0.040886944705609427 Centerline is valid? [True, True] Translation: X:549.02, Y:-71.30, Z:-36.06 [[ 9.97327542e-01 5.51201805e-02 4.79535149e-02 5.49016500e+02] [-5.48842058e-02 9.98473323e-01 -6.22477142e-03 -7.13007674e+01] [-4.82234159e-02 3.57624539e-03 9.98830172e-01 -3.60572523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0407140570001 meters 0.045340834563731926 Centerline is valid? [True, True] Translation: X:549.07, Y:-71.32, Z:-36.07 [[ 9.97605772e-01 5.27698228e-02 4.46997798e-02 5.49074080e+02] [-5.25624462e-02 9.98600779e-01 -5.80285594e-03 -7.13160810e+01] [-4.49434506e-02 3.43943281e-03 9.98983612e-01 -3.60658292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.100714057 meters 0.043996107887541165 Centerline is valid? [True, True] Translation: X:549.13, Y:-71.32, Z:-36.07 [[ 9.97741917e-01 5.15589287e-02 4.30435191e-02 5.49134774e+02] [-5.13654539e-02 9.98664281e-01 -5.58955325e-03 -7.13207485e+01] [-4.32742164e-02 3.36598168e-03 9.99057562e-01 -3.60698754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1607140570001 meters 0.04310523291118832 Centerline is valid? [True, True] Translation: X:549.20, Y:-71.32, Z:-36.07 [[ 9.97656141e-01 5.21120235e-02 4.43459353e-02 5.49195047e+02] [-5.19071424e-02 9.98635305e-01 -5.75987757e-03 -7.13241899e+01] [-4.45855755e-02 3.44450645e-03 9.98999631e-01 -3.60705709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.220714057 meters 0.04360225986584367 Centerline is valid? [True, True] Translation: X:549.26, Y:-71.33, Z:-36.07 [[ 9.97419431e-01 5.46137902e-02 4.66027109e-02 5.49255177e+02] [-5.43902300e-02 9.98501411e-01 -6.05274541e-03 -7.13311551e+01] [-4.68634359e-02 3.50239372e-03 9.98895166e-01 -3.60730525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.280714057 meters 0.04296593033004737 Centerline is valid? [True, True] Translation: X:549.32, Y:-71.33, Z:-36.08 [[ 9.97101904e-01 5.80660941e-02 4.91540720e-02 5.49315808e+02] [-5.78214777e-02 9.98306520e-01 -6.38512376e-03 -7.13342256e+01] [-4.94415898e-02 3.52445798e-03 9.98770798e-01 -3.60755031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.340714057 meters 0.0458115268308693 Centerline is valid? [True, True] Translation: X:549.37, Y:-71.34, Z:-36.08 [[ 9.97033934e-01 5.75146410e-02 5.11409908e-02 5.49374951e+02] [-5.72491001e-02 9.98337822e-01 -6.64332131e-03 -7.13416188e+01] [-5.14380736e-02 3.69584108e-03 9.98669347e-01 -3.60780072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.400714057 meters 0.041405454911218234 Centerline is valid? [True, True] Translation: X:549.44, Y:-71.34, Z:-36.08 [[ 9.97327473e-01 5.27785142e-02 5.05206871e-02 5.49435958e+02] [-5.25134051e-02 9.98598663e-01 -6.56151341e-03 -7.13415012e+01] [-5.07961975e-02 3.89096428e-03 9.98701460e-01 -3.60812615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.460714057 meters 0.04436657216507858 Centerline is valid? [True, True] Translation: X:549.50, Y:-71.35, Z:-36.09 [[ 9.97663744e-01 4.82477496e-02 4.83653659e-02 5.49495955e+02] [-4.79995084e-02 9.98827607e-01 -6.28166465e-03 -7.13538018e+01] [-4.86117388e-02 3.94547529e-03 9.98809958e-01 -3.60882058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.520714057 meters 0.04686766530351005 Centerline is valid? [True, True] Translation: X:549.56, Y:-71.36, Z:-36.09 [[ 9.97786983e-01 4.83452336e-02 4.56494869e-02 5.49556304e+02] [-4.81243318e-02 9.98823772e-01 -5.92639070e-03 -7.13628088e+01] [-4.58823055e-02 3.71642444e-03 9.98939939e-01 -3.60945655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.580714057 meters 0.04507147161475099 Centerline is valid? [True, True] Translation: X:549.62, Y:-71.36, Z:-36.10 [[ 9.97604198e-01 5.21075050e-02 4.55046437e-02 5.49617136e+02] [-5.18912103e-02 9.98635182e-01 -5.92244150e-03 -7.13643004e+01] [-4.57511418e-02 3.54696146e-03 9.98946571e-01 -3.60970492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.640714057 meters 0.04120958024216223 Centerline is valid? [True, True] Translation: X:549.68, Y:-71.36, Z:-36.10 [[ 9.97288279e-01 5.67803027e-02 4.68197212e-02 5.49678510e+02] [-5.65564132e-02 9.98380807e-01 -6.09393681e-03 -7.13623471e+01] [-4.70899266e-02 3.42945626e-03 9.98884767e-01 -3.60985534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.700714057 meters 0.04205363312901894 Centerline is valid? [True, True] Translation: X:549.74, Y:-71.37, Z:-36.10 [[ 9.97055259e-01 5.99422139e-02 4.78303418e-02 5.49737361e+02] [-5.97121528e-02 9.98196223e-01 -6.22566135e-03 -7.13686903e+01] [-4.81172465e-02 3.35127571e-03 9.98836072e-01 -3.61016670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.760714057 meters 0.04385700680799841 Centerline is valid? [True, True] Translation: X:549.80, Y:-71.38, Z:-36.11 [[ 9.97302462e-01 5.71143113e-02 4.61059117e-02 5.49796491e+02] [-5.68976011e-02 9.98361989e-01 -6.00009334e-03 -7.13773638e+01] [-4.63730809e-02 3.36059208e-03 9.98918537e-01 -3.61067571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.820714057 meters 0.04641341676895097 Centerline is valid? [True, True] Translation: X:549.86, Y:-71.39, Z:-36.11 [[ 9.97724561e-01 5.02172999e-02 4.49880303e-02 5.49856390e+02] [-5.00040587e-02 9.98731861e-01 -5.85355328e-03 -7.13868076e+01] [-4.52249288e-02 3.59064977e-03 9.98970376e-01 -3.61102378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.880714057 meters 0.045649205010678665 Centerline is valid? [True, True] Translation: X:549.92, Y:-71.40, Z:-36.11 [[ 9.97971947e-01 4.54460444e-02 4.45718604e-02 5.49916451e+02] [-4.52320128e-02 9.98959675e-01 -5.79930780e-03 -7.13951450e+01] [-4.47890468e-02 3.77147154e-03 9.98989348e-01 -3.61148711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.940714057 meters 0.0483819603620701 Centerline is valid? [True, True] Translation: X:549.98, Y:-71.41, Z:-36.12 [[ 9.98007391e-01 4.43936177e-02 4.48380891e-02 5.49976575e+02] [-4.41761787e-02 9.99006749e-01 -5.82921482e-03 -7.14070910e+01] [-4.50523335e-02 3.83682404e-03 9.98977260e-01 -3.61192356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.000714057 meters 0.04807041851119141 Centerline is valid? [True, True] Translation: X:550.04, Y:-71.41, Z:-36.12 [[ 9.98032334e-01 4.40585685e-02 4.46128099e-02 5.50038675e+02] [-4.38425287e-02 9.99021560e-01 -5.80995726e-03 -7.14137241e+01] [-4.48251373e-02 3.84258680e-03 9.98987458e-01 -3.61217147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.060714057 meters 0.04803635178425119 Centerline is valid? [True, True] Translation: X:550.10, Y:-71.42, Z:-36.13 [[ 9.97936050e-01 4.45621631e-02 4.62369321e-02 5.50100075e+02] [-4.43300563e-02 9.98998719e-01 -6.03376010e-03 -7.14239875e+01] [-4.64595133e-02 3.97162091e-03 9.98912278e-01 -3.61250259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.120714057 meters 0.04550006305670679 Centerline is valid? [True, True] Translation: X:550.16, Y:-71.43, Z:-36.13 [[ 9.97766148e-01 4.64994367e-02 4.79637002e-02 5.50160993e+02] [-4.62510764e-02 9.98910134e-01 -6.27558155e-03 -7.14280510e+01] [-4.82032372e-02 4.04319006e-03 9.98829365e-01 -3.61273199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.180714057 meters 0.050514346175323854 Centerline is valid? [True, True] Translation: X:550.22, Y:-71.44, Z:-36.13 [[ 9.97610499e-01 4.84431222e-02 4.92600971e-02 5.50218651e+02] [-4.81834181e-02 9.98817700e-01 -6.44668086e-03 -7.14428275e+01] [-4.95141543e-02 4.05775665e-03 9.98765179e-01 -3.61320821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.240714057 meters 0.04117947525648153 Centerline is valid? [True, True] Translation: X:550.28, Y:-71.44, Z:-36.13 [[ 9.97576503e-01 5.05426939e-02 4.78179502e-02 5.50281728e+02] [-5.03004822e-02 9.98714536e-01 -6.25589346e-03 -7.14368299e+01] [-4.80726716e-02 3.83546637e-03 9.98836477e-01 -3.61342091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.300714057 meters 0.04248549060772533 Centerline is valid? [True, True] Translation: X:550.34, Y:-71.45, Z:-36.14 [[ 9.97546067e-01 5.21776154e-02 4.66834067e-02 5.50341018e+02] [-5.19483986e-02 9.98631075e-01 -6.11067977e-03 -7.14475006e+01] [-4.69383413e-02 3.67055635e-03 9.98891045e-01 -3.61410453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.360714057 meters 0.043332210177306964 Centerline is valid? [True, True] Translation: X:550.40, Y:-71.45, Z:-36.15 [[ 9.97571623e-01 5.34207270e-02 4.46887243e-02 5.50401425e+02] [-5.32118994e-02 9.98566105e-01 -5.85038742e-03 -7.14547680e+01] [-4.49371773e-02 3.45820858e-03 9.98983829e-01 -3.61457642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.420714057 meters 0.04308142699487458 Centerline is valid? [True, True] Translation: X:550.46, Y:-71.46, Z:-36.15 [[ 9.97376864e-01 5.61359703e-02 4.56962179e-02 5.50461314e+02] [-5.59203670e-02 9.98417300e-01 -5.98394361e-03 -7.14599332e+01] [-4.59598089e-02 3.41289764e-03 9.98937460e-01 -3.61481617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.480714057 meters 0.04108778469148669 Centerline is valid? [True, True] Translation: X:550.52, Y:-71.46, Z:-36.15 [[ 9.97047499e-01 5.95199088e-02 4.85145853e-02 5.50522451e+02] [-5.92809270e-02 9.98221134e-01 -6.35130376e-03 -7.14615666e+01] [-4.88063134e-02 3.45656195e-03 9.98802281e-01 -3.61489815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5407140570001 meters 0.03842056600481522 Centerline is valid? [True, True] Translation: X:550.58, Y:-71.46, Z:-36.15 [[ 9.96882070e-01 6.13553539e-02 4.96151110e-02 5.50582931e+02] [-6.11076529e-02 9.98110046e-01 -6.49543354e-03 -7.14621326e+01] [-4.99198704e-02 3.44331825e-03 9.98747290e-01 -3.61519193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.600714057 meters 0.04171811816976464 Centerline is valid? [True, True] Translation: X:550.64, Y:-71.47, Z:-36.16 [[ 9.97011261e-01 6.09158086e-02 4.75164064e-02 5.50640283e+02] [-6.06881539e-02 9.98137392e-01 -6.22045172e-03 -7.14739932e+01] [-4.78068259e-02 3.31817743e-03 9.98851089e-01 -3.61593962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6607140570001 meters 0.0411366709171647 Centerline is valid? [True, True] Translation: X:550.70, Y:-71.48, Z:-36.16 [[ 9.97306462e-01 5.83176323e-02 4.44845405e-02 5.50700181e+02] [-5.81156864e-02 9.98292887e-01 -5.82062672e-03 -7.14791127e+01] [-4.47480455e-02 3.21969904e-03 9.98993116e-01 -3.61645387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.720714057 meters 0.04276825719175487 Centerline is valid? [True, True] Translation: X:550.76, Y:-71.49, Z:-36.17 [[ 9.97509326e-01 5.57139698e-02 4.32561845e-02 5.50759786e+02] [-5.55206454e-02 9.98441504e-01 -5.65880255e-03 -7.14881365e+01] [-4.35040443e-02 3.24309703e-03 9.99047987e-01 -3.61695548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.780714057 meters 0.043386176981247734 Centerline is valid? [True, True] Translation: X:550.82, Y:-71.50, Z:-36.17 [[ 9.97556012e-01 5.46068442e-02 4.35900968e-02 5.50819093e+02] [-5.44094382e-02 9.98502422e-01 -5.70322228e-03 -7.14955420e+01] [-4.38362522e-02 3.31757099e-03 9.99033221e-01 -3.61732022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.840714057 meters 0.043078478946720476 Centerline is valid? [True, True] Translation: X:550.88, Y:-71.50, Z:-36.17 [[ 9.97495554e-01 5.39500405e-02 4.57385372e-02 5.50877461e+02] [-5.37320411e-02 9.98537465e-01 -5.98323839e-03 -7.15014950e+01] [-4.59944389e-02 3.51062873e-03 9.98935527e-01 -3.61744926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.900714057 meters 0.04385155768461238 Centerline is valid? [True, True] Translation: X:550.94, Y:-71.51, Z:-36.18 [[ 9.97417855e-01 5.44519127e-02 4.68253255e-02 5.50936258e+02] [-5.42241650e-02 9.98510025e-01 -6.12126610e-03 -7.15089779e+01] [-4.70888716e-02 3.56639592e-03 9.98884337e-01 -3.61777784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.960714057 meters 0.04095361233514436 Centerline is valid? [True, True] Translation: X:551.00, Y:-71.51, Z:-36.18 [[ 9.97353762e-01 5.77820016e-02 4.41215739e-02 5.50996572e+02] [-5.75831361e-02 9.98324063e-01 -5.76600415e-03 -7.15101096e+01] [-4.43808002e-02 3.21008733e-03 9.99009529e-01 -3.61826614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.020714057 meters 0.041585815499307045 Centerline is valid? [True, True] Translation: X:551.05, Y:-71.52, Z:-36.19 [[ 9.97281206e-01 6.06266581e-02 4.18879992e-02 5.51054940e+02] [-6.04499405e-02 9.98156221e-01 -5.47379601e-03 -7.15170481e+01] [-4.21426250e-02 2.92678683e-03 9.99107318e-01 -3.61887437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.080714057 meters 0.03810380732454762 Centerline is valid? [True, True] Translation: X:551.11, Y:-71.52, Z:-36.19 [[ 9.97119633e-01 6.32368954e-02 4.18752030e-02 5.51114998e+02] [-6.30626386e-02 9.97994577e-01 -5.47062683e-03 -7.15178719e+01] [-4.21371710e-02 2.81410862e-03 9.99107872e-01 -3.61906360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.140714057 meters 0.0398517189897337 Centerline is valid? [True, True] Translation: X:551.17, Y:-71.53, Z:-36.19 [[ 9.96739281e-01 6.69605951e-02 4.50231593e-02 5.51174330e+02] [-6.67630235e-02 9.97751538e-01 -5.87939226e-03 -7.15266398e+01] [-4.53156141e-02 2.85433897e-03 9.98968642e-01 -3.61924124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.200714057 meters 0.037395915227970075 Centerline is valid? [True, True] Translation: X:551.24, Y:-71.53, Z:-36.19 [[ 9.96298877e-01 7.12162775e-02 4.81330484e-02 5.51235450e+02] [-7.09953957e-02 9.97456841e-01 -6.28529068e-03 -7.15289117e+01] [-4.84582534e-02 2.84480323e-03 9.98821158e-01 -3.61932166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.260714057 meters 0.03723065490763439 Centerline is valid? [True, True] Translation: X:551.29, Y:-71.53, Z:-36.20 [[ 9.96014644e-01 7.42782260e-02 4.93717983e-02 5.51294557e+02] [-7.40495395e-02 9.97233721e-01 -6.44752737e-03 -7.15349117e+01] [-4.97141331e-02 2.76587274e-03 9.98759658e-01 -3.61964640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.320714057 meters 0.03670700548362504 Centerline is valid? [True, True] Translation: X:551.35, Y:-71.54, Z:-36.20 [[ 9.96113122e-01 7.33703560e-02 4.87384867e-02 5.51353126e+02] [-7.31464775e-02 9.97300906e-01 -6.36368639e-03 -7.15422625e+01] [-4.90738428e-02 2.77390289e-03 9.98791301e-01 -3.62004783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.380714057 meters 0.04089530602015254 Centerline is valid? [True, True] Translation: X:551.41, Y:-71.56, Z:-36.21 [[ 9.96823473e-01 6.59976109e-02 4.45789076e-02 5.51410930e+02] [-6.58031896e-02 9.97815670e-01 -5.81634473e-03 -7.15576282e+01] [-4.48653974e-02 2.86443464e-03 9.98988934e-01 -3.62093934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.440714057 meters 0.043002233115111047 Centerline is valid? [True, True] Translation: X:551.47, Y:-71.57, Z:-36.21 [[ 9.97103406e-01 6.26714938e-02 4.30938692e-02 5.51469941e+02] [-6.24867141e-02 9.98029956e-01 -5.62290638e-03 -7.15672925e+01] [-4.33613683e-02 2.91382483e-03 9.99055204e-01 -3.62139256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.500714057 meters 0.04141519656959923 Centerline is valid? [True, True] Translation: X:551.53, Y:-71.57, Z:-36.22 [[ 9.96979560e-01 6.31395654e-02 4.52233581e-02 5.51529362e+02] [-6.29365014e-02 9.98000085e-01 -5.90151049e-03 -7.15688003e+01] [-4.55055340e-02 3.03748539e-03 9.98959469e-01 -3.62150139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.560714057 meters 0.04139615214335623 Centerline is valid? [True, True] Translation: X:551.59, Y:-71.57, Z:-36.22 [[ 9.96747458e-01 6.61868095e-02 4.59761942e-02 5.51589031e+02] [-6.59803477e-02 9.97802911e-01 -5.99543602e-03 -7.15729813e+01] [-4.62719992e-02 2.94241034e-03 9.98924544e-01 -3.62179567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.620714057 meters 0.03792958733793145 Centerline is valid? [True, True] Translation: X:551.65, Y:-71.57, Z:-36.22 [[ 9.96529061e-01 6.83640957e-02 4.74992804e-02 5.51649579e+02] [-6.81462165e-02 9.97656122e-01 -6.19321775e-03 -7.15723540e+01] [-4.78113416e-02 2.93482521e-03 9.98852072e-01 -3.62193284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.680714057 meters 0.04320403591755071 Centerline is valid? [True, True] Translation: X:551.71, Y:-71.58, Z:-36.22 [[ 9.96604323e-01 6.65777167e-02 4.84482254e-02 5.51706709e+02] [-6.63489388e-02 9.97776486e-01 -6.31686578e-03 -7.15847271e+01] [-4.87610626e-02 3.08092740e-03 9.98805720e-01 -3.62239207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.740714057 meters 0.04342520630633662 Centerline is valid? [True, True] Translation: X:551.77, Y:-71.59, Z:-36.23 [[ 9.96906723e-01 6.23646779e-02 4.78291947e-02 5.51766847e+02] [-6.21371009e-02 9.98048168e-01 -6.23173527e-03 -7.15916241e+01] [-4.81244803e-02 3.24049129e-03 9.98836089e-01 -3.62303091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.800714057 meters 0.04501037611494259 Centerline is valid? [True, True] Translation: X:551.83, Y:-71.60, Z:-36.24 [[ 9.97035270e-01 5.91882725e-02 4.91672588e-02 5.51825437e+02] [-5.89439189e-02 9.98240740e-01 -6.40627083e-03 -7.16007094e+01] [-4.94599369e-02 3.48916705e-03 9.98770014e-01 -3.62431965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.860714057 meters 0.04564383515493848 Centerline is valid? [True, True] Translation: X:551.88, Y:-71.61, Z:-36.24 [[ 9.96978722e-01 6.26380281e-02 4.59336990e-02 5.51883548e+02] [-6.24284713e-02 9.98031501e-01 -5.98401038e-03 -7.16092009e+01] [-4.62181052e-02 3.09836041e-03 9.98926567e-01 -3.62440728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.920714057 meters 0.042677297158641284 Centerline is valid? [True, True] Translation: X:551.94, Y:-71.61, Z:-36.24 [[ 9.96428373e-01 6.97443451e-02 4.76048814e-02 5.51944763e+02] [-6.95273437e-02 9.97560772e-01 -6.20114640e-03 -7.16090739e+01] [-4.79212571e-02 2.86915727e-03 9.98846996e-01 -3.62434931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.980714057 meters 0.037923410388044004 Centerline is valid? [True, True] Translation: X:552.01, Y:-71.61, Z:-36.25 [[ 9.95763333e-01 7.80430449e-02 4.86278475e-02 5.52005353e+02] [-7.78264109e-02 9.96946795e-01 -6.33540477e-03 -7.16084354e+01] [-4.89738110e-02 2.52403293e-03 9.98796874e-01 -3.62463341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0407140570001 meters 0.03375239748988596 Centerline is valid? [True, True] Translation: X:552.07, Y:-71.60, Z:-36.25 [[ 9.94771499e-01 8.80100486e-02 5.18063333e-02 5.52066966e+02] [-8.77776090e-02 9.96117230e-01 -6.74941122e-03 -7.16031266e+01] [-5.21991973e-02 2.16668585e-03 9.98634342e-01 -3.62482088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.100714057 meters 0.03230357200526223 Centerline is valid? [True, True] Translation: X:552.13, Y:-71.61, Z:-36.25 [[ 9.94451558e-01 9.06118312e-02 5.34377674e-02 5.52126798e+02] [-9.03682523e-02 9.95884085e-01 -6.96195413e-03 -7.16101333e+01] [-5.38486575e-02 2.09424848e-03 9.98546912e-01 -3.62498118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1607140570001 meters 0.032993472983826135 Centerline is valid? [True, True] Translation: X:552.18, Y:-71.62, Z:-36.25 [[ 9.94215487e-01 9.25035836e-02 5.45770250e-02 5.52184151e+02] [-9.22523667e-02 9.95710274e-01 -7.10989486e-03 -7.16209252e+01] [-5.50005953e-02 2.03390786e-03 9.98484250e-01 -3.62537584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.220714057 meters 0.032596160226553816 Centerline is valid? [True, True] Translation: X:552.24, Y:-71.63, Z:-36.26 [[ 9.94542778e-01 8.92782177e-02 5.39820594e-02 5.52242763e+02] [-8.90279282e-02 9.96004332e-01 -7.02842111e-03 -7.16307952e+01] [-5.43938499e-02 2.18415455e-03 9.98517170e-01 -3.62592582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.280714057 meters 0.033844682488414546 Centerline is valid? [True, True] Translation: X:552.30, Y:-71.64, Z:-36.26 [[ 9.94962708e-01 8.51334517e-02 5.29292488e-02 5.52301842e+02] [-8.48870933e-02 9.96366759e-01 -6.88936985e-03 -7.16426369e+01] [-5.33234599e-02 2.36165601e-03 9.98574500e-01 -3.62635551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.340714057 meters 0.03568589091550679 Centerline is valid? [True, True] Translation: X:552.36, Y:-71.66, Z:-36.27 [[ 9.95227160e-01 8.09773934e-02 5.44569813e-02 5.52360260e+02] [-8.07104410e-02 9.96712394e-01 -7.08722172e-03 -7.16558767e+01] [-5.48518530e-02 2.65814856e-03 9.98490966e-01 -3.62669079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.400714057 meters 0.040193410705990584 Centerline is valid? [True, True] Translation: X:552.42, Y:-71.68, Z:-36.27 [[ 9.95719394e-01 7.41872848e-02 5.51283470e-02 5.52417018e+02] [-7.39033722e-02 9.97239604e-01 -7.17376061e-03 -7.16761876e+01] [-5.55083727e-02 3.06888182e-03 9.98453505e-01 -3.62720287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.460714057 meters 0.038900826073884426 Centerline is valid? [True, True] Translation: X:552.48, Y:-71.69, Z:-36.28 [[ 9.96379983e-01 6.55752189e-02 5.41000991e-02 5.52476237e+02] [-6.52892758e-02 9.97841560e-01 -7.03790222e-03 -7.16877760e+01] [-5.44448392e-02 3.48026860e-03 9.98510715e-01 -3.62773384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.520714057 meters 0.04674903406821385 Centerline is valid? [True, True] Translation: X:552.53, Y:-71.71, Z:-36.28 [[ 9.96923487e-01 5.83359303e-02 5.23495916e-02 5.52533396e+02] [-5.80582961e-02 9.98289968e-01 -6.80989089e-03 -7.17101719e+01] [-5.26573334e-02 3.74961209e-03 9.98605601e-01 -3.62823364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.580714057 meters 0.050440573561616756 Centerline is valid? [True, True] Translation: X:552.59, Y:-71.73, Z:-36.29 [[ 9.97182973e-01 5.32378597e-02 5.28379476e-02 5.52591991e+02] [-5.29479190e-02 9.98573622e-01 -6.87307412e-03 -7.17253205e+01] [-5.31284885e-02 4.05605311e-03 9.98579447e-01 -3.62867726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.640714057 meters 0.05058094293380063 Centerline is valid? [True, True] Translation: X:552.65, Y:-71.74, Z:-36.29 [[ 9.97283593e-01 5.06167788e-02 5.35105231e-02 5.52652346e+02] [-5.03157296e-02 9.98709116e-01 -6.95913297e-03 -7.17362309e+01] [-5.37936961e-02 4.24780812e-03 9.98543036e-01 -3.62895283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.700714057 meters 0.04873789265601939 Centerline is valid? [True, True] Translation: X:552.71, Y:-71.74, Z:-36.29 [[ 9.97487046e-01 4.58811396e-02 5.39862385e-02 5.52713480e+02] [-4.55676873e-02 9.98936563e-01 -7.02345897e-03 -7.17424264e+01] [-5.42510719e-02 4.54578130e-03 9.98516979e-01 -3.62922864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.760714057 meters 0.054149138590296325 Centerline is valid? [True, True] Translation: X:552.77, Y:-71.76, Z:-36.30 [[ 9.97473535e-01 4.33960893e-02 5.62434486e-02 5.52771659e+02] [-4.30518284e-02 9.99046033e-01 -7.31874318e-03 -7.17621843e+01] [-5.65073991e-02 4.87886934e-03 9.98390260e-01 -3.62960565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.820714057 meters 0.05181637781670006 Centerline is valid? [True, True] Translation: X:552.83, Y:-71.77, Z:-36.30 [[ 9.97643636e-01 3.94352622e-02 5.61429993e-02 5.52832667e+02] [-3.90858892e-02 9.99209131e-01 -7.30786499e-03 -7.17678592e+01] [-5.63867852e-02 5.09624595e-03 9.98395993e-01 -3.62999152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.880714057 meters 0.05458794589805623 Centerline is valid? [True, True] Translation: X:552.89, Y:-71.78, Z:-36.31 [[ 9.97819539e-01 3.79943472e-02 5.39684931e-02 5.52891196e+02] [-3.76693799e-02 9.99265555e-01 -7.02630716e-03 -7.17822502e+01] [-5.41958162e-02 4.97802690e-03 9.98517918e-01 -3.63066499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.940714057 meters 0.057221580330718294 Centerline is valid? [True, True] Translation: X:552.95, Y:-71.80, Z:-36.31 [[ 9.98007319e-01 3.67897624e-02 5.12630880e-02 5.52949711e+02] [-3.64949795e-02 9.99311544e-01 -6.67493094e-03 -7.17970454e+01] [-5.14733648e-02 4.79078458e-03 9.98662877e-01 -3.63135170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.000714057 meters 0.05725269940203717 Centerline is valid? [True, True] Translation: X:553.01, Y:-71.81, Z:-36.32 [[ 9.97956059e-01 3.84356163e-02 5.10529962e-02 5.53010774e+02] [-3.81453595e-02 9.99250087e-01 -6.64799946e-03 -7.18051480e+01] [-5.12702308e-02 4.68697645e-03 9.98673818e-01 -3.63171760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.060714057 meters 0.05664502198343862 Centerline is valid? [True, True] Translation: X:553.07, Y:-71.81, Z:-36.32 [[ 9.97713306e-01 4.23373018e-02 5.26850297e-02 5.53071224e+02] [-4.20333861e-02 9.99092630e-01 -6.86376505e-03 -7.18129429e+01] [-5.29278182e-02 4.63353953e-03 9.98587591e-01 -3.63201232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.120714057 meters 0.05115796423385578 Centerline is valid? [True, True] Translation: X:553.13, Y:-71.81, Z:-36.32 [[ 9.97511736e-01 4.55891340e-02 5.37770147e-02 5.53132073e+02] [-4.52771042e-02 9.98949891e-01 -7.00703792e-03 -7.18119554e+01] [-5.40399878e-02 4.55473506e-03 9.98528384e-01 -3.63225559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.180714057 meters 0.053449213144061404 Centerline is valid? [True, True] Translation: X:553.19, Y:-71.82, Z:-36.33 [[ 9.97368000e-01 4.88249538e-02 5.36022146e-02 5.53190503e+02] [-4.85195768e-02 9.98797811e-01 -6.98448276e-03 -7.18215784e+01] [-5.38787917e-02 4.36534282e-03 9.98537941e-01 -3.63259657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.240714057 meters 0.051778896025325566 Centerline is valid? [True, True] Translation: X:553.25, Y:-71.83, Z:-36.33 [[ 9.97384179e-01 4.91243891e-02 5.30244747e-02 5.53253082e+02] [-4.88262035e-02 9.98783420e-01 -6.90516173e-03 -7.18290013e+01] [-5.32991780e-02 4.29811527e-03 9.98569339e-01 -3.63317496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.300714057 meters 0.052354359977336166 Centerline is valid? [True, True] Translation: X:553.31, Y:-71.84, Z:-36.34 [[ 9.97508021e-01 4.75283011e-02 5.21422041e-02 5.53313192e+02] [-4.72369012e-02 9.98860518e-01 -6.80745264e-03 -7.18379864e+01] [-5.24063356e-02 4.32745246e-03 9.98616468e-01 -3.63368947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.360714057 meters 0.05281609439302011 Centerline is valid? [True, True] Translation: X:553.38, Y:-71.85, Z:-36.34 [[ 9.97490832e-01 4.78544195e-02 5.21727473e-02 5.53375441e+02] [-4.75632363e-02 9.98845019e-01 -6.80923466e-03 -7.18466188e+01] [-5.24383408e-02 4.31064443e-03 9.98614860e-01 -3.63421762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.420714057 meters 0.05254464135072573 Centerline is valid? [True, True] Translation: X:553.44, Y:-71.86, Z:-36.35 [[ 9.97416649e-01 4.88116025e-02 5.27015822e-02 5.53437256e+02] [-4.85149047e-02 9.98798658e-01 -6.89522848e-03 -7.18561038e+01] [-5.29748367e-02 4.32060344e-03 9.98586501e-01 -3.63460474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.480714057 meters 0.04940951754094922 Centerline is valid? [True, True] Translation: X:553.50, Y:-71.86, Z:-36.35 [[ 9.97211337e-01 5.10560949e-02 5.44318278e-02 5.53498028e+02] [-5.07425865e-02 9.98686334e-01 -7.12711197e-03 -7.18591521e+01] [-5.47242050e-02 4.34522513e-03 9.98492053e-01 -3.63480392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5407140570001 meters 0.04594262291191539 Centerline is valid? [True, True] Translation: X:553.56, Y:-71.86, Z:-36.35 [[ 9.97080963e-01 5.25706288e-02 5.53704130e-02 5.53559426e+02] [-5.22484735e-02 9.98607792e-01 -7.25082629e-03 -7.18613396e+01] [-5.56745064e-02 4.33664130e-03 9.98439554e-01 -3.63523799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.600714057 meters 0.044178922867136775 Centerline is valid? [True, True] Translation: X:553.62, Y:-71.87, Z:-36.36 [[ 9.96999410e-01 5.48620866e-02 5.46106958e-02 5.53619536e+02] [-5.45520097e-02 9.98485305e-01 -7.15364851e-03 -7.18669318e+01] [-5.49204413e-02 4.15306013e-03 9.98482097e-01 -3.63585777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6607140570001 meters 0.043735022978363035 Centerline is valid? [True, True] Translation: X:553.68, Y:-71.87, Z:-36.37 [[ 9.96937339e-01 5.85499347e-02 5.18444496e-02 5.53679748e+02] [-5.82754758e-02 9.98277441e-01 -6.79110682e-03 -7.18735938e+01] [-5.21527633e-02 3.74904799e-03 9.98632081e-01 -3.63654021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.720714057 meters 0.0431492454538269 Centerline is valid? [True, True] Translation: X:553.74, Y:-71.88, Z:-36.37 [[ 9.96570321e-01 6.48198939e-02 5.14390659e-02 5.53738892e+02] [-6.45579683e-02 9.97891204e-01 -6.73897984e-03 -7.18804136e+01] [-5.17674114e-02 3.39506571e-03 9.98653398e-01 -3.63700629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.780714057 meters 0.037912930717360814 Centerline is valid? [True, True] Translation: X:553.80, Y:-71.88, Z:-36.37 [[ 9.95994628e-01 7.27563220e-02 5.19732425e-02 5.53800124e+02] [-7.24996815e-02 9.97345194e-01 -6.80878757e-03 -7.18796469e+01] [-5.23306460e-02 3.01347232e-03 9.98625266e-01 -3.63705910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.840714057 meters 0.039388750271514845 Centerline is valid? [True, True] Translation: X:553.86, Y:-71.89, Z:-36.37 [[ 9.95545761e-01 7.79308980e-02 5.30604740e-02 5.53859071e+02] [-7.76707144e-02 9.96954834e-01 -6.95122009e-03 -7.18901435e+01] [-5.34406109e-02 2.79901277e-03 9.98567107e-01 -3.63741880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.900714057 meters 0.03818799616906572 Centerline is valid? [True, True] Translation: X:553.92, Y:-71.90, Z:-36.38 [[ 9.95045766e-01 8.32361855e-02 5.43659940e-02 5.53918182e+02] [-8.29709168e-02 9.96526518e-01 -7.12222144e-03 -7.18979931e+01] [-5.47699813e-02 2.57613992e-03 9.98495675e-01 -3.63776773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.960714057 meters 0.03848892875623307 Centerline is valid? [True, True] Translation: X:553.98, Y:-71.91, Z:-36.38 [[ 9.94988923e-01 8.42594803e-02 5.38273418e-02 5.53976137e+02] [-8.40009716e-02 9.96440725e-01 -7.05109014e-03 -7.19064830e+01] [-5.42298767e-02 2.49420758e-03 9.98525362e-01 -3.63815478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.020714057 meters 0.037028850419740675 Centerline is valid? [True, True] Translation: X:554.04, Y:-71.91, Z:-36.39 [[ 9.95173772e-01 8.22705357e-02 5.34857201e-02 5.54035473e+02] [-8.20126457e-02 9.96606688e-01 -7.00247020e-03 -7.19143669e+01] [-5.38803234e-02 2.58216927e-03 9.98544062e-01 -3.63852342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.080714057 meters 0.038348920053019125 Centerline is valid? [True, True] Translation: X:554.09, Y:-71.93, Z:-36.39 [[ 9.95615219e-01 7.77418509e-02 5.20244265e-02 5.54093995e+02] [-7.74918192e-02 9.96969736e-01 -6.80907168e-03 -7.19272588e+01] [-5.23961286e-02 2.74774794e-03 9.98622599e-01 -3.63895496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.140714057 meters 0.04211087452703502 Centerline is valid? [True, True] Translation: X:554.15, Y:-71.95, Z:-36.39 [[ 9.96558928e-01 6.57347748e-02 5.04900178e-02 5.54152157e+02] [-6.54839475e-02 9.97831744e-01 -6.60788771e-03 -7.19474609e+01] [-5.08149105e-02 3.27886381e-03 9.98702706e-01 -3.63948862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.200714057 meters 0.045242953049918225 Centerline is valid? [True, True] Translation: X:554.21, Y:-71.96, Z:-36.40 [[ 9.96921063e-01 5.99065227e-02 5.05925089e-02 5.54210653e+02] [-5.96472323e-02 9.98197562e-01 -6.62079539e-03 -7.19634589e+01] [-5.08979479e-02 3.58270725e-03 9.98697433e-01 -3.63997719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.260714057 meters 0.050751584509379985 Centerline is valid? [True, True] Translation: X:554.27, Y:-71.98, Z:-36.40 [[ 9.97258519e-01 5.38559959e-02 5.07442503e-02 5.54267600e+02] [-5.35874228e-02 9.98541089e-01 -6.63938966e-03 -7.19837630e+01] [-5.10277899e-02 3.90193430e-03 9.98689611e-01 -3.64044135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.320714057 meters 0.04682160936676348 Centerline is valid? [True, True] Translation: X:554.33, Y:-71.99, Z:-36.41 [[ 9.97439297e-01 4.98952173e-02 5.12378369e-02 5.54327825e+02] [-4.96161346e-02 9.98745853e-01 -6.70518154e-03 -7.19865919e+01] [-5.15081336e-02 4.14578816e-03 9.98663970e-01 -3.64054947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.380714057 meters 0.04993129129988117 Centerline is valid? [True, True] Translation: X:554.39, Y:-72.00, Z:-36.41 [[ 9.97544382e-01 4.66939639e-02 5.22003821e-02 5.54385538e+02] [-4.63999982e-02 9.98899591e-01 -6.82990836e-03 -7.20020105e+01] [-5.24618558e-02 4.39103907e-03 9.98613275e-01 -3.64098416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.440714057 meters 0.05352253793511931 Centerline is valid? [True, True] Translation: X:554.44, Y:-72.02, Z:-36.41 [[ 9.97813742e-01 4.17657536e-02 5.12187346e-02 5.54444744e+02] [-4.14762511e-02 9.99117008e-01 -6.70265530e-03 -7.20167999e+01] [-5.14534503e-02 4.56364047e-03 9.98664967e-01 -3.64145318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.500714057 meters 0.05197292624424198 Centerline is valid? [True, True] Translation: X:554.51, Y:-72.02, Z:-36.42 [[ 9.97980658e-01 3.79813574e-02 5.09119215e-02 5.54505195e+02] [-3.76904078e-02 9.99267250e-01 -6.66304924e-03 -7.20236543e+01] [-5.11276875e-02 4.73070318e-03 9.98680920e-01 -3.64181081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.560714057 meters 0.052024164289859925 Centerline is valid? [True, True] Translation: X:554.57, Y:-72.03, Z:-36.42 [[ 9.98050215e-01 3.57558544e-02 5.11594293e-02 5.54565778e+02] [-3.54590760e-02 9.99348688e-01 -6.69725533e-03 -7.20322202e+01] [-5.13655747e-02 4.87013102e-03 9.98668043e-01 -3.64214582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.620714057 meters 0.05293691793590406 Centerline is valid? [True, True] Translation: X:554.63, Y:-72.04, Z:-36.42 [[ 9.98065212e-01 3.55415440e-02 5.10159852e-02 5.54627491e+02] [-3.52462640e-02 9.99356357e-01 -6.67629837e-03 -7.20401568e+01] [-5.12204350e-02 4.86525827e-03 9.98675521e-01 -3.64247439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.680714057 meters 0.05235231650932628 Centerline is valid? [True, True] Translation: X:554.69, Y:-72.05, Z:-36.43 [[ 9.98172740e-01 3.46825609e-02 4.94803136e-02 5.54689144e+02] [-3.44030279e-02 9.99386967e-01 -6.49015164e-03 -7.20461743e+01] [-4.96750756e-02 4.77601984e-03 9.98754012e-01 -3.64299325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.740714057 meters 0.055731232430233424 Centerline is valid? [True, True] Translation: X:554.75, Y:-72.06, Z:-36.43 [[ 9.98120437e-01 3.57229177e-02 4.97942515e-02 5.54749716e+02] [-3.54410477e-02 9.99350419e-01 -6.53245598e-03 -7.20579219e+01] [-4.99952645e-02 4.75541737e-03 9.98738134e-01 -3.64343026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.800714057 meters 0.05741372695996615 Centerline is valid? [True, True] Translation: X:554.81, Y:-72.07, Z:-36.44 [[ 9.97988811e-01 3.81772120e-02 5.06046811e-02 5.54809046e+02] [-3.78883583e-02 9.99259815e-01 -6.65543502e-03 -7.20653397e+01] [-5.08213102e-02 4.72472139e-03 9.98696586e-01 -3.64372772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.860714057 meters 0.05011324694343861 Centerline is valid? [True, True] Translation: X:554.87, Y:-72.06, Z:-36.44 [[ 9.97796804e-01 4.19853975e-02 5.13689130e-02 5.54871129e+02] [-4.16927742e-02 9.99107641e-01 -6.75534189e-03 -7.20592355e+01] [-5.16066992e-02 4.59874606e-03 9.98656898e-01 -3.64389810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.920714057 meters 0.05635233692438884 Centerline is valid? [True, True] Translation: X:554.93, Y:-72.07, Z:-36.44 [[ 9.97559487e-01 4.61327189e-02 5.24103216e-02 5.54929548e+02] [-4.58337735e-02 9.98925304e-01 -6.89224215e-03 -7.20735681e+01] [-5.26719543e-02 4.47325873e-03 9.98601850e-01 -3.64433334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.980714057 meters 0.0472523509755298 Centerline is valid? [True, True] Translation: X:554.99, Y:-72.07, Z:-36.44 [[ 9.97407714e-01 4.78653599e-02 5.37285780e-02 5.54992340e+02] [-4.75536854e-02 9.98843697e-01 -7.06514876e-03 -7.20652442e+01] [-5.40046273e-02 4.49184198e-03 9.98530582e-01 -3.64444518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0407140570001 meters 0.04746086299585423 Centerline is valid? [True, True] Translation: X:555.05, Y:-72.07, Z:-36.45 [[ 9.97407123e-01 4.78483267e-02 5.37547072e-02 5.55054175e+02] [-4.75363397e-02 9.98844500e-01 -7.06829525e-03 -7.20730745e+01] [-5.40307998e-02 4.49466601e-03 9.98529154e-01 -3.64477190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.100714057 meters 0.048680834085705546 Centerline is valid? [True, True] Translation: X:555.11, Y:-72.08, Z:-36.45 [[ 9.97618062e-01 4.39363602e-02 5.31770438e-02 5.55113190e+02] [-4.36246628e-02 9.99023407e-01 -7.00867575e-03 -7.20826769e+01] [-5.34330471e-02 4.67215092e-03 9.98560504e-01 -3.64526735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1607140570001 meters 0.05395978468001344 Centerline is valid? [True, True] Translation: X:555.17, Y:-72.10, Z:-36.46 [[ 9.97723847e-01 4.20223459e-02 5.27375357e-02 5.55171435e+02] [-4.17131867e-02 9.99105455e-01 -6.94977328e-03 -7.20988238e+01] [-5.29824054e-02 4.73410386e-03 9.98584224e-01 -3.64572060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.220714057 meters 0.05667337536131906 Centerline is valid? [True, True] Translation: X:555.23, Y:-72.11, Z:-36.46 [[ 9.97906339e-01 3.82125200e-02 5.21799061e-02 5.55231109e+02] [-3.79047303e-02 9.99257701e-01 -6.87590679e-03 -7.21110943e+01] [-5.24039187e-02 4.88364571e-03 9.98614029e-01 -3.64622385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.280714057 meters 0.052627013523815255 Centerline is valid? [True, True] Translation: X:555.29, Y:-72.12, Z:-36.47 [[ 9.97933628e-01 3.64607692e-02 5.29063910e-02 5.55291922e+02] [-3.61418002e-02 9.99322341e-01 -6.97351174e-03 -7.21154031e+01] [-5.31247981e-02 5.04696966e-03 9.98575127e-01 -3.64663967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.340714057 meters 0.05123717970010156 Centerline is valid? [True, True] Translation: X:555.35, Y:-72.12, Z:-36.47 [[ 9.97940829e-01 3.71678321e-02 5.22747964e-02 5.55354292e+02] [-3.68574005e-02 9.99296780e-01 -6.89032297e-03 -7.21217368e+01] [-5.24941341e-02 4.94942151e-03 9.98608967e-01 -3.64688170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.400714057 meters 0.0555304332000918 Centerline is valid? [True, True] Translation: X:555.41, Y:-72.14, Z:-36.47 [[ 9.97811940e-01 3.85099787e-02 5.37430291e-02 5.55413313e+02] [-3.81834507e-02 9.99245595e-01 -7.08973074e-03 -7.21356353e+01] [-5.39755105e-02 5.02212369e-03 9.98529630e-01 -3.64714968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.460714057 meters 0.05297002984803757 Centerline is valid? [True, True] Translation: X:555.48, Y:-72.14, Z:-36.48 [[ 9.97826408e-01 3.87378440e-02 5.33089053e-02 5.55475990e+02] [-3.84170042e-02 9.99237062e-01 -7.03049673e-03 -7.21397488e+01] [-5.35405802e-02 4.96724686e-03 9.98553320e-01 -3.64750178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.520714057 meters 0.053194849845621874 Centerline is valid? [True, True] Translation: X:555.54, Y:-72.15, Z:-36.48 [[ 9.97807936e-01 3.93697754e-02 5.31915746e-02 5.55537837e+02] [-3.90503943e-02 9.99212507e-01 -7.03078788e-03 -7.21485488e+01] [-5.34264872e-02 4.93822398e-03 9.98559575e-01 -3.64800170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.580714057 meters 0.05593025897966264 Centerline is valid? [True, True] Translation: X:555.60, Y:-72.16, Z:-36.48 [[ 9.97816744e-01 4.02780282e-02 5.23395308e-02 5.55597788e+02] [-3.99693537e-02 9.99176865e-01 -6.93134931e-03 -7.21596023e+01] [-5.25756294e-02 4.82423918e-03 9.98605292e-01 -3.64845201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.640714057 meters 0.05903299405855564 Centerline is valid? [True, True] Translation: X:555.66, Y:-72.17, Z:-36.49 [[ 9.97749686e-01 4.05217696e-02 5.34186356e-02 5.55658419e+02] [-4.01998866e-02 9.99166525e-01 -7.08688027e-03 -7.21706243e+01] [-5.36612855e-02 4.92350947e-03 9.98547057e-01 -3.64870194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.700714057 meters 0.05240494319400476 Centerline is valid? [True, True] Translation: X:555.72, Y:-72.17, Z:-36.49 [[ 9.97671841e-01 4.07965057e-02 5.46492778e-02 5.55721034e+02] [-4.04593336e-02 9.99154793e-01 -7.26242816e-03 -7.21700795e+01] [-5.48993695e-02 5.03444672e-03 9.98479200e-01 -3.64900014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.760714057 meters 0.05664816203010346 Centerline is valid? [True, True] Translation: X:555.78, Y:-72.18, Z:-36.49 [[ 9.97799693e-01 3.86089418e-02 5.38991947e-02 5.55779917e+02] [-3.82769628e-02 9.99241385e-01 -7.17841392e-03 -7.21845535e+01] [-5.41354569e-02 5.09952173e-03 9.98520579e-01 -3.64944217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.820714057 meters 0.058006794191033995 Centerline is valid? [True, True] Translation: X:555.84, Y:-72.20, Z:-36.50 [[ 9.97911749e-01 3.49310760e-02 5.43319481e-02 5.55839893e+02] [-3.45882929e-02 9.99375443e-01 -7.23691618e-03 -7.21964863e+01] [-5.45508080e-02 5.34255434e-03 9.98496703e-01 -3.64982669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.880714057 meters 0.054212602842005825 Centerline is valid? [True, True] Translation: X:555.90, Y:-72.20, Z:-36.50 [[ 9.97989990e-01 3.33052586e-02 5.39141810e-02 5.55900920e+02] [-3.29653044e-02 9.99430686e-01 -7.18277777e-03 -7.21995597e+01] [-5.41227111e-02 5.39104293e-03 9.98519739e-01 -3.65021212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.940714057 meters 0.053406793717319746 Centerline is valid? [True, True] Translation: X:555.96, Y:-72.21, Z:-36.51 [[ 9.98149318e-01 3.10864715e-02 5.22644303e-02 5.55960713e+02] [-3.07639658e-02 9.99502416e-01 -6.96404566e-03 -7.22070555e+01] [-5.24549119e-02 5.34329628e-03 9.98608998e-01 -3.65065236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.000714057 meters 0.060013776549358265 Centerline is valid? [True, True] Translation: X:556.02, Y:-72.22, Z:-36.51 [[ 9.98138867e-01 3.08724408e-02 5.25898691e-02 5.56019485e+02] [-3.05457089e-02 9.99508821e-01 -7.00548655e-03 -7.22243798e+01] [-5.27803145e-02 5.38605358e-03 9.98591623e-01 -3.65113942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.060714057 meters 0.05599871449101156 Centerline is valid? [True, True] Translation: X:556.08, Y:-72.23, Z:-36.51 [[ 9.98077490e-01 3.17829677e-02 5.32087129e-02 5.56081396e+02] [-3.14491163e-02 9.99480135e-01 -7.10015060e-03 -7.22266987e+01] [-5.34067155e-02 5.41313349e-03 9.98558171e-01 -3.65135791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.120714057 meters 0.05465195561167849 Centerline is valid? [True, True] Translation: X:556.14, Y:-72.23, Z:-36.52 [[ 9.97996813e-01 3.29229926e-02 5.40225759e-02 5.56142323e+02] [-3.25802462e-02 9.99443094e-01 -7.21320264e-03 -7.22331795e+01] [-5.42299706e-02 5.43868442e-03 9.98513661e-01 -3.65162231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.180714057 meters 0.05445579173468956 Centerline is valid? [True, True] Translation: X:556.20, Y:-72.24, Z:-36.52 [[ 9.97924320e-01 3.35103768e-02 5.49918829e-02 5.56203544e+02] [-3.31560812e-02 9.99423213e-01 -7.34269654e-03 -7.22419201e+01] [-5.52062208e-02 5.50414012e-03 9.98459803e-01 -3.65203330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.240714057 meters 0.05587690862210076 Centerline is valid? [True, True] Translation: X:556.27, Y:-72.25, Z:-36.52 [[ 9.97868967e-01 3.40854951e-02 5.56390561e-02 5.56265037e+02] [-3.37228034e-02 9.99403496e-01 -7.44484238e-03 -7.22534774e+01] [-5.58596283e-02 5.55267223e-03 9.98423192e-01 -3.65242530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.300714057 meters 0.05371807666575997 Centerline is valid? [True, True] Translation: X:556.33, Y:-72.26, Z:-36.53 [[ 9.97923551e-01 3.26920186e-02 5.54961061e-02 5.56325432e+02] [-3.23287477e-02 9.99449663e-01 -7.43130027e-03 -7.22590063e+01] [-5.57085087e-02 5.62174995e-03 9.98431249e-01 -3.65270117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.360714057 meters 0.05761776506104567 Centerline is valid? [True, True] Translation: X:556.38, Y:-72.28, Z:-36.53 [[ 9.98024733e-01 3.07358273e-02 5.47899838e-02 5.56383352e+02] [-3.03787760e-02 9.99511523e-01 -7.33790630e-03 -7.22751268e+01] [-5.49887568e-02 5.65895932e-03 9.98470937e-01 -3.65344983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.420714057 meters 0.0551673405132859 Centerline is valid? [True, True] Translation: X:556.44, Y:-72.28, Z:-36.54 [[ 9.98057328e-01 3.06084601e-02 5.42650138e-02 5.56444851e+02] [-3.02581696e-02 9.99515712e-01 -7.26524947e-03 -7.22802758e+01] [-5.44611120e-02 5.60917548e-03 9.98500137e-01 -3.65391460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.480714057 meters 0.05408314365112259 Centerline is valid? [True, True] Translation: X:556.51, Y:-72.29, Z:-36.54 [[ 9.97902794e-01 3.52301471e-02 5.43033115e-02 5.56505066e+02] [-3.48852917e-02 9.99364766e-01 -7.28569889e-03 -7.22868436e+01] [-5.45254925e-02 5.37603242e-03 9.98497906e-01 -3.65408631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5407140570001 meters 0.04982600818950527 Centerline is valid? [True, True] Translation: X:556.57, Y:-72.29, Z:-36.54 [[ 9.97543938e-01 4.22886886e-02 5.58369000e-02 5.56566115e+02] [-4.19350026e-02 9.99092256e-01 -7.49134833e-03 -7.22860276e+01] [-5.61030136e-02 5.13142857e-03 9.98411799e-01 -3.65433205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.600714057 meters 0.04925162351548308 Centerline is valid? [True, True] Translation: X:556.63, Y:-72.29, Z:-36.55 [[ 9.97119451e-01 5.14014326e-02 5.57735858e-02 5.56626277e+02] [-5.10626878e-02 9.98667418e-01 -7.48269464e-03 -7.22884441e+01] [-5.60838842e-02 4.61319117e-03 9.98415403e-01 -3.65464980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6607140570001 meters 0.04872778733719385 Centerline is valid? [True, True] Translation: X:556.69, Y:-72.29, Z:-36.55 [[ 9.96633926e-01 6.01641275e-02 5.56874799e-02 5.56686232e+02] [-5.98399982e-02 9.98180021e-01 -7.47129751e-03 -7.22915654e+01] [-5.60356340e-02 4.11380987e-03 9.98420294e-01 -3.65508616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.720714057 meters 0.04375247781591347 Centerline is valid? [True, True] Translation: X:556.75, Y:-72.29, Z:-36.55 [[ 9.96350377e-01 6.46956667e-02 5.56812154e-02 5.56747529e+02] [-6.43786519e-02 9.97897582e-01 -7.47029810e-03 -7.22899514e+01] [-5.60474462e-02 3.85835274e-03 9.98420651e-01 -3.65544405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.780714057 meters 0.041492831636218655 Centerline is valid? [True, True] Translation: X:556.81, Y:-72.29, Z:-36.56 [[ 9.95968049e-01 7.05760314e-02 5.53775214e-02 5.56808410e+02] [-7.02714998e-02 9.97500233e-01 -7.42971537e-03 -7.22900462e+01] [-5.57634504e-02 3.50829764e-03 9.98437845e-01 -3.65585394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.840714057 meters 0.04184851160646045 Centerline is valid? [True, True] Translation: X:556.87, Y:-72.30, Z:-36.56 [[ 9.95826468e-01 7.22991471e-02 5.56999045e-02 5.56867083e+02] [-7.19938366e-02 9.97377095e-01 -7.47120345e-03 -7.22961312e+01] [-5.60939706e-02 3.42997232e-03 9.98419602e-01 -3.65620412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.900714057 meters 0.03806788583477929 Centerline is valid? [True, True] Translation: X:556.93, Y:-72.30, Z:-36.56 [[ 9.95670501e-01 7.40525302e-02 5.61825244e-02 5.56926573e+02] [-7.37448975e-02 9.97248694e-01 -7.53205600e-03 -7.22952721e+01] [-5.65857169e-02 3.35627146e-03 9.98392103e-01 -3.65647987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.960714057 meters 0.03829417981607784 Centerline is valid? [True, True] Translation: X:556.99, Y:-72.30, Z:-36.57 [[ 9.95785455e-01 7.33924642e-02 5.49988543e-02 5.56985132e+02] [-7.30968883e-02 9.97297617e-01 -7.36945333e-03 -7.23024159e+01] [-5.53910887e-02 3.31814933e-03 9.98459222e-01 -3.65693305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.020714057 meters 0.03914127578431775 Centerline is valid? [True, True] Translation: X:557.04, Y:-72.31, Z:-36.57 [[ 9.95837186e-01 7.29244806e-02 5.46838041e-02 5.57042944e+02] [-7.26318017e-02 9.97331936e-01 -7.32327274e-03 -7.23114105e+01] [-5.50719500e-02 3.32100411e-03 9.98476866e-01 -3.65729272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.080714057 meters 0.03840078072581668 Centerline is valid? [True, True] Translation: X:557.10, Y:-72.32, Z:-36.58 [[ 9.95556047e-01 7.56148839e-02 5.61297274e-02 5.57102112e+02] [-7.53110107e-02 9.97131794e-01 -7.51246609e-03 -7.23179476e+01] [-5.65367900e-02 3.25189455e-03 9.98395221e-01 -3.65750841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.140714057 meters 0.03654167707112666 Centerline is valid? [True, True] Translation: X:557.16, Y:-72.32, Z:-36.58 [[ 9.95036230e-01 8.18420633e-02 5.66107597e-02 5.57162417e+02] [-8.15431077e-02 9.96641031e-01 -7.57474219e-03 -7.23208321e+01] [-5.70405385e-02 2.92092563e-03 9.98367590e-01 -3.65773723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.200714057 meters 0.03452658216090153 Centerline is valid? [True, True] Translation: X:557.22, Y:-72.33, Z:-36.58 [[ 9.94264403e-01 8.96357545e-02 5.83414807e-02 5.57222181e+02] [-8.93316729e-02 9.95971354e-01 -7.80476192e-03 -7.23258690e+01] [-5.88060293e-02 2.54825488e-03 9.98266176e-01 -3.65807643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.260714057 meters 0.03261390007143885 Centerline is valid? [True, True] Translation: X:557.28, Y:-72.33, Z:-36.58 [[ 9.93524260e-01 9.72607314e-02 5.87358140e-02 5.57282981e+02] [-9.69659180e-02 9.95256701e-01 -7.85556218e-03 -7.23302092e+01] [-5.92212502e-02 2.10931947e-03 9.98242653e-01 -3.65834571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.320714057 meters 0.030131081783397896 Centerline is valid? [True, True] Translation: X:557.34, Y:-72.33, Z:-36.59 [[ 9.92997571e-01 1.02723915e-01 5.83405556e-02 5.57343095e+02] [-1.02442407e-01 9.94708327e-01 -7.80370022e-03 -7.23315255e+01] [-5.88334631e-02 1.77250843e-03 9.98266238e-01 -3.65873934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.380714057 meters 0.03228587994771713 Centerline is valid? [True, True] Translation: X:557.40, Y:-72.35, Z:-36.59 [[ 9.93063008e-01 1.03045435e-01 5.66348065e-02 5.57397829e+02] [-1.02780669e-01 9.94675193e-01 -7.57587595e-03 -7.23482895e+01] [-5.71138965e-02 1.70235887e-03 9.98366218e-01 -3.65948405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.440714057 meters 0.03066032886775184 Centerline is valid? [True, True] Translation: X:557.46, Y:-72.36, Z:-36.60 [[ 9.93449311e-01 9.90948622e-02 5.69093575e-02 5.57456181e+02] [-9.88217528e-02 9.95076126e-01 -7.60032030e-03 -7.23587120e+01] [-5.73822957e-02 1.92665050e-03 9.98350420e-01 -3.65971573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.500714057 meters 0.032371417514391786 Centerline is valid? [True, True] Translation: X:557.51, Y:-72.38, Z:-36.60 [[ 9.94068030e-01 9.24481268e-02 5.72895788e-02 5.57513983e+02] [-9.21605262e-02 9.95714793e-01 -7.64772174e-03 -7.23778977e+01] [-5.77510986e-02 2.32251796e-03 9.98328311e-01 -3.66017737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.560714057 meters 0.03535597663474184 Centerline is valid? [True, True] Translation: X:557.57, Y:-72.40, Z:-36.61 [[ 9.94664034e-01 8.44344355e-02 5.92814157e-02 5.57570630e+02] [-8.41123310e-02 9.96424864e-01 -7.91243588e-03 -7.23991961e+01] [-5.97375586e-02 2.88391734e-03 9.98209951e-01 -3.66050906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.620714057 meters 0.03728361821947132 Centerline is valid? [True, True] Translation: X:557.63, Y:-72.42, Z:-36.61 [[ 9.95255831e-01 7.57658695e-02 6.10357589e-02 5.57629185e+02] [-7.54082796e-02 9.97119482e-01 -8.14431821e-03 -7.24156935e+01] [-6.14770056e-02 3.50307862e-03 9.98102353e-01 -3.66076236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.680714057 meters 0.04258106888672092 Centerline is valid? [True, True] Translation: X:557.69, Y:-72.44, Z:-36.61 [[ 9.95806070e-01 6.76282466e-02 6.16172917e-02 5.57686001e+02] [-6.72483472e-02 9.97702399e-01 -8.22093167e-03 -7.24391073e+01] [-6.20316869e-02 4.04279264e-03 9.98065993e-01 -3.66117162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.740714057 meters 0.04173375070893261 Centerline is valid? [True, True] Translation: X:557.75, Y:-72.45, Z:-36.62 [[ 9.96356732e-01 5.96831304e-02 6.09195027e-02 5.57745658e+02] [-5.92971445e-02 9.98207302e-01 -8.12592791e-03 -7.24502421e+01] [-6.12952732e-02 4.48397043e-03 9.98109605e-01 -3.66155926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.800714057 meters 0.04460200022541108 Centerline is valid? [True, True] Translation: X:557.80, Y:-72.46, Z:-36.62 [[ 9.96497194e-01 5.75069378e-02 6.07148675e-02 5.57804241e+02] [-5.71195347e-02 9.98334499e-01 -8.09857407e-03 -7.24638487e+01] [-6.10794710e-02 4.60220136e-03 9.98122296e-01 -3.66196978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.860714057 meters 0.04947870273148937 Centerline is valid? [True, True] Translation: X:557.86, Y:-72.48, Z:-36.62 [[ 9.96771285e-01 5.34945509e-02 5.98776904e-02 5.57861531e+02] [-5.31102745e-02 9.98556672e-01 -7.99202600e-03 -7.24816493e+01] [-6.02187971e-02 4.78610146e-03 9.98173727e-01 -3.66245305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.920714057 meters 0.046874340774563775 Centerline is valid? [True, True] Translation: X:557.92, Y:-72.49, Z:-36.63 [[ 9.96816401e-01 5.30084002e-02 5.95581349e-02 5.57923298e+02] [-5.26274852e-02 9.98582590e-01 -7.94728050e-03 -7.24860811e+01] [-5.98949893e-02 4.78758468e-03 9.98193202e-01 -3.66291351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.980714057 meters 0.046645076687592955 Centerline is valid? [True, True] Translation: X:557.98, Y:-72.49, Z:-36.63 [[ 9.96714864e-01 5.57059395e-02 5.87905481e-02 5.57983579e+02] [-5.53385165e-02 9.98436707e-01 -7.86066626e-03 -7.24926226e+01] [-5.91365270e-02 4.58146118e-03 9.98239391e-01 -3.66334198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0407140570001 meters 0.047141306841745036 Centerline is valid? [True, True] Translation: X:558.04, Y:-72.50, Z:-36.64 [[ 9.96490479e-01 5.85477840e-02 5.98237559e-02 5.58044389e+02] [-5.81723331e-02 9.98274502e-01 -7.99989523e-03 -7.24977377e+01] [-6.01889062e-02 4.49173197e-03 9.98176898e-01 -3.66362040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.100714057 meters 0.041732546262349124 Centerline is valid? [True, True] Translation: X:558.11, Y:-72.50, Z:-36.64 [[ 9.96356564e-01 5.86485352e-02 6.19188653e-02 5.58108694e+02] [-5.82464435e-02 9.98267892e-01 -8.28056630e-03 -7.24954327e+01] [-6.22972582e-02 4.64384291e-03 9.98046836e-01 -3.66378304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1607140570001 meters 0.04550568208614056 Centerline is valid? [True, True] Translation: X:558.17, Y:-72.51, Z:-36.64 [[ 9.96542048e-01 5.44235069e-02 6.27855838e-02 5.58167303e+02] [-5.40005012e-02 9.98505442e-01 -8.41590948e-03 -7.25073264e+01] [-6.31497704e-02 4.99635467e-03 9.97991555e-01 -3.66416594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.220714057 meters 0.048220160608709456 Centerline is valid? [True, True] Translation: X:558.23, Y:-72.52, Z:-36.65 [[ 9.97030520e-01 4.79387436e-02 6.02662306e-02 5.58226519e+02] [-4.75372718e-02 9.98836795e-01 -8.07865695e-03 -7.25190252e+01] [-6.05834093e-02 5.18977536e-03 9.98149647e-01 -3.66485148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.280714057 meters 0.0492179499925012 Centerline is valid? [True, True] Translation: X:558.29, Y:-72.53, Z:-36.65 [[ 9.97388461e-01 4.25229850e-02 5.83785420e-02 5.58286081e+02] [-4.21371006e-02 9.99081189e-01 -7.82576019e-03 -7.25288776e+01] [-5.86576779e-02 5.34542041e-03 9.98263845e-01 -3.66542640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.340714057 meters 0.05110125191561562 Centerline is valid? [True, True] Translation: X:558.35, Y:-72.54, Z:-36.66 [[ 9.97610690e-01 3.93124770e-02 5.68105611e-02 5.58346069e+02] [-3.89418881e-02 9.99212452e-01 -7.61606089e-03 -7.25367067e+01] [-5.70652263e-02 5.38555325e-03 9.98355926e-01 -3.66582436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.400714057 meters 0.05141635131336487 Centerline is valid? [True, True] Translation: X:558.41, Y:-72.54, Z:-36.66 [[ 9.97453673e-01 4.04777607e-02 5.87173042e-02 5.58407120e+02] [-4.00838395e-02 9.99165313e-01 -7.87164030e-03 -7.25425897e+01] [-5.89869200e-02 5.49798153e-03 9.98243615e-01 -3.66603727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.460714057 meters 0.0517514439254303 Centerline is valid? [True, True] Translation: X:558.47, Y:-72.55, Z:-36.66 [[ 9.97364330e-01 4.34157630e-02 5.81331589e-02 5.58467286e+02] [-4.30344612e-02 9.99043174e-01 -7.79563771e-03 -7.25484032e+01] [-5.84159891e-02 5.27336182e-03 9.98278400e-01 -3.66648556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.520714057 meters 0.04878054652313388 Centerline is valid? [True, True] Translation: X:558.53, Y:-72.55, Z:-36.67 [[ 9.97176275e-01 4.81407369e-02 5.76363201e-02 5.58527971e+02] [-4.77737427e-02 9.98828278e-01 -7.72926661e-03 -7.25483518e+01] [-5.79408789e-02 4.95393857e-03 9.98307725e-01 -3.66687566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.580714057 meters 0.046384741602792094 Centerline is valid? [True, True] Translation: X:558.59, Y:-72.55, Z:-36.67 [[ 9.96956527e-01 5.22879498e-02 5.78243416e-02 5.58589247e+02] [-5.19254784e-02 9.98620856e-01 -7.75439301e-03 -7.25482068e+01] [-5.81500548e-02 4.72823612e-03 9.98296657e-01 -3.66713186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.640714057 meters 0.04493258890397724 Centerline is valid? [True, True] Translation: X:558.65, Y:-72.55, Z:-36.67 [[ 9.96715945e-01 5.58277670e-02 5.86565041e-02 5.58650512e+02] [-5.54608658e-02 9.98429878e-01 -7.86581575e-03 -7.25506371e+01] [-5.90035371e-02 4.58684347e-03 9.98247236e-01 -3.66735862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.700714057 meters 0.05029759704331656 Centerline is valid? [True, True] Translation: X:558.71, Y:-72.56, Z:-36.68 [[ 9.96781870e-01 5.64254921e-02 5.69391523e-02 5.58710052e+02] [-5.60807819e-02 9.98397041e-01 -7.63512708e-03 -7.25644350e+01] [-5.72786969e-02 4.41736406e-03 9.98348455e-01 -3.66803203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.760714057 meters 0.046524636206803825 Centerline is valid? [True, True] Translation: X:558.77, Y:-72.57, Z:-36.68 [[ 9.96985966e-01 5.34651844e-02 5.62179461e-02 5.58770538e+02] [-5.31236556e-02 9.98559376e-01 -7.55314086e-03 -7.25656363e+01] [-5.65407872e-02 4.54387263e-03 9.98389950e-01 -3.66836469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.820714057 meters 0.04895100318464368 Centerline is valid? [True, True] Translation: X:558.83, Y:-72.58, Z:-36.69 [[ 9.97195403e-01 4.93367131e-02 5.62780386e-02 5.58830393e+02] [-4.89879105e-02 9.98770749e-01 -7.56150701e-03 -7.25765486e+01] [-5.65819186e-02 4.78335652e-03 9.98386501e-01 -3.66878300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.880714057 meters 0.05203129707023719 Centerline is valid? [True, True] Translation: X:558.89, Y:-72.59, Z:-36.69 [[ 9.97393574e-01 4.61746069e-02 5.54433397e-02 5.58888852e+02] [-4.58312392e-02 9.98921420e-01 -7.44941455e-03 -7.25889110e+01] [-5.57275134e-02 4.88896124e-03 9.98434045e-01 -3.66919336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.940714057 meters 0.0496481967627938 Centerline is valid? [True, True] Translation: X:558.95, Y:-72.59, Z:-36.70 [[ 9.97530877e-01 4.42811613e-02 5.45098867e-02 5.58949787e+02] [-4.39464454e-02 9.99007038e-01 -7.32446114e-03 -7.25939633e+01] [-5.47800961e-02 4.91086039e-03 9.98486367e-01 -3.66963366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.000714057 meters 0.05061912356048492 Centerline is valid? [True, True] Translation: X:559.01, Y:-72.60, Z:-36.70 [[ 9.97597810e-01 4.47402620e-02 5.28859056e-02 5.59012440e+02] [-4.44258909e-02 9.98987413e-01 -7.10561871e-03 -7.26034974e+01] [-5.31502612e-02 4.73904618e-03 9.98575281e-01 -3.67015594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.060714057 meters 0.05047891688912662 Centerline is valid? [True, True] Translation: X:559.07, Y:-72.61, Z:-36.71 [[ 9.97537979e-01 4.60023248e-02 5.29317080e-02 5.59073027e+02] [-4.56881995e-02 9.98930304e-01 -7.12998227e-03 -7.26115132e+01] [-5.32030829e-02 4.69407368e-03 9.98572680e-01 -3.67050914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.120714057 meters 0.04967671992533531 Centerline is valid? [True, True] Translation: X:559.13, Y:-72.62, Z:-36.71 [[ 9.97431864e-01 4.78064316e-02 5.33312378e-02 5.59134816e+02] [-4.74900024e-02 9.98845868e-01 -7.18556259e-03 -7.26166574e+01] [-5.36132026e-02 4.63440848e-03 9.98551024e-01 -3.67073241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.180714057 meters 0.048503262655937546 Centerline is valid? [True, True] Translation: X:559.19, Y:-72.62, Z:-36.71 [[ 9.97244663e-01 5.09185985e-02 5.39479279e-02 5.59194787e+02] [-5.05991276e-02 9.98692568e-01 -7.27212209e-03 -7.26212064e+01] [-5.42476809e-02 4.52236685e-03 9.98517269e-01 -3.67109342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.240714057 meters 0.04715418773591064 Centerline is valid? [True, True] Translation: X:559.26, Y:-72.62, Z:-36.72 [[ 9.97182408e-01 5.27697710e-02 5.33160027e-02 5.59256616e+02] [-5.24603977e-02 9.98597146e-01 -7.18652901e-03 -7.26244850e+01] [-5.36204397e-02 4.36930160e-03 9.98551830e-01 -3.67150510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.300714057 meters 0.047017641262117285 Centerline is valid? [True, True] Translation: X:559.32, Y:-72.63, Z:-36.72 [[ 9.97165470e-01 5.26756671e-02 5.37242916e-02 5.59317785e+02] [-5.23612254e-02 9.98601931e-01 -7.24470901e-03 -7.26319463e+01] [-5.40308012e-02 4.41110392e-03 9.98529526e-01 -3.67194440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.360714057 meters 0.04830479998441401 Centerline is valid? [True, True] Translation: X:559.38, Y:-72.64, Z:-36.72 [[ 9.97319307e-01 5.06283328e-02 5.28296470e-02 5.59378694e+02] [-5.03213387e-02 9.98707657e-01 -7.12594200e-03 -7.26390970e+01] [-5.31221475e-02 4.44838098e-03 9.98578114e-01 -3.67242624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.420714057 meters 0.0488123060636778 Centerline is valid? [True, True] Translation: X:559.44, Y:-72.65, Z:-36.73 [[ 9.97441521e-01 4.86165085e-02 5.24103756e-02 5.59439405e+02] [-4.83115083e-02 9.98807285e-01 -7.07147235e-03 -7.26457833e+01] [-5.26916552e-02 4.52135584e-03 9.98600594e-01 -3.67267351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.480714057 meters 0.05549755824197798 Centerline is valid? [True, True] Translation: X:559.50, Y:-72.66, Z:-36.73 [[ 9.97631217e-01 4.49247676e-02 5.20933817e-02 5.59496809e+02] [-4.46183892e-02 9.98979368e-01 -7.03003067e-03 -7.26618801e+01] [-5.23560360e-02 4.68905527e-03 9.98617473e-01 -3.67320159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5407140570001 meters 0.05646743721560703 Centerline is valid? [True, True] Translation: X:559.56, Y:-72.67, Z:-36.74 [[ 9.97860499e-01 4.08826297e-02 5.10199543e-02 5.59556691e+02] [-4.05835813e-02 9.99152432e-01 -6.88409546e-03 -7.26693411e+01] [-5.12581513e-02 4.79879447e-03 9.98673908e-01 -3.67365071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.600714057 meters 0.05188683327437006 Centerline is valid? [True, True] Translation: X:559.62, Y:-72.67, Z:-36.74 [[ 9.97813257e-01 4.15446834e-02 5.14076237e-02 5.59619749e+02] [-4.12420654e-02 9.99125124e-01 -6.93393962e-03 -7.26693370e+01] [-5.16507167e-02 4.79862030e-03 9.98653682e-01 -3.67393381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6607140570001 meters 0.05188989929733669 Centerline is valid? [True, True] Translation: X:559.68, Y:-72.67, Z:-36.74 [[ 9.97552315e-01 4.66393612e-02 5.20974916e-02 5.59679710e+02] [-4.63345762e-02 9.98901145e-01 -7.04347805e-03 -7.26718830e+01] [-5.23687473e-02 4.61232264e-03 9.98617164e-01 -3.67414564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.720714057 meters 0.04544431332700508 Centerline is valid? [True, True] Translation: X:559.74, Y:-72.67, Z:-36.74 [[ 9.97183795e-01 5.31586445e-02 5.29021588e-02 5.59741785e+02] [-5.28534659e-02 9.98576666e-01 -7.15211478e-03 -7.26665085e+01] [-5.32070581e-02 4.33591050e-03 9.98574088e-01 -3.67431361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.780714057 meters 0.043502900200432196 Centerline is valid? [True, True] Translation: X:559.80, Y:-72.67, Z:-36.75 [[ 9.96563139e-01 6.36920370e-02 5.29644709e-02 5.59801707e+02] [-6.34008950e-02 9.97962449e-01 -7.16076899e-03 -7.26658647e+01] [-5.33126371e-02 3.77816356e-03 9.98570723e-01 -3.67474547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.840714057 meters 0.04143997330556291 Centerline is valid? [True, True] Translation: X:559.86, Y:-72.67, Z:-36.75 [[ 9.96193588e-01 6.93144371e-02 5.28568191e-02 5.59862006e+02] [-6.90323737e-02 9.97588828e-01 -7.14572025e-03 -7.26683961e+01] [-5.32246738e-02 3.46968901e-03 9.98576535e-01 -3.67511155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.900714057 meters 0.03630066593955278 Centerline is valid? [True, True] Translation: X:559.92, Y:-72.67, Z:-36.75 [[ 9.95620964e-01 7.72499789e-02 5.26434895e-02 5.59923317e+02] [-7.69812643e-02 9.97007144e-01 -7.11617410e-03 -7.26653826e+01] [-5.30356594e-02 3.03244974e-03 9.98588015e-01 -3.67544227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.960714057 meters 0.035205906604722254 Centerline is valid? [True, True] Translation: X:559.98, Y:-72.67, Z:-36.76 [[ 9.95298684e-01 8.17575875e-02 5.19251965e-02 5.59983268e+02] [-8.15022687e-02 9.96648439e-01 -7.01915995e-03 -7.26691155e+01] [-5.23250356e-02 2.75413935e-03 9.98626309e-01 -3.67575662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.020714057 meters 0.03560017052614269 Centerline is valid? [True, True] Translation: X:560.04, Y:-72.68, Z:-36.76 [[ 9.95292294e-01 8.24833908e-02 5.08894904e-02 5.60041905e+02] [-8.22390934e-02 9.96588884e-01 -6.87950426e-03 -7.26769793e+01] [-5.12833453e-02 2.66201202e-03 9.98680596e-01 -3.67616545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.080714057 meters 0.03597436124146103 Centerline is valid? [True, True] Translation: X:560.10, Y:-72.69, Z:-36.77 [[ 9.95554048e-01 7.93754553e-02 5.07116773e-02 5.60100269e+02] [-7.91289685e-02 9.96840831e-01 -6.85305368e-03 -7.26871123e+01] [-5.10954348e-02 2.80982262e-03 9.98689822e-01 -3.67660448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.140714057 meters 0.042668653613940594 Centerline is valid? [True, True] Translation: X:560.16, Y:-72.71, Z:-36.77 [[ 9.96212197e-01 6.99596566e-02 5.16420835e-02 5.60156998e+02] [-6.96916972e-02 9.97544203e-01 -6.97359722e-03 -7.27105738e+01] [-5.20031314e-02 3.34815817e-03 9.98641309e-01 -3.67704849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.200714057 meters 0.04152501125790885 Centerline is valid? [True, True] Translation: X:560.22, Y:-72.72, Z:-36.77 [[ 9.96524867e-01 6.48282123e-02 5.23019302e-02 5.60217207e+02] [-6.45463161e-02 9.97889718e-01 -7.06278715e-03 -7.27184114e+01] [-5.26494263e-02 3.66234611e-03 9.98606341e-01 -3.67724307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.260714057 meters 0.046797141884221245 Centerline is valid? [True, True] Translation: X:560.27, Y:-72.74, Z:-36.78 [[ 9.97041702e-01 5.60613772e-02 5.25829444e-02 5.60274428e+02] [-5.57643055e-02 9.98418709e-01 -7.10096854e-03 -7.27370907e+01] [-5.28978855e-02 4.14771039e-03 9.98591313e-01 -3.67757475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.320714057 meters 0.05102060401121817 Centerline is valid? [True, True] Translation: X:560.33, Y:-72.75, Z:-36.78 [[ 9.97526392e-01 4.85306467e-02 5.08514926e-02 5.60333185e+02] [-4.82431752e-02 9.98812021e-01 -6.86612559e-03 -7.27540973e+01] [-5.11242996e-02 4.39590401e-03 9.98682623e-01 -3.67818609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.380714057 meters 0.053605734415133534 Centerline is valid? [True, True] Translation: X:560.39, Y:-72.77, Z:-36.79 [[ 9.97753933e-01 4.48515840e-02 4.97536468e-02 5.60392400e+02] [-4.45718879e-02 9.98983594e-01 -6.71750063e-03 -7.27674102e+01] [-5.00043675e-02 4.48479870e-03 9.98738930e-01 -3.67872427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.440714057 meters 0.05525888637075122 Centerline is valid? [True, True] Translation: X:560.45, Y:-72.78, Z:-36.79 [[ 9.97766775e-01 4.51945462e-02 4.91824752e-02 5.60454231e+02] [-4.49217039e-02 9.98968447e-01 -6.63939706e-03 -7.27768473e+01] [-4.94318054e-02 4.41520920e-03 9.98767742e-01 -3.67910904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.500714057 meters 0.05465267650086901 Centerline is valid? [True, True] Translation: X:560.51, Y:-72.78, Z:-36.79 [[ 9.97538769e-01 4.85100856e-02 5.06278100e-02 5.60514765e+02] [-4.82243725e-02 9.98813036e-01 -6.85047762e-03 -7.27826511e+01] [-5.09000339e-02 4.39212265e-03 9.98694095e-01 -3.67937716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.560714057 meters 0.04642813199806836 Centerline is valid? [True, True] Translation: X:560.58, Y:-72.78, Z:-36.79 [[ 9.97261896e-01 5.22944468e-02 5.22876729e-02 5.60576589e+02] [-5.19948292e-02 9.98622292e-01 -7.07505818e-03 -7.27764560e+01] [-5.25856220e-02 4.33699731e-03 9.98607001e-01 -3.67940524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.620714057 meters 0.05193748874107929 Centerline is valid? [True, True] Translation: X:560.64, Y:-72.79, Z:-36.80 [[ 9.97107098e-01 5.47859723e-02 5.26871213e-02 5.60635181e+02] [-5.44852087e-02 9.98489128e-01 -7.12905582e-03 -7.27899374e+01] [-5.29980900e-02 4.23776336e-03 9.98585622e-01 -3.67985762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.680714057 meters 0.044212472928802725 Centerline is valid? [True, True] Translation: X:560.70, Y:-72.78, Z:-36.80 [[ 9.97109138e-01 5.62294448e-02 5.11039854e-02 5.60696163e+02] [-5.59483626e-02 9.98409715e-01 -6.91531808e-03 -7.27842076e+01] [-5.14115600e-02 4.03614254e-03 9.98669395e-01 -3.68015276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.740714057 meters 0.0457257470956591 Centerline is valid? [True, True] Translation: X:560.76, Y:-72.79, Z:-36.81 [[ 9.97091478e-01 5.68920033e-02 5.07137557e-02 5.60755174e+02] [-5.66161476e-02 9.98372447e-01 -6.86066875e-03 -7.27930402e+01] [-5.10215335e-02 3.96949687e-03 9.98689665e-01 -3.68069837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.800714057 meters 0.04598436822647275 Centerline is valid? [True, True] Translation: X:560.81, Y:-72.80, Z:-36.81 [[ 9.96949091e-01 5.92113699e-02 5.08578854e-02 5.60813526e+02] [-5.89370345e-02 9.98238005e-01 -6.87832126e-03 -7.27995275e+01] [-5.11755489e-02 3.85992317e-03 9.98682214e-01 -3.68106509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.860714057 meters 0.04430498345276733 Centerline is valid? [True, True] Translation: X:560.87, Y:-72.80, Z:-36.81 [[ 9.96655306e-01 6.35453115e-02 5.13828188e-02 5.60874046e+02] [-6.32711199e-02 9.97972196e-01 -6.94700471e-03 -7.28020695e+01] [-5.17200741e-02 3.67272061e-03 9.98654868e-01 -3.68142616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.920714057 meters 0.04376434529029094 Centerline is valid? [True, True] Translation: X:560.93, Y:-72.81, Z:-36.82 [[ 9.96249019e-01 6.83574243e-02 5.30580305e-02 5.60932804e+02] [-6.80717973e-02 9.97654632e-01 -7.17402629e-03 -7.28077900e+01] [-5.34239879e-02 3.53536116e-03 9.98565661e-01 -3.68176094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.980714057 meters 0.04325785051142977 Centerline is valid? [True, True] Translation: X:560.99, Y:-72.81, Z:-36.82 [[ 9.95972795e-01 7.16954378e-02 5.38326637e-02 5.60991647e+02] [-7.14063950e-02 9.97420766e-01 -7.27609723e-03 -7.28120389e+01] [-5.42154797e-02 3.40279845e-03 9.98523461e-01 -3.68211786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0407140570001 meters 0.03899693580638743 Centerline is valid? [True, True] Translation: X:561.05, Y:-72.81, Z:-36.82 [[ 9.95624932e-01 7.52940436e-02 5.53335508e-02 5.61052800e+02] [-7.49942497e-02 9.97155930e-01 -7.47751238e-03 -7.28126895e+01] [-5.57391905e-02 3.29509963e-03 9.98439926e-01 -3.68244875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.100714057 meters 0.03908555832144431 Centerline is valid? [True, True] Translation: X:561.11, Y:-72.82, Z:-36.83 [[ 9.95455263e-01 7.63471073e-02 5.69204540e-02 5.61111554e+02] [-7.60315592e-02 9.97075742e-01 -7.69201179e-03 -7.28207401e+01] [-5.73412668e-02 3.32930275e-03 9.98349085e-01 -3.68275101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1607140570001 meters 0.03611321055576853 Centerline is valid? [True, True] Translation: X:561.17, Y:-72.83, Z:-36.83 [[ 9.95127718e-01 7.76565072e-02 6.07477647e-02 5.61170132e+02] [-7.72996652e-02 9.96974135e-01 -8.20589213e-03 -7.28255018e+01] [-6.12011911e-02 3.47012884e-03 9.98119418e-01 -3.68301595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.220714057 meters 0.04129575058500751 Centerline is valid? [True, True] Translation: X:561.23, Y:-72.84, Z:-36.84 [[ 9.95120632e-01 7.68055360e-02 6.19341461e-02 5.61225707e+02] [-7.64332413e-02 9.97039640e-01 -8.36160112e-03 -7.28428446e+01] [-6.23930159e-02 3.58697425e-03 9.98045212e-01 -3.68350349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.280714057 meters 0.04025963400594764 Centerline is valid? [True, True] Translation: X:561.28, Y:-72.85, Z:-36.84 [[ 9.95192057e-01 7.56614161e-02 6.21942064e-02 5.61283690e+02] [-7.52841125e-02 9.97126819e-01 -8.39107568e-03 -7.28505340e+01] [-6.26503918e-02 3.66849624e-03 9.98028792e-01 -3.68385691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.340714057 meters 0.036373163125525916 Centerline is valid? [True, True] Translation: X:561.34, Y:-72.85, Z:-36.85 [[ 9.95291990e-01 7.53210677e-02 6.09966541e-02 5.61342236e+02] [-7.49577920e-02 9.97152783e-01 -8.22540729e-03 -7.28540006e+01] [-6.14425298e-02 3.61450749e-03 9.98104078e-01 -3.68450345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.400714057 meters 0.03657100070529123 Centerline is valid? [True, True] Translation: X:561.40, Y:-72.86, Z:-36.85 [[ 9.95389698e-01 7.53503128e-02 5.93437490e-02 5.61399353e+02] [-7.50067806e-02 9.97150945e-01 -7.99846660e-03 -7.28638336e+01] [-5.97773624e-02 3.51040769e-03 9.98205562e-01 -3.68519882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.460714057 meters 0.03734447610862162 Centerline is valid? [True, True] Translation: X:561.46, Y:-72.87, Z:-36.86 [[ 9.95426953e-01 7.56714507e-02 5.83010613e-02 5.61457657e+02] [-7.53408320e-02 9.97126930e-01 -7.85142615e-03 -7.28731173e+01] [-5.87276871e-02 3.42307074e-03 9.98268171e-01 -3.68571470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.520714057 meters 0.04006739742185078 Centerline is valid? [True, True] Translation: X:561.52, Y:-72.89, Z:-36.86 [[ 9.95530431e-01 7.09881673e-02 6.22883734e-02 5.61516927e+02] [-7.06018894e-02 9.97469343e-01 -8.38344734e-03 -7.28883482e+01] [-6.27258685e-02 3.94830010e-03 9.98022984e-01 -3.68601256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.580714057 meters 0.04039600469277609 Centerline is valid? [True, True] Translation: X:561.58, Y:-72.90, Z:-36.86 [[ 9.95605898e-01 6.93163893e-02 6.29613761e-02 5.61575496e+02] [-6.89183864e-02 9.97586311e-01 -8.47391189e-03 -7.28970147e+01] [-6.33967879e-02 4.09748021e-03 9.97979989e-01 -3.68635198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.640714057 meters 0.04083619225150954 Centerline is valid? [True, True] Translation: X:561.64, Y:-72.91, Z:-36.87 [[ 9.95831617e-01 6.57805919e-02 6.31846834e-02 5.61635085e+02] [-6.53728960e-02 9.97824697e-01 -8.50051775e-03 -7.29066187e+01] [-6.36064067e-02 4.33451860e-03 9.97965649e-01 -3.68672010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.700714057 meters 0.04081739027517624 Centerline is valid? [True, True] Translation: X:561.69, Y:-72.92, Z:-36.87 [[ 9.95983763e-01 6.41843954e-02 6.24236188e-02 5.61693960e+02] [-6.37834290e-02 9.97928436e-01 -8.39704131e-03 -7.29163693e+01] [-6.28332633e-02 4.38172434e-03 9.98014420e-01 -3.68730307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.760714057 meters 0.042132210777376645 Centerline is valid? [True, True] Translation: X:561.75, Y:-72.93, Z:-36.88 [[ 9.96053801e-01 6.48892503e-02 6.05492351e-02 5.61751539e+02] [-6.45134668e-02 9.97883615e-01 -8.14272483e-03 -7.29274905e+01] [-6.09494649e-02 4.20435095e-03 9.98131998e-01 -3.68797583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.820714057 meters 0.04344056104626885 Centerline is valid? [True, True] Translation: X:561.81, Y:-72.94, Z:-36.88 [[ 9.95856743e-01 6.86015416e-02 5.96923390e-02 5.61810387e+02] [-6.82430750e-02 9.97636442e-01 -8.02567770e-03 -7.29354429e+01] [-6.01018266e-02 3.91883649e-03 9.98184559e-01 -3.68835974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.880714057 meters 0.03935229831981558 Centerline is valid? [True, True] Translation: X:561.87, Y:-72.93, Z:-36.89 [[ 9.95274379e-01 7.57682768e-02 6.07295506e-02 5.61871836e+02] [-7.54105816e-02 9.97119149e-01 -8.16373401e-03 -7.29335437e+01] [-6.11731499e-02 3.54550457e-03 9.98120872e-01 -3.68864314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.940714057 meters 0.03874830614995085 Centerline is valid? [True, True] Translation: X:561.93, Y:-72.94, Z:-36.89 [[ 9.94711942e-01 8.19140729e-02 6.19535129e-02 5.61930667e+02] [-8.15536764e-02 9.96634157e-01 -8.32797217e-03 -7.29379543e+01] [-6.24271652e-02 3.23139662e-03 9.98044291e-01 -3.68895757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.000714057 meters 0.03818583420293155 Centerline is valid? [True, True] Translation: X:561.99, Y:-72.94, Z:-36.89 [[ 9.94495606e-01 8.40947201e-02 6.25025444e-02 5.61989844e+02] [-8.37323626e-02 9.96452883e-01 -8.39901196e-03 -7.29434316e+01] [-6.29871531e-02 3.11929478e-03 9.98009463e-01 -3.68932267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.060714057 meters 0.040184366017707286 Centerline is valid? [True, True] Translation: X:562.05, Y:-72.95, Z:-36.90 [[ 9.94949006e-01 7.99619914e-02 6.06840600e-02 5.62048438e+02] [-7.96129074e-02 9.96792516e-01 -8.15257664e-03 -7.29549315e+01] [-6.11413132e-02 3.28016357e-03 9.98123730e-01 -3.68987191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.120714057 meters 0.03948393860738189 Centerline is valid? [True, True] Translation: X:562.11, Y:-72.96, Z:-36.90 [[ 9.95375354e-01 7.49033594e-02 6.01447626e-02 5.62107727e+02] [-7.45513264e-02 9.97184451e-01 -8.07904947e-03 -7.29629499e+01] [-6.05805701e-02 3.55781489e-03 9.98156970e-01 -3.69030900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.180714057 meters 0.040393524126305244 Centerline is valid? [True, True] Translation: X:562.17, Y:-72.97, Z:-36.91 [[ 9.96201291e-01 6.46184212e-02 5.83733424e-02 5.62167073e+02] [-6.42692595e-02 9.97901787e-01 -7.84122930e-03 -7.29738352e+01] [-5.87575506e-02 4.05983126e-03 9.98264027e-01 -3.69087185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.240714057 meters 0.04565152818498068 Centerline is valid? [True, True] Translation: X:562.22, Y:-72.99, Z:-36.91 [[ 9.96831400e-01 5.52583642e-02 5.72160215e-02 5.62224574e+02] [-5.49076252e-02 9.98461861e-01 -7.68533453e-03 -7.29920076e+01] [-5.75526943e-02 4.51938692e-03 9.98332241e-01 -3.69136383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.300714057 meters 0.04827979696761641 Centerline is valid? [True, True] Translation: X:562.28, Y:-73.00, Z:-36.92 [[ 9.97198906e-01 5.01564084e-02 5.54858193e-02 5.62283955e+02] [-4.98187881e-02 9.98730471e-01 -7.45221578e-03 -7.30039480e+01] [-5.57891548e-02 4.66710515e-03 9.98431664e-01 -3.69186196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.360714057 meters 0.04813406087257143 Centerline is valid? [True, True] Translation: X:562.34, Y:-73.01, Z:-36.92 [[ 9.97145495e-01 5.13582711e-02 5.53460903e-02 5.62344772e+02] [-5.10241960e-02 9.98669754e-01 -7.43331220e-03 -7.30104348e+01] [-5.56542284e-02 4.58810402e-03 9.98439561e-01 -3.69217130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.420714057 meters 0.04341761030019396 Centerline is valid? [True, True] Translation: X:562.41, Y:-73.01, Z:-36.92 [[ 9.96629883e-01 5.78097708e-02 5.81971352e-02 5.62406765e+02] [-5.74511131e-02 9.98317704e-01 -7.81862547e-03 -7.30084580e+01] [-5.85512233e-02 4.44878559e-03 9.98274493e-01 -3.69223346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.480714057 meters 0.041255416117991356 Centerline is valid? [True, True] Translation: X:562.47, Y:-73.01, Z:-36.93 [[ 9.96274260e-01 6.24517683e-02 5.94758418e-02 5.62466992e+02] [-6.20853447e-02 9.98038855e-01 -7.99081577e-03 -7.30109844e+01] [-5.98582416e-02 4.26846592e-03 9.98197762e-01 -3.69254867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5407140570001 meters 0.04176080116871153 Centerline is valid? [True, True] Translation: X:562.53, Y:-73.02, Z:-36.93 [[ 9.95919409e-01 6.84616627e-02 5.88007767e-02 5.62525353e+02] [-6.81139312e-02 9.97646270e-01 -7.90017338e-03 -7.30171170e+01] [-5.92032345e-02 3.86278395e-03 9.98238477e-01 -3.69304788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.600714057 meters 0.039546348167672746 Centerline is valid? [True, True] Translation: X:562.58, Y:-73.02, Z:-36.94 [[ 9.95934797e-01 7.01051838e-02 5.65609657e-02 5.62583815e+02] [-6.97862507e-02 9.97533041e-01 -7.59678977e-03 -7.30205513e+01] [-5.69540065e-02 3.61872955e-03 9.98370245e-01 -3.69374082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6607140570001 meters 0.039142138419924206 Centerline is valid? [True, True] Translation: X:562.64, Y:-73.03, Z:-36.94 [[ 9.96003680e-01 6.99255673e-02 5.55615358e-02 5.62641673e+02] [-6.96177639e-02 9.97545857e-01 -7.45859305e-03 -7.30285718e+01] [-5.59467262e-02 3.56071625e-03 9.98427406e-01 -3.69419872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.720714057 meters 0.03958946133570106 Centerline is valid? [True, True] Translation: X:562.70, Y:-73.04, Z:-36.94 [[ 9.95965440e-01 6.90733144e-02 5.72863003e-02 5.62699310e+02] [-6.87449183e-02 9.97604663e-01 -7.68591667e-03 -7.30367327e+01] [-5.76799720e-02 3.71676535e-03 9.98328206e-01 -3.69447412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.780714057 meters 0.03926785833307356 Centerline is valid? [True, True] Translation: X:562.76, Y:-73.04, Z:-36.95 [[ 9.95916298e-01 6.86773585e-02 5.86015986e-02 5.62757178e+02] [-6.83333334e-02 9.97631608e-01 -7.85683561e-03 -7.30448191e+01] [-5.90023937e-02 3.82030807e-03 9.98250531e-01 -3.69476607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.840714057 meters 0.040190382606801876 Centerline is valid? [True, True] Translation: X:562.82, Y:-73.05, Z:-36.95 [[ 9.96094859e-01 6.66573165e-02 5.78950295e-02 5.62815522e+02] [-6.63184052e-02 9.97768353e-01 -7.75780603e-03 -7.30545464e+01] [-5.82829428e-02 3.88800467e-03 9.98292533e-01 -3.69521128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.900714057 meters 0.04760586548947867 Centerline is valid? [True, True] Translation: X:562.87, Y:-73.08, Z:-36.96 [[ 9.96489857e-01 6.12781172e-02 5.70347028e-02 5.62871861e+02] [-6.09406610e-02 9.98112159e-01 -7.63891691e-03 -7.30756693e+01] [-5.73951288e-02 4.13637074e-03 9.98342972e-01 -3.69575537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.960714057 meters 0.04937003271881577 Centerline is valid? [True, True] Translation: X:562.93, Y:-73.09, Z:-36.96 [[ 9.96628292e-01 5.90085224e-02 5.70091457e-02 5.62931517e+02] [-5.86676048e-02 9.98248362e-01 -7.63677664e-03 -7.30869664e+01] [-5.73599212e-02 4.26643763e-03 9.98344448e-01 -3.69608085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.020714057 meters 0.04613145837330355 Centerline is valid? [True, True] Translation: X:562.99, Y:-73.09, Z:-36.96 [[ 9.96686942e-01 5.58843176e-02 5.90938455e-02 5.62991997e+02] [-5.55125170e-02 9.98426611e-01 -7.91603686e-03 -7.30918433e+01] [-5.94432502e-02 4.60936247e-03 9.98221045e-01 -3.69625376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.080714057 meters 0.04633040790830346 Centerline is valid? [True, True] Translation: X:563.05, Y:-73.10, Z:-36.96 [[ 9.96712054e-01 5.37293546e-02 6.06484831e-02 5.63052600e+02] [-5.33337484e-02 9.98543694e-01 -8.12416713e-03 -7.31011975e+01] [-6.09966666e-02 4.86284437e-03 9.98126124e-01 -3.69638160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.140714057 meters 0.04728946356781372 Centerline is valid? [True, True] Translation: X:563.11, Y:-73.11, Z:-36.97 [[ 9.96759065e-01 5.31613942e-02 6.03757603e-02 5.63113386e+02] [-5.27682227e-02 9.98574024e-01 -8.08905811e-03 -7.31113089e+01] [-6.07196915e-02 4.87692044e-03 9.98142943e-01 -3.69678326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.200714057 meters 0.04868055749313316 Centerline is valid? [True, True] Translation: X:563.17, Y:-73.12, Z:-36.97 [[ 9.96771537e-01 5.41633072e-02 5.92692142e-02 5.63174285e+02] [-5.37853949e-02 9.98520837e-01 -7.95421567e-03 -7.31231022e+01] [-5.96123720e-02 4.74071769e-03 9.98210344e-01 -3.69743390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.260714057 meters 0.04925001015111339 Centerline is valid? [True, True] Translation: X:563.23, Y:-73.13, Z:-36.98 [[ 9.96841337e-01 5.61727313e-02 5.61424377e-02 5.63234170e+02] [-5.58360308e-02 9.98411412e-01 -7.54923290e-03 -7.31327370e+01] [-5.64773115e-02 4.39061654e-03 9.98394229e-01 -3.69812712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.320714057 meters 0.04839951390245764 Centerline is valid? [True, True] Translation: X:563.29, Y:-73.14, Z:-36.99 [[ 9.96697608e-01 6.02887655e-02 5.43980130e-02 5.63294340e+02] [-5.99786600e-02 9.98172843e-01 -7.31683908e-03 -7.31390611e+01] [-5.47397424e-02 4.02995608e-03 9.98492524e-01 -3.69855688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.380714057 meters 0.04524328885910039 Centerline is valid? [True, True] Translation: X:563.35, Y:-73.14, Z:-36.99 [[ 9.96424736e-01 6.55386751e-02 5.33144305e-02 5.63354147e+02] [-6.52482718e-02 9.97843292e-01 -7.17132838e-03 -7.31404077e+01] [-5.36694462e-02 3.66701453e-03 9.98552023e-01 -3.69894219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.440714057 meters 0.04303840671377713 Centerline is valid? [True, True] Translation: X:563.41, Y:-73.14, Z:-36.99 [[ 9.95885932e-01 7.17591367e-02 5.53338633e-02 5.63414485e+02] [-7.14559359e-02 9.97416000e-01 -7.44119070e-03 -7.31447141e+01] [-5.57248540e-02 3.45664415e-03 9.98440180e-01 -3.69910772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.500714057 meters 0.038440924921789785 Centerline is valid? [True, True] Translation: X:563.47, Y:-73.14, Z:-36.99 [[ 9.95731051e-01 7.34397438e-02 5.59131259e-02 5.63473603e+02] [-7.31327835e-02 9.97293867e-01 -7.51921421e-03 -7.31448683e+01] [-5.63140268e-02 3.39803254e-03 9.98407324e-01 -3.69934262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.560714057 meters 0.036998949464948 Centerline is valid? [True, True] Translation: X:563.53, Y:-73.15, Z:-37.00 [[ 9.95401331e-01 7.65996468e-02 5.75211666e-02 5.63533823e+02] [-7.62802711e-02 9.97056445e-01 -7.73086152e-03 -7.31489066e+01] [-5.79440311e-02 3.30757967e-03 9.98314354e-01 -3.69964917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.620714057 meters 0.03692428027257471 Centerline is valid? [True, True] Translation: X:563.59, Y:-73.16, Z:-37.00 [[ 9.95302485e-01 7.77096447e-02 5.77423097e-02 5.63592001e+02] [-7.73897068e-02 9.96970721e-01 -7.75987184e-03 -7.31568800e+01] [-5.81704090e-02 3.25475931e-03 9.98301362e-01 -3.69996260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.680714057 meters 0.03721814123665568 Centerline is valid? [True, True] Translation: X:563.65, Y:-73.17, Z:-37.01 [[ 9.95701897e-01 7.40009093e-02 5.56919917e-02 5.63650942e+02] [-7.36977806e-02 9.97252569e-01 -7.48001588e-03 -7.31672539e+01] [-5.60925098e-02 3.34348982e-03 9.98419978e-01 -3.70051592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.740714057 meters 0.04440231232960295 Centerline is valid? [True, True] Translation: X:563.71, Y:-73.19, Z:-37.01 [[ 9.96218903e-01 6.69815118e-02 5.53296854e-02 5.63707518e+02] [-6.66715971e-02 9.97747307e-01 -7.43032773e-03 -7.31910170e+01] [-5.57027392e-02 3.71331445e-03 9.98440492e-01 -3.70105448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.800714057 meters 0.047885410051410206 Centerline is valid? [True, True] Translation: X:563.77, Y:-73.21, Z:-37.01 [[ 9.96602144e-01 6.15178494e-02 5.47697005e-02 5.63766207e+02] [-6.12060350e-02 9.98098061e-01 -7.35407484e-03 -7.32071334e+01] [-5.51179387e-02 3.97685055e-03 9.98471931e-01 -3.70145944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.860714057 meters 0.05079881754280182 Centerline is valid? [True, True] Translation: X:563.82, Y:-73.22, Z:-37.02 [[ 9.96761594e-01 5.93745571e-02 5.42308743e-02 5.63823688e+02] [-5.90656795e-02 9.98227537e-01 -7.28214503e-03 -7.32195481e+01] [-5.45671262e-02 4.05537904e-03 9.98501869e-01 -3.70188099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.920714057 meters 0.04783628103629395 Centerline is valid? [True, True] Translation: X:563.88, Y:-73.22, Z:-37.02 [[ 9.96747370e-01 5.95854695e-02 5.42609704e-02 5.63883494e+02] [-5.92766586e-02 9.98215015e-01 -7.28436689e-03 -7.32232294e+01] [-5.45981577e-02 4.04426452e-03 9.98500218e-01 -3.70213189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.980714057 meters 0.04309931289343744 Centerline is valid? [True, True] Translation: X:563.94, Y:-73.22, Z:-37.02 [[ 9.96680839e-01 6.02695132e-02 5.47255960e-02 5.63943192e+02] [-5.99565134e-02 9.98173968e-01 -7.34484486e-03 -7.32241124e+01] [-5.50683355e-02 4.03931020e-03 9.98474418e-01 -3.70227817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0407140570001 meters 0.04639332982021243 Centerline is valid? [True, True] Translation: X:564.00, Y:-73.24, Z:-37.03 [[ 9.96821000e-01 5.91740606e-02 5.33509616e-02 5.64000396e+02] [-5.88751380e-02 9.98239686e-01 -7.15866890e-03 -7.32366360e+01] [-5.36806547e-02 3.99486626e-03 9.98550163e-01 -3.70272549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.100714057 meters 0.04980552522804648 Centerline is valid? [True, True] Translation: X:564.06, Y:-73.25, Z:-37.03 [[ 9.97096799e-01 5.56739391e-02 5.19459829e-02 5.64058685e+02] [-5.53860281e-02 9.98440710e-01 -6.96677528e-03 -7.32504581e+01] [-5.22528518e-02 4.06946766e-03 9.98625595e-01 -3.70335868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1607140570001 meters 0.05059224129572325 Centerline is valid? [True, True] Translation: X:564.12, Y:-73.26, Z:-37.04 [[ 9.97273942e-01 5.37263697e-02 5.05782817e-02 5.64118203e+02] [-5.34509366e-02 9.98547435e-01 -6.78359136e-03 -7.32603102e+01] [-5.08692712e-02 4.06164236e-03 9.98697061e-01 -3.70376856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.220714057 meters 0.04890198369983918 Centerline is valid? [True, True] Translation: X:564.18, Y:-73.27, Z:-37.04 [[ 9.97479084e-01 5.00211298e-02 5.03325398e-02 5.64178686e+02] [-4.97436862e-02 9.98739202e-01 -6.75063793e-03 -7.32653996e+01] [-5.06067552e-02 4.22989407e-03 9.98709700e-01 -3.70388742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.280714057 meters 0.05429967538510267 Centerline is valid? [True, True] Translation: X:564.24, Y:-73.28, Z:-37.04 [[ 9.97499078e-01 4.82733970e-02 5.16262365e-02 5.64237256e+02] [-4.79792041e-02 9.98824340e-01 -6.92345575e-03 -7.32821229e+01] [-5.18997604e-02 4.42915499e-03 9.98642477e-01 -3.70424965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.340714057 meters 0.0554813038562722 Centerline is valid? [True, True] Translation: X:564.30, Y:-73.29, Z:-37.04 [[ 9.97453420e-01 4.83565393e-02 5.24244218e-02 5.64297414e+02] [-4.80531192e-02 9.98820017e-01 -7.03357970e-03 -7.32926128e+01] [-5.27026814e-02 4.49651113e-03 9.98600125e-01 -3.70447118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.400714057 meters 0.04736612274794446 Centerline is valid? [True, True] Translation: X:564.36, Y:-73.29, Z:-37.05 [[ 9.97400330e-01 5.01554185e-02 5.17398824e-02 5.64360277e+02] [-4.98622044e-02 9.98731972e-01 -6.94321013e-03 -7.32897639e+01] [-5.20225144e-02 4.34529548e-03 9.98636459e-01 -3.70474954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.460714057 meters 0.050628785329810494 Centerline is valid? [True, True] Translation: X:564.42, Y:-73.30, Z:-37.05 [[ 9.97270541e-01 5.28296400e-02 5.15800018e-02 5.64418425e+02] [-5.25416520e-02 9.98594727e-01 -6.92435432e-03 -7.33023530e+01] [-5.18733289e-02 4.19535608e-03 9.98644860e-01 -3.70520304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.520714057 meters 0.04420313951140892 Centerline is valid? [True, True] Translation: X:564.48, Y:-73.30, Z:-37.05 [[ 9.97061122e-01 5.65912291e-02 5.16386682e-02 5.64480115e+02] [-5.63073656e-02 9.98389385e-01 -6.93661093e-03 -7.33005826e+01] [-5.19480496e-02 4.00858771e-03 9.98641743e-01 -3.70539125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.580714057 meters 0.04156959652393219 Centerline is valid? [True, True] Translation: X:564.54, Y:-73.30, Z:-37.06 [[ 9.96751322e-01 6.10332480e-02 5.25523083e-02 5.64540952e+02] [-6.07453172e-02 9.98128327e-01 -7.06036633e-03 -7.33048912e+01] [-5.28848647e-02 3.84512283e-03 9.98593214e-01 -3.70570840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.640714057 meters 0.04094765256989416 Centerline is valid? [True, True] Translation: X:564.60, Y:-73.31, Z:-37.06 [[ 9.96680625e-01 6.21172106e-02 5.26230412e-02 5.64599365e+02] [-6.18299754e-02 9.98061653e-01 -7.07042751e-03 -7.33130274e+01] [-5.29602347e-02 3.79327677e-03 9.98589417e-01 -3.70610601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.700714057 meters 0.0471114021489713 Centerline is valid? [True, True] Translation: X:564.66, Y:-73.33, Z:-37.07 [[ 9.96765517e-01 6.12426853e-02 5.20368799e-02 5.64655412e+02] [-6.09608723e-02 9.98115701e-01 -6.98716495e-03 -7.33315849e+01] [-5.23667396e-02 3.79235150e-03 9.98620720e-01 -3.70663188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.760714057 meters 0.0420541433601124 Centerline is valid? [True, True] Translation: X:564.72, Y:-73.34, Z:-37.07 [[ 9.96951022e-01 5.90239840e-02 5.10375183e-02 5.64715178e+02] [-5.87500405e-02 9.98249206e-01 -6.85245270e-03 -7.33350386e+01] [-5.13526212e-02 3.83310346e-03 9.98673228e-01 -3.70700039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.820714057 meters 0.04995240464013303 Centerline is valid? [True, True] Translation: X:564.77, Y:-73.36, Z:-37.08 [[ 9.97203751e-01 5.59374921e-02 4.95547797e-02 5.64771254e+02] [-5.56755104e-02 9.98426754e-01 -6.65245314e-03 -7.33592581e+01] [-4.98489393e-02 3.87486357e-03 9.98749252e-01 -3.70779385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.880714057 meters 0.045973819050264104 Centerline is valid? [True, True] Translation: X:564.83, Y:-73.36, Z:-37.08 [[ 9.97294771e-01 5.38543545e-02 5.00284765e-02 5.64831722e+02] [-5.35848160e-02 9.98540728e-01 -6.71436705e-03 -7.33648046e+01] [-5.03170692e-02 4.01543645e-03 9.98725222e-01 -3.70796125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.940714057 meters 0.04658901894290197 Centerline is valid? [True, True] Translation: X:564.89, Y:-73.38, Z:-37.08 [[ 9.97411954e-01 5.15303463e-02 5.01399726e-02 5.64890837e+02] [-5.12566820e-02 9.98662840e-01 -6.72945379e-03 -7.33757515e+01] [-5.04196985e-02 4.14202903e-03 9.98719529e-01 -3.70823772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.000714057 meters 0.05049939464884005 Centerline is valid? [True, True] Translation: X:564.95, Y:-73.39, Z:-37.09 [[ 9.97382098e-01 4.99358286e-02 5.23007126e-02 5.64949138e+02] [-4.96359064e-02 9.98742717e-01 -7.01865620e-03 -7.33924259e+01] [-5.25854383e-02 4.40428877e-03 9.98606716e-01 -3.70858787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.060714057 meters 0.049214163699306444 Centerline is valid? [True, True] Translation: X:565.01, Y:-73.40, Z:-37.09 [[ 9.97343434e-01 4.94625535e-02 5.34745695e-02 5.65010365e+02] [-4.91484054e-02 9.98765717e-01 -7.17468603e-03 -7.34014837e+01] [-5.37634450e-02 4.52743619e-03 9.98543436e-01 -3.70883787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.120714057 meters 0.04888062913572035 Centerline is valid? [True, True] Translation: X:565.07, Y:-73.41, Z:-37.09 [[ 9.97380191e-01 4.88746359e-02 5.33293980e-02 5.65071959e+02] [-4.85606453e-02 9.98794511e-01 -7.16851207e-03 -7.34112626e+01] [-5.36154685e-02 4.56002196e-03 9.98551244e-01 -3.70929727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.180714057 meters 0.05096810017367524 Centerline is valid? [True, True] Translation: X:565.13, Y:-73.43, Z:-37.10 [[ 9.97388674e-01 5.00031642e-02 5.21106148e-02 5.65131741e+02] [-4.97042214e-02 9.98739326e-01 -7.01774443e-03 -7.34252161e+01] [-5.23958297e-02 4.40930127e-03 9.98616661e-01 -3.70991052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.240714057 meters 0.05208144108340879 Centerline is valid? [True, True] Translation: X:565.19, Y:-73.44, Z:-37.10 [[ 9.97348908e-01 5.14274856e-02 5.14817358e-02 5.65190706e+02] [-5.11369169e-02 9.98667494e-01 -6.94634489e-03 -7.34361795e+01] [-5.17703691e-02 4.29531225e-03 9.98649778e-01 -3.71044317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.300714057 meters 0.04824143597671286 Centerline is valid? [True, True] Translation: X:565.25, Y:-73.44, Z:-37.11 [[ 9.97232967e-01 5.26939273e-02 5.24381451e-02 5.65252420e+02] [-5.23938593e-02 9.98601389e-01 -7.08158554e-03 -7.34401457e+01] [-5.27379611e-02 4.31455376e-03 9.98599065e-01 -3.71073075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.360714057 meters 0.04744837632422677 Centerline is valid? [True, True] Translation: X:565.31, Y:-73.45, Z:-37.11 [[ 9.97083490e-01 5.44299433e-02 5.34966785e-02 5.65313039e+02] [-5.41199337e-02 9.98508284e-01 -7.22767921e-03 -7.34477759e+01] [-5.38102788e-02 4.31136292e-03 9.98541870e-01 -3.71108294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.420714057 meters 0.0507688772737983 Centerline is valid? [True, True] Translation: X:565.37, Y:-73.46, Z:-37.11 [[ 9.96956554e-01 5.55303331e-02 5.47175713e-02 5.65371759e+02] [-5.52075175e-02 9.98447518e-01 -7.39482535e-03 -7.34610391e+01] [-5.50432603e-02 4.35149832e-03 9.98474488e-01 -3.71148449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.480714057 meters 0.0457185814024417 Centerline is valid? [True, True] Translation: X:565.43, Y:-73.46, Z:-37.12 [[ 9.96832967e-01 5.72769841e-02 5.51668594e-02 5.65433161e+02] [-5.69514399e-02 9.98349104e-01 -7.45652348e-03 -7.34604306e+01] [-5.55028718e-02 4.29107635e-03 9.98449307e-01 -3.71180189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5407140570001 meters 0.044998866043616186 Centerline is valid? [True, True] Translation: X:565.49, Y:-73.47, Z:-37.12 [[ 9.96932419e-01 5.65571312e-02 5.41021530e-02 5.65493029e+02] [-5.62429331e-02 9.98390325e-01 -7.31374390e-03 -7.34670855e+01] [-5.44287105e-02 4.24844462e-03 9.98508621e-01 -3.71236384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.600714057 meters 0.05114886631089054 Centerline is valid? [True, True] Translation: X:565.55, Y:-73.48, Z:-37.13 [[ 9.97237578e-01 5.18523991e-02 5.31840435e-02 5.65550781e+02] [-5.15421893e-02 9.98644944e-01 -7.18877695e-03 -7.34840939e+01] [-5.34847315e-02 4.42769647e-03 9.98558851e-01 -3.71285196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6607140570001 meters 0.05647213150156982 Centerline is valid? [True, True] Translation: X:565.61, Y:-73.50, Z:-37.13 [[ 9.97465910e-01 4.66483010e-02 5.37186594e-02 5.65608400e+02] [-4.63240672e-02 9.98900039e-01 -7.26585194e-03 -7.35002660e+01] [-5.39985107e-02 4.75897282e-03 9.98529676e-01 -3.71325973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.720714057 meters 0.055603217052676505 Centerline is valid? [True, True] Translation: X:565.67, Y:-73.51, Z:-37.13 [[ 9.97393131e-01 4.61666417e-02 5.54579513e-02 5.65670858e+02] [-4.58203320e-02 9.98921538e-01 -7.50060775e-03 -7.35052051e+01] [-5.57444198e-02 4.93995290e-03 9.98432850e-01 -3.71345666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.780714057 meters 0.05316571010463778 Centerline is valid? [True, True] Translation: X:565.73, Y:-73.51, Z:-37.14 [[ 9.97256932e-01 4.78288307e-02 5.64890686e-02 5.65732280e+02] [-4.74712690e-02 9.98843267e-01 -7.65552405e-03 -7.35089836e+01] [-5.67898806e-02 4.95291666e-03 9.98373867e-01 -3.71375476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.840714057 meters 0.051858547084492244 Centerline is valid? [True, True] Translation: X:565.79, Y:-73.51, Z:-37.14 [[ 9.97085307e-01 4.93981967e-02 5.81438560e-02 5.65793478e+02] [-4.90218700e-02 9.98766606e-01 -7.88187945e-03 -7.35139730e+01] [-5.84614923e-02 5.00858564e-03 9.98277100e-01 -3.71398992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.900714057 meters 0.06082594299219211 Centerline is valid? [True, True] Translation: X:565.85, Y:-73.53, Z:-37.15 [[ 9.97027808e-01 5.04902196e-02 5.81918215e-02 5.65852163e+02] [-5.01150606e-02 9.98712291e-01 -7.88931998e-03 -7.35344549e+01] [-5.85152209e-02 4.94958475e-03 9.98274246e-01 -3.71451963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.960714057 meters 0.050440860480148314 Centerline is valid? [True, True] Translation: X:565.92, Y:-73.53, Z:-37.15 [[ 9.97143589e-01 5.17423289e-02 5.50217577e-02 5.65915725e+02] [-5.14082461e-02 9.98649777e-01 -7.47090304e-03 -7.35257658e+01] [-5.53340280e-02 4.62099101e-03 9.98457206e-01 -3.71503962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.020714057 meters 0.0446428577069781 Centerline is valid? [True, True] Translation: X:565.98, Y:-73.52, Z:-37.15 [[ 9.96957422e-01 5.54446782e-02 5.47885589e-02 5.65977086e+02] [-5.51181071e-02 9.98452011e-01 -7.45492346e-03 -7.35236128e+01] [-5.51170826e-02 4.41239961e-03 9.98470149e-01 -3.71539975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.080714057 meters 0.04136893349253235 Centerline is valid? [True, True] Translation: X:566.04, Y:-73.52, Z:-37.16 [[ 9.96440736e-01 6.24837717e-02 5.65830251e-02 5.66038124e+02] [-6.21466952e-02 9.98037330e-01 -7.69909292e-03 -7.35235593e+01] [-5.69530397e-02 4.15524180e-03 9.98368211e-01 -3.71554353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.140714057 meters 0.03815095099637821 Centerline is valid? [True, True] Translation: X:566.10, Y:-73.52, Z:-37.16 [[ 9.95670566e-01 7.17593031e-02 5.90823780e-02 5.66099354e+02] [-7.14079393e-02 9.97414793e-01 -8.03974269e-03 -7.35228212e+01] [-5.95065642e-02 3.78598428e-03 9.98220735e-01 -3.71570302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.200714057 meters 0.03645814076197493 Centerline is valid? [True, True] Translation: X:566.16, Y:-73.53, Z:-37.16 [[ 9.95058596e-01 7.86424215e-02 6.06115501e-02 5.66159193e+02] [-7.82852978e-02 9.96896876e-01 -8.24802881e-03 -7.35251030e+01] [-6.10721099e-02 3.46227871e-03 9.98127352e-01 -3.71592836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.260714057 meters 0.05473063439965829 Centerline is valid? [True, True] Translation: X:566.21, Y:-73.56, Z:-37.16 [[ 9.94553767e-01 8.32506278e-02 6.27067556e-02 5.66214199e+02] [-8.28775963e-02 9.96523218e-01 -8.53110574e-03 -7.35633339e+01] [-6.31989578e-02 3.28765818e-03 9.97995533e-01 -3.71636448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.320714057 meters 0.04031337280177329 Centerline is valid? [True, True] Translation: X:566.28, Y:-73.55, Z:-37.17 [[ 9.95289318e-01 7.71763859e-02 5.86769016e-02 5.66276219e+02] [-7.68393759e-02 9.97011537e-01 -7.98162590e-03 -7.35502450e+01] [-5.91175409e-02 3.43533049e-03 9.98245118e-01 -3.71703462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.380714057 meters 0.041921882122356834 Centerline is valid? [True, True] Translation: X:566.33, Y:-73.56, Z:-37.18 [[ 9.95757785e-01 7.37566021e-02 5.50127012e-02 5.66334517e+02] [-7.34552677e-02 9.97270444e-01 -7.48235664e-03 -7.35618822e+01] [-5.54144142e-02 3.40964218e-03 9.98457619e-01 -3.71782933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.440714057 meters 0.038906494288553514 Centerline is valid? [True, True] Translation: X:566.39, Y:-73.56, Z:-37.18 [[ 9.95993580e-01 7.06065907e-02 5.48771240e-02 5.66394435e+02] [-7.03020224e-02 9.97497833e-01 -7.46318773e-03 -7.35649582e+01] [-5.52667625e-02 3.57531426e-03 9.98465223e-01 -3.71807267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.500714057 meters 0.040050286345840874 Centerline is valid? [True, True] Translation: X:566.45, Y:-73.58, Z:-37.18 [[ 9.96128346e-01 6.71904262e-02 5.66900841e-02 5.66453345e+02] [-6.68599314e-02 9.97732592e-01 -7.70867260e-03 -7.35755719e+01] [-5.70794935e-02 3.88853216e-03 9.98362064e-01 -3.71826483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.560714057 meters 0.04578048165772836 Centerline is valid? [True, True] Translation: X:566.51, Y:-73.59, Z:-37.19 [[ 9.96421627e-01 6.23818482e-02 5.70302239e-02 5.66510613e+02] [-6.20396040e-02 9.98043569e-01 -7.75377194e-03 -7.35931529e+01] [-5.74023428e-02 4.18789354e-03 9.98342342e-01 -3.71859822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.620714057 meters 0.047301081302837236 Centerline is valid? [True, True] Translation: X:566.57, Y:-73.60, Z:-37.19 [[ 9.96823711e-01 5.66367345e-02 5.59890202e-02 5.66569712e+02] [-5.62978944e-02 9.98384998e-01 -7.61202852e-03 -7.36031515e+01] [-5.63297182e-02 4.43578656e-03 9.98402367e-01 -3.71892193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.680714057 meters 0.047587934371511986 Centerline is valid? [True, True] Translation: X:566.63, Y:-73.61, Z:-37.19 [[ 9.97156664e-01 5.24759877e-02 5.40819536e-02 5.66630076e+02] [-5.21538307e-02 9.98612000e-01 -7.35201161e-03 -7.36114440e+01] [-5.43926919e-02 4.51052631e-03 9.98509434e-01 -3.71944973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.740714057 meters 0.049935395547278105 Centerline is valid? [True, True] Translation: X:566.69, Y:-73.62, Z:-37.20 [[ 9.97327722e-01 5.10643001e-02 5.22479876e-02 5.66689315e+02] [-5.07616477e-02 9.98685529e-01 -7.10418086e-03 -7.36228569e+01] [-5.25420791e-02 4.43300258e-03 9.98608872e-01 -3.71996265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.800714057 meters 0.04687573890592365 Centerline is valid? [True, True] Translation: X:566.75, Y:-73.62, Z:-37.20 [[ 9.97455572e-01 5.00027215e-02 5.08144744e-02 5.66750848e+02] [-4.97150693e-02 9.98739538e-01 -6.90988368e-03 -7.36230758e+01] [-5.10959377e-02 4.36605685e-03 9.98684206e-01 -3.72032545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.860714057 meters 0.05349875195852741 Centerline is valid? [True, True] Translation: X:566.81, Y:-73.64, Z:-37.21 [[ 9.97380785e-01 5.11655110e-02 5.11239744e-02 5.66809599e+02] [-5.08757456e-02 9.98680779e-01 -6.95410313e-03 -7.36376836e+01] [-5.14123408e-02 4.33491853e-03 9.98668103e-01 -3.72077707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.920714057 meters 0.04678823272927082 Centerline is valid? [True, True] Translation: X:566.87, Y:-73.63, Z:-37.21 [[ 9.97214159e-01 5.38597113e-02 5.16047655e-02 5.66871784e+02] [-5.35679902e-02 9.98539525e-01 -7.02051771e-03 -7.36339709e+01] [-5.19075211e-02 4.23659609e-03 9.98642909e-01 -3.72102651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.980714057 meters 0.044284619076874004 Centerline is valid? [True, True] Translation: X:566.93, Y:-73.64, Z:-37.21 [[ 9.97141982e-01 5.55909902e-02 5.11616003e-02 5.66931439e+02] [-5.53064607e-02 9.98445158e-01 -6.96149327e-03 -7.36350317e+01] [-5.14690484e-02 4.11203016e-03 9.98666125e-01 -3.72144730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0407140570001 meters 0.04633907132597007 Centerline is valid? [True, True] Translation: X:566.99, Y:-73.64, Z:-37.22 [[ 9.97095094e-01 5.66410282e-02 5.09231498e-02 5.66989715e+02] [-5.63605914e-02 9.98386446e-01 -6.92741193e-03 -7.36428421e+01] [-5.12333582e-02 4.03722961e-03 9.98678549e-01 -3.72181927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.100714057 meters 0.04927198413461814 Centerline is valid? [True, True] Translation: X:567.05, Y:-73.65, Z:-37.22 [[ 9.97136584e-01 5.58290796e-02 5.10073129e-02 5.67046950e+02] [-5.55468035e-02 9.98431993e-01 -6.93605044e-03 -7.36539191e+01] [-5.13145664e-02 4.08289646e-03 9.98674194e-01 -3.72212901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1607140570001 meters 0.050687201628494744 Centerline is valid? [True, True] Translation: X:567.11, Y:-73.66, Z:-37.22 [[ 9.97096641e-01 5.49975245e-02 5.26646093e-02 5.67105378e+02] [-5.46955867e-02 9.98477415e-01 -7.15851358e-03 -7.36629518e+01] [-5.29781235e-02 4.25720814e-03 9.98586598e-01 -3.72243584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.220714057 meters 0.046753724080132876 Centerline is valid? [True, True] Translation: X:567.17, Y:-73.66, Z:-37.23 [[ 9.97010320e-01 5.58263487e-02 5.34213500e-02 5.67166230e+02] [-5.55170118e-02 9.98431360e-01 -7.25821269e-03 -7.36614379e+01] [-5.37427506e-02 4.27071924e-03 9.98545681e-01 -3.72266167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.280714057 meters 0.043738761436951226 Centerline is valid? [True, True] Translation: X:567.23, Y:-73.66, Z:-37.23 [[ 9.96778466e-01 5.87005360e-02 5.46528710e-02 5.67226745e+02] [-5.83811007e-02 9.98266760e-01 -7.42449349e-03 -7.36625456e+01] [-5.49939662e-02 4.20988047e-03 9.98477812e-01 -3.72291003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.340714057 meters 0.04377846166528366 Centerline is valid? [True, True] Translation: X:567.29, Y:-73.67, Z:-37.23 [[ 9.96765330e-01 5.93690056e-02 5.41682402e-02 5.67286098e+02] [-5.90562234e-02 9.98227539e-01 -7.35819291e-03 -7.36687350e+01] [-5.45090777e-02 4.13541989e-03 9.98504711e-01 -3.72329541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.400714057 meters 0.04514785448925595 Centerline is valid? [True, True] Translation: X:567.34, Y:-73.68, Z:-37.24 [[ 9.96704450e-01 6.06650070e-02 5.38516189e-02 5.67344379e+02] [-6.03578596e-02 9.98150011e-01 -7.31324664e-03 -7.36765527e+01] [-5.41956522e-02 4.03877702e-03 9.98522168e-01 -3.72386252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.460714057 meters 0.04711610486505174 Centerline is valid? [True, True] Translation: X:567.40, Y:-73.69, Z:-37.24 [[ 9.96866507e-01 5.85659976e-02 5.31713404e-02 5.67403695e+02] [-5.82637136e-02 9.98275127e-01 -7.21881435e-03 -7.36860232e+01] [-5.35024036e-02 4.09823449e-03 9.98559311e-01 -3.72444930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.520714057 meters 0.05098551657778296 Centerline is valid? [True, True] Translation: X:567.46, Y:-73.70, Z:-37.25 [[ 9.97063875e-01 5.60600095e-02 5.21622901e-02 5.67461372e+02] [-5.57657582e-02 9.98418772e-01 -7.08064931e-03 -7.36979262e+01] [-5.24767509e-02 4.15098998e-03 9.98613519e-01 -3.72484020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.580714057 meters 0.05221885624318877 Centerline is valid? [True, True] Translation: X:567.52, Y:-73.71, Z:-37.25 [[ 9.97024995e-01 5.47776134e-02 5.42270524e-02 5.67520771e+02] [-5.44576664e-02 9.98488945e-01 -7.36139805e-03 -7.37066911e+01] [-5.45483522e-02 4.38641912e-03 9.98501496e-01 -3.72501328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.640714057 meters 0.050843547006413706 Centerline is valid? [True, True] Translation: X:567.58, Y:-73.71, Z:-37.25 [[ 9.97085301e-01 5.32021219e-02 5.46848828e-02 5.67580883e+02] [-5.28745112e-02 9.98573587e-01 -7.42135150e-03 -7.37122256e+01] [-5.50017113e-02 4.50828404e-03 9.98476082e-01 -3.72526349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.700714057 meters 0.05235501224559015 Centerline is valid? [True, True] Translation: X:567.64, Y:-73.72, Z:-37.26 [[ 9.97198946e-01 5.19507097e-02 5.38087873e-02 5.67640557e+02] [-5.16317174e-02 9.98639494e-01 -7.30245552e-03 -7.37207780e+01] [-5.41149479e-02 4.50376085e-03 9.98524556e-01 -3.72570943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.760714057 meters 0.048265428564130346 Centerline is valid? [True, True] Translation: X:567.70, Y:-73.72, Z:-37.26 [[ 9.97195377e-01 5.19806702e-02 5.38459787e-02 5.67701756e+02] [-5.16612795e-02 9.98637929e-01 -7.30750281e-03 -7.37216283e+01] [-5.41524855e-02 4.50525586e-03 9.98522514e-01 -3.72597297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.820714057 meters 0.04449253119814649 Centerline is valid? [True, True] Translation: X:567.76, Y:-73.72, Z:-37.26 [[ 9.97072639e-01 5.44380207e-02 5.36903672e-02 5.67761979e+02] [-5.41240010e-02 9.98507636e-01 -7.28657518e-03 -7.37225033e+01] [-5.40069083e-02 4.35930725e-03 9.98531046e-01 -3.72623655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.880714057 meters 0.04629857596246042 Centerline is valid? [True, True] Translation: X:567.82, Y:-73.73, Z:-37.27 [[ 9.96990107e-01 5.64001558e-02 5.31953907e-02 5.67820139e+02] [-5.60947206e-02 9.98399356e-01 -7.21862843e-03 -7.37320834e+01] [-5.35173756e-02 4.21292055e-03 9.98558031e-01 -3.72669690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.940714057 meters 0.0489797601273423 Centerline is valid? [True, True] Translation: X:567.88, Y:-73.74, Z:-37.27 [[ 9.97036465e-01 5.54879012e-02 5.32858410e-02 5.67877025e+02] [-5.51802483e-02 9.98450242e-01 -7.22872510e-03 -7.37439129e+01] [-5.36043676e-02 4.26697657e-03 9.98553136e-01 -3.72704485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.000714057 meters 0.05081374164292062 Centerline is valid? [True, True] Translation: X:567.94, Y:-73.76, Z:-37.28 [[ 9.97181681e-01 5.31175075e-02 5.29832597e-02 5.67935751e+02] [-5.28100521e-02 9.98578712e-01 -7.18709416e-03 -7.37557018e+01] [-5.32897157e-02 4.36878993e-03 9.98569537e-01 -3.72753539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.060714057 meters 0.05274014628722411 Centerline is valid? [True, True] Translation: X:567.99, Y:-73.77, Z:-37.28 [[ 9.97245390e-01 5.32240677e-02 5.16607305e-02 5.67993816e+02] [-5.29319752e-02 9.98573538e-01 -7.00681749e-03 -7.37663360e+01] [-5.19599697e-02 4.25301193e-03 9.98640112e-01 -3.72799256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.120714057 meters 0.04752008133943695 Centerline is valid? [True, True] Translation: X:568.05, Y:-73.77, Z:-37.28 [[ 9.97027790e-01 5.66980324e-02 5.21624381e-02 5.68054788e+02] [-5.64050083e-02 9.98382911e-01 -7.07378544e-03 -7.37651013e+01] [-5.24791565e-02 4.11053791e-03 9.98613560e-01 -3.72814879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.180714057 meters 0.04571859600605011 Centerline is valid? [True, True] Translation: X:568.11, Y:-73.77, Z:-37.29 [[ 9.96736179e-01 6.12560190e-02 5.25803176e-02 5.68114999e+02] [-6.09645797e-02 9.98114461e-01 -7.13035105e-03 -7.37694547e+01] [-5.29179523e-02 3.90154190e-03 9.98591242e-01 -3.72854388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.240714057 meters 0.04205550818068844 Centerline is valid? [True, True] Translation: X:568.18, Y:-73.77, Z:-37.29 [[ 9.96468537e-01 6.50402585e-02 5.31057389e-02 5.68176148e+02] [-6.47483297e-02 9.97875643e-01 -7.20103622e-03 -7.37708982e+01] [-5.34612806e-02 3.73709813e-03 9.98562930e-01 -3.72884448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.300714057 meters 0.07289384038158205 Centerline is valid? [True, True] Translation: X:568.23, Y:-73.82, Z:-37.30 [[ 9.95776063e-01 7.30151038e-02 5.56671094e-02 5.68228215e+02] [-7.27066891e-02 9.97324802e-01 -7.54832277e-03 -7.38240729e+01] [-5.60693304e-02 3.46906791e-03 9.98420851e-01 -3.72971885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.360714057 meters 0.03910736128081741 Centerline is valid? [True, True] Translation: X:568.30, Y:-73.78, Z:-37.30 [[ 9.96183483e-01 6.96034414e-02 5.26671561e-02 5.68295024e+02] [-6.93227245e-02 9.97568732e-01 -7.14038192e-03 -7.37799357e+01] [-5.30361033e-02 3.46209978e-03 9.98586594e-01 -3.72957148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.420714057 meters 0.041366861851104136 Centerline is valid? [True, True] Translation: X:568.35, Y:-73.79, Z:-37.30 [[ 9.96277416e-01 6.91281735e-02 5.15034527e-02 5.68351624e+02] [-6.88590951e-02 9.97601957e-01 -6.98282984e-03 -7.37901933e+01] [-5.18626555e-02 3.41035452e-03 9.98648404e-01 -3.73006987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.480714057 meters 0.03944155852826401 Centerline is valid? [True, True] Translation: X:568.41, Y:-73.79, Z:-37.31 [[ 9.96335820e-01 6.91344448e-02 5.03523728e-02 5.68410131e+02] [-6.88775154e-02 9.97601798e-01 -6.82213200e-03 -7.37949427e+01] [-5.07032619e-02 3.32898815e-03 9.98708214e-01 -3.73050874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5407140570001 meters 0.039753885492708245 Centerline is valid? [True, True] Translation: X:568.47, Y:-73.80, Z:-37.31 [[ 9.96378139e-01 6.85653859e-02 5.02930562e-02 5.68467834e+02] [-6.83085274e-02 9.97640999e-01 -6.81041656e-03 -7.38030431e+01] [-5.06413737e-02 3.35030557e-03 9.98711283e-01 -3.73090038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.600714057 meters 0.04426386919396402 Centerline is valid? [True, True] Translation: X:568.52, Y:-73.82, Z:-37.31 [[ 9.96306797e-01 6.79874897e-02 5.24448971e-02 5.68523903e+02] [-6.77075609e-02 9.97679961e-01 -7.09798146e-03 -7.38198472e+01] [-5.28057969e-02 3.52085111e-03 9.98598594e-01 -3.73114711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6607140570001 meters 0.04474311628849434 Centerline is valid? [True, True] Translation: X:568.58, Y:-73.83, Z:-37.31 [[ 9.96397989e-01 6.57394426e-02 5.35665347e-02 5.68582028e+02] [-6.54444420e-02 9.97829915e-01 -7.24467398e-03 -7.38313843e+01] [-5.39265516e-02 3.71294661e-03 9.98538002e-01 -3.73145630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.720714057 meters 0.046526254029182174 Centerline is valid? [True, True] Translation: X:568.64, Y:-73.84, Z:-37.32 [[ 9.96826821e-01 6.02709025e-02 5.19971863e-02 5.68640452e+02] [-5.99857807e-02 9.98174490e-01 -7.02811569e-03 -7.38446195e+01] [-5.23258557e-02 3.88672241e-03 9.98622500e-01 -3.73201393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.780714057 meters 0.049573076202436145 Centerline is valid? [True, True] Translation: X:568.70, Y:-73.86, Z:-37.33 [[ 9.97179564e-01 5.55013413e-02 5.05224598e-02 5.68699035e+02] [-5.52261406e-02 9.98450526e-01 -6.82794678e-03 -7.38595385e+01] [-5.08231367e-02 4.01852853e-03 9.98699585e-01 -3.73261475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.840714057 meters 0.0534753761475529 Centerline is valid? [True, True] Translation: X:568.76, Y:-73.88, Z:-37.33 [[ 9.97463282e-01 5.09192473e-02 4.97416508e-02 5.68757497e+02] [-5.06468726e-02 9.98694003e-01 -6.72175507e-03 -7.38766464e+01] [-5.00189551e-02 4.18544482e-03 9.98739499e-01 -3.73314260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.900714057 meters 0.05202319329580324 Centerline is valid? [True, True] Translation: X:568.82, Y:-73.88, Z:-37.33 [[ 9.97617568e-01 4.80464227e-02 4.95048375e-02 5.68817480e+02] [-4.77731194e-02 9.98835809e-01 -6.68993941e-03 -7.38841340e+01] [-4.97686321e-02 4.30900058e-03 9.98751479e-01 -3.73340890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.960714057 meters 0.052064344339851715 Centerline is valid? [True, True] Translation: X:568.88, Y:-73.89, Z:-37.34 [[ 9.97502197e-01 4.90071167e-02 5.08691413e-02 5.68877013e+02] [-4.87197855e-02 9.98788833e-01 -6.87386744e-03 -7.38935042e+01] [-5.11443987e-02 4.37836421e-03 9.98681671e-01 -3.73366868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.020714057 meters 0.048897832874280164 Centerline is valid? [True, True] Translation: X:568.94, Y:-73.90, Z:-37.34 [[ 9.97297831e-01 5.19610135e-02 5.19335023e-02 5.68937932e+02] [-5.16654912e-02 9.98639789e-01 -7.01769108e-03 -7.38969862e+01] [-5.22275081e-02 4.31555819e-03 9.98625888e-01 -3.73400832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.080714057 meters 0.045449665287938514 Centerline is valid? [True, True] Translation: X:569.00, Y:-73.90, Z:-37.34 [[ 9.97129427e-01 5.44102461e-02 5.26538744e-02 5.68997601e+02] [-5.41098261e-02 9.98509638e-01 -7.11543550e-03 -7.38994039e+01] [-5.29625537e-02 4.24591814e-03 9.98587472e-01 -3.73431271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.140714057 meters 0.04494360128875188 Centerline is valid? [True, True] Translation: X:569.06, Y:-73.91, Z:-37.35 [[ 9.97151868e-01 5.43384649e-02 5.23018525e-02 5.69056721e+02] [-5.40420473e-02 9.98513659e-01 -7.06611679e-03 -7.39077522e+01] [-5.26080760e-02 4.21949237e-03 9.98606322e-01 -3.73487566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.200714057 meters 0.04789268772789405 Centerline is valid? [True, True] Translation: X:569.11, Y:-73.92, Z:-37.35 [[ 9.97246985e-01 5.39359987e-02 5.08857359e-02 5.69114292e+02] [-5.36550059e-02 9.98535879e-01 -6.87298695e-03 -7.39208657e+01] [-5.11819344e-02 4.12379106e-03 9.98680832e-01 -3.73547128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.260714057 meters 0.05012503872580601 Centerline is valid? [True, True] Translation: X:569.17, Y:-73.93, Z:-37.36 [[ 9.97329010e-01 5.33213106e-02 4.99167604e-02 5.69171828e+02] [-5.30502428e-02 9.98569095e-01 -6.74055630e-03 -7.39323887e+01] [-5.02047496e-02 4.07445609e-03 9.98730635e-01 -3.73601421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.320714057 meters 0.04824133355686397 Centerline is valid? [True, True] Translation: X:569.23, Y:-73.94, Z:-37.36 [[ 9.97376595e-01 5.25628880e-02 4.97701853e-02 5.69231417e+02] [-5.22926162e-02 9.98609209e-01 -6.71792978e-03 -7.39375253e+01] [-5.00540791e-02 4.09769274e-03 9.98738103e-01 -3.73636782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.380714057 meters 0.05600801363430313 Centerline is valid? [True, True] Translation: X:569.29, Y:-73.95, Z:-37.37 [[ 9.97245828e-01 5.32759034e-02 5.15988025e-02 5.69288132e+02] [-5.29864182e-02 9.98570957e-01 -6.96305610e-03 -7.39547197e+01] [-5.18960287e-02 4.20984292e-03 9.98643620e-01 -3.73661800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.440714057 meters 0.049440122216551814 Centerline is valid? [True, True] Translation: X:569.35, Y:-73.95, Z:-37.37 [[ 9.96852806e-01 5.74247036e-02 5.46524086e-02 5.69349466e+02] [-5.71062747e-02 9.98340890e-01 -7.37166777e-03 -7.39518583e+01] [-5.49850501e-02 4.22747224e-03 9.98478229e-01 -3.73655785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.500714057 meters 0.04711808102282851 Centerline is valid? [True, True] Translation: X:569.41, Y:-73.95, Z:-37.37 [[ 9.96342726e-01 6.41273000e-02 5.64700107e-02 5.69410126e+02] [-6.37980398e-02 9.97933767e-01 -7.61617025e-03 -7.39543731e+01] [-5.68417350e-02 3.98563983e-03 9.98375246e-01 -3.73681066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.560714057 meters 0.041443296991187976 Centerline is valid? [True, True] Translation: X:569.47, Y:-73.95, Z:-37.37 [[ 9.95987384e-01 6.96508943e-02 5.61950453e-02 5.69470914e+02] [-6.93335785e-02 9.97564741e-01 -7.57908147e-03 -7.39513068e+01] [-5.65860856e-02 3.65246595e-03 9.98391043e-01 -3.73711069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.620714057 meters 0.04035677635277829 Centerline is valid? [True, True] Translation: X:569.53, Y:-73.96, Z:-37.38 [[ 9.95430983e-01 7.75510966e-02 5.57044476e-02 5.69529880e+02] [-7.72517024e-02 9.96983327e-01 -7.51128900e-03 -7.39568142e+01] [-5.61189142e-02 3.17370638e-03 9.98419048e-01 -3.73769841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.680714057 meters 0.03223928934674334 Centerline is valid? [True, True] Translation: X:569.59, Y:-73.95, Z:-37.38 [[ 9.94752103e-01 8.61595717e-02 5.51795508e-02 5.69591870e+02] [-8.58790453e-02 9.96277794e-01 -7.43948050e-03 -7.39488165e+01] [-5.56151437e-02 2.66167172e-03 9.98448732e-01 -3.73799143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.740714057 meters 0.03205031205002465 Centerline is valid? [True, True] Translation: X:569.65, Y:-73.96, Z:-37.38 [[ 9.94339134e-01 9.04709818e-02 5.57197255e-02 5.69650397e+02] [-9.01917278e-02 9.95896095e-01 -7.51139579e-03 -7.39554654e+01] [-5.61706203e-02 2.44341648e-03 9.98418195e-01 -3.73830212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.800714057 meters 0.03121705986878811 Centerline is valid? [True, True] Translation: X:569.71, Y:-73.96, Z:-37.39 [[ 9.93853201e-01 9.48209839e-02 5.71383989e-02 5.69710107e+02] [-9.45346019e-02 9.95491794e-01 -7.70050888e-03 -7.39616822e+01] [-5.76109770e-02 2.25161961e-03 9.98336569e-01 -3.73854638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.860714057 meters 0.030974066196085313 Centerline is valid? [True, True] Translation: X:569.77, Y:-73.97, Z:-37.39 [[ 9.93489509e-01 9.81352512e-02 5.78624957e-02 5.69768233e+02] [-9.78472982e-02 9.95170906e-01 -7.79576935e-03 -7.39717162e+01] [-5.83481121e-02 2.08332618e-03 9.98294124e-01 -3.73892696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.920714057 meters 0.03086524145567338 Centerline is valid? [True, True] Translation: X:569.83, Y:-73.98, Z:-37.39 [[ 9.93340934e-01 9.97221597e-02 5.76999165e-02 5.69825585e+02] [-9.94386025e-02 9.95013347e-01 -7.77203230e-03 -7.39832306e+01] [-5.81872308e-02 1.98267877e-03 9.98303719e-01 -3.73939374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.980714057 meters 0.030623638069470407 Centerline is valid? [True, True] Translation: X:569.88, Y:-73.99, Z:-37.40 [[ 9.93389556e-01 9.97229938e-02 5.68552003e-02 5.69883446e+02] [-9.94479137e-02 9.95013328e-01 -7.65434025e-03 -7.39944808e+01] [-5.73349958e-02 1.94961061e-03 9.98353093e-01 -3.73978993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0407140570001 meters 0.03101333048881678 Centerline is valid? [True, True] Translation: X:569.94, Y:-74.01, Z:-37.40 [[ 9.93348236e-01 9.99004148e-02 5.72642062e-02 5.69939665e+02] [-9.96218674e-02 9.94995531e-01 -7.70568737e-03 -7.40081915e+01] [-5.77474306e-02 1.94966380e-03 9.98329321e-01 -3.74021205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.100714057 meters 0.030837173912442544 Centerline is valid? [True, True] Translation: X:570.00, Y:-74.02, Z:-37.40 [[ 9.93557185e-01 9.66271770e-02 5.92225314e-02 5.69997442e+02] [-9.63239252e-02 9.95318204e-01 -7.96082625e-03 -7.40218525e+01] [-5.97144958e-02 2.20498943e-03 9.98213062e-01 -3.74047186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1607140570001 meters 0.033484356286631226 Centerline is valid? [True, True] Translation: X:570.05, Y:-74.04, Z:-37.41 [[ 9.94086839e-01 9.04658313e-02 6.00607176e-02 5.70054052e+02] [-9.01429799e-02 9.95896147e-01 -8.06888448e-03 -7.40435411e+01] [-6.05441957e-02 2.60711980e-03 9.98162113e-01 -3.74085768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.220714057 meters 0.03754450643058828 Centerline is valid? [True, True] Translation: X:570.11, Y:-74.07, Z:-37.41 [[ 9.94811092e-01 8.17558108e-02 6.05547541e-02 5.70110944e+02] [-8.14116482e-02 9.96647377e-01 -8.13319661e-03 -7.40669348e+01] [-6.10166729e-02 3.16113187e-03 9.98131741e-01 -3.74126430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.280714057 meters 0.038664468325440335 Centerline is valid? [True, True] Translation: X:570.17, Y:-74.09, Z:-37.42 [[ 9.95423326e-01 7.40578562e-02 6.03973132e-02 5.70168346e+02] [-7.37014211e-02 9.97247367e-01 -8.11109591e-03 -7.40872196e+01] [-6.08317519e-02 3.62260626e-03 9.98141460e-01 -3.74175549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.340714057 meters 0.04178332662667786 Centerline is valid? [True, True] Translation: X:570.22, Y:-74.11, Z:-37.42 [[ 9.95595916e-01 7.16916531e-02 6.04076079e-02 5.70223938e+02] [-7.13307996e-02 9.97419729e-01 -8.11183272e-03 -7.41090396e+01] [-6.08332906e-02 3.76718456e-03 9.98140831e-01 -3.74220508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.400714057 meters 0.040784270276883486 Centerline is valid? [True, True] Translation: X:570.28, Y:-74.13, Z:-37.43 [[ 9.95553749e-01 7.15766590e-02 6.12332840e-02 5.70280666e+02] [-7.12059134e-02 9.97427780e-01 -8.21831032e-03 -7.41258259e+01] [-6.16640177e-02 3.82159773e-03 9.98089647e-01 -3.74272141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.460714057 meters 0.03758547851509533 Centerline is valid? [True, True] Translation: X:570.34, Y:-74.13, Z:-37.43 [[ 9.95510076e-01 7.19009973e-02 6.15624463e-02 5.70339951e+02] [-7.15271424e-02 9.97404468e-01 -8.25803716e-03 -7.41296576e+01] [-6.19964201e-02 3.81757334e-03 9.98069071e-01 -3.74300273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.520714057 meters 0.0415158925759737 Centerline is valid? [True, True] Translation: X:570.40, Y:-74.15, Z:-37.43 [[ 9.95536494e-01 7.14797661e-02 6.16257500e-02 5.70396498e+02] [-7.11044764e-02 9.97434637e-01 -8.26429592e-03 -7.41458473e+01] [-6.20583876e-02 3.84554149e-03 9.98065112e-01 -3.74338343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.580714057 meters 0.03832891215118407 Centerline is valid? [True, True] Translation: X:570.45, Y:-74.15, Z:-37.44 [[ 9.95619790e-01 7.06104025e-02 6.12813510e-02 5.70454937e+02] [-7.02378696e-02 9.97496446e-01 -8.21477546e-03 -7.41542142e+01] [-6.17079784e-02 3.87452149e-03 9.98086726e-01 -3.74378347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.640714057 meters 0.03828788180956976 Centerline is valid? [True, True] Translation: X:570.51, Y:-74.17, Z:-37.44 [[ 9.95748315e-01 6.87462554e-02 6.13126888e-02 5.70514007e+02] [-6.83700040e-02 9.97626202e-01 -8.21607081e-03 -7.41672506e+01] [-6.17319690e-02 3.98918989e-03 9.98084791e-01 -3.74421768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.700714057 meters 0.04098849557987503 Centerline is valid? [True, True] Translation: X:570.57, Y:-74.18, Z:-37.45 [[ 9.96161000e-01 6.36254116e-02 6.01254532e-02 5.70572127e+02] [-6.32543289e-02 9.97964916e-01 -8.05703918e-03 -7.41844103e+01] [-6.05157253e-02 4.22291302e-03 9.98158311e-01 -3.74471331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.760714057 meters 0.042081514307481485 Centerline is valid? [True, True] Translation: X:570.63, Y:-74.20, Z:-37.45 [[ 9.96451809e-01 5.93198403e-02 5.97071972e-02 5.70631404e+02] [-5.89462859e-02 9.98229100e-01 -8.00000051e-03 -7.41993263e+01] [-6.00760205e-02 4.45209746e-03 9.98183876e-01 -3.74516761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.820714057 meters 0.04253528927782135 Centerline is valid? [True, True] Translation: X:570.69, Y:-74.21, Z:-37.45 [[ 9.96455943e-01 5.82374282e-02 6.06956063e-02 5.70692147e+02] [-5.78494267e-02 9.98292200e-01 -8.13181230e-03 -7.42100453e+01] [-6.10655262e-02 4.59178666e-03 9.98123197e-01 -3.74547442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.880714057 meters 0.04500123845212418 Centerline is valid? [True, True] Translation: X:570.75, Y:-74.22, Z:-37.46 [[ 9.96453764e-01 5.72046359e-02 6.17051511e-02 5.70752410e+02] [-5.68007003e-02 9.98351185e-01 -8.28203904e-03 -7.42221355e+01] [-6.20771818e-02 4.74777318e-03 9.98060059e-01 -3.74573435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.940714057 meters 0.048357917778842456 Centerline is valid? [True, True] Translation: X:570.81, Y:-74.24, Z:-37.46 [[ 9.96569245e-01 5.54216736e-02 6.14668932e-02 5.70810940e+02] [-5.50165733e-02 9.98451235e-01 -8.26483254e-03 -7.42351733e+01] [-6.18297463e-02 4.85478009e-03 9.98074904e-01 -3.74618262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.000714057 meters 0.04499568525733931 Centerline is valid? [True, True] Translation: X:570.87, Y:-74.24, Z:-37.47 [[ 9.96817748e-01 5.15946478e-02 6.07648731e-02 5.70871920e+02] [-5.11913747e-02 9.98655396e-01 -8.17581821e-03 -7.42360014e+01] [-6.11049968e-02 5.03916330e-03 9.98118623e-01 -3.74656191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.060714057 meters 0.04626203129071763 Centerline is valid? [True, True] Translation: X:570.93, Y:-74.24, Z:-37.47 [[ 9.97134042e-01 4.62415483e-02 5.98783942e-02 5.70931497e+02] [-4.58403913e-02 9.98916287e-01 -8.05668079e-03 -7.42445346e+01] [-6.01860566e-02 5.28874166e-03 9.98173165e-01 -3.74700009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.120714057 meters 0.04817127695474742 Centerline is valid? [True, True] Translation: X:570.99, Y:-74.25, Z:-37.47 [[ 9.97339322e-01 4.28214034e-02 5.89966536e-02 5.70991403e+02] [-4.24260682e-02 9.99068075e-01 -7.93792438e-03 -7.42536227e+01] [-5.92815862e-02 5.41380806e-03 9.98226620e-01 -3.74736722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.180714057 meters 0.052862410251758106 Centerline is valid? [True, True] Translation: X:571.05, Y:-74.27, Z:-37.48 [[ 9.97631022e-01 3.76557749e-02 5.75707115e-02 5.71049776e+02] [-3.72708270e-02 9.99275179e-01 -7.74609217e-03 -7.42662352e+01] [-5.78206682e-02 5.58203382e-03 9.98311380e-01 -3.74796333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.240714057 meters 0.0942473705822665 Centerline is valid? [True, True] Translation: X:571.10, Y:-74.33, Z:-37.49 [[ 9.97419377e-01 4.12177829e-02 5.87850415e-02 5.71101569e+02] [-4.08224192e-02 9.99135097e-01 -7.91122273e-03 -7.43287447e+01] [-5.90602812e-02 5.49105923e-03 9.98239316e-01 -3.74862899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.300714057 meters 0.04916890909039498 Centerline is valid? [True, True] Translation: X:571.17, Y:-74.27, Z:-37.49 [[ 9.97518090e-01 4.03804392e-02 5.76808543e-02 5.71172682e+02] [-3.99984556e-02 9.99169592e-01 -7.76208930e-03 -7.42702611e+01] [-5.79463922e-02 5.43567940e-03 9.98304898e-01 -3.74861623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.360714057 meters 0.048390073231391724 Centerline is valid? [True, True] Translation: X:571.23, Y:-74.27, Z:-37.49 [[ 9.97229431e-01 4.65062542e-02 5.80571305e-02 5.71233261e+02] [-4.61292675e-02 9.98904889e-01 -7.81749869e-03 -7.42725334e+01] [-5.83571141e-02 5.11770687e-03 9.98282654e-01 -3.74898455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.420714057 meters 0.04534744073233322 Centerline is valid? [True, True] Translation: X:571.29, Y:-74.27, Z:-37.49 [[ 9.96595086e-01 5.66772129e-02 5.98826191e-02 5.71294753e+02] [-5.62942960e-02 9.98381656e-01 -8.06362381e-03 -7.42711798e+01] [-6.02427321e-02 4.66511798e-03 9.98172856e-01 -3.74929756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.480714057 meters 0.038215129613792115 Centerline is valid? [True, True] Translation: X:571.36, Y:-74.26, Z:-37.50 [[ 9.95775326e-01 6.86276801e-02 6.10060846e-02 5.71357159e+02] [-6.82524887e-02 9.97634255e-01 -8.21525140e-03 -7.42639511e+01] [-6.14255534e-02 4.01672754e-03 9.98103585e-01 -3.74955616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5407140570001 meters 0.03643411445789484 Centerline is valid? [True, True] Translation: X:571.42, Y:-74.26, Z:-37.50 [[ 9.94879628e-01 8.10125321e-02 6.04276007e-02 5.71416630e+02] [-8.06671418e-02 9.96707877e-01 -8.13755287e-03 -7.42632250e+01] [-6.08879094e-02 3.22136374e-03 9.98139412e-01 -3.74994276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.600714057 meters 0.03199050569588276 Centerline is valid? [True, True] Translation: X:571.48, Y:-74.26, Z:-37.50 [[ 9.93857949e-01 9.18469927e-02 6.17293080e-02 5.71478221e+02] [-9.15074840e-02 9.95769709e-01 -8.31068408e-03 -7.42612815e+01] [-6.22314863e-02 2.61094577e-03 9.98058328e-01 -3.75026318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6607140570001 meters 0.03183009044710028 Centerline is valid? [True, True] Translation: X:571.54, Y:-74.27, Z:-37.51 [[ 9.93296693e-01 9.80002626e-02 6.12995029e-02 5.71536641e+02] [-9.76771793e-02 9.95183936e-01 -8.25239817e-03 -7.42689760e+01] [-6.18130177e-02 2.20951728e-03 9.98085301e-01 -3.75078827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.720714057 meters 0.029893327576070272 Centerline is valid? [True, True] Translation: X:571.59, Y:-74.27, Z:-37.51 [[ 9.92999750e-01 1.01079875e-01 6.11093664e-02 5.71594877e+02] [-1.00764690e-01 9.94876283e-01 -8.22555405e-03 -7.42734957e+01] [-6.16276973e-02 2.01030678e-03 9.98097182e-01 -3.75131450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.780714057 meters 0.03199812371092601 Centerline is valid? [True, True] Translation: X:571.65, Y:-74.29, Z:-37.52 [[ 9.92995295e-01 1.01241731e-01 6.09135127e-02 5.71650758e+02] [-1.00929141e-01 9.94859867e-01 -8.19478322e-03 -7.42896725e+01] [-6.14300631e-02 1.98943268e-03 9.98109408e-01 -3.75179623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.840714057 meters 0.0302692310997532 Centerline is valid? [True, True] Translation: X:571.71, Y:-74.30, Z:-37.52 [[ 9.93120535e-01 1.00603717e-01 5.99207329e-02 5.71708364e+02] [-1.00300414e-01 9.94924585e-01 -8.05582705e-03 -7.43000293e+01] [-6.04270565e-02 1.99033296e-03 9.98170631e-01 -3.75214719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.900714057 meters 0.03075737469674096 Centerline is valid? [True, True] Translation: X:571.76, Y:-74.31, Z:-37.52 [[ 9.92941628e-01 1.01694265e-01 6.10344224e-02 5.71764836e+02] [-1.01381889e-01 9.94813778e-01 -8.20124380e-03 -7.43148701e+01] [-6.15519038e-02 1.95557132e-03 9.98101968e-01 -3.75248954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.960714057 meters 0.030376840289994773 Centerline is valid? [True, True] Translation: X:571.82, Y:-74.33, Z:-37.53 [[ 9.92681244e-01 1.04361918e-01 6.07662563e-02 5.71821331e+02] [-1.04057758e-01 9.94537803e-01 -8.15729274e-03 -7.43293439e+01] [-6.12856497e-02 1.77439110e-03 9.98118691e-01 -3.75291922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.020714057 meters 0.030921448348558152 Centerline is valid? [True, True] Translation: X:571.88, Y:-74.35, Z:-37.53 [[ 9.92644658e-01 1.05167622e-01 5.99696178e-02 5.71876828e+02] [-1.04873174e-01 9.94453062e-01 -8.04520540e-03 -7.43459312e+01] [-6.04830652e-02 1.69682602e-03 9.98167781e-01 -3.75346239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.080714057 meters 0.03175499063943703 Centerline is valid? [True, True] Translation: X:571.93, Y:-74.37, Z:-37.54 [[ 9.92827396e-01 1.03073259e-01 6.05777676e-02 5.71932182e+02] [-1.02769230e-01 9.94672069e-01 -8.12155262e-03 -7.43662632e+01] [-6.10921284e-02 1.83776941e-03 9.98130440e-01 -3.75384007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.140714057 meters 0.0336656915185452 Centerline is valid? [True, True] Translation: X:571.99, Y:-74.39, Z:-37.54 [[ 9.93392663e-01 9.74261969e-02 6.06560321e-02 5.71989452e+02] [-9.71111953e-02 9.95240359e-01 -8.12671645e-03 -7.43878236e+01] [-6.11590862e-02 2.18264072e-03 9.98125645e-01 -3.75418175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.200714057 meters 0.03311388963110291 Centerline is valid? [True, True] Translation: X:572.05, Y:-74.40, Z:-37.54 [[ 9.94117770e-01 8.85827581e-02 6.23133591e-02 5.72048438e+02] [-8.82330091e-02 9.96064884e-01 -8.34768743e-03 -7.44048967e+01] [-6.28076099e-02 2.80048923e-03 9.98021724e-01 -3.75434037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.260714057 meters 0.03885102105731727 Centerline is valid? [True, True] Translation: X:572.10, Y:-74.43, Z:-37.55 [[ 9.94937419e-01 7.69567125e-02 6.46312353e-02 5.72104552e+02] [-7.65559849e-02 9.97027695e-01 -8.65772779e-03 -7.44331522e+01] [-6.51054019e-02 3.66598947e-03 9.97871659e-01 -3.75470525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.320714057 meters 0.04169590254774013 Centerline is valid? [True, True] Translation: X:572.16, Y:-74.45, Z:-37.55 [[ 9.95724642e-01 6.59665206e-02 6.46595356e-02 5.72162937e+02] [-6.55423667e-02 9.97812195e-01 -8.66150806e-03 -7.44516209e+01] [-6.50894427e-02 4.38653802e-03 9.97869793e-01 -3.75515223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.380714057 meters 0.04369409179334876 Centerline is valid? [True, True] Translation: X:572.22, Y:-74.47, Z:-37.56 [[ 9.96290436e-01 5.78128139e-02 6.37420272e-02 5.72222165e+02] [-5.73840585e-02 9.98315665e-01 -8.53830915e-03 -7.44667328e+01] [-6.41282880e-02 4.84885952e-03 9.97929883e-01 -3.75563456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.440714057 meters 0.04593331871345397 Centerline is valid? [True, True] Translation: X:572.28, Y:-74.48, Z:-37.56 [[ 9.96533419e-01 5.49590600e-02 6.24551622e-02 5.72281966e+02] [-5.45418903e-02 9.98476434e-01 -8.36616018e-03 -7.44797144e+01] [-6.28198040e-02 4.93073560e-03 9.98012705e-01 -3.75616439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.500714057 meters 0.04567900949414658 Centerline is valid? [True, True] Translation: X:572.34, Y:-74.49, Z:-37.57 [[ 9.96525995e-01 5.54506366e-02 6.21382930e-02 5.72343670e+02] [-5.50386062e-02 9.98449527e-01 -8.32433755e-03 -7.44865638e+01] [-6.25035390e-02 4.87541373e-03 9.98032834e-01 -3.75655165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.560714057 meters 0.04434880218556487 Centerline is valid? [True, True] Translation: X:572.40, Y:-74.49, Z:-37.57 [[ 9.96285879e-01 5.91595995e-02 6.25666763e-02 5.72404378e+02] [-5.87480928e-02 9.98237514e-01 -8.39802117e-03 -7.44890835e+01] [-6.29532270e-02 4.69115700e-03 9.98005453e-01 -3.75699662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.620714057 meters 0.04105273255450848 Centerline is valid? [True, True] Translation: X:572.47, Y:-74.49, Z:-37.57 [[ 9.96127985e-01 6.14704173e-02 6.28524125e-02 5.72466287e+02] [-6.10597041e-02 9.98098462e-01 -8.43641412e-03 -7.44892742e+01] [-6.32514862e-02 4.56599848e-03 9.97987175e-01 -3.75740712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.680714057 meters 0.044370860115476654 Centerline is valid? [True, True] Translation: X:572.53, Y:-74.50, Z:-37.58 [[ 9.95983819e-01 6.39506780e-02 6.26621394e-02 5.72525853e+02] [-6.35471088e-02 9.97943367e-01 -8.41437697e-03 -7.44965608e+01] [-6.30713714e-02 4.39858552e-03 9.97999326e-01 -3.75774885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.740714057 meters 0.041635747939381365 Centerline is valid? [True, True] Translation: X:572.59, Y:-74.50, Z:-37.58 [[ 9.95839480e-01 6.55516296e-02 6.32986061e-02 5.72587848e+02] [-6.51430233e-02 9.97839736e-01 -8.49981325e-03 -7.44953562e+01] [-6.37190410e-02 4.34098703e-03 9.97958436e-01 -3.75809542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.800714057 meters 0.04085980714567172 Centerline is valid? [True, True] Translation: X:572.65, Y:-74.50, Z:-37.58 [[ 9.95802232e-01 6.57285983e-02 6.36998159e-02 5.72651571e+02] [-6.53150040e-02 9.97828015e-01 -8.55591169e-03 -7.44979010e+01] [-6.41238289e-02 4.35944223e-03 9.97932428e-01 -3.75843318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.860714057 meters 0.04210662652068564 Centerline is valid? [True, True] Translation: X:572.71, Y:-74.50, Z:-37.59 [[ 9.95785772e-01 6.67059378e-02 6.29365835e-02 5.72712776e+02] [-6.63029989e-02 9.97763572e-01 -8.47157225e-03 -7.45022106e+01] [-6.33609345e-02 4.26298689e-03 9.97981572e-01 -3.75890484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.920714057 meters 0.04025671663975802 Centerline is valid? [True, True] Translation: X:572.77, Y:-74.50, Z:-37.59 [[ 9.95627091e-01 7.04800428e-02 6.13128049e-02 5.72773369e+02] [-7.01038766e-02 9.97505436e-01 -8.26755683e-03 -7.45019384e+01] [-6.17425539e-02 3.93313825e-03 9.98084359e-01 -3.75945683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.980714057 meters 0.03671848365697929 Centerline is valid? [True, True] Translation: X:572.84, Y:-74.50, Z:-37.60 [[ 9.95093293e-01 7.62106175e-02 6.30973814e-02 5.72835061e+02] [-7.58236939e-02 9.97084945e-01 -8.50764517e-03 -7.44979737e+01] [-6.35618219e-02 3.68162412e-03 9.97971112e-01 -3.75969071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0407140570001 meters 0.03588311811611716 Centerline is valid? [True, True] Translation: X:572.89, Y:-74.50, Z:-37.60 [[ 9.94832548e-01 7.86454831e-02 6.42112922e-02 5.72894475e+02] [-7.82498080e-02 9.96896188e-01 -8.65776750e-03 -7.45032784e+01] [-6.46928868e-02 3.58850761e-03 9.97898769e-01 -3.76006419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.100714057 meters 0.034959555102454985 Centerline is valid? [True, True] Translation: X:572.95, Y:-74.51, Z:-37.60 [[ 9.94407241e-01 8.42250799e-02 6.37210683e-02 5.72954163e+02] [-8.38469891e-02 9.96441622e-01 -8.58934281e-03 -7.45060762e+01] [-6.42177627e-02 3.19848497e-03 9.97930784e-01 -3.76049163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1607140570001 meters 0.03467605568335073 Centerline is valid? [True, True] Translation: X:573.01, Y:-74.51, Z:-37.61 [[ 9.94116611e-01 8.75632982e-02 6.37560473e-02 5.73013427e+02] [-8.71917187e-02 9.96154491e-01 -8.59270436e-03 -7.45100859e+01] [-6.42632783e-02 2.98315079e-03 9.97928520e-01 -3.76083341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.220714057 meters 0.03239158392729701 Centerline is valid? [True, True] Translation: X:573.07, Y:-74.51, Z:-37.61 [[ 9.93813852e-01 9.05845670e-02 6.42531198e-02 5.73072831e+02] [-9.02136038e-02 9.95884810e-01 -8.65740468e-03 -7.45137576e+01] [-6.47729333e-02 2.80734320e-03 9.97896080e-01 -3.76129657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.280714057 meters 0.030376359031336078 Centerline is valid? [True, True] Translation: X:573.13, Y:-74.52, Z:-37.62 [[ 9.93289466e-01 9.70536660e-02 6.29016896e-02 5.73133491e+02] [-9.67112405e-02 9.95276416e-01 -8.47303862e-03 -7.45174416e+01] [-6.34269076e-02 2.33287958e-03 9.97983760e-01 -3.76186634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.340714057 meters 0.029341017565160336 Centerline is valid? [True, True] Translation: X:573.19, Y:-74.52, Z:-37.62 [[ 9.92525107e-01 1.04672671e-01 6.27498470e-02 5.73193927e+02] [-1.04347117e-01 9.94505024e-01 -8.45203064e-03 -7.45229615e+01] [-6.32897347e-02 1.84108700e-03 9.97993497e-01 -3.76239385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.400714057 meters 0.03041501089751843 Centerline is valid? [True, True] Translation: X:573.25, Y:-74.54, Z:-37.63 [[ 9.92364574e-01 1.06066692e-01 6.29476770e-02 5.73249761e+02] [-1.05741912e-01 9.94357465e-01 -8.47814772e-03 -7.45378181e+01] [-6.34917417e-02 1.75720572e-03 9.97980817e-01 -3.76288331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.460714057 meters 0.030045747902238962 Centerline is valid? [True, True] Translation: X:573.31, Y:-74.55, Z:-37.63 [[ 9.92843333e-01 1.00356290e-01 6.47358497e-02 5.73309059e+02] [-1.00001034e-01 9.94949182e-01 -8.71309326e-03 -7.45508013e+01] [-6.52832944e-02 2.17708468e-03 9.97864396e-01 -3.76316210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.520714057 meters 0.03213904878201644 Centerline is valid? [True, True] Translation: X:573.37, Y:-74.57, Z:-37.63 [[ 9.93717074e-01 9.07376080e-02 6.55214682e-02 5.73366772e+02] [-9.03527906e-02 9.95870776e-01 -8.81880918e-03 -7.45711952e+01] [-6.60511130e-02 2.84335376e-03 9.97812190e-01 -3.76343772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.580714057 meters 0.035616942899947664 Centerline is valid? [True, True] Translation: X:573.42, Y:-74.59, Z:-37.64 [[ 9.94762356e-01 7.96374251e-02 6.40760111e-02 5.73424287e+02] [-7.92465244e-02 9.96817751e-01 -8.62319095e-03 -7.45936406e+01] [-6.45588340e-02 3.50022457e-03 9.97907764e-01 -3.76398466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.640714057 meters 0.038143378307575575 Centerline is valid? [True, True] Translation: X:573.48, Y:-74.61, Z:-37.64 [[ 9.95436503e-01 7.32270315e-02 6.11879922e-02 5.73483786e+02] [-7.28585784e-02 9.97308290e-01 -8.23424792e-03 -7.46110523e+01] [-6.16262614e-02 3.73860083e-03 9.98092294e-01 -3.76448524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.700714057 meters 0.03808956480877176 Centerline is valid? [True, True] Translation: X:573.54, Y:-74.62, Z:-37.65 [[ 9.95411374e-01 7.40581892e-02 6.05935780e-02 5.73544113e+02] [-7.36983010e-02 9.97247232e-01 -8.15593239e-03 -7.46220168e+01] [-6.10307915e-02 3.65286411e-03 9.98129200e-01 -3.76490152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.760714057 meters 0.03474819140124101 Centerline is valid? [True, True] Translation: X:573.61, Y:-74.62, Z:-37.65 [[ 9.94703940e-01 8.21062135e-02 6.18275114e-02 5.73605297e+02] [-8.17468237e-02 9.96618363e-01 -8.32432874e-03 -7.46231977e+01] [-6.23019123e-02 3.22603992e-03 9.98052135e-01 -3.76514921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.820714057 meters 0.03510966409923347 Centerline is valid? [True, True] Translation: X:573.66, Y:-74.63, Z:-37.66 [[ 9.94059525e-01 8.95451113e-02 6.18654420e-02 5.73663894e+02] [-8.91995612e-02 9.95978936e-01 -8.33051845e-03 -7.46293697e+01] [-6.23626343e-02 2.76266094e-03 9.98049733e-01 -3.76555177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.880714057 meters 0.03083403103820829 Centerline is valid? [True, True] Translation: X:573.73, Y:-74.63, Z:-37.66 [[ 9.93233217e-01 9.74766572e-02 6.31353943e-02 5.73725138e+02] [-9.71329117e-02 9.95235134e-01 -8.49855443e-03 -7.46263999e+01] [-6.36629733e-02 2.30852187e-03 9.97968785e-01 -3.76581648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.940714057 meters 0.030810786861742996 Centerline is valid? [True, True] Translation: X:573.78, Y:-74.64, Z:-37.66 [[ 9.92979403e-01 9.89739684e-02 6.47769875e-02 5.73783437e+02] [-9.86152703e-02 9.95087433e-01 -8.71945298e-03 -7.46360738e+01] [-6.53217651e-02 2.27023708e-03 9.97861670e-01 -3.76601486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.000714057 meters 0.03198047131754933 Centerline is valid? [True, True] Translation: X:573.84, Y:-74.65, Z:-37.66 [[ 9.93223970e-01 9.62990421e-02 6.50587441e-02 5.73840956e+02] [-9.59317905e-02 9.95349427e-01 -8.75274457e-03 -7.46499720e+01] [-6.55990646e-02 2.45223390e-03 9.97843048e-01 -3.76641472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.060714057 meters 0.03203668484149679 Centerline is valid? [True, True] Translation: X:573.90, Y:-74.66, Z:-37.67 [[ 9.93941698e-01 8.99258683e-02 6.31920757e-02 5.73900072e+02] [-8.95667739e-02 9.95944562e-01 -8.49834795e-03 -7.46625009e+01] [-6.37000255e-02 2.78695205e-03 9.97965200e-01 -3.76702743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.120714057 meters 0.03483380696123282 Centerline is valid? [True, True] Translation: X:573.96, Y:-74.68, Z:-37.68 [[ 9.94590478e-01 8.34576508e-02 6.18433672e-02 5.73957462e+02] [-8.31013103e-02 9.96506403e-01 -8.31635498e-03 -7.46811629e+01] [-6.23213749e-02 3.13210262e-03 9.98051219e-01 -3.76759702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.180714057 meters 0.034492761725499 Centerline is valid? [True, True] Translation: X:574.02, Y:-74.69, Z:-37.68 [[ 9.94713646e-01 8.16644028e-02 6.22550308e-02 5.74016780e+02] [-8.12998719e-02 9.96654537e-01 -8.37049793e-03 -7.46916772e+01] [-6.27303306e-02 3.26492249e-03 9.98025173e-01 -3.76785938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.240714057 meters 0.03533765470503556 Centerline is valid? [True, True] Translation: X:574.08, Y:-74.70, Z:-37.68 [[ 9.94640387e-01 8.19000177e-02 6.31101274e-02 5.74076615e+02] [-8.15258618e-02 9.96635104e-01 -8.48545185e-03 -7.47041187e+01] [-6.35927271e-02 3.29486558e-03 9.97970495e-01 -3.76814315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.300714057 meters 0.036185052737774386 Centerline is valid? [True, True] Translation: X:574.14, Y:-74.72, Z:-37.68 [[ 9.94551830e-01 8.21495810e-02 6.41724483e-02 5.74135567e+02] [-8.17631434e-02 9.96614429e-01 -8.62946477e-03 -7.47164139e+01] [-6.46640949e-02 3.33550889e-03 9.97901513e-01 -3.76849753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.360714057 meters 0.03583733818850232 Centerline is valid? [True, True] Translation: X:574.19, Y:-74.73, Z:-37.69 [[ 9.94843086e-01 7.81059904e-02 6.47046211e-02 5.74194667e+02] [-7.77045090e-02 9.96938454e-01 -8.70218916e-03 -7.47300525e+01] [-6.51862180e-02 3.62947192e-03 9.97866516e-01 -3.76890439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.420714057 meters 0.036444250688319926 Centerline is valid? [True, True] Translation: X:574.25, Y:-74.74, Z:-37.69 [[ 9.95056571e-01 7.51637543e-02 6.49063289e-02 5.74254506e+02] [-7.47534500e-02 9.97163828e-01 -8.73051048e-03 -7.47423984e+01] [-6.53784614e-02 3.83537981e-03 9.97853169e-01 -3.76927939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.480714057 meters 0.04046565440494362 Centerline is valid? [True, True] Translation: X:574.31, Y:-74.76, Z:-37.70 [[ 9.95447924e-01 7.12694848e-02 6.32778870e-02 5.74312412e+02] [-7.08716368e-02 9.97449120e-01 -8.51262968e-03 -7.47595170e+01] [-6.37231634e-02 3.98927212e-03 9.97959641e-01 -3.76976195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5407140570001 meters 0.038231550489735144 Centerline is valid? [True, True] Translation: X:574.37, Y:-74.77, Z:-37.70 [[ 9.95429694e-01 7.21694781e-02 6.25403198e-02 5.74374535e+02] [-7.17827089e-02 9.97384819e-01 -8.41220422e-03 -7.47650410e+01] [-6.29838699e-02 3.88444431e-03 9.98006986e-01 -3.77014618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.600714057 meters 0.03655417961338592 Centerline is valid? [True, True] Translation: X:574.44, Y:-74.77, Z:-37.70 [[ 9.94822459e-01 7.91734036e-02 6.37169298e-02 5.74435520e+02] [-7.87851419e-02 9.96854635e-01 -8.58713211e-03 -7.47682271e+01] [-6.41963892e-02 3.52272453e-03 9.97931067e-01 -3.77035877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6607140570001 meters 0.03484374983959952 Centerline is valid? [True, True] Translation: X:574.50, Y:-74.77, Z:-37.71 [[ 9.94054712e-01 8.74834712e-02 6.48218501e-02 5.74495549e+02] [-8.70991445e-02 9.96161336e-01 -8.73681544e-03 -7.47715246e+01] [-6.53373477e-02 3.03894487e-03 9.97858605e-01 -3.77070884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.720714057 meters 0.03275103801346152 Centerline is valid? [True, True] Translation: X:574.56, Y:-74.77, Z:-37.71 [[ 9.93227515e-01 9.51388927e-02 6.66910432e-02 5.74555556e+02] [-9.47492452e-02 9.95460589e-01 -8.98862684e-03 -7.47745608e+01] [-6.72434731e-02 2.60882550e-03 9.97733185e-01 -3.77096277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.780714057 meters 0.03112043612151865 Centerline is valid? [True, True] Translation: X:574.61, Y:-74.78, Z:-37.72 [[ 9.93320919e-01 9.54327984e-02 6.48546998e-02 5.74614740e+02] [-9.50649847e-02 9.95432692e-01 -8.74091479e-03 -7.47811269e+01] [-6.53926584e-02 2.51712247e-03 9.97856435e-01 -3.77153636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.840714057 meters 0.03357987258531512 Centerline is valid? [True, True] Translation: X:574.67, Y:-74.80, Z:-37.72 [[ 9.94159231e-01 8.72063082e-02 6.35805248e-02 5.74673157e+02] [-8.68361835e-02 9.96185768e-01 -8.56692621e-03 -7.47969403e+01] [-6.40851040e-02 2.99579865e-03 9.97939940e-01 -3.77211441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.900714057 meters 0.03495103960082923 Centerline is valid? [True, True] Translation: X:574.73, Y:-74.81, Z:-37.72 [[ 9.94737224e-01 7.95131376e-02 6.46182333e-02 5.74732881e+02] [-7.91146261e-02 9.96827501e-01 -8.70681079e-03 -7.48095298e+01] [-6.51055379e-02 3.54874143e-03 9.97872074e-01 -3.77226567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.960714057 meters 0.036803419072840106 Centerline is valid? [True, True] Translation: X:574.79, Y:-74.82, Z:-37.73 [[ 9.94767506e-01 7.79747093e-02 6.60117770e-02 5.74792524e+02] [-7.75553545e-02 9.96948362e-01 -8.89556659e-03 -7.48215776e+01] [-6.65039621e-02 3.72945382e-03 9.97779191e-01 -3.77250196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.020714057 meters 0.03831439739372253 Centerline is valid? [True, True] Translation: X:574.85, Y:-74.83, Z:-37.73 [[ 9.94953092e-01 7.46175093e-02 6.70863029e-02 5.74852793e+02] [-7.41761970e-02 9.97204097e-01 -9.04878430e-03 -7.48341439e+01] [-6.75739339e-02 4.02690910e-03 9.97706143e-01 -3.77281769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.080714057 meters 0.048484462394249 Centerline is valid? [True, True] Translation: X:574.91, Y:-74.86, Z:-37.73 [[ 9.94884635e-01 7.64476747e-02 6.60326944e-02 5.74910099e+02] [-7.60239988e-02 9.97066187e-01 -8.90896951e-03 -7.48580220e+01] [-6.65200369e-02 3.84332740e-03 9.97777687e-01 -3.77321293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.140714057 meters 0.03741653544184176 Centerline is valid? [True, True] Translation: X:574.97, Y:-74.85, Z:-37.74 [[ 9.95182185e-01 7.32298239e-02 6.51905813e-02 5.74973078e+02] [-7.28099531e-02 9.97307040e-01 -8.79652765e-03 -7.48482558e+01] [-6.56591939e-02 4.00762444e-03 9.97834059e-01 -3.77377572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.200714057 meters 0.03764277439191825 Centerline is valid? [True, True] Translation: X:575.03, Y:-74.86, Z:-37.74 [[ 9.95313534e-01 7.14871570e-02 6.51195520e-02 5.75034121e+02] [-7.10643196e-02 9.97433009e-01 -8.78954178e-03 -7.48584263e+01] [-6.55807300e-02 4.12067323e-03 9.97838759e-01 -3.77418698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.260714057 meters 0.03905444151715069 Centerline is valid? [True, True] Translation: X:575.09, Y:-74.87, Z:-37.75 [[ 9.95566990e-01 6.85130081e-02 6.44386274e-02 5.75094031e+02] [-6.80917921e-02 9.97641014e-01 -8.71288670e-03 -7.48693769e+01] [-6.48835637e-02 4.28652076e-03 9.97883635e-01 -3.77463870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.320714057 meters 0.041187112483506746 Centerline is valid? [True, True] Translation: X:575.15, Y:-74.88, Z:-37.75 [[ 9.95892162e-01 6.48868582e-02 6.31545472e-02 5.75153947e+02] [-6.44749663e-02 9.97882779e-01 -8.54039593e-03 -7.48808810e+01] [-6.35749946e-02 4.43342607e-03 9.97967216e-01 -3.77519109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.380714057 meters 0.04346544960931978 Centerline is valid? [True, True] Translation: X:575.21, Y:-74.89, Z:-37.76 [[ 9.96201034e-01 6.07599764e-02 6.23837002e-02 5.75213756e+02] [-6.03499610e-02 9.98141618e-01 -8.43758302e-03 -7.48905882e+01] [-6.27804348e-02 4.64067505e-03 9.98016574e-01 -3.77554842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.440714057 meters 0.043668038624220855 Centerline is valid? [True, True] Translation: X:575.27, Y:-74.90, Z:-37.76 [[ 9.96377335e-01 5.72883253e-02 6.28510541e-02 5.75273958e+02] [-5.68652587e-02 9.98345669e-01 -8.50099700e-03 -7.48977410e+01] [-6.32340855e-02 4.89615928e-03 9.97986712e-01 -3.77586839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.500714057 meters 0.044775232704165176 Centerline is valid? [True, True] Translation: X:575.33, Y:-74.91, Z:-37.76 [[ 9.96502633e-01 5.53621186e-02 6.25902491e-02 5.75334370e+02] [-5.49387754e-02 9.98453834e-01 -8.46593998e-03 -7.49058991e+01] [-6.29621666e-02 4.99769984e-03 9.98003401e-01 -3.77616813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.560714057 meters 0.04622793620325239 Centerline is valid? [True, True] Translation: X:575.40, Y:-74.91, Z:-37.77 [[ 9.96571354e-01 5.43774968e-02 6.23588310e-02 5.75395889e+02] [-5.39553228e-02 9.98507720e-01 -8.43539318e-03 -7.49116139e+01] [-6.27244698e-02 5.04188035e-03 9.98018146e-01 -3.77655808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.620714057 meters 0.05096657468027804 Centerline is valid? [True, True] Translation: X:575.46, Y:-74.92, Z:-37.77 [[ 9.96388190e-01 5.59900011e-02 6.38411627e-02 5.75455613e+02] [-5.55497745e-02 9.98418438e-01 -8.65131676e-03 -7.49233764e+01] [-6.42245812e-02 5.07370766e-03 9.97922573e-01 -3.77684235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.680714057 meters 0.04344669410720966 Centerline is valid? [True, True] Translation: X:575.52, Y:-74.91, Z:-37.77 [[ 9.96031333e-01 6.08373661e-02 6.49645939e-02 5.75518071e+02] [-6.03915628e-02 9.98135920e-01 -8.80589697e-03 -7.49147379e+01] [-6.53792223e-02 4.84763594e-03 9.97848715e-01 -3.77718607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.740714057 meters 0.04031924382130715 Centerline is valid? [True, True] Translation: X:575.58, Y:-74.91, Z:-37.78 [[ 9.95760878e-01 6.63053601e-02 6.37485143e-02 5.75579311e+02] [-6.58872233e-02 9.97789656e-01 -8.64150567e-03 -7.49115861e+01] [-6.41805864e-02 4.40466067e-03 9.97928580e-01 -3.77765307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.800714057 meters 0.04008751312657991 Centerline is valid? [True, True] Translation: X:575.64, Y:-74.91, Z:-37.78 [[ 9.95585002e-01 7.02125940e-02 6.22952212e-02 5.75638888e+02] [-6.98209447e-02 9.97523798e-01 -8.44443507e-03 -7.49119873e+01] [-6.27338713e-02 4.05764172e-03 9.98022042e-01 -3.77810215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.860714057 meters 0.038948685206921047 Centerline is valid? [True, True] Translation: X:575.70, Y:-74.91, Z:-37.79 [[ 9.95451693e-01 7.26262092e-02 6.16551730e-02 5.75701218e+02] [-7.22472453e-02 9.97351744e-01 -8.35669985e-03 -7.49112523e+01] [-6.20988098e-02 3.86427460e-03 9.98062526e-01 -3.77856310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.920714057 meters 0.03669566112467065 Centerline is valid? [True, True] Translation: X:575.76, Y:-74.91, Z:-37.79 [[ 9.94995477e-01 7.80639853e-02 6.23699838e-02 5.75762850e+02] [-7.76865788e-02 9.96941961e-01 -8.45708164e-03 -7.49087993e+01] [-6.28394475e-02 3.56944731e-03 9.98017266e-01 -3.77904269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.980714057 meters 0.033604726175034814 Centerline is valid? [True, True] Translation: X:575.82, Y:-74.91, Z:-37.79 [[ 9.94255531e-01 8.67138342e-02 6.27427325e-02 5.75824413e+02] [-8.63490086e-02 9.96228619e-01 -8.50813889e-03 -7.49053617e+01] [-6.32438791e-02 3.04149140e-03 9.97993467e-01 -3.77932226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0407140570001 meters 0.031263015881032016 Centerline is valid? [True, True] Translation: X:575.88, Y:-74.90, Z:-37.80 [[ 9.93412031e-01 9.49676057e-02 6.41380628e-02 5.75884737e+02] [-9.46034392e-02 9.95477038e-01 -8.69805074e-03 -7.49038070e+01] [-6.46740018e-02 2.57306692e-03 9.97903128e-01 -3.77961524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.100714057 meters 0.030879200385010696 Centerline is valid? [True, True] Translation: X:575.94, Y:-74.91, Z:-37.80 [[ 9.92961281e-01 9.82327509e-02 6.61681314e-02 5.75943866e+02] [-9.78525065e-02 9.95160493e-01 -8.97112545e-03 -7.49105659e+01] [-6.67291685e-02 2.43326271e-03 9.97768158e-01 -3.77993539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1607140570001 meters 0.032141479115987935 Centerline is valid? [True, True] Translation: X:576.00, Y:-74.92, Z:-37.80 [[ 9.92910351e-01 9.88323348e-02 6.60394227e-02 5.76000374e+02] [-9.84550627e-02 9.95101240e-01 -8.95113914e-03 -7.49223835e+01] [-6.66005734e-02 2.38576320e-03 9.97776865e-01 -3.78043075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.220714057 meters 0.03159607216637286 Centerline is valid? [True, True] Translation: X:576.06, Y:-74.93, Z:-37.81 [[ 9.93472032e-01 9.57039894e-02 6.20811343e-02 5.76058289e+02] [-9.53649313e-02 9.95406864e-01 -8.40860559e-03 -7.49315112e+01] [-6.26007244e-02 2.43335137e-03 9.98035685e-01 -3.78125643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.280714057 meters 0.03179017930692376 Centerline is valid? [True, True] Translation: X:576.12, Y:-74.94, Z:-37.82 [[ 9.93908577e-01 9.28636644e-02 5.93471131e-02 5.76116221e+02] [-9.25489771e-02 9.95675711e-01 -8.03531778e-03 -7.49423890e+01] [-5.98366681e-02 2.49385666e-03 9.98205066e-01 -3.78193270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.340714057 meters 0.031762965135801395 Centerline is valid? [True, True] Translation: X:576.17, Y:-74.95, Z:-37.82 [[ 9.93755635e-01 9.41611902e-02 5.98615679e-02 5.76173839e+02] [-9.38436315e-02 9.95553994e-01 -8.10054440e-03 -7.49526388e+01] [-6.03581799e-02 2.43233473e-03 9.98173820e-01 -3.78210894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.400714057 meters 0.030476291200618066 Centerline is valid? [True, True] Translation: X:576.23, Y:-74.96, Z:-37.82 [[ 9.93296849e-01 9.77914392e-02 6.16295703e-02 5.76233003e+02] [-9.74620822e-02 9.95204336e-01 -8.33504186e-03 -7.49617884e+01] [-6.21491113e-02 2.27262457e-03 9.98064288e-01 -3.78229874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.460714057 meters 0.030117397652069743 Centerline is valid? [True, True] Translation: X:576.29, Y:-74.97, Z:-37.83 [[ 9.93023700e-01 9.99205259e-02 6.26084686e-02 5.76290863e+02] [-9.95848979e-02 9.94993050e-01 -8.46634670e-03 -7.49734673e+01] [-6.31409530e-02 2.17242496e-03 9.98002255e-01 -3.78258740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.520714057 meters 0.030010322818425313 Centerline is valid? [True, True] Translation: X:576.35, Y:-74.99, Z:-37.83 [[ 9.93126835e-01 9.86465559e-02 6.29916343e-02 5.76348257e+02] [-9.83045405e-02 9.95119961e-01 -8.51350559e-03 -7.49884222e+01] [-6.35240607e-02 2.26262719e-03 9.97977742e-01 -3.78299649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.580714057 meters 0.033341670730588316 Centerline is valid? [True, True] Translation: X:576.40, Y:-75.01, Z:-37.83 [[ 9.93538844e-01 9.44905140e-02 6.28657991e-02 5.76403656e+02] [-9.41418585e-02 9.95522576e-01 -8.49184669e-03 -7.50106717e+01] [-6.33867212e-02 2.51867638e-03 9.97985862e-01 -3.78336690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.640714057 meters 0.032939770698825206 Centerline is valid? [True, True] Translation: X:576.46, Y:-75.02, Z:-37.84 [[ 9.93854130e-01 9.21760309e-02 6.12988360e-02 5.76462094e+02] [-9.18403315e-02 9.95739341e-01 -8.27760496e-03 -7.50234568e+01] [-6.18006593e-02 2.59702646e-03 9.98085134e-01 -3.78380478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.700714057 meters 0.033844429895825194 Centerline is valid? [True, True] Translation: X:576.52, Y:-75.04, Z:-37.84 [[ 9.93958029e-01 9.11693801e-02 6.11193958e-02 5.76519897e+02] [-9.08338805e-02 9.95831875e-01 -8.25122523e-03 -7.50383861e+01] [-6.16169016e-02 2.64965968e-03 9.98096356e-01 -3.78424957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.760714057 meters 0.03306873364414542 Centerline is valid? [True, True] Translation: X:576.58, Y:-75.05, Z:-37.84 [[ 9.93844312e-01 9.05551967e-02 6.38219452e-02 5.76578302e+02] [-9.01882113e-02 9.95887489e-01 -8.61375457e-03 -7.50485249e+01] [-6.43394969e-02 2.80474390e-03 9.97924127e-01 -3.78446511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.820714057 meters 0.03320550814364257 Centerline is valid? [True, True] Translation: X:576.64, Y:-75.06, Z:-37.85 [[ 9.93812155e-01 9.04792144e-02 6.44275767e-02 5.76637109e+02] [-9.01053629e-02 9.95894318e-01 -8.69085282e-03 -7.50597088e+01] [-6.49493991e-02 2.83180499e-03 9.97884541e-01 -3.78475301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.880714057 meters 0.03376162303477565 Centerline is valid? [True, True] Translation: X:576.69, Y:-75.07, Z:-37.85 [[ 9.93744666e-01 9.12990822e-02 6.43118624e-02 5.76694751e+02] [-9.09284354e-02 9.95819662e-01 -8.67294983e-03 -7.50736552e+01] [-6.48348494e-02 2.77092062e-03 9.97892161e-01 -3.78524127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.940714057 meters 0.03209896344250608 Centerline is valid? [True, True] Translation: X:576.75, Y:-75.08, Z:-37.86 [[ 9.93424773e-01 9.50233984e-02 6.38574503e-02 5.76753181e+02] [-9.46657934e-02 9.95471881e-01 -8.60943816e-03 -7.50836801e+01] [-6.43863942e-02 2.50771295e-03 9.97921893e-01 -3.78569168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.000714057 meters 0.030999068029405476 Centerline is valid? [True, True] Translation: X:576.81, Y:-75.09, Z:-37.86 [[ 9.93132765e-01 9.83361541e-02 6.33822633e-02 5.76812324e+02] [-9.79907303e-02 9.95150658e-01 -8.54313891e-03 -7.50914486e+01] [-6.39150004e-02 2.27359690e-03 9.97952756e-01 -3.78617891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.060714057 meters 0.029581906431663273 Centerline is valid? [True, True] Translation: X:576.87, Y:-75.10, Z:-37.87 [[ 9.92154202e-01 1.06428847e-01 6.55967991e-02 5.76869808e+02] [-1.06076625e-01 9.94318671e-01 -8.83916277e-03 -7.51044479e+01] [-6.61648640e-02 1.81152542e-03 9.97807060e-01 -3.78666640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.120714057 meters 0.028331748775623923 Centerline is valid? [True, True] Translation: X:576.93, Y:-75.11, Z:-37.87 [[ 9.91513908e-01 1.11205114e-01 6.73319674e-02 5.76928693e+02] [-1.10845156e-01 9.93796298e-01 -9.07023372e-03 -7.51138997e+01] [-6.79229163e-02 1.52984042e-03 9.97689399e-01 -3.78705809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.180714057 meters 0.027936759439468013 Centerline is valid? [True, True] Translation: X:576.98, Y:-75.13, Z:-37.88 [[ 9.91101789e-01 1.14454427e-01 6.79516539e-02 5.76984769e+02] [-1.14095606e-01 9.93427627e-01 -9.15106658e-03 -7.51285610e+01] [-6.85524304e-02 1.31665331e-03 9.97646646e-01 -3.78763389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.240714057 meters 0.028290868672044587 Centerline is valid? [True, True] Translation: X:577.04, Y:-75.15, Z:-37.88 [[ 9.91064392e-01 1.13732797e-01 6.96865922e-02 5.77041618e+02] [-1.13354038e-01 9.93510394e-01 -9.37864193e-03 -7.51478777e+01] [-7.03010128e-02 1.39558144e-03 9.97524847e-01 -3.78797298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.300714057 meters 0.028444407778616874 Centerline is valid? [True, True] Translation: X:577.10, Y:-75.17, Z:-37.88 [[ 9.90930002e-01 1.12815185e-01 7.30100383e-02 5.77098951e+02] [-1.12397167e-01 9.93614816e-01 -9.82213971e-03 -7.51665786e+01] [-7.36519423e-02 1.52693146e-03 9.97282838e-01 -3.78814691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.360714057 meters 0.02802363521147975 Centerline is valid? [True, True] Translation: X:577.16, Y:-75.19, Z:-37.89 [[ 9.90826506e-01 1.12651408e-01 7.46491525e-02 5.77158278e+02] [-1.12214057e-01 9.93633327e-01 -1.00407226e-02 -7.51854378e+01] [-7.53049873e-02 1.57192983e-03 9.97159309e-01 -3.78858213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.420714057 meters 0.028090287042270016 Centerline is valid? [True, True] Translation: X:577.22, Y:-75.21, Z:-37.89 [[ 9.90552078e-01 1.15448609e-01 7.40148537e-02 5.77217960e+02] [-1.15026098e-01 9.93312534e-01 -9.96029952e-03 -7.52062088e+01] [-7.46697845e-02 1.35255559e-03 9.97207398e-01 -3.78917707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.480714057 meters 0.027525978744040534 Centerline is valid? [True, True] Translation: X:577.28, Y:-75.23, Z:-37.90 [[ 9.90019225e-01 1.20528917e-01 7.30391251e-02 5.77277490e+02] [-1.20130039e-01 9.92709339e-01 -9.84587569e-03 -7.52261295e+01] [-7.36933344e-02 9.73413295e-04 9.97280475e-01 -3.78965110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5407140570001 meters 0.02668172587634743 Centerline is valid? [True, True] Translation: X:577.34, Y:-75.24, Z:-37.90 [[ 9.89150673e-01 1.28249456e-01 7.16451235e-02 5.77337655e+02] [-1.27885413e-01 9.91741861e-01 -9.66446037e-03 -7.52447419e+01] [-7.22929299e-02 3.97241273e-04 9.97383364e-01 -3.79007462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.600714057 meters 0.02618361316516811 Centerline is valid? [True, True] Translation: X:577.40, Y:-75.26, Z:-37.90 [[ 9.88536337e-01 1.33097369e-01 7.12811348e-02 5.77397039e+02] [-1.32748401e-01 9.91102965e-01 -9.63198553e-03 -7.52622611e+01] [-7.19289359e-02 5.91110068e-05 9.97409758e-01 -3.79049744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6607140570001 meters 0.0256027600113488 Centerline is valid? [True, True] Translation: X:577.46, Y:-75.29, Z:-37.91 [[ 9.87566845e-01 1.39370277e-01 7.27162415e-02 5.77455525e+02] [-1.39023728e-01 9.90240256e-01 -9.83045833e-03 -7.52929712e+01] [-7.33766233e-02 -4.01048255e-04 9.97304222e-01 -3.79062416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.720714057 meters 0.024827055204151217 Centerline is valid? [True, True] Translation: X:577.51, Y:-75.31, Z:-37.91 [[ 9.87438861e-01 1.40825235e-01 7.16432037e-02 5.77514845e+02] [-1.40491375e-01 9.90034353e-01 -9.70331454e-03 -7.53146007e+01] [-7.22957043e-02 -4.83822332e-04 9.97383125e-01 -3.79088939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.780714057 meters 0.023490876458290046 Centerline is valid? [True, True] Translation: X:577.57, Y:-75.35, Z:-37.91 [[ 9.87577880e-01 1.41038408e-01 6.92683079e-02 5.77573851e+02] [-1.40725676e-01 9.90004015e-01 -9.39859526e-03 -7.53455634e+01] [-6.99014658e-02 -4.65984689e-04 9.97553792e-01 -3.79119208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.840714057 meters 0.02159966361701632 Centerline is valid? [True, True] Translation: X:577.63, Y:-75.38, Z:-37.91 [[ 9.87846882e-01 1.39450379e-01 6.86449553e-02 5.77632039e+02] [-1.39138957e-01 9.90229001e-01 -9.32077934e-03 -7.53783354e+01] [-6.92740117e-02 -3.43684694e-04 9.97597611e-01 -3.79120080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.900714057 meters 0.019386099556975716 Centerline is valid? [True, True] Translation: X:577.69, Y:-75.41, Z:-37.91 [[ 9.88394514e-01 1.35533085e-01 6.86080739e-02 5.77689095e+02] [-1.35211354e-01 9.90772820e-01 -9.33324772e-03 -7.54128889e+01] [-6.92399787e-02 -5.16597304e-05 9.97600031e-01 -3.79099988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.960714057 meters 0.018329704556250985 Centerline is valid? [True, True] Translation: X:577.75, Y:-75.44, Z:-37.91 [[ 9.89033999e-01 1.30944564e-01 6.83027780e-02 5.77747844e+02] [-1.30613680e-01 9.91389651e-01 -9.30731399e-03 -7.54447016e+01] [-6.89334094e-02 2.83972803e-04 9.97621223e-01 -3.79105185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.020714057 meters 0.01723765889781138 Centerline is valid? [True, True] Translation: X:577.81, Y:-75.47, Z:-37.92 [[ 9.89498625e-01 1.28718361e-01 6.57575515e-02 5.77807022e+02] [-1.28406044e-01 9.91681096e-01 -8.97176476e-03 -7.54738369e+01] [-6.63653516e-02 4.33881828e-04 9.97795296e-01 -3.79159833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.080714057 meters 0.0163557364049312 Centerline is valid? [True, True] Translation: X:577.87, Y:-75.50, Z:-37.92 [[ 9.89403549e-01 1.30067921e-01 6.45209537e-02 5.77867193e+02] [-1.29768921e-01 9.91505023e-01 -8.82140322e-03 -7.54990570e+01] [-6.51202312e-02 3.55113086e-04 9.97877362e-01 -3.79186995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.140714057 meters 0.0159716938333416 Centerline is valid? [True, True] Translation: X:577.93, Y:-75.52, Z:-37.92 [[ 9.89010237e-01 1.32483339e-01 6.56270966e-02 5.77925761e+02] [-1.32178009e-01 9.91185208e-01 -8.99204161e-03 -7.55207069e+01] [-6.62399031e-02 2.18762207e-04 9.97803702e-01 -3.79191552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.200714057 meters 0.01583477192216116 Centerline is valid? [True, True] Translation: X:577.99, Y:-75.54, Z:-37.92 [[ 9.89065796e-01 1.31021868e-01 6.76913676e-02 5.77985862e+02] [-1.30692462e-01 9.91379419e-01 -9.29126979e-03 -7.55423546e+01] [-6.83251882e-02 3.42925657e-04 9.97663045e-01 -3.79214305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.260714057 meters 0.016390739200131888 Centerline is valid? [True, True] Translation: X:578.05, Y:-75.56, Z:-37.93 [[ 9.89480333e-01 1.27510566e-01 6.83353935e-02 5.78045548e+02] [-1.27165274e-01 9.91837026e-01 -9.39722737e-03 -7.55610979e+01] [-6.89758192e-02 6.08482663e-04 9.97618146e-01 -3.79255257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.320714057 meters 0.01704086696445741 Centerline is valid? [True, True] Translation: X:578.10, Y:-75.58, Z:-37.93 [[ 9.90112167e-01 1.22818302e-01 6.77758197e-02 5.78104343e+02] [-1.22466537e-01 9.92428725e-01 -9.33670403e-03 -7.55843259e+01] [-6.84093884e-02 9.44114340e-04 9.97656887e-01 -3.79314810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.380714057 meters 0.01749541095320854 Centerline is valid? [True, True] Translation: X:578.16, Y:-75.60, Z:-37.94 [[ 9.90621798e-01 1.18624538e-01 6.77987701e-02 5.78163876e+02] [-1.18262088e-01 9.92938403e-01 -9.34909807e-03 -7.56021897e+01] [-6.84290350e-02 1.24339624e-03 9.97655212e-01 -3.79362375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.440714057 meters 0.01891751752648687 Centerline is valid? [True, True] Translation: X:578.22, Y:-75.62, Z:-37.94 [[ 9.91111355e-01 1.13640888e-01 6.91666886e-02 5.78223070e+02] [-1.13250339e-01 9.93520543e-01 -9.55459904e-03 -7.56214466e+01] [-6.98043192e-02 1.63652065e-03 9.97559361e-01 -3.79380714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.500714057 meters 0.020409393408893695 Centerline is valid? [True, True] Translation: X:578.28, Y:-75.64, Z:-37.94 [[ 9.91826373e-01 1.06806555e-01 6.98054800e-02 5.78282449e+02] [-1.06390759e-01 9.94277490e-01 -9.65816321e-03 -7.56381436e+01] [-7.04375725e-02 2.15256298e-03 9.97513867e-01 -3.79417598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.560714057 meters 0.022257607783676497 Centerline is valid? [True, True] Translation: X:578.34, Y:-75.65, Z:-37.95 [[ 9.92895646e-01 9.76149809e-02 6.80408141e-02 5.78341847e+02] [-9.71983448e-02 9.95220496e-01 -9.41517829e-03 -7.56526214e+01] [-6.86346752e-02 2.73483502e-03 9.97638112e-01 -3.79475045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.620714057 meters 0.0238103037486444 Centerline is valid? [True, True] Translation: X:578.40, Y:-75.66, Z:-37.95 [[ 9.93757729e-01 8.99781180e-02 6.59508484e-02 5.78401344e+02] [-8.95698917e-02 9.95938721e-01 -9.12679117e-03 -7.56622338e+01] [-6.65042151e-02 3.16260892e-03 9.97781132e-01 -3.79524976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.680714057 meters 0.025472197688154986 Centerline is valid? [True, True] Translation: X:578.46, Y:-75.67, Z:-37.95 [[ 9.93978233e-01 8.78446829e-02 6.55025568e-02 5.78462342e+02] [-8.74372299e-02 9.96128767e-01 -9.06701058e-03 -7.56684486e+01] [-6.60454698e-02 3.28504903e-03 9.97811207e-01 -3.79541036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.740714057 meters 0.03096142103981102 Centerline is valid? [True, True] Translation: X:578.52, Y:-75.68, Z:-37.96 [[ 9.93904596e-01 8.86507108e-02 6.55340042e-02 5.78521844e+02] [-8.82435759e-02 9.96057477e-01 -9.08700280e-03 -7.56830209e+01] [-6.60812042e-02 3.24865897e-03 9.97808960e-01 -3.79572326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.800714057 meters 0.023345973548335747 Centerline is valid? [True, True] Translation: X:578.58, Y:-75.67, Z:-37.96 [[ 9.93466179e-01 9.28961078e-02 6.62967941e-02 5.78584457e+02] [-9.24878274e-02 9.95671239e-01 -9.20789953e-03 -7.56713357e+01] [-6.68651892e-02 3.01609030e-03 9.97757460e-01 -3.79594378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.860714057 meters 0.02159371093247288 Centerline is valid? [True, True] Translation: X:578.65, Y:-75.67, Z:-37.96 [[ 9.92840607e-01 9.97902530e-02 6.56462827e-02 5.78646679e+02] [-9.94049750e-02 9.95005287e-01 -9.11755626e-03 -7.56658067e+01] [-6.62282416e-02 2.52671300e-03 9.97801301e-01 -3.79629386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.920714057 meters 0.019969488675218038 Centerline is valid? [True, True] Translation: X:578.71, Y:-75.66, Z:-37.97 [[ 9.92131057e-01 1.06378389e-01 6.60273041e-02 5.78708389e+02] [-1.06003144e-01 9.94323504e-01 -9.17075767e-03 -7.56622849e+01] [-6.66280708e-02 2.09949164e-03 9.97775672e-01 -3.79664843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.980714057 meters 0.01948001124096522 Centerline is valid? [True, True] Translation: X:578.77, Y:-75.66, Z:-37.97 [[ 9.91938608e-01 1.08578288e-01 6.53341637e-02 5.78770806e+02] [-1.08215525e-01 9.94086022e-01 -9.07643316e-03 -7.56617128e+01] [-6.59332825e-02 1.93309363e-03 9.97822161e-01 -3.79723265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0407140570001 meters 0.019643201826862657 Centerline is valid? [True, True] Translation: X:578.83, Y:-75.66, Z:-37.98 [[ 9.92049431e-01 1.08616253e-01 6.35644306e-02 5.78833846e+02] [-1.08271973e-01 9.94081950e-01 -8.84625938e-03 -7.56625969e+01] [-6.41491007e-02 1.89368024e-03 9.97938529e-01 -3.79781026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.100714057 meters 0.019306801464797584 Centerline is valid? [True, True] Translation: X:578.89, Y:-75.66, Z:-37.98 [[ 9.91701616e-01 1.12563581e-01 6.21075269e-02 5.78894604e+02] [-1.12241509e-01 9.93643206e-01 -8.66161868e-03 -7.56640400e+01] [-6.26877049e-02 1.61869872e-03 9.98031879e-01 -3.79832182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1607140570001 meters 0.01735042729193323 Centerline is valid? [True, True] Translation: X:578.96, Y:-75.66, Z:-37.99 [[ 9.90828559e-01 1.19801665e-01 6.25006165e-02 5.78955946e+02] [-1.19489792e-01 9.92797156e-01 -8.71757435e-03 -7.56632544e+01] [-6.30948143e-02 1.16943599e-03 9.98006852e-01 -3.79868447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.220714057 meters 0.016550494472172956 Centerline is valid? [True, True] Translation: X:579.02, Y:-75.67, Z:-37.99 [[ 9.90365817e-01 1.24579774e-01 6.04601448e-02 5.79018716e+02] [-1.24296806e-01 9.92209241e-01 -8.43357597e-03 -7.56654422e+01] [-6.10397674e-02 8.37322447e-04 9.98134984e-01 -3.79917387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.280714057 meters 0.01680760176436276 Centerline is valid? [True, True] Translation: X:579.08, Y:-75.67, Z:-38.00 [[ 9.90528060e-01 1.23926384e-01 5.91304755e-02 5.79080451e+02] [-1.23654120e-01 9.92291037e-01 -8.25570722e-03 -7.56746777e+01] [-5.96977408e-02 8.65782726e-04 9.98216124e-01 -3.79972025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.340714057 meters 0.01741706586319879 Centerline is valid? [True, True] Translation: X:579.14, Y:-75.69, Z:-38.00 [[ 9.90804280e-01 1.21646521e-01 5.92368391e-02 5.79141891e+02] [-1.21368295e-01 9.92572961e-01 -8.28575433e-03 -7.56855631e+01] [-5.98048180e-02 1.02008669e-03 9.98209569e-01 -3.80001677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.400714057 meters 0.017179749027300524 Centerline is valid? [True, True] Translation: X:579.20, Y:-75.70, Z:-38.00 [[ 9.90683802e-01 1.21757842e-01 6.09969906e-02 5.79204203e+02] [-1.21462047e-01 9.92559271e-01 -8.54784358e-03 -7.56952000e+01] [-6.15838955e-02 1.05939085e-03 9.98101348e-01 -3.80017030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.460714057 meters 0.01722856013623884 Centerline is valid? [True, True] Translation: X:579.27, Y:-75.71, Z:-38.00 [[ 9.90269207e-01 1.23572237e-01 6.40062458e-02 5.79265547e+02] [-1.23249028e-01 9.92335063e-01 -8.98890896e-03 -7.57055906e+01] [-6.46264215e-02 1.01273216e-03 9.97909014e-01 -3.80028057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.520714057 meters 0.016506403154192616 Centerline is valid? [True, True] Translation: X:579.33, Y:-75.72, Z:-38.01 [[ 9.90232066e-01 1.24040882e-01 6.36735129e-02 5.79327751e+02] [-1.23720972e-01 9.92276612e-01 -8.95807184e-03 -7.57157817e+01] [-6.42929047e-02 9.92821075e-04 9.97930577e-01 -3.80068467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.580714057 meters 0.017347711206875505 Centerline is valid? [True, True] Translation: X:579.39, Y:-75.73, Z:-38.01 [[ 9.90454082e-01 1.22571441e-01 6.30630899e-02 5.79387261e+02] [-1.22253484e-01 9.92459087e-01 -8.89075802e-03 -7.57308960e+01] [-6.36772896e-02 1.09620513e-03 9.97969940e-01 -3.80119071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.640714057 meters 0.016901029013866805 Centerline is valid? [True, True] Translation: X:579.45, Y:-75.74, Z:-38.02 [[ 9.90650018e-01 1.20973891e-01 6.30702779e-02 5.79447824e+02] [-1.20651675e-01 9.92654947e-01 -8.90668614e-03 -7.57425120e+01] [-6.36844999e-02 1.21387411e-03 9.97969344e-01 -3.80164310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.700714057 meters 0.016542919435073026 Centerline is valid? [True, True] Translation: X:579.51, Y:-75.75, Z:-38.02 [[ 9.90350154e-01 1.23604618e-01 6.26775148e-02 5.79508746e+02] [-1.23290653e-01 9.92330987e-01 -8.86722414e-03 -7.57536446e+01] [-6.32928700e-02 1.05410506e-03 9.97994440e-01 -3.80207133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.760714057 meters 0.015795786793588503 Centerline is valid? [True, True] Translation: X:579.57, Y:-75.76, Z:-38.02 [[ 9.89276037e-01 1.31558227e-01 6.34456870e-02 5.79569258e+02] [-1.31251763e-01 9.91308282e-01 -8.99251953e-03 -7.57632568e+01] [-6.40772749e-02 5.68725814e-04 9.97944778e-01 -3.80248363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.820714057 meters 0.01535647947981336 Centerline is valid? [True, True] Translation: X:579.63, Y:-75.77, Z:-38.03 [[ 9.87781079e-01 1.42047832e-01 6.41167121e-02 5.79631023e+02] [-1.41756729e-01 9.89859789e-01 -9.09001957e-03 -7.57712900e+01] [-6.47577726e-02 -1.10026051e-04 9.97901007e-01 -3.80291941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.880714057 meters 0.01571978994163728 Centerline is valid? [True, True] Translation: X:579.69, Y:-75.78, Z:-38.03 [[ 9.86544359e-01 1.49637002e-01 6.58710580e-02 5.79692170e+02] [-1.49345465e-01 9.88740815e-01 -9.35593736e-03 -7.57823631e+01] [-6.65293980e-02 -6.07496573e-04 9.97784280e-01 -3.80327645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.940714057 meters 0.015817240265539777 Centerline is valid? [True, True] Translation: X:579.75, Y:-75.80, Z:-38.04 [[ 9.86474115e-01 1.49924216e-01 6.62687664e-02 5.79753155e+02] [-1.49628647e-01 9.88697301e-01 -9.42948940e-03 -7.58010230e+01] [-6.69334592e-02 -6.13758650e-04 9.97757253e-01 -3.80373890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.000714057 meters 0.015680554658341405 Centerline is valid? [True, True] Translation: X:579.81, Y:-75.82, Z:-38.04 [[ 9.87530362e-01 1.43065993e-01 6.56955553e-02 5.79810978e+02] [-1.42759086e-01 9.89713143e-01 -9.36687820e-03 -7.58247281e+01] [-6.63598362e-02 -1.28560777e-04 9.97795748e-01 -3.80433615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.060714057 meters 0.01675291715753407 Centerline is valid? [True, True] Translation: X:579.87, Y:-75.85, Z:-38.05 [[ 9.89032136e-01 1.32208410e-01 6.58511147e-02 5.79868017e+02] [-1.31874955e-01 9.91221749e-01 -9.40429875e-03 -7.58526698e+01] [-6.65163845e-02 6.17040913e-04 9.97785142e-01 -3.80489323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.120714057 meters 0.02105750080630351 Centerline is valid? [True, True] Translation: X:579.92, Y:-75.88, Z:-38.05 [[ 9.90690737e-01 1.18606008e-01 6.68167558e-02 5.79924229e+02] [-1.18231195e-01 9.92940168e-01 -9.55029917e-03 -7.58817493e+01] [-6.74777635e-02 1.56156804e-03 9.97719556e-01 -3.80518222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.180714057 meters 0.02660317705133581 Centerline is valid? [True, True] Translation: X:579.98, Y:-75.91, Z:-38.05 [[ 9.92048426e-01 1.05703261e-01 6.83135554e-02 5.79981903e+02] [-1.05280730e-01 9.94394584e-01 -9.76626403e-03 -7.59082315e+01] [-6.89629554e-02 2.49650591e-03 9.97616098e-01 -3.80546418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.240714057 meters 0.024524379005249904 Centerline is valid? [True, True] Translation: X:580.04, Y:-75.92, Z:-38.06 [[ 9.92959532e-01 9.64731011e-02 6.87336127e-02 5.80041598e+02] [-9.60232369e-02 9.95330583e-01 -9.82691886e-03 -7.59178013e+01] [-6.93607002e-02 3.15770877e-03 9.97586649e-01 -3.80606472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.300714057 meters 0.02479340590749185 Centerline is valid? [True, True] Translation: X:580.10, Y:-75.93, Z:-38.07 [[ 9.93515170e-01 9.05540194e-02 6.87573744e-02 5.80101487e+02] [-9.00896599e-02 9.95885136e-01 -9.83106342e-03 -7.59280023e+01] [-6.93646895e-02 3.57298218e-03 9.97584971e-01 -3.80658429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.360714057 meters 0.02709974039607074 Centerline is valid? [True, True] Translation: X:580.16, Y:-75.94, Z:-38.07 [[ 9.93772110e-01 8.84988825e-02 6.77121875e-02 5.80161083e+02] [-8.80437386e-02 9.96069549e-01 -9.68260114e-03 -7.59399382e+01] [-6.83029475e-02 3.66066483e-03 9.97657911e-01 -3.80691046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.420714057 meters 0.0259552252639821 Centerline is valid? [True, True] Translation: X:580.22, Y:-75.94, Z:-38.07 [[ 9.93624492e-01 8.93048783e-02 6.88113863e-02 5.80222933e+02] [-8.88360793e-02 9.95997562e-01 -9.84919733e-03 -7.59436593e+01] [-6.94155544e-02 3.67346993e-03 9.97581068e-01 -3.80723523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.480714057 meters 0.026704201435175053 Centerline is valid? [True, True] Translation: X:580.28, Y:-75.95, Z:-38.08 [[ 9.93184973e-01 9.25367998e-02 7.08558367e-02 5.80284839e+02] [-9.20466330e-02 9.95702873e-01 -1.01590037e-02 -7.59474583e+01] [-7.14914419e-02 3.56772865e-03 9.97434833e-01 -3.80752721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5407140570001 meters 0.02422858934408155 Centerline is valid? [True, True] Translation: X:580.35, Y:-75.94, Z:-38.08 [[ 9.92929650e-01 9.55794812e-02 7.03936977e-02 5.80347119e+02] [-9.51030573e-02 9.95416230e-01 -1.00963794e-02 -7.59445704e+01] [-7.10360359e-02 3.33033855e-03 9.97468190e-01 -3.80806167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.600714057 meters 0.024405780524744528 Centerline is valid? [True, True] Translation: X:580.41, Y:-75.95, Z:-38.08 [[ 9.92659269e-01 9.85239845e-02 7.01469844e-02 5.80408118e+02] [-9.80580422e-02 9.95129813e-01 -1.00635790e-02 -7.59451115e+01] [-7.07968594e-02 3.11122902e-03 9.97485902e-01 -3.80846545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6607140570001 meters 0.023067194623407446 Centerline is valid? [True, True] Translation: X:580.47, Y:-75.95, Z:-38.09 [[ 9.92539467e-01 9.95700546e-02 7.03648389e-02 5.80470209e+02] [-9.91035476e-02 9.95025880e-01 -1.00987774e-02 -7.59487727e+01] [-7.10203716e-02 3.05003001e-03 9.97470202e-01 -3.80885509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.720714057 meters 0.02239357614021024 Centerline is valid? [True, True] Translation: X:580.53, Y:-75.95, Z:-38.09 [[ 9.92414206e-01 1.00195912e-01 7.12377940e-02 5.80533677e+02] [-9.97180010e-02 9.94963018e-01 -1.02426915e-02 -7.59478752e+01] [-7.19052463e-02 3.06130216e-03 9.97406770e-01 -3.80906736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.780714057 meters 0.02338626488198313 Centerline is valid? [True, True] Translation: X:580.60, Y:-75.95, Z:-38.09 [[ 9.92630368e-01 9.76613649e-02 7.17440575e-02 5.80595119e+02] [-9.71686298e-02 9.95214274e-01 -1.03346769e-02 -7.59512916e+01] [-7.24100088e-02 3.28724241e-03 9.97369533e-01 -3.80937886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.840714057 meters 0.024045318133919982 Centerline is valid? [True, True] Translation: X:580.66, Y:-75.95, Z:-38.10 [[ 9.92973841e-01 9.50558839e-02 7.04792925e-02 5.80656849e+02] [-9.45735887e-02 9.95466065e-01 -1.01562742e-02 -7.59533770e+01] [-7.11251576e-02 3.41943499e-03 9.97461538e-01 -3.81001532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.900714057 meters 0.02468680460408173 Centerline is valid? [True, True] Translation: X:580.72, Y:-75.95, Z:-38.11 [[ 9.93111567e-01 9.50788373e-02 6.84794156e-02 5.80720632e+02] [-9.46225310e-02 9.95464156e-01 -9.88391148e-03 -7.59542551e+01] [-6.91085544e-02 3.33613120e-03 9.97603568e-01 -3.81058929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.960714057 meters 0.026319569542148407 Centerline is valid? [True, True] Translation: X:580.78, Y:-75.96, Z:-38.11 [[ 9.93087755e-01 9.60190556e-02 6.75059435e-02 5.80782147e+02] [-9.55765521e-02 9.95374215e-01 -9.76193465e-03 -7.59563851e+01] [-6.81310073e-02 3.24247243e-03 9.97671114e-01 -3.81105269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.020714057 meters 0.029461532186087838 Centerline is valid? [True, True] Translation: X:580.84, Y:-75.96, Z:-38.11 [[ 9.93116722e-01 9.52152645e-02 6.82145822e-02 5.80843151e+02] [-9.47608219e-02 9.95451095e-01 -9.87446352e-03 -7.59605156e+01] [-6.88444802e-02 3.34242496e-03 9.97621805e-01 -3.81131768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.080714057 meters 0.03330135745698468 Centerline is valid? [True, True] Translation: X:580.90, Y:-75.97, Z:-38.12 [[ 9.93207619e-01 9.26727327e-02 7.03590152e-02 5.80903630e+02] [-9.21817833e-02 9.95689952e-01 -1.01999611e-02 -7.59657218e+01] [-7.10010227e-02 3.64485960e-03 9.97469583e-01 -3.81152586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.140714057 meters 0.036261929146551415 Centerline is valid? [True, True] Translation: X:580.96, Y:-75.97, Z:-38.12 [[ 9.93541643e-01 8.93074956e-02 6.99941121e-02 5.80963111e+02] [-8.88131655e-02 9.95996594e-01 -1.01491835e-02 -7.59693665e+01] [-7.06202954e-02 3.86723782e-03 9.97495774e-01 -3.81210010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.200714057 meters 0.0330301536658254 Centerline is valid? [True, True] Translation: X:581.03, Y:-75.97, Z:-38.13 [[ 9.93745321e-01 8.78130173e-02 6.89863157e-02 5.81025815e+02] [-8.73292361e-02 9.96129277e-01 -1.00034004e-02 -7.59689000e+01] [-6.95977176e-02 3.91631011e-03 9.97567451e-01 -3.81280287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.260714057 meters 0.027174098580996214 Centerline is valid? [True, True] Translation: X:581.09, Y:-75.96, Z:-38.13 [[ 9.93872810e-01 8.68315796e-02 6.83894379e-02 5.81089647e+02] [-8.63534476e-02 9.96215151e-01 -9.92246141e-03 -7.59627569e+01] [-6.89921772e-02 3.95600085e-03 9.97609357e-01 -3.81333854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.320714057 meters 0.029740384721227506 Centerline is valid? [True, True] Translation: X:581.15, Y:-75.96, Z:-38.13 [[ 9.93355525e-01 9.07385669e-02 7.07906270e-02 5.81149740e+02] [-9.02348080e-02 9.95867373e-01 -1.02885531e-02 -7.59648619e+01] [-7.14316443e-02 3.83241246e-03 9.97438135e-01 -3.81349075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.380714057 meters 0.026949393845793243 Centerline is valid? [True, True] Translation: X:581.21, Y:-75.96, Z:-38.14 [[ 9.92538709e-01 9.81151121e-02 7.23901629e-02 5.81211601e+02] [-9.76078137e-02 9.95169344e-01 -1.05210196e-02 -7.59582509e+01] [-7.30727419e-02 3.37667368e-03 9.97320897e-01 -3.81377661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.440714057 meters 0.025917545094341382 Centerline is valid? [True, True] Translation: X:581.27, Y:-75.95, Z:-38.14 [[ 9.91202681e-01 1.09071603e-01 7.49708611e-02 5.81272176e+02] [-1.08558638e-01 9.94030333e-01 -1.08958227e-02 -7.59543937e+01] [-7.57117349e-02 2.66123417e-03 9.97126196e-01 -3.81400913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.500714057 meters 0.021618046275993456 Centerline is valid? [True, True] Translation: X:581.33, Y:-75.94, Z:-38.15 [[ 9.89841364e-01 1.21994206e-01 7.30170393e-02 5.81334435e+02] [-1.21542791e-01 9.92529477e-01 -1.06107193e-02 -7.59432687e+01] [-7.37660101e-02 1.62823410e-03 9.97274247e-01 -3.81485815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.560714057 meters 0.02008475671031415 Centerline is valid? [True, True] Translation: X:581.40, Y:-75.94, Z:-38.15 [[ 9.88405268e-01 1.32509737e-01 7.41363380e-02 5.81395984e+02] [-1.32073789e-01 9.91181333e-01 -1.07740441e-02 -7.59404165e+01] [-7.49102200e-02 8.57654854e-04 9.97189913e-01 -3.81520647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.620714057 meters 0.020025409185477527 Centerline is valid? [True, True] Translation: X:581.46, Y:-75.94, Z:-38.16 [[ 9.87301998e-01 1.39289869e-01 7.63747102e-02 5.81457941e+02] [-1.38847142e-01 9.90251587e-01 -1.11025313e-02 -7.59447286e+01] [-7.71766481e-02 3.57141118e-04 9.97017371e-01 -3.81552950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.680714057 meters 0.020075543736953114 Centerline is valid? [True, True] Translation: X:581.52, Y:-75.95, Z:-38.16 [[ 9.86461032e-01 1.45499595e-01 7.56604328e-02 5.81519536e+02] [-1.45081860e-01 9.89358305e-01 -1.10180663e-02 -7.59522816e+01] [-7.64584017e-02 -1.08063242e-04 9.97072766e-01 -3.81606784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.740714057 meters 0.019796122558733906 Centerline is valid? [True, True] Translation: X:581.58, Y:-75.96, Z:-38.17 [[ 9.85043267e-01 1.56355891e-01 7.24057805e-02 5.81579777e+02] [-1.56001361e-01 9.87700379e-01 -1.05610683e-02 -7.59641454e+01] [-7.31665021e-02 -8.92291129e-04 9.97319340e-01 -3.81685387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.800714057 meters 0.019628516357794834 Centerline is valid? [True, True] Translation: X:581.64, Y:-75.98, Z:-38.17 [[ 9.84609951e-01 1.59520990e-01 7.13883578e-02 5.81639689e+02] [-1.59183968e-01 9.87193922e-01 -1.04223202e-02 -7.59799306e+01] [-7.21367317e-02 -1.10196190e-03 9.97394144e-01 -3.81724306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.860714057 meters 0.01967458528417257 Centerline is valid? [True, True] Translation: X:581.70, Y:-76.00, Z:-38.17 [[ 9.84025562e-01 1.63497911e-01 7.04423634e-02 5.81699771e+02] [-1.63179198e-01 9.86542737e-01 -1.02945781e-02 -7.60004849e+01] [-7.11775440e-02 -1.36460041e-03 9.97462729e-01 -3.81747185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.920714057 meters 0.020459752416754858 Centerline is valid? [True, True] Translation: X:581.76, Y:-76.02, Z:-38.18 [[ 9.83132042e-01 1.68751101e-01 7.05298124e-02 5.81758438e+02] [-1.68443812e-01 9.85657179e-01 -1.03250755e-02 -7.60214652e+01] [-7.12605838e-02 -1.72939783e-03 9.97456234e-01 -3.81751959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.980714057 meters 0.021490347388211043 Centerline is valid? [True, True] Translation: X:581.82, Y:-76.05, Z:-38.18 [[ 9.82459467e-01 1.72437186e-01 7.09845996e-02 5.81815974e+02] [-1.72134389e-01 9.85018497e-01 -1.04073057e-02 -7.60466510e+01] [-7.17157501e-02 -1.99413462e-03 9.97423117e-01 -3.81769502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0407140570001 meters 0.020314953334199307 Centerline is valid? [True, True] Translation: X:581.87, Y:-76.08, Z:-38.18 [[ 9.82513829e-01 1.72631880e-01 6.97481964e-02 5.81873613e+02] [-1.72339387e-01 9.84984455e-01 -1.02351976e-02 -7.60790952e+01] [-7.04678106e-02 -1.96413826e-03 9.97512120e-01 -3.81812238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.100714057 meters 0.01924091814318437 Centerline is valid? [True, True] Translation: X:581.93, Y:-76.11, Z:-38.18 [[ 9.82975547e-01 1.69827153e-01 7.01271097e-02 5.81932347e+02] [-1.69523166e-01 9.85472300e-01 -1.03074008e-02 -7.61109498e+01] [-7.08588006e-02 -1.75624673e-03 9.97484810e-01 -3.81837748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1607140570001 meters 0.017964658826793514 Centerline is valid? [True, True] Translation: X:581.99, Y:-76.14, Z:-38.19 [[ 9.83575928e-01 1.66532540e-01 6.96082394e-02 5.81990201e+02] [-1.66224297e-01 9.86034818e-01 -1.02382405e-02 -7.61443898e+01] [-7.03411478e-02 -1.50049376e-03 9.97521865e-01 -3.81887749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.220714057 meters 0.018152757365885012 Centerline is valid? [True, True] Translation: X:582.05, Y:-76.18, Z:-38.19 [[ 9.84092092e-01 1.63136058e-01 7.03518341e-02 5.82047175e+02] [-1.62811226e-01 9.86602785e-01 -1.03657525e-02 -7.61755552e+01] [-7.11003435e-02 -1.25321330e-03 9.97468381e-01 -3.81926429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.280714057 meters 0.017439115737072783 Centerline is valid? [True, True] Translation: X:582.11, Y:-76.21, Z:-38.20 [[ 9.84903683e-01 1.57898021e-01 7.09432942e-02 5.82105303e+02] [-1.57552899e-01 9.87455045e-01 -1.04698699e-02 -7.62076316e+01] [-7.17064855e-02 -8.65508277e-04 9.97425401e-01 -3.81964312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.340714057 meters 0.017047453718295233 Centerline is valid? [True, True] Translation: X:582.16, Y:-76.23, Z:-38.20 [[ 9.85609047e-01 1.53103202e-01 7.16534449e-02 5.82164786e+02] [-1.52737132e-01 9.88210077e-01 -1.05930340e-02 -7.62314904e+01] [-7.24304837e-02 -5.03551552e-04 9.97373336e-01 -3.82007014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.400714057 meters 0.018688580252230812 Centerline is valid? [True, True] Translation: X:582.22, Y:-76.27, Z:-38.21 [[ 9.87862788e-01 1.38541312e-01 7.02382946e-02 5.82222809e+02] [-1.38151469e-01 9.90356490e-01 -1.04016103e-02 -7.62703157e+01] [-7.10020037e-02 5.71840149e-04 9.97476009e-01 -3.82080713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.460714057 meters 0.019931905133081594 Centerline is valid? [True, True] Translation: X:582.28, Y:-76.29, Z:-38.21 [[ 9.88937679e-01 1.30501017e-01 7.05106494e-02 5.82282036e+02] [-1.30086319e-01 9.91447481e-01 -1.04614190e-02 -7.62927164e+01] [-7.12728316e-02 1.17322060e-03 9.97456168e-01 -3.82123417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.520714057 meters 0.021816445592176104 Centerline is valid? [True, True] Translation: X:582.34, Y:-76.32, Z:-38.22 [[ 9.90374080e-01 1.20015305e-01 6.89601870e-02 5.82339653e+02] [-1.19592928e-01 9.92770242e-01 -1.02361591e-02 -7.63204844e+01] [-6.96901172e-02 1.89047600e-03 9.97566897e-01 -3.82168944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.580714057 meters 0.022399901695043117 Centerline is valid? [True, True] Translation: X:582.40, Y:-76.33, Z:-38.22 [[ 9.90532227e-01 1.18837987e-01 6.87272915e-02 5.82399969e+02] [-1.18415399e-01 9.92911704e-01 -1.02049516e-02 -7.63329102e+01] [-6.94528680e-02 1.96996372e-03 9.97583289e-01 -3.82215198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.640714057 meters 0.022965786666092575 Centerline is valid? [True, True] Translation: X:582.46, Y:-76.35, Z:-38.23 [[ 9.90804051e-01 1.17491993e-01 6.71041314e-02 5.82460338e+02] [-1.17085030e-01 9.93071754e-01 -9.97937463e-03 -7.63468238e+01] [-6.78117140e-02 2.03071558e-03 9.97696070e-01 -3.82265033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.700714057 meters 0.02260695875320296 Centerline is valid? [True, True] Translation: X:582.52, Y:-76.36, Z:-38.23 [[ 9.90477153e-01 1.21495125e-01 6.47606686e-02 5.82520033e+02] [-1.21123642e-01 9.92590554e-01 -9.64649191e-03 -7.63564195e+01] [-6.54528297e-02 1.71058178e-03 9.97854198e-01 -3.82317885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.760714057 meters 0.021165512128300618 Centerline is valid? [True, True] Translation: X:582.58, Y:-76.36, Z:-38.23 [[ 9.89201339e-01 1.31016915e-01 6.56907784e-02 5.82580938e+02] [-1.30655450e-01 9.91379524e-01 -9.78738687e-03 -7.63584779e+01] [-6.64068059e-02 1.09883801e-03 9.97792027e-01 -3.82345429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.820714057 meters 0.02035785357092252 Centerline is valid? [True, True] Translation: X:582.64, Y:-76.36, Z:-38.24 [[ 9.88306848e-01 1.37594741e-01 6.57058646e-02 5.82642491e+02] [-1.37247509e-01 9.90488391e-01 -9.79121879e-03 -7.63628156e+01] [-6.64281164e-02 6.58762344e-04 9.97790996e-01 -3.82372892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.880714057 meters 0.01983589569212566 Centerline is valid? [True, True] Translation: X:582.70, Y:-76.37, Z:-38.24 [[ 9.87366822e-01 1.43459821e-01 6.72758418e-02 5.82704853e+02] [-1.43108194e-01 9.89656100e-01 -1.00422955e-02 -7.63672762e+01] [-6.80206132e-02 2.87705145e-04 9.97683875e-01 -3.82393530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.940714057 meters 0.020121143485314928 Centerline is valid? [True, True] Translation: X:582.77, Y:-76.38, Z:-38.24 [[ 9.87358126e-01 1.42847557e-01 6.86913880e-02 5.82765802e+02] [-1.42478284e-01 9.89744639e-01 -1.02707620e-02 -7.63761943e+01] [-6.94540863e-02 3.53889233e-04 9.97585086e-01 -3.82422888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.000714057 meters 0.020182976975945205 Centerline is valid? [True, True] Translation: X:582.83, Y:-76.39, Z:-38.25 [[ 9.87605238e-01 1.41049694e-01 6.88540364e-02 5.82826908e+02] [-1.40673593e-01 9.90002395e-01 -1.03052329e-02 -7.63862251e+01] [-6.96192109e-02 4.91557242e-04 9.97573518e-01 -3.82462266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.060714057 meters 0.020315292351778137 Centerline is valid? [True, True] Translation: X:582.89, Y:-76.40, Z:-38.25 [[ 9.88064513e-01 1.38376559e-01 6.76789953e-02 5.82887436e+02] [-1.38005799e-01 9.90379452e-01 -1.01459586e-02 -7.63975017e+01] [-6.84318491e-02 6.84767863e-04 9.97655558e-01 -3.82512885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.120714057 meters 0.020760657965553618 Centerline is valid? [True, True] Translation: X:582.95, Y:-76.41, Z:-38.26 [[ 9.88503400e-01 1.35859623e-01 6.63565384e-02 5.82947803e+02] [-1.35496481e-01 9.90727726e-01 -9.96380770e-03 -7.64088941e+01] [-6.70949415e-02 8.58180365e-04 9.97746226e-01 -3.82567107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.180714057 meters 0.021041347670090808 Centerline is valid? [True, True] Translation: X:583.01, Y:-76.42, Z:-38.26 [[ 9.88775486e-01 1.34492200e-01 6.50760082e-02 5.83009139e+02] [-1.34139408e-01 9.90914205e-01 -9.78044428e-03 -7.64191080e+01] [-6.58001345e-02 9.41406299e-04 9.97832379e-01 -3.82604764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.240714057 meters 0.021631506043652125 Centerline is valid? [True, True] Translation: X:583.07, Y:-76.43, Z:-38.26 [[ 9.89123264e-01 1.31051695e-01 6.67878915e-02 5.83069346e+02] [-1.30671078e-01 9.91374787e-01 -1.00548654e-02 -7.64302742e+01] [-6.75295389e-02 1.21825555e-03 9.97716532e-01 -3.82625974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.300714057 meters 0.02209588306432435 Centerline is valid? [True, True] Translation: X:583.13, Y:-76.44, Z:-38.27 [[ 9.89722052e-01 1.26827868e-01 6.60677783e-02 5.83130575e+02] [-1.26445041e-01 9.91923600e-01 -9.96112091e-03 -7.64394141e+01] [-6.67975362e-02 1.50479806e-03 9.97765416e-01 -3.82664529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.360714057 meters 0.02303727734592451 Centerline is valid? [True, True] Translation: X:583.19, Y:-76.45, Z:-38.27 [[ 9.90407476e-01 1.21456500e-01 6.58889280e-02 5.83190940e+02] [-1.21063559e-01 9.92595000e-01 -9.93884560e-03 -7.64485969e+01] [-6.66081579e-02 1.86675884e-03 9.97777464e-01 -3.82687420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.420714057 meters 0.023589657909243455 Centerline is valid? [True, True] Translation: X:583.25, Y:-76.46, Z:-38.27 [[ 9.91016232e-01 1.15469697e-01 6.74801904e-02 5.83251905e+02] [-1.15043570e-01 9.93308281e-01 -1.01801879e-02 -7.64566839e+01] [-6.82041351e-02 2.32556943e-03 9.97668676e-01 -3.82703924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.480714057 meters 0.024258700953623515 Centerline is valid? [True, True] Translation: X:583.31, Y:-76.46, Z:-38.27 [[ 9.91226352e-01 1.12565268e-01 6.92775503e-02 5.83313393e+02] [-1.12108810e-01 9.93640942e-01 -1.04543532e-02 -7.64626427e+01] [-7.00138074e-02 2.59600662e-03 9.97542644e-01 -3.82727350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5407140570001 meters 0.02334428767932983 Centerline is valid? [True, True] Translation: X:583.38, Y:-76.47, Z:-38.28 [[ 9.91045818e-01 1.14767308e-01 6.82396586e-02 5.83375449e+02] [-1.14329065e-01 9.93389474e-01 -1.03062388e-02 -7.64671497e+01] [-6.89713778e-02 2.41217848e-03 9.97615723e-01 -3.82769626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.600714057 meters 0.021289289744696373 Centerline is valid? [True, True] Translation: X:583.44, Y:-76.46, Z:-38.28 [[ 9.89997080e-01 1.24597537e-01 6.61909029e-02 5.83436630e+02] [-1.24206093e-01 9.92205923e-01 -1.00126196e-02 -7.64647253e+01] [-6.69225537e-02 1.69115074e-03 9.97756740e-01 -3.82835906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6607140570001 meters 0.01850026208923247 Centerline is valid? [True, True] Translation: X:583.50, Y:-76.46, Z:-38.29 [[ 9.88051533e-01 1.39161996e-01 6.62427875e-02 5.83499313e+02] [-1.38802536e-01 9.90269377e-01 -1.00207854e-02 -7.64591881e+01] [-6.69927164e-02 7.06385482e-04 9.97753214e-01 -3.82862630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.720714057 meters 0.017847021686442168 Centerline is valid? [True, True] Translation: X:583.56, Y:-76.46, Z:-38.29 [[ 9.85945735e-01 1.52731127e-01 6.77067976e-02 5.83562630e+02] [-1.52387339e-01 9.88267755e-01 -1.02441875e-02 -7.64572682e+01] [-6.84770512e-02 -2.17445770e-04 9.97652668e-01 -3.82884705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.780714057 meters 0.018028172081752537 Centerline is valid? [True, True] Translation: X:583.63, Y:-76.46, Z:-38.29 [[ 9.84319485e-01 1.62154012e-01 6.94350668e-02 5.83625098e+02] [-1.61814619e-01 9.86765071e-01 -1.05225378e-02 -7.64598333e+01] [-7.02223704e-02 -8.78069825e-04 9.97530976e-01 -3.82929664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.840714057 meters 0.01943065341831573 Centerline is valid? [True, True] Translation: X:583.69, Y:-76.47, Z:-38.30 [[ 9.83057928e-01 1.69621547e-01 6.94668332e-02 5.83685535e+02] [-1.69300084e-01 9.85508271e-01 -1.05323246e-02 -7.64683321e+01] [-7.02466478e-02 -1.40685558e-03 9.97528661e-01 -3.82964110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.900714057 meters 0.020141204382221122 Centerline is valid? [True, True] Translation: X:583.75, Y:-76.49, Z:-38.30 [[ 9.82820097e-01 1.70967965e-01 6.95313709e-02 5.83745696e+02] [-1.70649001e-01 9.85275445e-01 -1.05458977e-02 -7.64866994e+01] [-7.03105631e-02 -1.50073880e-03 9.97524021e-01 -3.83019144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.960714057 meters 0.019922797382562092 Centerline is valid? [True, True] Translation: X:583.80, Y:-76.51, Z:-38.31 [[ 9.83822504e-01 1.65408370e-01 6.87993574e-02 5.83803895e+02] [-1.65081360e-01 9.86224576e-01 -1.04512927e-02 -7.65054785e+01] [-6.95803484e-02 -1.07527461e-03 9.97575771e-01 -3.83056262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.020714057 meters 0.019484769375630085 Centerline is valid? [True, True] Translation: X:583.86, Y:-76.53, Z:-38.31 [[ 9.85936481e-01 1.52197756e-01 6.90296930e-02 5.83861201e+02] [-1.51836050e-01 9.88350051e-01 -1.04876488e-02 -7.65346114e+01] [-6.98216972e-02 -1.41040335e-04 9.97559477e-01 -3.83096324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.080714057 meters 0.020650142941917988 Centerline is valid? [True, True] Translation: X:583.92, Y:-76.56, Z:-38.31 [[ 9.87481033e-01 1.41116120e-01 7.04801472e-02 5.83920049e+02] [-1.40710507e-01 9.89992830e-01 -1.07121041e-02 -7.65597855e+01] [-7.12864909e-02 6.60702434e-04 9.97455663e-01 -3.83135463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.140714057 meters 0.021675492847649018 Centerline is valid? [True, True] Translation: X:583.98, Y:-76.58, Z:-38.32 [[ 9.88525366e-01 1.34065010e-01 6.96000952e-02 5.83978961e+02] [-1.33650812e-01 9.90971846e-01 -1.05952805e-02 -7.65817538e+01] [-7.03921913e-02 1.17159430e-03 9.97518705e-01 -3.83175792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.200714057 meters 0.022524148773402 Centerline is valid? [True, True] Translation: X:584.04, Y:-76.60, Z:-38.32 [[ 9.89230665e-01 1.30070587e-01 6.71143419e-02 5.84038893e+02] [-1.29675734e-01 9.91503731e-01 -1.02252340e-02 -7.65984104e+01] [-6.78741226e-02 1.41201350e-03 9.97692894e-01 -3.83229373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.260714057 meters 0.022762591987915214 Centerline is valid? [True, True] Translation: X:584.10, Y:-76.61, Z:-38.33 [[ 9.89240309e-01 1.30070717e-01 6.69717867e-02 5.84101093e+02] [-1.29676393e-01 9.91503694e-01 -1.02204350e-02 -7.66095958e+01] [-6.77321533e-02 1.42580652e-03 9.97702522e-01 -3.83272744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.320714057 meters 0.02210360597567665 Centerline is valid? [True, True] Translation: X:584.16, Y:-76.62, Z:-38.33 [[ 9.88649595e-01 1.33839490e-01 6.82566432e-02 5.84162630e+02] [-1.33437469e-01 9.91002284e-01 -1.04362120e-02 -7.66173022e+01] [-6.90392666e-02 1.20976304e-03 9.97613210e-01 -3.83295175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.380714057 meters 0.021405765299038856 Centerline is valid? [True, True] Translation: X:584.22, Y:-76.62, Z:-38.33 [[ 9.87583931e-01 1.40738611e-01 6.97898510e-02 5.84224744e+02] [-1.40334207e-01 9.90046495e-01 -1.06886745e-02 -7.66213180e+01] [-7.05995066e-02 7.62059794e-04 9.97504451e-01 -3.83333075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.440714057 meters 0.02132377683492219 Centerline is valid? [True, True] Translation: X:584.29, Y:-76.63, Z:-38.34 [[ 9.87097837e-01 1.44058161e-01 6.98935309e-02 5.84286555e+02] [-1.43659592e-01 9.89569074e-01 -1.07224279e-02 -7.66288551e+01] [-7.07091299e-02 5.43209219e-04 9.97496829e-01 -3.83368226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.500714057 meters 0.021248589671398428 Centerline is valid? [True, True] Translation: X:584.35, Y:-76.63, Z:-38.34 [[ 9.85818436e-01 1.52908138e-01 6.91455856e-02 5.84348530e+02] [-1.52538559e-01 9.88240404e-01 -1.06250725e-02 -7.66318180e+01] [-6.99571215e-02 -7.29756075e-05 9.97549997e-01 -3.83421275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.560714057 meters 0.021379473892928096 Centerline is valid? [True, True] Translation: X:584.41, Y:-76.64, Z:-38.35 [[ 9.84784899e-01 1.59378594e-01 6.92615773e-02 5.84410129e+02] [-1.59022484e-01 9.87217402e-01 -1.06607603e-02 -7.66388450e+01] [-7.00753314e-02 -5.15592301e-04 9.97541569e-01 -3.83459519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.620714057 meters 0.02167844835496751 Centerline is valid? [True, True] Translation: X:584.47, Y:-76.65, Z:-38.35 [[ 9.84260433e-01 1.63058834e-01 6.81411489e-02 5.84469967e+02] [-1.62721789e-01 9.86616064e-01 -1.05053436e-02 -7.66475370e+01] [-6.89421412e-02 -7.48055615e-04 9.97620380e-01 -3.83512718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.680714057 meters 0.02191372961899842 Centerline is valid? [True, True] Translation: X:584.53, Y:-76.66, Z:-38.36 [[ 9.84145463e-01 1.64555392e-01 6.61757574e-02 5.84531694e+02] [-1.64240026e-01 9.86367507e-01 -1.02154476e-02 -7.66615074e+01] [-6.69546238e-02 -8.15221755e-04 9.97755688e-01 -3.83576570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.740714057 meters 0.021540966360430472 Centerline is valid? [True, True] Translation: X:584.59, Y:-76.68, Z:-38.36 [[ 9.84425170e-01 1.63682986e-01 6.41479934e-02 5.84590939e+02] [-1.63383644e-01 9.86512731e-01 -9.92047648e-03 -7.66803882e+01] [-6.49066254e-02 -7.14766139e-04 9.97891086e-01 -3.83632845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.800714057 meters 0.021770041819681025 Centerline is valid? [True, True] Translation: X:584.65, Y:-76.70, Z:-38.37 [[ 9.85110601e-01 1.59479626e-01 6.42133353e-02 5.84650067e+02] [-1.59169664e-01 9.87201130e-01 -9.94721545e-03 -7.67011575e+01] [-6.49778553e-02 -4.21707587e-04 9.97886617e-01 -3.83672803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.860714057 meters 0.02175606762744597 Centerline is valid? [True, True] Translation: X:584.71, Y:-76.72, Z:-38.37 [[ 9.85637713e-01 1.55214556e-01 6.65337492e-02 5.84709084e+02] [-1.54870864e-01 9.87880775e-01 -1.03242697e-02 -7.67219547e+01] [-6.73298886e-02 -1.28149662e-04 9.97730760e-01 -3.83694719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.920714057 meters 0.02185447194342003 Centerline is valid? [True, True] Translation: X:584.77, Y:-76.74, Z:-38.37 [[ 9.85592267e-01 1.54520782e-01 6.87838076e-02 5.84770625e+02] [-1.54150554e-01 9.87989536e-01 -1.06903220e-02 -7.67388914e+01] [-6.96095591e-02 -6.67633495e-05 9.97574310e-01 -3.83719806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.980714057 meters 0.022116915535098067 Centerline is valid? [True, True] Translation: X:584.83, Y:-76.76, Z:-38.38 [[ 9.85312497e-01 1.56201143e-01 6.89962806e-02 5.84830937e+02] [-1.55831324e-01 9.87725253e-01 -1.07435274e-02 -7.67564240e+01] [-6.98275200e-02 -1.66049918e-04 9.97559066e-01 -3.83766864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0407140570001 meters 0.021917310694154105 Centerline is valid? [True, True] Translation: X:584.89, Y:-76.77, Z:-38.38 [[ 9.85079079e-01 1.58196004e-01 6.77733923e-02 5.84891563e+02] [-1.57842561e-01 9.87407689e-01 -1.05726719e-02 -7.67718650e+01] [-6.85925231e-02 -2.82607871e-04 9.97644719e-01 -3.83825588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.100714057 meters 0.022069975889587375 Centerline is valid? [True, True] Translation: X:584.95, Y:-76.79, Z:-38.39 [[ 9.85039857e-01 1.57854245e-01 6.91268258e-02 5.84952609e+02] [-1.57484228e-01 9.87462393e-01 -1.08046211e-02 -7.67896985e+01] [-6.99656961e-02 -2.43402380e-04 9.97549368e-01 -3.83855167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1607140570001 meters 0.021992992337556274 Centerline is valid? [True, True] Translation: X:585.01, Y:-76.81, Z:-38.39 [[ 9.85550510e-01 1.54435013e-01 6.95702424e-02 5.85013429e+02] [-1.54050263e-01 9.88002949e-01 -1.08945070e-02 -7.68086321e+01] [-7.04180980e-02 1.97728394e-05 9.97517564e-01 -3.83898602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.220714057 meters 0.022184306541330613 Centerline is valid? [True, True] Translation: X:585.07, Y:-76.83, Z:-38.39 [[ 9.86109489e-01 1.50492061e-01 7.02866652e-02 5.85073307e+02] [-1.50087873e-01 9.88611164e-01 -1.10270713e-02 -7.68261333e+01] [-7.11456686e-02 3.24723562e-04 9.97465883e-01 -3.83945309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.280714057 meters 0.022275894638898463 Centerline is valid? [True, True] Translation: X:585.13, Y:-76.84, Z:-38.40 [[ 9.86473284e-01 1.48155871e-01 7.01448361e-02 5.85133242e+02] [-1.47746129e-01 9.88963891e-01 -1.10228702e-02 -7.68415142e+01] [-7.10038129e-02 5.10138942e-04 9.97475914e-01 -3.83993241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.340714057 meters 0.022235097713222286 Centerline is valid? [True, True] Translation: X:585.19, Y:-76.85, Z:-38.40 [[ 9.86809461e-01 1.45512437e-01 7.09451784e-02 5.85192479e+02] [-1.45085157e-01 9.89356156e-01 -1.11666428e-02 -7.68541969e+01] [-7.18149344e-02 7.26256391e-04 9.97417710e-01 -3.84030739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.400714057 meters 0.022679383098175132 Centerline is valid? [True, True] Translation: X:585.25, Y:-76.86, Z:-38.41 [[ 9.87086883e-01 1.44431235e-01 6.92755710e-02 5.85254094e+02] [-1.44020214e-01 9.89514517e-01 -1.09178386e-02 -7.68646661e+01] [-7.01260601e-02 7.99772656e-04 9.97537817e-01 -3.84083511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.460714057 meters 0.02285380640513042 Centerline is valid? [True, True] Translation: X:585.32, Y:-76.87, Z:-38.41 [[ 9.87398362e-01 1.43341964e-01 6.70638193e-02 5.85315193e+02] [-1.42953036e-01 9.89672839e-01 -1.05877550e-02 -7.68726902e+01] [-6.78889101e-02 8.67355409e-04 9.97692510e-01 -3.84148778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.520714057 meters 0.02282172028790425 Centerline is valid? [True, True] Translation: X:585.38, Y:-76.88, Z:-38.42 [[ 9.87688767e-01 1.41101610e-01 6.75369253e-02 5.85376371e+02] [-1.40700711e-01 9.89994566e-01 -1.06803129e-02 -7.68800762e+01] [-6.83681984e-02 1.04633164e-03 9.97659609e-01 -3.84188478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.580714057 meters 0.023478039020546373 Centerline is valid? [True, True] Translation: X:585.44, Y:-76.89, Z:-38.42 [[ 9.88498785e-01 1.35033788e-01 6.80883835e-02 5.85436772e+02] [-1.34610744e-01 9.90839866e-01 -1.07845777e-02 -7.68897505e+01] [-6.89209672e-02 1.49511401e-03 9.97621003e-01 -3.84230933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.640714057 meters 0.023339200078545543 Centerline is valid? [True, True] Translation: X:585.50, Y:-76.90, Z:-38.43 [[ 9.88945779e-01 1.31397626e-01 6.87088787e-02 5.85497955e+02] [-1.30956959e-01 9.91328147e-01 -1.08986461e-02 -7.68956719e+01] [-6.95451016e-02 1.78026424e-03 9.97577220e-01 -3.84273565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.700714057 meters 0.023210724358695298 Centerline is valid? [True, True] Translation: X:585.56, Y:-76.90, Z:-38.43 [[ 9.88810263e-01 1.31944742e-01 6.96049448e-02 5.85560866e+02] [-1.31492643e-01 9.91255472e-01 -1.10577407e-02 -7.68995761e+01] [-7.04552932e-02 1.78146939e-03 9.97513347e-01 -3.84309692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.760714057 meters 0.023400953704807236 Centerline is valid? [True, True] Translation: X:585.62, Y:-76.91, Z:-38.43 [[ 9.88994069e-01 1.30267892e-01 7.01498959e-02 5.85622857e+02] [-1.29803019e-01 9.91476943e-01 -1.11645947e-02 -7.69053526e+01] [-7.10063925e-02 1.93604967e-03 9.97473982e-01 -3.84340236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.820714057 meters 0.023327171599556645 Centerline is valid? [True, True] Translation: X:585.68, Y:-76.91, Z:-38.44 [[ 9.89509123e-01 1.25678645e-01 7.12500812e-02 5.85684114e+02] [-1.25185975e-01 9.92068298e-01 -1.13562708e-02 -7.69097726e+01] [-7.21121875e-02 2.31762270e-03 9.97393835e-01 -3.84368848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.880714057 meters 0.023713543775597836 Centerline is valid? [True, True] Translation: X:585.75, Y:-76.92, Z:-38.44 [[ 9.89675586e-01 1.24580175e-01 7.08661694e-02 5.85746144e+02] [-1.24089705e-01 9.92206669e-01 -1.12991732e-02 -7.69152199e+01] [-7.17215388e-02 2.38875379e-03 9.97421834e-01 -3.84418522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.940714057 meters 0.022485281253352505 Centerline is valid? [True, True] Translation: X:585.81, Y:-76.91, Z:-38.45 [[ 9.89039597e-01 1.31408419e-01 6.73238621e-02 5.85808692e+02] [-1.30980549e-01 9.91326655e-01 -1.07498241e-02 -7.69089703e+01] [-6.81525564e-02 1.81388533e-03 9.97673263e-01 -3.84482922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.000714057 meters 0.020604449653676478 Centerline is valid? [True, True] Translation: X:585.87, Y:-76.90, Z:-38.45 [[ 9.87700589e-01 1.41121154e-01 6.73228518e-02 5.85870774e+02] [-1.40715712e-01 9.89991671e-01 -1.07508067e-02 -7.69023779e+01] [-6.81662288e-02 1.14519512e-03 9.97673320e-01 -3.84527793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.060714057 meters 0.020410497396524733 Centerline is valid? [True, True] Translation: X:585.93, Y:-76.90, Z:-38.46 [[ 9.86791343e-01 1.47177792e-01 6.76870920e-02 5.85933418e+02] [-1.46782094e-01 9.89109783e-01 -1.08099462e-02 -7.69045738e+01] [-6.85409489e-02 7.31908208e-04 9.97648035e-01 -3.84567959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.120714057 meters 0.02023369250357211 Centerline is valid? [True, True] Translation: X:586.00, Y:-76.90, Z:-38.46 [[ 9.85217400e-01 1.57207254e-01 6.80628704e-02 5.85995623e+02] [-1.56829808e-01 9.87565632e-01 -1.08873578e-02 -7.69003525e+01] [-6.89281232e-02 5.21274549e-05 9.97621627e-01 -3.84598178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.180714057 meters 0.019990560977331713 Centerline is valid? [True, True] Translation: X:586.06, Y:-76.90, Z:-38.46 [[ 9.84209206e-01 1.62856195e-01 6.93548782e-02 5.86057632e+02] [-1.62477088e-01 9.86649760e-01 -1.11106772e-02 -7.69040792e+01] [-7.02384165e-02 -3.33347928e-04 9.97530177e-01 -3.84635938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.240714057 meters 0.021181248235207818 Centerline is valid? [True, True] Translation: X:586.12, Y:-76.91, Z:-38.46 [[ 9.82747035e-01 1.70235021e-01 7.23070058e-02 5.86119371e+02] [-1.69841422e-01 9.85403098e-01 -1.16028055e-02 -7.69076356e+01] [-7.32267514e-02 -8.78101903e-04 9.97314931e-01 -3.84642683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.300714057 meters 0.02108519849042487 Centerline is valid? [True, True] Translation: X:586.18, Y:-76.92, Z:-38.47 [[ 9.82655989e-01 1.70589808e-01 7.27071137e-02 5.86181330e+02] [-1.70191493e-01 9.85341728e-01 -1.16847793e-02 -7.69189020e+01] [-7.36346574e-02 -8.92013843e-04 9.97284885e-01 -3.84695285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.360714057 meters 0.020839929143688703 Centerline is valid? [True, True] Translation: X:586.24, Y:-76.93, Z:-38.48 [[ 9.83383618e-01 1.67052361e-01 7.10645367e-02 5.86242134e+02] [-1.66661260e-01 9.85947846e-01 -1.14397848e-02 -7.69331559e+01] [-7.19769699e-02 -5.94008218e-04 9.97406117e-01 -3.84764564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.420714057 meters 0.02022855333349847 Centerline is valid? [True, True] Translation: X:586.30, Y:-76.95, Z:-38.48 [[ 9.84764248e-01 1.59493877e-01 6.92898169e-02 5.86302238e+02] [-1.59102877e-01 9.87198917e-01 -1.11611915e-02 -7.69513013e+01] [-7.01829740e-02 -3.30668363e-05 9.97534134e-01 -3.84828780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.480714057 meters 0.02060632131447287 Centerline is valid? [True, True] Translation: X:586.36, Y:-76.97, Z:-38.49 [[ 9.85326810e-01 1.55784419e-01 6.97301440e-02 5.86362707e+02] [-1.55377868e-01 9.87791047e-01 -1.12501558e-02 -7.69687108e+01] [-7.06314109e-02 2.50558960e-04 9.97502452e-01 -3.84870704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5407140570001 meters 0.02088329101801023 Centerline is valid? [True, True] Translation: X:586.42, Y:-76.98, Z:-38.49 [[ 9.85252107e-01 1.56138630e-01 6.99929615e-02 5.86424199e+02] [-1.55728436e-01 9.87735120e-01 -1.13131159e-02 -7.69835032e+01] [-7.09009206e-02 2.46376834e-04 9.97483333e-01 -3.84912988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.600714057 meters 0.02059108386029177 Centerline is valid? [True, True] Translation: X:586.49, Y:-77.00, Z:-38.49 [[ 9.84041560e-01 1.63300903e-01 7.06754768e-02 5.86485842e+02] [-1.62899610e-01 9.86576278e-01 -1.14440106e-02 -7.69951014e+01] [-7.15955661e-02 -2.51625488e-04 9.97433713e-01 -3.84942676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6607140570001 meters 0.021972648629921272 Centerline is valid? [True, True] Translation: X:586.55, Y:-77.00, Z:-38.50 [[ 9.81878802e-01 1.75181733e-01 7.22867857e-02 5.86546812e+02] [-1.74792602e-01 9.84535473e-01 -1.17238565e-02 -7.70031333e+01] [-7.32227103e-02 -1.12378914e-03 9.97314981e-01 -3.84964744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.720714057 meters 0.024445231966234725 Centerline is valid? [True, True] Translation: X:586.61, Y:-77.01, Z:-38.50 [[ 9.79686396e-01 1.86942715e-01 7.25740101e-02 5.86606120e+02] [-1.86582452e-01 9.82368765e-01 -1.17727279e-02 -7.70107031e+01] [-7.34952664e-02 -2.00745542e-03 9.97293546e-01 -3.84996663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.780714057 meters 0.02703663450564377 Centerline is valid? [True, True] Translation: X:586.66, Y:-77.03, Z:-38.50 [[ 9.77956356e-01 1.95916618e-01 7.22360402e-02 5.86664931e+02] [-1.95584095e-01 9.80616926e-01 -1.17177293e-02 -7.70252115e+01] [-7.31315817e-02 -2.66879272e-03 9.97318730e-01 -3.85028417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.840714057 meters 0.028066479238014867 Centerline is valid? [True, True] Translation: X:586.72, Y:-77.04, Z:-38.51 [[ 9.77070167e-01 2.01000628e-01 7.02327270e-02 5.86723443e+02] [-2.00699303e-01 9.79586631e-01 -1.13939203e-02 -7.70434091e+01] [-7.10892255e-02 -2.96299975e-03 9.97465560e-01 -3.85084268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.900714057 meters 0.03048268461838222 Centerline is valid? [True, True] Translation: X:586.78, Y:-77.06, Z:-38.51 [[ 9.76737567e-01 2.03189811e-01 6.85392237e-02 5.86782134e+02] [-2.02908061e-01 9.79134634e-01 -1.11214396e-02 -7.70613233e+01] [-6.93688909e-02 -3.04443314e-03 9.97586432e-01 -3.85123964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.960714057 meters 0.030041116792793827 Centerline is valid? [True, True] Translation: X:586.84, Y:-77.09, Z:-38.52 [[ 9.76978142e-01 2.02458546e-01 6.72625321e-02 5.86840504e+02] [-2.02184401e-01 9.79286477e-01 -1.09299446e-02 -7.70865069e+01] [-6.80821487e-02 -2.92111782e-03 9.97675442e-01 -3.85164783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.020714057 meters 0.02956052568919927 Centerline is valid? [True, True] Translation: X:586.90, Y:-77.11, Z:-38.52 [[ 9.77533637e-01 2.00592033e-01 6.47365813e-02 5.86899206e+02] [-2.00333002e-01 9.79671222e-01 -1.05349130e-02 -7.71102045e+01] [-6.55337854e-02 -2.67064192e-03 9.97846777e-01 -3.85205037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.080714057 meters 0.02959269497320378 Centerline is valid? [True, True] Translation: X:586.96, Y:-77.14, Z:-38.52 [[ 9.77998950e-01 1.98784421e-01 6.32677447e-02 5.86958018e+02] [-1.98533038e-01 9.80040082e-01 -1.02990508e-02 -7.71352009e+01] [-6.40522166e-02 -2.48827664e-03 9.97943446e-01 -3.85235977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.140714057 meters 0.02808681663472695 Centerline is valid? [True, True] Translation: X:587.02, Y:-77.16, Z:-38.53 [[ 9.79183551e-01 1.93246704e-01 6.20909356e-02 5.87015595e+02] [-1.92992508e-01 9.81148012e-01 -1.01227260e-02 -7.71611482e+01] [-6.28765815e-02 -2.07107867e-03 9.98019161e-01 -3.85266894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.200714057 meters 0.02488954483291053 Centerline is valid? [True, True] Translation: X:587.07, Y:-77.19, Z:-38.53 [[ 9.81498441e-01 1.81448400e-01 6.11333601e-02 5.87071975e+02] [-1.81179026e-01 9.83399617e-01 -9.96764995e-03 -7.71908075e+01] [-6.19271370e-02 -1.29284972e-03 9.98079836e-01 -3.85303650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.260714057 meters 0.021815411071778788 Centerline is valid? [True, True] Translation: X:587.13, Y:-77.22, Z:-38.53 [[ 9.84649983e-01 1.63995472e-01 5.97486168e-02 5.87128426e+02] [-1.63705920e-01 9.86461074e-01 -9.74277585e-03 -7.72248087e+01] [-6.05374558e-02 -1.87978235e-04 9.98165909e-01 -3.85317961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.320714057 meters 0.02294959305217788 Centerline is valid? [True, True] Translation: X:587.19, Y:-77.26, Z:-38.53 [[ 9.87735418e-01 1.44419709e-01 5.93438501e-02 5.87185460e+02] [-1.44098570e-01 9.89516008e-01 -9.67838720e-03 -7.72551100e+01] [-6.01194395e-02 1.00832187e-03 9.98190681e-01 -3.85329670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.380714057 meters 0.025387304613787912 Centerline is valid? [True, True] Translation: X:587.24, Y:-77.28, Z:-38.54 [[ 9.89933131e-01 1.28099029e-01 6.01916516e-02 5.87243997e+02] [-1.27738386e-01 9.91759304e-01 -9.81769289e-03 -7.72757761e+01] [-6.09532674e-02 2.03007505e-03 9.98138557e-01 -3.85350634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.440714057 meters 0.02829532650599827 Centerline is valid? [True, True] Translation: X:587.30, Y:-77.29, Z:-38.54 [[ 9.91230385e-01 1.17255858e-01 6.09375734e-02 5.87302004e+02] [-1.16865632e-01 9.93097980e-01 -9.94115587e-03 -7.72911519e+01] [-6.16826398e-02 2.73246773e-03 9.98092073e-01 -3.85372720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.500714057 meters 0.028670737054640703 Centerline is valid? [True, True] Translation: X:587.36, Y:-77.30, Z:-38.54 [[ 9.92108047e-01 1.10235271e-01 5.97478675e-02 5.87363008e+02] [-1.09847200e-01 9.93900652e-01 -9.75125517e-03 -7.72952350e+01] [-6.04583767e-02 3.11116277e-03 9.98165871e-01 -3.85435445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.560714057 meters 0.02900509110488524 Centerline is valid? [True, True] Translation: X:587.42, Y:-77.29, Z:-38.55 [[ 9.92370609e-01 1.07212360e-01 6.08776158e-02 5.87424564e+02] [-1.06803683e-01 9.94230468e-01 -9.93731186e-03 -7.72935708e+01] [-6.15917831e-02 3.35954267e-03 9.98095770e-01 -3.85484045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.620714057 meters 0.030806625060380538 Centerline is valid? [True, True] Translation: X:587.49, Y:-77.29, Z:-38.55 [[ 9.92628427e-01 1.04721795e-01 6.10094370e-02 5.87485381e+02] [-1.04306588e-01 9.94495317e-01 -9.95995054e-03 -7.72934586e+01] [-6.17166233e-02 3.52284386e-03 9.98087495e-01 -3.85525575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.680714057 meters 0.03255060432618435 Centerline is valid? [True, True] Translation: X:587.55, Y:-77.29, Z:-38.56 [[ 9.92654471e-01 1.02875023e-01 6.36696988e-02 5.87548456e+02] [-1.02418899e-01 9.94687038e-01 -1.03954326e-02 -7.72880978e+01] [-6.44008545e-02 3.79809223e-03 9.97916883e-01 -3.85624772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.740714057 meters 0.03283423472544298 Centerline is valid? [True, True] Translation: X:587.61, Y:-77.28, Z:-38.57 [[ 9.92618349e-01 1.02522735e-01 6.47912176e-02 5.87612752e+02] [-1.02049305e-01 9.94723042e-01 -1.05834433e-02 -7.72790290e+01] [-6.55343606e-02 3.89342128e-03 9.97842718e-01 -3.85689982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.800714057 meters 0.03165505834036055 Centerline is valid? [True, True] Translation: X:587.68, Y:-77.27, Z:-38.57 [[ 9.92449185e-01 1.04217541e-01 6.46785889e-02 5.87676084e+02] [-1.03748287e-01 9.94547301e-01 -1.05811019e-02 -7.72689922e+01] [-6.54286524e-02 3.79091319e-03 9.97850049e-01 -3.85734383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.860714057 meters 0.03035261298011677 Centerline is valid? [True, True] Translation: X:587.74, Y:-77.26, Z:-38.58 [[ 9.91836447e-01 1.09947169e-01 6.45916643e-02 5.87739954e+02] [-1.09491117e-01 9.93931581e-01 -1.05692163e-02 -7.72553304e+01] [-6.53617504e-02 3.41072053e-03 9.97855806e-01 -3.85766282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.920714057 meters 0.02748061268683915 Centerline is valid? [True, True] Translation: X:587.80, Y:-77.24, Z:-38.58 [[ 9.90700350e-01 1.18898159e-01 6.61516724e-02 5.87804204e+02] [-1.18439607e-01 9.92902251e-01 -1.08249522e-02 -7.72378210e+01] [-6.69692113e-02 2.88930581e-03 9.97750859e-01 -3.85779521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.980714057 meters 0.025674146412287373 Centerline is valid? [True, True] Translation: X:587.87, Y:-77.23, Z:-38.58 [[ 9.89643469e-01 1.26179865e-01 6.84430083e-02 5.87867127e+02] [-1.25706299e-01 9.92004280e-01 -1.11998059e-02 -7.72254412e+01] [-6.93089471e-02 2.48009749e-03 9.97592161e-01 -3.85785937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0407140570001 meters 0.024717966389508888 Centerline is valid? [True, True] Translation: X:587.93, Y:-77.22, Z:-38.58 [[ 9.89281535e-01 1.28855799e-01 6.86893623e-02 5.87930478e+02] [-1.28385275e-01 9.91660673e-01 -1.12396741e-02 -7.72157051e+01] [-6.95648365e-02 2.30049935e-03 9.97574780e-01 -3.85823614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.100714057 meters 0.025248123541881228 Centerline is valid? [True, True] Translation: X:587.99, Y:-77.21, Z:-38.59 [[ 9.89416920e-01 1.28483000e-01 6.74260834e-02 5.87993188e+02] [-1.28028601e-01 9.91709076e-01 -1.10356929e-02 -7.72116759e+01] [-6.82849578e-02 2.28643421e-03 9.97663238e-01 -3.85865039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1607140570001 meters 0.02444049122994007 Centerline is valid? [True, True] Translation: X:588.06, Y:-77.21, Z:-38.59 [[ 9.89714686e-01 1.26244637e-01 6.72839651e-02 5.88056760e+02] [-1.25786386e-01 9.91996127e-01 -1.10213061e-02 -7.72077303e+01] [-6.81368135e-02 2.44454168e-03 9.97672992e-01 -3.85899686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.220714057 meters 0.025056603395848892 Centerline is valid? [True, True] Translation: X:588.12, Y:-77.21, Z:-38.59 [[ 9.89935310e-01 1.23836002e-01 6.85034763e-02 5.88120247e+02] [-1.23354863e-01 9.92299125e-01 -1.12260201e-02 -7.72067014e+01] [-6.93661251e-02 2.66279677e-03 9.97587716e-01 -3.85917659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.280714057 meters 0.02557749946092717 Centerline is valid? [True, True] Translation: X:588.18, Y:-77.21, Z:-38.60 [[ 9.89916571e-01 1.24200151e-01 6.81139102e-02 5.88182503e+02] [-1.23724952e-01 9.92253706e-01 -1.11677653e-02 -7.72092982e+01] [-6.89733180e-02 2.62776565e-03 9.97615044e-01 -3.85954902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.340714057 meters 0.024224652912237514 Centerline is valid? [True, True] Translation: X:588.24, Y:-77.21, Z:-38.60 [[ 9.89519710e-01 1.28241422e-01 6.63692830e-02 5.88244112e+02] [-1.27798265e-01 9.91740308e-01 -1.08978953e-02 -7.72053951e+01] [-6.72186548e-02 2.30180297e-03 9.97735613e-01 -3.85992368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.400714057 meters 0.023181842983193677 Centerline is valid? [True, True] Translation: X:588.31, Y:-77.20, Z:-38.60 [[ 9.89018167e-01 1.33173473e-01 6.40928297e-02 5.88305360e+02] [-1.32770565e-01 9.91090924e-01 -1.05240996e-02 -7.72017378e+01] [-6.49233528e-02 1.89888447e-03 9.97888447e-01 -3.86047547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.460714057 meters 0.021141758108685713 Centerline is valid? [True, True] Translation: X:588.37, Y:-77.20, Z:-38.61 [[ 9.88870857e-01 1.34195409e-01 6.42341008e-02 5.88368833e+02] [-1.33792866e-01 9.90953188e-01 -1.05473964e-02 -7.72002277e+01] [-6.50683992e-02 1.83594847e-03 9.97879117e-01 -3.86079924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.520714057 meters 0.021523597261054423 Centerline is valid? [True, True] Translation: X:588.43, Y:-77.21, Z:-38.61 [[ 9.89168254e-01 1.30904695e-01 6.64087750e-02 5.88430709e+02] [-1.30465863e-01 9.91392650e-01 -1.09211970e-02 -7.72052049e+01] [-6.72668074e-02 2.13882330e-03 9.97732731e-01 -3.86096816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.580714057 meters 0.02409803243972844 Centerline is valid? [True, True] Translation: X:588.49, Y:-77.21, Z:-38.61 [[ 9.89832384e-01 1.25266456e-01 6.73807606e-02 5.88489927e+02] [-1.24801099e-01 9.92119815e-01 -1.10886860e-02 -7.72144970e+01] [-6.82388281e-02 2.56674755e-03 9.97665713e-01 -3.86124127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.640714057 meters 0.023171964080485354 Centerline is valid? [True, True] Translation: X:588.55, Y:-77.22, Z:-38.62 [[ 9.90322184e-01 1.20634067e-01 6.86250290e-02 5.88551437e+02] [-1.20140226e-01 9.92692692e-01 -1.12936283e-02 -7.72186720e+01] [-6.94859610e-02 2.93970412e-03 9.97578598e-01 -3.86166201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.700714057 meters 0.024028902448445612 Centerline is valid? [True, True] Translation: X:588.61, Y:-77.23, Z:-38.62 [[ 9.90363935e-01 1.20304407e-01 6.86012132e-02 5.88612469e+02] [-1.19809912e-01 9.92732622e-01 -1.12927150e-02 -7.72254991e+01] [-6.94612256e-02 2.96479233e-03 9.97580247e-01 -3.86207671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.760714057 meters 0.02403045818509032 Centerline is valid? [True, True] Translation: X:588.67, Y:-77.23, Z:-38.63 [[ 9.89959653e-01 1.24139229e-01 6.75968723e-02 5.88673249e+02] [-1.23667438e-01 9.92261231e-01 -1.11361646e-02 -7.72295945e+01] [-6.84561906e-02 2.66482161e-03 9.97650564e-01 -3.86261072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.820714057 meters 0.020871891334472422 Centerline is valid? [True, True] Translation: X:588.74, Y:-77.23, Z:-38.63 [[ 9.89007076e-01 1.32099800e-01 6.64428122e-02 5.88735239e+02] [-1.31661874e-01 9.91234243e-01 -1.09465613e-02 -7.72277919e+01] [-6.73064292e-02 2.07824148e-03 9.97730187e-01 -3.86307371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.880714057 meters 0.019578719538729965 Centerline is valid? [True, True] Translation: X:588.80, Y:-77.23, Z:-38.63 [[ 9.87601974e-01 1.42670601e-01 6.54785516e-02 5.88795558e+02] [-1.42268450e-01 9.89769320e-01 -1.07879818e-02 -7.72290510e+01] [-6.63477894e-02 1.33870006e-03 9.97795660e-01 -3.86344737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.940714057 meters 0.017216324705507425 Centerline is valid? [True, True] Translation: X:588.86, Y:-77.23, Z:-38.64 [[ 9.86302801e-01 1.52033707e-01 6.39729334e-02 5.88857717e+02] [-1.51669557e-01 9.88375067e-01 -1.05390968e-02 -7.72283389e+01] [-6.48315503e-02 6.91994294e-04 9.97895982e-01 -3.86392893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.000714057 meters 0.01707821637956107 Centerline is valid? [True, True] Translation: X:588.92, Y:-77.24, Z:-38.64 [[ 9.85871084e-01 1.54508020e-01 6.46952738e-02 5.88919547e+02] [-1.54140746e-01 9.87991388e-01 -1.06605640e-02 -7.72360987e+01] [-6.55655159e-02 5.37763956e-04 9.97848122e-01 -3.86425895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.060714057 meters 0.016833276836118075 Centerline is valid? [True, True] Translation: X:588.98, Y:-77.25, Z:-38.65 [[ 9.85555537e-01 1.56131334e-01 6.55994690e-02 5.88980561e+02] [-1.55756220e-01 9.87736201e-01 -1.08257865e-02 -7.72457673e+01] [-6.64852148e-02 4.51888533e-04 9.97787308e-01 -3.86451973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.120714057 meters 0.01654740323445426 Centerline is valid? [True, True] Translation: X:589.04, Y:-77.25, Z:-38.65 [[ 9.84659669e-01 1.60928767e-01 6.74334411e-02 5.89042315e+02] [-1.60542441e-01 9.86966013e-01 -1.11451513e-02 -7.72537352e+01] [-6.83480900e-02 1.48251692e-04 9.97661524e-01 -3.86476498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.180714057 meters 0.016547999730211933 Centerline is valid? [True, True] Translation: X:589.10, Y:-77.26, Z:-38.65 [[ 9.83348464e-01 1.69023746e-01 6.67590637e-02 5.89104782e+02] [-1.68662601e-01 9.85611901e-01 -1.10502644e-02 -7.72627772e+01] [-6.76662848e-02 -3.93496877e-04 9.97707933e-01 -3.86521771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.240714057 meters 0.01778453910489009 Centerline is valid? [True, True] Translation: X:589.17, Y:-77.27, Z:-38.66 [[ 9.82032980e-01 1.77085571e-01 6.52068008e-02 5.89166013e+02] [-1.76757584e-01 9.84195039e-01 -1.08111984e-02 -7.72730679e+01] [-6.60907171e-02 -9.08843215e-04 9.97813205e-01 -3.86591848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.300714057 meters 0.019101385383586432 Centerline is valid? [True, True] Translation: X:589.23, Y:-77.29, Z:-38.67 [[ 9.81130900e-01 1.82712930e-01 6.32308573e-02 5.89225287e+02] [-1.82415913e-01 9.83165519e-01 -1.04879765e-02 -7.72857700e+01] [-6.40826876e-02 -1.24423679e-03 9.97943817e-01 -3.86652408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.360714057 meters 0.01918768399800099 Centerline is valid? [True, True] Translation: X:589.28, Y:-77.30, Z:-38.67 [[ 9.80685957e-01 1.85841164e-01 6.09763494e-02 5.89284461e+02] [-1.85570906e-01 9.82578809e-01 -1.01155290e-02 -7.73039749e+01] [-6.17939505e-02 -1.39527917e-03 9.98087953e-01 -3.86715741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.420714057 meters 0.019927384076670898 Centerline is valid? [True, True] Translation: X:589.34, Y:-77.32, Z:-38.67 [[ 9.80542078e-01 1.86445043e-01 6.14449351e-02 5.89342987e+02] [-1.86170865e-01 9.82464351e-01 -1.02081958e-02 -7.73236707e+01] [-6.22707258e-02 -1.42969117e-03 9.98058271e-01 -3.86745878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.480714057 meters 0.019564964488690783 Centerline is valid? [True, True] Translation: X:589.40, Y:-77.35, Z:-38.68 [[ 9.80488306e-01 1.86067408e-01 6.34160925e-02 5.89402451e+02] [-1.85773970e-01 9.82535923e-01 -1.05447641e-02 -7.73450792e+01] [-6.42706259e-02 -1.44204133e-03 9.97931464e-01 -3.86752241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5407140570001 meters 0.02012989291790965 Centerline is valid? [True, True] Translation: X:589.46, Y:-77.37, Z:-38.68 [[ 9.79820150e-01 1.88588652e-01 6.62328808e-02 5.89461282e+02] [-1.88273112e-01 9.82054764e-01 -1.10307078e-02 -7.73706808e+01] [-6.71245824e-02 -1.66176085e-03 9.97743218e-01 -3.86779818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.600714057 meters 0.02101286029864672 Centerline is valid? [True, True] Translation: X:589.52, Y:-77.39, Z:-38.68 [[ 9.78838769e-01 1.93301968e-01 6.71491829e-02 5.89520127e+02] [-1.92987547e-01 9.81137282e-01 -1.12000610e-02 -7.73913487e+01] [-6.80475606e-02 -1.99590211e-03 9.97680082e-01 -3.86814458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6607140570001 meters 0.023408018541620806 Centerline is valid? [True, True] Translation: X:589.58, Y:-77.41, Z:-38.69 [[ 9.77756336e-01 1.98795123e-01 6.68808366e-02 5.89577917e+02] [-1.98495855e-01 9.80038214e-01 -1.11577278e-02 -7.74125244e+01] [-6.77638775e-02 -2.36602976e-03 9.97698581e-01 -3.86867772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.720714057 meters 0.02546446096338784 Centerline is valid? [True, True] Translation: X:589.64, Y:-77.44, Z:-38.69 [[ 9.77017641e-01 2.03167963e-01 6.44927023e-02 5.89635436e+02] [-2.02899114e-01 9.79140522e-01 -1.07604603e-02 -7.74362499e+01] [-6.53335990e-02 -2.57235264e-03 9.97860163e-01 -3.86933588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.780714057 meters 0.03352491271945379 Centerline is valid? [True, True] Translation: X:589.69, Y:-77.45, Z:-38.70 [[ 9.76755398e-01 2.04891178e-01 6.29960108e-02 5.89694098e+02] [-2.04638170e-01 9.78781242e-01 -1.05118472e-02 -7.74521564e+01] [-6.38130984e-02 -2.62388490e-03 9.97958418e-01 -3.87000059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.840714057 meters 0.03490977336232788 Centerline is valid? [True, True] Translation: X:589.75, Y:-77.48, Z:-38.70 [[ 9.76564864e-01 2.05761246e-01 6.31139876e-02 5.89752501e+02] [-2.05508962e-01 9.78598543e-01 -1.05336931e-02 -7.74807883e+01] [-6.39306821e-02 -2.68365551e-03 9.97950733e-01 -3.87033919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.900714057 meters 0.028580186789614572 Centerline is valid? [True, True] Translation: X:589.81, Y:-77.53, Z:-38.71 [[ 9.75961829e-01 2.08346531e-01 6.39549171e-02 5.89806906e+02] [-2.08092083e-01 9.78050840e-01 -1.06883134e-02 -7.75294387e+01] [-6.47780334e-02 -2.87712601e-03 9.97895550e-01 -3.87069774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.960714057 meters 0.029600959154478475 Centerline is valid? [True, True] Translation: X:589.86, Y:-77.56, Z:-38.71 [[ 9.75865720e-01 2.08284111e-01 6.56035453e-02 5.89864208e+02] [-2.08015162e-01 9.78063973e-01 -1.09798825e-02 -7.75562434e+01] [-6.64513992e-02 -2.93164113e-03 9.97785356e-01 -3.87085633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.020714057 meters 0.02846674593273262 Centerline is valid? [True, True] Translation: X:589.92, Y:-77.59, Z:-38.71 [[ 9.76209496e-01 2.07244737e-01 6.37545159e-02 5.89922400e+02] [-2.06987951e-01 9.78285204e-01 -1.06793473e-02 -7.75869554e+01] [-6.45833381e-02 -2.77113641e-03 9.97908469e-01 -3.87133156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.080714057 meters 0.028958905335670172 Centerline is valid? [True, True] Translation: X:589.98, Y:-77.61, Z:-38.72 [[ 9.76603858e-01 2.05756749e-01 6.25225116e-02 5.89979823e+02] [-2.05506407e-01 9.78599673e-01 -1.04784106e-02 -7.76130039e+01] [-6.33405131e-02 -2.61552050e-03 9.97988546e-01 -3.87179360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.140714057 meters 0.027099802059491328 Centerline is valid? [True, True] Translation: X:590.04, Y:-77.64, Z:-38.72 [[ 9.76914175e-01 2.04382683e-01 6.21804877e-02 5.90037982e+02] [-2.04131386e-01 9.78887878e-01 -1.04355340e-02 -7.76426532e+01] [-6.30005681e-02 -2.49836799e-03 9.98010364e-01 -3.87211426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.200714057 meters 0.026858567563760823 Centerline is valid? [True, True] Translation: X:590.10, Y:-77.66, Z:-38.73 [[ 9.76929966e-01 2.04502980e-01 6.15335025e-02 5.90098567e+02] [-2.04256152e-01 9.78862838e-01 -1.03425179e-02 -7.76585426e+01] [-6.23479347e-02 -2.46468079e-03 9.98051432e-01 -3.87252018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.260714057 meters 0.027265014583799447 Centerline is valid? [True, True] Translation: X:590.16, Y:-77.69, Z:-38.73 [[ 9.76885650e-01 2.05488137e-01 5.88986654e-02 5.90156897e+02] [-2.05262788e-01 9.78656658e-01 -9.91637870e-03 -7.76872836e+01] [-5.96792692e-02 -2.40253621e-03 9.98214713e-01 -3.87292271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.320714057 meters 0.030610267018908028 Centerline is valid? [True, True] Translation: X:590.22, Y:-77.70, Z:-38.73 [[ 9.76530669e-01 2.07260285e-01 5.85749695e-02 5.90216641e+02] [-2.07039695e-01 9.78282685e-01 -9.87685060e-03 -7.77003689e+01] [-5.93499574e-02 -2.48229632e-03 9.98234151e-01 -3.87334980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.380714057 meters 0.028456030221675224 Centerline is valid? [True, True] Translation: X:590.27, Y:-77.73, Z:-38.74 [[ 9.75737987e-01 2.11186302e-01 5.77557446e-02 5.90273827e+02] [-2.10977846e-01 9.77442185e-01 -9.75317260e-03 -7.77311886e+01] [-5.85126376e-02 -2.66864157e-03 9.98283101e-01 -3.87354039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.440714057 meters 0.02992088085746035 Centerline is valid? [True, True] Translation: X:590.33, Y:-77.75, Z:-38.74 [[ 9.75143398e-01 2.14460547e-01 5.56958519e-02 5.90332779e+02] [-2.14271906e-01 9.76728751e-01 -9.40729899e-03 -7.77505384e+01] [-5.64172343e-02 -2.76059083e-03 9.98403463e-01 -3.87392881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.500714057 meters 0.031115954196902832 Centerline is valid? [True, True] Translation: X:590.39, Y:-77.77, Z:-38.74 [[ 9.74339029e-01 2.18316639e-01 5.47841363e-02 5.90391243e+02] [-2.18140075e-01 9.75873580e-01 -9.25544703e-03 -7.77691460e+01] [-5.54830093e-02 -2.93267233e-03 9.98455325e-01 -3.87434424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.560714057 meters 0.03167536204417306 Centerline is valid? [True, True] Translation: X:590.45, Y:-77.79, Z:-38.75 [[ 9.73707710e-01 2.21257592e-01 5.42067760e-02 5.90449837e+02] [-2.21089222e-01 9.75210579e-01 -9.15871230e-03 -7.77894361e+01] [-5.48894560e-02 -3.06662515e-03 9.98487728e-01 -3.87469867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.620714057 meters 0.030883734246524946 Centerline is valid? [True, True] Translation: X:590.51, Y:-77.81, Z:-38.75 [[ 9.74014536e-01 2.20173397e-01 5.30976297e-02 5.90508683e+02] [-2.20010267e-01 9.75456307e-01 -8.97083367e-03 -7.78126154e+01] [-5.37695567e-02 -2.94430132e-03 9.98549030e-01 -3.87509301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.680714057 meters 0.030325188220277213 Centerline is valid? [True, True] Translation: X:590.57, Y:-77.84, Z:-38.76 [[ 9.75451676e-01 2.13968625e-01 5.20716300e-02 5.90565737e+02] [-2.13802052e-01 9.76837243e-01 -8.81385189e-03 -7.78361557e+01] [-5.27513952e-02 -2.53553474e-03 9.98604457e-01 -3.87551006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.740714057 meters 0.027556205461108173 Centerline is valid? [True, True] Translation: X:590.62, Y:-77.86, Z:-38.76 [[ 9.77657226e-01 2.03773905e-01 5.15998479e-02 5.90622887e+02] [-2.03596151e-01 9.79015999e-01 -8.73384672e-03 -7.78641210e+01] [-5.22968067e-02 -1.96682208e-03 9.98629649e-01 -3.87577301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.800714057 meters 0.024448820294986167 Centerline is valid? [True, True] Translation: X:590.68, Y:-77.90, Z:-38.76 [[ 9.80723504e-01 1.88264128e-01 5.23261698e-02 5.90679584e+02] [-1.88059095e-01 9.82117758e-01 -8.85920531e-03 -7.78970234e+01] [-5.30583311e-02 -1.15198128e-03 9.98590750e-01 -3.87605266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.860714057 meters 0.023848678471296837 Centerline is valid? [True, True] Translation: X:590.74, Y:-77.92, Z:-38.76 [[ 9.81934180e-01 1.81271416e-01 5.42765207e-02 5.90737631e+02] [-1.81040036e-01 9.83432779e-01 -9.19095938e-03 -7.79176649e+01] [-5.50433678e-02 -8.01306108e-04 9.98483643e-01 -3.87635325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.920714057 meters 0.02386420069744754 Centerline is valid? [True, True] Translation: X:590.80, Y:-77.93, Z:-38.77 [[ 9.81887828e-01 1.80600177e-01 5.72701392e-02 5.90798404e+02] [-1.80341366e-01 9.83556266e-01 -9.69866075e-03 -7.79325922e+01] [-5.80799841e-02 -8.05178173e-04 9.98311608e-01 -3.87656561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.980714057 meters 0.024459542587862627 Centerline is valid? [True, True] Translation: X:590.86, Y:-77.94, Z:-38.77 [[ 9.80718350e-01 1.86743747e-01 5.76046035e-02 5.90859586e+02] [-1.86491603e-01 9.82407973e-01 -9.77020711e-03 -7.79399735e+01] [-5.84157469e-02 -1.16095342e-03 9.98291667e-01 -3.87712881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0407140570001 meters 0.02671988362981467 Centerline is valid? [True, True] Translation: X:590.92, Y:-77.94, Z:-38.78 [[ 9.79012885e-01 1.96302367e-01 5.47645148e-02 5.90919007e+02] [-1.96088595e-01 9.80542054e-01 -9.30283386e-03 -7.79443289e+01] [-5.55250782e-02 -1.63110253e-03 9.98455961e-01 -3.87790943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.100714057 meters 0.02838868504549459 Centerline is valid? [True, True] Translation: X:590.98, Y:-77.95, Z:-38.79 [[ 9.77124611e-01 2.06222226e-01 5.19604555e-02 5.90979781e+02] [-2.06043771e-01 9.78502969e-01 -8.82634199e-03 -7.79493972e+01] [-5.26636478e-02 -2.08169220e-03 9.98610138e-01 -3.87860586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1607140570001 meters 0.030937314321861108 Centerline is valid? [True, True] Translation: X:591.04, Y:-77.96, Z:-38.79 [[ 9.75396790e-01 2.13989477e-01 5.30057095e-02 5.91040477e+02] [-2.13815093e-01 9.76832639e-01 -9.00564195e-03 -7.79568355e+01] [-5.37048197e-02 -2.54934644e-03 9.98553601e-01 -3.87896590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.220714057 meters 0.031602912764295533 Centerline is valid? [True, True] Translation: X:591.10, Y:-77.97, Z:-38.79 [[ 9.74844465e-01 2.15804667e-01 5.57370141e-02 5.91101623e+02] [-2.15614806e-01 9.76432579e-01 -9.46960567e-03 -7.79695132e+01] [-5.64670216e-02 -2.78633284e-03 9.98400577e-01 -3.87921587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.280714057 meters 0.03314521171258394 Centerline is valid? [True, True] Translation: X:591.16, Y:-77.98, Z:-38.79 [[ 9.75469790e-01 2.12242977e-01 5.84089617e-02 5.91159947e+02] [-2.12027089e-01 9.77213230e-01 -9.94069351e-03 -7.79833426e+01] [-5.91878525e-02 -2.68743588e-03 9.98243245e-01 -3.87944042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.340714057 meters 0.029944369714076963 Centerline is valid? [True, True] Translation: X:591.22, Y:-78.00, Z:-38.80 [[ 9.75718850e-01 2.11585650e-01 5.66059929e-02 5.91219364e+02] [-2.11381897e-01 9.77356087e-01 -9.63186786e-03 -7.80035852e+01] [-5.73621768e-02 -2.56748717e-03 9.98350133e-01 -3.87989208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.400714057 meters 0.03393443911087903 Centerline is valid? [True, True] Translation: X:591.28, Y:-78.01, Z:-38.81 [[ 9.75656624e-01 2.12072878e-01 5.58502116e-02 5.91279347e+02] [-2.11874513e-01 9.77250534e-01 -9.51763048e-03 -7.80112928e+01] [-5.65980803e-02 -2.54729713e-03 9.98393794e-01 -3.88054239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.460714057 meters 0.03052555146148359 Centerline is valid? [True, True] Translation: X:591.34, Y:-78.03, Z:-38.81 [[ 9.75939483e-01 2.10790504e-01 5.57627863e-02 5.91339080e+02] [-2.10589862e-01 9.77528177e-01 -9.51702947e-03 -7.80329717e+01] [-5.65157943e-02 -2.45503266e-03 9.98398687e-01 -3.88086168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.520714057 meters 0.030427233245971665 Centerline is valid? [True, True] Translation: X:591.40, Y:-78.05, Z:-38.81 [[ 9.76157111e-01 2.09525699e-01 5.67122230e-02 5.91398882e+02] [-2.09315799e-01 9.77800150e-01 -9.68317757e-03 -7.80505486e+01] [-5.74820947e-02 -2.41846163e-03 9.98343608e-01 -3.88119306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.580714057 meters 0.029891406792218897 Centerline is valid? [True, True] Translation: X:591.46, Y:-78.06, Z:-38.82 [[ 9.76209489e-01 2.09256900e-01 5.68030222e-02 5.91459119e+02] [-2.09045042e-01 9.77857774e-01 -9.71309402e-03 -7.80641570e+01] [-5.75778088e-02 -2.39237562e-03 9.98338155e-01 -3.88167501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.640714057 meters 0.029783628625746517 Centerline is valid? [True, True] Translation: X:591.52, Y:-78.08, Z:-38.82 [[ 9.76404791e-01 2.08262219e-01 5.71010736e-02 5.91518947e+02] [-2.08045576e-01 9.78070249e-01 -9.77885466e-03 -7.80802785e+01] [-5.78854272e-02 -2.33150522e-03 9.98320510e-01 -3.88203102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.700714057 meters 0.029217095108889396 Centerline is valid? [True, True] Translation: X:591.58, Y:-78.10, Z:-38.82 [[ 9.76882607e-01 2.05916256e-01 5.74357648e-02 5.91578723e+02] [-2.05692094e-01 9.78567167e-01 -9.85201267e-03 -7.80953739e+01] [-5.82334432e-02 -2.18982292e-03 9.98300591e-01 -3.88247169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.760714057 meters 0.0276633660353236 Centerline is valid? [True, True] Translation: X:591.64, Y:-78.11, Z:-38.83 [[ 9.77874706e-01 2.00981887e-01 5.80287940e-02 5.91637875e+02] [-2.00744132e-01 9.79593093e-01 -9.95815477e-03 -7.81122712e+01] [-5.88460145e-02 -1.91111219e-03 9.98265242e-01 -3.88296756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.820714057 meters 0.026035914107414432 Centerline is valid? [True, True] Translation: X:591.70, Y:-78.13, Z:-38.83 [[ 9.79661272e-01 1.92352869e-01 5.71328830e-02 5.91696899e+02] [-1.92107531e-01 9.81324872e-01 -9.80777270e-03 -7.81304523e+01] [-5.79524723e-02 -1.36736203e-03 9.98318407e-01 -3.88329469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.880714057 meters 0.024834013771584094 Centerline is valid? [True, True] Translation: X:591.75, Y:-78.15, Z:-38.84 [[ 9.81506723e-01 1.82737320e-01 5.70230172e-02 5.91754721e+02] [-1.82476584e-01 9.83161451e-01 -9.79069289e-03 -7.81483579e+01] [-5.78519573e-02 -7.95734498e-04 9.98324856e-01 -3.88377768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.940714057 meters 0.024032618949097737 Centerline is valid? [True, True] Translation: X:591.81, Y:-78.17, Z:-38.84 [[ 9.82946662e-01 1.73813899e-01 6.00382189e-02 5.91814132e+02] [-1.73508107e-01 9.84778477e-01 -1.03096311e-02 -7.81656794e+01] [-6.09163029e-02 -2.83300256e-04 9.98142837e-01 -3.88389457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.000714057 meters 0.024038389441782777 Centerline is valid? [True, True] Translation: X:591.87, Y:-78.18, Z:-38.84 [[ 9.83219871e-01 1.71432022e-01 6.23678309e-02 5.91874802e+02] [-1.71097100e-01 9.85195941e-01 -1.07116792e-02 -7.81781340e+01] [-6.32808587e-02 -1.39019134e-04 9.97995748e-01 -3.88405814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.060714057 meters 0.024493256471280016 Centerline is valid? [True, True] Translation: X:591.94, Y:-78.18, Z:-38.85 [[ 9.82126635e-01 1.78002015e-01 6.11764229e-02 5.91936178e+02] [-1.77691587e-01 9.84029976e-01 -1.05216833e-02 -7.81834614e+01] [-6.20723148e-02 -5.36910245e-04 9.98071510e-01 -3.88457009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.120714057 meters 0.02480498505642733 Centerline is valid? [True, True] Translation: X:592.00, Y:-78.19, Z:-38.85 [[ 9.81743860e-01 1.80214764e-01 6.08410392e-02 5.91996252e+02] [-1.79911098e-01 9.83627066e-01 -1.04781875e-02 -7.81910377e+01] [-6.17332169e-02 -6.59081873e-04 9.98092468e-01 -3.88514273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.180714057 meters 0.02550729963394053 Centerline is valid? [True, True] Translation: X:592.06, Y:-78.20, Z:-38.86 [[ 9.80640711e-01 1.87463310e-01 5.65800578e-02 5.92056843e+02] [-1.87212348e-01 9.82271066e-01 -9.75141497e-03 -7.81954953e+01] [-5.74049862e-02 -1.02985094e-03 9.98350443e-01 -3.88596882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.240714057 meters 0.027014053040909106 Centerline is valid? [True, True] Translation: X:592.12, Y:-78.20, Z:-38.86 [[ 9.79400842e-01 1.94533117e-01 5.41373895e-02 5.92117331e+02] [-1.94313747e-01 9.80894988e-01 -9.33756035e-03 -7.82000235e+01] [-5.49195588e-02 -1.37442457e-03 9.98489836e-01 -3.88649605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.300714057 meters 0.02839787679969397 Centerline is valid? [True, True] Translation: X:592.18, Y:-78.20, Z:-38.87 [[ 9.78266572e-01 2.00039729e-01 5.45767444e-02 5.92178207e+02] [-1.99825273e-01 9.79786319e-01 -9.41434107e-03 -7.82038683e+01] [-5.53567897e-02 -1.69607771e-03 9.98465197e-01 -3.88671409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.360714057 meters 0.02863650188747318 Centerline is valid? [True, True] Translation: X:592.24, Y:-78.21, Z:-38.87 [[ 9.77902353e-01 2.01636964e-01 5.52224782e-02 5.92239568e+02] [-2.01420000e-01 9.79458658e-01 -9.52471509e-03 -7.82137013e+01] [-5.60086691e-02 -1.80867027e-03 9.98428644e-01 -3.88707544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.420714057 meters 0.028915258213243193 Centerline is valid? [True, True] Translation: X:592.30, Y:-78.22, Z:-38.87 [[ 9.77724814e-01 2.02275688e-01 5.60244121e-02 5.92301870e+02] [-2.02052608e-01 9.79326857e-01 -9.67731451e-03 -7.82242095e+01] [-5.68236969e-02 -1.85812802e-03 9.98382499e-01 -3.88737207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.480714057 meters 0.02882097008421735 Centerline is valid? [True, True] Translation: X:592.36, Y:-78.23, Z:-38.88 [[ 9.77592274e-01 2.02956997e-01 5.58731043e-02 5.92363245e+02] [-2.02735304e-01 9.79185854e-01 -9.66750485e-03 -7.82341029e+01] [-5.66722411e-02 -1.87657275e-03 9.98391073e-01 -3.88776100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5407140570001 meters 0.029118262242739314 Centerline is valid? [True, True] Translation: X:592.42, Y:-78.24, Z:-38.88 [[ 9.77091268e-01 2.05880908e-01 5.39046071e-02 5.92424376e+02] [-2.05678177e-01 9.78575094e-01 -9.34203491e-03 -7.82435800e+01] [-5.46730526e-02 -1.95898057e-03 9.98502388e-01 -3.88819806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.600714057 meters 0.03055073957702326 Centerline is valid? [True, True] Translation: X:592.48, Y:-78.25, Z:-38.89 [[ 9.76891825e-01 2.07251480e-01 5.22416071e-02 5.92484828e+02] [-2.07062848e-01 9.78285718e-01 -9.05713572e-03 -7.82487037e+01] [-5.29843229e-02 -1.96945411e-03 9.98593402e-01 -3.88884399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6607140570001 meters 0.032219145472043624 Centerline is valid? [True, True] Translation: X:592.55, Y:-78.26, Z:-38.89 [[ 9.76788784e-01 2.07870329e-01 5.17068360e-02 5.92545612e+02] [-2.07686428e-01 9.78154382e-01 -8.96399934e-03 -7.82570120e+01] [-5.24406176e-02 -1.98287402e-03 9.98622076e-01 -3.88933150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.720714057 meters 0.02921780320240699 Centerline is valid? [True, True] Translation: X:592.60, Y:-78.28, Z:-38.89 [[ 9.77164338e-01 2.06264978e-01 5.10354360e-02 5.92604971e+02] [-2.06083063e-01 9.78494402e-01 -8.85867583e-03 -7.82759690e+01] [-5.17651230e-02 -1.86115685e-03 9.98657553e-01 -3.88944540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.780714057 meters 0.02881544925072327 Centerline is valid? [True, True] Translation: X:592.67, Y:-78.29, Z:-38.90 [[ 9.77619454e-01 2.04330727e-01 5.00914974e-02 5.92666008e+02] [-2.04152194e-01 9.78900416e-01 -8.70960205e-03 -7.82894294e+01] [-5.08142270e-02 -1.71161272e-03 9.98706656e-01 -3.88987338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.840714057 meters 0.02821110340854253 Centerline is valid? [True, True] Translation: X:592.73, Y:-78.30, Z:-38.90 [[ 9.78221498e-01 2.01420406e-01 5.01250500e-02 5.92725957e+02] [-2.01237545e-01 9.79503649e-01 -8.72078600e-03 -7.83038676e+01] [-5.08542136e-02 -1.55618163e-03 9.98704875e-01 -3.89010885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.900714057 meters 0.02858669533567237 Centerline is valid? [True, True] Translation: X:592.79, Y:-78.31, Z:-38.91 [[ 9.78866165e-01 1.97980844e-01 5.12310038e-02 5.92785889e+02] [-1.97785014e-01 9.80204881e-01 -8.91513078e-03 -7.83142293e+01] [-5.19819051e-02 -1.40600492e-03 9.98647037e-01 -3.89050298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.960714057 meters 0.027088254628283414 Centerline is valid? [True, True] Translation: X:592.85, Y:-78.33, Z:-38.91 [[ 9.79303071e-01 1.95580357e-01 5.20943246e-02 5.92846272e+02] [-1.95374509e-01 9.80686816e-01 -9.06473400e-03 -7.83300139e+01] [-5.28611013e-02 -1.30078126e-03 9.98601027e-01 -3.89061269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.020714057 meters 0.027476470902049493 Centerline is valid? [True, True] Translation: X:592.91, Y:-78.34, Z:-38.91 [[ 9.79773731e-01 1.93607778e-01 5.05911583e-02 5.92905980e+02] [-1.93410363e-01 9.81078341e-01 -8.81587062e-03 -7.83396684e+01] [-5.13407108e-02 -1.14729581e-03 9.98680537e-01 -3.89122943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.080714057 meters 0.026134168566517492 Centerline is valid? [True, True] Translation: X:592.97, Y:-78.36, Z:-38.92 [[ 9.80864089e-01 1.88231830e-01 4.97435118e-02 5.92965112e+02] [-1.88033356e-01 9.82124268e-01 -8.68218161e-03 -7.83559518e+01] [-5.04885730e-02 -8.37399283e-04 9.98724288e-01 -3.89150995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.140714057 meters 0.025380010960471096 Centerline is valid? [True, True] Translation: X:593.02, Y:-78.37, Z:-38.92 [[ 9.82543191e-01 1.79492548e-01 4.89009493e-02 5.93024402e+02] [-1.79289823e-01 9.83759260e-01 -8.53688854e-03 -7.83724299e+01] [-4.96390695e-02 -3.79580807e-04 9.98767149e-01 -3.89189439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.200714057 meters 0.02538597447364565 Centerline is valid? [True, True] Translation: X:593.08, Y:-78.39, Z:-38.92 [[ 9.84111680e-01 1.70703982e-01 4.88298343e-02 5.93084452e+02] [-1.70491087e-01 9.85322357e-01 -8.52306608e-03 -7.83873109e+01] [-4.95680487e-02 6.25973399e-05 9.98770747e-01 -3.89220470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.260714057 meters 0.025714331768130243 Centerline is valid? [True, True] Translation: X:593.15, Y:-78.40, Z:-38.93 [[ 9.84652466e-01 1.67403789e-01 4.93507139e-02 5.93146554e+02] [-1.67181576e-01 9.85888387e-01 -8.62601983e-03 -7.83970739e+01] [-5.00983241e-02 2.43101556e-04 9.98744261e-01 -3.89256596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.320714057 meters 0.025940472257820955 Centerline is valid? [True, True] Translation: X:593.21, Y:-78.41, Z:-38.93 [[ 9.84914357e-01 1.65341279e-01 5.10487029e-02 5.93208719e+02] [-1.65099941e-01 9.86236341e-01 -8.93805292e-03 -7.84057952e+01] [-5.18239151e-02 3.75078830e-04 9.98656168e-01 -3.89281865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.380714057 meters 0.0257892453096162 Centerline is valid? [True, True] Translation: X:593.27, Y:-78.41, Z:-38.93 [[ 9.84359462e-01 1.68177642e-01 5.24664720e-02 5.93271264e+02] [-1.67925782e-01 9.85756673e-01 -9.20398523e-03 -7.84110734e+01] [-5.32670794e-02 2.49556609e-04 9.98580270e-01 -3.89311468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.440714057 meters 0.025375803208534383 Centerline is valid? [True, True] Translation: X:593.34, Y:-78.41, Z:-38.94 [[ 9.83130534e-01 1.75453889e-01 5.16748009e-02 5.93335063e+02] [-1.75219503e-01 9.84487640e-01 -9.06713169e-03 -7.84118610e+01] [-5.24640662e-02 -1.40258880e-04 9.98622803e-01 -3.89359853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.500714057 meters 0.025906844973628152 Centerline is valid? [True, True] Translation: X:593.40, Y:-78.41, Z:-38.94 [[ 9.81352589e-01 1.85149351e-01 5.16412103e-02 5.93398303e+02] [-1.84927841e-01 9.82710184e-01 -9.07679878e-03 -7.84106697e+01] [-5.24289066e-02 -6.42357568e-04 9.98624453e-01 -3.89407305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.560714057 meters 0.025965049521645307 Centerline is valid? [True, True] Translation: X:593.46, Y:-78.41, Z:-38.95 [[ 9.80069159e-01 1.91824398e-01 5.16511699e-02 5.93461412e+02] [-1.91611253e-01 9.81428770e-01 -9.09375756e-03 -7.84106726e+01] [-5.24363487e-02 -9.84434065e-04 9.98623783e-01 -3.89463866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.620714057 meters 0.02713878636987384 Centerline is valid? [True, True] Translation: X:593.52, Y:-78.41, Z:-38.95 [[ 9.79452472e-01 1.95189595e-01 5.07333958e-02 5.93522285e+02] [-1.94988256e-01 9.80764866e-01 -8.93625954e-03 -7.84130746e+01] [-5.15017971e-02 -1.13977490e-03 9.98672251e-01 -3.89518794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.680714057 meters 0.02604640956714997 Centerline is valid? [True, True] Translation: X:593.58, Y:-78.42, Z:-38.95 [[ 9.79122503e-01 1.96638200e-01 5.15028478e-02 5.93583679e+02] [-1.96432749e-01 9.80475340e-01 -9.07097841e-03 -7.84227741e+01] [-5.22809731e-02 -1.23524691e-03 9.98631651e-01 -3.89532696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.740714057 meters 0.02599644972207581 Centerline is valid? [True, True] Translation: X:593.65, Y:-78.43, Z:-38.96 [[ 9.79128090e-01 1.96451604e-01 5.21051895e-02 5.93645878e+02] [-1.96240332e-01 9.80512755e-01 -9.19067945e-03 -7.84288950e+01] [-5.28953266e-02 -1.22628725e-03 9.98599309e-01 -3.89583592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.800714057 meters 0.02537965815453324 Centerline is valid? [True, True] Translation: X:593.71, Y:-78.44, Z:-38.96 [[ 9.79562252e-01 1.94375221e-01 5.17307327e-02 5.93706928e+02] [-1.94163399e-01 9.80926643e-01 -9.13763002e-03 -7.84391114e+01] [-5.25201828e-02 -1.09333748e-03 9.98619264e-01 -3.89617405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.860714057 meters 0.025314077937195836 Centerline is valid? [True, True] Translation: X:593.77, Y:-78.45, Z:-38.97 [[ 9.79959097e-01 1.92784191e-01 5.01440292e-02 5.93768407e+02] [-1.92582449e-01 9.81240707e-01 -8.86991110e-03 -7.84475282e+01] [-5.09133413e-02 -9.64709892e-04 9.98702609e-01 -3.89663775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.920714057 meters 0.024991677190914937 Centerline is valid? [True, True] Translation: X:593.83, Y:-78.46, Z:-38.97 [[ 9.80226556e-01 1.90932794e-01 5.19669905e-02 5.93830132e+02] [-1.90712704e-01 9.81602712e-01 -9.20761279e-03 -7.84581992e+01] [-5.27689740e-02 -8.85218677e-04 9.98606355e-01 -3.89688271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.980714057 meters 0.025414237498104588 Centerline is valid? [True, True] Translation: X:593.89, Y:-78.47, Z:-38.97 [[ 9.80335847e-01 1.90130459e-01 5.28397089e-02 5.93890282e+02] [-1.89901396e-01 9.81758466e-01 -9.36874749e-03 -7.84656599e+01] [-5.36571159e-02 -8.49815484e-04 9.98559058e-01 -3.89727962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0407140570001 meters 0.024684440626266305 Centerline is valid? [True, True] Translation: X:593.95, Y:-78.48, Z:-38.98 [[ 9.80365493e-01 1.90204973e-01 5.20150835e-02 5.93952345e+02] [-1.89982514e-01 9.81744050e-01 -9.23384652e-03 -7.84767046e+01] [-5.28218223e-02 -8.29411860e-04 9.98603609e-01 -3.89755598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.100714057 meters 0.024837095846915427 Centerline is valid? [True, True] Translation: X:594.01, Y:-78.48, Z:-38.98 [[ 9.79892860e-01 1.92629309e-01 5.19993559e-02 5.94013495e+02] [-1.92409565e-01 9.81271144e-01 -9.24672338e-03 -7.84844650e+01] [-5.28066573e-02 -9.44375230e-04 9.98604309e-01 -3.89797084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1607140570001 meters 0.02565982980306467 Centerline is valid? [True, True] Translation: X:594.07, Y:-78.49, Z:-38.98 [[ 9.79193752e-01 1.96201230e-01 5.18138388e-02 5.94074035e+02] [-1.95987270e-01 9.80563015e-01 -9.22841638e-03 -7.84906809e+01] [-5.26173607e-02 -1.11844517e-03 9.98614121e-01 -3.89845130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.220714057 meters 0.02602872166252256 Centerline is valid? [True, True] Translation: X:594.14, Y:-78.50, Z:-38.99 [[ 9.78571014e-01 1.99499192e-01 5.09788507e-02 5.94135238e+02] [-1.99296175e-01 9.79897171e-01 -9.08677632e-03 -7.84998628e+01] [-5.17668361e-02 -1.26783406e-03 9.98658394e-01 -3.89884335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.280714057 meters 0.027067735747267174 Centerline is valid? [True, True] Translation: X:594.20, Y:-78.51, Z:-38.99 [[ 9.77574406e-01 2.04313659e-01 5.10314585e-02 5.94195566e+02] [-2.04116536e-01 9.78904295e-01 -9.10060169e-03 -7.85072903e+01] [-5.18142912e-02 -1.51984923e-03 9.98655581e-01 -3.89920954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.340714057 meters 0.029028789404933846 Centerline is valid? [True, True] Translation: X:594.26, Y:-78.51, Z:-39.00 [[ 9.75733107e-01 2.12702954e-01 5.19842087e-02 5.94256221e+02] [-2.12510212e-01 9.77114860e-01 -9.27142847e-03 -7.85117985e+01] [-5.27666031e-02 -2.00073552e-03 9.98604868e-01 -3.89959226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.400714057 meters 0.03237963990488046 Centerline is valid? [True, True] Translation: X:594.32, Y:-78.52, Z:-39.00 [[ 9.74761941e-01 2.17239699e-01 5.14399863e-02 5.94316271e+02] [-2.17057190e-01 9.76115761e-01 -9.17587805e-03 -7.85161646e+01] [-5.22047464e-02 -2.22112216e-03 9.98633932e-01 -3.90006373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.460714057 meters 0.03379152625766319 Centerline is valid? [True, True] Translation: X:594.38, Y:-78.53, Z:-39.01 [[ 9.74124235e-01 2.20119731e-01 5.12764848e-02 5.94376113e+02] [-2.19942368e-01 9.75469987e-01 -9.14649862e-03 -7.85254037e+01] [-5.20319968e-02 -2.36804554e-03 9.98642611e-01 -3.90052330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.520714057 meters 0.03156554707257922 Centerline is valid? [True, True] Translation: X:594.44, Y:-78.54, Z:-39.01 [[ 9.74056050e-01 2.20596248e-01 5.05183861e-02 5.94435430e+02] [-2.20424848e-01 9.75362355e-01 -9.00899735e-03 -7.85435875e+01] [-5.12610830e-02 -2.36023919e-03 9.98682497e-01 -3.90082528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.580714057 meters 0.03196744952121357 Centerline is valid? [True, True] Translation: X:594.50, Y:-78.56, Z:-39.01 [[ 9.74167021e-01 2.20162182e-01 5.02715571e-02 5.94495651e+02] [-2.19991223e-01 9.75460538e-01 -8.97776565e-03 -7.85577043e+01] [-5.10144846e-02 -2.31345809e-03 9.98695234e-01 -3.90125977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.640714057 meters 0.030555283783890472 Centerline is valid? [True, True] Translation: X:594.56, Y:-78.57, Z:-39.02 [[ 9.74326158e-01 2.19515623e-01 5.00142862e-02 5.94555573e+02] [-2.19344927e-01 9.75606377e-01 -8.94428152e-03 -7.85745087e+01] [-5.07576661e-02 -2.25573249e-03 9.98708451e-01 -3.90165066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.700714057 meters 0.029804741539774252 Centerline is valid? [True, True] Translation: X:594.61, Y:-78.59, Z:-39.02 [[ 9.74939835e-01 2.16805061e-01 4.98786941e-02 5.94614649e+02] [-2.16630943e-01 9.76212673e-01 -8.93592851e-03 -7.85901804e+01] [-5.06295678e-02 -2.09327588e-03 9.98715307e-01 -3.90209812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.760714057 meters 0.0293811584844331 Centerline is valid? [True, True] Translation: X:594.67, Y:-78.61, Z:-39.02 [[ 9.75566371e-01 2.13879017e-01 5.02595433e-02 5.94674114e+02] [-2.13698286e-01 9.76858201e-01 -9.00546825e-03 -7.86096000e+01] [-5.10225277e-02 -1.95494627e-03 9.98695589e-01 -3.90234382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.820714057 meters 0.028778395965992 Centerline is valid? [True, True] Translation: X:594.73, Y:-78.62, Z:-39.03 [[ 9.75821328e-01 2.12625244e-01 5.06284712e-02 5.94734356e+02] [-2.12440076e-01 9.77131971e-01 -9.07328617e-03 -7.86239875e+01] [-5.13999076e-02 -1.90161012e-03 9.98676341e-01 -3.90270629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.880714057 meters 0.028018365884366115 Centerline is valid? [True, True] Translation: X:594.79, Y:-78.64, Z:-39.03 [[ 9.76951630e-01 2.07509117e-01 5.00547572e-02 5.94793181e+02] [-2.07320605e-01 9.78231778e-01 -8.98634311e-03 -7.86425909e+01] [-5.08299023e-02 -1.59816002e-03 9.98706046e-01 -3.90318391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.940714057 meters 0.02682842823562667 Centerline is valid? [True, True] Translation: X:594.85, Y:-78.66, Z:-39.04 [[ 9.78258634e-01 2.01162975e-01 5.04331405e-02 5.94851801e+02] [-2.00963049e-01 9.79556956e-01 -9.05662542e-03 -7.86621040e+01] [-5.12239913e-02 -1.27547565e-03 9.98686375e-01 -3.90350566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.000714057 meters 0.02536731941198078 Centerline is valid? [True, True] Translation: X:594.91, Y:-78.68, Z:-39.04 [[ 9.79780376e-01 1.93146649e-01 5.21994883e-02 5.94910307e+02] [-1.92920977e-01 9.81169501e-01 -9.37583125e-03 -7.86822995e+01] [-5.30274563e-02 -8.84120822e-04 9.98592663e-01 -3.90370548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.060714057 meters 0.02475098789526532 Centerline is valid? [True, True] Translation: X:594.97, Y:-78.70, Z:-39.04 [[ 9.81123821e-01 1.85857239e-01 5.34147476e-02 5.94968203e+02] [-1.85610002e-01 9.82576632e-01 -9.59631855e-03 -7.87009579e+01] [-5.42676281e-02 -4.99134702e-04 9.98526302e-01 -3.90400864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.120714057 meters 0.024300672794896432 Centerline is valid? [True, True] Translation: X:595.03, Y:-78.72, Z:-39.05 [[ 9.82051639e-01 1.80817146e-01 5.36631968e-02 5.95027648e+02] [-1.80560147e-01 9.83516706e-01 -9.63966710e-03 -7.87169257e+01] [-5.45216676e-02 -2.22783838e-04 9.98512563e-01 -3.90450005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.180714057 meters 0.024069080493135046 Centerline is valid? [True, True] Translation: X:595.09, Y:-78.73, Z:-39.05 [[ 9.82547114e-01 1.78211986e-01 5.33071960e-02 5.95088334e+02] [-1.77953864e-01 9.83992116e-01 -9.58845357e-03 -7.87317402e+01] [-5.41626379e-02 -6.51141461e-05 9.98532125e-01 -3.90486145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.240714057 meters 0.024130831128270417 Centerline is valid? [True, True] Translation: X:595.15, Y:-78.74, Z:-39.05 [[ 9.82580498e-01 1.78033492e-01 5.32882725e-02 5.95148890e+02] [-1.77774396e-01 9.84024428e-01 -9.60155080e-03 -7.87421850e+01] [-5.41463595e-02 -3.89938940e-05 9.98533009e-01 -3.90542232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.300714057 meters 0.024315819031191562 Centerline is valid? [True, True] Translation: X:595.21, Y:-78.75, Z:-39.06 [[ 9.82275300e-01 1.79502683e-01 5.39816718e-02 5.95211639e+02] [-1.79238536e-01 9.83757477e-01 -9.73515106e-03 -7.87507519e+01] [-5.48523590e-02 -1.12997395e-04 9.98494470e-01 -3.90578281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.360714057 meters 0.024488911869221055 Centerline is valid? [True, True] Translation: X:595.27, Y:-78.76, Z:-39.06 [[ 9.81610289e-01 1.83188531e-01 5.36954529e-02 5.95272920e+02] [-1.82931822e-01 9.83077754e-01 -9.69935737e-03 -7.87581592e+01] [-5.45636163e-02 -3.01618029e-04 9.98510251e-01 -3.90614366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.420714057 meters 0.02491701171811957 Centerline is valid? [True, True] Translation: X:595.33, Y:-78.76, Z:-39.07 [[ 9.80488578e-01 1.89077615e-01 5.37754946e-02 5.95334368e+02] [-1.88828232e-01 9.81961952e-01 -9.72745293e-03 -7.87643169e+01] [-5.46447332e-02 -6.16675090e-04 9.98505670e-01 -3.90663011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.480714057 meters 0.025753661239837633 Centerline is valid? [True, True] Translation: X:595.40, Y:-78.77, Z:-39.07 [[ 9.79126248e-01 1.95932824e-01 5.40566234e-02 5.95396449e+02] [-1.95690396e-01 9.80616821e-01 -9.79380519e-03 -7.87699270e+01] [-5.49277621e-02 -9.88990322e-04 9.98489841e-01 -3.90710856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5407140570001 meters 0.027699289072471166 Centerline is valid? [True, True] Translation: X:595.46, Y:-78.77, Z:-39.08 [[ 9.77646227e-01 2.03407579e-01 5.32279212e-02 5.95456449e+02] [-2.03183330e-01 9.79093175e-01 -9.64825936e-03 -7.87723649e+01] [-5.40776235e-02 -1.38244191e-03 9.98535778e-01 -3.90759697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.600714057 meters 0.02987132807567918 Centerline is valid? [True, True] Translation: X:595.52, Y:-78.78, Z:-39.08 [[ 9.76150852e-01 2.10580202e-01 5.27777675e-02 5.95517849e+02] [-2.10370192e-01 9.77574992e-01 -9.56646921e-03 -7.87761911e+01] [-5.36087346e-02 -1.76455200e-03 9.98560459e-01 -3.90815603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6607140570001 meters 0.028486126826997752 Centerline is valid? [True, True] Translation: X:595.58, Y:-78.79, Z:-39.08 [[ 9.75022137e-01 2.15704676e-01 5.29464364e-02 5.95577723e+02] [-2.15500802e-01 9.76456493e-01 -9.59798311e-03 -7.87876562e+01] [-5.37702215e-02 -2.05175351e-03 9.98551227e-01 -3.90834541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.720714057 meters 0.029519052919328742 Centerline is valid? [True, True] Translation: X:595.64, Y:-78.80, Z:-39.09 [[ 9.74326365e-01 2.18701262e-01 5.34592592e-02 5.95638771e+02] [-2.18497892e-01 9.75789295e-01 -9.69138584e-03 -7.87985318e+01] [-5.42844911e-02 -2.23816267e-03 9.98523002e-01 -3.90863796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.780714057 meters 0.03039556500613688 Centerline is valid? [True, True] Translation: X:595.70, Y:-78.81, Z:-39.09 [[ 9.73911066e-01 2.20796363e-01 5.24042214e-02 5.95698952e+02] [-2.20603864e-01 9.75317203e-01 -9.50203185e-03 -7.88115919e+01] [-5.32087527e-02 -2.30643978e-03 9.98580747e-01 -3.90904638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.840714057 meters 0.03399219561604217 Centerline is valid? [True, True] Translation: X:595.76, Y:-78.82, Z:-39.10 [[ 9.73704635e-01 2.21905804e-01 5.15470455e-02 5.95758792e+02] [-2.21720401e-01 9.75065359e-01 -9.36000627e-03 -7.88197018e+01] [-5.23387781e-02 -2.31515010e-03 9.98626703e-01 -3.90966187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.900714057 meters 0.030468182010866412 Centerline is valid? [True, True] Translation: X:595.82, Y:-78.84, Z:-39.10 [[ 9.73663885e-01 2.22314671e-01 5.05452969e-02 5.95818578e+02] [-2.22136724e-01 9.74972285e-01 -9.18259869e-03 -7.88386756e+01] [-5.13216900e-02 -2.28720194e-03 9.98679555e-01 -3.90989478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.960714057 meters 0.03115230272119552 Centerline is valid? [True, True] Translation: X:595.88, Y:-78.85, Z:-39.10 [[ 9.73755094e-01 2.22130247e-01 4.95900288e-02 5.95878744e+02] [-2.21958099e-01 9.75014469e-01 -9.02149783e-03 -7.88530997e+01] [-5.03549432e-02 -2.22217904e-03 9.98728913e-01 -3.91042989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.020714057 meters 0.030949025394151654 Centerline is valid? [True, True] Translation: X:595.94, Y:-78.87, Z:-39.11 [[ 9.74133745e-01 2.20639827e-01 4.88007451e-02 5.95938961e+02] [-2.20470459e-01 9.75353103e-01 -8.89385075e-03 -7.88710189e+01] [-4.95602959e-02 -2.09532252e-03 9.98768936e-01 -3.91088530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.080714057 meters 0.030226610655968836 Centerline is valid? [True, True] Translation: X:596.00, Y:-78.89, Z:-39.11 [[ 9.74965293e-01 2.16502365e-01 5.06892815e-02 5.95996354e+02] [-2.16313748e-01 9.76280141e-01 -9.24382247e-03 -7.88912522e+01] [-5.14882484e-02 -1.95238241e-03 9.98671692e-01 -3.91101930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.140714057 meters 0.028663136472250685 Centerline is valid? [True, True] Translation: X:596.06, Y:-78.91, Z:-39.11 [[ 9.75359756e-01 2.14472158e-01 5.17207948e-02 5.96055255e+02] [-2.14272917e-01 9.76728289e-01 -9.43225587e-03 -7.89122354e+01] [-5.25401197e-02 -1.88252279e-03 9.98617040e-01 -3.91108333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.200714057 meters 0.02908872851948803 Centerline is valid? [True, True] Translation: X:596.11, Y:-78.93, Z:-39.12 [[ 9.75793305e-01 2.12626671e-01 5.11597880e-02 5.96114525e+02] [-2.12429170e-01 9.77131920e-01 -9.33048640e-03 -7.89266639e+01] [-5.19737722e-02 -1.76320512e-03 9.98646894e-01 -3.91158750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.260714057 meters 0.029828848719867913 Centerline is valid? [True, True] Translation: X:596.17, Y:-78.94, Z:-39.12 [[ 9.76289714e-01 2.10642752e-01 4.98801144e-02 5.96173374e+02] [-2.10451781e-01 9.77561793e-01 -9.10979779e-03 -7.89414422e+01] [-5.06798069e-02 -1.60355703e-03 9.98713666e-01 -3.91222897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.320714057 meters 0.027441628209194314 Centerline is valid? [True, True] Translation: X:596.23, Y:-78.96, Z:-39.12 [[ 9.77103869e-01 2.07200915e-01 4.83302096e-02 5.96232414e+02] [-2.07017040e-01 9.78297448e-01 -8.83455690e-03 -7.89620689e+01] [-4.91118489e-02 -1.37289717e-03 9.98792342e-01 -3.91249472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.380714057 meters 0.02694830918460781 Centerline is valid? [True, True] Translation: X:596.29, Y:-78.98, Z:-39.13 [[ 9.77853490e-01 2.03550646e-01 4.86794253e-02 5.96291325e+02] [-2.03359435e-01 9.79063688e-01 -8.90136042e-03 -7.89780006e+01] [-4.94721353e-02 -1.19519406e-03 9.98774789e-01 -3.91282813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.440714057 meters 0.02647006928723694 Centerline is valid? [True, True] Translation: X:596.35, Y:-78.99, Z:-39.13 [[ 9.78532542e-01 1.99951891e-01 4.99330104e-02 5.96350954e+02] [-1.99745923e-01 9.79805167e-01 -9.13245363e-03 -7.89919567e+01] [-5.07506730e-02 -1.03751217e-03 9.98710815e-01 -3.91313723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.500714057 meters 0.026494531323229917 Centerline is valid? [True, True] Translation: X:596.41, Y:-79.00, Z:-39.13 [[ 9.78609268e-01 1.99651954e-01 4.96286075e-02 5.96413042e+02] [-1.99448194e-01 9.79866349e-01 -9.07501129e-03 -7.90023075e+01] [-5.04412462e-02 -1.01744599e-03 9.98726512e-01 -3.91337363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.560714057 meters 0.026892575685841778 Centerline is valid? [True, True] Translation: X:596.48, Y:-79.01, Z:-39.14 [[ 9.77966496e-01 2.02991541e-01 4.87438841e-02 5.96475237e+02] [-2.02798284e-01 9.79179814e-01 -8.93019670e-03 -7.90073159e+01] [-4.95417817e-02 -1.15174287e-03 9.98771388e-01 -3.91391264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.620714057 meters 0.028065606397752706 Centerline is valid? [True, True] Translation: X:596.54, Y:-79.01, Z:-39.14 [[ 9.77184862e-01 2.06963120e-01 4.77075782e-02 5.96537044e+02] [-2.06782680e-01 9.78347850e-01 -8.74115161e-03 -7.90117078e+01] [-4.84837025e-02 -1.32337985e-03 9.98823097e-01 -3.91441625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.680714057 meters 0.030068373993095122 Centerline is valid? [True, True] Translation: X:596.60, Y:-79.01, Z:-39.15 [[ 9.76574959e-01 2.10096643e-01 4.64838612e-02 5.96597734e+02] [-2.09928236e-01 9.77679581e-01 -8.53068371e-03 -7.90138124e+01] [-4.72385899e-02 -1.42742291e-03 9.98882615e-01 -3.91524537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.740714057 meters 0.02944095142565248 Centerline is valid? [True, True] Translation: X:596.66, Y:-79.02, Z:-39.15 [[ 9.76184790e-01 2.11912518e-01 4.64364067e-02 5.96659335e+02] [-2.11746619e-01 9.77287464e-01 -8.51958014e-03 -7.90237437e+01] [-4.71871238e-02 -1.51606754e-03 9.98884917e-01 -3.91547270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.800714057 meters 0.029568723055219792 Centerline is valid? [True, True] Translation: X:596.72, Y:-79.03, Z:-39.16 [[ 9.76017190e-01 2.12243201e-01 4.84073228e-02 5.96720848e+02] [-2.12062693e-01 9.77215591e-01 -8.89393711e-03 -7.90331233e+01] [-4.91920682e-02 -1.58475173e-03 9.98788080e-01 -3.91567970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.860714057 meters 0.028040302718914396 Centerline is valid? [True, True] Translation: X:596.78, Y:-79.05, Z:-39.16 [[ 9.76002687e-01 2.11940966e-01 4.99978253e-02 5.96782128e+02] [-2.11747242e-01 9.77281150e-01 -9.20106176e-03 -7.90463667e+01] [-5.08120141e-02 -1.60664063e-03 9.98706943e-01 -3.91575988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.920714057 meters 0.02825666475069957 Centerline is valid? [True, True] Translation: X:596.84, Y:-79.06, Z:-39.16 [[ 9.75975846e-01 2.12035436e-01 5.01210653e-02 5.96842786e+02] [-2.11840767e-01 9.77260646e-01 -9.22597307e-03 -7.90557318e+01] [-5.09375779e-02 -1.61335803e-03 9.98700536e-01 -3.91610451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.980714057 meters 0.02883195904819105 Centerline is valid? [True, True] Translation: X:596.90, Y:-79.06, Z:-39.17 [[ 9.75578636e-01 2.13995089e-01 4.95219767e-02 5.96903928e+02] [-2.13806863e-01 9.76833289e-01 -9.12964926e-03 -7.90632915e+01] [-5.03284155e-02 -1.68144773e-03 9.98731307e-01 -3.91658691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0407140570001 meters 0.02970130689268737 Centerline is valid? [True, True] Translation: X:596.96, Y:-79.07, Z:-39.17 [[ 9.74981088e-01 2.17137551e-01 4.75727062e-02 5.96964757e+02] [-2.16966976e-01 9.76139432e-01 -8.78291182e-03 -7.90680639e+01] [-4.83446944e-02 -1.75853330e-03 9.98829164e-01 -3.91734993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.100714057 meters 0.02939484944540716 Centerline is valid? [True, True] Translation: X:597.03, Y:-79.08, Z:-39.18 [[ 9.74995829e-01 2.16938474e-01 4.81750150e-02 5.97025782e+02] [-2.16763130e-01 9.76183679e-01 -8.89777248e-03 -7.90787345e+01] [-4.89579325e-02 -1.76727596e-03 9.98799278e-01 -3.91769500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1607140570001 meters 0.028752731752428227 Centerline is valid? [True, True] Translation: X:597.09, Y:-79.09, Z:-39.18 [[ 9.75512115e-01 2.14174802e-01 5.00526537e-02 5.97085524e+02] [-2.13981037e-01 9.76793912e-01 -9.26120804e-03 -7.90919936e+01] [-5.08746448e-02 -1.67589812e-03 9.98703641e-01 -3.91787812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.220714057 meters 0.028008878706598243 Centerline is valid? [True, True] Translation: X:597.15, Y:-79.11, Z:-39.18 [[ 9.76408759e-01 2.10345819e-01 4.87910983e-02 5.97145516e+02] [-2.10156852e-01 9.77625987e-01 -9.02926603e-03 -7.91062311e+01] [-4.95987140e-02 -1.43752917e-03 9.98768192e-01 -3.91842931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.280714057 meters 0.027721507330092574 Centerline is valid? [True, True] Translation: X:597.21, Y:-79.12, Z:-39.19 [[ 9.77226571e-01 2.06850439e-01 4.73405210e-02 5.97205293e+02] [-2.06668466e-01 9.78371811e-01 -8.76042489e-03 -7.91183088e+01] [-4.81287290e-02 -1.22287286e-03 9.98840393e-01 -3.91913073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.340714057 meters 0.026506016496403238 Centerline is valid? [True, True] Translation: X:597.26, Y:-79.14, Z:-39.19 [[ 9.77906887e-01 2.03395922e-01 4.82516228e-02 5.97264633e+02] [-2.03201948e-01 9.79096001e-01 -8.94371166e-03 -7.91359172e+01] [-4.90620854e-02 -1.05870654e-03 9.98795170e-01 -3.91928563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.400714057 meters 0.026238301925194947 Centerline is valid? [True, True] Translation: X:597.32, Y:-79.15, Z:-39.19 [[ 9.78357824e-01 2.00412542e-01 5.14857495e-02 5.97323524e+02] [-2.00187488e-01 9.79711118e-01 -9.54438444e-03 -7.91487299e+01] [-5.23539755e-02 -9.68979677e-04 9.98628120e-01 -3.91940779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.460714057 meters 0.0259700594873026 Centerline is valid? [True, True] Translation: X:597.39, Y:-79.16, Z:-39.20 [[ 9.78285917e-01 2.00469888e-01 5.26164243e-02 5.97385003e+02] [-2.00234591e-01 9.79699367e-01 -9.76011355e-03 -7.91606227e+01] [-5.35048865e-02 -9.87446560e-04 9.98567099e-01 -3.91960766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.520714057 meters 0.025442620317410687 Centerline is valid? [True, True] Translation: X:597.45, Y:-79.17, Z:-39.20 [[ 9.78219015e-01 2.00750389e-01 5.27905394e-02 5.97446587e+02] [-2.00513807e-01 9.79641911e-01 -9.79486037e-03 -7.91741994e+01] [-5.36821470e-02 -1.00371338e-03 9.98557570e-01 -3.91987347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.580714057 meters 0.024970444676269025 Centerline is valid? [True, True] Translation: X:597.51, Y:-79.19, Z:-39.20 [[ 9.78535071e-01 1.98871492e-01 5.40300343e-02 5.97507067e+02] [-1.98619885e-01 9.80025158e-01 -1.00414972e-02 -7.91872724e+01] [-5.49477604e-02 -9.05481979e-04 9.98488820e-01 -3.92023859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.640714057 meters 0.024808888850061807 Centerline is valid? [True, True] Translation: X:597.57, Y:-79.20, Z:-39.21 [[ 9.79003643e-01 1.96719233e-01 5.34173262e-02 5.97567152e+02] [-1.96469349e-01 9.80459567e-01 -9.94144726e-03 -7.91992362e+01] [-5.43292024e-02 -7.62154239e-04 9.98522787e-01 -3.92071830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.700714057 meters 0.024413430549974757 Centerline is valid? [True, True] Translation: X:597.63, Y:-79.21, Z:-39.21 [[ 9.79261211e-01 1.95644186e-01 5.26387026e-02 5.97627455e+02] [-1.95399341e-01 9.80674711e-01 -9.80856406e-03 -7.92112003e+01] [-5.35404330e-02 -6.80421485e-04 9.98565451e-01 -3.92115835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.760714057 meters 0.024144039199736508 Centerline is valid? [True, True] Translation: X:597.69, Y:-79.22, Z:-39.22 [[ 9.79456578e-01 1.94559817e-01 5.30215940e-02 5.97688593e+02] [-1.94309071e-01 9.80890464e-01 -9.89353661e-03 -7.92218390e+01] [-5.39332607e-02 -6.12287169e-04 9.98544355e-01 -3.92152655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.820714057 meters 0.024845159469384447 Centerline is valid? [True, True] Translation: X:597.75, Y:-79.23, Z:-39.22 [[ 9.79693084e-01 1.93372683e-01 5.29949734e-02 5.97749900e+02] [-1.93119724e-01 9.81125232e-01 -9.90207974e-03 -7.92335985e+01] [-5.39094973e-02 -5.33375579e-04 9.98545683e-01 -3.92187695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.880714057 meters 0.02444268132068426 Centerline is valid? [True, True] Translation: X:597.81, Y:-79.24, Z:-39.22 [[ 9.79971649e-01 1.91772416e-01 5.36554486e-02 5.97809824e+02] [-1.91509940e-01 9.81439325e-01 -1.00395916e-02 -7.92434611e+01] [-5.45848840e-02 -4.37036597e-04 9.98509038e-01 -3.92232406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.940714057 meters 0.02484166560409255 Centerline is valid? [True, True] Translation: X:597.87, Y:-79.25, Z:-39.23 [[ 9.80091302e-01 1.91570438e-01 5.21709342e-02 5.97870158e+02] [-1.91321326e-01 9.81478785e-01 -9.77465209e-03 -7.92529117e+01] [-5.30771995e-02 -4.01360836e-04 9.98590331e-01 -3.92290832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.000714057 meters 0.024902691105263733 Centerline is valid? [True, True] Translation: X:597.93, Y:-79.26, Z:-39.23 [[ 9.79962531e-01 1.92498854e-01 5.11627664e-02 5.97931653e+02] [-1.92260271e-01 9.81297101e-01 -9.59106450e-03 -7.92623104e+01] [-5.20521433e-02 -4.37683518e-04 9.98644272e-01 -3.92330781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.060714057 meters 0.02483967254609502 Centerline is valid? [True, True] Translation: X:597.99, Y:-79.27, Z:-39.24 [[ 9.80071737e-01 1.91640130e-01 5.22824255e-02 5.97992536e+02] [-1.91389050e-01 9.81465186e-01 -9.81432630e-03 -7.92727422e+01] [-5.31941992e-02 -3.87539949e-04 9.98584111e-01 -3.92357217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.120714057 meters 0.0245488875146178 Centerline is valid? [True, True] Translation: X:598.05, Y:-79.28, Z:-39.24 [[ 9.80198448e-01 1.90347346e-01 5.45792088e-02 5.98053251e+02] [-1.90070895e-01 9.81716755e-01 -1.02599934e-02 -7.92832198e+01] [-5.55342863e-02 -3.17089452e-04 9.98456730e-01 -3.92390464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.180714057 meters 0.024739149782504646 Centerline is valid? [True, True] Translation: X:598.12, Y:-79.29, Z:-39.24 [[ 9.80535288e-01 1.88880789e-01 5.36152655e-02 5.98115332e+02] [-1.88611129e-01 9.82000000e-01 -1.00916694e-02 -7.92943560e+01] [-5.45563132e-02 -2.17197803e-04 9.98510672e-01 -3.92432077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.240714057 meters 0.024401451767767344 Centerline is valid? [True, True] Translation: X:598.18, Y:-79.31, Z:-39.25 [[ 9.80822268e-01 1.87454416e-01 5.33715407e-02 5.98176262e+02] [-1.87184229e-01 9.82273296e-01 -1.00616743e-02 -7.93062355e+01] [-5.43115445e-02 -1.21596504e-04 9.98524031e-01 -3.92475688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.300714057 meters 0.024591859745255747 Centerline is valid? [True, True] Translation: X:598.24, Y:-79.32, Z:-39.25 [[ 9.80942446e-01 1.86446152e-01 5.46786101e-02 5.98236999e+02] [-1.86160128e-01 9.82465180e-01 -1.03236123e-02 -7.93166242e+01] [-5.56446283e-02 -5.21075062e-05 9.98450636e-01 -3.92506938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.360714057 meters 0.02454696998276173 Centerline is valid? [True, True] Translation: X:598.30, Y:-79.33, Z:-39.25 [[ 9.81081235e-01 1.85587801e-01 5.51069782e-02 5.98299086e+02] [-1.85295175e-01 9.82627685e-01 -1.04177774e-02 -7.93268526e+01] [-5.60830548e-02 9.62872892e-06 9.98426107e-01 -3.92546634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.420714057 meters 0.0242986023298899 Centerline is valid? [True, True] Translation: X:598.36, Y:-79.33, Z:-39.26 [[ 9.80755759e-01 1.87582664e-01 5.41376496e-02 5.98361364e+02] [-1.87302434e-01 9.82248816e-01 -1.02499705e-02 -7.93346424e+01] [-5.50993590e-02 -8.73959073e-05 9.98480873e-01 -3.92592783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.480714057 meters 0.02441616475594171 Centerline is valid? [True, True] Translation: X:598.42, Y:-79.34, Z:-39.27 [[ 9.79690467e-01 1.93443715e-01 5.27836987e-02 5.98422890e+02] [-1.93185000e-01 9.81111296e-01 -1.00089827e-02 -7.93400435e+01] [-5.37228578e-02 -3.91313943e-04 9.98555808e-01 -3.92653162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5407140570001 meters 0.02498335252912379 Centerline is valid? [True, True] Translation: X:598.48, Y:-79.34, Z:-39.27 [[ 9.78353307e-01 2.00288369e-01 5.20516615e-02 5.98484894e+02] [-2.00045655e-01 9.79736709e-01 -9.88516541e-03 -7.93445094e+01] [-5.29768072e-02 -7.41524439e-04 9.98595468e-01 -3.92708099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.600714057 meters 0.02569324611600467 Centerline is valid? [True, True] Translation: X:598.55, Y:-79.35, Z:-39.27 [[ 9.76926808e-01 2.06919148e-01 5.29006413e-02 5.98546597e+02] [-2.06677936e-01 9.78357411e-01 -1.00502644e-02 -7.93512280e+01] [-5.38353266e-02 -1.11502260e-03 9.98549205e-01 -3.92746382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6607140570001 meters 0.02670699088249993 Centerline is valid? [True, True] Translation: X:598.61, Y:-79.36, Z:-39.28 [[ 9.75623288e-01 2.13247404e-01 5.18145207e-02 5.98606830e+02] [-2.13024673e-01 9.76997186e-01 -9.84824713e-03 -7.93581889e+01] [-5.27227540e-02 -1.42959206e-03 9.98608165e-01 -3.92781831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.720714057 meters 0.02904119551431622 Centerline is valid? [True, True] Translation: X:598.67, Y:-79.36, Z:-39.29 [[ 9.74610173e-01 2.18135518e-01 5.05163932e-02 5.98666211e+02] [-2.17930301e-01 9.75917093e-01 -9.60266952e-03 -7.93630873e+01] [-5.13944949e-02 -1.65019339e-03 9.98677066e-01 -3.92856944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.780714057 meters 0.02838536054180548 Centerline is valid? [True, True] Translation: X:598.73, Y:-79.38, Z:-39.29 [[ 9.74172606e-01 2.20093771e-01 5.04625176e-02 5.98725967e+02] [-2.19891770e-01 9.75477141e-01 -9.58938427e-03 -7.93791397e+01] [-5.13355962e-02 -1.75457684e-03 9.98679918e-01 -3.92878714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.840714057 meters 0.02833478859884541 Centerline is valid? [True, True] Translation: X:598.79, Y:-79.40, Z:-39.29 [[ 9.74423776e-01 2.18857759e-01 5.09861285e-02 5.98786088e+02] [-2.18649240e-01 9.75755301e-01 -9.70069727e-03 -7.93957856e+01] [-5.18730580e-02 -1.69548815e-03 9.98652247e-01 -3.92912461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.900714057 meters 0.027370767745383443 Centerline is valid? [True, True] Translation: X:598.85, Y:-79.41, Z:-39.29 [[ 9.75029913e-01 2.16069471e-01 5.12898829e-02 5.98845508e+02] [-2.15853819e-01 9.76376775e-01 -9.77352041e-03 -7.94145162e+01] [-5.21900098e-02 -1.54164234e-03 9.98635983e-01 -3.92934784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.960714057 meters 0.02620496971468792 Centerline is valid? [True, True] Translation: X:598.90, Y:-79.43, Z:-39.30 [[ 9.75835780e-01 2.12284633e-01 5.17664487e-02 5.98904264e+02] [-2.12059405e-01 9.77206948e-01 -9.86862014e-03 -7.94331254e+01] [-5.26814898e-02 -1.34740967e-03 9.98610457e-01 -3.92968596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.020714057 meters 0.026041736128746572 Centerline is valid? [True, True] Translation: X:598.96, Y:-79.45, Z:-39.30 [[ 9.77010535e-01 2.07106450e-01 5.05700815e-02 5.98962720e+02] [-2.06884488e-01 9.78317859e-01 -9.64236560e-03 -7.94503363e+01] [-5.14706100e-02 -1.04147263e-03 9.98673967e-01 -3.93033877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.080714057 meters 0.024646111783353165 Centerline is valid? [True, True] Translation: X:599.02, Y:-79.47, Z:-39.31 [[ 9.78193612e-01 2.01733153e-01 4.94064060e-02 5.99021772e+02] [-2.01514503e-01 9.79440240e-01 -9.41919528e-03 -7.94710451e+01] [-5.02907861e-02 -7.42310684e-04 9.98734342e-01 -3.93065535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.140714057 meters 0.024072805426795064 Centerline is valid? [True, True] Translation: X:599.08, Y:-79.49, Z:-39.31 [[ 9.79164175e-01 1.96819092e-01 4.99976430e-02 5.99080750e+02] [-1.96588104e-01 9.80439703e-01 -9.54492145e-03 -7.94882006e+01] [-5.08982970e-02 -4.82896716e-04 9.98703725e-01 -3.93111099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.200714057 meters 0.023587022537558632 Centerline is valid? [True, True] Translation: X:599.14, Y:-79.51, Z:-39.31 [[ 9.79523803e-01 1.94436134e-01 5.22274768e-02 5.99140736e+02] [-1.94180026e-01 9.80915113e-01 -9.98295846e-03 -7.95069943e+01] [-5.31717691e-02 -3.62987354e-04 9.98585315e-01 -3.93114669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.260714057 meters 0.02389974185576126 Centerline is valid? [True, True] Translation: X:599.20, Y:-79.52, Z:-39.32 [[ 9.79245207e-01 1.95964876e-01 5.17357912e-02 5.99201381e+02] [-1.95715019e-01 9.80610822e-01 -9.90190906e-03 -7.95206328e+01] [-5.26731031e-02 -4.29074392e-04 9.98611716e-01 -3.93159530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.320714057 meters 0.02371901467222316 Centerline is valid? [True, True] Translation: X:599.26, Y:-79.53, Z:-39.32 [[ 9.78684885e-01 1.99090228e-01 5.03882567e-02 5.99260927e+02] [-1.98856709e-01 9.79980998e-01 -9.65672445e-03 -7.95316968e+01] [-5.13020936e-02 -5.69152622e-04 9.98683018e-01 -3.93217808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.380714057 meters 0.023892323121006802 Centerline is valid? [True, True] Translation: X:599.32, Y:-79.54, Z:-39.33 [[ 9.78067916e-01 2.01920406e-01 5.11008852e-02 5.99321229e+02] [-2.01683455e-01 9.79401673e-01 -9.80545340e-03 -7.95438279e+01] [-5.20282136e-02 -7.15803689e-04 9.98645359e-01 -3.93251682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.440714057 meters 0.02400490288924792 Centerline is valid? [True, True] Translation: X:599.38, Y:-79.56, Z:-39.33 [[ 9.77817265e-01 2.03168829e-01 5.09492301e-02 5.99381453e+02] [-2.02934382e-01 9.79143420e-01 -9.78777071e-03 -7.95571157e+01] [-5.18751733e-02 -7.68699370e-04 9.98653281e-01 -3.93289366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.500714057 meters 0.02393533852287654 Centerline is valid? [True, True] Translation: X:599.44, Y:-79.57, Z:-39.33 [[ 9.77876852e-01 2.02917870e-01 5.08055084e-02 5.99442475e+02] [-2.02683768e-01 9.79195480e-01 -9.77248526e-03 -7.95714933e+01] [-5.17315361e-02 -7.41164743e-04 9.98660753e-01 -3.93327584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.560714057 meters 0.02342126633247942 Centerline is valid? [True, True] Translation: X:599.50, Y:-79.59, Z:-39.33 [[ 9.78310905e-01 2.00209500e-01 5.31406542e-02 5.99503383e+02] [-1.99948392e-01 9.79752921e-01 -1.02398144e-02 -7.95868809e+01] [-5.41148193e-02 -6.07666215e-04 9.98534535e-01 -3.93336585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.620714057 meters 0.023682546845926748 Centerline is valid? [True, True] Translation: X:599.56, Y:-79.60, Z:-39.34 [[ 9.78534557e-01 1.98552017e-01 5.52016007e-02 5.99563225e+02] [-1.98267342e-01 9.80090207e-01 -1.06417543e-02 -7.95997254e+01] [-5.62154900e-02 -5.31350336e-04 9.98418518e-01 -3.93373354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.680714057 meters 0.024443147706383294 Centerline is valid? [True, True] Translation: X:599.62, Y:-79.61, Z:-39.34 [[ 9.78446417e-01 1.99765573e-01 5.23098889e-02 5.99623395e+02] [-1.99511382e-01 9.79843558e-01 -1.00901125e-02 -7.96116892e+01] [-5.32711648e-02 -5.63783844e-04 9.98579924e-01 -3.93442221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.740714057 meters 0.024594129588551047 Centerline is valid? [True, True] Translation: X:599.68, Y:-79.62, Z:-39.35 [[ 9.78371268e-01 2.00368645e-01 5.14010574e-02 5.99683084e+02] [-2.00123372e-01 9.79720408e-01 -9.92767699e-03 -7.96216542e+01] [-5.23478601e-02 -5.73599025e-04 9.98628746e-01 -3.93502135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.800714057 meters 0.024814263589635403 Centerline is valid? [True, True] Translation: X:599.74, Y:-79.63, Z:-39.36 [[ 9.78095026e-01 2.02452394e-01 4.84060861e-02 5.99743715e+02] [-2.02236943e-01 9.79291900e-01 -9.35918004e-03 -7.96318182e+01] [-4.92984764e-02 -6.35331432e-04 9.98783889e-01 -3.93562512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.860714057 meters 0.024984129790837736 Centerline is valid? [True, True] Translation: X:599.80, Y:-79.64, Z:-39.36 [[ 9.77854988e-01 2.03712168e-01 4.79684902e-02 5.99804362e+02] [-2.03501521e-01 9.79030587e-01 -9.28663955e-03 -7.96423847e+01] [-4.88544206e-02 -6.80673909e-04 9.98805678e-01 -3.93601923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.920714057 meters 0.02476627791207326 Centerline is valid? [True, True] Translation: X:599.87, Y:-79.65, Z:-39.36 [[ 9.77442835e-01 2.05131780e-01 5.02638704e-02 5.99865798e+02] [-2.04901679e-01 9.78734056e-01 -9.74420525e-03 -7.96532981e+01] [-5.11938079e-02 -7.74747816e-04 9.98688437e-01 -3.93613123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.980714057 meters 0.025282146659188758 Centerline is valid? [True, True] Translation: X:599.93, Y:-79.66, Z:-39.36 [[ 9.76961457e-01 2.06490139e-01 5.39271248e-02 5.99925814e+02] [-2.06226479e-01 9.78448274e-01 -1.04696576e-02 -7.96628865e+01] [-5.49267832e-02 -8.92749151e-04 9.98489986e-01 -3.93621099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0407140570001 meters 0.02532115161714437 Centerline is valid? [True, True] Translation: X:599.99, Y:-79.67, Z:-39.37 [[ 9.76467148e-01 2.08933903e-01 5.34652468e-02 5.99986555e+02] [-2.08677733e-01 9.77929244e-01 -1.03922205e-02 -7.96737287e+01] [-5.44565156e-02 -1.00934456e-03 9.98515633e-01 -3.93673745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.100714057 meters 0.025545198943267542 Centerline is valid? [True, True] Translation: X:600.05, Y:-79.68, Z:-39.37 [[ 9.76381462e-01 2.09921682e-01 5.11089870e-02 6.00047866e+02] [-2.09688306e-01 9.77717688e-01 -9.94671496e-03 -7.96835968e+01] [-5.20581918e-02 -1.00516883e-03 9.98643547e-01 -3.93748701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1607140570001 meters 0.02568970636845106 Centerline is valid? [True, True] Translation: X:600.11, Y:-79.70, Z:-39.38 [[ 9.77113793e-01 2.06713410e-01 5.01816931e-02 6.00107499e+02] [-2.06483542e-01 9.78401204e-01 -9.77910997e-03 -7.96960979e+01] [-5.11193021e-02 -8.06390532e-04 9.98692228e-01 -3.93807728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.220714057 meters 0.024435284670527652 Centerline is valid? [True, True] Translation: X:600.17, Y:-79.71, Z:-39.38 [[ 9.78874610e-01 1.97349872e-01 5.34558230e-02 6.00166433e+02] [-1.97074186e-01 9.80333068e-01 -1.04327097e-02 -7.97142894e+01] [-5.44634049e-02 -3.22448125e-04 9.98515715e-01 -3.93810532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2807140570001 meters 0.024123010158807842 Centerline is valid? [True, True] Translation: X:600.23, Y:-79.73, Z:-39.38 [[ 9.79960110e-01 1.91179193e-01 5.59347745e-02 6.00227131e+02] [-1.90867174e-01 9.81555152e-01 -1.09181634e-02 -7.97300198e+01] [-5.69903917e-02 2.32523118e-05 9.98374727e-01 -3.93827456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.340714057 meters 0.024191885264349313 Centerline is valid? [True, True] Translation: X:600.29, Y:-79.74, Z:-39.39 [[ 9.80517014e-01 1.88274466e-01 5.60277665e-02 6.00288050e+02] [-1.87956450e-01 9.82116432e-01 -1.09401049e-02 -7.97424505e+01] [-5.70855325e-02 1.96178851e-04 9.98369272e-01 -3.93867212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.400714057 meters 0.024070054105288688 Centerline is valid? [True, True] Translation: X:600.35, Y:-79.75, Z:-39.39 [[ 9.80757619e-01 1.87379588e-01 5.48031351e-02 6.00349214e+02] [-1.87073126e-01 9.82287546e-01 -1.07154834e-02 -7.97509558e+01] [-5.58403000e-02 2.57098209e-04 9.98439680e-01 -3.93934315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.460714057 meters 0.024342820914908695 Centerline is valid? [True, True] Translation: X:600.41, Y:-79.76, Z:-39.40 [[ 9.81206607e-01 1.85622419e-01 5.27058978e-02 6.00410454e+02] [-1.85335778e-01 9.82621082e-01 -1.03178601e-02 -7.97603686e+01] [-5.37051524e-02 3.55663970e-04 9.98556774e-01 -3.93985720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.520714057 meters 0.02472046581278364 Centerline is valid? [True, True] Translation: X:600.47, Y:-79.77, Z:-39.40 [[ 9.81779479e-01 1.82625521e-01 5.25068995e-02 6.00470075e+02] [-1.82336025e-01 9.83182403e-01 -1.02925666e-02 -7.97721164e+01] [-5.35035449e-02 5.31131358e-04 9.98567518e-01 -3.94027585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.580714057 meters 0.024972847162947478 Centerline is valid? [True, True] Translation: X:600.53, Y:-79.78, Z:-39.41 [[ 9.81952768e-01 1.81383100e-01 5.35624212e-02 6.00531179e+02] [-1.81079306e-01 9.83412316e-01 -1.05120133e-02 -7.97832898e+01] [-5.45806462e-02 6.23254532e-04 9.98509171e-01 -3.94053004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.640714057 meters 0.02476590093277094 Centerline is valid? [True, True] Translation: X:600.59, Y:-79.79, Z:-39.41 [[ 9.82423184e-01 1.78488631e-01 5.46488440e-02 6.00592085e+02] [-1.78167072e-01 9.83941637e-01 -1.07400869e-02 -7.97936621e+01] [-5.56882564e-02 8.14685836e-04 9.98447873e-01 -3.94075716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.700714057 meters 0.025634176648943078 Centerline is valid? [True, True] Translation: X:600.65, Y:-79.81, Z:-39.41 [[ 9.83741061e-01 1.70752094e-01 5.56529139e-02 6.00651127e+02] [-1.70405286e-01 9.85313175e-01 -1.09538076e-02 -7.98077547e+01] [-5.67059348e-02 1.29215963e-03 9.98390088e-01 -3.94092757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.760714057 meters 0.02759045887424694 Centerline is valid? [True, True] Translation: X:600.71, Y:-79.82, Z:-39.41 [[ 9.84993367e-01 1.63198122e-01 5.61643941e-02 6.00709506e+02] [-1.62832590e-01 9.86591776e-01 -1.10551279e-02 -7.98212722e+01] [-5.72155055e-02 1.74383387e-03 9.98360328e-01 -3.94107109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.820714057 meters 0.028230983250912473 Centerline is valid? [True, True] Translation: X:600.77, Y:-79.83, Z:-39.42 [[ 9.85474816e-01 1.59971521e-01 5.69956068e-02 6.00771686e+02] [-1.59589448e-01 9.87119676e-01 -1.12228745e-02 -7.98266466e+01] [-5.80568252e-02 1.96396280e-03 9.98311348e-01 -3.94153521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.880714057 meters 0.027542337157589074 Centerline is valid? [True, True] Translation: X:600.83, Y:-79.83, Z:-39.42 [[ 9.84883789e-01 1.63381582e-01 5.75359054e-02 6.00833675e+02] [-1.62997768e-01 9.86561339e-01 -1.13336648e-02 -7.98289211e+01] [-5.86144120e-02 1.78411856e-03 9.98279103e-01 -3.94190382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.940714057 meters 0.02642856873800819 Centerline is valid? [True, True] Translation: X:600.90, Y:-79.83, Z:-39.42 [[ 9.83550771e-01 1.70387134e-01 5.99675401e-02 6.00895901e+02] [-1.69982995e-01 9.85376166e-01 -1.18149775e-02 -7.98283408e+01] [-6.11037048e-02 1.42716818e-03 9.98130403e-01 -3.94204481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.000714057 meters 0.02538335541590122 Centerline is valid? [True, True] Translation: X:600.96, Y:-79.82, Z:-39.43 [[ 9.80909678e-01 1.85222574e-01 5.92351364e-02 6.00958331e+02] [-1.84855100e-01 9.82696468e-01 -1.16723348e-02 -7.98224691e+01] [-6.03721392e-02 4.99589068e-04 9.98175814e-01 -3.94262260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.060714057 meters 0.025538861325314403 Centerline is valid? [True, True] Translation: X:601.02, Y:-79.82, Z:-39.43 [[ 9.78875770e-01 1.96460905e-01 5.66157262e-02 6.01021066e+02] [-1.96144061e-01 9.80511641e-01 -1.11547638e-02 -7.98203840e+01] [-5.77038536e-02 -1.85710489e-04 9.98333727e-01 -3.94344705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.120714057 meters 0.02581486608366362 Centerline is valid? [True, True] Translation: X:601.08, Y:-79.82, Z:-39.44 [[ 9.77397168e-01 2.03874731e-01 5.59452420e-02 6.01083532e+02] [-2.03576710e-01 9.78996798e-01 -1.10359609e-02 -7.98225872e+01] [-5.70201663e-02 -6.02631305e-04 9.98372845e-01 -3.94401094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.180714057 meters 0.025674596422516984 Centerline is valid? [True, True] Translation: X:601.14, Y:-79.83, Z:-39.44 [[ 9.76663368e-01 2.07453165e-01 5.56044062e-02 6.01144920e+02] [-2.07163791e-01 9.78244629e-01 -1.09822042e-02 -7.98311574e+01] [-5.66730047e-02 -7.93303039e-04 9.98392479e-01 -3.94440006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.240714057 meters 0.02584083889596971 Centerline is valid? [True, True] Translation: X:601.21, Y:-79.84, Z:-39.45 [[ 9.76498209e-01 2.07820700e-01 5.71122163e-02 6.01205390e+02] [-2.07515146e-01 9.78166592e-01 -1.12952570e-02 -7.98430284e+01] [-5.82126502e-02 -8.21851658e-04 9.98303868e-01 -3.94468777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.300714057 meters 0.02561486892853095 Centerline is valid? [True, True] Translation: X:601.26, Y:-79.86, Z:-39.45 [[ 9.76430314e-01 2.07504489e-01 5.93778566e-02 6.01264897e+02] [-2.07172615e-01 9.78233723e-01 -1.17597256e-02 -7.98564687e+01] [-6.05256176e-02 -8.18913292e-04 9.98166308e-01 -3.94496692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.360714057 meters 0.025681931577200078 Centerline is valid? [True, True] Translation: X:601.33, Y:-79.87, Z:-39.45 [[ 9.75559242e-01 2.11709872e-01 5.88480795e-02 6.01325224e+02] [-2.11391058e-01 9.77331981e-01 -1.16627131e-02 -7.98706374e+01] [-5.99832216e-02 -1.06229026e-03 9.98198820e-01 -3.94537939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.420714057 meters 0.027015284946982018 Centerline is valid? [True, True] Translation: X:601.39, Y:-79.88, Z:-39.46 [[ 9.74203564e-01 2.18824084e-01 5.51673429e-02 6.01385175e+02] [-2.18554445e-01 9.75763335e-01 -1.09484805e-02 -7.98811635e+01] [-5.62260616e-02 -1.39101925e-03 9.98417095e-01 -3.94611159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.480714057 meters 0.029211925827577104 Centerline is valid? [True, True] Translation: X:601.44, Y:-79.89, Z:-39.47 [[ 9.72867831e-01 2.25420884e-01 5.20923101e-02 6.01444203e+02] [-2.25189891e-01 9.74260041e-01 -1.03385467e-02 -7.98900557e+01] [-5.30819805e-02 -1.67262215e-03 9.98588757e-01 -3.94691446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5407140570001 meters 0.030378710232037472 Centerline is valid? [True, True] Translation: X:601.50, Y:-79.91, Z:-39.47 [[ 9.71762950e-01 2.29978835e-01 5.27873546e-02 6.01503065e+02] [-2.29748115e-01 9.73193691e-01 -1.04806416e-02 -7.99057647e+01] [-5.37826462e-02 -1.94309599e-03 9.98550776e-01 -3.94710864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.600714057 meters 0.02919484673754979 Centerline is valid? [True, True] Translation: X:601.56, Y:-79.92, Z:-39.47 [[ 9.71270003e-01 2.31715039e-01 5.42468638e-02 6.01563101e+02] [-2.31474147e-01 9.72781447e-01 -1.07691884e-02 -7.99247030e+01] [-5.52657256e-02 -2.09695693e-03 9.98469480e-01 -3.94718120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6607140570001 meters 0.030439225446235462 Centerline is valid? [True, True] Translation: X:601.62, Y:-79.94, Z:-39.47 [[ 9.70657627e-01 2.33238561e-01 5.85110664e-02 6.01622077e+02] [-2.32960056e-01 9.72416731e-01 -1.16324136e-02 -7.99405102e+01] [-5.96102674e-02 -2.33965032e-03 9.98218985e-01 -3.94714323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.720714057 meters 0.03133835665254447 Centerline is valid? [True, True] Translation: X:601.68, Y:-79.96, Z:-39.47 [[ 9.69796532e-01 2.35887401e-01 6.20630372e-02 6.01681823e+02] [-2.35578445e-01 9.71776809e-01 -1.23543276e-02 -7.99557640e+01] [-6.32256505e-02 -2.63952978e-03 9.97995767e-01 -3.94721533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7807140570001 meters 0.03053113345420654 Centerline is valid? [True, True] Translation: X:601.74, Y:-79.97, Z:-39.48 [[ 9.69418068e-01 2.37889395e-01 6.03095755e-02 6.01740745e+02] [-2.37600668e-01 9.71288558e-01 -1.20190991e-02 -7.99735687e+01] [-6.14372168e-02 -2.67806361e-03 9.98107357e-01 -3.94779407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.840714057 meters 0.033099397640774346 Centerline is valid? [True, True] Translation: X:601.80, Y:-79.99, Z:-39.49 [[ 9.69400561e-01 2.39253535e-01 5.49572348e-02 6.01799131e+02] [-2.39015213e-01 9.70953897e-01 -1.09661654e-02 -7.99877969e+01] [-5.59846352e-02 -2.50500827e-03 9.98428488e-01 -3.94890216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.900714057 meters 0.03298429723438204 Centerline is valid? [True, True] Translation: X:601.86, Y:-80.00, Z:-39.50 [[ 9.70335026e-01 2.36051688e-01 5.22449866e-02 6.01857314e+02] [-2.35831541e-01 9.71738004e-01 -1.04276340e-02 -8.00047763e+01] [-5.32298996e-02 -2.20271719e-03 9.98579855e-01 -3.94961260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.960714057 meters 0.028594041697664545 Centerline is valid? [True, True] Translation: X:601.91, Y:-80.03, Z:-39.50 [[ 9.71672072e-01 2.30545055e-01 5.19842469e-02 6.01914533e+02] [-2.30319133e-01 9.73059817e-01 -1.03773763e-02 -8.00319531e+01] [-5.29762346e-02 -1.88955996e-03 9.98593986e-01 -3.94976739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.020714057 meters 0.027620658936727632 Centerline is valid? [True, True] Translation: X:601.97, Y:-80.05, Z:-39.50 [[ 9.73314153e-01 2.23056757e-01 5.39002969e-02 6.01972365e+02] [-2.22802255e-01 9.74804252e-01 -1.07622166e-02 -8.00519343e+01] [-5.49428238e-02 -1.53409000e-03 9.98488324e-01 -3.95001064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.080714057 meters 0.02633518220515312 Centerline is valid? [True, True] Translation: X:602.03, Y:-80.07, Z:-39.50 [[ 9.74660552e-01 2.16550705e-01 5.60589004e-02 6.02031080e+02] [-2.16264599e-01 9.76270618e-01 -1.11938855e-02 -8.00722412e+01] [-5.71527012e-02 -1.21331698e-03 9.98364711e-01 -3.95023364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.140714057 meters 0.025043886102693105 Centerline is valid? [True, True] Translation: X:602.09, Y:-80.09, Z:-39.51 [[ 9.75767258e-01 2.11513255e-01 5.60392755e-02 6.02090015e+02] [-2.11218933e-01 9.77374700e-01 -1.11918762e-02 -8.00899836e+01] [-5.71386002e-02 -9.15889663e-04 9.98365836e-01 -3.95062284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.200714057 meters 0.025071594614762716 Centerline is valid? [True, True] Translation: X:602.15, Y:-80.10, Z:-39.51 [[ 9.75964880e-01 2.10984517e-01 5.45718456e-02 6.02151329e+02] [-2.10704607e-01 9.77489023e-01 -1.08985248e-02 -8.01030259e+01] [-5.56428001e-02 -8.61961826e-04 9.98450367e-01 -3.95122334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.260714057 meters 0.02520852842174883 Centerline is valid? [True, True] Translation: X:602.21, Y:-80.11, Z:-39.52 [[ 9.76063154e-01 2.11102401e-01 5.23115344e-02 6.02210745e+02] [-2.10844606e-01 9.77463609e-01 -1.04616185e-02 -8.01146965e+01] [-5.33410939e-02 -8.18404545e-04 9.98576015e-01 -3.95183732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.320714057 meters 0.02475276906263386 Centerline is valid? [True, True] Translation: X:602.27, Y:-80.13, Z:-39.52 [[ 9.75942585e-01 2.11365293e-01 5.34862999e-02 6.02271311e+02] [-2.11095524e-01 9.77406777e-01 -1.07085012e-02 -8.01278483e+01] [-5.45412775e-02 -8.39836207e-04 9.98511164e-01 -3.95198915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.380714057 meters 0.02468001501461984 Centerline is valid? [True, True] Translation: X:602.33, Y:-80.14, Z:-39.52 [[ 9.75643600e-01 2.12455078e-01 5.46114002e-02 6.02332875e+02] [-2.12174765e-01 9.77170414e-01 -1.09476265e-02 -8.01382404e+01] [-5.56905234e-02 -9.06179313e-04 9.98447667e-01 -3.95239722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.440714057 meters 0.02435671119139229 Centerline is valid? [True, True] Translation: X:602.39, Y:-80.15, Z:-39.53 [[ 9.76208538e-01 2.10085341e-01 5.36753255e-02 6.02392739e+02] [-2.09810141e-01 9.77682770e-01 -1.07752977e-02 -8.01531609e+01] [-5.47411730e-02 -7.42690010e-04 9.98500302e-01 -3.95283501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.500714057 meters 0.02416315273474902 Centerline is valid? [True, True] Translation: X:602.45, Y:-80.17, Z:-39.53 [[ 9.76863271e-01 2.06924270e-01 5.40416198e-02 6.02452067e+02] [-2.06639641e-01 9.78356805e-01 -1.08637103e-02 -8.01686309e+01] [-5.51199518e-02 -5.54781310e-04 9.98479586e-01 -3.95313672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.560714057 meters 0.024550921518209225 Centerline is valid? [True, True] Translation: X:602.51, Y:-80.18, Z:-39.54 [[ 9.76761300e-01 2.07247760e-01 5.46418278e-02 6.02513404e+02] [-2.06956898e-01 9.78288320e-01 -1.09911052e-02 -8.01802282e+01] [-5.57333439e-02 -5.72816973e-04 9.98445525e-01 -3.95354098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.620714057 meters 0.02458361888652648 Centerline is valid? [True, True] Translation: X:602.57, Y:-80.19, Z:-39.54 [[ 9.76469956e-01 2.08861115e-01 5.36978538e-02 6.02573429e+02] [-2.08581798e-01 9.77945105e-01 -1.08169187e-02 -8.01888952e+01] [-5.47727870e-02 -6.37998737e-04 9.98498640e-01 -3.95417264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.680714057 meters 0.02402714480318621 Centerline is valid? [True, True] Translation: X:602.63, Y:-80.20, Z:-39.55 [[ 9.76967899e-01 2.06720553e-01 5.29182190e-02 6.02634005e+02] [-2.06445517e-01 9.78399900e-01 -1.06716546e-02 -8.02039618e+01] [-5.39812305e-02 -4.98865087e-04 9.98541826e-01 -3.95451407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.740714057 meters 0.02386712711612564 Centerline is valid? [True, True] Translation: X:602.69, Y:-80.22, Z:-39.55 [[ 9.77666107e-01 2.03263134e-01 5.34142513e-02 6.02693116e+02] [-2.02977010e-01 9.79124103e-01 -1.07853475e-02 -8.02184664e+01] [-5.44914444e-02 -2.97396305e-04 9.98514193e-01 -3.95486070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.800714057 meters 0.02391854344639927 Centerline is valid? [True, True] Translation: X:602.75, Y:-80.23, Z:-39.55 [[ 9.78708744e-01 1.97983158e-01 5.41466773e-02 6.02753811e+02] [-1.97680365e-01 9.80205422e-01 -1.09455067e-02 -8.02328599e+01] [-5.52418927e-02 8.72817462e-06 9.98473001e-01 -3.95515535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.860714057 meters 0.023901084239025407 Centerline is valid? [True, True] Translation: X:602.81, Y:-80.25, Z:-39.56 [[ 9.79477106e-01 1.94277677e-01 5.36729356e-02 6.02814023e+02] [-1.93973865e-01 9.80946549e-01 -1.08631447e-02 -8.02452186e+01] [-5.47607474e-02 2.29054815e-04 9.98499478e-01 -3.95553420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.920714057 meters 0.024285955374547516 Centerline is valid? [True, True] Translation: X:602.87, Y:-80.26, Z:-39.56 [[ 9.80359916e-01 1.89812240e-01 5.35326811e-02 6.02874978e+02] [-1.89502677e-01 9.81820286e-01 -1.08471914e-02 -8.02576872e+01] [-5.46184020e-02 4.89565316e-04 9.98507181e-01 -3.95597728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.980714057 meters 0.024288992637491822 Centerline is valid? [True, True] Translation: X:602.94, Y:-80.27, Z:-39.56 [[ 9.80778377e-01 1.87252683e-01 5.48653594e-02 6.02936381e+02] [-1.86922710e-01 9.82311557e-01 -1.11312964e-02 -8.02685252e+01] [-5.59792417e-02 6.61753158e-04 9.98431714e-01 -3.95620902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0407140570001 meters 0.024123662938335587 Centerline is valid? [True, True] Translation: X:603.00, Y:-80.27, Z:-39.57 [[ 9.80154783e-01 1.90083849e-01 5.62559482e-02 6.02998440e+02] [-1.89740731e-01 9.81767718e-01 -1.14281516e-02 -8.02746178e+01] [-5.74025810e-02 5.27312754e-04 9.98350973e-01 -3.95653305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.100714057 meters 0.02391997266378281 Centerline is valid? [True, True] Translation: X:603.06, Y:-80.27, Z:-39.57 [[ 9.78115903e-01 2.01061769e-01 5.35111746e-02 6.03060581e+02] [-2.00767005e-01 9.79578560e-01 -1.08836593e-02 -8.02733771e+01] [-5.46066871e-02 -9.77980646e-05 9.98507937e-01 -3.95727345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1607140570001 meters 0.02398189989956189 Centerline is valid? [True, True] Translation: X:603.12, Y:-80.28, Z:-39.58 [[ 9.76413621e-01 2.09328995e-01 5.28943618e-02 6.03123012e+02] [-2.09052446e-01 9.77845120e-01 -1.07701624e-02 -8.02760109e+01] [-5.39770008e-02 -5.41562416e-04 9.98542032e-01 -3.95772801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.220714057 meters 0.024258362890136793 Centerline is valid? [True, True] Translation: X:603.19, Y:-80.28, Z:-39.58 [[ 9.75515396e-01 2.13635160e-01 5.22468303e-02 6.03185292e+02] [-2.13370804e-01 9.76913223e-01 -1.06515283e-02 -8.02820603e+01] [-5.33161604e-02 -7.57218298e-04 9.98577395e-01 -3.95825973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2807140570001 meters 0.02442844611804359 Centerline is valid? [True, True] Translation: X:603.25, Y:-80.29, Z:-39.59 [[ 9.75647450e-01 2.13100134e-01 5.19652412e-02 6.03246654e+02] [-2.12837177e-01 9.77030105e-01 -1.06070483e-02 -8.02942138e+01] [-5.30319685e-02 -7.11395564e-04 9.98592562e-01 -3.95859199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.340714057 meters 0.024374542362855228 Centerline is valid? [True, True] Translation: X:603.31, Y:-80.31, Z:-39.59 [[ 9.76374224e-01 2.09379326e-01 5.34197708e-02 6.03306361e+02] [-2.09094953e-01 9.77834363e-01 -1.09206293e-02 -8.03077671e+01] [-5.45222415e-02 -5.07183466e-04 9.98512428e-01 -3.95885039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.400714057 meters 0.0241064730753429 Centerline is valid? [True, True] Translation: X:603.37, Y:-80.32, Z:-39.59 [[ 9.76753551e-01 2.07286893e-01 5.46318992e-02 6.03365883e+02] [-2.06985414e-01 9.78280121e-01 -1.11822652e-02 -8.03214738e+01] [-5.57632379e-02 -3.85689089e-04 9.98443946e-01 -3.95918027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.460714057 meters 0.02434770890087508 Centerline is valid? [True, True] Translation: X:603.43, Y:-80.33, Z:-39.60 [[ 9.76640696e-01 2.07721332e-01 5.49981687e-02 6.03427726e+02] [-2.07416107e-01 9.78187959e-01 -1.12639220e-02 -8.03338065e+01] [-5.61383033e-02 -4.06701380e-04 9.98422919e-01 -3.95953187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.520714057 meters 0.02390056846769454 Centerline is valid? [True, True] Translation: X:603.49, Y:-80.35, Z:-39.60 [[ 9.76252063e-01 2.09588667e-01 5.48133222e-02 6.03489112e+02] [-2.09287565e-01 9.77789519e-01 -1.12415195e-02 -8.03450400e+01] [-5.59519871e-02 -4.97190183e-04 9.98433337e-01 -3.95992260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.580714057 meters 0.02482970039308071 Centerline is valid? [True, True] Translation: X:603.55, Y:-80.35, Z:-39.61 [[ 9.75249503e-01 2.14320554e-01 5.43608925e-02 6.03549882e+02] [-2.14030967e-01 9.76763093e-01 -1.11626752e-02 -8.03523018e+01] [-5.54901043e-02 -7.48520995e-04 9.98458957e-01 -3.96054117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.640714057 meters 0.024939843086351617 Centerline is valid? [True, True] Translation: X:603.61, Y:-80.36, Z:-39.61 [[ 9.74419544e-01 2.18042944e-01 5.44410433e-02 6.03611318e+02] [-2.17757601e-01 9.75938714e-01 -1.11916961e-02 -8.03628434e+01] [-5.55713922e-02 -9.49543625e-04 9.98454265e-01 -3.96082389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.700714057 meters 0.0250726163488722 Centerline is valid? [True, True] Translation: X:603.67, Y:-80.37, Z:-39.61 [[ 9.74228664e-01 2.19202545e-01 5.31860403e-02 6.03671628e+02] [-2.18931215e-01 9.75678884e-01 -1.09470429e-02 -8.03739965e+01] [-5.42921162e-02 -9.79161425e-04 9.98524615e-01 -3.96139769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.760714057 meters 0.025382519978113888 Centerline is valid? [True, True] Translation: X:603.73, Y:-80.39, Z:-39.62 [[ 9.74119776e-01 2.20073846e-01 5.15573876e-02 6.03732133e+02] [-2.19819507e-01 9.75482718e-01 -1.06231840e-02 -8.03871619e+01] [-5.26312255e-02 -9.85065884e-04 9.98613531e-01 -3.96189480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.820714057 meters 0.025707933745893582 Centerline is valid? [True, True] Translation: X:603.79, Y:-80.40, Z:-39.62 [[ 9.73855409e-01 2.21400047e-01 5.08690713e-02 6.03792804e+02] [-2.21153607e-01 9.75182525e-01 -1.04940191e-02 -8.04003820e+01] [-5.19300057e-02 -1.03022130e-03 9.98650196e-01 -3.96223028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.880714057 meters 0.025623658825184224 Centerline is valid? [True, True] Translation: X:603.85, Y:-80.41, Z:-39.63 [[ 9.73463045e-01 2.22719626e-01 5.25896301e-02 6.03855000e+02] [-2.22457401e-01 9.74881892e-01 -1.08628187e-02 -8.04113075e+01] [-5.36880411e-02 -1.12439984e-03 9.98557124e-01 -3.96259749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.940714057 meters 0.026610509337204657 Centerline is valid? [True, True] Translation: X:603.92, Y:-80.42, Z:-39.63 [[ 9.72959851e-01 2.24542419e-01 5.41279100e-02 6.03915240e+02] [-2.24266500e-01 9.74463521e-01 -1.11974758e-02 -8.04203777e+01] [-5.52599821e-02 -1.24438254e-03 9.98471224e-01 -3.96294499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.000714057 meters 0.02714423026815705 Centerline is valid? [True, True] Translation: X:603.98, Y:-80.43, Z:-39.63 [[ 9.72257915e-01 2.27638625e-01 5.38070875e-02 6.03975569e+02] [-2.27370012e-01 9.73744678e-01 -1.11436203e-02 -8.04318109e+01] [-5.49310835e-02 -1.39964505e-03 9.98489167e-01 -3.96343580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.060714057 meters 0.02820557772444137 Centerline is valid? [True, True] Translation: X:604.04, Y:-80.44, Z:-39.64 [[ 9.71772652e-01 2.29937888e-01 5.27871339e-02 6.04035600e+02] [-2.29682104e-01 9.73204167e-01 -1.09443904e-02 -8.04424902e+01] [-5.38891887e-02 -1.48880071e-03 9.98545812e-01 -3.96395053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.120714057 meters 0.028258818498665586 Centerline is valid? [True, True] Translation: X:604.10, Y:-80.46, Z:-39.65 [[ 9.71691703e-01 2.30453136e-01 5.20248603e-02 6.04096230e+02] [-2.30204813e-01 9.73082293e-01 -1.07978925e-02 -8.04553108e+01] [-5.31128785e-02 -1.48415069e-03 9.98587412e-01 -3.96450766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.180714057 meters 0.027450516111561758 Centerline is valid? [True, True] Translation: X:604.16, Y:-80.47, Z:-39.65 [[ 9.71921045e-01 2.29145529e-01 5.34958766e-02 6.04155785e+02] [-2.28880248e-01 9.73391110e-01 -1.11165808e-02 -8.04719914e+01] [-5.46197255e-02 -1.43971067e-03 9.98506191e-01 -3.96484502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.240714057 meters 0.026307004830429553 Centerline is valid? [True, True] Translation: X:604.21, Y:-80.49, Z:-39.65 [[ 9.71984891e-01 2.28834588e-01 5.36665919e-02 6.04214616e+02] [-2.28566429e-01 9.73464294e-01 -1.11649574e-02 -8.04918739e+01] [-5.47974394e-02 -1.41421139e-03 9.98496490e-01 -3.96508169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.300714057 meters 0.026506788624995243 Centerline is valid? [True, True] Translation: X:604.27, Y:-80.51, Z:-39.66 [[ 9.71874078e-01 2.29482407e-01 5.29018093e-02 6.04273723e+02] [-2.29222004e-01 9.73311780e-01 -1.10205318e-02 -8.05053479e+01] [-5.40189723e-02 -1.41568958e-03 9.98538906e-01 -3.96565798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.360714057 meters 0.026647076988735096 Centerline is valid? [True, True] Translation: X:604.33, Y:-80.52, Z:-39.66 [[ 9.71533914e-01 2.31402762e-01 5.07406742e-02 6.04333712e+02] [-2.31165434e-01 9.72856953e-01 -1.05778465e-02 -8.05198850e+01] [-5.18111606e-02 -1.45275333e-03 9.98655843e-01 -3.96631963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.420714057 meters 0.026994024087486333 Centerline is valid? [True, True] Translation: X:604.39, Y:-80.53, Z:-39.67 [[ 9.71046215e-01 2.33562891e-01 5.01759390e-02 6.04393809e+02] [-2.33333633e-01 9.72340463e-01 -1.04613624e-02 -8.05345227e+01] [-5.12314818e-02 -1.54926772e-03 9.98685604e-01 -3.96678971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.480714057 meters 0.02904339979690938 Centerline is valid? [True, True] Translation: X:604.45, Y:-80.55, Z:-39.67 [[ 9.70425894e-01 2.35849661e-01 5.14637997e-02 6.04453500e+02] [-2.35610841e-01 9.71788072e-01 -1.07459221e-02 -8.05451583e+01] [-5.25463287e-02 -1.69730812e-03 9.98617045e-01 -3.96719525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5407140570001 meters 0.028016566368571808 Centerline is valid? [True, True] Translation: X:604.51, Y:-80.56, Z:-39.67 [[ 9.70069860e-01 2.36935266e-01 5.31615061e-02 6.04513822e+02] [-2.36682080e-01 9.71523745e-01 -1.10998420e-02 -8.05625823e+01] [-5.42776095e-02 -1.81475368e-03 9.98524235e-01 -3.96739393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.600714057 meters 0.02746869641953107 Centerline is valid? [True, True] Translation: X:604.57, Y:-80.58, Z:-39.68 [[ 9.71077871e-01 2.32728311e-01 5.33413671e-02 6.04572963e+02] [-2.32466091e-01 9.72540527e-01 -1.11552792e-02 -8.05783651e+01] [-5.44727906e-02 -1.56741434e-03 9.98514025e-01 -3.96789324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6607140570001 meters 0.026980242655990617 Centerline is valid? [True, True] Translation: X:604.63, Y:-80.59, Z:-39.68 [[ 9.71663756e-01 2.30445918e-01 5.25758839e-02 6.04633502e+02] [-2.30187858e-01 9.73084100e-01 -1.09947706e-02 -8.05919660e+01] [-5.36944567e-02 -1.41911002e-03 9.98556404e-01 -3.96846600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.720714057 meters 0.026655032852782277 Centerline is valid? [True, True] Translation: X:604.69, Y:-80.60, Z:-39.69 [[ 9.71307653e-01 2.32524973e-01 4.99357702e-02 6.04694461e+02] [-2.32294342e-01 9.72589352e-01 -1.04542398e-02 -8.06008405e+01] [-5.09978702e-02 -1.44551377e-03 9.98697716e-01 -3.96906620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7807140570001 meters 0.027367545754039622 Centerline is valid? [True, True] Translation: X:604.76, Y:-80.61, Z:-39.70 [[ 9.71309830e-01 2.32559715e-01 4.97312105e-02 6.04756107e+02] [-2.32330447e-01 9.72581067e-01 -1.04226139e-02 -8.06097949e+01] [-5.07915139e-02 -1.43048702e-03 9.98708254e-01 -3.96968520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.840714057 meters 0.02705703770423932 Centerline is valid? [True, True] Translation: X:604.82, Y:-80.62, Z:-39.70 [[ 9.71560956e-01 2.31289646e-01 5.07386279e-02 6.04816773e+02] [-2.31048444e-01 9.72883963e-01 -1.06494850e-02 -8.06237404e+01] [-5.18259130e-02 -1.37645720e-03 9.98655186e-01 -3.96960526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.900714057 meters 0.026587136306946913 Centerline is valid? [True, True] Translation: X:604.88, Y:-80.63, Z:-39.70 [[ 9.71259572e-01 2.32021612e-01 5.31113568e-02 6.04878548e+02] [-2.31757632e-01 9.72709523e-01 -1.11617080e-02 -8.06316380e+01] [-5.42516801e-02 -1.46804655e-03 9.98526214e-01 -3.96986787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.960714057 meters 0.027046780725207765 Centerline is valid? [True, True] Translation: X:604.94, Y:-80.64, Z:-39.70 [[ 9.70786069e-01 2.33772852e-01 5.40801487e-02 6.04939791e+02] [-2.33501069e-01 9.72289954e-01 -1.13796051e-02 -8.06406088e+01] [-5.52418281e-02 -1.58061048e-03 9.98471753e-01 -3.97025647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.020714057 meters 0.027846969212616455 Centerline is valid? [True, True] Translation: X:605.00, Y:-80.65, Z:-39.71 [[ 9.69912758e-01 2.37456387e-01 5.37001433e-02 6.05000244e+02] [-2.37193276e-01 9.71396599e-01 -1.13136009e-02 -8.06513844e+01] [-5.48506233e-02 -1.76410704e-03 9.98493013e-01 -3.97054661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.080714057 meters 0.028489302653429804 Centerline is valid? [True, True] Translation: X:605.06, Y:-80.66, Z:-39.71 [[ 9.69036795e-01 2.41060291e-01 5.34567721e-02 6.05061511e+02] [-2.40804215e-01 9.70508194e-01 -1.12772014e-02 -8.06587059e+01] [-5.45987208e-02 -1.94459296e-03 9.98506484e-01 -3.97116895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.140714057 meters 0.02908521155179771 Centerline is valid? [True, True] Translation: X:605.12, Y:-80.67, Z:-39.71 [[ 9.68377783e-01 2.43937031e-01 5.23373161e-02 6.05122128e+02] [-2.43695746e-01 9.69788880e-01 -1.10413365e-02 -8.06701094e+01] [-5.34495380e-02 -2.06219639e-03 9.98568422e-01 -3.97146285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.200714057 meters 0.029023588258276663 Centerline is valid? [True, True] Translation: X:605.18, Y:-80.68, Z:-39.72 [[ 9.67895616e-01 2.45550602e-01 5.36933758e-02 6.05183254e+02] [-2.45298391e-01 9.69381291e-01 -1.13407376e-02 -8.06804221e+01] [-5.48340789e-02 -2.19424848e-03 9.98493069e-01 -3.97187162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.260714057 meters 0.030550175035016107 Centerline is valid? [True, True] Translation: X:605.24, Y:-80.69, Z:-39.72 [[ 9.68040286e-01 2.44805304e-01 5.44827332e-02 6.05243734e+02] [-2.44543614e-01 9.69569831e-01 -1.15223219e-02 -8.06896458e+01] [-5.56455399e-02 -2.16933267e-03 9.98448230e-01 -3.97227365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.320714057 meters 0.029977267650899808 Centerline is valid? [True, True] Translation: X:605.31, Y:-80.70, Z:-39.73 [[ 9.68282975e-01 2.43531468e-01 5.58614806e-02 6.05305351e+02] [-2.43253384e-01 9.69890647e-01 -1.18289508e-02 -8.07008695e+01] [-5.70602493e-02 -2.13472258e-03 9.98368455e-01 -3.97267602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.380714057 meters 0.029645174860376808 Centerline is valid? [True, True] Translation: X:605.37, Y:-80.71, Z:-39.73 [[ 9.68681660e-01 2.41855830e-01 5.62280938e-02 6.05365209e+02] [-2.41571026e-01 9.70310040e-01 -1.19107209e-02 -8.07116335e+01] [-5.74393612e-02 -2.04538144e-03 9.98346902e-01 -3.97303750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.440714057 meters 0.03015997752916172 Centerline is valid? [True, True] Translation: X:605.43, Y:-80.72, Z:-39.73 [[ 9.68722499e-01 2.41758516e-01 5.59422950e-02 6.05425333e+02] [-2.41475702e-01 9.70334351e-01 -1.18630798e-02 -8.07232262e+01] [-5.71507311e-02 -2.01667263e-03 9.98363524e-01 -3.97345437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.500714057 meters 0.02762071009537395 Centerline is valid? [True, True] Translation: X:605.49, Y:-80.74, Z:-39.74 [[ 9.69119861e-01 2.40816307e-01 5.30490408e-02 6.05485526e+02] [-2.40560001e-01 9.70568951e-01 -1.12604538e-02 -8.07388790e+01] [-5.41994528e-02 -1.84874791e-03 9.98528418e-01 -3.97410958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.560714057 meters 0.028403020494302864 Centerline is valid? [True, True] Translation: X:605.55, Y:-80.75, Z:-39.75 [[ 9.69274120e-01 2.40408916e-01 5.20695101e-02 6.05545098e+02] [-2.40160624e-01 9.70670074e-01 -1.10671766e-02 -8.07506031e+01] [-5.32029631e-02 -1.77791822e-03 9.98582137e-01 -3.97458722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.620714057 meters 0.027878227007975057 Centerline is valid? [True, True] Translation: X:605.61, Y:-80.76, Z:-39.75 [[ 9.69480048e-01 2.39021648e-01 5.45627058e-02 6.05605340e+02] [-2.38746391e-01 9.71012614e-01 -1.16044927e-02 -8.07649169e+01] [-5.57548005e-02 -1.77632494e-03 9.98442911e-01 -3.97465330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.680714057 meters 0.026999000169023044 Centerline is valid? [True, True] Translation: X:605.67, Y:-80.78, Z:-39.75 [[ 9.69658340e-01 2.37445637e-01 5.81573082e-02 6.05665957e+02] [-2.37129105e-01 9.71399195e-01 -1.23851296e-02 -8.07767000e+01] [-5.94347574e-02 -1.78144619e-03 9.98230603e-01 -3.97481469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.740714057 meters 0.026571866231826127 Centerline is valid? [True, True] Translation: X:605.73, Y:-80.79, Z:-39.75 [[ 9.69776861e-01 2.36701679e-01 5.92043496e-02 6.05726763e+02] [-2.36371308e-01 9.71580797e-01 -1.26237448e-02 -8.07889601e+01] [-6.05098708e-02 -1.75199392e-03 9.98166061e-01 -3.97518174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.800714057 meters 0.026052839375395712 Centerline is valid? [True, True] Translation: X:605.79, Y:-80.80, Z:-39.76 [[ 9.70282451e-01 2.34982861e-01 5.77496342e-02 6.05787505e+02] [-2.34664634e-01 9.71998213e-01 -1.23281346e-02 -8.08005043e+01] [-5.90294416e-02 -1.59002410e-03 9.98254976e-01 -3.97589161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.860714057 meters 0.02486647828675742 Centerline is valid? [True, True] Translation: X:605.85, Y:-80.81, Z:-39.76 [[ 9.71350574e-01 2.30941359e-01 5.60727250e-02 6.05846686e+02] [-2.30633723e-01 9.72966816e-01 -1.19858468e-02 -8.08144854e+01] [-5.73249284e-02 -1.28980219e-03 9.98354741e-01 -3.97648837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.920714057 meters 0.024370730952843138 Centerline is valid? [True, True] Translation: X:605.91, Y:-80.83, Z:-39.77 [[ 9.73027362e-01 2.23319008e-01 5.78478531e-02 6.05905656e+02] [-2.22977967e-01 9.74745030e-01 -1.23674377e-02 -8.08331754e+01] [-5.91487912e-02 -8.64941376e-04 9.98248803e-01 -3.97669319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.980714057 meters 0.02354521096321001 Centerline is valid? [True, True] Translation: X:605.97, Y:-80.85, Z:-39.77 [[ 9.74063125e-01 2.18119314e-01 6.02079152e-02 6.05965164e+02] [-2.17739746e-01 9.75921944e-01 -1.28748436e-02 -8.08498177e+01] [-6.15664778e-02 -5.68745774e-04 9.98102823e-01 -3.97707850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0407140570001 meters 0.023648244140995252 Centerline is valid? [True, True] Translation: X:606.02, Y:-80.86, Z:-39.78 [[ 9.74772476e-01 2.14812723e-01 6.06144680e-02 6.06024372e+02] [-2.14420617e-01 9.76655197e-01 -1.29778642e-02 -8.08649245e+01] [-6.19872456e-02 -3.46526790e-04 9.98076881e-01 -3.97750689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.100714057 meters 0.0238476663672403 Centerline is valid? [True, True] Translation: X:606.09, Y:-80.88, Z:-39.78 [[ 9.74826476e-01 2.14395927e-01 6.12186937e-02 6.06085743e+02] [-2.13994213e-01 9.76746790e-01 -1.31219523e-02 -8.08769091e+01] [-6.26084556e-02 -3.08819618e-04 9.98038119e-01 -3.97790461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1607140570001 meters 0.02435740755365313 Centerline is valid? [True, True] Translation: X:606.15, Y:-80.89, Z:-39.78 [[ 9.74553559e-01 2.15560440e-01 6.14740352e-02 6.06147697e+02] [-2.15156532e-01 9.76490431e-01 -1.31948928e-02 -8.08888608e+01] [-6.28731041e-02 -3.67410505e-04 9.98021462e-01 -3.97829794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.220714057 meters 0.02437918457881366 Centerline is valid? [True, True] Translation: X:606.21, Y:-80.90, Z:-39.79 [[ 9.74612095e-01 2.15207090e-01 6.17832775e-02 6.06209264e+02] [-2.14797241e-01 9.76568380e-01 -1.32794820e-02 -8.09002620e+01] [-6.31934339e-02 -3.28533800e-04 9.98001244e-01 -3.97874819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2807140570001 meters 0.024023838907083605 Centerline is valid? [True, True] Translation: X:606.27, Y:-80.91, Z:-39.79 [[ 9.75177328e-01 2.12898350e-01 6.08561546e-02 6.06270333e+02] [-2.12495144e-01 9.77074341e-01 -1.30975911e-02 -8.09125659e+01] [-6.22494427e-02 -1.59163395e-04 9.98060610e-01 -3.97936363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.340714057 meters 0.024094059997406624 Centerline is valid? [True, True] Translation: X:606.33, Y:-80.93, Z:-39.80 [[ 9.76165246e-01 2.08783497e-01 5.92525374e-02 6.06330391e+02] [-2.08392659e-01 9.77961879e-01 -1.27695732e-02 -8.09283853e+01] [-6.06127990e-02 1.17419697e-04 9.98161347e-01 -3.97987584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.400714057 meters 0.0248728673612767 Centerline is valid? [True, True] Translation: X:606.39, Y:-80.94, Z:-39.80 [[ 9.77289272e-01 2.03602316e-01 5.87518080e-02 6.06390005e+02] [-2.03207728e-01 9.79053570e-01 -1.26777698e-02 -8.09440076e+01] [-6.01023906e-02 4.51027039e-04 9.98192115e-01 -3.98017694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.460714057 meters 0.025083257321598603 Centerline is valid? [True, True] Translation: X:606.45, Y:-80.96, Z:-39.80 [[ 9.78034202e-01 1.99873303e-01 5.91587950e-02 6.06449308e+02] [-1.99465536e-01 9.79821501e-01 -1.27798908e-02 -8.09575072e+01] [-6.05194183e-02 6.99029537e-04 9.98166775e-01 -3.98046138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.520714057 meters 0.025024987375386363 Centerline is valid? [True, True] Translation: X:606.51, Y:-80.96, Z:-39.81 [[ 9.77771844e-01 2.00948166e-01 5.98502830e-02 6.06511432e+02] [-2.00531940e-01 9.79601657e-01 -1.29434886e-02 -8.09629087e+01] [-6.12304067e-02 6.53885381e-04 9.98123444e-01 -3.98085897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.580714057 meters 0.024488162936276005 Centerline is valid? [True, True] Translation: X:606.57, Y:-80.97, Z:-39.81 [[ 9.77437146e-01 2.02265653e-01 6.08706051e-02 6.06573648e+02] [-2.01836674e-01 9.79330511e-01 -1.31798090e-02 -8.09703654e+01] [-6.22782635e-02 5.96514408e-04 9.98058647e-01 -3.98116575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.640714057 meters 0.023995257649955234 Centerline is valid? [True, True] Translation: X:606.64, Y:-80.97, Z:-39.82 [[ 9.76629401e-01 2.06275041e-01 6.03789764e-02 6.06637245e+02] [-2.05859654e-01 9.78493987e-01 -1.30889500e-02 -8.09722955e+01] [-6.17803891e-02 3.53458253e-04 9.98089705e-01 -3.98150276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.700714057 meters 0.023405397198203812 Centerline is valid? [True, True] Translation: X:606.70, Y:-80.98, Z:-39.82 [[ 9.75713563e-01 2.11042360e-01 5.86870164e-02 6.06699621e+02] [-2.10658294e-01 9.77476915e-01 -1.27265026e-02 -8.09755157e+01] [-6.00510349e-02 5.45144475e-05 9.98195307e-01 -3.98201297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.760714057 meters 0.02291321304121923 Centerline is valid? [True, True] Translation: X:606.76, Y:-80.98, Z:-39.83 [[ 9.74576505e-01 2.16506183e-01 5.76689579e-02 6.06760806e+02] [-2.16144010e-01 9.76281212e-01 -1.25205034e-02 -8.09788300e+01] [-5.90118864e-02 -2.62611403e-04 9.98257246e-01 -3.98260094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.820714057 meters 0.022786279337002634 Centerline is valid? [True, True] Translation: X:606.82, Y:-80.98, Z:-39.83 [[ 9.73203628e-01 2.22946764e-01 5.62977709e-02 6.06823083e+02] [-2.22611635e-01 9.74830421e-01 -1.22356049e-02 -8.09844826e+01] [-5.76086682e-02 -6.24803761e-04 9.98339046e-01 -3.98307036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.880714057 meters 0.023777768900320934 Centerline is valid? [True, True] Translation: X:606.88, Y:-80.99, Z:-39.84 [[ 9.71871383e-01 2.28873922e-01 5.55224452e-02 6.06884661e+02] [-2.28556735e-01 9.73455613e-01 -1.20825731e-02 -8.09886148e+01] [-5.68140218e-02 -9.47321778e-04 9.98384330e-01 -3.98366480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.940714057 meters 0.023893992472905724 Centerline is valid? [True, True] Translation: X:606.95, Y:-81.00, Z:-39.84 [[ 9.70690708e-01 2.34027919e-01 5.46853151e-02 6.06945068e+02] [-2.33728063e-01 9.72229106e-01 -1.19062091e-02 -8.09999143e+01] [-5.59530404e-02 -1.22424624e-03 9.98432651e-01 -3.98402555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.000714057 meters 0.024535044178927053 Centerline is valid? [True, True] Translation: X:607.00, Y:-81.01, Z:-39.84 [[ 9.69301469e-01 2.39830839e-01 5.41833039e-02 6.07004239e+02] [-2.39544687e-01 9.70813487e-01 -1.18116879e-02 -8.10132383e+01] [-5.54346893e-02 -1.53023616e-03 9.98461143e-01 -3.98424446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.060714057 meters 0.026863599779298284 Centerline is valid? [True, True] Translation: X:607.06, Y:-81.03, Z:-39.85 [[ 9.67306794e-01 2.47318449e-01 5.61351212e-02 6.07063026e+02] [-2.47023786e-01 9.68932129e-01 -1.22384137e-02 -8.10253315e+01] [-5.74179080e-02 -2.02840950e-03 9.98348170e-01 -3.98454777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.120714057 meters 0.027716482623704852 Centerline is valid? [True, True] Translation: X:607.12, Y:-81.04, Z:-39.85 [[ 9.66531643e-01 2.50362258e-01 5.59939481e-02 6.07122169e+02] [-2.50074268e-01 9.68149718e-01 -1.22058949e-02 -8.10425771e+01] [-5.72664205e-02 -2.20526193e-03 9.98356496e-01 -3.98482278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.180714057 meters 0.029999357164815683 Centerline is valid? [True, True] Translation: X:607.18, Y:-81.06, Z:-39.85 [[ 9.66629428e-01 2.50334336e-01 5.44083629e-02 6.07182147e+02] [-2.50061696e-01 9.68157109e-01 -1.18726777e-02 -8.10577194e+01] [-5.56479822e-02 -2.12896784e-03 9.98448181e-01 -3.98548384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.240714057 meters 0.026902462537515253 Centerline is valid? [True, True] Translation: X:607.24, Y:-81.08, Z:-39.86 [[ 9.67089241e-01 2.48883358e-01 5.28722396e-02 6.07239401e+02] [-2.48622971e-01 9.68531454e-01 -1.15516319e-02 -8.10841846e+01] [-5.40834360e-02 -1.97379436e-03 9.98534469e-01 -3.98585665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.300714057 meters 0.026847143691051092 Centerline is valid? [True, True] Translation: X:607.30, Y:-81.10, Z:-39.86 [[ 9.67585268e-01 2.47091047e-01 5.21992653e-02 6.07298862e+02] [-2.46833822e-01 9.68990530e-01 -1.14199982e-02 -8.11041177e+01] [-5.34023731e-02 -1.83472217e-03 9.98571390e-01 -3.98635617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.360714057 meters 0.02637692250060719 Centerline is valid? [True, True] Translation: X:607.36, Y:-81.12, Z:-39.87 [[ 9.68203033e-01 2.44784959e-01 5.16063003e-02 6.07358621e+02] [-2.44530023e-01 9.69575933e-01 -1.12950372e-02 -8.11230743e+01] [-5.28010819e-02 -1.68340054e-03 9.98603631e-01 -3.98675894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.420714057 meters 0.025687663088487873 Centerline is valid? [True, True] Translation: X:607.42, Y:-81.15, Z:-39.87 [[ 9.69737697e-01 2.39026782e-01 4.97493285e-02 6.07416011e+02] [-2.38782031e-01 9.71012084e-01 -1.08937634e-02 -8.11472955e+01] [-5.09111004e-02 -1.31515267e-03 9.98702323e-01 -3.98723813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.480714057 meters 0.0248229093063514 Centerline is valid? [True, True] Translation: X:607.47, Y:-81.17, Z:-39.87 [[ 9.70848407e-01 2.34292476e-01 5.06004603e-02 6.07474132e+02] [-2.34032773e-01 9.72165552e-01 -1.10815234e-02 -8.11716202e+01] [-5.17883420e-02 -1.08368669e-03 9.98657496e-01 -3.98741896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5407140570001 meters 0.02482181269426872 Centerline is valid? [True, True] Translation: X:607.53, Y:-81.19, Z:-39.87 [[ 9.71074009e-01 2.32797712e-01 5.31083273e-02 6.07533073e+02] [-2.32509235e-01 9.72524612e-01 -1.16333829e-02 -8.11930802e+01] [-5.43573803e-02 -1.05130076e-03 9.98520991e-01 -3.98749080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.600714057 meters 0.02558936904727648 Centerline is valid? [True, True] Translation: X:607.59, Y:-81.21, Z:-39.88 [[ 9.70473631e-01 2.34942923e-01 5.46146107e-02 6.07591669e+02] [-2.34640376e-01 9.72008440e-01 -1.19785936e-02 -8.12083262e+01] [-5.59001483e-02 -1.18988359e-03 9.98435655e-01 -3.98783001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6607140570001 meters 0.025729032130006112 Centerline is valid? [True, True] Translation: X:607.65, Y:-81.23, Z:-39.88 [[ 9.69904808e-01 2.37687121e-01 5.28156904e-02 6.07651532e+02] [-2.37407879e-01 9.71340904e-01 -1.15908590e-02 -8.12260605e+01] [-5.40570383e-02 -1.29683113e-03 9.98537007e-01 -3.98829871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.720714057 meters 0.025947391380334306 Centerline is valid? [True, True] Translation: X:607.71, Y:-81.24, Z:-39.89 [[ 9.70076552e-01 2.37502630e-01 5.04379279e-02 6.07710574e+02] [-2.37247668e-01 9.71386120e-01 -1.10702182e-02 -8.12438467e+01] [-5.16239090e-02 -1.22732165e-03 9.98665843e-01 -3.98884177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7807140570001 meters 0.02510367676586304 Centerline is valid? [True, True] Translation: X:607.77, Y:-81.27, Z:-39.89 [[ 9.71267807e-01 2.33176324e-01 4.76198415e-02 6.07768931e+02] [-2.32943318e-01 9.72434027e-01 -1.04629978e-02 -8.12659667e+01] [-4.87468776e-02 -9.30350997e-04 9.98810731e-01 -3.98936837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.840714057 meters 0.024171643043093965 Centerline is valid? [True, True] Translation: X:607.83, Y:-81.29, Z:-39.90 [[ 9.73534445e-01 2.23453720e-01 4.79491261e-02 6.07825065e+02] [-2.23204871e-01 9.74714445e-01 -1.05515710e-02 -8.12909811e+01] [-4.90944936e-02 -4.30160652e-04 9.98794046e-01 -3.98963088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.900714057 meters 0.02380804444316702 Centerline is valid? [True, True] Translation: X:607.88, Y:-81.32, Z:-39.90 [[ 9.75683160e-01 2.13213938e-01 5.08152291e-02 6.07882488e+02] [-2.12920617e-01 9.77005532e-01 -1.11804234e-02 -8.13167900e+01] [-5.20305821e-02 8.89409262e-05 9.98645488e-01 -3.98963668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.960714057 meters 0.024118938796299286 Centerline is valid? [True, True] Translation: X:607.94, Y:-81.34, Z:-39.90 [[ 9.76899081e-01 2.07241723e-01 5.21445526e-02 6.07941904e+02] [-2.06923615e-01 9.78289672e-01 -1.14863074e-02 -8.13377676e+01] [-5.33929193e-02 4.31023793e-04 9.98573488e-01 -3.98963964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.020714057 meters 0.024070852663763014 Centerline is valid? [True, True] Translation: X:608.00, Y:-81.35, Z:-39.90 [[ 9.77046541e-01 2.06355685e-01 5.28903382e-02 6.08002229e+02] [-2.06026368e-01 9.78476919e-01 -1.16642147e-02 -8.13529022e+01] [-5.41589521e-02 4.99676326e-04 9.98532202e-01 -3.99017076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.080714057 meters 0.02373508225339952 Centerline is valid? [True, True] Translation: X:608.06, Y:-81.36, Z:-39.91 [[ 9.76298731e-01 2.10520953e-01 5.02166974e-02 6.08063827e+02] [-2.10228971e-01 9.77589309e-01 -1.10870574e-02 -8.13637365e+01] [-5.14253644e-02 2.67275393e-04 9.98676805e-01 -3.99090538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.140714057 meters 0.02380056544622565 Centerline is valid? [True, True] Translation: X:608.12, Y:-81.37, Z:-39.92 [[ 9.75286350e-01 2.15873305e-01 4.70664539e-02 6.08124883e+02] [-2.15622417e-01 9.76421382e-01 -1.04046746e-02 -8.13742766e+01] [-4.82027835e-02 -1.04540554e-06 9.98837570e-01 -3.99158638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.200714057 meters 0.023610391129461696 Centerline is valid? [True, True] Translation: X:608.18, Y:-81.39, Z:-39.92 [[ 9.74593443e-01 2.19216818e-01 4.59522332e-02 6.08184793e+02] [-2.18980845e-01 9.75676157e-01 -1.01698332e-02 -8.13851370e+01] [-4.70638968e-02 -1.51206097e-04 9.98891869e-01 -3.99221447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.260714057 meters 0.0242515598329415 Centerline is valid? [True, True] Translation: X:608.25, Y:-81.40, Z:-39.93 [[ 9.73416032e-01 2.24514681e-01 4.53253524e-02 6.08245986e+02] [-2.24290379e-01 9.74470628e-01 -1.00409807e-02 -8.13954316e+01] [-4.64225722e-02 -3.91988832e-04 9.98921814e-01 -3.99274643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.320714057 meters 0.02401675156371066 Centerline is valid? [True, True] Translation: X:608.31, Y:-81.41, Z:-39.93 [[ 9.72878678e-01 2.26552069e-01 4.67037303e-02 6.08307507e+02] [-2.26315722e-01 9.73998931e-01 -1.03574541e-02 -8.14099660e+01] [-4.78358860e-02 -4.93242241e-04 9.98855087e-01 -3.99286310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.380714057 meters 0.02460561878586356 Centerline is valid? [True, True] Translation: X:608.37, Y:-81.42, Z:-39.93 [[ 9.72010739e-01 2.29907367e-01 4.83500362e-02 6.08368197e+02] [-2.29657443e-01 9.73212288e-01 -1.07378206e-02 -8.14221766e+01] [-4.95235535e-02 -6.66668714e-04 9.98772734e-01 -3.99320956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.440714057 meters 0.024807537683469844 Centerline is valid? [True, True] Translation: X:608.43, Y:-81.43, Z:-39.93 [[ 9.70608343e-01 2.35437205e-01 4.98875474e-02 6.08429602e+02] [-2.35177680e-01 9.71889084e-01 -1.10935831e-02 -8.14333654e+01] [-5.10970050e-02 -9.64913310e-04 9.98693229e-01 -3.99348112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.500714057 meters 0.02567460757141902 Centerline is valid? [True, True] Translation: X:608.49, Y:-81.44, Z:-39.94 [[ 9.69884999e-01 2.38706943e-01 4.83950750e-02 6.08491281e+02] [-2.38466043e-01 9.71091041e-01 -1.07766269e-02 -8.14422264e+01] [-4.95684795e-02 -1.08849333e-03 9.98770134e-01 -3.99417874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.560714057 meters 0.026281499202730346 Centerline is valid? [True, True] Translation: X:608.55, Y:-81.45, Z:-39.95 [[ 9.69200937e-01 2.41475288e-01 4.83655806e-02 6.08552392e+02] [-2.41238078e-01 9.70406191e-01 -1.07709469e-02 -8.14517075e+01] [-4.95351763e-02 -1.22840790e-03 9.98771624e-01 -3.99468053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.620714057 meters 0.025577370850748758 Centerline is valid? [True, True] Translation: X:608.61, Y:-81.47, Z:-39.95 [[ 9.68916698e-01 2.42279292e-01 5.00117727e-02 6.08613183e+02] [-2.42026041e-01 9.70205677e-01 -1.11508099e-02 -8.14655681e+01] [-5.12233161e-02 -1.29994542e-03 9.98686378e-01 -3.99489544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.680714057 meters 0.02621242197650305 Centerline is valid? [True, True] Translation: X:608.67, Y:-81.48, Z:-39.95 [[ 9.68784822e-01 2.42465991e-01 5.16353727e-02 6.08673628e+02] [-2.42195533e-01 9.70158982e-01 -1.15270463e-02 -8.14769358e+01] [-5.28894374e-02 -1.33862914e-03 9.98599477e-01 -3.99528578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.740714057 meters 0.02605120866846983 Centerline is valid? [True, True] Translation: X:608.73, Y:-81.49, Z:-39.96 [[ 9.68754365e-01 2.42634859e-01 5.14130840e-02 6.08734674e+02] [-2.42366291e-01 9.70116775e-01 -1.14901515e-02 -8.14907579e+01] [-5.26646065e-02 -1.32966405e-03 9.98611371e-01 -3.99578050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.800714057 meters 0.025634518171553818 Centerline is valid? [True, True] Translation: X:608.79, Y:-81.51, Z:-39.96 [[ 9.68999264e-01 2.41877971e-01 5.03534826e-02 6.08794719e+02] [-2.41618590e-01 9.70305875e-01 -1.12679433e-02 -8.15060307e+01] [-5.15837472e-02 -1.24770876e-03 9.98667893e-01 -3.99633266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.860714057 meters 0.025169619344755433 Centerline is valid? [True, True] Translation: X:608.85, Y:-81.52, Z:-39.97 [[ 9.69537223e-01 2.39871717e-01 4.95896413e-02 6.08854261e+02] [-2.39616896e-01 9.70803957e-01 -1.11094338e-02 -8.15217364e+01] [-5.08066590e-02 -1.11150628e-03 9.98707889e-01 -3.99688129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.920714057 meters 0.02417626087410178 Centerline is valid? [True, True] Translation: X:608.91, Y:-81.54, Z:-39.97 [[ 9.70684955e-01 2.34892419e-01 5.09536084e-02 6.08913256e+02] [-2.34615697e-01 9.72020995e-01 -1.14306920e-02 -8.15409764e+01] [-5.22129600e-02 -8.58915618e-04 9.98635604e-01 -3.99713797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.980714057 meters 0.023506062422807603 Centerline is valid? [True, True] Translation: X:608.97, Y:-81.56, Z:-39.97 [[ 9.72683639e-01 2.25889754e-01 5.34823179e-02 6.08971067e+02] [-2.25570955e-01 9.74152795e-01 -1.20031792e-02 -8.15596674e+01] [-5.48113447e-02 -3.88761533e-04 9.98496653e-01 -3.99733511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0407140570001 meters 0.023508941669821697 Centerline is valid? [True, True] Translation: X:609.03, Y:-81.58, Z:-39.97 [[ 9.74503363e-01 2.16866390e-01 5.75514029e-02 6.09030133e+02] [-2.16481448e-01 9.76201287e-01 -1.29162821e-02 -8.15798014e+01] [-5.89828610e-02 1.28149263e-04 9.98258987e-01 -3.99742379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.100714057 meters 0.023589622556143813 Centerline is valid? [True, True] Translation: X:609.09, Y:-81.60, Z:-39.98 [[ 9.75542000e-01 2.11611186e-01 5.94853927e-02 6.09090182e+02] [-2.11189186e-01 9.77353815e-01 -1.33659585e-02 -8.15968560e+01] [-6.09666618e-02 4.76382256e-04 9.98139689e-01 -3.99760739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1607140570001 meters 0.024164222472226132 Centerline is valid? [True, True] Translation: X:609.15, Y:-81.61, Z:-39.98 [[ 9.77005275e-01 2.04656200e-01 5.98041252e-02 6.09149817e+02] [-2.04215692e-01 9.78833476e-01 -1.34527832e-02 -8.16117893e+01] [-6.12914752e-02 9.30499360e-04 9.98119476e-01 -3.99812052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.220714057 meters 0.02448150962733894 Centerline is valid? [True, True] Translation: X:609.21, Y:-81.62, Z:-39.99 [[ 9.77614814e-01 2.01784703e-01 5.96004185e-02 6.09209857e+02] [-2.01341011e-01 9.79429261e-01 -1.34208482e-02 -8.16248739e+01] [-6.10825157e-02 1.12041155e-03 9.98132091e-01 -3.99868951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2807140570001 meters 0.02516707640013544 Centerline is valid? [True, True] Translation: X:609.27, Y:-81.64, Z:-39.99 [[ 9.77945565e-01 2.00990168e-01 5.67928181e-02 6.09269401e+02] [-2.00585186e-01 9.79592609e-01 -1.28024959e-02 -8.16390265e+01] [-5.82070007e-02 1.12834603e-03 9.98303898e-01 -3.99929619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.340714057 meters 0.025532343765952314 Centerline is valid? [True, True] Translation: X:609.33, Y:-81.65, Z:-40.00 [[ 9.78459006e-01 1.99210734e-01 5.41577133e-02 6.09330259e+02] [-1.98839115e-01 9.79955954e-01 -1.22202843e-02 -8.16492454e+01] [-5.55065854e-02 1.18837548e-03 9.98457614e-01 -4.00005939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.400714057 meters 0.02499800191639217 Centerline is valid? [True, True] Translation: X:609.39, Y:-81.66, Z:-40.00 [[ 9.78422237e-01 1.98435949e-01 5.75595401e-02 6.09392331e+02] [-1.98013898e-01 9.80112962e-01 -1.30029594e-02 -8.16586127e+01] [-5.89951060e-02 1.32479568e-03 9.98257393e-01 -4.00010755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.460714057 meters 0.024730879105293348 Centerline is valid? [True, True] Translation: X:609.45, Y:-81.67, Z:-40.00 [[ 9.77824053e-01 2.00272069e-01 6.12472102e-02 6.09454627e+02] [-1.99796526e-01 9.79739445e-01 -1.38552712e-02 -8.16661601e+01] [-6.27811316e-02 1.31103760e-03 9.98026458e-01 -4.00022214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.520714057 meters 0.023845975812076568 Centerline is valid? [True, True] Translation: X:609.52, Y:-81.67, Z:-40.01 [[ 9.76834773e-01 2.04679238e-01 6.24518676e-02 6.09517039e+02] [-2.04192716e-01 9.78828523e-01 -1.41441727e-02 -8.16698358e+01] [-6.40246878e-02 1.06430319e-03 9.97947747e-01 -4.00071087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.580714057 meters 0.023878300555737222 Centerline is valid? [True, True] Translation: X:609.58, Y:-81.67, Z:-40.01 [[ 9.75862190e-01 2.09497912e-01 6.16734304e-02 6.09580228e+02] [-2.09032054e-01 9.77808803e-01 -1.39837246e-02 -8.16739348e+01] [-6.32343843e-02 7.54464291e-04 9.97998419e-01 -4.00117965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.640714057 meters 0.02380492406957232 Centerline is valid? [True, True] Translation: X:609.64, Y:-81.68, Z:-40.02 [[ 9.75377109e-01 2.12128951e-01 6.03390658e-02 6.09640325e+02] [-2.11687763e-01 9.77241514e-01 -1.36862950e-02 -8.16830387e+01] [-6.18690994e-02 5.76257030e-04 9.98084106e-01 -4.00169470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.700714057 meters 0.023792066015410757 Centerline is valid? [True, True] Translation: X:609.70, Y:-81.69, Z:-40.02 [[ 9.75257951e-01 2.13014575e-01 5.91330740e-02 6.09703671e+02] [-2.12591664e-01 9.77048882e-01 -1.34263554e-02 -8.16889043e+01] [-6.06359132e-02 5.22961230e-04 9.98159813e-01 -4.00237276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.760714057 meters 0.023675485700772582 Centerline is valid? [True, True] Translation: X:609.77, Y:-81.70, Z:-40.03 [[ 9.75615477e-01 2.11464232e-01 5.87989796e-02 6.09765024e+02] [-2.11042223e-01 9.77385532e-01 -1.33679474e-02 -8.16970999e+01] [-6.02961147e-02 6.32909030e-04 9.98180333e-01 -4.00276186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.820714057 meters 0.023851801212884122 Centerline is valid? [True, True] Translation: X:609.83, Y:-81.71, Z:-40.03 [[ 9.75804481e-01 2.10659175e-01 5.85519155e-02 6.09826049e+02] [-2.10238353e-01 9.77559323e-01 -1.33268573e-02 -8.17067007e+01] [-6.00453956e-02 6.94548765e-04 9.98195406e-01 -4.00310261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.880714057 meters 0.023658066527021234 Centerline is valid? [True, True] Translation: X:609.89, Y:-81.71, Z:-40.04 [[ 9.75526115e-01 2.11807177e-01 5.90467520e-02 6.09887284e+02] [-2.11380357e-01 9.77311263e-01 -1.34551192e-02 -8.17124506e+01] [-6.05569466e-02 6.44496624e-04 9.98164536e-01 -4.00354608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.940714057 meters 0.02355596906260397 Centerline is valid? [True, True] Translation: X:609.95, Y:-81.72, Z:-40.04 [[ 9.74853752e-01 2.15009746e-01 5.85744993e-02 6.09949089e+02] [-2.14594676e-01 9.76611797e-01 -1.33612580e-02 -8.17185827e+01] [-6.00773477e-02 4.55496731e-04 9.98193621e-01 -4.00384547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.000714057 meters 0.023168523848041026 Centerline is valid? [True, True] Translation: X:610.01, Y:-81.73, Z:-40.04 [[ 9.74472772e-01 2.16725056e-01 5.85923734e-02 6.10009995e+02] [-2.16311881e-01 9.76232614e-01 -1.33810814e-02 -8.17277305e+01] [-6.00998014e-02 3.65272960e-04 9.98192306e-01 -4.00418493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.060714057 meters 0.02300932704985896 Centerline is valid? [True, True] Translation: X:610.07, Y:-81.73, Z:-40.05 [[ 9.73835478e-01 2.19578464e-01 5.85641599e-02 6.10071758e+02] [-2.19170360e-01 9.75594823e-01 -1.33825991e-02 -8.17348262e+01] [-6.00734218e-02 1.96921776e-04 9.98193942e-01 -4.00450769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.120714057 meters 0.022760917073029227 Centerline is valid? [True, True] Translation: X:610.13, Y:-81.75, Z:-40.05 [[ 9.73452530e-01 2.21148039e-01 5.90230161e-02 6.10134323e+02] [-2.20735458e-01 9.75240243e-01 -1.35028254e-02 -8.17450113e+01] [-6.05477439e-02 1.15887072e-04 9.98165296e-01 -4.00480391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.180714057 meters 0.022873600308994012 Centerline is valid? [True, True] Translation: X:610.20, Y:-81.76, Z:-40.05 [[ 9.73557442e-01 2.20608254e-01 5.93119374e-02 6.10196249e+02] [-2.20189536e-01 9.75362481e-01 -1.35866882e-02 -8.17573557e+01] [-6.08479740e-02 1.67553473e-04 9.98147031e-01 -4.00518388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.240714057 meters 0.022654663210144897 Centerline is valid? [True, True] Translation: X:610.26, Y:-81.77, Z:-40.05 [[ 9.74445183e-01 2.16103449e-01 6.12852758e-02 6.10256396e+02] [-2.15646266e-01 9.76370353e-01 -1.40577922e-02 -8.17716145e+01] [-6.28750638e-02 4.82606985e-04 9.98021289e-01 -4.00541033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.300714057 meters 0.023642042783781226 Centerline is valid? [True, True] Translation: X:610.32, Y:-81.79, Z:-40.06 [[ 9.75806663e-01 2.09921536e-01 6.11089636e-02 6.10316186e+02] [-2.09453861e-01 9.77717827e-01 -1.40332162e-02 -8.17884388e+01] [-6.26931974e-02 8.94197546e-04 9.98032446e-01 -4.00571466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.360714057 meters 0.02453119743794945 Centerline is valid? [True, True] Translation: X:610.37, Y:-81.80, Z:-40.06 [[ 9.77692673e-01 2.01466920e-01 5.93979516e-02 6.10374965e+02] [-2.01008562e-01 9.79494302e-01 -1.36553900e-02 -8.18037048e+01] [-6.09310645e-02 1.41127796e-03 9.98140979e-01 -4.00627740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.420714057 meters 0.02553434976179418 Centerline is valid? [True, True] Translation: X:610.43, Y:-81.82, Z:-40.07 [[ 9.79103724e-01 1.94875059e-01 5.81343985e-02 6.10434079e+02] [-1.94423858e-01 9.80826438e-01 -1.33739614e-02 -8.18171698e+01] [-5.96260065e-02 1.79178136e-03 9.98219179e-01 -4.00685996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.480714057 meters 0.027618238345188145 Centerline is valid? [True, True] Translation: X:610.49, Y:-81.83, Z:-40.07 [[ 9.80662295e-01 1.86891446e-01 5.80779783e-02 6.10492093e+02] [-1.86427076e-01 9.82377935e-01 -1.33618496e-02 -8.18313623e+01] [-5.95517398e-02 2.27615439e-03 9.98222625e-01 -4.00721667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5407140570001 meters 0.028242025837105677 Centerline is valid? [True, True] Translation: X:610.55, Y:-81.84, Z:-40.07 [[ 9.81495859e-01 1.81490193e-01 6.10507048e-02 6.10552362e+02] [-1.80966324e-01 9.83388933e-01 -1.40497826e-02 -8.18423115e+01] [-6.25864852e-02 2.74168177e-03 9.98035778e-01 -4.00739467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.600714057 meters 0.028405717779710463 Centerline is valid? [True, True] Translation: X:610.61, Y:-81.85, Z:-40.08 [[ 9.82706950e-01 1.74145648e-01 6.29312689e-02 6.10613728e+02] [-1.73573858e-01 9.84714343e-01 -1.44837446e-02 -8.18459467e+01] [-6.44916041e-02 3.31005338e-03 9.97912760e-01 -4.00773565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6607140570001 meters 0.03104757246504446 Centerline is valid? [True, True] Translation: X:610.67, Y:-81.85, Z:-40.08 [[ 9.83260436e-01 1.69966798e-01 6.56521317e-02 6.10674321e+02] [-1.69334891e-01 9.85442680e-01 -1.51135734e-02 -8.18513450e+01] [-6.72652183e-02 3.74338216e-03 9.97728108e-01 -4.00803022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.720714057 meters 0.029841437685847867 Centerline is valid? [True, True] Translation: X:610.74, Y:-81.85, Z:-40.08 [[ 9.83284343e-01 1.69192419e-01 6.72742645e-02 6.10737402e+02] [-1.68526691e-01 9.85575339e-01 -1.54920967e-02 -8.18520157e+01] [-6.89250014e-02 3.89562693e-03 9.97614238e-01 -4.00845331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7807140570001 meters 0.029426508659998164 Centerline is valid? [True, True] Translation: X:610.80, Y:-81.85, Z:-40.09 [[ 9.83397778e-01 1.68674477e-01 6.69158469e-02 6.10801252e+02] [-1.68013465e-01 9.85663986e-01 -1.54266856e-02 -8.18474512e+01] [-6.85586285e-02 3.92780505e-03 9.97639357e-01 -4.00919586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.840714057 meters 0.030971234439520136 Centerline is valid? [True, True] Translation: X:610.86, Y:-81.85, Z:-40.10 [[ 9.83942001e-01 1.65425346e-01 6.70268079e-02 6.10863767e+02] [-1.64753566e-01 9.86213472e-01 -1.54677099e-02 -8.18470208e+01] [-6.86614922e-02 4.17642380e-03 9.97631273e-01 -4.00987792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.900714057 meters 0.03142551359820139 Centerline is valid? [True, True] Translation: X:610.93, Y:-81.85, Z:-40.10 [[ 9.84361509e-01 1.62759241e-01 6.73932436e-02 6.10925809e+02] [-1.62073686e-01 9.86656053e-01 -1.55548607e-02 -8.18506667e+01] [-6.90256491e-02 4.38893477e-03 9.97605231e-01 -4.01039876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.960714057 meters 0.03144001519131683 Centerline is valid? [True, True] Translation: X:610.99, Y:-81.85, Z:-40.11 [[ 9.84909448e-01 1.59223691e-01 6.78321138e-02 6.10988588e+02] [-1.58520651e-01 9.87231489e-01 -1.56585729e-02 -8.18480816e+01] [-6.94592144e-02 4.66948557e-03 9.97573864e-01 -4.01094196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.020714057 meters 0.03585045544609748 Centerline is valid? [True, True] Translation: X:611.05, Y:-81.85, Z:-40.11 [[ 9.84660066e-01 1.60679170e-01 6.80202820e-02 6.11049631e+02] [-1.59975587e-01 9.86996060e-01 -1.57031884e-02 -8.18497155e+01] [-6.96589256e-02 4.58071795e-03 9.97560350e-01 -4.01146931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.080714057 meters 0.04291138922683535 Centerline is valid? [True, True] Translation: X:611.11, Y:-81.86, Z:-40.12 [[ 9.84126739e-01 1.63745108e-01 6.84258764e-02 6.11107844e+02] [-1.63040386e-01 9.86492909e-01 -1.57978903e-02 -8.18609177e+01] [-7.00884691e-02 4.39094498e-03 9.97531115e-01 -4.01180326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.140714057 meters 0.0426645732333158 Centerline is valid? [True, True] Translation: X:611.17, Y:-81.86, Z:-40.12 [[ 9.83548511e-01 1.67102487e-01 6.86227753e-02 6.11169426e+02] [-1.66401899e-01 9.85930744e-01 -1.58422471e-02 -8.18618095e+01] [-7.03045828e-02 4.16265838e-03 9.97516886e-01 -4.01212911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.200714057 meters 0.02912953056150649 Centerline is valid? [True, True] Translation: X:611.24, Y:-81.84, Z:-40.13 [[ 9.82868834e-01 1.70978409e-01 6.88130694e-02 6.11235805e+02] [-1.70283369e-01 9.85267072e-01 -1.58862240e-02 -8.18425003e+01] [-7.05154527e-02 3.89635315e-03 9.97503077e-01 -4.01267658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.260714057 meters 0.02699847505795675 Centerline is valid? [True, True] Translation: X:611.30, Y:-81.84, Z:-40.13 [[ 9.81857718e-01 1.76597106e-01 6.90571052e-02 6.11299945e+02] [-1.75910856e-01 9.84276976e-01 -1.59438200e-02 -8.18364608e+01] [-7.07869512e-02 3.50666819e-03 9.97485294e-01 -4.01298577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.320714057 meters 0.026979474636194052 Centerline is valid? [True, True] Translation: X:611.36, Y:-81.84, Z:-40.13 [[ 9.81148423e-01 1.80233382e-01 6.97402320e-02 6.11361064e+02] [-1.79542554e-01 9.83618415e-01 -1.61023218e-02 -8.18352185e+01] [-7.14999524e-02 3.27742822e-03 9.97435219e-01 -4.01326320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.380714057 meters 0.024342019354864235 Centerline is valid? [True, True] Translation: X:611.42, Y:-81.84, Z:-40.14 [[ 9.80758900e-01 1.82348456e-01 6.97210147e-02 6.11424363e+02] [-1.81663391e-01 9.83229015e-01 -1.60970983e-02 -8.18350848e+01] [-7.14870056e-02 3.12161648e-03 9.97436646e-01 -4.01364024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.440714057 meters 0.02708783005736988 Centerline is valid? [True, True] Translation: X:611.48, Y:-81.84, Z:-40.14 [[ 9.80102027e-01 1.86170193e-01 6.88525645e-02 6.11484841e+02] [-1.85511257e-01 9.82513490e-01 -1.59001603e-02 -8.18401552e+01] [-7.06087094e-02 2.81085351e-03 9.97500130e-01 -4.01391384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.500714057 meters 0.02250010911871412 Centerline is valid? [True, True] Translation: X:611.55, Y:-81.84, Z:-40.14 [[ 9.79371512e-01 1.90275531e-01 6.80195797e-02 6.11548171e+02] [-1.89642324e-01 9.81727584e-01 -1.57079434e-02 -8.18354950e+01] [-6.97655349e-02 2.48452114e-03 9.97560323e-01 -4.01434268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.560714057 meters 0.024780801746621204 Centerline is valid? [True, True] Translation: X:611.61, Y:-81.84, Z:-40.15 [[ 9.78905734e-01 1.93169045e-01 6.65528624e-02 6.11608938e+02] [-1.92569454e-01 9.81162955e-01 -1.53707692e-02 -8.18427023e+01] [-6.82683600e-02 2.23048575e-03 9.97664501e-01 -4.01476085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.620714057 meters 0.021239744545280662 Centerline is valid? [True, True] Translation: X:611.67, Y:-81.84, Z:-40.15 [[ 9.78638308e-01 1.95004792e-01 6.51167661e-02 6.11672182e+02] [-1.94434697e-01 9.80800127e-01 -1.50419312e-02 -8.18440312e+01] [-6.67997812e-02 2.05965143e-03 9.97764274e-01 -4.01521887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.680714057 meters 0.01997815432661159 Centerline is valid? [True, True] Translation: X:611.74, Y:-81.85, Z:-40.15 [[ 9.78304508e-01 1.96450009e-01 6.57851257e-02 6.11735334e+02] [-1.95870223e-01 9.80511806e-01 -1.52136448e-02 -8.18476845e+01] [-6.74918131e-02 1.99823004e-03 9.97717827e-01 -4.01546148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.740714057 meters 0.022569139274521977 Centerline is valid? [True, True] Translation: X:611.79, Y:-81.86, Z:-40.16 [[ 9.78788238e-01 1.93937304e-01 6.60447327e-02 6.11794692e+02] [-1.93346006e-01 9.81011464e-01 -1.52914729e-02 -8.18624826e+01] [-6.77562269e-02 2.19762856e-03 9.97699486e-01 -4.01569207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.800714057 meters 0.02650971137774837 Centerline is valid? [True, True] Translation: X:611.85, Y:-81.88, Z:-40.16 [[ 9.80827985e-01 1.83122240e-01 6.66536541e-02 6.11853459e+02] [-1.82493935e-01 9.83085610e-01 -1.54482231e-02 -8.18769476e+01] [-6.83551614e-02 2.98816188e-03 9.97656576e-01 -4.01596173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.860714057 meters 0.03229484714461844 Centerline is valid? [True, True] Translation: X:611.91, Y:-81.89, Z:-40.16 [[ 9.83511845e-01 1.68337521e-01 6.60827437e-02 6.11912273e+02] [-1.67686491e-01 9.85721364e-01 -1.53177777e-02 -8.18926620e+01] [-6.77177290e-02 3.98403246e-03 9.97696565e-01 -4.01630457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.920714057 meters 0.03245979079204568 Centerline is valid? [True, True] Translation: X:611.97, Y:-81.90, Z:-40.17 [[ 9.86062789e-01 1.53616074e-01 6.38927063e-02 6.11973392e+02] [-1.52976669e-01 9.88118802e-01 -1.48112402e-02 -8.18971325e+01] [-6.54088290e-02 4.83071939e-03 9.97846857e-01 -4.01670666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.980714057 meters 0.035043070673370376 Centerline is valid? [True, True] Translation: X:612.03, Y:-81.91, Z:-40.17 [[ 9.86930541e-01 1.47930753e-01 6.39108749e-02 6.12033323e+02] [-1.47279039e-01 9.88983995e-01 -1.48169690e-02 -8.19063519e+01] [-6.53987178e-02 5.21058704e-03 9.97845608e-01 -4.01699995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0407140570001 meters 0.036807043901303904 Centerline is valid? [True, True] Translation: X:612.10, Y:-81.91, Z:-40.17 [[ 9.86970192e-01 1.47664237e-01 6.39148880e-02 6.12095269e+02] [-1.47011825e-01 9.89023723e-01 -1.48188264e-02 -8.19089014e+01] [-6.54015512e-02 5.22949555e-03 9.97845323e-01 -4.01726744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.100714057 meters 0.0340602391496137 Centerline is valid? [True, True] Translation: X:612.16, Y:-81.91, Z:-40.18 [[ 9.86603873e-01 1.50507644e-01 6.29304949e-02 6.12158016e+02] [-1.49879972e-01 9.88596313e-01 -1.46056425e-02 -8.19090811e+01] [-6.44111160e-02 4.97796260e-03 9.97911032e-01 -4.01762717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1607140570001 meters 0.032762498073587554 Centerline is valid? [True, True] Translation: X:612.22, Y:-81.91, Z:-40.18 [[ 9.85915148e-01 1.55265369e-01 6.21609620e-02 6.12221312e+02] [-1.54662291e-01 9.87862037e-01 -1.44281684e-02 -8.19050321e+01] [-6.36466494e-02 4.61099298e-03 9.97961844e-01 -4.01808595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.220714057 meters 0.02950840616885113 Centerline is valid? [True, True] Translation: X:612.29, Y:-81.90, Z:-40.18 [[ 9.85317445e-01 1.58857501e-01 6.25605844e-02 6.12285361e+02] [-1.58253787e-01 9.87291682e-01 -1.45214708e-02 -8.18979889e+01] [-6.40723891e-02 4.40780907e-03 9.97935519e-01 -4.01836199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2807140570001 meters 0.028947920942673996 Centerline is valid? [True, True] Translation: X:612.35, Y:-81.89, Z:-40.19 [[ 9.84251289e-01 1.65380286e-01 6.24400610e-02 6.12349069e+02] [-1.64791879e-01 9.86221855e-01 -1.44944360e-02 -8.18931480e+01] [-6.39768468e-02 3.97655234e-03 9.97943460e-01 -4.01865808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.340714057 meters 0.029204646362831266 Centerline is valid? [True, True] Translation: X:612.41, Y:-81.89, Z:-40.19 [[ 9.83261758e-01 1.71310721e-01 6.20399251e-02 6.12410384e+02] [-1.70741519e-01 9.85210588e-01 -1.44024904e-02 -8.18945006e+01] [-6.35896921e-02 3.56862698e-03 9.97969747e-01 -4.01910099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.400714057 meters 0.02629839726061322 Centerline is valid? [True, True] Translation: X:612.47, Y:-81.89, Z:-40.20 [[ 9.81866595e-01 1.79055437e-01 6.22666847e-02 6.12473857e+02] [-1.78497532e-01 9.83834168e-01 -1.44554538e-02 -8.18870504e+01] [-6.38484195e-02 3.07887768e-03 9.97954859e-01 -4.01953482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.460714057 meters 0.02772519404265996 Centerline is valid? [True, True] Translation: X:612.53, Y:-81.89, Z:-40.20 [[ 9.81117181e-01 1.82887980e-01 6.29369776e-02 6.12534527e+02] [-1.82325842e-01 9.83129598e-01 -1.46109605e-02 -8.18873034e+01] [-6.45473745e-02 2.86002694e-03 9.97910545e-01 -4.02002612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.520714057 meters 0.027649142032188354 Centerline is valid? [True, True] Translation: X:612.60, Y:-81.89, Z:-40.21 [[ 9.80950044e-01 1.83926576e-01 6.25142126e-02 6.12596297e+02] [-1.83373789e-01 9.82936062e-01 -1.45172998e-02 -8.18936208e+01] [-6.41175912e-02 2.77727780e-03 9.97938486e-01 -4.02054110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.580714057 meters 0.028318418714345976 Centerline is valid? [True, True] Translation: X:612.66, Y:-81.90, Z:-40.21 [[ 9.81151965e-01 1.82854159e-01 6.24914258e-02 6.12658792e+02] [-1.82298595e-01 9.83135884e-01 -1.45277626e-02 -8.18995592e+01] [-6.40940249e-02 2.86184373e-03 9.97939761e-01 -4.02101595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.640714057 meters 0.02834480912321704 Centerline is valid? [True, True] Translation: X:612.72, Y:-81.91, Z:-40.21 [[ 9.81104711e-01 1.82944162e-01 6.29680773e-02 6.12721710e+02] [-1.82379223e-01 9.83119047e-01 -1.46546489e-02 -8.19063252e+01] [-6.45860986e-02 2.89367605e-03 9.97907943e-01 -4.02142494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.700714057 meters 0.025423680534034564 Centerline is valid? [True, True] Translation: X:612.78, Y:-81.91, Z:-40.22 [[ 9.80739332e-01 1.84487067e-01 6.41473675e-02 6.12784910e+02] [-1.83902792e-01 9.82830771e-01 -1.49478455e-02 -8.19110962e+01] [-6.58036909e-02 2.86306007e-03 9.97828481e-01 -4.02177587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.760714057 meters 0.025551226130396856 Centerline is valid? [True, True] Translation: X:612.85, Y:-81.92, Z:-40.22 [[ 9.79973163e-01 1.87972934e-01 6.57173939e-02 6.12845298e+02] [-1.87367051e-01 9.82170498e-01 -1.53199772e-02 -8.19188264e+01] [-6.74254265e-02 2.69989223e-03 9.97720664e-01 -4.02211759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.820714057 meters 0.025340912862977398 Centerline is valid? [True, True] Translation: X:612.91, Y:-81.93, Z:-40.23 [[ 9.79256434e-01 1.91661058e-01 6.57485757e-02 6.12905052e+02] [-1.91062716e-01 9.81458118e-01 -1.53297286e-02 -8.19302960e+01] [-6.74675854e-02 2.44963396e-03 9.97718459e-01 -4.02259623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.880714057 meters 0.0241306398807215 Centerline is valid? [True, True] Translation: X:612.96, Y:-81.94, Z:-40.23 [[ 9.77886004e-01 1.98551266e-01 6.56990001e-02 6.12964266e+02] [-1.97969164e-01 9.80088513e-01 -1.53204881e-02 -8.19404947e+01] [-6.74327376e-02 1.97531476e-03 9.97721867e-01 -4.02300499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.940714057 meters 0.02122932143127104 Centerline is valid? [True, True] Translation: X:613.03, Y:-81.95, Z:-40.23 [[ 9.76852378e-01 2.03096321e-01 6.71663308e-02 6.13025589e+02] [-2.02498600e-01 9.79157289e-01 -1.56626830e-02 -8.19496626e+01] [-6.89474357e-02 1.69904123e-03 9.97618847e-01 -4.02329646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.000714057 meters 0.021596368903707714 Centerline is valid? [True, True] Translation: X:613.09, Y:-81.97, Z:-40.24 [[ 9.76885014e-01 2.03028561e-01 6.68959926e-02 6.13085885e+02] [-2.02435168e-01 9.79171338e-01 -1.56043119e-02 -8.19675523e+01] [-6.86707595e-02 1.70151697e-03 9.97637926e-01 -4.02380539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.060714057 meters 0.021917317652097104 Centerline is valid? [True, True] Translation: X:613.15, Y:-81.98, Z:-40.24 [[ 9.76991002e-01 2.02580215e-01 6.67071088e-02 6.13146176e+02] [-2.01987793e-01 9.79264113e-01 -1.55797170e-02 -8.19835412e+01] [-6.84800202e-02 1.74722164e-03 9.97650958e-01 -4.02427960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.120714057 meters 0.021709315254436933 Centerline is valid? [True, True] Translation: X:613.20, Y:-82.00, Z:-40.25 [[ 9.77414411e-01 2.00888375e-01 6.56119653e-02 6.13204988e+02] [-2.00310348e-01 9.79612390e-01 -1.53404936e-02 -8.20019398e+01] [-6.73560209e-02 1.85126395e-03 9.97727287e-01 -4.02472982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.180714057 meters 0.023105783179716028 Centerline is valid? [True, True] Translation: X:613.26, Y:-82.02, Z:-40.25 [[ 9.77653061e-01 1.99620314e-01 6.59258926e-02 6.13262872e+02] [-1.99032761e-01 9.79871356e-01 -1.54300589e-02 -8.20220627e+01] [-6.76790469e-02 1.96383189e-03 9.97705212e-01 -4.02505087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.240714057 meters 0.02185338221692204 Centerline is valid? [True, True] Translation: X:613.32, Y:-82.04, Z:-40.25 [[ 9.77792101e-01 1.98978312e-01 6.58045531e-02 6.13322887e+02] [-1.98390397e-01 9.80001811e-01 -1.54175240e-02 -8.20393677e+01] [-6.75563341e-02 2.02014175e-03 9.97713416e-01 -4.02531347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.300714057 meters 0.02123881023296923 Centerline is valid? [True, True] Translation: X:613.38, Y:-82.06, Z:-40.26 [[ 9.77669635e-01 1.99894061e-01 6.48417261e-02 6.13382453e+02] [-1.99324121e-01 9.79815586e-01 -1.52089774e-02 -8.20562010e+01] [-6.65731181e-02 1.94483533e-03 9.97779654e-01 -4.02558977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.360714057 meters 0.02069085944214013 Centerline is valid? [True, True] Translation: X:613.44, Y:-82.07, Z:-40.26 [[ 9.77198890e-01 2.01917002e-01 6.56647125e-02 6.13441181e+02] [-2.01335832e-01 9.79400894e-01 -1.54198576e-02 -8.20739278e+01] [-6.74256095e-02 1.84760821e-03 9.97722594e-01 -4.02583694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.420714057 meters 0.019595758061383275 Centerline is valid? [True, True] Translation: X:613.50, Y:-82.09, Z:-40.26 [[ 9.76399959e-01 2.05760728e-01 6.56173940e-02 6.13500114e+02] [-2.05188003e-01 9.78601029e-01 -1.54243063e-02 -8.20916430e+01] [-6.73869658e-02 1.59639004e-03 9.97725638e-01 -4.02610084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.480714057 meters 0.017737958205054773 Centerline is valid? [True, True] Translation: X:613.56, Y:-82.11, Z:-40.26 [[ 9.75005753e-01 2.12118937e-01 6.61009684e-02 6.13559888e+02] [-2.11552129e-01 9.77243159e-01 -1.55404351e-02 -8.21054834e+01] [-6.78931397e-02 1.16821308e-03 9.97691915e-01 -4.02625540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5407140570001 meters 0.017108209020961797 Centerline is valid? [True, True] Translation: X:613.62, Y:-82.12, Z:-40.27 [[ 9.73857350e-01 2.17192754e-01 6.65520078e-02 6.13620011e+02] [-2.16629762e-01 9.76128388e-01 -1.56498164e-02 -8.21200004e+01] [-6.83623308e-02 8.23543126e-04 9.97660220e-01 -4.02656230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.600714057 meters 0.01623766971646673 Centerline is valid? [True, True] Translation: X:613.68, Y:-82.14, Z:-40.27 [[ 9.72078050e-01 2.25273010e-01 6.56988183e-02 6.13680597e+02] [-2.24741646e-01 9.74295642e-01 -1.54658999e-02 -8.21352370e+01] [-6.74941222e-02 2.68801325e-04 9.97719636e-01 -4.02704878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6607140570001 meters 0.015981458537866634 Centerline is valid? [True, True] Translation: X:613.74, Y:-82.15, Z:-40.28 [[ 9.71185390e-01 2.29534886e-01 6.41301428e-02 6.13740032e+02] [-2.29037496e-01 9.73300434e-01 -1.51026335e-02 -8.21517052e+01] [-6.58844771e-02 -2.07503523e-05 9.97827257e-01 -4.02756377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.720714057 meters 0.016179025144819992 Centerline is valid? [True, True] Translation: X:613.80, Y:-82.17, Z:-40.28 [[ 9.70019428e-01 2.34836539e-01 6.25628371e-02 6.13797980e+02] [-2.34373183e-01 9.72034811e-01 -1.47491761e-02 -8.21705091e+01] [-6.42769010e-02 -3.56063871e-04 9.97932038e-01 -4.02805791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7807140570001 meters 0.016450688766158208 Centerline is valid? [True, True] Translation: X:613.86, Y:-82.19, Z:-40.28 [[ 9.68905265e-01 2.39531476e-01 6.20262780e-02 6.13856278e+02] [-2.39084722e-01 9.70888383e-01 -1.46370438e-02 -8.21929846e+01] [-6.37266255e-02 -6.47626652e-04 9.97967183e-01 -4.02841231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.840714057 meters 0.01652443272901244 Centerline is valid? [True, True] Translation: X:613.92, Y:-82.21, Z:-40.29 [[ 9.68292363e-01 2.42159743e-01 6.13885945e-02 6.13915377e+02] [-2.41726399e-01 9.70236066e-01 -1.45025430e-02 -8.22133473e+01] [-6.30733606e-02 -7.96542222e-04 9.98008576e-01 -4.02880666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.900714057 meters 0.016890583379852372 Centerline is valid? [True, True] Translation: X:613.97, Y:-82.24, Z:-40.29 [[ 9.67391272e-01 2.45752292e-01 6.13183364e-02 6.13972735e+02] [-2.45326114e-01 9.69332133e-01 -1.45022215e-02 -8.22383773e+01] [-6.30017880e-02 -1.01366665e-03 9.98012899e-01 -4.02918845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.960714057 meters 0.01953267443985817 Centerline is valid? [True, True] Translation: X:614.03, Y:-82.26, Z:-40.30 [[ 9.66303020e-01 2.49715135e-01 6.24565783e-02 6.14030666e+02] [-2.49280218e-01 9.68318497e-01 -1.47871736e-02 -8.22584373e+01] [-6.41704411e-02 -1.28029894e-03 9.97938132e-01 -4.02956604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.020714057 meters 0.01811824820344351 Centerline is valid? [True, True] Translation: X:614.09, Y:-82.29, Z:-40.30 [[ 9.65577752e-01 2.52500483e-01 6.24748870e-02 6.14087796e+02] [-2.52070152e-01 9.67595680e-01 -1.48066800e-02 -8.22856404e+01] [-6.41891246e-02 -1.45105352e-03 9.97936697e-01 -4.02995572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.080714057 meters 0.017969776604031693 Centerline is valid? [True, True] Translation: X:614.14, Y:-82.32, Z:-40.30 [[ 9.65107528e-01 2.54184207e-01 6.29114336e-02 6.14144388e+02] [-2.53750305e-01 9.67154570e-01 -1.49271398e-02 -8.23172562e+01] [-6.46393238e-02 -1.55750048e-03 9.97907477e-01 -4.03042553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.140714057 meters 0.01822208276953058 Centerline is valid? [True, True] Translation: X:614.20, Y:-82.35, Z:-40.31 [[ 9.65967892e-01 2.50993599e-01 6.25159516e-02 6.14199710e+02] [-2.50557363e-01 9.67987848e-01 -1.48503843e-02 -8.23494319e+01] [-6.42420329e-02 -1.31883758e-03 9.97933476e-01 -4.03086585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.200714057 meters 0.01728296102476375 Centerline is valid? [True, True] Translation: X:614.26, Y:-82.38, Z:-40.31 [[ 9.66993796e-01 2.47001537e-01 6.25558901e-02 6.14256471e+02] [-2.46555387e-01 9.69014531e-01 -1.48754798e-02 -8.23787144e+01] [-6.42918328e-02 -1.03899499e-03 9.97930599e-01 -4.03132105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.260714057 meters 0.0167236219886953 Centerline is valid? [True, True] Translation: X:614.31, Y:-82.41, Z:-40.32 [[ 9.68498442e-01 2.40858308e-01 6.32300816e-02 6.14311836e+02] [-2.40388282e-01 9.70560091e-01 -1.50527197e-02 -8.24141897e+01] [-6.49941664e-02 -6.21235065e-04 9.97885451e-01 -4.03161201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.320714057 meters 0.01692622980315056 Centerline is valid? [True, True] Translation: X:614.37, Y:-82.45, Z:-40.32 [[ 9.69497420e-01 2.36831952e-01 6.31298635e-02 6.14367560e+02] [-2.36353776e-01 9.71550573e-01 -1.50458546e-02 -8.24457965e+01] [-6.48971942e-02 -3.34064342e-04 9.97891899e-01 -4.03211667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.380714057 meters 0.01732083680752135 Centerline is valid? [True, True] Translation: X:614.43, Y:-82.47, Z:-40.33 [[ 9.70102861e-01 2.34645665e-01 6.19826737e-02 6.14426371e+02] [-2.34179236e-01 9.72080955e-01 -1.47885781e-02 -8.24717831e+01] [-6.37222524e-02 -1.68613311e-04 9.97967658e-01 -4.03261910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.440714057 meters 0.017663312282300815 Centerline is valid? [True, True] Translation: X:614.48, Y:-82.50, Z:-40.33 [[ 9.71048859e-01 2.30752976e-01 6.17833060e-02 6.14483607e+02] [-2.30280465e-01 9.73012360e-01 -1.47598903e-02 -8.25002377e+01] [-6.35218090e-02 1.05086241e-04 9.97980445e-01 -4.03307233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.500714057 meters 0.018011036649911504 Centerline is valid? [True, True] Translation: X:614.54, Y:-82.52, Z:-40.33 [[ 9.71838065e-01 2.27440086e-01 6.16586025e-02 6.14542092e+02] [-2.26961712e-01 9.73792017e-01 -1.47474896e-02 -8.25237806e+01] [-6.33968252e-02 3.38029753e-04 9.97988341e-01 -4.03346626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.560714057 meters 0.01878246984105986 Centerline is valid? [True, True] Translation: X:614.60, Y:-82.55, Z:-40.34 [[ 9.73189714e-01 2.21560981e-01 6.17455446e-02 6.14599256e+02] [-2.21068397e-01 9.75146239e-01 -1.47843395e-02 -8.25509409e+01] [-6.34865683e-02 7.37978508e-04 9.97982420e-01 -4.03382656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.620714057 meters 0.01979084283310328 Centerline is valid? [True, True] Translation: X:614.66, Y:-82.57, Z:-40.34 [[ 9.74389488e-01 2.15953441e-01 6.26836264e-02 6.14657571e+02] [-2.15433072e-01 9.76403000e-01 -1.50257261e-02 -8.25747469e+01] [-6.44493381e-02 1.13678337e-03 9.97920333e-01 -4.03417162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.680714057 meters 0.02009088186273444 Centerline is valid? [True, True] Translation: X:614.72, Y:-82.59, Z:-40.35 [[ 9.74564681e-01 2.15377737e-01 6.19363567e-02 6.14716014e+02] [-2.14868273e-01 9.76530119e-01 -1.48510162e-02 -8.25932922e+01] [-6.36812960e-02 1.16511787e-03 9.97969606e-01 -4.03455151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.740714057 meters 0.01933758774662027 Centerline is valid? [True, True] Translation: X:614.78, Y:-82.61, Z:-40.35 [[ 9.73857921e-01 2.18386581e-01 6.25144043e-02 6.14776649e+02] [-2.17872771e-01 9.75861833e-01 -1.50046277e-02 -8.26065170e+01] [-6.42822305e-02 9.92189056e-04 9.97931265e-01 -4.03486032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.800714057 meters 0.01905327694131089 Centerline is valid? [True, True] Translation: X:614.84, Y:-82.62, Z:-40.35 [[ 9.72576327e-01 2.24093661e-01 6.22681178e-02 6.14836262e+02] [-2.23594508e-01 9.74567409e-01 -1.49619717e-02 -8.26183766e+01] [-6.40373612e-02 6.28850366e-04 9.97947304e-01 -4.03521877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.860714057 meters 0.018908478539306873 Centerline is valid? [True, True] Translation: X:614.90, Y:-82.63, Z:-40.36 [[ 9.72411292e-01 2.24820540e-01 6.22254286e-02 6.14897038e+02] [-2.24322593e-01 9.74400005e-01 -1.49667554e-02 -8.26322304e+01] [-6.39972920e-02 5.95272480e-04 9.97949895e-01 -4.03564797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.920714057 meters 0.01933857159753719 Centerline is valid? [True, True] Translation: X:614.96, Y:-82.65, Z:-40.36 [[ 9.73075181e-01 2.22147676e-01 6.14418581e-02 6.14956468e+02] [-2.21655708e-01 9.75012719e-01 -1.47967757e-02 -8.26481620e+01] [-6.31936625e-02 7.79436583e-04 9.98000979e-01 -4.03611317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.980714057 meters 0.019800524199030754 Centerline is valid? [True, True] Translation: X:615.02, Y:-82.66, Z:-40.37 [[ 9.74045910e-01 2.18076399e-01 6.06403362e-02 6.15016530e+02] [-2.17588389e-01 9.75931142e-01 -1.46184636e-02 -8.26648197e+01] [-6.23687344e-02 1.04442163e-03 9.98052629e-01 -4.03662040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0407140570001 meters 0.020973726592261863 Centerline is valid? [True, True] Translation: X:615.08, Y:-82.68, Z:-40.37 [[ 9.75835504e-01 2.09977108e-01 6.04539776e-02 6.15075291e+02] [-2.09475523e-01 9.77705036e-01 -1.45899877e-02 -8.26829919e+01] [-6.21697218e-02 1.57379936e-03 9.98064351e-01 -4.03692210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.100714057 meters 0.021698559141418265 Centerline is valid? [True, True] Translation: X:615.13, Y:-82.70, Z:-40.37 [[ 9.76866010e-01 2.04690506e-01 6.19241160e-02 6.15134061e+02] [-2.04153431e-01 9.78824784e-01 -1.49472245e-02 -8.26996226e+01] [-6.36724144e-02 1.95941482e-03 9.97968930e-01 -4.03715294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1607140570001 meters 0.022512225792306422 Centerline is valid? [True, True] Translation: X:615.19, Y:-82.72, Z:-40.38 [[ 9.77669957e-01 2.00900944e-01 6.16462925e-02 6.15193389e+02] [-2.00361086e-01 9.79609096e-01 -1.48813194e-02 -8.27155899e+01] [-6.33789400e-02 2.19750083e-03 9.97987115e-01 -4.03752649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.220714057 meters 0.022033804219663052 Centerline is valid? [True, True] Translation: X:615.25, Y:-82.73, Z:-40.38 [[ 9.77252386e-01 2.03339274e-01 6.02570670e-02 6.15254283e+02] [-2.02828024e-01 9.79106307e-01 -1.45475919e-02 -8.27267627e+01] [-6.19561711e-02 1.99484702e-03 9.98076878e-01 -4.03804417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2807140570001 meters 0.02024486473780303 Centerline is valid? [True, True] Translation: X:615.31, Y:-82.73, Z:-40.38 [[ 9.75187042e-01 2.13570752e-01 5.82903688e-02 6.15314913e+02] [-2.13109608e-01 9.76926711e-01 -1.40888418e-02 -8.27320250e+01] [-5.99543828e-02 1.31701833e-03 9.98200249e-01 -4.03843283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.340714057 meters 0.018603679770371452 Centerline is valid? [True, True] Translation: X:615.38, Y:-82.74, Z:-40.39 [[ 9.72359365e-01 2.25965560e-01 5.87948227e-02 6.15375509e+02] [-2.25518879e-01 9.74135130e-01 -1.42120650e-02 -8.27373711e+01] [-6.04855394e-02 5.59891972e-04 9.98168917e-01 -4.03856893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.400714057 meters 0.018303580410113634 Centerline is valid? [True, True] Translation: X:615.44, Y:-82.75, Z:-40.39 [[ 9.70875839e-01 2.32111499e-01 5.93662986e-02 6.15436941e+02] [-2.31667601e-01 9.72689169e-01 -1.43493001e-02 -8.27475317e+01] [-6.10755933e-02 1.78140739e-04 9.98133128e-01 -4.03887466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.460714057 meters 0.018654254224803178 Centerline is valid? [True, True] Translation: X:615.50, Y:-82.76, Z:-40.39 [[ 9.69673914e-01 2.36683505e-01 6.09378361e-02 6.15498405e+02] [-2.36223771e-01 9.71586800e-01 -1.47451897e-02 -8.27613341e+01] [-6.26963403e-02 -9.69396318e-05 9.98032645e-01 -4.03928789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.520714057 meters 0.018739296741189744 Centerline is valid? [True, True] Translation: X:615.56, Y:-82.78, Z:-40.40 [[ 9.69212479e-01 2.38865728e-01 5.97522751e-02 6.15558475e+02] [-2.38426771e-01 9.71052582e-01 -1.44761014e-02 -8.27783841e+01] [-6.14804455e-02 -2.16123923e-04 9.98108265e-01 -4.03978442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.580714057 meters 0.01898379342927314 Centerline is valid? [True, True] Translation: X:615.62, Y:-82.79, Z:-40.40 [[ 9.68720860e-01 2.40912775e-01 5.95057207e-02 6.15618202e+02] [-2.40480189e-01 9.70546716e-01 -1.44343634e-02 -8.27940379e+01] [-6.12305044e-02 -3.27078043e-04 9.98123599e-01 -4.04031225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.640714057 meters 0.019139250527730328 Centerline is valid? [True, True] Translation: X:615.68, Y:-82.81, Z:-40.41 [[ 9.68052970e-01 2.43600626e-01 5.94321739e-02 6.15677691e+02] [-2.43173147e-01 9.69875510e-01 -1.44331583e-02 -8.28135600e+01] [-6.11577364e-02 -4.80247056e-04 9.98127998e-01 -4.04065093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.700714057 meters 0.019480764112577462 Centerline is valid? [True, True] Translation: X:615.74, Y:-82.84, Z:-40.41 [[ 9.67839445e-01 2.44105745e-01 6.08209990e-02 6.15736807e+02] [-2.43658015e-01 9.69748486e-01 -1.47866466e-02 -8.28371064e+01] [-6.25905771e-02 -5.08424004e-04 9.98039158e-01 -4.04097047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.760714057 meters 0.01941210080102557 Centerline is valid? [True, True] Translation: X:615.79, Y:-82.86, Z:-40.41 [[ 9.68421222e-01 2.41435925e-01 6.22015310e-02 6.15793410e+02] [-2.40960905e-01 9.70416709e-01 -1.51411258e-02 -8.28620369e+01] [-6.40170167e-02 -3.25149637e-04 9.97948754e-01 -4.04145840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.820714057 meters 0.01941126477939713 Centerline is valid? [True, True] Translation: X:615.85, Y:-82.89, Z:-40.42 [[ 9.68883419e-01 2.39571060e-01 6.22143670e-02 6.15852623e+02] [-2.39091061e-01 9.70878814e-01 -1.51589114e-02 -8.28853747e+01] [-6.40342473e-02 -1.87681109e-04 9.97947684e-01 -4.04198263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.880714057 meters 0.019440341953895386 Centerline is valid? [True, True] Translation: X:615.91, Y:-82.91, Z:-40.42 [[ 9.69405096e-01 2.37304257e-01 6.27729957e-02 6.15911085e+02] [-2.36809604e-01 9.71435376e-01 -1.53141170e-02 -8.29121239e+01] [-6.46140138e-02 -1.96651803e-05 9.97910331e-01 -4.04240290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.940714057 meters 0.01973130404029379 Centerline is valid? [True, True] Translation: X:615.97, Y:-82.94, Z:-40.43 [[ 9.69838674e-01 2.35312353e-01 6.35692021e-02 6.15969068e+02] [-2.34799492e-01 9.71919790e-01 -1.55280339e-02 -8.29377740e+01] [-6.54381038e-02 1.33671421e-04 9.97856621e-01 -4.04269843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.000714057 meters 0.01963486071640456 Centerline is valid? [True, True] Translation: X:616.03, Y:-82.96, Z:-40.43 [[ 9.70146835e-01 2.33909476e-01 6.40427698e-02 6.16028495e+02] [-2.33384597e-01 9.72258348e-01 -1.56631645e-02 -8.29583016e+01] [-6.59298802e-02 2.48973477e-04 9.97824227e-01 -4.04307318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.060714057 meters 0.019683167993853643 Centerline is valid? [True, True] Translation: X:616.09, Y:-82.98, Z:-40.44 [[ 9.70139005e-01 2.34000237e-01 6.38294658e-02 6.16087865e+02] [-2.33477800e-01 9.72236505e-01 -1.56299551e-02 -8.29801781e+01] [-6.57147499e-02 2.60465782e-04 9.97838416e-01 -4.04354669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.120714057 meters 0.01978492007803215 Centerline is valid? [True, True] Translation: X:616.15, Y:-83.00, Z:-40.44 [[ 9.69835201e-01 2.36029356e-01 6.09083415e-02 6.16147832e+02] [-2.35556619e-01 9.71745916e-01 -1.49316517e-02 -8.29996094e+01] [-6.27117403e-02 1.33878438e-04 9.98031673e-01 -4.04424630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.180714057 meters 0.01952464121106264 Centerline is valid? [True, True] Translation: X:616.21, Y:-83.02, Z:-40.45 [[ 9.69716748e-01 2.36740741e-01 6.00270747e-02 6.16207750e+02] [-2.36281846e-01 9.71572854e-01 -1.47335815e-02 -8.30172758e+01] [-6.18087153e-02 1.04092666e-04 9.98088008e-01 -4.04477194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.240714057 meters 0.019886739441907633 Centerline is valid? [True, True] Translation: X:616.27, Y:-83.04, Z:-40.45 [[ 9.70467511e-01 2.33238359e-01 6.15847289e-02 6.16267088e+02] [-2.32747031e-01 9.72419530e-01 -1.51353082e-02 -8.30396711e+01] [-6.34163275e-02 3.54662049e-04 9.97987096e-01 -4.04499840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.300714057 meters 0.019947443012949272 Centerline is valid? [True, True] Translation: X:616.33, Y:-83.06, Z:-40.45 [[ 9.71721740e-01 2.27106282e-01 6.46497999e-02 6.16325983e+02] [-2.26549832e-01 9.73869640e-01 -1.59090351e-02 -8.30616395e+01] [-6.65735192e-02 8.12753968e-04 9.97781191e-01 -4.04508048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.360714057 meters 0.02036597453444922 Centerline is valid? [True, True] Translation: X:616.38, Y:-83.08, Z:-40.45 [[ 9.72423701e-01 2.23524324e-01 6.65509053e-02 6.16384436e+02] [-2.22924969e-01 9.74697722e-01 -1.63953649e-02 -8.30813035e+01] [-6.85317787e-02 1.10738290e-03 9.97648319e-01 -4.04526007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.420714057 meters 0.02022698950705797 Centerline is valid? [True, True] Translation: X:616.45, Y:-83.10, Z:-40.46 [[ 9.72295389e-01 2.24069693e-01 6.65916688e-02 6.16445165e+02] [-2.23469729e-01 9.74572518e-01 -1.64221397e-02 -8.30965174e+01] [-6.85781141e-02 1.08594850e-03 9.97645159e-01 -4.04565651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.480714057 meters 0.01976268054592234 Centerline is valid? [True, True] Translation: X:616.51, Y:-83.11, Z:-40.46 [[ 9.71205020e-01 2.29275998e-01 6.47559007e-02 6.16506100e+02] [-2.28718966e-01 9.73361188e-01 -1.59885005e-02 -8.31086558e+01] [-6.66966599e-02 7.17209318e-04 9.97773041e-01 -4.04616253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5407140570001 meters 0.019225665084914998 Centerline is valid? [True, True] Translation: X:616.57, Y:-83.12, Z:-40.47 [[ 9.69318641e-01 2.37631581e-01 6.28697352e-02 6.16566925e+02] [-2.37123039e-01 9.71355346e-01 -1.55388575e-02 -8.31185319e+01] [-6.47613766e-02 1.54241509e-04 9.97900767e-01 -4.04665217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.600714057 meters 0.019295572513954133 Centerline is valid? [True, True] Translation: X:616.63, Y:-83.13, Z:-40.47 [[ 9.67938686e-01 2.43370897e-01 6.21715968e-02 6.16628782e+02] [-2.42884388e-01 9.69933277e-01 -1.53822058e-02 -8.31303612e+01] [-6.40458819e-02 -2.11478154e-04 9.97946933e-01 -4.04705146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6607140570001 meters 0.019777627313425104 Centerline is valid? [True, True] Translation: X:616.69, Y:-83.14, Z:-40.48 [[ 9.66597138e-01 2.49111408e-01 6.02783502e-02 6.16688315e+02] [-2.48664151e-01 9.68474675e-01 -1.49312803e-02 -8.31431130e+01] [-6.20976079e-02 -5.56532041e-04 9.98069926e-01 -4.04757964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.720714057 meters 0.01971161847820711 Centerline is valid? [True, True] Translation: X:616.75, Y:-83.16, Z:-40.48 [[ 9.66386314e-01 2.50304542e-01 5.86952218e-02 6.16747068e+02] [-2.49882250e-01 9.68166961e-01 -1.45463616e-02 -8.31615775e+01] [-6.04677949e-02 -6.09489343e-04 9.98169963e-01 -4.04803414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7807140570001 meters 0.019332362434432895 Centerline is valid? [True, True] Translation: X:616.81, Y:-83.18, Z:-40.48 [[ 9.66738344e-01 2.48958962e-01 5.86208978e-02 6.16806293e+02] [-2.48534392e-01 9.68513900e-01 -1.45423920e-02 -8.31822685e+01] [-6.03956132e-02 -5.10621294e-04 9.98174388e-01 -4.04829942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.840714057 meters 0.019493981628397484 Centerline is valid? [True, True] Translation: X:616.87, Y:-83.20, Z:-40.49 [[ 9.66849056e-01 2.48449870e-01 5.89539216e-02 6.16866039e+02] [-2.48018538e-01 9.68644643e-01 -1.46410348e-02 -8.31991798e+01] [-6.07429635e-02 -4.65994746e-04 9.98153333e-01 -4.04868289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.900714057 meters 0.019062281446803726 Centerline is valid? [True, True] Translation: X:616.93, Y:-83.22, Z:-40.49 [[ 9.67226948e-01 2.46831773e-01 5.95491995e-02 6.16925509e+02] [-2.46387548e-01 9.69058281e-01 -1.48061958e-02 -8.32186757e+01] [-6.13612845e-02 -3.51229714e-04 9.98115559e-01 -4.04890494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.960714057 meters 0.018859062376313043 Centerline is valid? [True, True] Translation: X:616.98, Y:-83.24, Z:-40.49 [[ 9.68558375e-01 2.41240305e-01 6.08094483e-02 6.16983005e+02] [-2.40764984e-01 9.70465412e-01 -1.51363029e-02 -8.32414090e+01] [-6.26649526e-02 1.96071316e-05 9.98034620e-01 -4.04918499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.020714057 meters 0.01947892852018053 Centerline is valid? [True, True] Translation: X:617.04, Y:-83.27, Z:-40.49 [[ 9.70766075e-01 2.32041375e-01 6.14005587e-02 6.17039057e+02] [-2.31537755e-01 9.72705713e-01 -1.52925878e-02 -8.32679313e+01] [-6.32731874e-02 6.28977914e-04 9.97996046e-01 -4.04944857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.080714057 meters 0.019892755298146218 Centerline is valid? [True, True] Translation: X:617.10, Y:-83.29, Z:-40.50 [[ 9.72749682e-01 2.24040109e-01 5.96999717e-02 6.17096935e+02] [-2.23548067e-01 9.74579267e-01 -1.48833202e-02 -8.32890416e+01] [-6.15168153e-02 1.13193175e-03 9.98105405e-01 -4.04990303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.140714057 meters 0.02105251546301812 Centerline is valid? [True, True] Translation: X:617.15, Y:-83.31, Z:-40.50 [[ 9.73559883e-01 2.20755637e-01 5.87205441e-02 6.17154798e+02] [-2.20273543e-01 9.75328257e-01 -1.46409762e-02 -8.33103643e+01] [-6.05038840e-02 1.31928485e-03 9.98167090e-01 -4.05030256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.200714057 meters 0.020844335755194496 Centerline is valid? [True, True] Translation: X:617.22, Y:-83.33, Z:-40.51 [[ 9.73516340e-01 2.20990577e-01 5.85585220e-02 6.17216092e+02] [-2.20511136e-01 9.75275066e-01 -1.46077147e-02 -8.33258327e+01] [-6.03388337e-02 1.30804275e-03 9.98177096e-01 -4.05052330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.260714057 meters 0.02050529439145706 Centerline is valid? [True, True] Translation: X:617.28, Y:-83.34, Z:-40.51 [[ 9.72515995e-01 2.25245004e-01 5.89688682e-02 6.17276728e+02] [-2.24765480e-01 9.74301567e-01 -1.47287295e-02 -8.33378281e+01] [-6.07710334e-02 1.06975905e-03 9.98151159e-01 -4.05093674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.320714057 meters 0.01977161109144049 Centerline is valid? [True, True] Translation: X:617.34, Y:-83.35, Z:-40.51 [[ 9.71345721e-01 2.30470593e-01 5.80585495e-02 6.17338844e+02] [-2.30014908e-01 9.73079013e-01 -1.45043393e-02 -8.33466591e+01] [-5.98383798e-02 7.34395971e-04 9.98207809e-01 -4.05130916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.380714057 meters 0.019717245189398224 Centerline is valid? [True, True] Translation: X:617.40, Y:-83.36, Z:-40.52 [[ 9.70896340e-01 2.32319954e-01 5.82042565e-02 6.17398121e+02] [-2.31864996e-01 9.72639217e-01 -1.45457027e-02 -8.33599278e+01] [-5.99909995e-02 6.26839836e-04 9.98198721e-01 -4.05171488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.440714057 meters 0.019855306814489975 Centerline is valid? [True, True] Translation: X:617.46, Y:-83.37, Z:-40.52 [[ 9.70581639e-01 2.33573085e-01 5.84371139e-02 6.17458771e+02] [-2.33115872e-01 9.72339084e-01 -1.46183574e-02 -8.33716625e+01] [-6.02351446e-02 5.65690555e-04 9.98184055e-01 -4.05210127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.500714057 meters 0.01964789931084094 Centerline is valid? [True, True] Translation: X:617.52, Y:-83.38, Z:-40.53 [[ 9.70471111e-01 2.33768316e-01 5.94827490e-02 6.17520152e+02] [-2.33293979e-01 9.72292157e-01 -1.48956435e-02 -8.33836598e+01] [-6.13167399e-02 5.78824498e-04 9.98118191e-01 -4.05255681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.560714057 meters 0.02020555012464923 Centerline is valid? [True, True] Translation: X:617.58, Y:-83.40, Z:-40.53 [[ 9.71016785e-01 2.31419440e-01 5.97615852e-02 6.17580798e+02] [-2.30935076e-01 9.72853783e-01 -1.49835854e-02 -8.33972476e+01] [-6.16067772e-02 7.48266726e-04 9.98100218e-01 -4.05310125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.620714057 meters 0.020449840924926875 Centerline is valid? [True, True] Translation: X:617.64, Y:-83.41, Z:-40.54 [[ 9.71700438e-01 2.28674076e-01 5.92150870e-02 6.17640952e+02] [-2.28192485e-01 9.73502596e-01 -1.48622462e-02 -8.34127363e+01] [-6.10446513e-02 9.29213330e-04 9.98134604e-01 -4.05355016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.680714057 meters 0.021250792491433763 Centerline is valid? [True, True] Translation: X:617.70, Y:-83.43, Z:-40.54 [[ 9.72539244e-01 2.24984030e-01 5.95785646e-02 6.17701004e+02] [-2.24488591e-01 9.74361732e-01 -1.49695482e-02 -8.34282642e+01] [-6.14189826e-02 1.18376504e-03 9.98111370e-01 -4.05387856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.740714057 meters 0.021072650819004415 Centerline is valid? [True, True] Translation: X:617.76, Y:-83.44, Z:-40.54 [[ 9.72536624e-01 2.25045296e-01 5.93896480e-02 6.17762564e+02] [-2.24552159e-01 9.74347574e-01 -1.49376052e-02 -8.34406293e+01] [-6.12277972e-02 1.19129446e-03 9.98123108e-01 -4.05422918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.800714057 meters 0.02043831377227365 Centerline is valid? [True, True] Translation: X:617.82, Y:-83.45, Z:-40.55 [[ 9.71098634e-01 2.31170910e-01 5.93923714e-02 6.17823967e+02] [-2.30687985e-01 9.72912808e-01 -1.49573370e-02 -8.34471660e+01] [-6.12413001e-02 8.23942976e-04 9.98122650e-01 -4.05468806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.860714057 meters 0.020187913527513007 Centerline is valid? [True, True] Translation: X:617.89, Y:-83.46, Z:-40.55 [[ 9.69752447e-01 2.36887361e-01 5.88605910e-02 6.17885128e+02] [-2.36423474e-01 9.71537012e-01 -1.48248039e-02 -8.34565400e+01] [-6.06970514e-02 4.60364469e-04 9.98156128e-01 -4.05506438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.920714057 meters 0.020141597058513816 Centerline is valid? [True, True] Translation: X:617.95, Y:-83.46, Z:-40.55 [[ 9.68026879e-01 2.43809366e-01 5.89996133e-02 6.17945919e+02] [-2.43355094e-01 9.69823175e-01 -1.48763834e-02 -8.34646810e+01] [-6.08461939e-02 4.28825138e-05 9.98147153e-01 -4.05544985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.980714057 meters 0.020315216971392228 Centerline is valid? [True, True] Translation: X:618.01, Y:-83.48, Z:-40.56 [[ 9.67457650e-01 2.46078983e-01 5.89137430e-02 6.18007704e+02] [-2.45629720e-01 9.69249775e-01 -1.48632104e-02 -8.34781869e+01] [-6.07596558e-02 -9.14396370e-05 9.98152421e-01 -4.05582413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0407140570001 meters 0.020382180088617453 Centerline is valid? [True, True] Translation: X:618.07, Y:-83.49, Z:-40.56 [[ 9.68518035e-01 2.41613754e-01 5.99634052e-02 6.18068611e+02] [-2.41138591e-01 9.70372480e-01 -1.51469546e-02 -8.34945462e+01] [-6.18465508e-02 2.10607686e-04 9.98085648e-01 -4.05616699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.100714057 meters 0.020558285551477533 Centerline is valid? [True, True] Translation: X:618.13, Y:-83.51, Z:-40.57 [[ 9.69891615e-01 2.35756994e-01 6.10646759e-02 6.18128033e+02] [-2.35251387e-01 9.71811846e-01 -1.54441458e-02 -8.35117379e+01] [-6.29844408e-02 6.13597844e-04 9.98014320e-01 -4.05656611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1607140570001 meters 0.021736699864483185 Centerline is valid? [True, True] Translation: X:618.18, Y:-83.53, Z:-40.57 [[ 9.72494390e-01 2.24831924e-01 6.08709064e-02 6.18184610e+02] [-2.24307024e-01 9.74396647e-01 -1.54121320e-02 -8.35310823e+01] [-6.27775464e-02 1.33444009e-03 9.98026652e-01 -4.05708587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.220714057 meters 0.022838728469468345 Centerline is valid? [True, True] Translation: X:618.24, Y:-83.55, Z:-40.58 [[ 9.73931274e-01 2.18842280e-01 5.97154101e-02 6.18243094e+02] [-2.18325887e-01 9.75758785e-01 -1.51195112e-02 -8.35475057e+01] [-6.15766243e-02 1.68794489e-03 9.98100932e-01 -4.05759071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2807140570001 meters 0.024430485392348475 Centerline is valid? [True, True] Translation: X:618.30, Y:-83.56, Z:-40.58 [[ 9.75390657e-01 2.12701968e-01 5.80597923e-02 6.18301699e+02] [-2.12202906e-01 9.77115037e-01 -1.47013843e-02 -8.35619037e+01] [-5.98581095e-02 2.01913622e-03 9.98204854e-01 -4.05803611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.340714057 meters 0.02539655492110001 Centerline is valid? [True, True] Translation: X:618.36, Y:-83.58, Z:-40.58 [[ 9.76119335e-01 2.09540969e-01 5.73029270e-02 6.18361701e+02] [-2.09049353e-01 9.77797427e-01 -1.45106852e-02 -8.35753552e+01] [-5.90712376e-02 2.18502056e-03 9.98251378e-01 -4.05848728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.400714057 meters 0.02492485856093904 Centerline is valid? [True, True] Translation: X:618.42, Y:-83.58, Z:-40.59 [[ 9.77385923e-01 2.03005390e-01 5.92078394e-02 6.18422768e+02] [-2.02468389e-01 9.79173984e-01 -1.49953756e-02 -8.35817350e+01] [-6.10189180e-02 2.66855324e-03 9.98133043e-01 -4.05874438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.460714057 meters 0.025666560516173612 Centerline is valid? [True, True] Translation: X:618.48, Y:-83.59, Z:-40.59 [[ 9.78162137e-01 1.98844150e-01 6.04965920e-02 6.18482385e+02] [-1.98275482e-01 9.80026553e-01 -1.53227988e-02 -8.35930744e+01] [-6.23351154e-02 2.99319069e-03 9.98050787e-01 -4.05900966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.520714057 meters 0.027860645794996183 Centerline is valid? [True, True] Translation: X:618.54, Y:-83.60, Z:-40.59 [[ 9.79291274e-01 1.92919288e-01 6.14064212e-02 6.18541211e+02] [-1.92321667e-01 9.81208660e-01 -1.55544854e-02 -8.36027141e+01] [-6.32532725e-02 3.42258654e-03 9.97991638e-01 -4.05937494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.580714057 meters 0.029107742162262182 Centerline is valid? [True, True] Translation: X:618.60, Y:-83.61, Z:-40.60 [[ 9.79812176e-01 1.90061410e-01 6.20061310e-02 6.18601907e+02] [-1.89446401e-01 9.81765450e-01 -1.57054740e-02 -8.36128867e+01] [-6.38604817e-02 3.64157634e-03 9.97952192e-01 -4.05971133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.640714057 meters 0.0292166670843925 Centerline is valid? [True, True] Translation: X:618.66, Y:-83.62, Z:-40.60 [[ 9.80215707e-01 1.87219860e-01 6.42331127e-02 6.18664004e+02] [-1.86553575e-01 9.82310025e-01 -1.62719917e-02 -8.36164493e+01] [-6.61432706e-02 3.96714500e-03 9.97802250e-01 -4.05989396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.700714057 meters 0.029946417223481753 Centerline is valid? [True, True] Translation: X:618.73, Y:-83.62, Z:-40.60 [[ 9.79742455e-01 1.89368843e-01 6.51472468e-02 6.18725617e+02] [-1.88688072e-01 9.81898367e-01 -1.65048034e-02 -8.36176995e+01] [-6.70934708e-02 3.87794823e-03 9.97739158e-01 -4.06023226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.760714057 meters 0.029929572818740778 Centerline is valid? [True, True] Translation: X:618.79, Y:-83.63, Z:-40.61 [[ 9.79386156e-01 1.91097486e-01 6.54561506e-02 6.18786098e+02] [-1.90413989e-01 9.81563789e-01 -1.65843384e-02 -8.36275703e+01] [-6.74186126e-02 3.77870470e-03 9.97717621e-01 -4.06064204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.820714057 meters 0.027677196650132 Centerline is valid? [True, True] Translation: X:618.85, Y:-83.62, Z:-40.61 [[ 9.78428365e-01 1.96057718e-01 6.51099568e-02 6.18849521e+02] [-1.95392216e-01 9.80586390e-01 -1.64989247e-02 -8.36233859e+01] [-6.70806790e-02 3.42103718e-03 9.97741690e-01 -4.06108872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.880714057 meters 0.025395869925728728 Centerline is valid? [True, True] Translation: X:618.91, Y:-83.62, Z:-40.62 [[ 9.77613941e-01 2.00536363e-01 6.36879071e-02 6.18913027e+02] [-1.99909067e-01 9.79681524e-01 -1.61393168e-02 -8.36190968e+01] [-6.56303857e-02 3.04623104e-03 9.97839352e-01 -4.06158570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.940714057 meters 0.024575224948321997 Centerline is valid? [True, True] Translation: X:618.98, Y:-83.62, Z:-40.62 [[ 9.76491532e-01 2.05972537e-01 6.35578614e-02 6.18975704e+02] [-2.05359195e-01 9.78554112e-01 -1.61075065e-02 -8.36165303e+01] [-6.55125106e-02 2.67665244e-03 9.97848158e-01 -4.06186973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.000714057 meters 0.022693056976564124 Centerline is valid? [True, True] Translation: X:619.04, Y:-83.62, Z:-40.62 [[ 9.75169173e-01 2.11749161e-01 6.48642899e-02 6.19037775e+02] [-2.11123057e-01 9.77321256e-01 -1.64383115e-02 -8.36179781e+01] [-6.68740479e-02 2.33578752e-03 9.97758691e-01 -4.06212828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.060714057 meters 0.01964569935648215 Centerline is valid? [True, True] Translation: X:619.10, Y:-83.61, Z:-40.63 [[ 9.72658066e-01 2.22882872e-01 6.52649357e-02 6.19100696e+02] [-2.22273873e-01 9.74843948e-01 -1.65409285e-02 -8.36118667e+01] [-6.73098173e-02 1.58197745e-03 9.97730868e-01 -4.06254301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.120714057 meters 0.016487184886659477 Centerline is valid? [True, True] Translation: X:619.16, Y:-83.61, Z:-40.63 [[ 9.70130343e-01 2.33724780e-01 6.49603281e-02 6.19164278e+02] [-2.33145736e-01 9.72302445e-01 -1.64627102e-02 -8.36077285e+01] [-6.70088292e-02 8.25751263e-04 9.97752041e-01 -4.06308804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.180714057 meters 0.016026397723507595 Centerline is valid? [True, True] Translation: X:619.23, Y:-83.62, Z:-40.63 [[ 9.68594627e-01 2.40066931e-01 6.47481132e-02 6.19225409e+02] [-2.39505687e-01 9.70756261e-01 -1.64105822e-02 -8.36155160e+01] [-6.67942744e-02 3.87660336e-04 9.97766694e-01 -4.06347023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.240714057 meters 0.015689428298024 Centerline is valid? [True, True] Translation: X:619.29, Y:-83.62, Z:-40.64 [[ 9.66388618e-01 2.49022200e-01 6.38825766e-02 6.19287589e+02] [-2.48494378e-01 9.68497754e-01 -1.62063433e-02 -8.36210634e+01] [-6.59058712e-02 -2.12835420e-04 9.97825822e-01 -4.06388170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.300714057 meters 0.016108454435031498 Centerline is valid? [True, True] Translation: X:619.35, Y:-83.63, Z:-40.64 [[ 9.64445112e-01 2.56296799e-01 6.44792701e-02 6.19349445e+02] [-2.55774128e-01 9.66597880e-01 -1.63747926e-02 -8.36300200e+01] [-6.65223327e-02 -6.99540429e-04 9.97784691e-01 -4.06435019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.360714057 meters 0.016729718260540295 Centerline is valid? [True, True] Translation: X:619.41, Y:-83.65, Z:-40.65 [[ 9.63005994e-01 2.61125189e-01 6.65814705e-02 6.19409794e+02] [-2.60578109e-01 9.65304374e-01 -1.69267295e-02 -8.36461870e+01] [-6.86913802e-02 -1.04913169e-03 9.97637406e-01 -4.06465698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.420714057 meters 0.017038100577595704 Centerline is valid? [True, True] Translation: X:619.47, Y:-83.67, Z:-40.65 [[ 9.62195340e-01 2.63975646e-01 6.70595751e-02 6.19468346e+02] [-2.63426322e-01 9.64528543e-01 -1.70664106e-02 -8.36671322e+01] [-6.91859910e-02 -1.24403643e-03 9.97603003e-01 -4.06512146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.480714057 meters 0.017004835893651465 Centerline is valid? [True, True] Translation: X:619.53, Y:-83.69, Z:-40.66 [[ 9.62430399e-01 2.63266805e-01 6.64704120e-02 6.19526185e+02] [-2.62724171e-01 9.64722360e-01 -1.69345221e-02 -8.36863023e+01] [-6.85837903e-02 -1.16508506e-03 9.97644679e-01 -4.06556997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5407140570001 meters 0.01690670772530782 Centerline is valid? [True, True] Translation: X:619.58, Y:-83.71, Z:-40.66 [[ 9.63091381e-01 2.60987974e-01 6.58807234e-02 6.19583801e+02] [-2.60448483e-01 9.65341557e-01 -1.68007830e-02 -8.37122038e+01] [-6.79822024e-02 -9.77845141e-04 9.97686055e-01 -4.06603852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.600714057 meters 0.016682048796727647 Centerline is valid? [True, True] Translation: X:619.64, Y:-83.74, Z:-40.66 [[ 9.63972622e-01 2.57722807e-01 6.58463345e-02 6.19640993e+02] [-2.57175067e-01 9.66218620e-01 -1.68096070e-02 -8.37391743e+01] [-6.79541736e-02 -7.30034567e-04 9.97688176e-01 -4.06646308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6607140570001 meters 0.016514712754516908 Centerline is valid? [True, True] Translation: X:619.70, Y:-83.76, Z:-40.67 [[ 9.64928741e-01 2.54201366e-01 6.55300655e-02 6.19698823e+02] [-2.53649583e-01 9.67151204e-01 -1.67462808e-02 -8.37632846e+01] [-6.76344092e-02 -4.62706142e-04 9.97710064e-01 -4.06691571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.720714057 meters 0.016700765924933875 Centerline is valid? [True, True] Translation: X:619.75, Y:-83.79, Z:-40.67 [[ 9.67301567e-01 2.45190474e-01 6.48792015e-02 6.19754829e+02] [-2.44628154e-01 9.69474908e-01 -1.65972428e-02 -8.37936960e+01] [-6.69682437e-02 1.83259634e-04 9.97755091e-01 -4.06744711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7807140570001 meters 0.017526907969755277 Centerline is valid? [True, True] Translation: X:619.81, Y:-83.82, Z:-40.68 [[ 9.69663955e-01 2.35706589e-01 6.47627920e-02 6.19811102e+02] [-2.35123989e-01 9.71823891e-01 -1.65841632e-02 -8.38232986e+01] [-6.68470250e-02 8.53779247e-04 9.97762871e-01 -4.06781307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.840714057 meters 0.018312157538398537 Centerline is valid? [True, True] Translation: X:619.87, Y:-83.85, Z:-40.68 [[ 9.70641796e-01 2.31676541e-01 6.46566701e-02 6.19869125e+02] [-2.31086555e-01 9.72792215e-01 -1.65623559e-02 -8.38460269e+01] [-6.67346146e-02 1.13482772e-03 9.97770116e-01 -4.06823074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.900714057 meters 0.018239220254132247 Centerline is valid? [True, True] Translation: X:619.93, Y:-83.86, Z:-40.69 [[ 9.70534954e-01 2.32091519e-01 6.47721410e-02 6.19929410e+02] [-2.31499183e-01 9.72693303e-01 -1.66092625e-02 -8.38648664e+01] [-6.68582967e-02 1.12517215e-03 9.97761846e-01 -4.06862810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.960714057 meters 0.01849480514969633 Centerline is valid? [True, True] Translation: X:619.99, Y:-83.88, Z:-40.69 [[ 9.70437015e-01 2.32125557e-01 6.61039053e-02 6.19987808e+02] [-2.31507296e-01 9.72685133e-01 -1.69706847e-02 -8.38844783e+01] [-6.82376156e-02 1.16544418e-03 9.97668417e-01 -4.06889298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.020714057 meters 0.018801610252481882 Centerline is valid? [True, True] Translation: X:620.05, Y:-83.90, Z:-40.69 [[ 9.71300697e-01 2.28619707e-01 6.56352503e-02 6.20046857e+02] [-2.28001434e-01 9.73514784e-01 -1.68615542e-02 -8.39017313e+01] [-6.77517701e-02 1.41270816e-03 9.97701209e-01 -4.06935761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.080714057 meters 0.01952191383238274 Centerline is valid? [True, True] Translation: X:620.11, Y:-83.92, Z:-40.70 [[ 9.72043517e-01 2.25712539e-01 6.46935106e-02 6.20106236e+02] [-2.25104415e-01 9.74192622e-01 -1.66354208e-02 -8.39192865e+01] [-6.67787638e-02 1.60755813e-03 9.97766512e-01 -4.06980031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.140714057 meters 0.019825442063199986 Centerline is valid? [True, True] Translation: X:620.17, Y:-83.94, Z:-40.70 [[ 9.72246703e-01 2.25065650e-01 6.38889785e-02 6.20166387e+02] [-2.24470081e-01 9.74342208e-01 -1.64451891e-02 -8.39352272e+01] [-6.59509755e-02 1.64761671e-03 9.97821504e-01 -4.07017986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.200714057 meters 0.018983674784853972 Centerline is valid? [True, True] Translation: X:620.23, Y:-83.95, Z:-40.71 [[ 9.71154301e-01 2.29909473e-01 6.32531277e-02 6.20225996e+02] [-2.29334901e-01 9.73211122e-01 -1.62977137e-02 -8.39455638e+01] [-6.53056462e-02 1.32144498e-03 9.97864433e-01 -4.07060932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.260714057 meters 0.017366393721288488 Centerline is valid? [True, True] Translation: X:620.29, Y:-83.95, Z:-40.71 [[ 9.69276747e-01 2.37467352e-01 6.41236694e-02 6.20287323e+02] [-2.36893238e-01 9.71395170e-01 -1.65232542e-02 -8.39522158e+01] [-6.62131562e-02 8.25142463e-04 9.97805160e-01 -4.07097333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.320714057 meters 0.016692142758016174 Centerline is valid? [True, True] Translation: X:620.35, Y:-83.96, Z:-40.71 [[ 9.67352055e-01 2.45213457e-01 6.40340665e-02 6.20349665e+02] [-2.44657697e-01 9.69469067e-01 -1.65027141e-02 -8.39614372e+01] [-6.61257343e-02 2.97507148e-04 9.97811254e-01 -4.07129022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.380714057 meters 0.016502156762940787 Centerline is valid? [True, True] Translation: X:620.41, Y:-83.97, Z:-40.72 [[ 9.66129128e-01 2.50146587e-01 6.34128738e-02 6.20411271e+02] [-2.49611775e-01 9.68207976e-01 -1.63486332e-02 -8.39728528e+01] [-6.54864049e-02 -3.37092694e-05 9.97853461e-01 -4.07173768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.440714057 meters 0.016578933588111064 Centerline is valid? [True, True] Translation: X:620.47, Y:-83.98, Z:-40.72 [[ 9.64577252e-01 2.55767384e-01 6.46047230e-02 6.20471543e+02] [-2.55224377e-01 9.66738264e-01 -1.66626930e-02 -8.39829589e+01] [-6.67176312e-02 -4.16245524e-04 9.97771810e-01 -4.07211964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.500714057 meters 0.016853442063439573 Centerline is valid? [True, True] Translation: X:620.53, Y:-84.00, Z:-40.73 [[ 9.63946040e-01 2.57830666e-01 6.58132122e-02 6.20531755e+02] [-2.57270777e-01 9.66189962e-01 -1.69913342e-02 -8.39982526e+01] [-6.79689520e-02 -5.53086878e-04 9.97687284e-01 -4.07253639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.560714057 meters 0.016829118096751614 Centerline is valid? [True, True] Translation: X:620.59, Y:-84.02, Z:-40.73 [[ 9.64468201e-01 2.56065605e-01 6.50499430e-02 6.20590097e+02] [-2.55513451e-01 9.66659320e-01 -1.68117674e-02 -8.40169233e+01] [-6.71860490e-02 -4.06720417e-04 9.97740382e-01 -4.07307399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.620714057 meters 0.016785662098248354 Centerline is valid? [True, True] Translation: X:620.65, Y:-84.04, Z:-40.74 [[ 9.65219184e-01 2.53401965e-01 6.43379426e-02 6.20648045e+02] [-2.52854871e-01 9.67361051e-01 -1.66436585e-02 -8.40390295e+01] [-6.64555555e-02 -2.03383712e-04 9.97789365e-01 -4.07360741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.680714057 meters 0.016951535227457785 Centerline is valid? [True, True] Translation: X:620.71, Y:-84.06, Z:-40.74 [[ 9.65478570e-01 2.52385156e-01 6.44427228e-02 6.20706856e+02] [-2.51832853e-01 9.67626849e-01 -1.66881659e-02 -8.40571247e+01] [-6.65683542e-02 -1.16728217e-04 9.97781860e-01 -4.07407103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.740714057 meters 0.01711300047253668 Centerline is valid? [True, True] Translation: X:620.77, Y:-84.08, Z:-40.75 [[ 9.66217648e-01 2.49535683e-01 6.44623894e-02 6.20765417e+02] [-2.48975492e-01 9.68365599e-01 -1.67114156e-02 -8.40786865e+01] [-6.65932548e-02 9.73096173e-05 9.97780201e-01 -4.07455812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.800714057 meters 0.017441529116143734 Centerline is valid? [True, True] Translation: X:620.82, Y:-84.10, Z:-40.75 [[ 9.67343899e-01 2.44933039e-01 6.52195354e-02 6.20822791e+02] [-2.44348291e-01 9.69539901e-01 -1.69201777e-02 -8.41030468e+01] [-6.73772525e-02 4.31348634e-04 9.97727478e-01 -4.07485966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.860714057 meters 0.017993525371805198 Centerline is valid? [True, True] Translation: X:620.88, Y:-84.13, Z:-40.75 [[ 9.68297778e-01 2.40462530e-01 6.76548971e-02 6.20880597e+02] [-2.39821121e-01 9.70658103e-01 -1.75692335e-02 -8.41255243e+01] [-6.98945164e-02 7.87176525e-04 9.97554077e-01 -4.07505532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.920714057 meters 0.01876862497956521 Centerline is valid? [True, True] Translation: X:620.94, Y:-84.15, Z:-40.75 [[ 9.69618634e-01 2.34842298e-01 6.84748081e-02 6.20938717e+02] [-2.34170540e-01 9.72032724e-01 -1.77916406e-02 -8.41472562e+01] [-7.07379840e-02 1.21632342e-03 9.97494190e-01 -4.07543531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.980714057 meters 0.01932329335876167 Centerline is valid? [True, True] Translation: X:621.00, Y:-84.17, Z:-40.76 [[ 9.70716664e-01 2.30399823e-01 6.80079442e-02 6.20998081e+02] [-2.29725712e-01 9.73094834e-01 -1.76788422e-02 -8.41659497e+01] [-7.02513813e-02 1.53797339e-03 9.97528134e-01 -4.07589908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0407140570001 meters 0.020006551559985215 Centerline is valid? [True, True] Translation: X:621.06, Y:-84.18, Z:-40.76 [[ 9.72068335e-01 2.24238026e-01 6.92853495e-02 6.21056694e+02] [-2.23522298e-01 9.74532300e-01 -1.80160803e-02 -8.41839441e+01] [-7.15607012e-02 2.02604063e-03 9.97434189e-01 -4.07625103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.100714057 meters 0.021667124033985245 Centerline is valid? [True, True] Translation: X:621.12, Y:-84.20, Z:-40.77 [[ 9.72769469e-01 2.21052636e-01 6.96799336e-02 6.21115168e+02] [-2.20320256e-01 9.75259220e-01 -1.81229018e-02 -8.42022560e+01] [-7.19621129e-02 2.27750475e-03 9.97404766e-01 -4.07658787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1607140570001 meters 0.0217609281200451 Centerline is valid? [True, True] Translation: X:621.18, Y:-84.21, Z:-40.77 [[ 9.73893265e-01 2.15890169e-01 7.01665387e-02 6.21175630e+02] [-2.15132965e-01 9.76413939e-01 -1.82654656e-02 -8.42134652e+01] [-7.24549209e-02 2.69347842e-03 9.97368051e-01 -4.07706040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.220714057 meters 0.024533179806070414 Centerline is valid? [True, True] Translation: X:621.23, Y:-84.23, Z:-40.77 [[ 9.74413191e-01 2.13878042e-01 6.91022144e-02 6.21233740e+02] [-2.13138393e-01 9.76856349e-01 -1.79916424e-02 -8.42311596e+01] [-7.13509541e-02 2.80295879e-03 9.97447334e-01 -4.07745158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2807140570001 meters 0.023927846914625496 Centerline is valid? [True, True] Translation: X:621.29, Y:-84.24, Z:-40.78 [[ 9.75171389e-01 2.10612474e-01 6.84335231e-02 6.21294512e+02] [-2.09878466e-01 9.77564965e-01 -1.78260588e-02 -8.42404133e+01] [-7.06526050e-02 3.02073966e-03 9.97496408e-01 -4.07796157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.340714057 meters 0.02509821652617437 Centerline is valid? [True, True] Translation: X:621.35, Y:-84.25, Z:-40.78 [[ 9.75509774e-01 2.09380851e-01 6.73820397e-02 6.21354562e+02] [-2.08666127e-01 9.77829364e-01 -1.75551019e-02 -8.42496760e+01] [-6.95638392e-02 3.06482428e-03 9.97572794e-01 -4.07839556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.400714057 meters 0.02363274247405637 Centerline is valid? [True, True] Translation: X:621.42, Y:-84.26, Z:-40.79 [[ 9.75259055e-01 2.10507515e-01 6.75008258e-02 6.21416459e+02] [-2.09792294e-01 9.77587639e-01 -1.75954933e-02 -8.42574484e+01] [-6.96919565e-02 2.99901111e-03 9.97564052e-01 -4.07879716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.460714057 meters 0.023440056855092404 Centerline is valid? [True, True] Translation: X:621.48, Y:-84.27, Z:-40.79 [[ 9.74792470e-01 2.12649238e-01 6.75273516e-02 6.21477497e+02] [-2.11937401e-01 9.77124405e-01 -1.76191943e-02 -8.42651431e+01] [-6.97293314e-02 2.86348658e-03 9.97561838e-01 -4.07909916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.520714057 meters 0.021724312871865246 Centerline is valid? [True, True] Translation: X:621.54, Y:-84.27, Z:-40.80 [[ 9.74397996e-01 2.15108485e-01 6.53978929e-02 6.21540112e+02] [-2.14446254e-01 9.76586686e-01 -1.70660203e-02 -8.42691132e+01] [-6.75377573e-02 2.60476286e-03 9.97713319e-01 -4.07969589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.580714057 meters 0.0213276676665063 Centerline is valid? [True, True] Translation: X:621.60, Y:-84.28, Z:-40.80 [[ 9.73826051e-01 2.18060470e-01 6.41284228e-02 6.21601334e+02] [-2.17429876e-01 9.75932414e-01 -1.67383365e-02 -8.42767303e+01] [-6.62349760e-02 2.35679315e-03 9.97801270e-01 -4.08008883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.640714057 meters 0.02009277247283551 Centerline is valid? [True, True] Translation: X:621.66, Y:-84.29, Z:-40.80 [[ 9.73205072e-01 2.20544343e-01 6.50544447e-02 6.21663007e+02] [-2.19900707e-01 9.75374417e-01 -1.69831049e-02 -8.42856476e+01] [-6.71979688e-02 2.22252540e-03 9.97737187e-01 -4.08029845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.700714057 meters 0.01969966023008265 Centerline is valid? [True, True] Translation: X:621.72, Y:-84.29, Z:-40.81 [[ 9.72086047e-01 2.24924604e-01 6.67655601e-02 6.21723159e+02] [-2.24255717e-01 9.74374144e-01 -1.74470873e-02 -8.42934262e+01] [-6.89789147e-02 1.98751155e-03 9.97616138e-01 -4.08053020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.760714057 meters 0.018095042708328454 Centerline is valid? [True, True] Translation: X:621.78, Y:-84.30, Z:-40.81 [[ 9.71127593e-01 2.29398482e-01 6.54792743e-02 6.21784869e+02] [-2.28765208e-01 9.73331213e-01 -1.71122387e-02 -8.42996453e+01] [-6.76585431e-02 1.63878732e-03 9.97707190e-01 -4.08108395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.820714057 meters 0.018091053268596363 Centerline is valid? [True, True] Translation: X:621.85, Y:-84.31, Z:-40.81 [[ 9.70684198e-01 2.31160390e-01 6.58563762e-02 6.21845061e+02] [-2.30523639e-01 9.72914457e-01 -1.72136989e-02 -8.43113621e+01] [-6.80517459e-02 1.52761404e-03 9.97680623e-01 -4.08144113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.880714057 meters 0.017779940019651063 Centerline is valid? [True, True] Translation: X:621.91, Y:-84.32, Z:-40.82 [[ 9.70164682e-01 2.33005885e-01 6.69981133e-02 6.21905991e+02] [-2.32350513e-01 9.72474270e-01 -1.75223817e-02 -8.43217778e+01] [-6.92367594e-02 1.43254984e-03 9.97599228e-01 -4.08161698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.940714057 meters 0.017480269636636726 Centerline is valid? [True, True] Translation: X:621.97, Y:-84.33, Z:-40.82 [[ 9.69570494e-01 2.35244091e-01 6.77737027e-02 6.21966522e+02] [-2.34578138e-01 9.71935457e-01 -1.77359624e-02 -8.43337515e+01] [-7.00439451e-02 1.29803678e-03 9.97543062e-01 -4.08188084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.000714057 meters 0.016690257143616032 Centerline is valid? [True, True] Translation: X:622.03, Y:-84.35, Z:-40.82 [[ 9.69204373e-01 2.36597822e-01 6.82960769e-02 6.22027515e+02] [-2.35923663e-01 9.71606899e-01 -1.78902020e-02 -8.43475027e+01] [-7.05897223e-02 1.22660140e-03 9.97504680e-01 -4.08224524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.060714057 meters 0.01684085987403373 Centerline is valid? [True, True] Translation: X:622.09, Y:-84.36, Z:-40.83 [[ 9.68842303e-01 2.38515438e-01 6.67456231e-02 6.22086215e+02] [-2.37874947e-01 9.71138107e-01 -1.75010681e-02 -8.43632756e+01] [-6.89934929e-02 1.07866359e-03 9.97616527e-01 -4.08273266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.120714057 meters 0.016689136173555375 Centerline is valid? [True, True] Translation: X:622.14, Y:-84.38, Z:-40.83 [[ 9.68233822e-01 2.41300963e-01 6.55523587e-02 6.22144872e+02] [-2.40688522e-01 9.70449933e-01 -1.72035825e-02 -8.43801908e+01] [-6.77665232e-02 8.79390126e-04 9.97700819e-01 -4.08318658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.180714057 meters 0.01606977982384827 Centerline is valid? [True, True] Translation: X:622.20, Y:-84.40, Z:-40.83 [[ 9.67721053e-01 2.43105215e-01 6.64516201e-02 6.22204597e+02] [-2.42479000e-01 9.69999612e-01 -1.74552693e-02 -8.43962849e+01] [-6.87015127e-02 7.78709229e-04 9.97636956e-01 -4.08340182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.240714057 meters 0.01594393084875351 Centerline is valid? [True, True] Translation: X:622.26, Y:-84.41, Z:-40.84 [[ 9.67520058e-01 2.43627469e-01 6.74580854e-02 6.22264932e+02] [-2.42982155e-01 9.69868581e-01 -1.77372123e-02 -8.44135129e+01] [-6.97467497e-02 7.69997650e-04 9.97564433e-01 -4.08373622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.300714057 meters 0.01665239685245389 Centerline is valid? [True, True] Translation: X:622.32, Y:-84.43, Z:-40.84 [[ 9.67407835e-01 2.44292572e-01 6.66574797e-02 6.22322350e+02] [-2.43662774e-01 9.69701296e-01 -1.75456122e-02 -8.44333920e+01] [-6.89241072e-02 7.31816262e-04 9.97621638e-01 -4.08417171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.360714057 meters 0.01620302849503025 Centerline is valid? [True, True] Translation: X:622.38, Y:-84.45, Z:-40.85 [[ 9.68155089e-01 2.41462448e-01 6.61181576e-02 6.22381354e+02] [-2.40835538e-01 9.70409713e-01 -1.74135664e-02 -8.44512891e+01] [-6.83664247e-02 9.35430856e-04 9.97659840e-01 -4.08480882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.420714057 meters 0.01749673590524651 Centerline is valid? [True, True] Translation: X:622.44, Y:-84.48, Z:-40.85 [[ 9.69646619e-01 2.35168107e-01 6.69432275e-02 6.22436719e+02] [-2.34509238e-01 9.71953684e-01 -1.76480694e-02 -8.44758574e+01] [-6.92159796e-02 1.41358561e-03 9.97600697e-01 -4.08523440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.480714057 meters 0.01891183930023157 Centerline is valid? [True, True] Translation: X:622.49, Y:-84.50, Z:-40.86 [[ 9.70908394e-01 2.29972831e-01 6.67037232e-02 6.22494234e+02] [-2.29306408e-01 9.73195425e-01 -1.75850860e-02 -8.44973171e+01] [-6.89598503e-02 1.77791647e-03 9.97617852e-01 -4.08568701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5407140570001 meters 0.02117021332823628 Centerline is valid? [True, True] Translation: X:622.55, Y:-84.52, Z:-40.86 [[ 9.73158402e-01 2.20282469e-01 6.66210008e-02 6.22550681e+02] [-2.19594823e-01 9.75433011e-01 -1.75657061e-02 -8.45200686e+01] [-6.88537405e-02 2.46458757e-03 9.97623721e-01 -4.08614008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.600714057 meters 0.024846620208876215 Centerline is valid? [True, True] Translation: X:622.61, Y:-84.54, Z:-40.86 [[ 9.73910888e-01 2.16842665e-01 6.69091921e-02 6.22606626e+02] [-2.16140838e-01 9.76202773e-01 -1.76432535e-02 -8.45420601e+01] [-6.91427490e-02 2.72114787e-03 9.97603065e-01 -4.08647068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6607140570001 meters 0.025613067655479868 Centerline is valid? [True, True] Translation: X:622.66, Y:-84.56, Z:-40.87 [[ 9.75633337e-01 2.09130532e-01 6.63627341e-02 6.22664638e+02] [-2.08421927e-01 9.77882344e-01 -1.75049271e-02 -8.45588135e+01] [-6.85557606e-02 3.24694149e-03 9.97642002e-01 -4.08697203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.720714057 meters 0.027343618661288333 Centerline is valid? [True, True] Translation: X:622.72, Y:-84.57, Z:-40.88 [[ 9.75563071e-01 2.10434455e-01 6.31983808e-02 6.22723218e+02] [-2.09794464e-01 9.77603345e-01 -1.66728289e-02 -8.45740745e+01] [-6.52914861e-02 3.00672574e-03 9.97861705e-01 -4.08758605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7807140570001 meters 0.022172180816843794 Centerline is valid? [True, True] Translation: X:622.79, Y:-84.58, Z:-40.88 [[ 9.74317531e-01 2.16114707e-01 6.32438258e-02 6.22785319e+02] [-2.15485113e-01 9.76364419e-01 -1.66939182e-02 -8.45785359e+01] [-6.53568225e-02 2.63707423e-03 9.97858473e-01 -4.08788095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.840714057 meters 0.01961804593843713 Centerline is valid? [True, True] Translation: X:622.85, Y:-84.58, Z:-40.88 [[ 9.72121091e-01 2.25361251e-01 6.47525411e-02 6.22847026e+02] [-2.24721571e-01 9.74273084e-01 -1.70931091e-02 -8.45839659e+01] [-6.69387823e-02 2.06527914e-03 9.97754947e-01 -4.08795040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.900714057 meters 0.020433668995498193 Centerline is valid? [True, True] Translation: X:622.90, Y:-84.60, Z:-40.88 [[ 9.70722400e-01 2.31072582e-01 6.56009415e-02 6.22904972e+02] [-2.30428916e-01 9.72935038e-01 -1.73183728e-02 -8.45977493e+01] [-6.78272556e-02 1.69497853e-03 9.97695640e-01 -4.08823789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.960714057 meters 0.017094430310108655 Centerline is valid? [True, True] Translation: X:622.97, Y:-84.60, Z:-40.89 [[ 9.68872095e-01 2.38524062e-01 6.62807287e-02 6.22966999e+02] [-2.37884415e-01 9.71135865e-01 -1.74967918e-02 -8.46027129e+01] [-6.85409986e-02 1.18500099e-03 9.97647597e-01 -4.08872593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.020714057 meters 0.016222742197378234 Centerline is valid? [True, True] Translation: X:623.03, Y:-84.61, Z:-40.89 [[ 9.67177250e-01 2.45539859e-01 6.54090602e-02 6.23027768e+02] [-2.44932769e-01 9.69386256e-01 -1.72692100e-02 -8.46135226e+01] [-6.76469233e-02 6.81564873e-04 9.97709091e-01 -4.08925978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.080714057 meters 0.015991516030949827 Centerline is valid? [True, True] Translation: X:623.09, Y:-84.63, Z:-40.90 [[ 9.65973098e-01 2.50091113e-01 6.59576308e-02 6.23087844e+02] [-2.49484060e-01 9.68222236e-01 -1.74185489e-02 -8.46273795e+01] [-6.82178690e-02 3.70472162e-04 9.97670379e-01 -4.08963820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.140714057 meters 0.016143301506091133 Centerline is valid? [True, True] Translation: X:623.15, Y:-84.65, Z:-40.90 [[ 9.65551450e-01 2.51402890e-01 6.71340822e-02 6.23148161e+02] [-2.50775857e-01 9.67882481e-01 -1.77474764e-02 -8.46454928e+01] [-6.94396689e-02 3.00494626e-04 9.97586108e-01 -4.08998015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.200714057 meters 0.016152618306767286 Centerline is valid? [True, True] Translation: X:623.21, Y:-84.66, Z:-40.90 [[ 9.65557527e-01 2.51681335e-01 6.59936906e-02 6.23207864e+02] [-2.51074732e-01 9.67810115e-01 -1.74659807e-02 -8.46637179e+01] [-6.82652226e-02 2.95060977e-04 9.97667165e-01 -4.09049637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.260714057 meters 0.01595073364326203 Centerline is valid? [True, True] Translation: X:623.27, Y:-84.68, Z:-40.91 [[ 9.65221276e-01 2.53563181e-01 6.36679052e-02 6.23266187e+02] [-2.53001460e-01 9.67318811e-01 -1.68694622e-02 -8.46829037e+01] [-6.58646369e-02 1.74690865e-04 9.97828552e-01 -4.09122029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.320714057 meters 0.015886797357228092 Centerline is valid? [True, True] Translation: X:623.33, Y:-84.70, Z:-40.92 [[ 9.64950308e-01 2.54845925e-01 6.26454890e-02 6.23325712e+02] [-2.54303750e-01 9.66981667e-01 -1.66150076e-02 -8.47019908e+01] [-6.48113064e-02 1.01673939e-04 9.97897532e-01 -4.09171941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.380714057 meters 0.01590490985661208 Centerline is valid? [True, True] Translation: X:623.39, Y:-84.72, Z:-40.92 [[ 9.64377153e-01 2.56974499e-01 6.27759013e-02 6.23385525e+02] [-2.56433311e-01 9.66418184e-01 -1.66688519e-02 -8.47227777e+01] [-6.49512424e-02 -2.27723264e-05 9.97888438e-01 -4.09201865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.440714057 meters 0.016055552813680908 Centerline is valid? [True, True] Translation: X:623.44, Y:-84.74, Z:-40.92 [[ 9.63866996e-01 2.58495691e-01 6.43458683e-02 6.23444120e+02] [-2.57929076e-01 9.66012405e-01 -1.71063169e-02 -8.47436229e+01] [-6.65808161e-02 -1.08456065e-04 9.97781030e-01 -4.09220954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.500714057 meters 0.016168370261155272 Centerline is valid? [True, True] Translation: X:623.50, Y:-84.77, Z:-40.92 [[ 9.63387606e-01 2.59955911e-01 6.56296043e-02 6.23503640e+02] [-2.59368497e-01 9.65620467e-01 -1.74670056e-02 -8.47655674e+01] [-6.79139406e-02 -1.94755181e-04 9.97691164e-01 -4.09248338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.560714057 meters 0.016422549028739363 Centerline is valid? [True, True] Translation: X:623.56, Y:-84.78, Z:-40.93 [[ 9.62417176e-01 2.63079308e-01 6.73977513e-02 6.23561781e+02] [-2.62465922e-01 9.64774126e-01 -1.79590154e-02 -8.47847679e+01] [-6.97482519e-02 -4.05548083e-04 9.97564543e-01 -4.09279335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.620714057 meters 0.016769852858789437 Centerline is valid? [True, True] Translation: X:623.62, Y:-84.80, Z:-40.93 [[ 9.61677650e-01 2.65779125e-01 6.73613774e-02 6.23621145e+02] [-2.65171826e-01 9.64033773e-01 -1.79662988e-02 -8.48030918e+01] [-6.97137099e-02 -5.84551457e-04 9.97566868e-01 -4.09325644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.680714057 meters 0.01711204272754035 Centerline is valid? [True, True] Translation: X:623.68, Y:-84.83, Z:-40.94 [[ 9.60726593e-01 2.69033072e-01 6.80119051e-02 6.23679025e+02] [-2.68420803e-01 9.63130598e-01 -1.81582850e-02 -8.48255392e+01] [-7.03895261e-02 -8.10662892e-04 9.97519252e-01 -4.09357659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.740714057 meters 0.017763939171985106 Centerline is valid? [True, True] Translation: X:623.74, Y:-84.85, Z:-40.94 [[ 9.60071562e-01 2.71106412e-01 6.90210810e-02 6.23736016e+02] [-2.70479873e-01 9.62548904e-01 -1.84457576e-02 -8.48480126e+01] [-7.14369291e-02 -9.59565919e-04 9.97444657e-01 -4.09398619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.800714057 meters 0.017985402091528224 Centerline is valid? [True, True] Translation: X:623.79, Y:-84.87, Z:-40.95 [[ 9.59558724e-01 2.73032854e-01 6.85573888e-02 6.23794346e+02] [-2.72418871e-01 9.62004097e-01 -1.83323748e-02 -8.48693084e+01] [-7.09578295e-02 -1.08533627e-03 9.97478726e-01 -4.09450827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.860714057 meters 0.018943596798823605 Centerline is valid? [True, True] Translation: X:623.85, Y:-84.89, Z:-40.95 [[ 9.59102268e-01 2.74642000e-01 6.85172297e-02 6.23850375e+02] [-2.74031561e-01 9.61545820e-01 -1.83395606e-02 -8.48939208e+01] [-7.09192694e-02 -1.18636920e-03 9.97481353e-01 -4.09492608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.920714057 meters 0.01866179814103359 Centerline is valid? [True, True] Translation: X:623.91, Y:-84.92, Z:-40.95 [[ 9.59066170e-01 2.74782584e-01 6.84588426e-02 6.23908021e+02] [-2.74172493e-01 9.61505661e-01 -1.83387234e-02 -8.49229528e+01] [-7.08627265e-02 -1.18148230e-03 9.97485377e-01 -4.09541429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.980714057 meters 0.018410421620309373 Centerline is valid? [True, True] Translation: X:623.97, Y:-84.95, Z:-40.96 [[ 9.59452516e-01 2.73634441e-01 6.76392020e-02 6.23965806e+02] [-2.73034612e-01 9.61833177e-01 -1.81394535e-02 -8.49471718e+01] [-7.00212078e-02 -1.06389900e-03 9.97544936e-01 -4.09596717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0407140570001 meters 0.01804126337573523 Centerline is valid? [True, True] Translation: X:624.02, Y:-84.97, Z:-40.96 [[ 9.60579604e-01 2.69838852e-01 6.68866055e-02 6.24021273e+02] [-2.69241861e-01 9.62905195e-01 -1.79556460e-02 -8.49743644e+01] [-6.92505909e-02 -7.60846809e-04 9.97599006e-01 -4.09640056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.100714057 meters 0.0182595525898397 Centerline is valid? [True, True] Translation: X:624.08, Y:-85.00, Z:-40.97 [[ 9.62171648e-01 2.64451434e-01 6.55069429e-02 6.24076415e+02] [-2.63865263e-01 9.64398941e-01 -1.76013131e-02 -8.50025895e+01] [-6.78295188e-02 -3.49522219e-04 9.97696865e-01 -4.09693633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1607140570001 meters 0.018552631750979605 Centerline is valid? [True, True] Translation: X:624.13, Y:-85.03, Z:-40.98 [[ 9.63955006e-01 2.58306948e-01 6.37829722e-02 6.24132842e+02] [-2.57736792e-01 9.66062892e-01 -1.71532706e-02 -8.50304059e+01] [-6.60491715e-02 9.57624835e-05 9.97816365e-01 -4.09753299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.220714057 meters 0.019378779930017322 Centerline is valid? [True, True] Translation: X:624.19, Y:-85.06, Z:-40.98 [[ 9.66017945e-01 2.50658338e-01 6.30850861e-02 6.24188392e+02] [-2.50083161e-01 9.68075411e-01 -1.69826617e-02 -8.50575380e+01] [-6.53279664e-02 6.29038203e-04 9.97863649e-01 -4.09795192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2807140570001 meters 0.020114300887969946 Centerline is valid? [True, True] Translation: X:624.25, Y:-85.08, Z:-40.98 [[ 9.67626292e-01 2.44237265e-01 6.36201120e-02 6.24246533e+02] [-2.43637348e-01 9.69714894e-01 -1.71425249e-02 -8.50798712e+01] [-6.58802136e-02 1.08732241e-03 9.97826947e-01 -4.09828232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.340714057 meters 0.02155993535818169 Centerline is valid? [True, True] Translation: X:624.30, Y:-85.10, Z:-40.99 [[ 9.70001378e-01 2.34097139e-01 6.55427786e-02 6.24304162e+02] [-2.33436857e-01 9.72211479e-01 -1.76656145e-02 -8.51016804e+01] [-6.78569115e-02 1.83557021e-03 9.97693375e-01 -4.09857548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.400714057 meters 0.022927519830729617 Centerline is valid? [True, True] Translation: X:624.36, Y:-85.12, Z:-40.99 [[ 9.71964928e-01 2.25580562e-01 6.63143190e-02 6.24362075e+02] [-2.24884627e-01 9.74221407e-01 -1.78761012e-02 -8.51207187e+01] [-6.86373301e-02 2.46187251e-03 9.97638640e-01 -4.09889218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.460714057 meters 0.024948535623350976 Centerline is valid? [True, True] Translation: X:624.42, Y:-85.14, Z:-40.99 [[ 9.72485220e-01 2.23119241e-01 6.70097047e-02 6.24419734e+02] [-2.22402625e-01 9.74787515e-01 -1.80658115e-02 -8.51399964e+01] [-6.93510536e-02 2.66560045e-03 9.97588756e-01 -4.09929085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.520714057 meters 0.025699841139706785 Centerline is valid? [True, True] Translation: X:624.48, Y:-85.15, Z:-41.00 [[ 9.73931108e-01 2.16770823e-01 6.68476388e-02 6.24479390e+02] [-2.16042571e-01 9.76217558e-01 -1.80246115e-02 -8.51532540e+01] [-6.91650486e-02 3.11279404e-03 9.97600374e-01 -4.09972029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.580714057 meters 0.02634493827880692 Centerline is valid? [True, True] Translation: X:624.54, Y:-85.17, Z:-41.00 [[ 9.74375160e-01 2.14714714e-01 6.70122266e-02 6.24539765e+02] [-2.13977855e-01 9.76671339e-01 -1.80713298e-02 -8.51664110e+01] [-6.93291015e-02 3.26912238e-03 9.97588487e-01 -4.10005084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.640714057 meters 0.026341690345540097 Centerline is valid? [True, True] Translation: X:624.60, Y:-85.17, Z:-41.00 [[ 9.74599028e-01 2.13826183e-01 6.65965336e-02 6.24601609e+02] [-2.13095258e-01 9.76866056e-01 -1.79755486e-02 -8.51739024e+01] [-6.88995360e-02 3.32754667e-03 9.97618054e-01 -4.10043470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.700714057 meters 0.02562038688818715 Centerline is valid? [True, True] Translation: X:624.66, Y:-85.18, Z:-41.01 [[ 9.74529378e-01 2.14204800e-01 6.63987553e-02 6.24664735e+02] [-2.13477880e-01 9.76783169e-01 -1.79397566e-02 -8.51823262e+01] [-6.86999686e-02 3.30815438e-03 9.97631881e-01 -4.10090854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.760714057 meters 0.02494906187251287 Centerline is valid? [True, True] Translation: X:624.73, Y:-85.19, Z:-41.01 [[ 9.74166492e-01 2.15714252e-01 6.68356769e-02 6.24728056e+02] [-2.14979848e-01 9.76451149e-01 -1.80781337e-02 -8.51864832e+01] [-6.91614846e-02 3.24278843e-03 9.97600207e-01 -4.10114024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.820714057 meters 0.023738870582019744 Centerline is valid? [True, True] Translation: X:624.79, Y:-85.19, Z:-41.01 [[ 9.73591170e-01 2.18309930e-01 6.67907723e-02 6.24791563e+02] [-2.17581437e-01 9.75874650e-01 -1.80827556e-02 -8.51872227e+01] [-6.91270666e-02 3.07277904e-03 9.97603131e-01 -4.10138549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.880714057 meters 0.024115203888661858 Centerline is valid? [True, True] Translation: X:624.85, Y:-85.19, Z:-41.02 [[ 9.73395204e-01 2.19116965e-01 6.70039691e-02 6.24854733e+02] [-2.18385461e-01 9.75693898e-01 -1.81440835e-02 -8.51906344e+01] [-6.93510403e-02 3.02867123e-03 9.97587721e-01 -4.10186851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.940714057 meters 0.02359899304577949 Centerline is valid? [True, True] Translation: X:624.92, Y:-85.20, Z:-41.02 [[ 9.73466248e-01 2.18796792e-01 6.70181242e-02 6.24916854e+02] [-2.18062990e-01 9.75765619e-01 -1.81656258e-02 -8.51978570e+01] [-6.93685620e-02 3.06945103e-03 9.97586378e-01 -4.10229980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.000714057 meters 0.023947123811998015 Centerline is valid? [True, True] Translation: X:624.98, Y:-85.20, Z:-41.03 [[ 9.74097994e-01 2.15984621e-01 6.69607394e-02 6.24979180e+02] [-2.15244281e-01 9.76391245e-01 -1.81669202e-02 -8.52012949e+01] [-6.93036550e-02 3.28344431e-03 9.97590208e-01 -4.10268680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.060714057 meters 0.025090300951752468 Centerline is valid? [True, True] Translation: X:625.04, Y:-85.21, Z:-41.03 [[ 9.75637131e-01 2.09107863e-01 6.63783856e-02 6.25040319e+02] [-2.08364311e-01 9.77885423e-01 -1.80114684e-02 -8.52062875e+01] [-6.86767953e-02 3.74177073e-03 9.97631945e-01 -4.10321199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.120714057 meters 0.026928761407453677 Centerline is valid? [True, True] Translation: X:625.10, Y:-85.22, Z:-41.04 [[ 9.76915368e-01 2.02816124e-01 6.70968209e-02 6.25100471e+02] [-2.02041368e-01 9.79207692e-01 -1.82093801e-02 -8.52176565e+01] [-6.93948790e-02 4.23268985e-03 9.97580290e-01 -4.10362365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.180714057 meters 0.030928062892236013 Centerline is valid? [True, True] Translation: X:625.16, Y:-85.23, Z:-41.04 [[ 9.78489330e-01 1.95112514e-01 6.70055093e-02 6.25161405e+02] [-1.94321726e-01 9.80769242e-01 -1.81868233e-02 -8.52263745e+01] [-6.92654194e-02 4.77498628e-03 9.97586839e-01 -4.10392241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.240714057 meters 0.03323241003575345 Centerline is valid? [True, True] Translation: X:625.22, Y:-85.24, Z:-41.04 [[ 9.79015216e-01 1.92047894e-01 6.81675454e-02 6.25221891e+02] [-1.91221904e-01 9.81372405e-01 -1.85036707e-02 -8.52350727e+01] [-7.04513390e-02 5.08024732e-03 9.97502281e-01 -4.10422896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.300714057 meters 0.03366985011418732 Centerline is valid? [True, True] Translation: X:625.28, Y:-85.24, Z:-41.04 [[ 9.79696313e-01 1.88348845e-01 6.87011370e-02 6.25283949e+02] [-1.87500734e-01 9.82087403e-01 -1.86496235e-02 -8.52364670e+01] [-7.09831562e-02 5.38945375e-03 9.97462954e-01 -4.10442971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.360714057 meters 0.031167969734361742 Centerline is valid? [True, True] Translation: X:625.35, Y:-85.24, Z:-41.05 [[ 9.79834838e-01 1.87622036e-01 6.87143445e-02 6.25347176e+02] [-1.86771566e-01 9.82226198e-01 -1.86568294e-02 -8.52390991e+01] [-7.09934617e-02 5.44672565e-03 9.97461910e-01 -4.10480430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.420714057 meters 0.02994511749754951 Centerline is valid? [True, True] Translation: X:625.41, Y:-85.23, Z:-41.05 [[ 9.79496320e-01 1.89382664e-01 6.87107429e-02 6.25412004e+02] [-1.88535333e-01 9.81888860e-01 -1.86733951e-02 -8.52347775e+01] [-7.10027303e-02 5.33611902e-03 9.97461848e-01 -4.10515602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.480714057 meters 0.028602205943361148 Centerline is valid? [True, True] Translation: X:625.48, Y:-85.23, Z:-41.05 [[ 9.78606008e-01 1.93308287e-01 7.04427908e-02 6.25476045e+02] [-1.92427523e-01 9.81124383e-01 -1.91466416e-02 -8.52303808e+01] [-7.28143441e-02 5.18188671e-03 9.97332051e-01 -4.10549435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5407140570001 meters 0.029359005442963448 Centerline is valid? [True, True] Translation: X:625.54, Y:-85.23, Z:-41.06 [[ 9.78043581e-01 1.96363015e-01 6.98020041e-02 6.25539591e+02] [-1.95505915e-01 9.80518975e-01 -1.89730577e-02 -8.52297392e+01] [-7.21677963e-02 4.90977268e-03 9.97380421e-01 -4.10591672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.600714057 meters 0.03244697799075879 Centerline is valid? [True, True] Translation: X:625.60, Y:-85.24, Z:-41.06 [[ 9.77992017e-01 1.97105405e-01 6.84183766e-02 6.25601489e+02] [-1.96283686e-01 9.80370747e-01 -1.85987238e-02 -8.52379544e+01] [-7.07412840e-02 4.75999219e-03 9.97483340e-01 -4.10642432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6607140570001 meters 0.038262828602771644 Centerline is valid? [True, True] Translation: X:625.66, Y:-85.24, Z:-41.07 [[ 9.78317754e-01 1.95906506e-01 6.71938489e-02 6.25662372e+02] [-1.95110715e-01 9.80610996e-01 -1.82724644e-02 -8.52447293e+01] [-6.94707218e-02 4.76603641e-03 9.97572606e-01 -4.10698003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.720714057 meters 0.03603966726238649 Centerline is valid? [True, True] Translation: X:625.72, Y:-85.25, Z:-41.07 [[ 9.78862423e-01 1.93001112e-01 6.76677798e-02 6.25724573e+02] [-1.92186528e-01 9.81185716e-01 -1.84100059e-02 -8.52476992e+01] [-6.99478106e-02 5.01602733e-03 9.97538041e-01 -4.10743790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7807140570001 meters 0.03875572426286576 Centerline is valid? [True, True] Translation: X:625.79, Y:-85.25, Z:-41.08 [[ 9.79929214e-01 1.87923144e-01 6.65103640e-02 6.25785580e+02] [-1.87124523e-01 9.82169504e-01 -1.80963451e-02 -8.52536333e+01] [-6.87251733e-02 5.28741710e-03 9.97621619e-01 -4.10804560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.840714057 meters 0.039481914249126136 Centerline is valid? [True, True] Translation: X:625.85, Y:-85.26, Z:-41.09 [[ 9.80612848e-01 1.84413063e-01 6.62590653e-02 6.25846117e+02] [-1.83612472e-01 9.82833367e-01 -1.80286751e-02 -8.52620653e+01] [-6.84463434e-02 5.51315969e-03 9.97639566e-01 -4.10852178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.900714057 meters 0.049051346060161115 Centerline is valid? [True, True] Translation: X:625.90, Y:-85.28, Z:-41.09 [[ 9.81341329e-01 1.80392424e-01 6.65414791e-02 6.25903523e+02] [-1.79575794e-01 9.83577509e-01 -1.81057397e-02 -8.52770602e+01] [-6.87148405e-02 5.81867170e-03 9.97619373e-01 -4.10890200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.960714057 meters 0.051571387406457385 Centerline is valid? [True, True] Translation: X:625.96, Y:-85.28, Z:-41.09 [[ 9.81834950e-01 1.77918423e-01 6.59178769e-02 6.25964910e+02] [-1.77111569e-01 9.84027344e-01 -1.79354170e-02 -8.52817645e+01] [-6.80560344e-02 5.93480058e-03 9.97663848e-01 -4.10939835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.020714057 meters 0.05200004006195016 Centerline is valid? [True, True] Translation: X:626.03, Y:-85.29, Z:-41.10 [[ 9.82033362e-01 1.76862233e-01 6.58044547e-02 6.26026605e+02] [-1.76055678e-01 9.84217332e-01 -1.79064664e-02 -8.52887236e+01] [-6.79328624e-02 5.99949947e-03 9.97671856e-01 -4.10992002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.080714057 meters 0.043764241039850105 Centerline is valid? [True, True] Translation: X:626.09, Y:-85.28, Z:-41.10 [[ 9.82450959e-01 1.74589192e-01 6.56409001e-02 6.26092909e+02] [-1.73780605e-01 9.84622119e-01 -1.78769267e-02 -8.52781079e+01] [-6.77526003e-02 6.15608845e-03 9.97683160e-01 -4.11046317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.140714057 meters 0.04932774327877759 Centerline is valid? [True, True] Translation: X:626.15, Y:-85.28, Z:-41.11 [[ 9.82907997e-01 1.72199588e-01 6.51089133e-02 6.26153211e+02] [-1.71398708e-01 9.85042113e-01 -1.77346838e-02 -8.52824330e+01] [-6.71889268e-02 6.27197891e-03 9.97720557e-01 -4.11104214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.200714057 meters 0.05011871661875001 Centerline is valid? [True, True] Translation: X:626.22, Y:-85.29, Z:-41.12 [[ 9.83048231e-01 1.71453115e-01 6.49615663e-02 6.26215776e+02] [-1.70653925e-01 9.85172051e-01 -1.76993558e-02 -8.52875571e+01] [-6.70329292e-02 6.31337419e-03 9.97730789e-01 -4.11152780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.260714057 meters 0.049467447355772735 Centerline is valid? [True, True] Translation: X:626.28, Y:-85.28, Z:-41.12 [[ 9.83469139e-01 1.69238404e-01 6.43957637e-02 6.26279729e+02] [-1.68447357e-01 9.85554212e-01 -1.75608608e-02 -8.52842525e+01] [-6.64374882e-02 6.42326846e-03 9.97769914e-01 -4.11210018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.320714057 meters 0.05476963290739299 Centerline is valid? [True, True] Translation: X:626.34, Y:-85.29, Z:-41.13 [[ 9.83914307e-01 1.67042606e-01 6.33198535e-02 6.26338595e+02] [-1.66273236e-01 9.85928498e-01 -1.72686771e-02 -8.52948129e+01] [-6.53134529e-02 6.46250147e-03 9.97843870e-01 -4.11265070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.380714057 meters 0.05070695626158755 Centerline is valid? [True, True] Translation: X:626.40, Y:-85.30, Z:-41.13 [[ 9.84034222e-01 1.66441650e-01 6.30383033e-02 6.26399627e+02] [-1.65677898e-01 9.86030057e-01 -1.71918923e-02 -8.52994172e+01] [-6.50191088e-02 6.47335679e-03 9.97863022e-01 -4.11310968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.440714057 meters 0.05084629545593661 Centerline is valid? [True, True] Translation: X:626.46, Y:-85.30, Z:-41.14 [[ 9.84074046e-01 1.66138489e-01 6.32160908e-02 6.26461439e+02] [-1.65369800e-01 9.86080930e-01 -1.72403462e-02 -8.52977683e+01] [-6.52004666e-02 6.51174492e-03 9.97850939e-01 -4.11363952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.500714057 meters 0.05063410327863842 Centerline is valid? [True, True] Translation: X:626.52, Y:-85.30, Z:-41.14 [[ 9.83710601e-01 1.68695971e-01 6.20896392e-02 6.26524309e+02] [-1.67959668e-01 9.85648468e-01 -1.69306744e-02 -8.52961813e+01] [-6.40546943e-02 6.22632874e-03 9.97926966e-01 -4.11414244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.560714057 meters 0.04765641415010714 Centerline is valid? [True, True] Translation: X:626.59, Y:-85.29, Z:-41.15 [[ 9.82407162e-01 1.76741605e-01 6.03205797e-02 6.26587705e+02] [-1.76061731e-01 9.84241703e-01 -1.64479982e-02 -8.52914750e+01] [-6.22770757e-02 5.53848559e-03 9.98043532e-01 -4.11463204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.620714057 meters 0.04665326728600812 Centerline is valid? [True, True] Translation: X:626.65, Y:-85.29, Z:-41.15 [[ 9.81095348e-01 1.83705303e-01 6.08627887e-02 6.26648721e+02] [-1.83026427e-01 9.82967914e-01 -1.65954089e-02 -8.52947079e+01] [-6.28748331e-02 5.14217978e-03 9.98008173e-01 -4.11501296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.680714057 meters 0.04359998778078712 Centerline is valid? [True, True] Translation: X:626.71, Y:-85.29, Z:-41.15 [[ 9.79233629e-01 1.93149532e-01 6.16016008e-02 6.26712046e+02] [-1.92472583e-01 9.81158590e-01 -1.67965852e-02 -8.52910851e+01] [-6.36851924e-02 4.59116182e-03 9.97959477e-01 -4.11525180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.740714057 meters 0.04341153552684451 Centerline is valid? [True, True] Translation: X:626.77, Y:-85.30, Z:-41.16 [[ 9.78950099e-01 1.94833409e-01 6.08000479e-02 6.26771479e+02] [-1.94177216e-01 9.80826376e-01 -1.65779634e-02 -8.52981388e+01] [-6.28642318e-02 4.42301486e-03 9.98012287e-01 -4.11569654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.800714057 meters 0.04276025537043535 Centerline is valid? [True, True] Translation: X:626.83, Y:-85.30, Z:-41.16 [[ 9.79623703e-01 1.91471614e-01 6.06302094e-02 6.26831867e+02] [-1.90812833e-01 9.81487261e-01 -1.65293214e-02 -8.53041070e+01] [-6.26726741e-02 4.62349301e-03 9.98023426e-01 -4.11604636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.860714057 meters 0.04350719292291471 Centerline is valid? [True, True] Translation: X:626.89, Y:-85.31, Z:-41.16 [[ 9.80297270e-01 1.88191248e-01 6.00109740e-02 6.26892161e+02] [-1.87539820e-01 9.82120756e-01 -1.63596218e-02 -8.53121327e+01] [-6.20167608e-02 4.78284534e-03 9.98063648e-01 -4.11649170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.920714057 meters 0.04464754079510307 Centerline is valid? [True, True] Translation: X:626.95, Y:-85.32, Z:-41.17 [[ 9.80064526e-01 1.89777611e-01 5.88046187e-02 6.26951572e+02] [-1.89155012e-01 9.81816385e-01 -1.60302133e-02 -8.53185523e+01] [-6.07775137e-02 4.58745503e-03 9.98140796e-01 -4.11695553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.980714057 meters 0.04325211216213432 Centerline is valid? [True, True] Translation: X:627.01, Y:-85.32, Z:-41.17 [[ 9.78671327e-01 1.96864496e-01 5.87094832e-02 6.27011628e+02] [-1.96256703e-01 9.80421972e-01 -1.60020041e-02 -8.53220241e+01] [-6.07102937e-02 4.13857299e-03 9.98146849e-01 -4.11731336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0407140570001 meters 0.041365260385291244 Centerline is valid? [True, True] Translation: X:627.07, Y:-85.33, Z:-41.18 [[ 9.77427245e-01 2.02782940e-01 5.92879397e-02 6.27072222e+02] [-2.02174006e-01 9.79216313e-01 -1.61581057e-02 -8.53285785e+01] [-6.13323058e-02 3.80689243e-03 9.98110142e-01 -4.11767375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.100714057 meters 0.03815920520190884 Centerline is valid? [True, True] Translation: X:627.13, Y:-85.33, Z:-41.18 [[ 9.75216888e-01 2.12998010e-01 5.98654300e-02 6.27132711e+02] [-2.12396304e-01 9.77047408e-01 -1.63147826e-02 -8.53317825e+01] [-6.19663795e-02 3.19525550e-03 9.98073123e-01 -4.11794965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1607140570001 meters 0.03594209950267215 Centerline is valid? [True, True] Translation: X:627.19, Y:-85.34, Z:-41.18 [[ 9.73827911e-01 2.19254111e-01 5.98901840e-02 6.27192932e+02] [-2.18663771e-01 9.75663780e-01 -1.63200618e-02 -8.53395917e+01] [-6.20109239e-02 2.79711823e-03 9.98071551e-01 -4.11829313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.220714057 meters 0.030499003970445436 Centerline is valid? [True, True] Translation: X:627.25, Y:-85.34, Z:-41.19 [[ 9.71945781e-01 2.27515950e-01 5.96480700e-02 6.27254530e+02] [-2.26945944e-01 9.73771732e-01 -1.62527815e-02 -8.53417143e+01] [-6.17813714e-02 2.25993485e-03 9.98087148e-01 -4.11873013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2807140570001 meters 0.02952693705528017 Centerline is valid? [True, True] Translation: X:627.31, Y:-85.35, Z:-41.19 [[ 9.70197856e-01 2.34724739e-01 6.01699000e-02 6.27312687e+02] [-2.34158619e-01 9.72060184e-01 -1.63933049e-02 -8.53534147e+01] [-6.23366783e-02 1.81544865e-03 9.98053527e-01 -4.11906065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.340714057 meters 0.028991750427539514 Centerline is valid? [True, True] Translation: X:627.37, Y:-85.37, Z:-41.19 [[ 9.69709731e-01 2.36308116e-01 6.18183760e-02 6.27369785e+02] [-2.35713839e-01 9.71676582e-01 -1.68406105e-02 -8.53678122e+01] [-6.40470412e-02 1.75905722e-03 9.97945330e-01 -4.11938959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.400714057 meters 0.028218960103966267 Centerline is valid? [True, True] Translation: X:627.43, Y:-85.39, Z:-41.20 [[ 9.69854255e-01 2.35299106e-01 6.33802436e-02 6.27425897e+02] [-2.34673312e-01 9.71921235e-01 -1.72496576e-02 -8.53860430e+01] [-6.56594336e-02 1.85600217e-03 9.97840365e-01 -4.11971993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.460714057 meters 0.029394849293481656 Centerline is valid? [True, True] Translation: X:627.48, Y:-85.41, Z:-41.20 [[ 9.70860136e-01 2.31502911e-01 6.19435084e-02 6.27480533e+02] [-2.30898528e-01 9.72832053e-01 -1.68423784e-02 -8.54104176e+01] [-6.41596901e-02 2.04892890e-03 9.97937541e-01 -4.12026881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.520714057 meters 0.0298727561999527 Centerline is valid? [True, True] Translation: X:627.54, Y:-85.43, Z:-41.21 [[ 9.71369798e-01 2.29560201e-01 6.11786678e-02 6.27535513e+02] [-2.28967025e-01 9.73292096e-01 -1.66312383e-02 -8.54326424e+01] [-6.33625842e-02 2.14718505e-03 9.97988263e-01 -4.12070865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.580714057 meters 0.02997505200890054 Centerline is valid? [True, True] Translation: X:627.59, Y:-85.45, Z:-41.21 [[ 9.71476246e-01 2.28924486e-01 6.18666512e-02 6.27590661e+02] [-2.28317667e-01 9.73441705e-01 -1.68014884e-02 -8.54521688e+01] [-6.40698505e-02 2.19699742e-03 9.97942998e-01 -4.12107401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.640714057 meters 0.031174380559346196 Centerline is valid? [True, True] Translation: X:627.64, Y:-85.48, Z:-41.21 [[ 9.71833446e-01 2.27137154e-01 6.28368318e-02 6.27643638e+02] [-2.26508513e-01 9.73859981e-01 -1.70478973e-02 -8.54762558e+01] [-6.50664867e-02 2.33463946e-03 9.97878200e-01 -4.12143062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.700714057 meters 0.032195711957403186 Centerline is valid? [True, True] Translation: X:627.70, Y:-85.50, Z:-41.22 [[ 9.72398243e-01 2.24438679e-01 6.37882079e-02 6.27698997e+02] [-2.23785438e-01 9.74484884e-01 -1.72999580e-02 -8.54975386e+01] [-6.60434241e-02 2.54757670e-03 9.97813498e-01 -4.12187607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.760714057 meters 0.03427385908872355 Centerline is valid? [True, True] Translation: X:627.75, Y:-85.52, Z:-41.22 [[ 9.73405896e-01 2.19934717e-01 6.41067978e-02 6.27754121e+02] [-2.19265411e-01 9.75510388e-01 -1.73828244e-02 -8.55233964e+01] [-6.63599338e-02 2.86414043e-03 9.97791640e-01 -4.12224444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.820714057 meters 0.035117406199557756 Centerline is valid? [True, True] Translation: X:627.81, Y:-85.55, Z:-41.23 [[ 9.74801583e-01 2.13616936e-01 6.42625818e-02 6.27810352e+02] [-2.12930745e-01 9.76911923e-01 -1.74239046e-02 -8.55470886e+01] [-6.65009235e-02 3.30137035e-03 9.97780902e-01 -4.12266472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.880714057 meters 0.036013218564817366 Centerline is valid? [True, True] Translation: X:627.87, Y:-85.57, Z:-41.23 [[ 9.76057333e-01 2.07935517e-01 6.38349738e-02 6.27866892e+02] [-2.07246340e-01 9.78135674e-01 -1.73077150e-02 -8.55682207e+01] [-6.60381538e-02 3.66375748e-03 9.97810372e-01 -4.12305586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.940714057 meters 0.040132683447135976 Centerline is valid? [True, True] Translation: X:627.92, Y:-85.60, Z:-41.24 [[ 9.77488699e-01 2.01354925e-01 6.30240963e-02 6.27920234e+02] [-2.00669574e-01 9.79509952e-01 -1.70873016e-02 -8.55963347e+01] [-6.51733419e-02 4.05562563e-03 9.97865716e-01 -4.12352620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.000714057 meters 0.03897894843964966 Centerline is valid? [True, True] Translation: X:627.98, Y:-85.61, Z:-41.24 [[ 9.77647183e-01 2.00713469e-01 6.26106145e-02 6.27976879e+02] [-2.00035734e-01 9.79641527e-01 -1.69759997e-02 -8.56125975e+01] [-6.47432697e-02 4.07217811e-03 9.97893645e-01 -4.12393140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.060714057 meters 0.037254649163194854 Centerline is valid? [True, True] Translation: X:628.04, Y:-85.63, Z:-41.24 [[ 9.76723785e-01 2.05302187e-01 6.21422611e-02 6.28035550e+02] [-2.04644876e-01 9.78691549e-01 -1.68323057e-02 -8.56259289e+01] [-6.42738149e-02 3.72341798e-03 9.97925354e-01 -4.12434507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.120714057 meters 0.033250145690321184 Centerline is valid? [True, True] Translation: X:628.10, Y:-85.63, Z:-41.25 [[ 9.74279264e-01 2.16571157e-01 6.22643492e-02 6.28096173e+02] [-2.15934146e-01 9.76262268e-01 -1.68649963e-02 -8.56329835e+01] [-6.44388066e-02 2.98621705e-03 9.97917192e-01 -4.12470433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.180714057 meters 0.030906702403533208 Centerline is valid? [True, True] Translation: X:628.15, Y:-85.64, Z:-41.25 [[ 9.72365195e-01 2.24674165e-01 6.34621768e-02 6.28154998e+02] [-2.24029593e-01 9.74430751e-01 -1.71887711e-02 -8.56433247e+01] [-6.57013693e-02 2.49635719e-03 9.97836208e-01 -4.12505611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.240714057 meters 0.03125856303179242 Centerline is valid? [True, True] Translation: X:628.21, Y:-85.66, Z:-41.25 [[ 9.72231115e-01 2.24932017e-01 6.45929285e-02 6.28210785e+02] [-2.24264962e-01 9.74371199e-01 -1.74926910e-02 -8.56606189e+01] [-6.68721554e-02 2.52100778e-03 9.97758367e-01 -4.12540819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.300714057 meters 0.03156918609699994 Centerline is valid? [True, True] Translation: X:628.27, Y:-85.68, Z:-41.26 [[ 9.72784631e-01 2.22265515e-01 6.54835981e-02 6.28267036e+02] [-2.21575058e-01 9.74982367e-01 -1.77166004e-02 -8.56795288e+01] [-6.77831428e-02 2.72490454e-03 9.97696357e-01 -4.12579173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.360714057 meters 0.032058368688862506 Centerline is valid? [True, True] Translation: X:628.32, Y:-85.70, Z:-41.26 [[ 9.73659112e-01 2.18281803e-01 6.58861820e-02 6.28323814e+02] [-2.17574071e-01 9.75881120e-01 -1.78203347e-02 -8.57007164e+01] [-6.81869359e-02 3.01580644e-03 9.97668004e-01 -4.12612927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.420714057 meters 0.032983862770683214 Centerline is valid? [True, True] Translation: X:628.38, Y:-85.72, Z:-41.26 [[ 9.73898156e-01 2.16837143e-01 6.71121114e-02 6.28379562e+02] [-2.16099457e-01 9.76202632e-01 -1.81506391e-02 -8.57192713e+01] [-6.94507526e-02 3.17398313e-03 9.97580332e-01 -4.12639787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.480714057 meters 0.03393306864153173 Centerline is valid? [True, True] Translation: X:628.43, Y:-85.74, Z:-41.27 [[ 9.73805683e-01 2.16853996e-01 6.83874051e-02 6.28433375e+02] [-2.16089292e-01 9.76198753e-01 -1.84773839e-02 -8.57387239e+01] [-7.07665941e-02 3.21559550e-03 9.97487719e-01 -4.12663732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5407140570001 meters 0.033132910594176536 Centerline is valid? [True, True] Translation: X:628.49, Y:-85.75, Z:-41.27 [[ 9.74064658e-01 2.15631521e-01 6.85644907e-02 6.28490072e+02] [-2.14860543e-01 9.76469219e-01 -1.85151603e-02 -8.57549846e+01] [-7.09435669e-02 3.30315958e-03 9.97474862e-01 -4.12705893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.600714057 meters 0.03457262701407743 Centerline is valid? [True, True] Translation: X:628.55, Y:-85.78, Z:-41.28 [[ 9.74955986e-01 2.11885299e-01 6.75680809e-02 6.28546241e+02] [-2.11128818e-01 9.77288249e-01 -1.82291444e-02 -8.57767252e+01] [-6.98959791e-02 3.50704439e-03 9.97548121e-01 -4.12765508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6607140570001 meters 0.03603588552465542 Centerline is valid? [True, True] Translation: X:628.60, Y:-85.80, Z:-41.28 [[ 9.76124285e-01 2.07203651e-01 6.51768861e-02 6.28602240e+02] [-2.06489522e-01 9.78290817e-01 -1.75828024e-02 -8.57978125e+01] [-6.74051700e-02 3.70465643e-03 9.97718807e-01 -4.12823681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.720714057 meters 0.036563387533302565 Centerline is valid? [True, True] Translation: X:628.66, Y:-85.82, Z:-41.29 [[ 9.77290607e-01 2.01909460e-01 6.43089455e-02 6.28659828e+02] [-2.01202909e-01 9.79395964e-01 -1.73474689e-02 -8.58157784e+01] [-6.64865398e-02 4.01437149e-03 9.97779247e-01 -4.12869919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7807140570001 meters 0.04346087278738298 Centerline is valid? [True, True] Translation: X:628.71, Y:-85.84, Z:-41.29 [[ 9.78033036e-01 1.98368209e-01 6.40424339e-02 6.28713939e+02] [-1.97659963e-01 9.80118411e-01 -1.72754287e-02 -8.58426996e+01] [-6.61960643e-02 4.23731494e-03 9.97797638e-01 -4.12899446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.840714057 meters 0.04010518962356757 Centerline is valid? [True, True] Translation: X:628.77, Y:-85.85, Z:-41.29 [[ 9.79007549e-01 1.93056363e-01 6.53717008e-02 6.28773787e+02] [-1.92306662e-01 9.81176454e-01 -1.76327703e-02 -8.58518894e+01] [-6.75452920e-02 4.69120166e-03 9.97705180e-01 -4.12932945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.900714057 meters 0.04256981415654599 Centerline is valid? [True, True] Translation: X:628.83, Y:-85.87, Z:-41.30 [[ 9.79639075e-01 1.89566357e-01 6.61201824e-02 6.28831550e+02] [-1.88791457e-01 9.81855239e-01 -1.78346783e-02 -8.58697908e+01] [-6.83013025e-02 4.98862219e-03 9.97652267e-01 -4.12959017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.960714057 meters 0.04366199167508808 Centerline is valid? [True, True] Translation: X:628.89, Y:-85.88, Z:-41.30 [[ 9.80029777e-01 1.87102846e-01 6.73361736e-02 6.28889680e+02] [-1.86293410e-01 9.82326275e-01 -1.81619073e-02 -8.58843047e+01] [-6.95442371e-02 5.25492457e-03 9.97565028e-01 -4.12994845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.020714057 meters 0.04328012567660155 Centerline is valid? [True, True] Translation: X:628.95, Y:-85.89, Z:-41.30 [[ 9.79919932e-01 1.88233544e-01 6.57651859e-02 6.28947681e+02] [-1.87464136e-01 9.82111303e-01 -1.77365519e-02 -8.58941195e+01] [-6.79273464e-02 5.05178694e-03 9.97677481e-01 -4.13039249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.080714057 meters 0.0414101793065356 Centerline is valid? [True, True] Translation: X:629.01, Y:-85.90, Z:-41.31 [[ 9.79199478e-01 1.91881389e-01 6.59538850e-02 6.29008191e+02] [-1.91116100e-01 9.81406347e-01 -1.77825509e-02 -8.59012814e+01] [-6.81397019e-02 4.80781529e-03 9.97664205e-01 -4.13085735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.140714057 meters 0.038717139485626544 Centerline is valid? [True, True] Translation: X:629.07, Y:-85.91, Z:-41.31 [[ 9.78679552e-01 1.94581152e-01 6.57609977e-02 6.29068171e+02] [-1.93826419e-01 9.80875609e-01 -1.77301684e-02 -8.59086471e+01] [-6.79533153e-02 4.60593456e-03 9.97677870e-01 -4.13124664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.200714057 meters 0.03695551675123997 Centerline is valid? [True, True] Translation: X:629.13, Y:-85.91, Z:-41.32 [[ 9.77484061e-01 2.00671950e-01 6.52355642e-02 6.29128961e+02] [-1.99942805e-01 9.79649715e-01 -1.75872375e-02 -8.59145562e+01] [-6.74372671e-02 4.14786259e-03 9.97714894e-01 -4.13166938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.260714057 meters 0.03539738381569323 Centerline is valid? [True, True] Translation: X:629.19, Y:-85.92, Z:-41.32 [[ 9.75560803e-01 2.09488421e-01 6.63002295e-02 6.29189124e+02] [-2.08755530e-01 9.77804515e-01 -1.78734195e-02 -8.59206735e+01] [-6.85729382e-02 3.59606799e-03 9.97639625e-01 -4.13193169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.320714057 meters 0.032986660324488194 Centerline is valid? [True, True] Translation: X:629.25, Y:-85.93, Z:-41.32 [[ 9.74102517e-01 2.15735555e-01 6.76938441e-02 6.29249671e+02] [-2.14986570e-01 9.76446511e-01 -1.82479158e-02 -8.59281232e+01] [-7.00361421e-02 3.22207335e-03 9.97539251e-01 -4.13222746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.380714057 meters 0.03283372490389234 Centerline is valid? [True, True] Translation: X:629.31, Y:-85.94, Z:-41.33 [[ 9.73165189e-01 2.19773194e-01 6.81854652e-02 6.29308186e+02] [-2.19023194e-01 9.75546527e-01 -1.83797042e-02 -8.59389643e+01] [-7.05574601e-02 2.95228990e-03 9.97503348e-01 -4.13252613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.440714057 meters 0.03440915551022403 Centerline is valid? [True, True] Translation: X:629.36, Y:-85.96, Z:-41.33 [[ 9.73184437e-01 2.19168208e-01 6.98380206e-02 6.29363129e+02] [-2.18380051e-01 9.75682273e-01 -1.88216752e-02 -8.59560315e+01] [-7.22648316e-02 3.06573085e-03 9.97380768e-01 -4.13271285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.500714057 meters 0.032058754341957846 Centerline is valid? [True, True] Translation: X:629.42, Y:-85.97, Z:-41.33 [[ 9.73010959e-01 2.20242959e-01 6.88673604e-02 6.29421286e+02] [-2.19480012e-01 9.75440634e-01 -1.85497799e-02 -8.59663873e+01] [-7.12614801e-02 2.93413006e-03 9.97453354e-01 -4.13329846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.560714057 meters 0.03186108344624785 Centerline is valid? [True, True] Translation: X:629.48, Y:-85.98, Z:-41.34 [[ 9.72312952e-01 2.24041294e-01 6.64305795e-02 6.29477568e+02] [-2.23341428e-01 9.74576328e-01 -1.78769870e-02 -8.59817063e+01] [-6.87468536e-02 2.54532553e-03 9.97630889e-01 -4.13377705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.620714057 meters 0.02997742388212017 Centerline is valid? [True, True] Translation: X:629.54, Y:-86.00, Z:-41.34 [[ 9.71680933e-01 2.26265559e-01 6.81179954e-02 6.29535206e+02] [-2.25535437e-01 9.74062587e-01 -1.83260289e-02 -8.59950604e+01] [-7.04977400e-02 2.44403105e-03 9.97508945e-01 -4.13416745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.680714057 meters 0.030276843121069888 Centerline is valid? [True, True] Translation: X:629.59, Y:-86.02, Z:-41.35 [[ 9.72288940e-01 2.23905996e-01 6.72333356e-02 6.29590018e+02] [-2.23190291e-01 9.74607371e-01 -1.80711327e-02 -8.60154275e+01] [-6.95723394e-02 2.56453469e-03 9.97573613e-01 -4.13469494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.740714057 meters 0.03119077193697165 Centerline is valid? [True, True] Translation: X:629.65, Y:-86.04, Z:-41.35 [[ 9.73207143e-01 2.20197938e-01 6.61870482e-02 6.29646306e+02] [-2.19496967e-01 9.75451281e-01 -1.77730311e-02 -8.60357464e+01] [-6.84758258e-02 2.76898450e-03 9.97648933e-01 -4.13512874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.800714057 meters 0.03378363580565838 Centerline is valid? [True, True] Translation: X:629.70, Y:-86.06, Z:-41.35 [[ 9.74842929e-01 2.12975992e-01 6.57456520e-02 6.29700932e+02] [-2.12268123e-01 9.77052020e-01 -1.76520295e-02 -8.60612858e+01] [-6.79963806e-02 3.25224992e-03 9.97680267e-01 -4.13547688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.860714057 meters 0.036284378623191685 Centerline is valid? [True, True] Translation: X:629.76, Y:-86.08, Z:-41.36 [[ 9.76116673e-01 2.07470069e-01 6.44391996e-02 6.29756844e+02] [-2.06778213e-01 9.78234880e-01 -1.72999793e-02 -8.60836334e+01] [-6.66259006e-02 3.56217564e-03 9.97771667e-01 -4.13588586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.920714057 meters 0.03944731732877444 Centerline is valid? [True, True] Translation: X:629.81, Y:-86.11, Z:-41.36 [[ 9.77252151e-01 2.01632919e-01 6.57449565e-02 6.29812639e+02] [-2.00899552e-01 9.79452827e-01 -1.76502254e-02 -8.61088417e+01] [-6.79529499e-02 4.04058844e-03 9.97680345e-01 -4.13613774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.980714057 meters 0.03690067107435292 Centerline is valid? [True, True] Translation: X:629.87, Y:-86.12, Z:-41.36 [[ 9.77809050e-01 1.98903100e-01 6.57800780e-02 6.29870933e+02] [-1.98162801e-01 9.80010021e-01 -1.76596232e-02 -8.61223525e+01] [-6.79776894e-02 4.23257486e-03 9.97677863e-01 -4.13647567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0407140570001 meters 0.04264536959726725 Centerline is valid? [True, True] Translation: X:629.92, Y:-86.15, Z:-41.37 [[ 9.77883504e-01 1.98473827e-01 6.59696343e-02 6.29923711e+02] [-1.97728384e-01 9.80096873e-01 -1.77089390e-02 -8.61468410e+01] [-6.81713931e-02 4.27321010e-03 9.97664473e-01 -4.13680789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.100714057 meters 0.038098889379181246 Centerline is valid? [True, True] Translation: X:629.98, Y:-86.16, Z:-41.37 [[ 9.77738521e-01 1.99241967e-01 6.58029112e-02 6.29982257e+02] [-1.98502496e-01 9.79941315e-01 -1.76572421e-02 -8.61554662e+01] [-6.80010549e-02 4.20212371e-03 9.97676400e-01 -4.13726654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1607140570001 meters 0.03640884290676197 Centerline is valid? [True, True] Translation: X:630.04, Y:-86.17, Z:-41.38 [[ 9.77454724e-01 2.00787080e-01 6.53208318e-02 6.30039802e+02] [-2.00063002e-01 9.79626543e-01 -1.75109047e-02 -8.61663680e+01] [-6.75059841e-02 4.04783484e-03 9.97710658e-01 -4.13770384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.220714057 meters 0.037831607390050176 Centerline is valid? [True, True] Translation: X:630.09, Y:-86.18, Z:-41.38 [[ 9.77405014e-01 2.01091058e-01 6.51293015e-02 6.30094920e+02] [-2.00372244e-01 9.79564345e-01 -1.74544336e-02 -8.61827571e+01] [-6.73082721e-02 4.00994661e-03 9.97724169e-01 -4.13813233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2807140570001 meters 0.03472668173209711 Centerline is valid? [True, True] Translation: X:630.15, Y:-86.19, Z:-41.39 [[ 9.76725787e-01 2.04430989e-01 6.49207795e-02 6.30154542e+02] [-2.03724521e-01 9.78873751e-01 -1.73925164e-02 -8.61914556e+01] [-6.71048163e-02 3.76176460e-03 9.97738840e-01 -4.13857684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.340714057 meters 0.03314304003162029 Centerline is valid? [True, True] Translation: X:630.21, Y:-86.20, Z:-41.39 [[ 9.75406884e-01 2.10441711e-01 6.55415701e-02 6.30213884e+02] [-2.09735229e-01 9.77600566e-01 -1.75575520e-02 -8.62024038e+01] [-6.77683173e-02 3.37938089e-03 9.97695362e-01 -4.13890007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.400714057 meters 0.03341818874699436 Centerline is valid? [True, True] Translation: X:630.27, Y:-86.22, Z:-41.39 [[ 9.74795237e-01 2.13140164e-01 6.59205374e-02 6.30270841e+02] [-2.12431672e-01 9.77016360e-01 -1.76583193e-02 -8.62164378e+01] [-6.81691406e-02 3.20963558e-03 9.97668616e-01 -4.13928011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.460714057 meters 0.032148606343272275 Centerline is valid? [True, True] Translation: X:630.33, Y:-86.23, Z:-41.40 [[ 9.75254588e-01 2.11224511e-01 6.52893133e-02 6.30328719e+02] [-2.10525559e-01 9.77431977e-01 -1.74848535e-02 -8.62271028e+01] [-6.75090922e-02 3.30711436e-03 9.97713178e-01 -4.13976859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.520714057 meters 0.03549404039435733 Centerline is valid? [True, True] Translation: X:630.38, Y:-86.25, Z:-41.40 [[ 9.76889456e-01 2.03402411e-01 6.56844745e-02 6.30384795e+02] [-2.02678527e-01 9.79087640e-01 -1.75729640e-02 -8.62459471e+01] [-6.78852403e-02 3.85401078e-03 9.97685692e-01 -4.14010592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.580714057 meters 0.03779277177314528 Centerline is valid? [True, True] Translation: X:630.44, Y:-86.26, Z:-41.40 [[ 9.78189707e-01 1.97067805e-01 6.56443216e-02 6.30441986e+02] [-1.96330758e-01 9.80380480e-01 -1.75598207e-02 -8.62634724e+01] [-6.78168868e-02 4.28883644e-03 9.97688567e-01 -4.14045208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.640714057 meters 0.04849370887222752 Centerline is valid? [True, True] Translation: X:630.50, Y:-86.29, Z:-41.41 [[ 9.80276867e-01 1.86366508e-01 6.57631261e-02 6.30495950e+02] [-1.85602885e-01 9.82467377e-01 -1.75904035e-02 -8.62917168e+01] [-6.78883881e-02 5.03763966e-03 9.97680204e-01 -4.14084619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.700714057 meters 0.04575089466076269 Centerline is valid? [True, True] Translation: X:630.56, Y:-86.30, Z:-41.41 [[ 9.82092363e-01 1.76370335e-01 6.62427025e-02 6.30555517e+02] [-1.75572992e-01 9.84306972e-01 -1.77175050e-02 -8.63012836e+01] [-6.83279962e-02 5.76979683e-03 9.97646227e-01 -4.14126810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.760714057 meters 0.048328293458990576 Centerline is valid? [True, True] Translation: X:630.61, Y:-86.32, Z:-41.42 [[ 9.83499733e-01 1.68903416e-01 6.48067184e-02 6.30613825e+02] [-1.68124273e-01 9.85613411e-01 -1.73329956e-02 -8.63167353e+01] [-6.68019729e-02 6.15141413e-03 9.97747291e-01 -4.14193922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.820714057 meters 0.05984498508176749 Centerline is valid? [True, True] Translation: X:630.67, Y:-86.34, Z:-41.42 [[ 9.84116729e-01 1.65861995e-01 6.32776603e-02 6.30667723e+02] [-1.65113011e-01 9.86129437e-01 -1.69241303e-02 -8.63437546e+01] [-6.52070336e-02 6.20735474e-03 9.97852450e-01 -4.14239811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.880714057 meters 0.04948647970602921 Centerline is valid? [True, True] Translation: X:630.73, Y:-86.34, Z:-41.43 [[ 9.84295325e-01 1.65197482e-01 6.22294623e-02 6.30729724e+02] [-1.64471916e-01 9.86241359e-01 -1.66424541e-02 -8.63376177e+01] [-6.41225610e-02 6.14609090e-03 9.97923105e-01 -4.14280324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.940714057 meters 0.0470148241489862 Centerline is valid? [True, True] Translation: X:630.79, Y:-86.34, Z:-41.43 [[ 9.83886965e-01 1.67617712e-01 6.22152913e-02 6.30790545e+02] [-1.66897579e-01 9.85833919e-01 -1.66337445e-02 -8.63439374e+01] [-6.41220546e-02 5.98214296e-03 9.97924133e-01 -4.14313003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.000714057 meters 0.045347248426612925 Centerline is valid? [True, True] Translation: X:630.85, Y:-86.35, Z:-41.43 [[ 9.82597248e-01 1.74649514e-01 6.32471059e-02 6.30852802e+02] [-1.73919749e-01 9.84614660e-01 -1.69083602e-02 -8.63468567e+01] [-6.52270646e-02 5.61418741e-03 9.97854654e-01 -4.14335715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.060714057 meters 0.04523755909556211 Centerline is valid? [True, True] Translation: X:630.91, Y:-86.36, Z:-41.44 [[ 9.81812904e-01 1.78902203e-01 6.35407173e-02 6.30911914e+02] [-1.78174519e-01 9.83852285e-01 -1.69859499e-02 -8.63554102e+01] [-6.55535037e-02 5.35568809e-03 9.97834683e-01 -4.14371862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.120714057 meters 0.04287791492188274 Centerline is valid? [True, True] Translation: X:630.97, Y:-86.36, Z:-41.44 [[ 9.81174892e-01 1.82578735e-01 6.29351832e-02 6.30973046e+02] [-1.81872492e-01 9.83178218e-01 -1.68222684e-02 -8.63594952e+01] [-6.49478898e-02 5.05940878e-03 9.97875831e-01 -4.14408793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.180714057 meters 0.04245906914486644 Centerline is valid? [True, True] Translation: X:631.03, Y:-86.37, Z:-41.44 [[ 9.81216766e-01 1.82689404e-01 6.19535382e-02 6.31031009e+02] [-1.82005291e-01 9.83158102e-01 -1.65595882e-02 -8.63681234e+01] [-6.39353844e-02 4.97267385e-03 9.97941651e-01 -4.14445343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.240714057 meters 0.0451341795754547 Centerline is valid? [True, True] Translation: X:631.09, Y:-86.38, Z:-41.45 [[ 9.81510009e-01 1.81231846e-01 6.15883118e-02 6.31088600e+02] [-1.80554009e-01 9.83427581e-01 -1.64451575e-02 -8.63804376e+01] [-6.35480308e-02 5.02107010e-03 9.97966150e-01 -4.14478466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.300714057 meters 0.04525376817547008 Centerline is valid? [True, True] Translation: X:631.15, Y:-86.39, Z:-41.45 [[ 9.82008943e-01 1.78911073e-01 6.04091372e-02 6.31148412e+02] [-1.78254838e-01 9.83852194e-01 -1.61267959e-02 -8.63910709e+01] [-6.23189245e-02 5.06843680e-03 9.98043417e-01 -4.14522976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.360714057 meters 0.05335463936684398 Centerline is valid? [True, True] Translation: X:631.20, Y:-86.41, Z:-41.46 [[ 9.82804365e-01 1.74849139e-01 5.93578925e-02 6.31204434e+02] [-1.74208223e-01 9.84581329e-01 -1.58461761e-02 -8.64115152e+01] [-6.12133630e-02 5.23305805e-03 9.98110985e-01 -4.14572971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.420714057 meters 0.045269302028702794 Centerline is valid? [True, True] Translation: X:631.27, Y:-86.41, Z:-41.46 [[ 9.83420647e-01 1.71587586e-01 5.86645647e-02 6.31266855e+02] [-1.70955844e-01 9.85154222e-01 -1.56607132e-02 -8.64107605e+01] [-6.04808276e-02 5.37201858e-03 9.98154903e-01 -4.14618947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.480714057 meters 0.05488163494538153 Centerline is valid? [True, True] Translation: X:631.32, Y:-86.43, Z:-41.47 [[ 9.83861466e-01 1.69129738e-01 5.84101646e-02 6.31321379e+02] [-1.68499194e-01 9.85578457e-01 -1.55925301e-02 -8.64345566e+01] [-6.02049604e-02 5.49882388e-03 9.98170890e-01 -4.14667576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5407140570001 meters 0.051056920509889185 Centerline is valid? [True, True] Translation: X:631.38, Y:-86.44, Z:-41.47 [[ 9.84329607e-01 1.66681521e-01 5.75542914e-02 6.31382441e+02] [-1.66065265e-01 9.85995085e-01 -1.53629461e-02 -8.64381340e+01] [-5.93089676e-02 5.56443400e-03 9.98224165e-01 -4.14694835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.600714057 meters 0.04901847150743671 Centerline is valid? [True, True] Translation: X:631.44, Y:-86.45, Z:-41.47 [[ 9.84426064e-01 1.65729341e-01 5.86439284e-02 6.31440732e+02] [-1.65087876e-01 9.86154642e-01 -1.56529679e-02 -8.64458538e+01] [-6.04261383e-02 5.72778804e-03 9.98156237e-01 -4.14716871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6607140570001 meters 0.048626505375080564 Centerline is valid? [True, True] Translation: X:631.50, Y:-86.45, Z:-41.47 [[ 9.84125427e-01 1.66809497e-01 6.05948528e-02 6.31499377e+02] [-1.66126986e-01 9.85971822e-01 -1.61675897e-02 -8.64532038e+01] [-6.24417250e-02 5.84449589e-03 9.98031499e-01 -4.14731193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.720714057 meters 0.048729934062772304 Centerline is valid? [True, True] Translation: X:631.56, Y:-86.46, Z:-41.48 [[ 9.83867798e-01 1.68168288e-01 6.10211702e-02 6.31557864e+02] [-1.67479015e-01 9.85741272e-01 -1.62765181e-02 -8.64645596e+01] [-6.28882801e-02 5.79417656e-03 9.98003753e-01 -4.14771174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7807140570001 meters 0.05599173256057475 Centerline is valid? [True, True] Translation: X:631.61, Y:-86.48, Z:-41.48 [[ 9.83746833e-01 1.69237231e-01 6.00077384e-02 6.31611877e+02] [-1.68572796e-01 9.85559274e-01 -1.60040609e-02 -8.64847777e+01] [-6.18496660e-02 5.62827194e-03 9.98069608e-01 -4.14833927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.840714057 meters 0.047224873197533754 Centerline is valid? [True, True] Translation: X:631.67, Y:-86.48, Z:-41.49 [[ 9.83652528e-01 1.70677076e-01 5.74198598e-02 6.31673849e+02] [-1.70071542e-01 9.85312805e-01 -1.53084054e-02 -8.64831407e+01] [-5.91893170e-02 5.29266757e-03 9.98232745e-01 -4.14889275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.900714057 meters 0.04764371279027448 Centerline is valid? [True, True] Translation: X:631.73, Y:-86.50, Z:-41.49 [[ 9.83544330e-01 1.71663829e-01 5.63212311e-02 6.31730837e+02] [-1.71082986e-01 9.85142225e-01 -1.50136149e-02 -8.64959145e+01] [-5.80617176e-02 5.13095141e-03 9.98299810e-01 -4.14937461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.960714057 meters 0.048380437092147226 Centerline is valid? [True, True] Translation: X:631.79, Y:-86.51, Z:-41.50 [[ 9.83264777e-01 1.73432498e-01 5.57812414e-02 6.31788535e+02] [-1.72865831e-01 9.84833199e-01 -1.48651988e-02 -8.65096417e+01] [-5.75133270e-02 4.97375571e-03 9.98332349e-01 -4.14980991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.020714057 meters 0.048646613045165765 Centerline is valid? [True, True] Translation: X:631.85, Y:-86.52, Z:-41.50 [[ 9.82464027e-01 1.77734585e-01 5.63458432e-02 6.31846817e+02] [-1.77163512e-01 9.84066911e-01 -1.50134639e-02 -8.65208284e+01] [-5.81164917e-02 4.76776068e-03 9.98298423e-01 -4.15016290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.080714057 meters 0.048033727376042404 Centerline is valid? [True, True] Translation: X:631.90, Y:-86.53, Z:-41.51 [[ 9.82173719e-01 1.79313913e-01 5.64030648e-02 6.31904835e+02] [-1.78744357e-01 9.83780790e-01 -1.50270622e-02 -8.65337575e+01] [-5.81828129e-02 4.67745601e-03 9.98294987e-01 -4.15054210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.140714057 meters 0.04800968789425311 Centerline is valid? [True, True] Translation: X:631.96, Y:-86.55, Z:-41.51 [[ 9.81458096e-01 1.82846870e-01 5.75067691e-02 6.31963976e+02] [-1.82260928e-01 9.83130860e-01 -1.53188401e-02 -8.65465063e+01] [-5.93376813e-02 4.55356251e-03 9.98227582e-01 -4.15085914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.200714057 meters 0.04508880076526799 Centerline is valid? [True, True] Translation: X:632.02, Y:-86.55, Z:-41.51 [[ 9.80706871e-01 1.86604668e-01 5.82471555e-02 6.32023809e+02] [-1.86010144e-01 9.82425316e-01 -1.55153236e-02 -8.65542394e+01] [-6.01187119e-02 4.38142268e-03 9.98181619e-01 -4.15116436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.260714057 meters 0.04383381728191019 Centerline is valid? [True, True] Translation: X:632.08, Y:-86.57, Z:-41.51 [[ 9.80431627e-01 1.87884760e-01 5.87634440e-02 6.32081220e+02] [-1.87281974e-01 9.82181490e-01 -1.56519602e-02 -8.65657158e+01] [-6.06571317e-02 4.34034297e-03 9.98149224e-01 -4.15147981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.320714057 meters 0.040559844927437715 Centerline is valid? [True, True] Translation: X:632.14, Y:-86.57, Z:-41.52 [[ 9.80372767e-01 1.87970475e-01 5.94671176e-02 6.32140006e+02] [-1.87353539e-01 9.82164898e-01 -1.58355536e-02 -8.65741915e+01] [-6.13831320e-02 4.38337051e-03 9.98104652e-01 -4.15187889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.380714057 meters 0.04016620584827523 Centerline is valid? [True, True] Translation: X:632.20, Y:-86.59, Z:-41.52 [[ 9.80630151e-01 1.86724658e-01 5.91473540e-02 6.32198263e+02] [-1.86113102e-01 9.82402339e-01 -1.57339460e-02 -8.65867892e+01] [-6.10444146e-02 4.42108429e-03 9.98125259e-01 -4.15227532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.440714057 meters 0.04023120464462094 Centerline is valid? [True, True] Translation: X:632.26, Y:-86.60, Z:-41.53 [[ 9.80786656e-01 1.86105185e-01 5.85012498e-02 6.32255220e+02] [-1.85505919e-01 9.82519932e-01 -1.55607720e-02 -8.66013856e+01] [-6.03745843e-02 4.40946941e-03 9.98166051e-01 -4.15273693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.500714057 meters 0.04071713403387621 Centerline is valid? [True, True] Translation: X:632.31, Y:-86.62, Z:-41.53 [[ 9.80723830e-01 1.86748227e-01 5.74966838e-02 6.32312233e+02] [-1.86171393e-01 9.82398486e-01 -1.52783361e-02 -8.66151809e+01] [-5.93378573e-02 4.27959057e-03 9.98228783e-01 -4.15326323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.560714057 meters 0.041928551776371156 Centerline is valid? [True, True] Translation: X:632.37, Y:-86.63, Z:-41.54 [[ 9.80595483e-01 1.87540533e-01 5.71055783e-02 6.32367694e+02] [-1.86973814e-01 9.82247941e-01 -1.51583190e-02 -8.66306278e+01] [-5.89346360e-02 4.18693135e-03 9.98253063e-01 -4.15379755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.620714057 meters 0.04265231947633246 Centerline is valid? [True, True] Translation: X:632.42, Y:-86.65, Z:-41.54 [[ 9.80345291e-01 1.88973650e-01 5.66751359e-02 6.32424095e+02] [-1.88418148e-01 9.81973747e-01 -1.50386705e-02 -8.66450234e+01] [-5.84954080e-02 4.06446564e-03 9.98279403e-01 -4.15424437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.680714057 meters 0.04336764473284253 Centerline is valid? [True, True] Translation: X:632.48, Y:-86.66, Z:-41.55 [[ 9.80083461e-01 1.89913111e-01 5.80467106e-02 6.32480914e+02] [-1.89332263e-01 9.81792335e-01 -1.53982281e-02 -8.66594820e+01] [-5.99141410e-02 4.10143361e-03 9.98195108e-01 -4.15457356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.740714057 meters 0.043794684945777165 Centerline is valid? [True, True] Translation: X:632.54, Y:-86.67, Z:-41.55 [[ 9.79955289e-01 1.90276014e-01 5.90141586e-02 6.32537808e+02] [-1.89676500e-01 9.81721889e-01 -1.56511415e-02 -8.66744818e+01] [-6.09135281e-02 4.14381979e-03 9.98134445e-01 -4.15488467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.800714057 meters 0.04586767717401302 Centerline is valid? [True, True] Translation: X:632.59, Y:-86.69, Z:-41.55 [[ 9.79717386e-01 1.90999892e-01 6.06043264e-02 6.32593784e+02] [-1.90369948e-01 9.81581097e-01 -1.60571898e-02 -8.66905482e+01] [-6.25549827e-02 4.19426550e-03 9.98032706e-01 -4.15520091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.860714057 meters 0.0375735451668714 Centerline is valid? [True, True] Translation: X:632.65, Y:-86.69, Z:-41.55 [[ 9.79591228e-01 1.91304456e-01 6.16735787e-02 6.32654273e+02] [-1.90653633e-01 9.81521615e-01 -1.63251768e-02 -8.66923595e+01] [-6.36570296e-02 4.23370819e-03 9.97962854e-01 -4.15547150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.920714057 meters 0.03667516609440252 Centerline is valid? [True, True] Translation: X:632.71, Y:-86.71, Z:-41.56 [[ 9.79186960e-01 1.92934743e-01 6.30006574e-02 6.32711903e+02] [-1.92260053e-01 9.81202602e-01 -1.66591112e-02 -8.67057241e+01] [-6.50305303e-02 4.19987471e-03 9.97874437e-01 -4.15585050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.980714057 meters 0.036023930229478016 Centerline is valid? [True, True] Translation: X:632.77, Y:-86.72, Z:-41.56 [[ 9.78715433e-01 1.95319674e-01 6.29787756e-02 6.32770507e+02] [-1.94651379e-01 9.80731373e-01 -1.66377323e-02 -8.67196141e+01] [-6.50149375e-02 4.02469986e-03 9.97876175e-01 -4.15622638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0407140570001 meters 0.03696603762642901 Centerline is valid? [True, True] Translation: X:632.83, Y:-86.74, Z:-41.57 [[ 9.78256125e-01 1.97700431e-01 6.26856781e-02 6.32826906e+02] [-1.97043290e-01 9.80254935e-01 -1.65591024e-02 -8.67354223e+01] [-6.47216870e-02 3.84725110e-03 9.97895937e-01 -4.15673090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.100714057 meters 0.03756742708202816 Centerline is valid? [True, True] Translation: X:632.88, Y:-86.75, Z:-41.57 [[ 9.77997552e-01 1.99064569e-01 6.24026057e-02 6.32882512e+02] [-1.98416348e-01 9.79979253e-01 -1.64808132e-02 -8.67512947e+01] [-6.44340049e-02 3.73649783e-03 9.97914975e-01 -4.15723661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1607140570001 meters 0.034874516445892234 Centerline is valid? [True, True] Translation: X:632.94, Y:-86.76, Z:-41.58 [[ 9.77456552e-01 2.01972721e-01 6.15281148e-02 6.32941007e+02] [-2.01348655e-01 9.79384931e-01 -1.62442417e-02 -8.67622344e+01] [-6.35406022e-02 3.48943737e-03 9.97973154e-01 -4.15767025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.220714057 meters 0.03547676255136763 Centerline is valid? [True, True] Translation: X:633.00, Y:-86.78, Z:-41.58 [[ 9.76718489e-01 2.05502467e-01 6.15607724e-02 6.32997508e+02] [-2.04884860e-01 9.78651170e-01 -1.62505812e-02 -8.67776482e+01] [-6.35860565e-02 3.25937288e-03 9.97971037e-01 -4.15802786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2807140570001 meters 0.033736478564988286 Centerline is valid? [True, True] Translation: X:633.06, Y:-86.79, Z:-41.58 [[ 9.76248418e-01 2.07842446e-01 6.11599889e-02 6.33055730e+02] [-2.07237653e-01 9.78157457e-01 -1.61413979e-02 -8.67900156e+01] [-6.31789669e-02 3.08336164e-03 9.97997450e-01 -4.15847443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.340714057 meters 0.03178030490198603 Centerline is valid? [True, True] Translation: X:633.11, Y:-86.80, Z:-41.59 [[ 9.76003402e-01 2.09004894e-01 6.11090337e-02 6.33113552e+02] [-2.08403502e-01 9.77909981e-01 -1.61260140e-02 -8.68025292e+01] [-6.31295499e-02 3.00370783e-03 9.98000821e-01 -4.15882776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.400714057 meters 0.034188374993857545 Centerline is valid? [True, True] Translation: X:633.17, Y:-86.82, Z:-41.59 [[ 9.76265314e-01 2.07591296e-01 6.17405077e-02 6.33168002e+02] [-2.06975565e-01 9.78210697e-01 -1.62771889e-02 -8.68224911e+01] [-6.37742279e-02 3.11207847e-03 9.97959500e-01 -4.15913089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.460714057 meters 0.034304314691309276 Centerline is valid? [True, True] Translation: X:633.22, Y:-86.84, Z:-41.59 [[ 9.76811333e-01 2.04549340e-01 6.32391338e-02 6.33224208e+02] [-2.03897350e-01 9.78850400e-01 -1.66662863e-02 -8.68401823e+01] [-6.53107293e-02 3.38552557e-03 9.97859232e-01 -4.15941014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.520714057 meters 0.03709214191786066 Centerline is valid? [True, True] Translation: X:633.28, Y:-86.86, Z:-41.60 [[ 9.77040008e-01 2.03162569e-01 6.41700313e-02 6.33278210e+02] [-2.02488482e-01 9.79138671e-01 -1.69079011e-02 -8.68631784e+01] [-6.62664118e-02 3.52600360e-03 9.97795736e-01 -4.15974766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.580714057 meters 0.03866243499325308 Centerline is valid? [True, True] Translation: X:633.33, Y:-86.88, Z:-41.60 [[ 9.77402950e-01 2.01703763e-01 6.32381637e-02 6.33334119e+02] [-2.01046481e-01 9.79440082e-01 -1.66565105e-02 -8.68814516e+01] [-6.52976731e-02 3.56631225e-03 9.97859457e-01 -4.16014626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.640714057 meters 0.03960734570689045 Centerline is valid? [True, True] Translation: X:633.39, Y:-86.90, Z:-41.61 [[ 9.77652839e-01 2.00744404e-01 6.24228425e-02 6.33390020e+02] [-2.00103029e-01 9.79637153e-01 -1.64263979e-02 -8.69002540e+01] [-6.44492431e-02 3.56831474e-03 9.97914607e-01 -4.16060570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.700714057 meters 0.04119850403186614 Centerline is valid? [True, True] Translation: X:633.44, Y:-86.92, Z:-41.61 [[ 9.77778098e-01 2.00530964e-01 6.11336543e-02 6.33443488e+02] [-1.99916364e-01 9.79681136e-01 -1.60723281e-02 -8.69208535e+01] [-6.31144873e-02 3.49355253e-03 9.98000179e-01 -4.16112637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.760714057 meters 0.03396051228573541 Centerline is valid? [True, True] Translation: X:633.50, Y:-86.93, Z:-41.62 [[ 9.77687935e-01 2.01260392e-01 6.01710647e-02 6.33502472e+02] [-2.00667083e-01 9.79531941e-01 -1.58082040e-02 -8.69280030e+01] [-6.21210451e-02 3.38113834e-03 9.98062896e-01 -4.16156323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.820714057 meters 0.041498593440808085 Centerline is valid? [True, True] Translation: X:633.56, Y:-86.96, Z:-41.62 [[ 9.77244371e-01 2.03633529e-01 5.93870849e-02 6.33555920e+02] [-2.03060973e-01 9.79042045e-01 -1.55857682e-02 -8.69564772e+01] [-6.13162380e-02 3.17190499e-03 9.98113349e-01 -4.16203688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.880714057 meters 0.03338839194804145 Centerline is valid? [True, True] Translation: X:633.62, Y:-86.96, Z:-41.62 [[ 9.76577903e-01 2.07199388e-01 5.80001131e-02 6.33616580e+02] [-2.06659691e-01 9.78294505e-01 -1.52195510e-02 -8.69608580e+01] [-5.98946736e-02 2.87679180e-03 9.98200557e-01 -4.16241891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.940714057 meters 0.031154843455785907 Centerline is valid? [True, True] Translation: X:633.67, Y:-86.97, Z:-41.63 [[ 9.75421903e-01 2.12984558e-01 5.64773264e-02 6.33674977e+02] [-2.12482576e-01 9.77052483e-01 -1.48189091e-02 -8.69741827e+01] [-5.83375108e-02 2.45424074e-03 9.98293900e-01 -4.16287890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.000714057 meters 0.030875860706034323 Centerline is valid? [True, True] Translation: X:633.73, Y:-86.99, Z:-41.63 [[ 9.74967068e-01 2.15032129e-01 5.65720673e-02 6.33731670e+02] [-2.14531922e-01 9.76604183e-01 -1.48433396e-02 -8.69891915e+01] [-5.84403125e-02 2.33525296e-03 9.98288173e-01 -4.16320828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.060714057 meters 0.029993912051168668 Centerline is valid? [True, True] Translation: X:633.79, Y:-87.01, Z:-41.63 [[ 9.74009953e-01 2.19065838e-01 5.75740421e-02 6.33789598e+02] [-2.18555036e-01 9.75707763e-01 -1.51015729e-02 -8.70060364e+01] [-5.94836786e-02 2.12598547e-03 9.98227014e-01 -4.16348551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.120714057 meters 0.03026225060394917 Centerline is valid? [True, True] Translation: X:633.84, Y:-87.02, Z:-41.64 [[ 9.73637705e-01 2.20502874e-01 5.83789527e-02 6.33844652e+02] [-2.19980256e-01 9.75384135e-01 -1.53125954e-02 -8.70248735e+01] [-6.03183756e-02 2.06670323e-03 9.98177050e-01 -4.16389725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.180714057 meters 0.030350159863484473 Centerline is valid? [True, True] Translation: X:633.90, Y:-87.05, Z:-41.64 [[ 9.73773673e-01 2.20055483e-01 5.77963469e-02 6.33899388e+02] [-2.19543341e-01 9.75485184e-01 -1.51452223e-02 -8.70454217e+01] [-5.97122693e-02 2.05921569e-03 9.98213507e-01 -4.16426486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.240714057 meters 0.029036283306704984 Centerline is valid? [True, True] Translation: X:633.96, Y:-87.06, Z:-41.65 [[ 9.74028219e-01 2.18822657e-01 5.81865384e-02 6.33955855e+02] [-2.18302252e-01 9.75762311e-01 -1.52328639e-02 -8.70609038e+01] [-6.01095269e-02 2.13498691e-03 9.98189504e-01 -4.16456188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.300714057 meters 0.02873857890656779 Centerline is valid? [True, True] Translation: X:634.01, Y:-87.08, Z:-41.65 [[ 9.74374991e-01 2.17318838e-01 5.80163754e-02 6.34010860e+02] [-2.16799731e-01 9.76098179e-01 -1.51730550e-02 -8.70818711e+01] [-5.99270690e-02 2.20631076e-03 9.98200320e-01 -4.16496117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.360714057 meters 0.02854321408568919 Centerline is valid? [True, True] Translation: X:634.07, Y:-87.10, Z:-41.65 [[ 9.74504304e-01 2.16654206e-01 5.83293772e-02 6.34066087e+02] [-2.16129242e-01 9.76245830e-01 -1.52391180e-02 -8.71017701e+01] [-6.02454303e-02 2.24390204e-03 9.98181072e-01 -4.16537939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.420714057 meters 0.028482233816030548 Centerline is valid? [True, True] Translation: X:634.12, Y:-87.12, Z:-41.66 [[ 9.74598002e-01 2.16301177e-01 5.80735351e-02 6.34120826e+02] [-2.15781167e-01 9.76324118e-01 -1.51559912e-02 -8.71224960e+01] [-5.99768517e-02 2.23982355e-03 9.98197255e-01 -4.16573574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.480714057 meters 0.028916531113437265 Centerline is valid? [True, True] Translation: X:634.18, Y:-87.14, Z:-41.66 [[ 9.75017446e-01 2.14485047e-01 5.77680313e-02 6.34176102e+02] [-2.13967598e-01 9.76724482e-01 -1.50715780e-02 -8.71425969e+01] [-5.96560786e-02 2.33456462e-03 9.98216260e-01 -4.16618555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5407140570001 meters 0.030095279961505402 Centerline is valid? [True, True] Translation: X:634.23, Y:-87.17, Z:-41.67 [[ 9.75854185e-01 2.10845604e-01 5.70327991e-02 6.34230721e+02] [-2.10336012e-01 9.77516158e-01 -1.48634955e-02 -8.71672170e+01] [-5.88843854e-02 2.50855275e-03 9.98261657e-01 -4.16665572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.600714057 meters 0.03501045122156973 Centerline is valid? [True, True] Translation: X:634.28, Y:-87.20, Z:-41.67 [[ 9.76894362e-01 2.06210162e-01 5.61673874e-02 6.34284019e+02] [-2.05708477e-01 9.78503883e-01 -1.46346974e-02 -8.71967633e+01] [-5.79778300e-02 2.74244568e-03 9.98314104e-01 -4.16723129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6607140570001 meters 0.031093011724488195 Centerline is valid? [True, True] Translation: X:634.34, Y:-87.21, Z:-41.68 [[ 9.77564324e-01 2.02938771e-01 5.64256022e-02 6.34341902e+02] [-2.02427138e-01 9.79186991e-01 -1.46999938e-02 -8.72090826e+01] [-5.82344144e-02 2.94811631e-03 9.98298583e-01 -4.16753740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.720714057 meters 0.036620958042250545 Centerline is valid? [True, True] Translation: X:634.40, Y:-87.24, Z:-41.68 [[ 9.78266401e-01 1.99300172e-01 5.72214218e-02 6.34395123e+02] [-1.98767990e-01 9.79933244e-01 -1.49038076e-02 -8.72389095e+01] [-5.90435048e-02 3.20610716e-03 9.98250262e-01 -4.16799443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7807140570001 meters 0.03446786507188953 Centerline is valid? [True, True] Translation: X:634.45, Y:-87.25, Z:-41.68 [[ 9.78860022e-01 1.96431168e-01 5.69899489e-02 6.34452077e+02] [-1.95898566e-01 9.80511848e-01 -1.48414378e-02 -8.72547190e+01] [-5.87946411e-02 3.36344080e-03 9.98264433e-01 -4.16839424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.840714057 meters 0.035557564265569705 Centerline is valid? [True, True] Translation: X:634.51, Y:-87.27, Z:-41.69 [[ 9.79279996e-01 1.94264649e-01 5.72008405e-02 6.34508476e+02] [-1.93724612e-01 9.80942900e-01 -1.48929890e-02 -8.72739019e+01] [-5.90039397e-02 3.50319561e-03 9.98251603e-01 -4.16879110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.900714057 meters 0.03621660476487266 Centerline is valid? [True, True] Translation: X:634.57, Y:-87.29, Z:-41.69 [[ 9.79604151e-01 1.92348183e-01 5.81195704e-02 6.34565027e+02] [-1.91787414e-01 9.81319863e-01 -1.51299387e-02 -8.72922194e+01] [-5.99441051e-02 3.67474865e-03 9.98194971e-01 -4.16912948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.960714057 meters 0.037560247920664154 Centerline is valid? [True, True] Translation: X:634.62, Y:-87.31, Z:-41.70 [[ 9.79842283e-01 1.90835532e-01 5.90838456e-02 6.34621235e+02] [-1.90253380e-01 9.81614562e-01 -1.53786665e-02 -8.73118815e+01] [-6.09323592e-02 3.82776640e-03 9.98134558e-01 -4.16951962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.020714057 meters 0.03695292964488399 Centerline is valid? [True, True] Translation: X:634.68, Y:-87.33, Z:-41.70 [[ 9.79773267e-01 1.91325071e-01 5.86435231e-02 6.34678353e+02] [-1.90752526e-01 9.81519496e-01 -1.52627634e-02 -8.73264743e+01] [-6.04799106e-02 3.76764734e-03 9.98162304e-01 -4.16995194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.080714057 meters 0.035306524047935176 Centerline is valid? [True, True] Translation: X:634.74, Y:-87.34, Z:-41.70 [[ 9.79302249e-01 1.93783856e-01 5.84373347e-02 6.34736267e+02] [-1.93220682e-01 9.81037691e-01 -1.51926667e-02 -8.73394596e+01] [-6.02733215e-02 3.58691102e-03 9.98175466e-01 -4.17039215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.140714057 meters 0.037236478842671776 Centerline is valid? [True, True] Translation: X:634.79, Y:-87.36, Z:-41.71 [[ 9.78832450e-01 1.95930788e-01 5.91452600e-02 6.34792562e+02] [-1.95357909e-01 9.80611501e-01 -1.53744105e-02 -8.73577562e+01] [-6.10108426e-02 3.49447755e-03 9.98130986e-01 -4.17085892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.200714057 meters 0.03666942131112698 Centerline is valid? [True, True] Translation: X:634.85, Y:-87.37, Z:-41.71 [[ 9.78398905e-01 1.97851788e-01 5.99187251e-02 6.34850337e+02] [-1.97267535e-01 9.80225992e-01 -1.55731698e-02 -8.73718593e+01] [-6.18150713e-02 3.41675305e-03 9.98081772e-01 -4.17124005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.260714057 meters 0.03823843007326127 Centerline is valid? [True, True] Translation: X:634.91, Y:-87.39, Z:-41.72 [[ 9.78467810e-01 1.97411173e-01 6.02459416e-02 6.34905784e+02] [-1.96819813e-01 9.80314667e-01 -1.56561134e-02 -8.73888817e+01] [-6.21506719e-02 3.46140801e-03 9.98060776e-01 -4.17161234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.320714057 meters 0.035261050163421764 Centerline is valid? [True, True] Translation: X:634.96, Y:-87.40, Z:-41.72 [[ 9.78676468e-01 1.96104913e-01 6.11165610e-02 6.34963429e+02] [-1.95494116e-01 9.80576347e-01 -1.58770102e-02 -8.74002385e+01] [-6.30430138e-02 3.59052824e-03 9.98004352e-01 -4.17197559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.380714057 meters 0.03345079594680206 Centerline is valid? [True, True] Translation: X:635.02, Y:-87.41, Z:-41.72 [[ 9.78977670e-01 1.94414904e-01 6.16892720e-02 6.35021652e+02] [-1.93790323e-01 9.80912343e-01 -1.60089522e-02 -8.74122531e+01] [-6.36241473e-02 3.71762281e-03 9.97967007e-01 -4.17236663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.440714057 meters 0.03620395162425062 Centerline is valid? [True, True] Translation: X:635.08, Y:-87.43, Z:-41.73 [[ 9.79143267e-01 1.93238695e-01 6.27476707e-02 6.35075886e+02] [-1.92590228e-01 9.81144195e-01 -1.62810709e-02 -8.74333210e+01] [-6.47106457e-02 3.85691277e-03 9.97896616e-01 -4.17273922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.500714057 meters 0.03718135981593809 Centerline is valid? [True, True] Translation: X:635.13, Y:-87.45, Z:-41.73 [[ 9.79028507e-01 1.93108719e-01 6.49014998e-02 6.35131449e+02] [-1.92415088e-01 9.81169245e-01 -1.68328930e-02 -8.74507274e+01] [-6.69299340e-02 3.99185433e-03 9.97749693e-01 -4.17307113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.560714057 meters 0.035180985209949556 Centerline is valid? [True, True] Translation: X:635.19, Y:-87.46, Z:-41.73 [[ 9.78562334e-01 1.94794799e-01 6.68636228e-02 6.35188741e+02] [-1.94063818e-01 9.80835964e-01 -1.73218403e-02 -8.74645328e+01] [-6.89564503e-02 3.97469051e-03 9.97611753e-01 -4.17342409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.620714057 meters 0.03632793641749411 Centerline is valid? [True, True] Translation: X:635.24, Y:-87.48, Z:-41.74 [[ 9.78249560e-01 1.96011008e-01 6.78784470e-02 6.35243615e+02] [-1.95260927e-01 9.80593768e-01 -1.75793201e-02 -8.74832425e+01] [-7.00069224e-02 3.94295363e-03 9.97538713e-01 -4.17401821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.680714057 meters 0.036897057948073575 Centerline is valid? [True, True] Translation: X:635.30, Y:-87.50, Z:-41.74 [[ 9.77860809e-01 1.97732634e-01 6.84838895e-02 6.35298512e+02] [-1.96973756e-01 9.80248439e-01 -1.77295602e-02 -8.75007708e+01] [-7.06369384e-02 3.84751319e-03 9.97494671e-01 -4.17448745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.740714057 meters 0.03355459020102687 Centerline is valid? [True, True] Translation: X:635.36, Y:-87.51, Z:-41.75 [[ 9.77304594e-01 2.00189329e-01 6.92817657e-02 6.35357412e+02] [-1.99419218e-01 9.79750219e-01 -1.79299846e-02 -8.75108771e+01] [-7.14682167e-02 3.70694083e-03 9.97435989e-01 -4.17497316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.800714057 meters 0.032598882836230005 Centerline is valid? [True, True] Translation: X:635.41, Y:-87.52, Z:-41.75 [[ 9.77027624e-01 2.01662128e-01 6.89159525e-02 6.35414794e+02] [-2.00903995e-01 9.79448615e-01 -1.78324343e-02 -8.75240503e+01] [-7.10957608e-02 3.57729072e-03 9.97463080e-01 -4.17548678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.860714057 meters 0.03208342261409347 Centerline is valid? [True, True] Translation: X:635.47, Y:-87.54, Z:-41.76 [[ 9.76813956e-01 2.02641563e-01 6.90716481e-02 6.35471454e+02] [-2.01882906e-01 9.79246698e-01 -1.78661051e-02 -8.75392836e+01] [-7.12585987e-02 3.50747578e-03 9.97451708e-01 -4.17600996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.920714057 meters 0.03299025477120434 Centerline is valid? [True, True] Translation: X:635.53, Y:-87.56, Z:-41.76 [[ 9.76770688e-01 2.02668114e-01 6.96035758e-02 6.35526475e+02] [-2.01899080e-01 9.79241176e-01 -1.79855616e-02 -8.75556525e+01] [-7.18037873e-02 3.51487143e-03 9.97412584e-01 -4.17631768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.980714057 meters 0.03391936004926004 Centerline is valid? [True, True] Translation: X:635.58, Y:-87.57, Z:-41.77 [[ 9.76580474e-01 2.03133601e-01 7.09035883e-02 6.35581731e+02] [-2.02337454e-01 9.79144644e-01 -1.83117806e-02 -8.75727420e+01] [-7.31446066e-02 3.53647584e-03 9.97315076e-01 -4.17656383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0407140570001 meters 0.03238976788698824 Centerline is valid? [True, True] Translation: X:635.64, Y:-87.59, Z:-41.77 [[ 9.76428940e-01 2.03878271e-01 7.08532044e-02 6.35638823e+02] [-2.03086013e-01 9.78990106e-01 -1.82878162e-02 -8.75850373e+01] [-7.30930744e-02 3.46745822e-03 9.97319096e-01 -4.17710114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.100714057 meters 0.032547526201941 Centerline is valid? [True, True] Translation: X:635.70, Y:-87.60, Z:-41.78 [[ 9.76228475e-01 2.05478447e-01 6.89679094e-02 6.35695646e+02] [-2.04733112e-01 9.78656276e-01 -1.77833125e-02 -8.76005353e+01] [-7.11499648e-02 3.24056130e-03 9.97460366e-01 -4.17760441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1607140570001 meters 0.03171945258108342 Centerline is valid? [True, True] Translation: X:635.75, Y:-87.61, Z:-41.78 [[ 9.76060537e-01 2.06384299e-01 6.86392653e-02 6.35753053e+02] [-2.05649488e-01 9.78465964e-01 -1.76817618e-02 -8.76142341e+01] [-7.08104229e-02 3.14284021e-03 9.97484840e-01 -4.17800573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.220714057 meters 0.031110660612473126 Centerline is valid? [True, True] Translation: X:635.81, Y:-87.63, Z:-41.78 [[ 9.75901807e-01 2.07311280e-01 6.81006324e-02 6.35809913e+02] [-2.06591414e-01 9.78270322e-01 -1.75260970e-02 -8.76277678e+01] [-7.02541853e-02 3.03474375e-03 9.97524506e-01 -4.17833828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2807140570001 meters 0.031087316484562966 Centerline is valid? [True, True] Translation: X:635.87, Y:-87.64, Z:-41.79 [[ 9.75816378e-01 2.08009839e-01 6.71885592e-02 6.35867008e+02] [-2.07312041e-01 9.78122354e-01 -1.72735997e-02 -8.76429763e+01] [-6.93117104e-02 2.92686419e-03 9.97590758e-01 -4.17879529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.340714057 meters 0.030497921522527047 Centerline is valid? [True, True] Translation: X:635.92, Y:-87.66, Z:-41.79 [[ 9.75618539e-01 2.09235104e-01 6.62505685e-02 6.35923493e+02] [-2.08560614e-01 9.77861402e-01 -1.70161608e-02 -8.76585814e+01] [-6.83442520e-02 2.78402264e-03 9.97657914e-01 -4.17917262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.400714057 meters 0.030550761518730058 Centerline is valid? [True, True] Translation: X:635.98, Y:-87.67, Z:-41.79 [[ 9.75389133e-01 2.10088841e-01 6.69232191e-02 6.35979740e+02] [-2.09403819e-01 9.77678476e-01 -1.71708543e-02 -8.76745910e+01] [-6.90367957e-02 2.73428707e-03 9.97610367e-01 -4.17942698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.460714057 meters 0.030913861655546698 Centerline is valid? [True, True] Translation: X:636.04, Y:-87.69, Z:-41.80 [[ 9.75237946e-01 2.10794598e-01 6.69072971e-02 6.36036344e+02] [-2.10112783e-01 9.77526740e-01 -1.71490598e-02 -8.76917425e+01] [-6.90186012e-02 2.66633543e-03 9.97611810e-01 -4.17978966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.520714057 meters 0.02950084282331363 Centerline is valid? [True, True] Translation: X:636.09, Y:-87.71, Z:-41.80 [[ 9.75027380e-01 2.11742554e-01 6.69828252e-02 6.36092605e+02] [-2.11062563e-01 9.77322057e-01 -1.71520178e-02 -8.77066856e+01] [-6.90956046e-02 2.58612017e-03 9.97606691e-01 -4.18021341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.580714057 meters 0.029358085510976285 Centerline is valid? [True, True] Translation: X:636.15, Y:-87.72, Z:-41.81 [[ 9.74971268e-01 2.11964598e-01 6.70972089e-02 6.36148499e+02] [-2.11284075e-01 9.77274000e-01 -1.71629749e-02 -8.77235812e+01] [-6.92103009e-02 2.55683568e-03 9.97598816e-01 -4.18061258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.640714057 meters 0.029958654721495104 Centerline is valid? [True, True] Translation: X:636.20, Y:-87.74, Z:-41.81 [[ 9.75030497e-01 2.11859549e-01 6.65662124e-02 6.36201955e+02] [-2.11190733e-01 9.77296857e-01 -1.70096127e-02 -8.77435462e+01] [-6.86585991e-02 2.52672394e-03 9.97637014e-01 -4.18098698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.700714057 meters 0.029895213410023297 Centerline is valid? [True, True] Translation: X:636.26, Y:-87.76, Z:-41.81 [[ 9.74853785e-01 2.12557502e-01 6.69283642e-02 6.36258109e+02] [-2.11883683e-01 9.77145409e-01 -1.70925555e-02 -8.77603715e+01] [-6.90318947e-02 2.48171418e-03 9.97611367e-01 -4.18137252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.760714057 meters 0.02876752627666303 Centerline is valid? [True, True] Translation: X:636.31, Y:-87.78, Z:-41.82 [[ 9.74701822e-01 2.13497927e-01 6.61437299e-02 6.36314694e+02] [-2.12843192e-01 9.76940643e-01 -1.68746826e-02 -8.77765706e+01] [-6.82212078e-02 2.36954126e-03 9.97667406e-01 -4.18183720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.820714057 meters 0.029740373179527817 Centerline is valid? [True, True] Translation: X:636.37, Y:-87.80, Z:-41.82 [[ 9.75073731e-01 2.12119151e-01 6.50898248e-02 6.36369731e+02] [-2.11483236e-01 9.77240840e-01 -1.65886035e-02 -8.77954856e+01] [-6.71271955e-02 2.40970475e-03 9.97741516e-01 -4.18228914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.880714057 meters 0.03153380278824754 Centerline is valid? [True, True] Translation: X:636.43, Y:-87.82, Z:-41.83 [[ 9.76122832e-01 2.07157752e-01 6.53443451e-02 6.36426039e+02] [-2.06506162e-01 9.78303670e-01 -1.66473438e-02 -8.78189163e+01] [-6.73752390e-02 2.75584246e-03 9.97723901e-01 -4.18257367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.940714057 meters 0.03370415770694193 Centerline is valid? [True, True] Translation: X:636.48, Y:-87.84, Z:-41.83 [[ 9.77143791e-01 2.02011636e-01 6.61914756e-02 6.36481555e+02] [-2.01331321e-01 9.79378056e-01 -1.68618904e-02 -8.78425670e+01] [-6.82327768e-02 3.15007431e-03 9.97664455e-01 -4.18276863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.000714057 meters 0.033216626560964316 Centerline is valid? [True, True] Translation: X:636.54, Y:-87.86, Z:-41.83 [[ 9.77674488e-01 1.99510497e-01 6.59405521e-02 6.36538545e+02] [-1.98829758e-01 9.79890096e-01 -1.67966213e-02 -8.78581046e+01] [-6.79655962e-02 3.31068409e-03 9.97682172e-01 -4.18313559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.060714057 meters 0.03346510139548629 Centerline is valid? [True, True] Translation: X:636.59, Y:-87.88, Z:-41.83 [[ 9.77960068e-01 1.98233603e-01 6.55556632e-02 6.36594232e+02] [-1.97558211e-01 9.80148991e-01 -1.66945776e-02 -8.78754039e+01] [-6.75637434e-02 3.37557073e-03 9.97709249e-01 -4.18348812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.120714057 meters 0.03253165879597062 Centerline is valid? [True, True] Translation: X:636.65, Y:-87.89, Z:-41.84 [[ 9.77604991e-01 2.00003141e-01 6.54769031e-02 6.36651063e+02] [-1.99333951e-01 9.79789898e-01 -1.66652865e-02 -8.78889393e+01] [-6.74867178e-02 3.24029744e-03 9.97714911e-01 -4.18384030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.180714057 meters 0.03236366830112918 Centerline is valid? [True, True] Translation: X:636.71, Y:-87.90, Z:-41.84 [[ 9.77228981e-01 2.02143608e-01 6.45095393e-02 6.36706825e+02] [-2.01499051e-01 9.79351168e-01 -1.64141040e-02 -8.79038831e+01] [-6.64954988e-02 3.04172717e-03 9.97782089e-01 -4.18419139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.240714057 meters 0.031533931126139704 Centerline is valid? [True, True] Translation: X:636.76, Y:-87.92, Z:-41.85 [[ 9.76891916e-01 2.04144968e-01 6.33010058e-02 6.36764031e+02] [-2.03528942e-01 9.78936534e-01 -1.61006795e-02 -8.79171783e+01] [-6.52545399e-02 2.84503693e-03 9.97864595e-01 -4.18462501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.300714057 meters 0.03221527025689236 Centerline is valid? [True, True] Translation: X:636.82, Y:-87.93, Z:-41.85 [[ 9.76459964e-01 2.06791406e-01 6.13453552e-02 6.36819272e+02] [-2.06218396e-01 9.78381650e-01 -1.55987347e-02 -8.79333574e+01] [-6.32448542e-02 2.58099918e-03 9.97994703e-01 -4.18506911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.360714057 meters 0.03040100195780252 Centerline is valid? [True, True] Translation: X:636.88, Y:-87.94, Z:-41.85 [[ 9.75898425e-01 2.09583428e-01 6.08033851e-02 6.36877565e+02] [-2.09026247e-01 9.77787887e-01 -1.54555991e-02 -8.79449663e+01] [-6.26920510e-02 2.37359145e-03 9.98030096e-01 -4.18539710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.420714057 meters 0.029842009420140047 Centerline is valid? [True, True] Translation: X:636.93, Y:-87.96, Z:-41.86 [[ 9.75520649e-01 2.11362980e-01 6.07054741e-02 6.36934753e+02] [-2.10811971e-01 9.77405069e-01 -1.54157012e-02 -8.79588871e+01] [-6.25921466e-02 2.24089424e-03 9.98036674e-01 -4.18568711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.480714057 meters 0.03470121893794 Centerline is valid? [True, True] Translation: X:636.99, Y:-87.99, Z:-41.86 [[ 9.74567719e-01 2.15427348e-01 6.17156252e-02 6.36988261e+02] [-2.14867019e-01 9.76517829e-01 -1.56554587e-02 -8.79854082e+01] [-6.36390223e-02 1.99665225e-03 9.97970986e-01 -4.18601949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5407140570001 meters 0.029723513522145913 Centerline is valid? [True, True] Translation: X:637.05, Y:-87.99, Z:-41.86 [[ 9.75431587e-01 2.11673400e-01 6.10539999e-02 6.37048184e+02] [-2.11117844e-01 9.77337948e-01 -1.54851877e-02 -8.79909022e+01] [-6.29481933e-02 2.21515233e-03 9.98014338e-01 -4.18637474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.600714057 meters 0.03128615117693688 Centerline is valid? [True, True] Translation: X:637.10, Y:-88.01, Z:-41.87 [[ 9.76155622e-01 2.08550861e-01 6.02224136e-02 6.37104741e+02] [-2.08004563e-01 9.78008623e-01 -1.52720103e-02 -8.80101688e+01] [-6.20830308e-02 2.38132192e-03 9.98068147e-01 -4.18676732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6607140570001 meters 0.03238693679875376 Centerline is valid? [True, True] Translation: X:637.16, Y:-88.03, Z:-41.87 [[ 9.76707520e-01 2.05971496e-01 6.01511658e-02 6.37160896e+02] [-2.05421743e-01 9.78554695e-01 -1.52517940e-02 -8.80289094e+01] [-6.20026405e-02 2.54018457e-03 9.98072753e-01 -4.18707985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.720714057 meters 0.03236317507385699 Centerline is valid? [True, True] Translation: X:637.22, Y:-88.05, Z:-41.87 [[ 9.77129805e-01 2.03723845e-01 6.09420959e-02 6.37217570e+02] [-2.03155469e-01 9.79024633e-01 -1.54474259e-02 -8.80454020e+01] [-6.28108221e-02 2.71342016e-03 9.98021762e-01 -4.18734591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7807140570001 meters 0.032266144724166265 Centerline is valid? [True, True] Translation: X:637.27, Y:-88.06, Z:-41.88 [[ 9.77195199e-01 2.03409758e-01 6.09427068e-02 6.37273185e+02] [-2.02840952e-01 9.79089891e-01 -1.54445605e-02 -8.80603220e+01] [-6.28099625e-02 2.73067368e-03 9.98021769e-01 -4.18764881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.840714057 meters 0.032426277920370214 Centerline is valid? [True, True] Translation: X:637.33, Y:-88.08, Z:-41.88 [[ 9.77326716e-01 2.02728134e-01 6.11047802e-02 6.37329764e+02] [-2.02156150e-01 9.79231161e-01 -1.54668676e-02 -8.80753352e+01] [-6.29712740e-02 2.76347579e-03 9.98011514e-01 -4.18807014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.900714057 meters 0.03285076132351127 Centerline is valid? [True, True] Translation: X:637.39, Y:-88.09, Z:-41.88 [[ 9.77284523e-01 2.03151665e-01 6.03685558e-02 6.37385653e+02] [-2.02595196e-01 9.79143594e-01 -1.52646038e-02 -8.80916008e+01] [-6.22105144e-02 2.68748159e-03 9.98059432e-01 -4.18849795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.960714057 meters 0.033156414989547765 Centerline is valid? [True, True] Translation: X:637.44, Y:-88.11, Z:-41.89 [[ 9.77058280e-01 2.04288426e-01 6.01943263e-02 6.37441137e+02] [-2.03738302e-01 9.78907309e-01 -1.52047283e-02 -8.81086264e+01] [-6.20308160e-02 2.59201585e-03 9.98070869e-01 -4.18898275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.020714057 meters 0.033486524736619346 Centerline is valid? [True, True] Translation: X:637.50, Y:-88.12, Z:-41.89 [[ 9.77081259e-01 2.04202367e-01 6.01132783e-02 6.37496961e+02] [-2.03654553e-01 9.78925301e-01 -1.51683100e-02 -8.81238301e+01] [-6.19438139e-02 2.57832864e-03 9.98076308e-01 -4.18940476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.080714057 meters 0.03249191267787332 Centerline is valid? [True, True] Translation: X:637.55, Y:-88.14, Z:-41.90 [[ 9.77378110e-01 2.02777552e-01 6.01106889e-02 6.37553612e+02] [-2.02227508e-01 9.79221210e-01 -1.51610260e-02 -8.81373496e+01] [-6.19359773e-02 2.66202012e-03 9.98076574e-01 -4.18980146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.140714057 meters 0.03250891480206409 Centerline is valid? [True, True] Translation: X:637.61, Y:-88.15, Z:-41.90 [[ 9.77791082e-01 2.00535923e-01 6.09093144e-02 6.37609976e+02] [-1.99967161e-01 9.79682245e-01 -1.53568810e-02 -8.81532728e+01] [-6.27513802e-02 2.83595864e-03 9.98025161e-01 -4.19016786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.200714057 meters 0.033876572414199294 Centerline is valid? [True, True] Translation: X:637.66, Y:-88.17, Z:-41.91 [[ 9.78058956e-01 1.99023021e-01 6.15671637e-02 6.37664498e+02] [-1.98439979e-01 9.79990380e-01 -1.55057825e-02 -8.81705567e+01] [-6.34212359e-02 2.94818279e-03 9.97982492e-01 -4.19056806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.260714057 meters 0.034675594332518524 Centerline is valid? [True, True] Translation: X:637.72, Y:-88.19, Z:-41.91 [[ 9.78680825e-01 1.95848928e-01 6.18630773e-02 6.37721233e+02] [-1.95254606e-01 9.80628992e-01 -1.55698317e-02 -8.81870278e+01] [-6.37140619e-02 3.15884499e-03 9.97963196e-01 -4.19089283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.320714057 meters 0.033542911744007795 Centerline is valid? [True, True] Translation: X:637.78, Y:-88.20, Z:-41.91 [[ 9.79196731e-01 1.93267429e-01 6.18179778e-02 6.37779184e+02] [-1.92669072e-01 9.81140496e-01 -1.55549537e-02 -8.82001100e+01] [-6.36583873e-02 3.32094736e-03 9.97966222e-01 -4.19128556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.380714057 meters 0.036956008819637294 Centerline is valid? [True, True] Translation: X:637.84, Y:-88.22, Z:-41.92 [[ 9.80163349e-01 1.87812276e-01 6.32957954e-02 6.37835187e+02] [-1.87173755e-01 9.82197741e-01 -1.59242568e-02 -8.82207463e+01] [-6.51597582e-02 3.76106119e-03 9.97867757e-01 -4.19161548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.440714057 meters 0.03807244675952618 Centerline is valid? [True, True] Translation: X:637.89, Y:-88.24, Z:-41.92 [[ 9.80975872e-01 1.83124650e-01 6.44336924e-02 6.37893193e+02] [-1.82452947e-01 9.83080965e-01 -1.62091959e-02 -8.82364833e+01] [-6.63118399e-02 4.14471296e-03 9.97790339e-01 -4.19190833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.500714057 meters 0.03988013023767957 Centerline is valid? [True, True] Translation: X:637.95, Y:-88.25, Z:-41.92 [[ 9.81376017e-01 1.81033242e-01 6.42501219e-02 6.37950044e+02] [-1.80360924e-01 9.83467693e-01 -1.61627621e-02 -8.82525968e+01] [-6.61139164e-02 4.27353574e-03 9.97802930e-01 -4.19233226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.560714057 meters 0.04065202361094296 Centerline is valid? [True, True] Translation: X:638.01, Y:-88.27, Z:-41.93 [[ 9.81652094e-01 1.79740657e-01 6.36589553e-02 6.38006832e+02] [-1.79078208e-01 9.83704561e-01 -1.60104014e-02 -8.82676202e+01] [-6.54993247e-02 4.31671236e-03 9.97843277e-01 -4.19280216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.620714057 meters 0.040740800761086216 Centerline is valid? [True, True] Translation: X:638.06, Y:-88.28, Z:-41.93 [[ 9.81704440e-01 1.79586744e-01 6.32850147e-02 6.38064184e+02] [-1.78932061e-01 9.83732758e-01 -1.59115793e-02 -8.82811431e+01] [-6.51130507e-02 4.29674992e-03 9.97868643e-01 -4.19323315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.680714057 meters 0.03909353738613049 Centerline is valid? [True, True] Translation: X:638.12, Y:-88.29, Z:-41.94 [[ 9.81796125e-01 1.79300926e-01 6.26701492e-02 6.38122160e+02] [-1.78658648e-01 9.83785014e-01 -1.57522526e-02 -8.82906552e+01] [-6.44783471e-02 4.26893639e-03 9.97909975e-01 -4.19359656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.740714057 meters 0.04106528815801005 Centerline is valid? [True, True] Translation: X:638.18, Y:-88.31, Z:-41.94 [[ 9.81831500e-01 1.79134105e-01 6.25929565e-02 6.38176866e+02] [-1.78493388e-01 9.83815400e-01 -1.57279747e-02 -8.83058646e+01] [-6.43973312e-02 4.26979208e-03 9.97915203e-01 -4.19396853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.800714057 meters 0.039396477234117905 Centerline is valid? [True, True] Translation: X:638.23, Y:-88.32, Z:-41.94 [[ 9.82083952e-01 1.78109893e-01 6.15465408e-02 6.38234912e+02] [-1.77488969e-01 9.84001398e-01 -1.54568437e-02 -8.83170581e+01] [-6.33148990e-02 4.25608606e-03 9.97984524e-01 -4.19436120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.860714057 meters 0.04042401149926548 Centerline is valid? [True, True] Translation: X:638.29, Y:-88.33, Z:-41.95 [[ 9.82191322e-01 1.77218201e-01 6.24012588e-02 6.38292116e+02] [-1.76578412e-01 9.84161888e-01 -1.56666038e-02 -8.83313607e+01] [-6.41893480e-02 4.36888715e-03 9.97928174e-01 -4.19458571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.920714057 meters 0.0403205126081972 Centerline is valid? [True, True] Translation: X:638.35, Y:-88.34, Z:-41.95 [[ 9.82184456e-01 1.77260108e-01 6.23902951e-02 6.38349255e+02] [-1.76620935e-01 9.84154377e-01 -1.56590753e-02 -8.83441198e+01] [-6.41774114e-02 4.36066811e-03 9.97928978e-01 -4.19492963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.980714057 meters 0.03856918900663613 Centerline is valid? [True, True] Translation: X:638.41, Y:-88.35, Z:-41.95 [[ 9.82094466e-01 1.77763604e-01 6.23743566e-02 6.38407038e+02] [-1.77126074e-01 9.84063729e-01 -1.56503054e-02 -8.83540874e+01] [-6.41623967e-02 4.32195341e-03 9.97930112e-01 -4.19525843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0407140570001 meters 0.03867219262476952 Centerline is valid? [True, True] Translation: X:638.46, Y:-88.37, Z:-41.96 [[ 9.82280522e-01 1.76705506e-01 6.24510984e-02 6.38463897e+02] [-1.76064590e-01 9.84253970e-01 -1.56647059e-02 -8.83667696e+01] [-6.42357813e-02 4.39170845e-03 9.97925086e-01 -4.19560589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.100714057 meters 0.04002493699137996 Centerline is valid? [True, True] Translation: X:638.52, Y:-88.38, Z:-41.96 [[ 9.82733074e-01 1.74419507e-01 6.17538796e-02 6.38521315e+02] [-1.73788735e-01 9.84661224e-01 -1.54838470e-02 -8.83814386e+01] [-6.35073356e-02 4.48435999e-03 9.97971297e-01 -4.19610329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1607140570001 meters 0.04070252921640294 Centerline is valid? [True, True] Translation: X:638.58, Y:-88.40, Z:-41.97 [[ 9.83233139e-01 1.71641582e-01 6.15772861e-02 6.38579780e+02] [-1.71009232e-01 9.85148504e-01 -1.54359418e-02 -8.83962122e+01] [-6.33122207e-02 4.64684507e-03 9.97982951e-01 -4.19653978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.220714057 meters 0.04368910693401912 Centerline is valid? [True, True] Translation: X:638.64, Y:-88.41, Z:-41.97 [[ 9.83737657e-01 1.68847128e-01 6.12443489e-02 6.38635977e+02] [-1.68216225e-01 9.85630561e-01 -1.53525084e-02 -8.84134107e+01] [-6.29565289e-02 4.80054748e-03 9.98004725e-01 -4.19683474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2807140570001 meters 0.043539987591158937 Centerline is valid? [True, True] Translation: X:638.69, Y:-88.42, Z:-41.97 [[ 9.83867828e-01 1.68178073e-01 6.09937078e-02 6.38693363e+02] [-1.67551114e-01 9.85744835e-01 -1.52887319e-02 -8.84246579e+01] [-6.26954619e-02 4.82252771e-03 9.98021053e-01 -4.19717210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.340714057 meters 0.043460704757540346 Centerline is valid? [True, True] Translation: X:638.75, Y:-88.44, Z:-41.98 [[ 9.83742939e-01 1.69264482e-01 5.99947157e-02 6.38751157e+02] [-1.68660204e-01 9.85559597e-01 -1.50338188e-02 -8.84359011e+01] [-6.16730594e-02 4.67069211e-03 9.98085477e-01 -4.19761690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.400714057 meters 0.04377641926107028 Centerline is valid? [True, True] Translation: X:638.81, Y:-88.45, Z:-41.98 [[ 9.83618043e-01 1.70089560e-01 5.97083536e-02 6.38808204e+02] [-1.69492832e-01 9.85417907e-01 -1.49575537e-02 -8.84488176e+01] [-6.13818046e-02 4.59238178e-03 9.98103794e-01 -4.19799823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.460714057 meters 0.041143299820385025 Centerline is valid? [True, True] Translation: X:638.87, Y:-88.46, Z:-41.98 [[ 9.83476491e-01 1.71101798e-01 5.91453031e-02 6.38867608e+02] [-1.70518333e-01 9.85243158e-01 -1.48127351e-02 -8.84553845e+01] [-6.08069908e-02 4.48261826e-03 9.98139477e-01 -4.19828456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.520714057 meters 0.04069320461934361 Centerline is valid? [True, True] Translation: X:638.93, Y:-88.47, Z:-41.99 [[ 9.83360915e-01 1.71776856e-01 5.91102630e-02 6.38926075e+02] [-1.71196192e-01 9.85125953e-01 -1.47892168e-02 -8.84657757e+01] [-6.07714993e-02 4.42368584e-03 9.98141902e-01 -4.19864643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.580714057 meters 0.041944617074582656 Centerline is valid? [True, True] Translation: X:638.98, Y:-88.48, Z:-41.99 [[ 9.83257433e-01 1.72465300e-01 5.88263551e-02 6.38982631e+02] [-1.71892360e-01 9.85006011e-01 -1.47028732e-02 -8.84793395e+01] [-6.04800488e-02 4.34490835e-03 9.98159950e-01 -4.19900181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.640714057 meters 0.04009211145577675 Centerline is valid? [True, True] Translation: X:639.04, Y:-88.49, Z:-41.99 [[ 9.83232093e-01 1.72951647e-01 5.78133131e-02 6.39041027e+02] [-1.72399385e-01 9.84921206e-01 -1.44453999e-02 -8.84865023e+01] [-5.94399137e-02 4.23620112e-03 9.98222897e-01 -4.19941373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.700714057 meters 0.04037789469059543 Centerline is valid? [True, True] Translation: X:639.10, Y:-88.50, Z:-42.00 [[ 9.83173781e-01 1.73348666e-01 5.76155873e-02 6.39098678e+02] [-1.72801119e-01 9.84851591e-01 -1.43915880e-02 -8.84978151e+01] [-5.92375654e-02 4.19339404e-03 9.98235106e-01 -4.19983783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.760714057 meters 0.039930059721226284 Centerline is valid? [True, True] Translation: X:639.16, Y:-88.51, Z:-42.00 [[ 9.83102086e-01 1.73693308e-01 5.78007269e-02 6.39156740e+02] [-1.73143031e-01 9.84790912e-01 -1.44343603e-02 -8.85079502e+01] [-5.94287823e-02 4.18265671e-03 9.98223785e-01 -4.20011500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.820714057 meters 0.03993491330609852 Centerline is valid? [True, True] Translation: X:639.21, Y:-88.52, Z:-42.00 [[ 9.82810066e-01 1.74835117e-01 5.93047722e-02 6.39214929e+02] [-1.74258891e-01 9.84588749e-01 -1.47930171e-02 -8.85163549e+01] [-6.09771504e-02 4.20434222e-03 9.98130307e-01 -4.20030491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.880714057 meters 0.03891957178685499 Centerline is valid? [True, True] Translation: X:639.27, Y:-88.52, Z:-42.01 [[ 9.82703102e-01 1.75344041e-01 5.95741591e-02 6.39273334e+02] [-1.74763733e-01 9.84498313e-01 -1.48562793e-02 -8.85242849e+01] [-6.12556192e-02 4.18790937e-03 9.98113326e-01 -4.20055211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.940714057 meters 0.04104453751995592 Centerline is valid? [True, True] Translation: X:639.33, Y:-88.54, Z:-42.01 [[ 9.82510232e-01 1.76411752e-01 5.96031764e-02 6.39329802e+02] [-1.75833848e-01 9.84307892e-01 -1.48469450e-02 -8.85363020e+01] [-6.12870524e-02 4.10701950e-03 9.98111732e-01 -4.20089496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.000714057 meters 0.042071883434941684 Centerline is valid? [True, True] Translation: X:639.39, Y:-88.55, Z:-42.01 [[ 9.82817592e-01 1.75122515e-01 5.83239763e-02 6.39387421e+02] [-1.74567257e-01 9.84538147e-01 -1.45227602e-02 -8.85494510e+01] [-5.99654418e-02 4.09176771e-03 9.98192067e-01 -4.20132245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.060714057 meters 0.04073651320275363 Centerline is valid? [True, True] Translation: X:639.45, Y:-88.56, Z:-42.02 [[ 9.83521882e-01 1.71630136e-01 5.68137663e-02 6.39447416e+02] [-1.71097694e-01 9.85152548e-01 -1.41434012e-02 -8.85582887e+01] [-5.83976605e-02 4.18964011e-03 9.98284609e-01 -4.20175822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.120714057 meters 0.04189696263039252 Centerline is valid? [True, True] Translation: X:639.51, Y:-88.57, Z:-42.02 [[ 9.84102406e-01 1.68584489e-01 5.58724017e-02 6.39505800e+02] [-1.68064713e-01 9.85677839e-01 -1.39085950e-02 -8.85729629e+01] [-5.74169616e-02 4.29730258e-03 9.98341037e-01 -4.20217158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.180714057 meters 0.04403506699574417 Centerline is valid? [True, True] Translation: X:639.56, Y:-88.59, Z:-42.02 [[ 9.84550324e-01 1.66046470e-01 5.55808303e-02 6.39564084e+02] [-1.65528181e-01 9.86108021e-01 -1.38344827e-02 -8.85866895e+01] [-5.71058696e-02 4.42055074e-03 9.98358342e-01 -4.20249404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.240714057 meters 0.042393673028721074 Centerline is valid? [True, True] Translation: X:639.62, Y:-88.60, Z:-42.03 [[ 9.84505153e-01 1.66229323e-01 5.58338250e-02 6.39622460e+02] [-1.65706552e-01 9.86077168e-01 -1.38981274e-02 -8.85963104e+01] [-5.73667363e-02 4.43074741e-03 9.98343341e-01 -4.20276717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.300714057 meters 0.04063138727452885 Centerline is valid? [True, True] Translation: X:639.68, Y:-88.60, Z:-42.03 [[ 9.83820624e-01 1.70433964e-01 5.52199496e-02 6.39682718e+02] [-1.69930157e-01 9.85360474e-01 -1.37287113e-02 -8.86031969e+01] [-5.67513944e-02 4.12305463e-03 9.98379827e-01 -4.20297790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.360714057 meters 0.03956803548589133 Centerline is valid? [True, True] Translation: X:639.74, Y:-88.61, Z:-42.03 [[ 9.82732382e-01 1.76497482e-01 5.55491165e-02 6.39742363e+02] [-1.75997276e-01 9.84293774e-01 -1.38102937e-02 -8.86110810e+01] [-5.71141316e-02 3.79532957e-03 9.98360442e-01 -4.20322588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.420714057 meters 0.03877484385797145 Centerline is valid? [True, True] Translation: X:639.80, Y:-88.62, Z:-42.04 [[ 9.81968118e-01 1.80651432e-01 5.57106420e-02 6.39802172e+02] [-1.80155054e-01 9.83540731e-01 -1.38487473e-02 -8.86219385e+01] [-5.72954816e-02 3.56247464e-03 9.98350909e-01 -4.20354863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.480714057 meters 0.03817715446243384 Centerline is valid? [True, True] Translation: X:639.86, Y:-88.63, Z:-42.04 [[ 9.81164790e-01 1.85198510e-01 5.49287361e-02 6.39860621e+02] [-1.84723084e-01 9.82695755e-01 -1.36541264e-02 -8.86328313e+01] [-5.65069597e-02 3.25034249e-03 9.98396914e-01 -4.20401924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5407140570001 meters 0.03397017305697349 Centerline is valid? [True, True] Translation: X:639.92, Y:-88.64, Z:-42.04 [[ 9.80925486e-01 1.86584425e-01 5.45109505e-02 6.39920400e+02] [-1.86118315e-01 9.82433891e-01 -1.35507464e-02 -8.86378748e+01] [-5.60817634e-02 3.14678624e-03 9.98421221e-01 -4.20430818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.600714057 meters 0.03382218101886669 Centerline is valid? [True, True] Translation: X:639.98, Y:-88.65, Z:-42.05 [[ 9.80392805e-01 1.89425171e-01 5.42959650e-02 6.39978996e+02] [-1.88967925e-01 9.81890706e-01 -1.34820401e-02 -8.86500440e+01] [-5.58665412e-02 2.95749929e-03 9.98433865e-01 -4.20473951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6607140570001 meters 0.03328779032003636 Centerline is valid? [True, True] Translation: X:640.04, Y:-88.66, Z:-42.05 [[ 9.80036189e-01 1.91136881e-01 5.47335554e-02 6.40036305e+02] [-1.90675025e-01 9.81559165e-01 -1.35882284e-02 -8.86623413e+01] [-5.63214346e-02 2.88063353e-03 9.98408533e-01 -4.20512084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.720714057 meters 0.03293601311977087 Centerline is valid? [True, True] Translation: X:640.09, Y:-88.67, Z:-42.05 [[ 9.79996934e-01 1.91409308e-01 5.44838194e-02 6.40093533e+02] [-1.90952222e-01 9.81506168e-01 -1.35237186e-02 -8.86745398e+01] [-5.60647704e-02 2.84939637e-03 9.98423068e-01 -4.20546157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7807140570001 meters 0.03355152612345474 Centerline is valid? [True, True] Translation: X:640.15, Y:-88.69, Z:-42.06 [[ 9.80431469e-01 1.89087044e-01 5.47743123e-02 6.40150373e+02] [-1.88622377e-01 9.81955802e-01 -1.35794511e-02 -8.86909530e+01] [-5.63536520e-02 2.98206020e-03 9.98406417e-01 -4.20581697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.840714057 meters 0.03488193057638678 Centerline is valid? [True, True] Translation: X:640.21, Y:-88.71, Z:-42.06 [[ 9.81027414e-01 1.86088549e-01 5.43715383e-02 6.40207419e+02] [-1.85626298e-01 9.82527999e-01 -1.34762155e-02 -8.87087251e+01] [-5.59293281e-02 3.12774944e-03 9.98429831e-01 -4.20622363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.900714057 meters 0.036301406606707665 Centerline is valid? [True, True] Translation: X:640.27, Y:-88.73, Z:-42.07 [[ 9.82028913e-01 1.80924580e-01 5.37169500e-02 6.40265001e+02] [-1.80465774e-01 9.83491167e-01 -1.33127217e-02 -8.87273429e+01] [-5.52387445e-02 3.37940670e-03 9.98467456e-01 -4.20653748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.960714057 meters 0.03791489595402873 Centerline is valid? [True, True] Translation: X:640.32, Y:-88.75, Z:-42.07 [[ 9.82593071e-01 1.77840957e-01 5.36977784e-02 6.40322765e+02] [-1.77377907e-01 9.84052835e-01 -1.33077405e-02 -8.87454733e+01] [-5.52081124e-02 3.55129411e-03 9.98468554e-01 -4.20684570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.020714057 meters 0.03968249353013797 Centerline is valid? [True, True] Translation: X:640.38, Y:-88.76, Z:-42.07 [[ 9.83011672e-01 1.75470320e-01 5.38351098e-02 6.40379828e+02] [-1.75001339e-01 9.84477790e-01 -1.33421078e-02 -8.87638404e+01] [-5.53406138e-02 3.69423136e-03 9.98460700e-01 -4.20717944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.080714057 meters 0.04115378638829437 Centerline is valid? [True, True] Translation: X:640.44, Y:-88.78, Z:-42.08 [[ 9.83150441e-01 1.74538550e-01 5.43277560e-02 6.40435679e+02] [-1.74059611e-01 9.84643087e-01 -1.34626216e-02 -8.87806282e+01] [-5.58431958e-02 3.77951426e-03 9.98432398e-01 -4.20758932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.140714057 meters 0.04245283708816199 Centerline is valid? [True, True] Translation: X:640.49, Y:-88.80, Z:-42.08 [[ 9.83296324e-01 1.73758267e-01 5.41885972e-02 6.40491862e+02] [-1.73280801e-01 9.84780963e-01 -1.34245726e-02 -8.87961340e+01] [-5.56965294e-02 3.81048937e-03 9.98440472e-01 -4.20795737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.200714057 meters 0.04445854240943445 Centerline is valid? [True, True] Translation: X:640.55, Y:-88.81, Z:-42.08 [[ 9.83490657e-01 1.73089349e-01 5.27845052e-02 6.40547220e+02] [-1.72636170e-01 9.84899048e-01 -1.30620736e-02 -8.88114750e+01] [-5.42483147e-02 3.73391251e-03 9.98520495e-01 -4.20842286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.260714057 meters 0.04034876353352311 Centerline is valid? [True, True] Translation: X:640.61, Y:-88.82, Z:-42.09 [[ 9.83691955e-01 1.72240285e-01 5.18017535e-02 6.40605509e+02] [-1.71802909e-01 9.85047995e-01 -1.28144046e-02 -8.88185274e+01] [-5.32343701e-02 3.70573477e-03 9.98575170e-01 -4.20876591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.320714057 meters 0.047045059386757945 Centerline is valid? [True, True] Translation: X:640.66, Y:-88.84, Z:-42.09 [[ 9.84049520e-01 1.70400963e-01 5.10886951e-02 6.40660453e+02] [-1.69973347e-01 9.85367680e-01 -1.26331490e-02 -8.88406597e+01] [-5.24938497e-02 3.74792775e-03 9.98614214e-01 -4.20930240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.380714057 meters 0.04074586310228519 Centerline is valid? [True, True] Translation: X:640.72, Y:-88.84, Z:-42.09 [[ 9.84264731e-01 1.68963965e-01 5.17118675e-02 6.40720449e+02] [-1.68523984e-01 9.85614634e-01 -1.27851322e-02 -8.88434574e+01] [-5.31282000e-02 3.86926479e-03 9.98580204e-01 -4.20940831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.440714057 meters 0.04031161557950888 Centerline is valid? [True, True] Translation: X:640.78, Y:-88.85, Z:-42.10 [[ 9.84464571e-01 1.67920515e-01 5.13050646e-02 6.40778742e+02] [-1.67486735e-01 9.85792897e-01 -1.26711477e-02 -8.88534858e+01] [-5.27039139e-02 3.88137820e-03 9.98602640e-01 -4.20976205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.500714057 meters 0.04158450522605788 Centerline is valid? [True, True] Translation: X:640.83, Y:-88.87, Z:-42.10 [[ 9.84373222e-01 1.68247548e-01 5.19819469e-02 6.40834509e+02] [-1.67803544e-01 9.85737064e-01 -1.28223054e-02 -8.88669104e+01] [-5.33978531e-02 3.89917913e-03 9.98565704e-01 -4.21006616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.560714057 meters 0.042695568526344346 Centerline is valid? [True, True] Translation: X:640.89, Y:-88.88, Z:-42.10 [[ 9.84118663e-01 1.69559904e-01 5.25347138e-02 6.40891138e+02] [-1.69108537e-01 9.85512309e-01 -1.29534494e-02 -8.88797188e+01] [-5.39699928e-02 3.86366273e-03 9.98535083e-01 -4.21040098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.620714057 meters 0.04298462314260661 Centerline is valid? [True, True] Translation: X:640.95, Y:-88.89, Z:-42.11 [[ 9.84075437e-01 1.69882722e-01 5.23010038e-02 6.40948340e+02] [-1.69435922e-01 9.85456856e-01 -1.28939044e-02 -8.88931396e+01] [-5.37308343e-02 3.82690578e-03 9.98548122e-01 -4.21079333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.680714057 meters 0.044040303065106014 Centerline is valid? [True, True] Translation: X:641.00, Y:-88.91, Z:-42.11 [[ 9.83922598e-01 1.70985288e-01 5.15785974e-02 6.41004427e+02] [-1.70553054e-01 9.85266635e-01 -1.27009260e-02 -8.89062524e+01] [-5.29903426e-02 3.69984088e-03 9.98588171e-01 -4.21121161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.740714057 meters 0.03819233679946749 Centerline is valid? [True, True] Translation: X:641.06, Y:-88.91, Z:-42.11 [[ 9.83645673e-01 1.72594023e-01 5.15023629e-02 6.41063772e+02] [-1.72165513e-01 9.84986457e-01 -1.26773593e-02 -8.89103859e+01] [-5.29171664e-02 3.60309888e-03 9.98592405e-01 -4.21145200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.800714057 meters 0.03992849147555796 Centerline is valid? [True, True] Translation: X:641.12, Y:-88.92, Z:-42.12 [[ 9.82707294e-01 1.77706214e-01 5.20276548e-02 6.41121196e+02] [-1.77276271e-01 9.84077857e-01 -1.28021517e-02 -8.89244944e+01] [-5.34742849e-02 3.35749920e-03 9.98563582e-01 -4.21186883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.860714057 meters 0.034843485092490474 Centerline is valid? [True, True] Translation: X:641.18, Y:-88.93, Z:-42.12 [[ 9.81817065e-01 1.82344066e-01 5.27815613e-02 6.41182472e+02] [-1.81908314e-01 9.83229744e-01 -1.29860092e-02 -8.89282057e+01] [-5.42643227e-02 3.14848057e-03 9.98521642e-01 -4.21203564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.920714057 meters 0.03315784597565209 Centerline is valid? [True, True] Translation: X:641.24, Y:-88.94, Z:-42.12 [[ 9.80395056e-01 1.89169833e-01 5.51389838e-02 6.41241965e+02] [-1.88705003e-01 9.81940118e-01 -1.35656449e-02 -8.89374243e+01] [-5.67093910e-02 2.89468903e-03 9.98386531e-01 -4.21224673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.980714057 meters 0.032175133973359825 Centerline is valid? [True, True] Translation: X:641.30, Y:-88.95, Z:-42.13 [[ 9.79644512e-01 1.92812991e-01 5.58549982e-02 6.41300370e+02] [-1.92341995e-01 9.81231761e-01 -1.37400525e-02 -8.89491751e+01] [-5.74559589e-02 2.71710525e-03 9.98344345e-01 -4.21258961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0407140570001 meters 0.031105752063638047 Centerline is valid? [True, True] Translation: X:641.36, Y:-88.96, Z:-42.13 [[ 9.79317133e-01 1.94431324e-01 5.59858389e-02 6.41358266e+02] [-1.93960837e-01 9.80912616e-01 -1.37707552e-02 -8.89615119e+01] [-5.75946818e-02 2.62687634e-03 9.98336593e-01 -4.21302617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.100714057 meters 0.03161119319825569 Centerline is valid? [True, True] Translation: X:641.41, Y:-88.98, Z:-42.14 [[ 9.79909479e-01 1.91643183e-01 5.52295622e-02 6.41414607e+02] [-1.91181327e-01 9.81460825e-01 -1.35775370e-02 -8.89790065e+01] [-5.68076941e-02 2.74589616e-03 9.98381363e-01 -4.21355848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1607140570001 meters 0.03387028130863755 Centerline is valid? [True, True] Translation: X:641.47, Y:-89.00, Z:-42.14 [[ 9.80419249e-01 1.89215065e-01 5.45504916e-02 6.41469667e+02] [-1.88761004e-01 9.81931543e-01 -1.34062648e-02 -8.89973502e+01] [-5.61015157e-02 2.84675444e-03 9.98421011e-01 -4.21412983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.220714057 meters 0.03543694927008456 Centerline is valid? [True, True] Translation: X:641.53, Y:-89.01, Z:-42.15 [[ 9.80808965e-01 1.87468576e-01 5.35659110e-02 6.41525194e+02] [-1.87028438e-01 9.82266353e-01 -1.31596021e-02 -8.90148202e+01] [-5.50830039e-02 2.88870708e-03 9.98477600e-01 -4.21459506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2807140570001 meters 0.03359079367118654 Centerline is valid? [True, True] Translation: X:641.58, Y:-89.03, Z:-42.15 [[ 9.80895568e-01 1.86900332e-01 5.39643491e-02 6.41582730e+02] [-1.86452887e-01 9.82374481e-01 -1.32551528e-02 -8.90268259e+01] [-5.54905919e-02 2.94011190e-03 9.98454881e-01 -4.21490849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.340714057 meters 0.03447889096677845 Centerline is valid? [True, True] Translation: X:641.64, Y:-89.04, Z:-42.15 [[ 9.80913784e-01 1.86397693e-01 5.53538462e-02 6.41638813e+02] [-1.85926931e-01 9.82469702e-01 -1.35816443e-02 -8.90425851e+01] [-5.69150639e-02 3.03065141e-03 9.98374424e-01 -4.21513556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.400714057 meters 0.03325560605403367 Centerline is valid? [True, True] Translation: X:641.70, Y:-89.06, Z:-42.15 [[ 9.80835773e-01 1.86262999e-01 5.71601442e-02 6.41696228e+02] [-1.85761803e-01 9.82494966e-01 -1.40069296e-02 -8.90568000e+01] [-5.87685267e-02 3.12032617e-03 9.98266760e-01 -4.21539750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.460714057 meters 0.03276859233992214 Centerline is valid? [True, True] Translation: X:641.75, Y:-89.07, Z:-42.16 [[ 9.80856123e-01 1.85950109e-01 5.78258017e-02 6.41752436e+02] [-1.85437536e-01 9.82554104e-01 -1.41545787e-02 -8.90719555e+01] [-5.94490242e-02 3.16053102e-03 9.98226339e-01 -4.21584334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.520714057 meters 0.03445313514169461 Centerline is valid? [True, True] Translation: X:641.81, Y:-89.09, Z:-42.16 [[ 9.81011524e-01 1.85153288e-01 5.77464262e-02 6.41806588e+02] [-1.84641876e-01 9.82704488e-01 -1.41161828e-02 -8.90917379e+01] [-5.93613299e-02 3.18572956e-03 9.98231478e-01 -4.21637282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.580714057 meters 0.03498160281772501 Centerline is valid? [True, True] Translation: X:641.86, Y:-89.11, Z:-42.17 [[ 9.81163697e-01 1.84322785e-01 5.78179064e-02 6.41863231e+02] [-1.83808946e-01 9.82860439e-01 -1.41289840e-02 -8.91084964e+01] [-5.94312266e-02 3.23539775e-03 9.98227159e-01 -4.21674445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.640714057 meters 0.03472636020515095 Centerline is valid? [True, True] Translation: X:641.92, Y:-89.12, Z:-42.17 [[ 9.81290763e-01 1.83467947e-01 5.83776603e-02 6.41919578e+02] [-1.82943519e-01 9.83020141e-01 -1.42503405e-02 -8.91238612e+01] [-6.00008965e-02 3.30391294e-03 9.98192855e-01 -4.21709364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.700714057 meters 0.03506667855015899 Centerline is valid? [True, True] Translation: X:641.98, Y:-89.14, Z:-42.17 [[ 9.81345322e-01 1.83102106e-01 5.86086895e-02 6.41975099e+02] [-1.82573797e-01 9.83088281e-01 -1.42912786e-02 -8.91393080e+01] [-6.02342790e-02 3.32426841e-03 9.98178732e-01 -4.21746980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.760714057 meters 0.03570060438215812 Centerline is valid? [True, True] Translation: X:642.03, Y:-89.16, Z:-42.18 [[ 9.81153397e-01 1.84022067e-01 5.89397120e-02 6.42030724e+02] [-1.83490516e-01 9.82916678e-01 -1.43539200e-02 -8.91562482e+01] [-6.05742639e-02 3.26851927e-03 9.98158342e-01 -4.21796846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.820714057 meters 0.035655649386619435 Centerline is valid? [True, True] Translation: X:642.09, Y:-89.17, Z:-42.18 [[ 9.81055897e-01 1.84449947e-01 5.92245263e-02 6.42086783e+02] [-1.83914960e-01 9.82836560e-01 -1.44077976e-02 -8.91719386e+01] [-6.08655472e-02 3.24257838e-03 9.98140707e-01 -4.21838956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.880714057 meters 0.03814841896007195 Centerline is valid? [True, True] Translation: X:642.14, Y:-89.19, Z:-42.19 [[ 9.81204679e-01 1.83374778e-01 6.00921761e-02 6.42141711e+02] [-1.82822974e-01 9.83037396e-01 -1.46026651e-02 -8.91918435e+01] [-6.17506168e-02 3.34197298e-03 9.98086015e-01 -4.21880184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.940714057 meters 0.035125274198522516 Centerline is valid? [True, True] Translation: X:642.20, Y:-89.20, Z:-42.19 [[ 9.81524722e-01 1.81716484e-01 5.99027513e-02 6.42199859e+02] [-1.81165422e-01 9.83344982e-01 -1.45511223e-02 -8.92033039e+01] [-6.15492487e-02 3.42997904e-03 9.98098154e-01 -4.21908051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.000714057 meters 0.03543071185921278 Centerline is valid? [True, True] Translation: X:642.26, Y:-89.22, Z:-42.19 [[ 9.81532942e-01 1.81392291e-01 6.07447190e-02 6.42255367e+02] [-1.80825175e-01 9.83404604e-01 -1.47526850e-02 -8.92190162e+01] [-6.24126596e-02 3.49607184e-03 9.98044306e-01 -4.21938859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.060714057 meters 0.03616192940301691 Centerline is valid? [True, True] Translation: X:642.31, Y:-89.24, Z:-42.20 [[ 9.81217404e-01 1.82872109e-01 6.14019355e-02 6.42310793e+02] [-1.82296719e-01 9.83130761e-01 -1.48933813e-02 -8.92359333e+01] [-6.30897156e-02 3.42027357e-03 9.98001999e-01 -4.21964407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.120714057 meters 0.03216857620332199 Centerline is valid? [True, True] Translation: X:642.37, Y:-89.24, Z:-42.20 [[ 9.80719694e-01 1.85379375e-01 6.18334037e-02 6.42370266e+02] [-1.84801189e-01 9.82661566e-01 -1.49922489e-02 -8.92443229e+01] [-6.35405630e-02 3.27630720e-03 9.97973879e-01 -4.21995062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.180714057 meters 0.03061575108061053 Centerline is valid? [True, True] Translation: X:642.43, Y:-89.26, Z:-42.20 [[ 9.79902489e-01 1.89139305e-01 6.33832376e-02 6.42429142e+02] [-1.88539723e-01 9.81945352e-01 -1.53655247e-02 -8.92559311e+01] [-6.51451002e-02 3.10645787e-03 9.97870967e-01 -4.22029707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.240714057 meters 0.031206945874387625 Centerline is valid? [True, True] Translation: X:642.48, Y:-89.27, Z:-42.21 [[ 9.79501814e-01 1.91018606e-01 6.39381567e-02 6.42484404e+02] [-1.90412651e-01 9.81581817e-01 -1.54970592e-02 -8.92715002e+01] [-6.57207587e-02 3.00476368e-03 9.97833530e-01 -4.22065344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.300714057 meters 0.031574220443425616 Centerline is valid? [True, True] Translation: X:642.54, Y:-89.29, Z:-42.21 [[ 9.79769625e-01 1.90406722e-01 6.16178660e-02 6.42540331e+02] [-1.89843160e-01 9.81700922e-01 -1.49290085e-02 -8.92872557e+01] [-6.33328994e-02 2.92925867e-03 9.97988158e-01 -4.22120441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.360714057 meters 0.032973886789449056 Centerline is valid? [True, True] Translation: X:642.60, Y:-89.31, Z:-42.22 [[ 9.80452256e-01 1.87042756e-01 6.10604726e-02 6.42597564e+02] [-1.86483217e-01 9.82346844e-01 -1.47881211e-02 -8.93056014e+01] [-6.27485734e-02 3.11229333e-03 9.98024514e-01 -4.22166081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.420714057 meters 0.034829387059788504 Centerline is valid? [True, True] Translation: X:642.66, Y:-89.32, Z:-42.22 [[ 9.81096209e-01 1.83511959e-01 6.14295550e-02 6.42655277e+02] [-1.82938802e-01 9.83011745e-01 -1.48763223e-02 -8.93246173e+01] [-6.31159571e-02 3.35725423e-03 9.98000554e-01 -4.22198945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.480714057 meters 0.037139394477300955 Centerline is valid? [True, True] Translation: X:642.71, Y:-89.34, Z:-42.22 [[ 9.81673670e-01 1.80417847e-01 6.13694188e-02 6.42711499e+02] [-1.79839786e-01 9.83583641e-01 -1.48617867e-02 -8.93448472e+01] [-6.30432879e-02 3.55276150e-03 9.98004470e-01 -4.22231284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5407140570001 meters 0.034836063253060864 Centerline is valid? [True, True] Translation: X:642.77, Y:-89.36, Z:-42.23 [[ 9.81795984e-01 1.79812762e-01 6.11883637e-02 6.42769207e+02] [-1.79236987e-01 9.83694339e-01 -1.48172407e-02 -8.93556475e+01] [-6.28549760e-02 3.58028944e-03 9.98016249e-01 -4.22265883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.600714057 meters 0.03490533046608805 Centerline is valid? [True, True] Translation: X:642.83, Y:-89.37, Z:-42.23 [[ 9.82124472e-01 1.78209097e-01 6.06056007e-02 6.42826214e+02] [-1.77642243e-01 9.83985940e-01 -1.46595658e-02 -8.93720193e+01] [-6.22475270e-02 3.63140346e-03 9.98054136e-01 -4.22303306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6607140570001 meters 0.037216446276775464 Centerline is valid? [True, True] Translation: X:642.88, Y:-89.39, Z:-42.23 [[ 9.82666764e-01 1.74962716e-01 6.12705468e-02 6.42883363e+02] [-1.74377206e-01 9.84567426e-01 -1.48179934e-02 -8.93914477e+01] [-6.29175810e-02 3.87696292e-03 9.98011196e-01 -4.22329223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.720714057 meters 0.0397160867751386 Centerline is valid? [True, True] Translation: X:642.94, Y:-89.41, Z:-42.24 [[ 9.83055825e-01 1.72532120e-01 6.19185943e-02 6.42939151e+02] [-1.71929416e-01 9.84995466e-01 -1.49735692e-02 -8.94102058e+01] [-6.35729563e-02 4.07422666e-03 9.97968877e-01 -4.22353823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7807140570001 meters 0.040282344276507676 Centerline is valid? [True, True] Translation: X:643.00, Y:-89.43, Z:-42.24 [[ 9.83359091e-01 1.70793308e-01 6.19236970e-02 6.42996258e+02] [-1.70187296e-01 9.85297997e-01 -1.49713284e-02 -8.94255201e+01] [-6.35702973e-02 4.18356538e-03 9.97968594e-01 -4.22393287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.840714057 meters 0.04226680281610752 Centerline is valid? [True, True] Translation: X:643.05, Y:-89.44, Z:-42.25 [[ 9.83900960e-01 1.68268448e-01 6.02049058e-02 6.43053530e+02] [-1.67691161e-01 9.85732165e-01 -1.45524237e-02 -8.94423626e+01] [-6.17946259e-02 4.22231306e-03 9.98079955e-01 -4.22455693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.900714057 meters 0.04300978627986368 Centerline is valid? [True, True] Translation: X:643.11, Y:-89.46, Z:-42.25 [[ 9.84044260e-01 1.67806293e-01 5.91434027e-02 6.43110685e+02] [-1.67248391e-01 9.85811143e-01 -1.42956628e-02 -8.94556023e+01] [-6.07031276e-02 4.17592592e-03 9.98147129e-01 -4.22503734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.960714057 meters 0.03780868666100467 Centerline is valid? [True, True] Translation: X:643.17, Y:-89.46, Z:-42.25 [[ 9.83922292e-01 1.68463006e-01 5.93054695e-02 6.43170601e+02] [-1.67904149e-01 9.85699317e-01 -1.43196839e-02 -8.94600244e+01] [-6.08696978e-02 4.13182182e-03 9.98137169e-01 -4.22528690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.020714057 meters 0.039088038144600705 Centerline is valid? [True, True] Translation: X:643.23, Y:-89.47, Z:-42.25 [[ 9.83508302e-01 1.70168449e-01 6.12708628e-02 6.43228051e+02] [-1.69576193e-01 9.85406274e-01 -1.47780538e-02 -8.94727957e+01] [-6.28914510e-02 4.14425894e-03 9.98011769e-01 -4.22548343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.080714057 meters 0.03836231732120521 Centerline is valid? [True, True] Translation: X:643.29, Y:-89.48, Z:-42.26 [[ 9.83268159e-01 1.71068269e-01 6.26049139e-02 6.43285464e+02] [-1.70451947e-01 9.85250343e-01 -1.50962396e-02 -8.94845305e+01] [-6.42640004e-02 4.17252229e-03 9.97924210e-01 -4.22581482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.140714057 meters 0.0405813688006867 Centerline is valid? [True, True] Translation: X:643.34, Y:-89.50, Z:-42.26 [[ 9.83028383e-01 1.72770245e-01 6.16898791e-02 6.43341269e+02] [-1.72176160e-01 9.84954087e-01 -1.48599297e-02 -8.94979545e+01] [-6.33290522e-02 3.98620617e-03 9.97984740e-01 -4.22629740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.200714057 meters 0.035750876955573614 Centerline is valid? [True, True] Translation: X:643.40, Y:-89.50, Z:-42.27 [[ 9.82915743e-01 1.73742118e-01 6.07479903e-02 6.43400469e+02] [-1.73168224e-01 9.84783625e-01 -1.46279618e-02 -8.95026243e+01] [-6.23651192e-02 3.85843239e-03 9.98045943e-01 -4.22678249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.260714057 meters 0.03697945488757398 Centerline is valid? [True, True] Translation: X:643.46, Y:-89.52, Z:-42.27 [[ 9.82547118e-01 1.75822781e-01 6.07248753e-02 6.43457168e+02] [-1.75254312e-01 9.84414849e-01 -1.46058305e-02 -8.95172600e+01] [-6.23465067e-02 3.70862046e-03 9.98047674e-01 -4.22720305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.320714057 meters 0.03371378795568417 Centerline is valid? [True, True] Translation: X:643.52, Y:-89.52, Z:-42.27 [[ 9.81419897e-01 1.81768209e-01 6.14435071e-02 6.43517196e+02] [-1.81197999e-01 9.83335640e-01 -1.47751365e-02 -8.95221945e+01] [-6.31052404e-02 3.36717237e-03 9.98001198e-01 -4.22744570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.380714057 meters 0.030852277040458613 Centerline is valid? [True, True] Translation: X:643.58, Y:-89.53, Z:-42.28 [[ 9.79901034e-01 1.89900721e-01 6.10874695e-02 6.43577997e+02] [-1.89352960e-01 9.81799233e-01 -1.46874752e-02 -8.95270542e+01] [-6.27647928e-02 2.82517900e-03 9.98024348e-01 -4.22783830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.440714057 meters 0.029671299584037625 Centerline is valid? [True, True] Translation: X:643.64, Y:-89.54, Z:-42.28 [[ 9.79048152e-01 1.94380581e-01 6.06704779e-02 6.43637056e+02] [-1.93848894e-01 9.80922953e-01 -1.45865263e-02 -8.95384991e+01] [-6.23484018e-02 2.52000657e-03 9.98051264e-01 -4.22840430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.500714057 meters 0.029298351010357153 Centerline is valid? [True, True] Translation: X:643.70, Y:-89.55, Z:-42.29 [[ 9.78334644e-01 1.97626522e-01 6.16853457e-02 6.43695152e+02] [-1.97083463e-01 9.80274572e-01 -1.48280679e-02 -8.95508675e+01] [-6.33989954e-02 2.34965095e-03 9.97985494e-01 -4.22877994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.560714057 meters 0.028014809426495584 Centerline is valid? [True, True] Translation: X:643.75, Y:-89.56, Z:-42.29 [[ 9.78444050e-01 1.97002402e-01 6.19459024e-02 6.43752660e+02] [-1.96453623e-01 9.80400073e-01 -1.48886481e-02 -8.95615012e+01] [-6.36648666e-02 2.39821217e-03 9.97968453e-01 -4.22910893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.620714057 meters 0.03254036707914801 Centerline is valid? [True, True] Translation: X:643.81, Y:-89.59, Z:-42.30 [[ 9.79378414e-01 1.92494781e-01 6.13488579e-02 6.43807157e+02] [-1.91948765e-01 9.81294422e-01 -1.47285133e-02 -8.95867085e+01] [-6.30364540e-02 2.64895044e-03 9.98007710e-01 -4.22973568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.680714057 meters 0.031529718452148706 Centerline is valid? [True, True] Translation: X:643.87, Y:-89.60, Z:-42.30 [[ 9.80474698e-01 1.87142681e-01 6.03902624e-02 6.43865381e+02] [-1.86603523e-01 9.82328326e-01 -1.44977659e-02 -8.96010209e+01] [-6.20362162e-02 2.94565697e-03 9.98069552e-01 -4.23021083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.740714057 meters 0.034520739225500745 Centerline is valid? [True, True] Translation: X:643.92, Y:-89.62, Z:-42.31 [[ 9.81734772e-01 1.80008190e-01 6.15945527e-02 6.43921944e+02] [-1.79433333e-01 9.83659013e-01 -1.47859990e-02 -8.96222466e+01] [-6.32496378e-02 3.46381352e-03 9.97991726e-01 -4.23053123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.800714057 meters 0.03437340129076678 Centerline is valid? [True, True] Translation: X:643.98, Y:-89.64, Z:-42.31 [[ 9.82363843e-01 1.76288429e-01 6.23191024e-02 6.43980474e+02] [-1.75692527e-01 9.84331424e-01 -1.49593805e-02 -8.96362671e+01] [-6.39798165e-02 3.74655394e-03 9.97944160e-01 -4.23077599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.860714057 meters 0.03737618672064246 Centerline is valid? [True, True] Translation: X:644.04, Y:-89.65, Z:-42.31 [[ 9.82653695e-01 1.74000959e-01 6.41512459e-02 6.44036441e+02] [-1.73364708e-01 9.84737323e-01 -1.53974816e-02 -8.96548646e+01] [-6.58513028e-02 4.00883016e-03 9.97821394e-01 -4.23096826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.920714057 meters 0.03517390347285236 Centerline is valid? [True, True] Translation: X:644.09, Y:-89.66, Z:-42.31 [[ 9.82693218e-01 1.73745348e-01 6.42385630e-02 6.44093506e+02] [-1.73107081e-01 9.84782378e-01 -1.54144658e-02 -8.96628575e+01] [-6.59391966e-02 4.02754088e-03 9.97815515e-01 -4.23122796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.980714057 meters 0.03821380944382137 Centerline is valid? [True, True] Translation: X:644.15, Y:-89.68, Z:-42.32 [[ 9.82721690e-01 1.73246496e-01 6.51439328e-02 6.44149111e+02] [-1.72590322e-01 9.84869966e-01 -1.56118553e-02 -8.96795656e+01] [-6.68630022e-02 4.09889650e-03 9.97753746e-01 -4.23150241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0407140570001 meters 0.03823340177403707 Centerline is valid? [True, True] Translation: X:644.21, Y:-89.69, Z:-42.32 [[ 9.83028803e-01 1.71492030e-01 6.51525541e-02 6.44207087e+02] [-1.70832252e-01 9.85176500e-01 -1.56078936e-02 -8.96928224e+01] [-6.68633945e-02 4.21285149e-03 9.97753245e-01 -4.23200128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.100714057 meters 0.03816231608486275 Centerline is valid? [True, True] Translation: X:644.27, Y:-89.71, Z:-42.33 [[ 9.83641261e-01 1.68842642e-01 6.27856075e-02 6.44265356e+02] [-1.68224776e-01 9.85633941e-01 -1.50386104e-02 -8.97064281e+01] [-6.44227844e-02 4.23050295e-03 9.97913728e-01 -4.23271141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1607140570001 meters 0.03935161083328154 Centerline is valid? [True, True] Translation: X:644.32, Y:-89.72, Z:-42.33 [[ 9.83980571e-01 1.67430527e-01 6.12311644e-02 6.44322760e+02] [-1.66840268e-01 9.85874869e-01 -1.46651873e-02 -8.97209760e+01] [-6.28216662e-02 4.21443553e-03 9.98015870e-01 -4.23324259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.220714057 meters 0.03807357071511829 Centerline is valid? [True, True] Translation: X:644.38, Y:-89.73, Z:-42.34 [[ 9.84092562e-01 1.67029021e-01 6.05238480e-02 6.44380188e+02] [-1.66451689e-01 9.85943080e-01 -1.44940863e-02 -8.97309883e+01] [-6.20940021e-02 4.18922573e-03 9.98061514e-01 -4.23359534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2807140570001 meters 0.03910935132755038 Centerline is valid? [True, True] Translation: X:644.44, Y:-89.74, Z:-42.34 [[ 9.83711305e-01 1.68425986e-01 6.28072917e-02 6.44436276e+02] [-1.67808163e-01 9.85705188e-01 -1.50234401e-02 -8.97442968e+01] [-6.44398109e-02 4.23915166e-03 9.97912592e-01 -4.23370897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.340714057 meters 0.041634264480354365 Centerline is valid? [True, True] Translation: X:644.49, Y:-89.76, Z:-42.34 [[ 9.83396180e-01 1.69343739e-01 6.52276892e-02 6.44491577e+02] [-1.68679735e-01 9.85547518e-01 -1.55960430e-02 -8.97602545e+01] [-6.69260794e-02 4.33449978e-03 9.97748521e-01 -4.23392690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.400714057 meters 0.04093131828099214 Centerline is valid? [True, True] Translation: X:644.55, Y:-89.77, Z:-42.34 [[ 9.83416758e-01 1.69000132e-01 6.58060422e-02 6.44548007e+02] [-1.68323969e-01 9.85606251e-01 -1.57276448e-02 -8.97722757e+01] [-6.75168206e-02 4.39009522e-03 9.97708478e-01 -4.23425712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.460714057 meters 0.04162668862162895 Centerline is valid? [True, True] Translation: X:644.61, Y:-89.79, Z:-42.35 [[ 9.83646821e-01 1.67426390e-01 6.63877593e-02 6.44605908e+02] [-1.66735910e-01 9.85874220e-01 -1.58480102e-02 -8.97872587e+01] [-6.81033556e-02 4.51962143e-03 9.97668034e-01 -4.23467084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.520714057 meters 0.04439966801655028 Centerline is valid? [True, True] Translation: X:644.66, Y:-89.80, Z:-42.35 [[ 9.84058923e-01 1.65230560e-01 6.57791680e-02 6.44661824e+02] [-1.64547987e-01 9.86244118e-01 -1.57003082e-02 -8.98044239e+01] [-6.74684882e-02 4.62619872e-03 9.97710680e-01 -4.23509773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.580714057 meters 0.040084936097313804 Centerline is valid? [True, True] Translation: X:644.72, Y:-89.81, Z:-42.36 [[ 9.84569985e-01 1.62652110e-01 6.45463927e-02 6.44721623e+02] [-1.61989635e-01 9.86672243e-01 -1.54027215e-02 -8.98114014e+01] [-6.61914192e-02 4.70921070e-03 9.97795831e-01 -4.23561970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.640714057 meters 0.04009508900579333 Centerline is valid? [True, True] Translation: X:644.78, Y:-89.82, Z:-42.36 [[ 9.84717321e-01 1.61825995e-01 6.43750415e-02 6.44778591e+02] [-1.61165388e-01 9.86807874e-01 -1.53602514e-02 -8.98240017e+01] [-6.60114858e-02 4.75047711e-03 9.97807555e-01 -4.23600771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.700714057 meters 0.04020981554930819 Centerline is valid? [True, True] Translation: X:644.84, Y:-89.84, Z:-42.36 [[ 9.84438430e-01 1.63345978e-01 6.48002199e-02 6.44835841e+02] [-1.62681009e-01 9.86557830e-01 -1.54446423e-02 -8.98372472e+01] [-6.64519845e-02 4.66253425e-03 9.97778730e-01 -4.23640411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.760714057 meters 0.03973493223505601 Centerline is valid? [True, True] Translation: X:644.89, Y:-89.85, Z:-42.37 [[ 9.83703230e-01 1.67880850e-01 6.43737171e-02 6.44894145e+02] [-1.67234578e-01 9.85797816e-01 -1.53382561e-02 -8.98476564e+01] [-6.60344692e-02 4.32278065e-03 9.97807979e-01 -4.23689462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.820714057 meters 0.03671315347935442 Centerline is valid? [True, True] Translation: X:644.95, Y:-89.85, Z:-42.37 [[ 9.82808095e-01 1.73360759e-01 6.35161029e-02 6.44954650e+02] [-1.72743101e-01 9.84850667e-01 -1.51322371e-02 -8.98535444e+01] [-6.51772125e-02 3.90011656e-03 9.97866083e-01 -4.23734130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.880714057 meters 0.03474270111206061 Centerline is valid? [True, True] Translation: X:645.01, Y:-89.86, Z:-42.38 [[ 9.82347754e-01 1.75950738e-01 6.35155758e-02 6.45013707e+02] [-1.75338651e-01 9.84391923e-01 -1.51294361e-02 -8.98628191e+01] [-6.51862552e-02 3.72563218e-03 9.97866159e-01 -4.23771998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.940714057 meters 0.03292673908455809 Centerline is valid? [True, True] Translation: X:645.07, Y:-89.87, Z:-42.38 [[ 9.81947176e-01 1.77906221e-01 6.42582248e-02 6.45071970e+02] [-1.77284049e-01 9.84040730e-01 -1.53038131e-02 -8.98712952e+01] [-6.59553540e-02 3.63557780e-03 9.97815952e-01 -4.23805500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.000714057 meters 0.03260544548568487 Centerline is valid? [True, True] Translation: X:645.13, Y:-89.88, Z:-42.38 [[ 9.81558122e-01 1.79779025e-01 6.49858093e-02 6.45129429e+02] [-1.79147088e-01 9.83700634e-01 -1.54720161e-02 -8.98832472e+01] [-6.67081258e-02 3.54466461e-03 9.97766236e-01 -4.23841632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.060714057 meters 0.03061049360278585 Centerline is valid? [True, True] Translation: X:645.19, Y:-89.89, Z:-42.39 [[ 9.81217292e-01 1.82107602e-01 6.36352729e-02 6.45188336e+02] [-1.81506884e-01 9.83273034e-01 -1.51457090e-02 -8.98930578e+01] [-6.53289965e-02 3.31099149e-03 9.97858286e-01 -4.23898926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.120714057 meters 0.03217678083408769 Centerline is valid? [True, True] Translation: X:645.24, Y:-89.91, Z:-42.39 [[ 9.81032306e-01 1.83360816e-01 6.28842340e-02 6.45243994e+02] [-1.82776935e-01 9.83040515e-01 -1.49645267e-02 -8.99077162e+01] [-6.45616576e-02 3.18689659e-03 9.97908631e-01 -4.23949272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.180714057 meters 0.032008027371642885 Centerline is valid? [True, True] Translation: X:645.30, Y:-89.92, Z:-42.40 [[ 9.81086155e-01 1.83032398e-01 6.30007800e-02 6.45300263e+02] [-1.82446067e-01 9.83101646e-01 -1.49861753e-02 -8.99203184e+01] [-6.46791262e-02 3.20848455e-03 9.97900955e-01 -4.23988673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.240714057 meters 0.03188499073638981 Centerline is valid? [True, True] Translation: X:645.36, Y:-89.93, Z:-42.40 [[ 9.80992200e-01 1.83505239e-01 6.30882814e-02 6.45357093e+02] [-1.82919489e-01 9.83013643e-01 -1.49879159e-02 -8.99332918e+01] [-6.47670024e-02 3.16295236e-03 9.97895401e-01 -4.24024692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.300714057 meters 0.03183855223075485 Centerline is valid? [True, True] Translation: X:645.41, Y:-89.95, Z:-42.41 [[ 9.80751042e-01 1.84721744e-01 6.32872093e-02 6.45413877e+02] [-1.84135906e-01 9.82786048e-01 -1.50183732e-02 -8.99470562e+01] [-6.49720064e-02 3.07583751e-03 9.97882347e-01 -4.24062327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.360714057 meters 0.032161716002729865 Centerline is valid? [True, True] Translation: X:645.47, Y:-89.96, Z:-42.41 [[ 9.80596852e-01 1.85866939e-01 6.23160845e-02 6.45469147e+02] [-1.85302308e-01 9.82570532e-01 -1.47717461e-02 -8.99619443e+01] [-6.39755275e-02 2.93781348e-03 9.97947143e-01 -4.24115857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.420714057 meters 0.0333679142720865 Centerline is valid? [True, True] Translation: X:645.52, Y:-89.98, Z:-42.42 [[ 9.80679993e-01 1.85752337e-01 6.13418339e-02 6.45523612e+02] [-1.85205369e-01 9.82592335e-01 -1.45353149e-02 -8.99778353e+01] [-6.29739845e-02 2.89365561e-03 9.98010974e-01 -4.24167289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.480714057 meters 0.033647469126787996 Centerline is valid? [True, True] Translation: X:645.58, Y:-89.99, Z:-42.42 [[ 9.80548652e-01 1.86476595e-01 6.12439463e-02 6.45578543e+02] [-1.85933272e-01 9.82455313e-01 -1.45043325e-02 -8.99948520e+01] [-6.28741590e-02 2.83491635e-03 9.98017436e-01 -4.24204866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5407140570001 meters 0.03082897030716476 Centerline is valid? [True, True] Translation: X:645.64, Y:-90.00, Z:-42.42 [[ 9.80416753e-01 1.87024192e-01 6.16842160e-02 6.45636866e+02] [-1.86474435e-01 9.82351275e-01 -1.46033162e-02 -9.00049377e+01] [-6.33267417e-02 2.81480655e-03 9.97988878e-01 -4.24234348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.600714057 meters 0.029471777430731375 Centerline is valid? [True, True] Translation: X:645.69, Y:-90.02, Z:-42.43 [[ 9.79968198e-01 1.88996765e-01 6.27897648e-02 6.45694769e+02] [-1.88432212e-01 9.81973945e-01 -1.48483350e-02 -9.00172481e+01] [-6.44642003e-02 2.71928180e-03 9.97916315e-01 -4.24263293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6607140570001 meters 0.02926800779673881 Centerline is valid? [True, True] Translation: X:645.75, Y:-90.03, Z:-42.43 [[ 9.79836311e-01 1.89443848e-01 6.34967067e-02 6.45751584e+02] [-1.88867970e-01 9.81887811e-01 -1.50072299e-02 -9.00329597e+01] [-6.51896697e-02 2.71213462e-03 9.97869206e-01 -4.24293909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.720714057 meters 0.03016780604057306 Centerline is valid? [True, True] Translation: X:645.81, Y:-90.05, Z:-42.43 [[ 9.80166318e-01 1.87553698e-01 6.40124991e-02 6.45807216e+02] [-1.86965526e-01 9.82250234e-01 -1.51119249e-02 -9.00507239e+01] [-6.57105896e-02 2.84406920e-03 9.97834671e-01 -4.24339567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7807140570001 meters 0.03185234652737641 Centerline is valid? [True, True] Translation: X:645.86, Y:-90.07, Z:-42.44 [[ 9.81129406e-01 1.82863333e-01 6.28179119e-02 6.45863639e+02] [-1.82288402e-01 9.83133509e-01 -1.48135815e-02 -9.00726939e+01] [-6.44672550e-02 3.08306366e-03 9.97915060e-01 -4.24391997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.840714057 meters 0.03222601169026603 Centerline is valid? [True, True] Translation: X:645.92, Y:-90.09, Z:-42.44 [[ 9.81811410e-01 1.79189581e-01 6.27491035e-02 6.45920986e+02] [-1.78608506e-01 9.83808963e-01 -1.47961811e-02 -9.00907246e+01] [-6.43844519e-02 3.31953585e-03 9.97919648e-01 -4.24430567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.900714057 meters 0.03619478647499772 Centerline is valid? [True, True] Translation: X:645.98, Y:-90.11, Z:-42.45 [[ 9.82665660e-01 1.74681992e-01 6.20838407e-02 6.45975589e+02] [-1.74104296e-01 9.84618413e-01 -1.46381560e-02 -9.01147654e+01] [-6.36859150e-02 3.57534987e-03 9.97963587e-01 -4.24465636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.960714057 meters 0.037105939306158846 Centerline is valid? [True, True] Translation: X:646.03, Y:-90.13, Z:-42.45 [[ 9.83038389e-01 1.72711042e-01 6.16962007e-02 6.46031853e+02] [-1.72136805e-01 9.84965669e-01 -1.45448154e-02 -9.01348090e+01] [-6.32806898e-02 3.67792500e-03 9.97988992e-01 -4.24505165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.020714057 meters 0.03491869214858377 Centerline is valid? [True, True] Translation: X:646.09, Y:-90.15, Z:-42.45 [[ 9.82940509e-01 1.73338962e-01 6.14943973e-02 6.46089465e+02] [-1.72769824e-01 9.84855560e-01 -1.44953295e-02 -9.01465581e+01] [-6.30757045e-02 3.62367032e-03 9.98002167e-01 -4.24539735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.080714057 meters 0.031806879154013014 Centerline is valid? [True, True] Translation: X:646.15, Y:-90.16, Z:-42.46 [[ 9.82413480e-01 1.76384127e-01 6.12567877e-02 6.46148728e+02] [-1.75826314e-01 9.84315543e-01 -1.44228348e-02 -9.01560836e+01] [-6.28399674e-02 3.39863213e-03 9.98017829e-01 -4.24569145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.140714057 meters 0.03445115610879818 Centerline is valid? [True, True] Translation: X:646.20, Y:-90.18, Z:-42.46 [[ 9.81987371e-01 1.78412275e-01 6.22082240e-02 6.46203805e+02] [-1.77841104e-01 9.83950226e-01 -1.46456566e-02 -9.01752764e+01] [-6.38227610e-02 3.31867059e-03 9.97955731e-01 -4.24607114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.200714057 meters 0.031630391748727144 Centerline is valid? [True, True] Translation: X:646.26, Y:-90.19, Z:-42.46 [[ 9.81769413e-01 1.79732921e-01 6.18457545e-02 6.46262153e+02] [-1.79171294e-01 9.83710210e-01 -1.45557871e-02 -9.01855068e+01] [-6.34544543e-02 3.20944271e-03 9.97979575e-01 -4.24639903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.260714057 meters 0.03341545363094462 Centerline is valid? [True, True] Translation: X:646.32, Y:-90.20, Z:-42.47 [[ 9.81680506e-01 1.80364815e-01 6.14159438e-02 6.46317800e+02] [-1.79813180e-01 9.83594799e-01 -1.44392564e-02 -9.02021211e+01] [-6.30127367e-02 3.13134037e-03 9.98007810e-01 -4.24673917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.320714057 meters 0.03118707895826602 Centerline is valid? [True, True] Translation: X:646.38, Y:-90.21, Z:-42.47 [[ 9.81633490e-01 1.80467573e-01 6.18639290e-02 6.46376056e+02] [-1.79908597e-01 9.83575925e-01 -1.45360291e-02 -9.02120941e+01] [-6.34711531e-02 3.13920030e-03 9.97978736e-01 -4.24703912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.380714057 meters 0.031470183167499846 Centerline is valid? [True, True] Translation: X:646.43, Y:-90.23, Z:-42.47 [[ 9.81530046e-01 1.80953349e-01 6.20858615e-02 6.46432975e+02] [-1.80392387e-01 9.83486787e-01 -1.45714233e-02 -9.02260730e+01] [-6.36973722e-02 3.10247302e-03 9.97964438e-01 -4.24740705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.440714057 meters 0.030651733761318127 Centerline is valid? [True, True] Translation: X:646.49, Y:-90.24, Z:-42.48 [[ 9.81034006e-01 1.83399535e-01 6.27446435e-02 6.46491062e+02] [-1.82832669e-01 9.83034007e-01 -1.47090529e-02 -9.02381469e+01] [-6.43777518e-02 2.95831048e-03 9.97921216e-01 -4.24772938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.500714057 meters 0.03002638364838721 Centerline is valid? [True, True] Translation: X:646.55, Y:-90.25, Z:-42.48 [[ 9.80537098e-01 1.85766047e-01 6.35450636e-02 6.46548783e+02] [-1.85189718e-01 9.82589910e-01 -1.48942257e-02 -9.02496823e+01] [-6.52055797e-02 2.83644843e-03 9.97867820e-01 -4.24807276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.560714057 meters 0.030266900804448535 Centerline is valid? [True, True] Translation: X:646.60, Y:-90.26, Z:-42.48 [[ 9.80160150e-01 1.87554408e-01 6.41047936e-02 6.46604376e+02] [-1.86972005e-01 9.82250403e-01 -1.50204713e-02 -9.02637203e+01] [-6.57841149e-02 2.73666561e-03 9.97830126e-01 -4.24844782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.620714057 meters 0.03085934480912196 Centerline is valid? [True, True] Translation: X:646.66, Y:-90.28, Z:-42.49 [[ 9.80166625e-01 1.87303241e-01 6.47370303e-02 6.46660247e+02] [-1.86709162e-01 9.82298223e-01 -1.51621309e-02 -9.02796718e+01] [-6.64309860e-02 2.77441794e-03 9.97787165e-01 -4.24880552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.680714057 meters 0.03169627410231469 Centerline is valid? [True, True] Translation: X:646.72, Y:-90.30, Z:-42.49 [[ 9.80321460e-01 1.86431141e-01 6.49096624e-02 6.46716745e+02] [-1.85833258e-01 9.82463976e-01 -1.51834039e-02 -9.02969779e+01] [-6.66020644e-02 2.82224263e-03 9.97775626e-01 -4.24917530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.740714057 meters 0.03229291297229665 Centerline is valid? [True, True] Translation: X:646.77, Y:-90.31, Z:-42.50 [[ 9.80376717e-01 1.86045205e-01 6.51818583e-02 6.46772853e+02] [-1.85442561e-01 9.82537070e-01 -1.52303393e-02 -9.03124508e+01] [-6.68771236e-02 2.84397927e-03 9.97757166e-01 -4.24957902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.800714057 meters 0.03372052062670933 Centerline is valid? [True, True] Translation: X:646.83, Y:-90.33, Z:-42.50 [[ 9.80645221e-01 1.84586542e-01 6.52898036e-02 6.46827179e+02] [-1.83979920e-01 9.82811896e-01 -1.52369986e-02 -9.03316204e+01] [-6.69801405e-02 2.93007704e-03 9.97750007e-01 -4.24999380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.860714057 meters 0.03531111554837432 Centerline is valid? [True, True] Translation: X:646.88, Y:-90.35, Z:-42.50 [[ 9.81057557e-01 1.82420963e-01 6.51817659e-02 6.46883563e+02] [-1.81812245e-01 9.83215749e-01 -1.52019014e-02 -9.03499955e+01] [-6.68608842e-02 3.06309702e-03 9.97757606e-01 -4.25038169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.920714057 meters 0.03223584655091024 Centerline is valid? [True, True] Translation: X:646.94, Y:-90.36, Z:-42.51 [[ 9.81717731e-01 1.78402097e-01 6.63550136e-02 6.46943051e+02] [-1.77762309e-01 9.83951814e-01 -1.54721807e-02 -9.03614807e+01] [-6.80504055e-02 3.39389372e-03 9.97676112e-01 -4.25072046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.980714057 meters 0.034114538206099 Centerline is valid? [True, True] Translation: X:647.00, Y:-90.38, Z:-42.51 [[ 9.82173915e-01 1.75728633e-01 6.67371607e-02 6.46998359e+02] [-1.75075307e-01 9.84432065e-01 -1.55610758e-02 -9.03809469e+01] [-6.84327275e-02 3.59965389e-03 9.97649239e-01 -4.25115836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0407140570001 meters 0.034444284782688676 Centerline is valid? [True, True] Translation: X:647.06, Y:-90.40, Z:-42.52 [[ 9.83126640e-01 1.70725208e-01 6.56880004e-02 6.47055857e+02] [-1.70081401e-01 9.85311033e-01 -1.53129294e-02 -9.03991029e+01] [-6.73374146e-02 3.88224173e-03 9.97722707e-01 -4.25171314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.100714057 meters 0.03792033731847764 Centerline is valid? [True, True] Translation: X:647.11, Y:-90.42, Z:-42.52 [[ 9.84095074e-01 1.65452829e-01 6.46702961e-02 6.47111820e+02] [-1.64817531e-01 9.86208860e-01 -1.50753173e-02 -9.04200750e+01] [-6.62726729e-02 4.17674695e-03 9.97792808e-01 -4.25222047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1607140570001 meters 0.03918621630394482 Centerline is valid? [True, True] Translation: X:647.17, Y:-90.44, Z:-42.53 [[ 9.85323429e-01 1.58652391e-01 6.29853952e-02 6.47168810e+02] [-1.58036060e-01 9.87324193e-01 -1.46813643e-02 -9.04386637e+01] [-6.45162380e-02 4.51192854e-03 9.97906457e-01 -4.25271364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.220714057 meters 0.041664127370477685 Centerline is valid? [True, True] Translation: X:647.22, Y:-90.46, Z:-42.53 [[ 9.85633272e-01 1.56341478e-01 6.39092750e-02 6.47224530e+02] [-1.55702156e-01 9.87691735e-01 -1.48954979e-02 -9.04556780e+01] [-6.54514469e-02 4.73068643e-03 9.97844541e-01 -4.25295967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2807140570001 meters 0.03935860658155408 Centerline is valid? [True, True] Translation: X:647.28, Y:-90.46, Z:-42.53 [[ 9.85542356e-01 1.56537011e-01 6.48261455e-02 6.47283462e+02] [-1.55879993e-01 9.87660527e-01 -1.51033421e-02 -9.04633087e+01] [-6.63904571e-02 4.77988424e-03 9.97782271e-01 -4.25321514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.340714057 meters 0.039580815729919235 Centerline is valid? [True, True] Translation: X:647.34, Y:-90.47, Z:-42.54 [[ 9.85427033e-01 1.57377657e-01 6.45432926e-02 6.47341307e+02] [-1.56728489e-01 9.87527319e-01 -1.50324767e-02 -9.04745939e+01] [-6.61040407e-02 4.69763619e-03 9.97801678e-01 -4.25362246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.400714057 meters 0.042036868362274785 Centerline is valid? [True, True] Translation: X:647.40, Y:-90.49, Z:-42.54 [[ 9.85638276e-01 1.56087204e-01 6.44513355e-02 6.47397839e+02] [-1.55437478e-01 9.87731750e-01 -1.50060306e-02 -9.04877255e+01] [-6.60028798e-02 4.77236506e-03 9.97808020e-01 -4.25399845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.460714057 meters 0.041631811094882655 Centerline is valid? [True, True] Translation: X:647.46, Y:-90.50, Z:-42.54 [[ 9.86143760e-01 1.52544722e-01 6.51965599e-02 6.47457428e+02] [-1.51872773e-01 9.88283622e-01 -1.51704854e-02 -9.04996621e+01] [-6.67468698e-02 5.05869720e-03 9.97757117e-01 -4.25433234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.520714057 meters 0.04323343989411273 Centerline is valid? [True, True] Translation: X:647.52, Y:-90.51, Z:-42.55 [[ 9.87052401e-01 1.46782238e-01 6.46725060e-02 6.47516177e+02] [-1.46108814e-01 9.89154069e-01 -1.50479990e-02 -9.05122286e+01] [-6.61798514e-02 5.40394036e-03 9.97793077e-01 -4.25460339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.580714057 meters 0.044575959211223315 Centerline is valid? [True, True] Translation: X:647.58, Y:-90.52, Z:-42.55 [[ 9.87490751e-01 1.44350531e-01 6.34424223e-02 6.47575542e+02] [-1.43697614e-01 9.89511555e-01 -1.47606842e-02 -9.05229245e+01] [-6.49077226e-02 5.45951438e-03 9.97876336e-01 -4.25491419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.640714057 meters 0.04584507437409945 Centerline is valid? [True, True] Translation: X:647.63, Y:-90.54, Z:-42.55 [[ 9.87505547e-01 1.44661690e-01 6.24963284e-02 6.47633411e+02] [-1.44028823e-01 9.89466676e-01 -1.45394004e-02 -9.05351763e+01] [-6.39413286e-02 5.35646593e-03 9.97939284e-01 -4.25533976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.700714057 meters 0.04151208425085724 Centerline is valid? [True, True] Translation: X:647.69, Y:-90.54, Z:-42.56 [[ 9.87464884e-01 1.45409179e-01 6.13944162e-02 6.47692768e+02] [-1.44800112e-01 9.89357882e-01 -1.42796690e-02 -9.05380095e+01] [-6.28174445e-02 5.21075335e-03 9.98011431e-01 -4.25578142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.760714057 meters 0.04308646424919243 Centerline is valid? [True, True] Translation: X:647.75, Y:-90.55, Z:-42.56 [[ 9.87404326e-01 1.46051597e-01 6.08410117e-02 6.47749686e+02] [-1.45454982e-01 9.89263733e-01 -1.41462008e-02 -9.05505748e+01] [-6.22538816e-02 5.11839155e-03 9.98047222e-01 -4.25611138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.820714057 meters 0.043659365930059695 Centerline is valid? [True, True] Translation: X:647.81, Y:-90.56, Z:-42.57 [[ 9.87447090e-01 1.46176051e-01 5.98398393e-02 6.47807589e+02] [-1.45599445e-01 9.89245847e-01 -1.39088469e-02 -9.05614653e+01] [-6.12294528e-02 5.02160301e-03 9.98111085e-01 -4.25651038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.880714057 meters 0.04593839289023972 Centerline is valid? [True, True] Translation: X:647.86, Y:-90.58, Z:-42.57 [[ 9.87640816e-01 1.45112731e-01 5.92276522e-02 6.47863878e+02] [-1.44546258e-01 9.89402338e-01 -1.37620019e-02 -9.05763579e+01] [-6.05970192e-02 5.03077928e-03 9.98149634e-01 -4.25691549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.940714057 meters 0.046014599953564855 Centerline is valid? [True, True] Translation: X:647.92, Y:-90.59, Z:-42.57 [[ 9.87929555e-01 1.44057366e-01 5.69444413e-02 6.47922201e+02] [-1.43532229e-01 9.89557230e-01 -1.32282888e-02 -9.05874446e+01] [-5.82554160e-02 4.89525484e-03 9.98289709e-01 -4.25739460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.000714057 meters 0.04538745664999155 Centerline is valid? [True, True] Translation: X:647.98, Y:-90.60, Z:-42.58 [[ 9.87868809e-01 1.44706417e-01 5.63495226e-02 6.47980705e+02] [-1.44193296e-01 9.89462966e-01 -1.30893773e-02 -9.05968949e+01] [-5.76498827e-02 4.80536415e-03 9.98325297e-01 -4.25774819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.060714057 meters 0.04387722295672822 Centerline is valid? [True, True] Translation: X:648.04, Y:-90.60, Z:-42.58 [[ 9.86973581e-01 1.50195226e-01 5.76588564e-02 6.48041072e+02] [-1.49668168e-01 9.88645778e-01 -1.33778012e-02 -9.06047061e+01] [-5.90134668e-02 4.57384093e-03 9.98246708e-01 -4.25800227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.120714057 meters 0.04296555707826 Centerline is valid? [True, True] Translation: X:648.10, Y:-90.61, Z:-42.58 [[ 9.86221041e-01 1.54727682e-01 5.85440244e-02 6.48100758e+02] [-1.54192288e-01 9.87947502e-01 -1.35820416e-02 -9.06135847e+01] [-5.99399405e-02 4.36785808e-03 9.98192429e-01 -4.25822279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.180714057 meters 0.0378163132422015 Centerline is valid? [True, True] Translation: X:648.16, Y:-90.61, Z:-42.59 [[ 9.84842557e-01 1.63023659e-01 5.92319484e-02 6.48162880e+02] [-1.62490592e-01 9.86614424e-01 -1.37399321e-02 -9.06144655e+01] [-6.06790287e-02 3.90703553e-03 9.98149683e-01 -4.25855762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.240714057 meters 0.037353114709195716 Centerline is valid? [True, True] Translation: X:648.22, Y:-90.63, Z:-42.59 [[ 9.84374065e-01 1.65705748e-01 5.95760502e-02 6.48221812e+02] [-1.65171410e-01 9.86168063e-01 -1.38187110e-02 -9.06258280e+01] [-6.10418379e-02 3.76252047e-03 9.98128117e-01 -4.25888479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.300714057 meters 0.035238230002979015 Centerline is valid? [True, True] Translation: X:648.28, Y:-90.63, Z:-42.59 [[ 9.82899653e-01 1.73860534e-01 6.06694892e-02 6.48280603e+02] [-1.73321890e-01 9.84764705e-01 -1.40712041e-02 -9.06331706e+01] [-6.21915987e-02 3.31523110e-03 9.98058723e-01 -4.25926881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.360714057 meters 0.03637750546485189 Centerline is valid? [True, True] Translation: X:648.34, Y:-90.65, Z:-42.60 [[ 9.82269741e-01 1.77572541e-01 6.01177866e-02 6.48338232e+02] [-1.77050674e-01 9.84102985e-01 -1.39417609e-02 -9.06465821e+01] [-6.16377671e-02 3.05067525e-03 9.98093923e-01 -4.25975105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.420714057 meters 0.03344978721152513 Centerline is valid? [True, True] Translation: X:648.40, Y:-90.65, Z:-42.60 [[ 9.81525952e-01 1.82153579e-01 5.85395609e-02 6.48398004e+02] [-1.81667028e-01 9.83266417e-01 -1.35736339e-02 -9.06547606e+01] [-6.00324703e-02 2.68816587e-03 9.98192805e-01 -4.26043252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.480714057 meters 0.02956777020094403 Centerline is valid? [True, True] Translation: X:648.46, Y:-90.66, Z:-42.61 [[ 9.81225442e-01 1.84229096e-01 5.70637612e-02 6.48456787e+02] [-1.83770328e-01 9.82880161e-01 -1.32308486e-02 -9.06606468e+01] [-5.85243460e-02 2.49581909e-03 9.98282862e-01 -4.26089222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5407140570001 meters 0.03218903280331897 Centerline is valid? [True, True] Translation: X:648.51, Y:-90.68, Z:-42.61 [[ 9.80569518e-01 1.87450289e-01 5.78429791e-02 6.48512502e+02] [-1.86984749e-01 9.82271326e-01 -1.34069664e-02 -9.06786467e+01] [-5.93306395e-02 2.33070767e-03 9.98235665e-01 -4.26137517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.600714057 meters 0.027921391937900948 Centerline is valid? [True, True] Translation: X:648.57, Y:-90.68, Z:-42.62 [[ 9.80173095e-01 1.89420788e-01 5.81418064e-02 6.48572132e+02] [-1.88954052e-01 9.81893495e-01 -1.34733052e-02 -9.06842297e+01] [-5.96411856e-02 2.22004141e-03 9.98217411e-01 -4.26160100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6607140570001 meters 0.02799770975628708 Centerline is valid? [True, True] Translation: X:648.63, Y:-90.70, Z:-42.62 [[ 9.79884114e-01 1.90515879e-01 5.94207305e-02 6.48628922e+02] [-1.90030810e-01 9.81681663e-01 -1.37624262e-02 -9.06983096e+01] [-6.09542022e-02 2.19381327e-03 9.98138153e-01 -4.26194101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.720714057 meters 0.027736213255925415 Centerline is valid? [True, True] Translation: X:648.68, Y:-90.71, Z:-42.62 [[ 9.79873302e-01 1.90196944e-01 6.06088729e-02 6.48684827e+02] [-1.89692660e-01 9.81743396e-01 -1.40214006e-02 -9.07119121e+01] [-6.21691883e-02 2.24213783e-03 9.98063107e-01 -4.26222207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7807140570001 meters 0.028749354008000175 Centerline is valid? [True, True] Translation: X:648.74, Y:-90.73, Z:-42.63 [[ 9.80227847e-01 1.87852896e-01 6.21663634e-02 6.48740533e+02] [-1.87318874e-01 9.82194161e-01 -1.43621182e-02 -9.07292281e+01] [-6.37574046e-02 2.43321506e-03 9.97962461e-01 -4.26253809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.840714057 meters 0.02991510546245525 Centerline is valid? [True, True] Translation: X:648.80, Y:-90.75, Z:-42.63 [[ 9.80416776e-01 1.86560804e-01 6.30714881e-02 6.48795291e+02] [-1.86008817e-01 9.82440112e-01 -1.45652642e-02 -9.07480554e+01] [-6.46812672e-02 2.54817650e-03 9.97902721e-01 -4.26293797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.900714057 meters 0.0299781719000928 Centerline is valid? [True, True] Translation: X:648.85, Y:-90.77, Z:-42.63 [[ 9.80900252e-01 1.84144734e-01 6.26531123e-02 6.48851958e+02] [-1.83595509e-01 9.82895475e-01 -1.44628943e-02 -9.07653767e+01] [-6.42447263e-02 2.68382663e-03 9.97930565e-01 -4.26346209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.960714057 meters 0.031055545414574667 Centerline is valid? [True, True] Translation: X:648.91, Y:-90.78, Z:-42.64 [[ 9.81251078e-01 1.82193841e-01 6.28627579e-02 6.48906538e+02] [-1.81637240e-01 9.83258599e-01 -1.45065734e-02 -9.07825299e+01] [-6.44533556e-02 2.81637298e-03 9.97916747e-01 -4.26395425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.020714057 meters 0.03245447242068719 Centerline is valid? [True, True] Translation: X:648.96, Y:-90.80, Z:-42.64 [[ 9.81650035e-01 1.80164488e-01 6.24817283e-02 6.48962706e+02] [-1.79611173e-01 9.83632157e-01 -1.44085266e-02 -9.08010701e+01] [-6.40549420e-02 2.92171409e-03 9.97942097e-01 -4.26447894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.080714057 meters 0.031041445123574485 Centerline is valid? [True, True] Translation: X:649.02, Y:-90.81, Z:-42.65 [[ 9.81935194e-01 1.78593495e-01 6.25111022e-02 6.49019915e+02] [-1.78036696e-01 9.83918304e-01 -1.44120103e-02 -9.08120607e+01] [-6.40797090e-02 3.02239004e-03 9.97940207e-01 -4.26494626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.140714057 meters 0.03248015064830268 Centerline is valid? [True, True] Translation: X:649.08, Y:-90.83, Z:-42.65 [[ 9.82074367e-01 1.76638273e-01 6.57940545e-02 6.49075905e+02] [-1.76018200e-01 9.84270309e-01 -1.51509804e-02 -9.08298455e+01] [-6.74353774e-02 3.29843846e-03 9.97718192e-01 -4.26518552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.200714057 meters 0.03409104677972113 Centerline is valid? [True, True] Translation: X:649.13, Y:-90.85, Z:-42.65 [[ 9.82448339e-01 1.73727623e-01 6.79262432e-02 6.49132948e+02] [-1.73060079e-01 9.84787136e-01 -1.56366882e-02 -9.08464260e+01] [-6.96094152e-02 3.60691728e-03 9.97567802e-01 -4.26548680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.260714057 meters 0.0342895160360615 Centerline is valid? [True, True] Translation: X:649.19, Y:-90.86, Z:-42.66 [[ 9.82884799e-01 1.71154987e-01 6.81428025e-02 6.49190497e+02] [-1.70477383e-01 9.85236804e-01 -1.56812481e-02 -9.08612957e+01] [-6.98207208e-02 3.79605377e-03 9.97552333e-01 -4.26600864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.320714057 meters 0.03664509168220547 Centerline is valid? [True, True] Translation: X:649.25, Y:-90.88, Z:-42.66 [[ 9.83557375e-01 1.66953553e-01 6.88578363e-02 6.49247311e+02] [-1.66251546e-01 9.85956090e-01 -1.58433399e-02 -9.08810182e+01] [-7.05359050e-02 4.13511203e-03 9.97500670e-01 -4.26649758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.380714057 meters 0.03511875050398354 Centerline is valid? [True, True] Translation: X:649.31, Y:-90.89, Z:-42.67 [[ 9.83839334e-01 1.65006169e-01 6.95207125e-02 6.49305364e+02] [-1.64285795e-01 9.86283096e-01 -1.59947783e-02 -9.08917803e+01] [-7.12063406e-02 4.31502650e-03 9.97452273e-01 -4.26688984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.440714057 meters 0.04018511338379581 Centerline is valid? [True, True] Translation: X:649.36, Y:-90.91, Z:-42.67 [[ 9.83956676e-01 1.65057631e-01 6.77143879e-02 6.49360107e+02] [-1.64374680e-01 9.86275004e-01 -1.55750145e-02 -9.09124406e+01] [-6.93557832e-02 4.19460864e-03 9.97583170e-01 -4.26725492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.500714057 meters 0.03569937535424483 Centerline is valid? [True, True] Translation: X:649.42, Y:-90.92, Z:-42.68 [[ 9.83519448e-01 1.67835566e-01 6.72362890e-02 6.49419786e+02] [-1.67169314e-01 9.85807045e-01 -1.54561132e-02 -9.09178744e+01] [-6.88760929e-02 3.96154365e-03 9.97617357e-01 -4.26779565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.560714057 meters 0.0337101190535961 Centerline is valid? [True, True] Translation: X:649.48, Y:-90.93, Z:-42.68 [[ 9.83189084e-01 1.69802792e-01 6.71285125e-02 6.49478230e+02] [-1.69143472e-01 9.85470681e-01 -1.54279847e-02 -9.09271241e+01] [-6.87728959e-02 3.81427648e-03 9.97625050e-01 -4.26809995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.620714057 meters 0.03232419438725907 Centerline is valid? [True, True] Translation: X:649.54, Y:-90.94, Z:-42.68 [[ 9.82836703e-01 1.71676092e-01 6.75228466e-02 6.49536382e+02] [-1.71014550e-01 9.85146545e-01 -1.55019006e-02 -9.09377715e+01] [-6.91812048e-02 3.68844765e-03 9.97597292e-01 -4.26844769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.680714057 meters 0.03362228247132466 Centerline is valid? [True, True] Translation: X:649.59, Y:-90.95, Z:-42.69 [[ 9.82567761e-01 1.73397297e-01 6.70371007e-02 6.49591824e+02] [-1.72750342e-01 9.84845646e-01 -1.53744213e-02 -9.09529159e+01] [-6.86870798e-02 3.52572863e-03 9.97632024e-01 -4.26884769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.740714057 meters 0.033194856537066095 Centerline is valid? [True, True] Translation: X:649.65, Y:-90.96, Z:-42.69 [[ 9.82835447e-01 1.72363037e-01 6.57682832e-02 6.49648927e+02] [-1.71738512e-01 9.85027193e-01 -1.50768950e-02 -9.09641159e+01] [-6.73822468e-02 3.52315973e-03 9.97721013e-01 -4.26929295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.800714057 meters 0.035337434202952926 Centerline is valid? [True, True] Translation: X:649.70, Y:-90.98, Z:-42.70 [[ 9.83237080e-01 1.70470080e-01 6.46900030e-02 6.49704776e+02] [-1.69862907e-01 9.85356362e-01 -1.48132537e-02 -9.09804614e+01] [-6.62679225e-02 3.57650835e-03 9.97795456e-01 -4.26974936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.860714057 meters 0.038021957060753064 Centerline is valid? [True, True] Translation: X:649.76, Y:-91.00, Z:-42.70 [[ 9.84087983e-01 1.65494869e-01 6.46706348e-02 6.49761870e+02] [-1.64877664e-01 9.86202917e-01 -1.48041551e-02 -9.09997336e+01] [-6.62283804e-02 3.90584786e-03 9.97796846e-01 -4.27011277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.920714057 meters 0.03678924424727726 Centerline is valid? [True, True] Translation: X:649.82, Y:-91.01, Z:-42.70 [[ 9.84681300e-01 1.62017924e-01 6.44432264e-02 6.49820583e+02] [-1.61397659e-01 9.86779194e-01 -1.47518931e-02 -9.10119492e+01] [-6.59813060e-02 4.12492737e-03 9.97812333e-01 -4.27046102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.980714057 meters 0.039070157992379805 Centerline is valid? [True, True] Translation: X:649.88, Y:-91.03, Z:-42.71 [[ 9.85326040e-01 1.58770740e-01 6.26454040e-02 6.49878014e+02] [-1.58178193e-01 9.87306460e-01 -1.43391959e-02 -9.10294891e+01] [-6.41268568e-02 4.21964631e-03 9.97932834e-01 -4.27092945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0407140570001 meters 0.04054351547219063 Centerline is valid? [True, True] Translation: X:649.94, Y:-91.05, Z:-42.71 [[ 9.85645548e-01 1.57114210e-01 6.17897972e-02 6.49935331e+02] [-1.56534617e-01 9.87571223e-01 -1.41418822e-02 -9.10459321e+01] [-6.32437163e-02 4.26664097e-03 9.97988992e-01 -4.27130110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.100714057 meters 0.042529093393066694 Centerline is valid? [True, True] Translation: X:649.99, Y:-91.06, Z:-42.72 [[ 9.85816476e-01 1.56070013e-01 6.17092053e-02 6.49990709e+02] [-1.55490038e-01 9.87736523e-01 -1.41212327e-02 -9.10615194e+01] [-6.31563368e-02 4.32577717e-03 9.97994271e-01 -4.27161345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1607140570001 meters 0.04235430506521388 Centerline is valid? [True, True] Translation: X:650.05, Y:-91.07, Z:-42.72 [[ 9.85785501e-01 1.56115496e-01 6.20878228e-02 6.50048187e+02] [-1.55528825e-01 9.87729256e-01 -1.42021655e-02 -9.10745007e+01] [-6.35431371e-02 4.34384269e-03 9.97969639e-01 -4.27194674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.220714057 meters 0.03791198811685008 Centerline is valid? [True, True] Translation: X:650.11, Y:-91.08, Z:-42.72 [[ 9.85222133e-01 1.59747493e-01 6.17906674e-02 6.50108673e+02] [-1.59173821e-01 9.87149456e-01 -1.41296319e-02 -9.10796339e+01] [-6.32537970e-02 4.08536945e-03 9.97989112e-01 -4.27218414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2807140570001 meters 0.03674398543605823 Centerline is valid? [True, True] Translation: X:650.17, Y:-91.09, Z:-42.73 [[ 9.84397865e-01 1.64850710e-01 6.15230573e-02 6.50167703e+02] [-1.64291946e-01 9.86311437e-01 -1.40678981e-02 -9.10903544e+01] [-6.29999981e-02 3.74066608e-03 9.98006517e-01 -4.27257506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.340714057 meters 0.03314973340900471 Centerline is valid? [True, True] Translation: X:650.23, Y:-91.10, Z:-42.73 [[ 9.82892415e-01 1.74087437e-01 6.01337213e-02 6.50228338e+02] [-1.73570871e-01 9.84725391e-01 -1.37497888e-02 -9.10963190e+01] [-6.16088677e-02 3.07710066e-03 9.98095626e-01 -4.27299481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.400714057 meters 0.02880265942749503 Centerline is valid? [True, True] Translation: X:650.29, Y:-91.10, Z:-42.73 [[ 9.80727628e-01 1.85928102e-01 6.00338345e-02 6.50288777e+02] [-1.85435345e-01 9.82560590e-01 -1.37265867e-02 -9.11009881e+01] [-6.15390381e-02 2.32964798e-03 9.98101959e-01 -4.27330878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.460714057 meters 0.026644564786306713 Centerline is valid? [True, True] Translation: X:650.35, Y:-91.11, Z:-42.74 [[ 9.78814510e-01 1.95640313e-01 6.03905824e-02 6.50348010e+02] [-1.95160111e-01 9.80674195e-01 -1.38077442e-02 -9.11094748e+01] [-6.19248372e-02 1.72938758e-03 9.98079317e-01 -4.27370994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.520714057 meters 0.02433891186201633 Centerline is valid? [True, True] Translation: X:650.41, Y:-91.12, Z:-42.74 [[ 9.76024322e-01 2.08934693e-01 6.10148923e-02 6.50408238e+02] [-2.08470434e-01 9.77929186e-01 -1.39493970e-02 -9.11178321e+01] [-6.25827569e-02 8.95149655e-04 9.98039377e-01 -4.27412392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.580714057 meters 0.02334124613680585 Centerline is valid? [True, True] Translation: X:650.47, Y:-91.13, Z:-42.75 [[ 9.74492402e-01 2.15779070e-01 6.16761886e-02 6.50465142e+02] [-2.15318388e-01 9.76442103e-01 -1.41000416e-02 -9.11310648e+01] [-6.32657212e-02 4.60365890e-04 9.97996612e-01 -4.27454965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.640714057 meters 0.02347907666242728 Centerline is valid? [True, True] Translation: X:650.52, Y:-91.15, Z:-42.75 [[ 9.73012172e-01 2.22065111e-01 6.27247898e-02 6.50521647e+02] [-2.21601943e-01 9.75031838e-01 -1.43350837e-02 -9.11491898e+01] [-6.43419890e-02 4.82755929e-05 9.97927906e-01 -4.27497319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.700714057 meters 0.02373955114644095 Centerline is valid? [True, True] Translation: X:650.57, Y:-91.17, Z:-42.75 [[ 9.72380263e-01 2.24594062e-01 6.35148187e-02 6.50574594e+02] [-2.24125131e-01 9.74452405e-01 -1.45063766e-02 -9.11713115e+01] [-6.51502140e-02 -1.29552819e-04 9.97875460e-01 -4.27538447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.760714057 meters 0.023706180727148106 Centerline is valid? [True, True] Translation: X:650.63, Y:-91.19, Z:-42.76 [[ 9.72148169e-01 2.25511142e-01 6.38174216e-02 6.50628781e+02] [-2.25040562e-01 9.74240567e-01 -1.45623648e-02 -9.11927537e+01] [-6.54574965e-02 -2.04732130e-04 9.97855337e-01 -4.27578239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.820714057 meters 0.024372508045486456 Centerline is valid? [True, True] Translation: X:650.68, Y:-91.22, Z:-42.76 [[ 9.71915299e-01 2.26302571e-01 6.45584893e-02 6.50682372e+02] [-2.25823932e-01 9.74057015e-01 -1.47133669e-02 -9.12155633e+01] [-6.62133221e-02 -2.78705544e-04 9.97805451e-01 -4.27621209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.880714057 meters 0.024486036170280355 Centerline is valid? [True, True] Translation: X:650.74, Y:-91.25, Z:-42.76 [[ 9.71431082e-01 2.27690755e-01 6.69221390e-02 6.50735592e+02] [-2.27181099e-01 9.73733410e-01 -1.52313572e-02 -9.12453581e+01] [-6.86323618e-02 -4.07231239e-04 9.97641936e-01 -4.27640948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.940714057 meters 0.02452216194899674 Centerline is valid? [True, True] Translation: X:650.79, Y:-91.28, Z:-42.77 [[ 9.71158439e-01 2.28333937e-01 6.86651265e-02 6.50788072e+02] [-2.27800260e-01 9.73582755e-01 -1.56096450e-02 -9.12774237e+01] [-7.04153947e-02 -4.82495135e-04 9.97517639e-01 -4.27675006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.000714057 meters 0.025187446324393556 Centerline is valid? [True, True] Translation: X:650.84, Y:-91.30, Z:-42.77 [[ 9.71012783e-01 2.28949207e-01 6.86763147e-02 6.50841242e+02] [-2.28418189e-01 9.73438218e-01 -1.55938245e-02 -9.13026465e+01] [-7.04223431e-02 -5.45116485e-04 9.97517116e-01 -4.27721489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.060714057 meters 0.02538782071334223 Centerline is valid? [True, True] Translation: X:650.89, Y:-91.34, Z:-42.78 [[ 9.70492527e-01 2.31683520e-01 6.68356362e-02 6.50894224e+02] [-2.31188425e-01 9.72790931e-01 -1.51564191e-02 -9.13359132e+01] [-6.85285933e-02 -7.42433961e-04 9.97648876e-01 -4.27771644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.120714057 meters 0.025488435461782727 Centerline is valid? [True, True] Translation: X:650.95, Y:-91.36, Z:-42.78 [[ 9.69930584e-01 2.34305164e-01 6.58464361e-02 6.50948195e+02] [-2.33831815e-01 9.72162653e-01 -1.49150240e-02 -9.13630337e+01] [-6.75081131e-02 -9.30453700e-04 9.97718291e-01 -4.27804585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.180714057 meters 0.024657728756073062 Centerline is valid? [True, True] Translation: X:651.00, Y:-91.40, Z:-42.78 [[ 9.69281537e-01 2.36951480e-01 6.59340483e-02 6.51000751e+02] [-2.36484144e-01 9.71520824e-01 -1.49176776e-02 -9.13985450e+01] [-6.75910668e-02 -1.13292753e-03 9.97712466e-01 -4.27818898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.240714057 meters 0.02294574224437832 Centerline is valid? [True, True] Translation: X:651.05, Y:-91.44, Z:-42.78 [[ 9.69325975e-01 2.36826965e-01 6.57277962e-02 6.51051755e+02] [-2.36363383e-01 9.71551180e-01 -1.48544573e-02 -9.14370245e+01] [-6.73758540e-02 -1.13683300e-03 9.97727018e-01 -4.27825498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.300714057 meters 0.021799239582352744 Centerline is valid? [True, True] Translation: X:651.10, Y:-91.47, Z:-42.78 [[ 9.69986599e-01 2.34148203e-01 6.55790848e-02 6.51104800e+02] [-2.33681081e-01 9.72200445e-01 -1.48137238e-02 -9.14687143e+01] [-6.72246223e-02 -9.55477800e-04 9.97737409e-01 -4.27842859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.360714057 meters 0.018776170535580065 Centerline is valid? [True, True] Translation: X:651.16, Y:-91.51, Z:-42.79 [[ 9.71595984e-01 2.27480105e-01 6.52230523e-02 6.51155494e+02] [-2.27003335e-01 9.73782602e-01 -1.47285379e-02 -9.15105550e+01] [-6.68635229e-02 -4.95662146e-04 9.97762008e-01 -4.27857612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.420714057 meters 0.017333571976635688 Centerline is valid? [True, True] Translation: X:651.21, Y:-91.54, Z:-42.79 [[ 9.72702896e-01 2.23128448e-01 6.37398822e-02 6.51210955e+02] [-2.22664099e-01 9.74789032e-01 -1.43889521e-02 -9.15408225e+01] [-6.53435227e-02 -1.96408021e-04 9.97862809e-01 -4.27887405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.480714057 meters 0.016391472094999963 Centerline is valid? [True, True] Translation: X:651.27, Y:-91.58, Z:-42.79 [[ 9.74050193e-01 2.17012894e-01 6.42777270e-02 6.51266054e+02] [-2.16527325e-01 9.76168714e-01 -1.45106997e-02 -9.15781540e+01] [-6.58949150e-02 2.16265516e-04 9.97826545e-01 -4.27901921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5407140570001 meters 0.016185836180133757 Centerline is valid? [True, True] Translation: X:651.32, Y:-91.61, Z:-42.79 [[ 9.75006103e-01 2.12308579e-01 6.54840931e-02 6.51323601e+02] [-2.11792724e-01 9.77202513e-01 -1.48017469e-02 -9.16072486e+01] [-6.71337581e-02 5.62739179e-04 9.97743826e-01 -4.27921822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.600714057 meters 0.01677249599280372 Centerline is valid? [True, True] Translation: X:651.38, Y:-91.64, Z:-42.80 [[ 9.76825381e-01 2.03942084e-01 6.49599993e-02 6.51380043e+02] [-2.03414844e-01 9.78982285e-01 -1.46998865e-02 -9.16402346e+01] [-6.65926140e-02 1.14539409e-03 9.97779591e-01 -4.27960803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6607140570001 meters 0.01831904939087508 Centerline is valid? [True, True] Translation: X:651.43, Y:-91.67, Z:-42.80 [[ 9.78759467e-01 1.94906060e-01 6.35730564e-02 6.51434891e+02] [-1.94381746e-01 9.80820393e-01 -1.43907576e-02 -9.16706258e+01] [-6.51585960e-02 1.72764858e-03 9.97873425e-01 -4.28015336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.720714057 meters 0.019202611267589598 Centerline is valid? [True, True] Translation: X:651.49, Y:-91.69, Z:-42.81 [[ 9.79830245e-01 1.89474849e-01 6.34978181e-02 6.51492608e+02] [-1.88940304e-01 9.81883355e-01 -1.43749172e-02 -9.16931766e+01] [-6.50711359e-02 2.08768156e-03 9.97878444e-01 -4.28057432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7807140570001 meters 0.022304245892220808 Centerline is valid? [True, True] Translation: X:651.55, Y:-91.72, Z:-42.81 [[ 9.80839287e-01 1.83754367e-01 6.47195891e-02 6.51548195e+02] [-1.83186420e-01 9.82968969e-01 -1.46540386e-02 -9.17178385e+01] [-6.63100914e-02 2.51750696e-03 9.97795888e-01 -4.28079417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.840714057 meters 0.02259337718409697 Centerline is valid? [True, True] Translation: X:651.61, Y:-91.73, Z:-42.81 [[ 9.80986273e-01 1.82625618e-01 6.56796472e-02 6.51608288e+02] [-1.82037811e-01 9.83178991e-01 -1.48764079e-02 -9.17330257e+01] [-6.72916624e-02 2.63737269e-03 9.97729861e-01 -4.28101109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.900714057 meters 0.02280935645887574 Centerline is valid? [True, True] Translation: X:651.67, Y:-91.75, Z:-42.81 [[ 9.80683254e-01 1.84028736e-01 6.62855869e-02 6.51668552e+02] [-1.83432041e-01 9.82917474e-01 -1.50308506e-02 -9.17460599e+01] [-6.79193700e-02 2.58160297e-03 9.97687473e-01 -4.28133873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.960714057 meters 0.022812002209875767 Centerline is valid? [True, True] Translation: X:651.73, Y:-91.76, Z:-42.82 [[ 9.80238199e-01 1.86179935e-01 6.68588471e-02 6.51729052e+02] [-1.85576678e-01 9.82512559e-01 -1.51778865e-02 -9.17585429e+01] [-6.85154749e-02 2.47050139e-03 9.97646995e-01 -4.28175004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.020714057 meters 0.021314408722254204 Centerline is valid? [True, True] Translation: X:651.79, Y:-91.77, Z:-42.82 [[ 9.79871934e-01 1.87887968e-01 6.74470564e-02 6.51790400e+02] [-1.87276898e-01 9.82187562e-01 -1.53283060e-02 -9.17672815e+01] [-6.91256642e-02 2.38850135e-03 9.97605101e-01 -4.28221584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.080714057 meters 0.019616237615208126 Centerline is valid? [True, True] Translation: X:651.85, Y:-91.78, Z:-42.83 [[ 9.79446877e-01 1.90382747e-01 6.66199964e-02 6.51851773e+02] [-1.89791210e-01 9.81707473e-01 -1.51569726e-02 -9.17756593e+01] [-6.82869744e-02 2.20155979e-03 9.97663291e-01 -4.28270449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.140714057 meters 0.017984683183051717 Centerline is valid? [True, True] Translation: X:651.91, Y:-91.78, Z:-42.83 [[ 9.78962070e-01 1.93253343e-01 6.54706948e-02 6.51913278e+02] [-1.92687385e-01 9.81146888e-01 -1.49116258e-02 -9.17824619e+01] [-6.71180899e-02 1.98253906e-03 9.97743069e-01 -4.28329142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.200714057 meters 0.02093441988112441 Centerline is valid? [True, True] Translation: X:651.97, Y:-91.80, Z:-42.84 [[ 9.78855345e-01 1.94095669e-01 6.45684482e-02 6.51972294e+02] [-1.93546788e-01 9.80980761e-01 -1.47100976e-02 -9.17985094e+01] [-6.61955716e-02 1.90204184e-03 9.97804855e-01 -4.28374465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.260714057 meters 0.020203631221140966 Centerline is valid? [True, True] Translation: X:652.03, Y:-91.81, Z:-42.84 [[ 9.79255659e-01 1.92200835e-01 6.41653682e-02 6.52033097e+02] [-1.91653704e-01 9.81353508e-01 -1.46338914e-02 -9.18089809e+01] [-6.57815553e-02 2.03279046e-03 9.97831977e-01 -4.28417873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.320714057 meters 0.02053365130944165 Centerline is valid? [True, True] Translation: X:652.09, Y:-91.82, Z:-42.85 [[ 9.80199254e-01 1.87822373e-01 6.27070881e-02 6.52093331e+02] [-1.87289976e-01 9.82200347e-01 -1.43158488e-02 -9.18205732e+01] [-6.42797604e-02 2.28797533e-03 9.97929295e-01 -4.28469925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.380714057 meters 0.02201423525543181 Centerline is valid? [True, True] Translation: X:652.15, Y:-91.84, Z:-42.85 [[ 9.80538170e-01 1.86177747e-01 6.23116642e-02 6.52153136e+02] [-1.85648601e-01 9.82513190e-01 -1.42277194e-02 -9.18355756e+01] [-6.38709167e-02 2.38274870e-03 9.97955324e-01 -4.28504600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.440714057 meters 0.0227993757672341 Centerline is valid? [True, True] Translation: X:652.21, Y:-91.85, Z:-42.85 [[ 9.80803667e-01 1.84474789e-01 6.31919259e-02 6.52214342e+02] [-1.83925962e-01 9.82833950e-01 -1.44453141e-02 -9.18481719e+01] [-6.47719664e-02 2.54538124e-03 9.97896845e-01 -4.28524414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.500714057 meters 0.025886295677067 Centerline is valid? [True, True] Translation: X:652.27, Y:-91.86, Z:-42.86 [[ 9.81269590e-01 1.82241936e-01 6.24329150e-02 6.52272681e+02] [-1.81700702e-01 9.83250078e-01 -1.42877203e-02 -9.18645919e+01] [-6.39909903e-02 2.67600095e-03 9.97946888e-01 -4.28552268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.560714057 meters 0.027434994314804655 Centerline is valid? [True, True] Translation: X:652.33, Y:-91.88, Z:-42.86 [[ 9.81700230e-01 1.79737008e-01 6.29227060e-02 6.52332278e+02] [-1.79181953e-01 9.83710529e-01 -1.44021626e-02 -9.18795332e+01] [-6.44863300e-02 2.86399304e-03 9.97914481e-01 -4.28579272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.620714057 meters 0.026680139998037783 Centerline is valid? [True, True] Translation: X:652.39, Y:-91.89, Z:-42.86 [[ 9.82405531e-01 1.75689702e-01 6.33443132e-02 6.52393063e+02] [-1.75117819e-01 9.84440505e-01 -1.45134609e-02 -9.18889346e+01] [-6.49085733e-02 3.16538631e-03 9.97886195e-01 -4.28612210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.680714057 meters 0.027110122073189514 Centerline is valid? [True, True] Translation: X:652.45, Y:-91.90, Z:-42.87 [[ 9.82923583e-01 1.73444484e-01 6.14674029e-02 6.52453526e+02] [-1.72901537e-01 9.84838394e-01 -1.40853278e-02 -9.19011320e+01] [-6.29784808e-02 3.21699242e-03 9.98009700e-01 -4.28669859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.740714057 meters 0.027142887754316933 Centerline is valid? [True, True] Translation: X:652.51, Y:-91.91, Z:-42.87 [[ 9.83590624e-01 1.70465987e-01 5.90832618e-02 6.52513332e+02] [-1.69958144e-01 9.85358070e-01 -1.35537340e-02 -9.19110474e+01] [-6.05286195e-02 3.28964412e-03 9.98161041e-01 -4.28713075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.800714057 meters 0.027434168705422275 Centerline is valid? [True, True] Translation: X:652.58, Y:-91.92, Z:-42.87 [[ 9.83361397e-01 1.71961004e-01 5.85642845e-02 6.52575910e+02] [-1.71464649e-01 9.85098656e-01 -1.34354516e-02 -9.19185644e+01] [-6.00019718e-02 3.17019999e-03 9.98193224e-01 -4.28743227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.860714057 meters 0.02656620375488085 Centerline is valid? [True, True] Translation: X:652.64, Y:-91.92, Z:-42.88 [[ 9.82171215e-01 1.78328472e-01 5.94866446e-02 6.52636640e+02] [-1.77827591e-01 9.83966940e-01 -1.36531499e-02 -9.19219891e+01] [-6.09676371e-02 2.83136413e-03 9.98135728e-01 -4.28772056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.920714057 meters 0.024401760086861398 Centerline is valid? [True, True] Translation: X:652.70, Y:-91.93, Z:-42.88 [[ 9.80972719e-01 1.84622488e-01 6.00588255e-02 6.52697371e+02] [-1.84123661e-01 9.82806424e-01 -1.37844559e-02 -9.19264445e+01] [-6.15711200e-02 2.46392434e-03 9.98099658e-01 -4.28809473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.980714057 meters 0.020398155794896535 Centerline is valid? [True, True] Translation: X:652.76, Y:-91.92, Z:-42.89 [[ 9.79153235e-01 1.94040689e-01 6.00595799e-02 6.52759800e+02] [-1.93559486e-01 9.80991695e-01 -1.37847760e-02 -9.19238577e+01] [-6.15927566e-02 1.87230655e-03 9.98099608e-01 -4.28867832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0407140570001 meters 0.020137670122733806 Centerline is valid? [True, True] Translation: X:652.82, Y:-91.93, Z:-42.89 [[ 9.78027269e-01 1.99687349e-01 5.98967752e-02 6.52819998e+02] [-1.99219318e-01 9.79858497e-01 -1.37473252e-02 -9.19307647e+01] [-6.14355311e-02 1.51266421e-03 9.98109907e-01 -4.28919393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.100714057 meters 0.02049593087241464 Centerline is valid? [True, True] Translation: X:652.88, Y:-91.94, Z:-42.90 [[ 9.77389397e-01 2.02681891e-01 6.02496197e-02 6.52880752e+02] [-2.02213973e-01 9.79243726e-01 -1.38287647e-02 -9.19404163e+01] [-6.18019022e-02 1.33277304e-03 9.98087546e-01 -4.28971405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1607140570001 meters 0.01939042061198802 Centerline is valid? [True, True] Translation: X:652.94, Y:-91.95, Z:-42.90 [[ 9.77599530e-01 2.01578364e-01 6.05419046e-02 6.52942254e+02] [-2.01102813e-01 9.79471354e-01 -1.39113084e-02 -9.19497290e+01] [-6.21032801e-02 1.42454119e-03 9.98068712e-01 -4.29000684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.220714057 meters 0.019655015699687535 Centerline is valid? [True, True] Translation: X:653.00, Y:-91.96, Z:-42.90 [[ 9.78088966e-01 1.99278479e-01 6.02499969e-02 6.53003031e+02] [-1.98802173e-01 9.79941629e-01 -1.38600103e-02 -9.19620010e+01] [-6.18034819e-02 1.57849284e-03 9.98087089e-01 -4.29049640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2807140570001 meters 0.020328284769500063 Centerline is valid? [True, True] Translation: X:653.06, Y:-91.98, Z:-42.91 [[ 9.77986972e-01 1.99491863e-01 6.11921531e-02 6.53064023e+02] [-1.98999895e-01 9.79898167e-01 -1.40934025e-02 -9.19752513e+01] [-6.27735977e-02 1.60593193e-03 9.98026501e-01 -4.29091193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.340714057 meters 0.019830967288467657 Centerline is valid? [True, True] Translation: X:653.12, Y:-91.99, Z:-42.91 [[ 9.77736498e-01 2.00181896e-01 6.29170022e-02 6.53124391e+02] [-1.99662088e-01 9.79757407e-01 -1.45077603e-02 -9.19884704e+01] [-6.45475899e-02 1.62262678e-03 9.97913311e-01 -4.29113175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.400714057 meters 0.020256993617287705 Centerline is valid? [True, True] Translation: X:653.18, Y:-92.00, Z:-42.91 [[ 9.77793986e-01 1.99749620e-01 6.33956673e-02 6.53184836e+02] [-1.99219852e-01 9.79845532e-01 -1.46350590e-02 -9.20024359e+01] [-6.50413088e-02 1.68039722e-03 9.97881157e-01 -4.29148250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.460714057 meters 0.020685651126619464 Centerline is valid? [True, True] Translation: X:653.24, Y:-92.02, Z:-42.92 [[ 9.78190454e-01 1.97871309e-01 6.31694603e-02 6.53244785e+02] [-1.97340327e-01 9.80226326e-01 -1.45994965e-02 -9.20178925e+01] [-6.48091894e-02 1.81520613e-03 9.97896024e-01 -4.29182013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.520714057 meters 0.02180915184724242 Centerline is valid? [True, True] Translation: X:653.30, Y:-92.04, Z:-42.92 [[ 9.79483234e-01 1.90847610e-01 6.47285393e-02 6.53303436e+02] [-1.90273594e-01 9.81616855e-01 -1.49769372e-02 -9.20357927e+01] [-6.63969379e-02 2.35352706e-03 9.97790513e-01 -4.29214012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.580714057 meters 0.02567825732290006 Centerline is valid? [True, True] Translation: X:653.36, Y:-92.06, Z:-42.93 [[ 9.81614716e-01 1.79673726e-01 6.44197241e-02 6.53360127e+02] [-1.79081060e-01 9.83721386e-01 -1.49066583e-02 -9.20570547e+01] [-6.60493951e-02 3.09624263e-03 9.97811551e-01 -4.29258491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.640714057 meters 0.028816017734024875 Centerline is valid? [True, True] Translation: X:653.42, Y:-92.08, Z:-42.93 [[ 9.84115251e-01 1.65764193e-01 6.35563196e-02 6.53417160e+02] [-1.65158365e-01 9.86157401e-01 -1.47069544e-02 -9.20769559e+01] [-6.51144214e-02 3.97648031e-03 9.97869881e-01 -4.29304585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.700714057 meters 0.03628714803861452 Centerline is valid? [True, True] Translation: X:653.47, Y:-92.10, Z:-42.93 [[ 9.85351028e-01 1.58259294e-01 6.35401214e-02 6.53472951e+02] [-1.57638192e-01 9.87387460e-01 -1.47038954e-02 -9.21001573e+01] [-6.50657471e-02 4.47214858e-03 9.97870958e-01 -4.29342470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.760714057 meters 0.03593509180519211 Centerline is valid? [True, True] Translation: X:653.53, Y:-92.11, Z:-42.94 [[ 9.86161566e-01 1.52478415e-01 6.50822483e-02 6.53533254e+02] [-1.51814070e-01 9.88294283e-01 -1.50631656e-02 -9.21091568e+01] [-6.66172215e-02 4.97431393e-03 9.97766206e-01 -4.29370040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.820714057 meters 0.03648893696631855 Centerline is valid? [True, True] Translation: X:653.60, Y:-92.12, Z:-42.94 [[ 9.85969836e-01 1.53339537e-01 6.59580923e-02 6.53595740e+02] [-1.52658964e-01 9.88160991e-01 -1.52675032e-02 -9.21160429e+01] [-6.75183257e-02 4.98420356e-03 9.97705585e-01 -4.29406172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.880714057 meters 0.03599507669506027 Centerline is valid? [True, True] Translation: X:653.66, Y:-92.12, Z:-42.95 [[ 9.85583959e-01 1.55727201e-01 6.61309268e-02 6.53656309e+02] [-1.55047230e-01 9.87788193e-01 -1.53245653e-02 -9.21216693e+01] [-6.77098004e-02 4.85022867e-03 9.97693269e-01 -4.29452883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.940714057 meters 0.0379529291976466 Centerline is valid? [True, True] Translation: X:653.72, Y:-92.13, Z:-42.95 [[ 9.85289400e-01 1.57424971e-01 6.64994445e-02 6.53715127e+02] [-1.56741224e-01 9.87519478e-01 -1.54100288e-02 -9.21341643e+01] [-6.80954200e-02 4.76013365e-03 9.97667457e-01 -4.29491200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.000714057 meters 0.03499669272403564 Centerline is valid? [True, True] Translation: X:653.78, Y:-92.13, Z:-42.95 [[ 9.83868594e-01 1.65460324e-01 6.80108136e-02 6.53777540e+02] [-1.64764063e-01 9.86207067e-01 -1.57615202e-02 -9.21316905e+01] [-6.96806512e-02 4.30152673e-03 9.97560075e-01 -4.29530480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.060714057 meters 0.03138553650811209 Centerline is valid? [True, True] Translation: X:653.84, Y:-92.13, Z:-42.96 [[ 9.82379214e-01 1.73777865e-01 6.87919651e-02 6.53840533e+02] [-1.73085734e-01 9.84777718e-01 -1.59428735e-02 -9.21269419e+01] [-7.05153129e-02 3.75503974e-03 9.97503629e-01 -4.29579226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.120714057 meters 0.03103213117532092 Centerline is valid? [True, True] Translation: X:653.90, Y:-92.13, Z:-42.96 [[ 9.81729853e-01 1.77566400e-01 6.83861761e-02 6.53901920e+02] [-1.76891575e-01 9.84102731e-01 -1.58488056e-02 -9.21319878e+01] [-7.01132380e-02 3.46230715e-03 9.97533030e-01 -4.29626987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.180714057 meters 0.03199329319594849 Centerline is valid? [True, True] Translation: X:653.96, Y:-92.14, Z:-42.97 [[ 9.81290261e-01 1.80238463e-01 6.77017073e-02 6.53961879e+02] [-1.79583357e-01 9.83617609e-01 -1.56912786e-02 -9.21365539e+01] [-6.94207634e-02 3.23959899e-03 9.97582208e-01 -4.29684296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.240714057 meters 0.03190928621169898 Centerline is valid? [True, True] Translation: X:654.02, Y:-92.14, Z:-42.97 [[ 9.81172025e-01 1.81471894e-01 6.61014994e-02 6.54021799e+02] [-1.80850314e-01 9.83391320e-01 -1.53191260e-02 -9.21420189e+01] [-6.77836316e-02 3.07622094e-03 9.97695302e-01 -4.29749351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.300714057 meters 0.032346549661953584 Centerline is valid? [True, True] Translation: X:654.08, Y:-92.15, Z:-42.98 [[ 9.80852132e-01 1.83399538e-01 6.55263747e-02 6.54079998e+02] [-1.82793197e-01 9.83034136e-01 -1.51833427e-02 -9.21512412e+01] [-6.71992812e-02 2.91483849e-03 9.97735316e-01 -4.29789104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.360714057 meters 0.030456640108146957 Centerline is valid? [True, True] Translation: X:654.14, Y:-92.15, Z:-42.98 [[ 9.80042591e-01 1.87807862e-01 6.51515740e-02 6.54140349e+02] [-1.87218391e-01 9.82202361e-01 -1.50929245e-02 -9.21547671e+01] [-6.68265996e-02 2.59413594e-03 9.97761232e-01 -4.29825801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.420714057 meters 0.02991353498811753 Centerline is valid? [True, True] Translation: X:654.20, Y:-92.16, Z:-42.99 [[ 9.79451906e-01 1.90921203e-01 6.49850680e-02 6.54199392e+02] [-1.90341740e-01 9.81602497e-01 -1.50519055e-02 -9.21641854e+01] [-6.66632329e-02 2.37324663e-03 9.97772710e-01 -4.29867420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.480714057 meters 0.028788820005292322 Centerline is valid? [True, True] Translation: X:654.26, Y:-92.17, Z:-42.99 [[ 9.79018615e-01 1.93096307e-01 6.50873871e-02 6.54258047e+02] [-1.92519976e-01 9.81177283e-01 -1.50731046e-02 -9.21728258e+01] [-6.67728265e-02 2.22622775e-03 9.97765721e-01 -4.29908236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5407140570001 meters 0.029089952680152173 Centerline is valid? [True, True] Translation: X:654.31, Y:-92.19, Z:-43.00 [[ 9.79378022e-01 1.91417192e-01 6.46385969e-02 6.54314958e+02] [-1.90845392e-01 9.81506023e-01 -1.49654357e-02 -9.21874212e+01] [-6.63078138e-02 2.32084045e-03 9.97796516e-01 -4.29953756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.600714057 meters 0.03096684141445843 Centerline is valid? [True, True] Translation: X:654.37, Y:-92.21, Z:-43.00 [[ 9.80322525e-01 1.87133209e-01 6.28403452e-02 6.54370652e+02] [-1.86584337e-01 9.82331281e-01 -1.45444182e-02 -9.22053212e+01] [-6.44517804e-02 2.53319666e-03 9.97917607e-01 -4.30005367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6607140570001 meters 0.03223640575067797 Centerline is valid? [True, True] Translation: X:654.43, Y:-92.22, Z:-43.00 [[ 9.80981812e-01 1.83783007e-01 6.24379016e-02 6.54428226e+02] [-1.83234605e-01 9.82963042e-01 -1.44477697e-02 -9.22217498e+01] [-6.40294043e-02 2.73221508e-03 9.97944272e-01 -4.30038857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.720714057 meters 0.03410302276357111 Centerline is valid? [True, True] Translation: X:654.49, Y:-92.24, Z:-43.01 [[ 9.81868905e-01 1.78713529e-01 6.32054476e-02 6.54485299e+02] [-1.78141217e-01 9.83896272e-01 -1.46229974e-02 -9.22403705e+01] [-6.48009317e-02 3.09837105e-03 9.97893401e-01 -4.30054813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7807140570001 meters 0.03262374042355216 Centerline is valid? [True, True] Translation: X:654.54, Y:-92.25, Z:-43.01 [[ 9.82276002e-01 1.75971180e-01 6.45600563e-02 6.54543399e+02] [-1.75368214e-01 9.84389623e-01 -1.49351639e-02 -9.22533689e+01] [-6.61804079e-02 3.34867132e-03 9.97802055e-01 -4.30073025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.840714057 meters 0.03349342657199416 Centerline is valid? [True, True] Translation: X:654.60, Y:-92.27, Z:-43.01 [[ 9.82556310e-01 1.74361980e-01 6.46606291e-02 6.54600425e+02] [-1.73753825e-01 9.84675545e-01 -1.49559291e-02 -9.22699992e+01] [-6.62774856e-02 3.46001083e-03 9.97795231e-01 -4.30108613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.900714057 meters 0.035141895095750254 Centerline is valid? [True, True] Translation: X:654.66, Y:-92.29, Z:-43.02 [[ 9.83421312e-01 1.70157042e-01 6.26825626e-02 6.54658006e+02] [-1.69577216e-01 9.85410286e-01 -1.44960714e-02 -9.22869433e+01] [-6.42346505e-02 3.62621113e-03 9.97928234e-01 -4.30158212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.960714057 meters 0.036264283188450215 Centerline is valid? [True, True] Translation: X:654.72, Y:-92.30, Z:-43.02 [[ 9.84385639e-01 1.64775646e-01 6.19185047e-02 6.54716140e+02] [-1.64199340e-01 9.86323252e-01 -1.43184788e-02 -9.23041185e+01] [-6.34309975e-02 3.92792731e-03 9.97978497e-01 -4.30200836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.020714057 meters 0.038497344326982756 Centerline is valid? [True, True] Translation: X:654.78, Y:-92.32, Z:-43.02 [[ 9.85270068e-01 1.59355199e-01 6.20388129e-02 6.54775026e+02] [-1.58765940e-01 9.87212011e-01 -1.43464738e-02 -9.23218625e+01] [-6.35316464e-02 4.28550081e-03 9.97970623e-01 -4.30231518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.080714057 meters 0.04217482511531679 Centerline is valid? [True, True] Translation: X:654.83, Y:-92.34, Z:-43.03 [[ 9.86725747e-01 1.49789942e-01 6.27317569e-02 6.54832493e+02] [-1.49168077e-01 9.88705410e-01 -1.45085097e-02 -9.23405212e+01] [-6.41964563e-02 4.95834453e-03 9.97924962e-01 -4.30266334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.140714057 meters 0.04643084881769515 Centerline is valid? [True, True] Translation: X:654.89, Y:-92.36, Z:-43.03 [[ 9.87914082e-01 1.42198264e-01 6.16880854e-02 6.54889722e+02] [-1.41582305e-01 9.89823684e-01 -1.42662381e-02 -9.23595059e+01] [-6.30889623e-02 5.35987620e-03 9.97993514e-01 -4.30317385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.200714057 meters 0.04876650484081762 Centerline is valid? [True, True] Translation: X:654.95, Y:-92.37, Z:-43.04 [[ 9.88497357e-01 1.38291804e-01 6.12237827e-02 6.54948202e+02] [-1.37677645e-01 9.90375880e-01 -1.41591954e-02 -9.23733581e+01] [-6.25926583e-02 5.56718103e-03 9.98023630e-01 -4.30358800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.260714057 meters 0.04702610565966654 Centerline is valid? [True, True] Translation: X:655.01, Y:-92.38, Z:-43.04 [[ 9.89138595e-01 1.33704599e-01 6.10567024e-02 6.55009084e+02] [-1.33085124e-01 9.91004014e-01 -1.41206823e-02 -9.23805650e+01] [-6.23954373e-02 5.84157302e-03 9.98034411e-01 -4.30404971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.320714057 meters 0.056470000994043645 Centerline is valid? [True, True] Translation: X:655.07, Y:-92.40, Z:-43.04 [[ 9.89722861e-01 1.29289303e-01 6.10977417e-02 6.55066215e+02] [-1.28660536e-01 9.91587993e-01 -1.41322163e-02 -9.24000668e+01] [-6.24109314e-02 6.12610930e-03 9.98031736e-01 -4.30444070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.380714057 meters 0.05162293973384574 Centerline is valid? [True, True] Translation: X:655.13, Y:-92.40, Z:-43.05 [[ 9.89687617e-01 1.28887486e-01 6.25015007e-02 6.55129236e+02] [-1.28228607e-01 9.91639249e-01 -1.44576582e-02 -9.24035058e+01] [-6.38423525e-02 6.29408490e-03 9.97940148e-01 -4.30476249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.440714057 meters 0.050974486620828444 Centerline is valid? [True, True] Translation: X:655.19, Y:-92.41, Z:-43.05 [[ 9.89313583e-01 1.31316442e-01 6.33610873e-02 6.55190488e+02] [-1.30643091e-01 9.91320868e-01 -1.46737624e-02 -9.24067324e+01] [-6.47380743e-02 6.23926414e-03 9.97882785e-01 -4.30521792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.500714057 meters 0.04981502012907206 Centerline is valid? [True, True] Translation: X:655.25, Y:-92.41, Z:-43.06 [[ 9.88761824e-01 1.36274240e-01 6.14767215e-02 6.55252666e+02] [-1.35649812e-01 9.90654528e-01 -1.42385162e-02 -9.24067157e+01] [-6.28425354e-02 5.73919555e-03 9.98006953e-01 -4.30586546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.560714057 meters 0.04864454820771388 Centerline is valid? [True, True] Translation: X:655.31, Y:-92.41, Z:-43.06 [[ 9.88432366e-01 1.39060398e-01 6.05281979e-02 6.55313646e+02] [-1.38460228e-01 9.90268756e-01 -1.40198560e-02 -9.24113962e+01] [-6.18887900e-02 5.47693141e-03 9.98068024e-01 -4.30637503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.620714057 meters 0.04665213346659948 Centerline is valid? [True, True] Translation: X:655.38, Y:-92.41, Z:-43.07 [[ 9.87915313e-01 1.42490388e-01 6.09903649e-02 6.55375669e+02] [-1.41887424e-01 9.89781978e-01 -1.41277960e-02 -9.24112123e+01] [-6.23802391e-02 5.30330027e-03 9.98038366e-01 -4.30669455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.680714057 meters 0.04577978099933243 Centerline is valid? [True, True] Translation: X:655.44, Y:-92.41, Z:-43.07 [[ 9.87033941e-01 1.47702780e-01 6.28322244e-02 6.55437790e+02] [-1.47073272e-01 9.89018517e-01 -1.45542137e-02 -9.24128161e+01] [-6.42919313e-02 5.12456206e-03 9.97917976e-01 -4.30688533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.740714057 meters 0.043892138151703626 Centerline is valid? [True, True] Translation: X:655.50, Y:-92.42, Z:-43.07 [[ 9.86220824e-01 1.52069416e-01 6.51412175e-02 6.55498419e+02] [-1.51402128e-01 9.88357072e-01 -1.50895458e-02 -9.24168306e+01] [-6.66774414e-02 5.01910536e-03 9.97761959e-01 -4.30716564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.800714057 meters 0.04131030715557572 Centerline is valid? [True, True] Translation: X:655.56, Y:-92.42, Z:-43.08 [[ 9.85279884e-01 1.57974598e-01 6.53266913e-02 6.55559424e+02] [-1.57316398e-01 9.87432310e-01 -1.51322491e-02 -9.24186469e+01] [-6.68961966e-02 4.63254079e-03 9.97749186e-01 -4.30766071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.860714057 meters 0.0397668122134874 Centerline is valid? [True, True] Translation: X:655.62, Y:-92.43, Z:-43.08 [[ 9.85005348e-01 1.59960011e-01 6.46317236e-02 6.55618655e+02] [-1.59320087e-01 9.87113472e-01 -1.49701079e-02 -9.24278179e+01] [-6.61934637e-02 4.44850453e-03 9.97796891e-01 -4.30810930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.920714057 meters 0.038911773136108316 Centerline is valid? [True, True] Translation: X:655.68, Y:-92.43, Z:-43.09 [[ 9.84414151e-01 1.63812742e-01 6.39856665e-02 6.55679384e+02] [-1.63193734e-01 9.86482739e-01 -1.48192826e-02 -9.24336338e+01] [-6.55483429e-02 4.14625167e-03 9.97840781e-01 -4.30857972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.980714057 meters 0.03903756831408724 Centerline is valid? [True, True] Translation: X:655.74, Y:-92.44, Z:-43.09 [[ 9.84425696e-01 1.63992296e-01 6.33448903e-02 6.55737605e+02] [-1.63386030e-01 9.86453131e-01 -1.46706039e-02 -9.24421987e+01] [-6.48926314e-02 4.09244934e-03 9.97883860e-01 -4.30903508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0407140570001 meters 0.038226024761768285 Centerline is valid? [True, True] Translation: X:655.80, Y:-92.45, Z:-43.09 [[ 9.84795991e-01 1.61895196e-01 6.29825528e-02 6.55795847e+02] [-1.61291889e-01 9.86799012e-01 -1.45820233e-02 -9.24519441e+01] [-6.45118804e-02 4.20174317e-03 9.97908093e-01 -4.30939853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.100714057 meters 0.04486091248351899 Centerline is valid? [True, True] Translation: X:655.85, Y:-92.47, Z:-43.10 [[ 9.85444953e-01 1.58078952e-01 6.25243061e-02 6.55851529e+02] [-1.57476993e-01 9.87416603e-01 -1.44723523e-02 -9.24725438e+01] [-6.40253122e-02 4.41556684e-03 9.97938506e-01 -4.30977271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1607140570001 meters 0.038734123551901915 Centerline is valid? [True, True] Translation: X:655.91, Y:-92.47, Z:-43.10 [[ 9.85635918e-01 1.57080475e-01 6.20287130e-02 6.55911708e+02] [-1.56486063e-01 9.87575804e-01 -1.43577256e-02 -9.24739033e+01] [-6.35133745e-02 4.44486095e-03 9.97971089e-01 -4.31013555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.220714057 meters 0.04044719772488348 Centerline is valid? [True, True] Translation: X:655.97, Y:-92.49, Z:-43.10 [[ 9.85418652e-01 1.58297932e-01 6.23846575e-02 6.55968286e+02] [-1.57699404e-01 9.87381649e-01 -1.44352720e-02 -9.24867308e+01] [-6.38825398e-02 4.38676301e-03 9.97947783e-01 -4.31037068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2807140570001 meters 0.04038877151280806 Centerline is valid? [True, True] Translation: X:656.03, Y:-92.50, Z:-43.11 [[ 9.84942088e-01 1.60570945e-01 6.40785083e-02 6.56026921e+02] [-1.59944610e-01 9.87014721e-01 -1.48210070e-02 -9.24972108e+01] [-6.56262541e-02 4.34882161e-03 9.97834797e-01 -4.31050092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.340714057 meters 0.039822098715661294 Centerline is valid? [True, True] Translation: X:656.09, Y:-92.51, Z:-43.11 [[ 9.84623896e-01 1.62204633e-01 6.48493681e-02 6.56085345e+02] [-1.61566800e-01 9.86747822e-01 -1.49968396e-02 -9.25078438e+01] [-6.64225296e-02 4.28874170e-03 9.97782368e-01 -4.31080969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.400714057 meters 0.03948186290182521 Centerline is valid? [True, True] Translation: X:656.14, Y:-92.52, Z:-43.11 [[ 9.84447972e-01 1.63003249e-01 6.55143585e-02 6.56142937e+02] [-1.62354254e-01 9.86616271e-01 -1.51469256e-02 -9.25194941e+01] [-6.71065302e-02 4.27482533e-03 9.97736658e-01 -4.31110515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.460714057 meters 0.036881669120518525 Centerline is valid? [True, True] Translation: X:656.20, Y:-92.53, Z:-43.12 [[ 9.84524461e-01 1.62850639e-01 6.47398969e-02 6.56201358e+02] [-1.62216907e-01 9.86641667e-01 -1.49631577e-02 -9.25272179e+01] [-6.63118396e-02 4.22968900e-03 9.97789983e-01 -4.31161229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.520714057 meters 0.04004054013588918 Centerline is valid? [True, True] Translation: X:656.26, Y:-92.54, Z:-43.12 [[ 9.84580658e-01 1.63037288e-01 6.34016635e-02 6.56256585e+02] [-1.62430219e-01 9.86611285e-01 -1.46490886e-02 -9.25442172e+01] [-6.49411444e-02 4.12486324e-03 9.97880571e-01 -4.31212898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.580714057 meters 0.03683024652951469 Centerline is valid? [True, True] Translation: X:656.32, Y:-92.55, Z:-43.12 [[ 9.84257400e-01 1.65155613e-01 6.29364264e-02 6.56316485e+02] [-1.64562290e-01 9.86259622e-01 -1.45331021e-02 -9.25513699e+01] [-6.44718795e-02 3.94735083e-03 9.97911717e-01 -4.31243427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.640714057 meters 0.03652648565317328 Centerline is valid? [True, True] Translation: X:656.38, Y:-92.56, Z:-43.13 [[ 9.83928646e-01 1.67419673e-01 6.20892315e-02 6.56375078e+02] [-1.66846926e-01 9.85878609e-01 -1.43342771e-02 -9.25632562e+01] [-6.36122851e-02 3.74450844e-03 9.97967663e-01 -4.31282451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.700714057 meters 0.035064867894312984 Centerline is valid? [True, True] Translation: X:656.43, Y:-92.57, Z:-43.13 [[ 9.82825694e-01 1.73498973e-01 6.28630385e-02 6.56434842e+02] [-1.72924415e-01 9.84828216e-01 -1.45097237e-02 -9.25717428e+01] [-6.44267162e-02 3.38997506e-03 9.97916683e-01 -4.31310453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.760714057 meters 0.034306354076960095 Centerline is valid? [True, True] Translation: X:656.49, Y:-92.58, Z:-43.13 [[ 9.81783669e-01 1.78682291e-01 6.46023677e-02 6.56493896e+02] [-1.78086736e-01 9.83901836e-01 -1.49094314e-02 -9.25827939e+01] [-6.62264396e-02 3.13301144e-03 9.97799701e-01 -4.31337765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.820714057 meters 0.03413928457332402 Centerline is valid? [True, True] Translation: X:656.55, Y:-92.60, Z:-43.14 [[ 9.81525228e-01 1.79974617e-01 6.49412372e-02 6.56551217e+02] [-1.79375659e-01 9.83666492e-01 -1.49868666e-02 -9.25970109e+01] [-6.65777745e-02 3.06111045e-03 9.97776543e-01 -4.31375044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.880714057 meters 0.03527809299067479 Centerline is valid? [True, True] Translation: X:656.61, Y:-92.61, Z:-43.14 [[ 9.81839624e-01 1.78457301e-01 6.43734743e-02 6.56607236e+02] [-1.77866499e-01 9.83942704e-01 -1.48412620e-02 -9.26138487e+01] [-6.59883419e-02 3.12185463e-03 9.97815510e-01 -4.31421664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.940714057 meters 0.03818320098395283 Centerline is valid? [True, True] Translation: X:656.66, Y:-92.63, Z:-43.15 [[ 9.82586486e-01 1.74547959e-01 6.36930695e-02 6.56663140e+02] [-1.73961695e-01 9.84642994e-01 -1.46800028e-02 -9.26340739e+01] [-6.52772992e-02 3.34421806e-03 9.97861559e-01 -4.31455849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.000714057 meters 0.03511594937844548 Centerline is valid? [True, True] Translation: X:656.72, Y:-92.64, Z:-43.15 [[ 9.83512539e-01 1.69251248e-01 6.36953781e-02 6.56722578e+02] [-1.68653935e-01 9.85566011e-01 -1.46795262e-02 -9.26443946e+01] [-6.52605278e-02 3.69502194e-03 9.97861418e-01 -4.31500373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.060714057 meters 0.03679924694167529 Centerline is valid? [True, True] Translation: X:656.78, Y:-92.66, Z:-43.15 [[ 9.84462174e-01 1.63792384e-01 6.32952007e-02 6.56780163e+02] [-1.63191330e-01 9.86486596e-01 -1.45871984e-02 -9.26625764e+01] [-6.48291391e-02 4.03131710e-03 9.97888236e-01 -4.31541835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.120714057 meters 0.038503062503126594 Centerline is valid? [True, True] Translation: X:656.84, Y:-92.68, Z:-43.16 [[ 9.84941333e-01 1.60671537e-01 6.38375067e-02 6.56838171e+02] [-1.60053600e-01 9.86998681e-01 -1.47121776e-02 -9.26794694e+01] [-6.53713632e-02 4.27320903e-03 9.97851855e-01 -4.31570916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.180714057 meters 0.03634905250960458 Centerline is valid? [True, True] Translation: X:656.90, Y:-92.69, Z:-43.16 [[ 9.85036084e-01 1.59548731e-01 6.51775724e-02 6.56896624e+02] [-1.58902184e-01 9.87180078e-01 -1.50196396e-02 -9.26885706e+01] [-6.67383655e-02 4.43802833e-03 9.97760640e-01 -4.31597629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.240714057 meters 0.03716168042735629 Centerline is valid? [True, True] Translation: X:656.95, Y:-92.70, Z:-43.16 [[ 9.84773239e-01 1.60935448e-01 6.57377279e-02 6.56952571e+02] [-1.60281153e-01 9.86955232e-01 -1.51434021e-02 -9.27034557e+01] [-6.73173047e-02 4.37629837e-03 9.97722020e-01 -4.31629847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.300714057 meters 0.03667507285937728 Centerline is valid? [True, True] Translation: X:657.01, Y:-92.72, Z:-43.17 [[ 9.84433528e-01 1.62526626e-01 6.69008627e-02 6.57010127e+02] [-1.61853185e-01 9.86694637e-01 -1.54026128e-02 -9.27159979e+01] [-6.85140571e-02 4.33473077e-03 9.97640734e-01 -4.31660139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.360714057 meters 0.03550729183270064 Centerline is valid? [True, True] Translation: X:657.07, Y:-92.73, Z:-43.17 [[ 9.84342837e-01 1.63002461e-01 6.70773935e-02 6.57067404e+02] [-1.62326908e-01 9.86616258e-01 -1.54381075e-02 -9.27270274e+01] [-6.86960965e-02 4.30792466e-03 9.97628332e-01 -4.31700117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.420714057 meters 0.03688756844594899 Centerline is valid? [True, True] Translation: X:657.12, Y:-92.74, Z:-43.18 [[ 9.84604871e-01 1.62010578e-01 6.56187542e-02 6.57122729e+02] [-1.61362282e-01 9.86779754e-01 -1.50973524e-02 -9.27438494e+01] [-6.71971890e-02 4.27653477e-03 9.97730549e-01 -4.31758539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.480714057 meters 0.03747762207468894 Centerline is valid? [True, True] Translation: X:657.18, Y:-92.76, Z:-43.18 [[ 9.84932549e-01 1.60513186e-01 6.43691712e-02 6.57180429e+02] [-1.59886597e-01 9.87024377e-01 -1.48038905e-02 -9.27589961e+01] [-6.59101607e-02 4.28906584e-03 9.97816343e-01 -4.31807516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5407140570001 meters 0.040854554777042765 Centerline is valid? [True, True] Translation: X:657.24, Y:-92.78, Z:-43.18 [[ 9.85669204e-01 1.55776173e-01 6.47302352e-02 6.57236690e+02] [-1.55132526e-01 9.87781531e-01 -1.48844452e-02 -9.27769776e+01] [-6.62579727e-02 4.62937443e-03 9.97791787e-01 -4.31840517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.600714057 meters 0.041063397761171044 Centerline is valid? [True, True] Translation: X:657.30, Y:-92.79, Z:-43.19 [[ 9.86740245e-01 1.49305016e-01 6.36529760e-02 6.57295502e+02] [-1.48669412e-01 9.88778661e-01 -1.46343868e-02 -9.27909399e+01] [-6.51236918e-02 4.97708788e-03 9.97864787e-01 -4.31879203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6607140570001 meters 0.04137804463287231 Centerline is valid? [True, True] Translation: X:657.35, Y:-92.80, Z:-43.19 [[ 9.87325135e-01 1.45319923e-01 6.38059424e-02 6.57354285e+02] [-1.44673050e-01 9.89370780e-01 -1.46686410e-02 -9.28037948e+01] [-6.52593808e-02 5.25171762e-03 9.97854515e-01 -4.31914855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.720714057 meters 0.04680633252285682 Centerline is valid? [True, True] Translation: X:657.41, Y:-92.82, Z:-43.19 [[ 9.87761430e-01 1.41996714e-01 6.45313208e-02 6.57410711e+02] [-1.41328011e-01 9.89851663e-01 -1.48350522e-02 -9.28223820e+01] [-6.59829638e-02 5.53340914e-03 9.97805407e-01 -4.31931622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7807140570001 meters 0.04397483995862921 Centerline is valid? [True, True] Translation: X:657.47, Y:-92.83, Z:-43.20 [[ 9.87934659e-01 1.40686242e-01 6.47494451e-02 6.57470316e+02] [-1.40010209e-01 9.90038166e-01 -1.48852451e-02 -9.28298477e+01] [-6.61985711e-02 5.64006621e-03 9.97790529e-01 -4.31969035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.840714057 meters 0.04571070826463883 Centerline is valid? [True, True] Translation: X:657.53, Y:-92.84, Z:-43.20 [[ 9.88306224e-01 1.38624266e-01 6.35147294e-02 6.57529094e+02] [-1.37969745e-01 9.90328844e-01 -1.45989890e-02 -9.28427704e+01] [-6.49242426e-02 5.66516070e-03 9.97874115e-01 -4.32017160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9007140570001 meters 0.049843380243726525 Centerline is valid? [True, True] Translation: X:657.59, Y:-92.86, Z:-43.20 [[ 9.88747471e-01 1.35741358e-01 6.28706838e-02 6.57586155e+02] [-1.35094366e-01 9.90727368e-01 -1.44497607e-02 -9.28567732e+01] [-6.42491372e-02 5.79368916e-03 9.97917072e-01 -4.32049819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.960714057 meters 0.05227859341719824 Centerline is valid? [True, True] Translation: X:657.64, Y:-92.87, Z:-43.21 [[ 9.88903562e-01 1.34697491e-01 6.26604427e-02 6.57643414e+02] [-1.34052857e-01 9.90869557e-01 -1.43997578e-02 -9.28667673e+01] [-6.40279363e-02 5.84016040e-03 9.97931018e-01 -4.32081628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.020714057 meters 0.04618223160207606 Centerline is valid? [True, True] Translation: X:657.70, Y:-92.87, Z:-43.21 [[ 9.88793327e-01 1.35645489e-01 6.23542933e-02 6.57703336e+02] [-1.35009256e-01 9.90740772e-01 -1.43256330e-02 -9.28666711e+01] [-6.37201482e-02 5.74668356e-03 9.97951261e-01 -4.32113857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.080714057 meters 0.043717463772678815 Centerline is valid? [True, True] Translation: X:657.76, Y:-92.87, Z:-43.22 [[ 9.88500492e-01 1.38216365e-01 6.13434088e-02 6.57763754e+02] [-1.37605825e-01 9.90386867e-01 -1.40886752e-02 -9.28686187e+01] [-6.27009919e-02 5.48545199e-03 9.98017282e-01 -4.32162519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.140714057 meters 0.04355063313861961 Centerline is valid? [True, True] Translation: X:657.82, Y:-92.88, Z:-43.22 [[ 9.88096823e-01 1.41768724e-01 5.97184780e-02 6.57824528e+02] [-1.41196724e-01 9.89886578e-01 -1.37130593e-02 -9.28753043e+01] [-6.10586027e-02 5.11777691e-03 9.98121063e-01 -4.32210705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.200714057 meters 0.04449882854947694 Centerline is valid? [True, True] Translation: X:657.88, Y:-92.88, Z:-43.22 [[ 9.87637316e-01 1.45196918e-01 5.90794999e-02 6.57883629e+02] [-1.44643126e-01 9.89390869e-01 -1.35674065e-02 -9.28828975e+01] [-6.04226634e-02 4.85423334e-03 9.98161078e-01 -4.32236267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.260714057 meters 0.04265098829438662 Centerline is valid? [True, True] Translation: X:657.94, Y:-92.89, Z:-43.23 [[ 9.87237876e-01 1.47859897e-01 5.91508897e-02 6.57943198e+02] [-1.47309583e-01 9.88997170e-01 -1.35825417e-02 -9.28893821e+01] [-6.05083757e-02 4.69570671e-03 9.98156644e-01 -4.32267134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.320714057 meters 0.039691399598947436 Centerline is valid? [True, True] Translation: X:658.00, Y:-92.89, Z:-43.23 [[ 9.86399053e-01 1.53341170e-01 5.91894681e-02 6.58003533e+02] [-1.52800068e-01 9.88163688e-01 -1.35891446e-02 -9.28933990e+01] [-6.05726584e-02 4.36016461e-03 9.98154268e-01 -4.32297536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.380714057 meters 0.04017672646550613 Centerline is valid? [True, True] Translation: X:658.06, Y:-92.90, Z:-43.23 [[ 9.85937316e-01 1.56627419e-01 5.82705800e-02 6.58062413e+02] [-1.56108821e-01 9.87649285e-01 -1.33763247e-02 -9.29012315e+01] [-5.96459959e-02 4.09166616e-03 9.98211207e-01 -4.32339610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.440714057 meters 0.04046585647058022 Centerline is valid? [True, True] Translation: X:658.12, Y:-92.91, Z:-43.24 [[ 9.85803505e-01 1.57352944e-01 5.85790061e-02 6.58119742e+02] [-1.56830153e-01 9.87534049e-01 -1.34463877e-02 -9.29122026e+01] [-5.99645918e-02 4.06854161e-03 9.98192213e-01 -4.32372748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.500714057 meters 0.03758652695979292 Centerline is valid? [True, True] Translation: X:658.18, Y:-92.92, Z:-43.24 [[ 9.85676423e-01 1.57881800e-01 5.92901948e-02 6.58179249e+02] [-1.57348108e-01 9.87449629e-01 -1.35942308e-02 -9.29163810e+01] [-6.06923625e-02 4.07031277e-03 9.98148220e-01 -4.32395507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.560714057 meters 0.037557538131790774 Centerline is valid? [True, True] Translation: X:658.24, Y:-92.92, Z:-43.24 [[ 9.85279858e-01 1.60128450e-01 5.98538249e-02 6.58238751e+02] [-1.59589699e-01 9.87088271e-01 -1.37067153e-02 -9.29243870e+01] [-6.12758436e-02 3.95289661e-03 9.98113043e-01 -4.32416462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.620714057 meters 0.03467268492782518 Centerline is valid? [True, True] Translation: X:658.30, Y:-92.93, Z:-43.25 [[ 9.84946098e-01 1.62341444e-01 5.93838333e-02 6.58298955e+02] [-1.61815270e-01 9.86727391e-01 -1.35968161e-02 -9.29311140e+01] [-6.08029816e-02 3.78291997e-03 9.98142619e-01 -4.32457232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.680714057 meters 0.0344560753915374 Centerline is valid? [True, True] Translation: X:658.36, Y:-92.94, Z:-43.25 [[ 9.84530834e-01 1.65373158e-01 5.78857133e-02 6.58357673e+02] [-1.64878499e-01 9.86224844e-01 -1.32528522e-02 -9.29419651e+01] [-5.92799946e-02 3.50373216e-03 9.98235246e-01 -4.32515430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.740714057 meters 0.0384379386939169 Centerline is valid? [True, True] Translation: X:658.41, Y:-92.96, Z:-43.26 [[ 9.84400738e-01 1.66442593e-01 5.70267503e-02 6.58413016e+02] [-1.65964425e-01 9.86045332e-01 -1.30542183e-02 -9.29581630e+01] [-5.84037389e-02 3.38617028e-03 9.98287302e-01 -4.32563270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.800714057 meters 0.03856234030235279 Centerline is valid? [True, True] Translation: X:658.47, Y:-92.97, Z:-43.26 [[ 9.84497870e-01 1.65819842e-01 5.71640155e-02 6.58470298e+02] [-1.65338740e-01 9.86150117e-01 -1.30784937e-02 -9.29707859e+01] [-5.85409743e-02 3.42432288e-03 9.98279134e-01 -4.32606800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.860714057 meters 0.03780550567357643 Centerline is valid? [True, True] Translation: X:658.53, Y:-92.98, Z:-43.26 [[ 9.84707154e-01 1.64525032e-01 5.73003865e-02 6.58527601e+02] [-1.64040281e-01 9.86366714e-01 -1.30954944e-02 -9.29830762e+01] [-5.86737306e-02 3.49565550e-03 9.98271092e-01 -4.32644810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.920714057 meters 0.039232036152720105 Centerline is valid? [True, True] Translation: X:658.58, Y:-93.00, Z:-43.27 [[ 9.84927775e-01 1.62837468e-01 5.83201208e-02 6.58584781e+02] [-1.62333295e-01 9.86646175e-01 -1.33126255e-02 -9.29975849e+01] [-5.97091184e-02 3.64467727e-03 9.98209165e-01 -4.32675465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.980714057 meters 0.033737564691866465 Centerline is valid? [True, True] Translation: X:658.64, Y:-93.00, Z:-43.27 [[ 9.85212223e-01 1.61206288e-01 5.80466037e-02 6.58644211e+02] [-1.60704140e-01 9.86913707e-01 -1.32481906e-02 -9.30014281e+01] [-5.94226805e-02 3.72394978e-03 9.98225965e-01 -4.32704699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0407140570001 meters 0.03707240021079885 Centerline is valid? [True, True] Translation: X:658.70, Y:-93.02, Z:-43.28 [[ 9.85744399e-01 1.57939655e-01 5.79917624e-02 6.58700989e+02] [-1.57433837e-01 9.87441063e-01 -1.32187276e-02 -9.30192898e+01] [-5.93512088e-02 3.90042103e-03 9.98229543e-01 -4.32755148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.100714057 meters 0.03754700932794529 Centerline is valid? [True, True] Translation: X:658.76, Y:-93.03, Z:-43.28 [[ 9.86094293e-01 1.55817268e-01 5.77842883e-02 6.58758924e+02] [-1.55311488e-01 9.87777746e-01 -1.31706716e-02 -9.30319547e+01] [-5.91302521e-02 4.01296032e-03 9.98242210e-01 -4.32778541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1607140570001 meters 0.03724531687841779 Centerline is valid? [True, True] Translation: X:658.82, Y:-93.04, Z:-43.28 [[ 9.86087685e-01 1.55946026e-01 5.75492437e-02 6.58816803e+02] [-1.55444790e-01 9.87757538e-01 -1.31134547e-02 -9.30429353e+01] [-5.88896905e-02 3.98528602e-03 9.98256541e-01 -4.32812067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.220714057 meters 0.03621520723554914 Centerline is valid? [True, True] Translation: X:658.88, Y:-93.05, Z:-43.29 [[ 9.85435673e-01 1.60334232e-01 5.66521746e-02 6.58876077e+02] [-1.59856682e-01 9.87056038e-01 -1.28926153e-02 -9.30527004e+01] [-5.79859986e-02 3.64861430e-03 9.98310729e-01 -4.32851015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2807140570001 meters 0.03515583903840004 Centerline is valid? [True, True] Translation: X:658.93, Y:-93.06, Z:-43.29 [[ 9.84380844e-01 1.67252951e-01 5.49618368e-02 6.58934793e+02] [-1.66814237e-01 9.85909005e-01 -1.25077832e-02 -9.30617079e+01] [-5.62793335e-02 3.14400530e-03 9.98410112e-01 -4.32900212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.340714057 meters 0.03225198306533939 Centerline is valid? [True, True] Translation: X:658.99, Y:-93.07, Z:-43.29 [[ 9.83290076e-01 1.73685897e-01 5.45328891e-02 6.58994420e+02] [-1.73263957e-01 9.84797255e-01 -1.24083907e-02 -9.30680279e+01] [-5.58590019e-02 2.75246331e-03 9.98434873e-01 -4.32937681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4007140570001 meters 0.029957628859554067 Centerline is valid? [True, True] Translation: X:659.05, Y:-93.08, Z:-43.30 [[ 9.82676220e-01 1.77357113e-01 5.37764018e-02 6.59054264e+02] [-1.76952354e-01 9.84143368e-01 -1.22350380e-02 -9.30759355e+01] [-5.50936602e-02 2.50722001e-03 9.98478043e-01 -4.32967887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.460714057 meters 0.0322185713307276 Centerline is valid? [True, True] Translation: X:659.11, Y:-93.09, Z:-43.30 [[ 9.82653432e-01 1.77627935e-01 5.32968114e-02 6.59109113e+02] [-1.77230782e-01 9.84094619e-01 -1.21256461e-02 -9.30924649e+01] [-5.46029587e-02 2.46947214e-03 9.98505092e-01 -4.33020254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.520714057 meters 0.03431736575204342 Centerline is valid? [True, True] Translation: X:659.16, Y:-93.11, Z:-43.31 [[ 9.82785424e-01 1.76593021e-01 5.42928590e-02 6.59164453e+02] [-1.76179588e-01 9.84280602e-01 -1.23470003e-02 -9.31106097e+01] [-5.56198021e-02 2.56915840e-03 9.98448715e-01 -4.33062698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.580714057 meters 0.03059672921634183 Centerline is valid? [True, True] Translation: X:659.22, Y:-93.12, Z:-43.31 [[ 9.83027241e-01 1.75139513e-01 5.46222918e-02 6.59223165e+02] [-1.74718998e-01 9.84540021e-01 -1.24184751e-02 -9.31187596e+01] [-5.59527980e-02 2.66414724e-03 9.98429861e-01 -4.33074903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.640714057 meters 0.030954746918864372 Centerline is valid? [True, True] Translation: X:659.28, Y:-93.13, Z:-43.31 [[ 9.83343536e-01 1.73182167e-01 5.51672681e-02 6.59279944e+02] [-1.72751071e-01 9.84885866e-01 -1.25259022e-02 -9.31347556e+01] [-5.65027255e-02 2.78706032e-03 9.98398555e-01 -4.33112338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.700714057 meters 0.032591156924264085 Centerline is valid? [True, True] Translation: X:659.34, Y:-93.15, Z:-43.31 [[ 9.83996489e-01 1.69411288e-01 5.52333676e-02 6.59336796e+02] [-1.68973429e-01 9.85540863e-01 -1.25374653e-02 -9.31542990e+01] [-5.65587290e-02 3.00385031e-03 9.98394755e-01 -4.33149021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.760714057 meters 0.035657739020258705 Centerline is valid? [True, True] Translation: X:659.39, Y:-93.18, Z:-43.32 [[ 9.84585138e-01 1.66158492e-01 5.46210766e-02 6.59392564e+02] [-1.65725356e-01 9.86094014e-01 -1.23976217e-02 -9.31750060e+01] [-5.59214868e-02 3.15441673e-03 9.98430186e-01 -4.33200077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.820714057 meters 0.03575770654249589 Centerline is valid? [True, True] Translation: X:659.45, Y:-93.19, Z:-43.32 [[ 9.85517197e-01 1.61103868e-01 5.29282415e-02 6.59450254e+02] [-1.60690049e-01 9.86931832e-01 -1.20111524e-02 -9.31920458e+01] [-5.41716094e-02 3.33215551e-03 9.98526081e-01 -4.33244029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.880714057 meters 0.03932290914859135 Centerline is valid? [True, True] Translation: X:659.51, Y:-93.21, Z:-43.33 [[ 9.86239975e-01 1.56605655e-01 5.29658393e-02 6.59506201e+02] [-1.56184783e-01 9.87654716e-01 -1.20197642e-02 -9.32134110e+01] [-5.41943240e-02 3.58191385e-03 9.98523983e-01 -4.33295213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.940714057 meters 0.03969731957630917 Centerline is valid? [True, True] Translation: X:659.56, Y:-93.23, Z:-43.33 [[ 9.86753616e-01 1.53454376e-01 5.26218148e-02 6.59564987e+02] [-1.53034576e-01 9.88148697e-01 -1.19403135e-02 -9.32275369e+01] [-5.38304711e-02 3.72919046e-03 9.98543126e-01 -4.33321972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.000714057 meters 0.03889519246455702 Centerline is valid? [True, True] Translation: X:659.62, Y:-93.24, Z:-43.34 [[ 9.86964695e-01 1.52269278e-01 5.21033364e-02 6.59622100e+02] [-1.51855920e-01 9.88331895e-01 -1.18255872e-02 -9.32392815e+01] [-5.32960629e-02 3.75923696e-03 9.98571679e-01 -4.33360965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.060714057 meters 0.04021838349813133 Centerline is valid? [True, True] Translation: X:659.68, Y:-93.25, Z:-43.34 [[ 9.86991968e-01 1.51698049e-01 5.32405533e-02 6.59678568e+02] [-1.51266399e-01 9.88419351e-01 -1.20691279e-02 -9.32532868e+01] [-5.44548563e-02 3.85862552e-03 9.98508778e-01 -4.33395841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.120714057 meters 0.03868538063271186 Centerline is valid? [True, True] Translation: X:659.74, Y:-93.26, Z:-43.34 [[ 9.86710345e-01 1.52854480e-01 5.51199064e-02 6.59737163e+02] [-1.52394432e-01 9.88240956e-01 -1.24799727e-02 -9.32619768e+01] [-5.63793687e-02 3.91415138e-03 9.98401746e-01 -4.33420046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.180714057 meters 0.042314562257041624 Centerline is valid? [True, True] Translation: X:659.79, Y:-93.28, Z:-43.35 [[ 9.86273521e-01 1.55259574e-01 5.62050445e-02 6.59793173e+02] [-1.54785988e-01 9.87866261e-01 -1.27101419e-02 -9.32789601e+01] [-5.74964384e-02 3.83592306e-03 9.98338342e-01 -4.33464153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.240714057 meters 0.03811722133621417 Centerline is valid? [True, True] Translation: X:659.85, Y:-93.28, Z:-43.35 [[ 9.85749912e-01 1.58652158e-01 5.59160366e-02 6.59853933e+02] [-1.58189049e-01 9.87327918e-01 -1.26415176e-02 -9.32828242e+01] [-5.72130680e-02 3.61607027e-03 9.98355442e-01 -4.33508450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.300714057 meters 0.03756809571402682 Centerline is valid? [True, True] Translation: X:659.91, Y:-93.29, Z:-43.36 [[ 9.85658928e-01 1.59565805e-01 5.49111252e-02 6.59911715e+02] [-1.59120625e-01 9.87181094e-01 -1.24142601e-02 -9.32930564e+01] [-5.61881160e-02 3.49873376e-03 9.98414070e-01 -4.33568756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.360714057 meters 0.03621734080174536 Centerline is valid? [True, True] Translation: X:659.97, Y:-93.30, Z:-43.36 [[ 9.85883395e-01 1.58623977e-01 5.35944475e-02 6.59969285e+02] [-1.58199268e-01 9.87333027e-01 -1.21031183e-02 -9.33022885e+01] [-5.48354129e-02 3.45366101e-03 9.98489434e-01 -4.33618081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.420714057 meters 0.036636864087709685 Centerline is valid? [True, True] Translation: X:660.03, Y:-93.31, Z:-43.37 [[ 9.86159741e-01 1.57273036e-01 5.24800625e-02 6.60026945e+02] [-1.56864649e-01 9.87549162e-01 -1.18378857e-02 -9.33129750e+01] [-5.36884219e-02 3.44177971e-03 9.98551805e-01 -4.33660154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.480714057 meters 0.03673688760382797 Centerline is valid? [True, True] Translation: X:660.09, Y:-93.32, Z:-43.37 [[ 9.85806466e-01 1.59157824e-01 5.34265836e-02 6.60085809e+02] [-1.58738221e-01 9.87247356e-01 -1.20347479e-02 -9.33227268e+01] [-5.46606777e-02 3.38309148e-03 9.98499256e-01 -4.33689856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5407140570001 meters 0.03585199984106522 Centerline is valid? [True, True] Translation: X:660.15, Y:-93.33, Z:-43.37 [[ 9.84915910e-01 1.63620821e-01 5.62927833e-02 6.60145511e+02] [-1.63162326e-01 9.86517777e-01 -1.26779537e-02 -9.33300556e+01] [-5.76082086e-02 3.30185678e-03 9.98333808e-01 -4.33709903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.600714057 meters 0.033346247841168984 Centerline is valid? [True, True] Translation: X:660.21, Y:-93.34, Z:-43.37 [[ 9.84508241e-01 1.65639576e-01 5.75069989e-02 6.60205910e+02] [-1.65164508e-01 9.86180994e-01 -1.29511641e-02 -9.33358634e+01] [-5.88575346e-02 3.25241261e-03 9.98261094e-01 -4.33737289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6607140570001 meters 0.03345612927330022 Centerline is valid? [True, True] Translation: X:660.26, Y:-93.35, Z:-43.38 [[ 9.84546196e-01 1.64787796e-01 5.92770603e-02 6.60263882e+02] [-1.64281609e-01 9.86323174e-01 -1.33472957e-02 -9.33465139e+01] [-6.06658097e-02 3.40289834e-03 9.98152333e-01 -4.33775574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.720714057 meters 0.035297460727060755 Centerline is valid? [True, True] Translation: X:660.32, Y:-93.36, Z:-43.38 [[ 9.85387808e-01 1.59873792e-01 5.87472444e-02 6.60321768e+02] [-1.59368927e-01 9.87130693e-01 -1.32113404e-02 -9.33616849e+01] [-6.01033552e-02 3.65580841e-03 9.98185465e-01 -4.33824264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7807140570001 meters 0.037917714131934004 Centerline is valid? [True, True] Translation: X:660.38, Y:-93.38, Z:-43.39 [[ 9.85903074e-01 1.56655196e-01 5.87731063e-02 6.60378213e+02] [-1.56144202e-01 9.87645837e-01 -1.32169921e-02 -9.33792406e+01] [-6.01175242e-02 3.85359337e-03 9.98183867e-01 -4.33866586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.840714057 meters 0.037046692010203074 Centerline is valid? [True, True] Translation: X:660.44, Y:-93.39, Z:-43.39 [[ 9.86238902e-01 1.54121458e-01 5.98281211e-02 6.60436192e+02] [-1.53587426e-01 9.88043494e-01 -1.34520288e-02 -9.33903035e+01] [-6.11860320e-02 4.07806705e-03 9.98118049e-01 -4.33905200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9007140570001 meters 0.036401127898128306 Centerline is valid? [True, True] Translation: X:660.49, Y:-93.40, Z:-43.39 [[ 9.86172914e-01 1.54903307e-01 5.88893004e-02 6.60494145e+02] [-1.54387457e-01 9.87921684e-01 -1.32385222e-02 -9.34003338e+01] [-6.02287077e-02 3.96370272e-03 9.98176734e-01 -4.33947354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.960714057 meters 0.040390507891711204 Centerline is valid? [True, True] Translation: X:660.55, Y:-93.42, Z:-43.40 [[ 9.85567957e-01 1.58171969e-01 6.03111152e-02 6.60550728e+02] [-1.57638024e-01 9.87404120e-01 -1.35409370e-02 -9.34177440e+01] [-6.16932403e-02 3.83818856e-03 9.98087778e-01 -4.33984680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.020714057 meters 0.03678734606657702 Centerline is valid? [True, True] Translation: X:660.61, Y:-93.42, Z:-43.40 [[ 9.85110510e-01 1.60708653e-01 6.10738182e-02 6.60610393e+02] [-1.60166094e-01 9.86994864e-01 -1.37098513e-02 -9.34237555e+01] [-6.24828367e-02 3.72376375e-03 9.98039092e-01 -4.34012527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.080714057 meters 0.03649028058875799 Centerline is valid? [True, True] Translation: X:660.67, Y:-93.43, Z:-43.41 [[ 9.84799644e-01 1.62518254e-01 6.12982743e-02 6.60668582e+02] [-1.61975302e-01 9.86698895e-01 -1.37583383e-02 -9.34344222e+01] [-6.27189206e-02 3.62040015e-03 9.98024664e-01 -4.34058119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.140714057 meters 0.0379511187698008 Centerline is valid? [True, True] Translation: X:660.72, Y:-93.45, Z:-43.41 [[ 9.84742452e-01 1.63368264e-01 5.99425837e-02 6.60724726e+02] [-1.62851510e-01 9.86559043e-01 -1.34402422e-02 -9.34491102e+01] [-6.13326071e-02 3.47343672e-03 9.98111340e-01 -4.34109692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.200714057 meters 0.034189919340730485 Centerline is valid? [True, True] Translation: X:660.78, Y:-93.46, Z:-43.41 [[ 9.84649015e-01 1.63298941e-01 6.16423069e-02 6.60783199e+02] [-1.62753297e-01 9.86570208e-01 -1.38053983e-02 -9.34560439e+01] [-6.30688705e-02 3.56098317e-03 9.98002824e-01 -4.34136713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.260714057 meters 0.03958929540664962 Centerline is valid? [True, True] Translation: X:660.84, Y:-93.48, Z:-43.42 [[ 9.84326025e-01 1.64449745e-01 6.37068182e-02 6.60837489e+02] [-1.63870413e-01 9.86378939e-01 -1.42504767e-02 -9.34776323e+01] [-6.51825510e-02 3.58745243e-03 9.97866908e-01 -4.34166343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.320714057 meters 0.032900063538793364 Centerline is valid? [True, True] Translation: X:660.90, Y:-93.48, Z:-43.42 [[ 9.83820062e-01 1.67502292e-01 6.35693901e-02 6.60898139e+02] [-1.66932185e-01 9.85865919e-01 -1.42138868e-02 -9.34809916e+01] [-6.50517538e-02 3.37212984e-03 9.97876194e-01 -4.34211921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.380714057 meters 0.03318656171881239 Centerline is valid? [True, True] Translation: X:660.96, Y:-93.49, Z:-43.43 [[ 9.83449387e-01 1.69946285e-01 6.28137128e-02 6.60955413e+02] [-1.69394711e-01 9.85448225e-01 -1.40437592e-02 -9.34942150e+01] [-6.42863465e-02 3.17101563e-03 9.97926455e-01 -4.34260106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.440714057 meters 0.03101752735325139 Centerline is valid? [True, True] Translation: X:661.01, Y:-93.50, Z:-43.43 [[ 9.83209380e-01 1.71661672e-01 6.18997991e-02 6.61013278e+02] [-1.71129580e-01 9.85151358e-01 -1.38372204e-02 -9.35038707e+01] [-6.33559915e-02 3.01199830e-03 9.97986446e-01 -4.34306085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.500714057 meters 0.03330098071825046 Centerline is valid? [True, True] Translation: X:661.07, Y:-93.52, Z:-43.43 [[ 9.83129982e-01 1.72132100e-01 6.18544968e-02 6.61068854e+02] [-1.71601997e-01 9.85069383e-01 -1.38226571e-02 -9.35213377e+01] [-6.33102940e-02 2.97511339e-03 9.97989457e-01 -4.34346156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.560714057 meters 0.03263111157496436 Centerline is valid? [True, True] Translation: X:661.13, Y:-93.53, Z:-43.44 [[ 9.82910007e-01 1.73083277e-01 6.26904889e-02 6.61126586e+02] [-1.72541721e-01 9.84902814e-01 -1.39929086e-02 -9.35337366e+01] [-6.41659774e-02 2.93704505e-03 9.97934918e-01 -4.34379156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.620714057 meters 0.03308028413279618 Centerline is valid? [True, True] Translation: X:661.18, Y:-93.55, Z:-43.44 [[ 9.82795609e-01 1.73804529e-01 6.24882110e-02 6.61183061e+02] [-1.73268858e-01 9.84776000e-01 -1.39331174e-02 -9.35476292e+01] [-6.39585294e-02 2.86614564e-03 9.97948441e-01 -4.34420693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.680714057 meters 0.03393985876125712 Centerline is valid? [True, True] Translation: X:661.24, Y:-93.56, Z:-43.45 [[ 9.82619140e-01 1.74727233e-01 6.26898681e-02 6.61239376e+02] [-1.74190975e-01 9.84612896e-01 -1.39623947e-02 -9.35625513e+01] [-6.41648632e-02 2.79970700e-03 9.97935385e-01 -4.34453420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.740714057 meters 0.0308453368718164 Centerline is valid? [True, True] Translation: X:661.30, Y:-93.57, Z:-43.45 [[ 9.82406559e-01 1.74725881e-01 6.59410296e-02 6.61297018e+02] [-1.74133626e-01 9.84612761e-01 -1.46694096e-02 -9.35707301e+01] [-6.74895048e-02 2.92877361e-03 9.97715686e-01 -4.34459803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.800714057 meters 0.030317909597509227 Centerline is valid? [True, True] Translation: X:661.35, Y:-93.59, Z:-43.45 [[ 9.82452486e-01 1.74076553e-01 6.69661565e-02 6.61353457e+02] [-1.73465587e-01 9.84727553e-01 -1.48773793e-02 -9.35858862e+01] [-6.85332223e-02 2.99999461e-03 9.97644324e-01 -4.34490463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.860714057 meters 0.051576536315792 Centerline is valid? [True, True] Translation: X:661.40, Y:-93.63, Z:-43.45 [[ 9.82134526e-01 1.77247133e-01 6.32078047e-02 6.61402993e+02] [-1.76710471e-01 9.84162923e-01 -1.40267875e-02 -9.36347502e+01] [-6.46929857e-02 2.60671138e-03 9.97901810e-01 -4.34539135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.920714057 meters 0.03125495333805861 Centerline is valid? [True, True] Translation: X:661.47, Y:-93.62, Z:-43.46 [[ 9.83273030e-01 1.70812935e-01 6.32225451e-02 6.61468678e+02] [-1.70262897e-01 9.85298822e-01 -1.40277351e-02 -9.36179236e+01] [-6.46892178e-02 3.02863986e-03 9.97900863e-01 -4.34601352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.980714057 meters 0.03292870589873804 Centerline is valid? [True, True] Translation: X:661.53, Y:-93.64, Z:-43.47 [[ 9.84037331e-01 1.67010892e-01 6.14645742e-02 6.61525638e+02] [-1.66483684e-01 9.85949901e-01 -1.36373146e-02 -9.36370404e+01] [-6.28785709e-02 3.18677789e-03 9.98016097e-01 -4.34656247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0407140570001 meters 0.03618969628756524 Centerline is valid? [True, True] Translation: X:661.58, Y:-93.66, Z:-43.47 [[ 9.84366151e-01 1.64815459e-01 6.21220127e-02 6.61581478e+02] [-1.64272610e-01 9.86318693e-01 -1.37820817e-02 -9.36561128e+01] [-6.35436025e-02 3.36166956e-03 9.97973401e-01 -4.34685608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.100714057 meters 0.03194079409450847 Centerline is valid? [True, True] Translation: X:661.64, Y:-93.66, Z:-43.47 [[ 9.84388227e-01 1.64501783e-01 6.26017751e-02 6.61639898e+02] [-1.63950181e-01 9.86370914e-01 -1.38837376e-02 -9.36613898e+01] [-6.40324697e-02 3.40341552e-03 9.97942012e-01 -4.34709223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1607140570001 meters 0.03318594007126067 Centerline is valid? [True, True] Translation: X:661.69, Y:-93.68, Z:-43.47 [[ 9.84350067e-01 1.64452849e-01 6.33261922e-02 6.61694857e+02] [-1.63889561e-01 9.86378993e-01 -1.40247622e-02 -9.36769944e+01] [-6.47700378e-02 3.42677373e-03 9.97894333e-01 -4.34740612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.220714057 meters 0.032345311342507795 Centerline is valid? [True, True] Translation: X:661.75, Y:-93.69, Z:-43.48 [[ 9.84782220e-01 1.62201680e-01 6.24066855e-02 6.61752511e+02] [-1.61650673e-01 9.86751368e-01 -1.38129556e-02 -9.36893065e+01] [-6.38203669e-02 3.51467037e-03 9.97955213e-01 -4.34777874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2807140570001 meters 0.03691387986520079 Centerline is valid? [True, True] Translation: X:661.81, Y:-93.71, Z:-43.48 [[ 9.85164097e-01 1.60388480e-01 6.10511082e-02 6.61807761e+02] [-1.59857927e-01 9.87047585e-01 -1.35095296e-02 -9.37097317e+01] [-6.24271219e-02 3.54959988e-03 9.98043213e-01 -4.34821179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.340714057 meters 0.03292475062325968 Centerline is valid? [True, True] Translation: X:661.87, Y:-93.72, Z:-43.49 [[ 9.85093584e-01 1.60957170e-01 6.06911844e-02 6.61866855e+02] [-1.60434192e-01 9.86955226e-01 -1.34257911e-02 -9.37164837e+01] [-6.20604590e-02 3.48871957e-03 9.98066295e-01 -4.34862373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4007140570001 meters 0.03336616365151301 Centerline is valid? [True, True] Translation: X:661.92, Y:-93.73, Z:-43.49 [[ 9.84674601e-01 1.64094739e-01 5.90664686e-02 6.61924461e+02] [-1.63605954e-01 9.86439433e-01 -1.30512989e-02 -9.37298126e+01] [-6.04071433e-02 3.18765655e-03 9.98168731e-01 -4.34917163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.460714057 meters 0.029529211756429176 Centerline is valid? [True, True] Translation: X:661.99, Y:-93.74, Z:-43.50 [[ 9.83787717e-01 1.69692678e-01 5.80182913e-02 6.61985132e+02] [-1.69230933e-01 9.85493077e-01 -1.28174409e-02 -9.37353561e+01] [-5.93516502e-02 2.79115134e-03 9.98233235e-01 -4.34957230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.520714057 meters 0.02870068174917818 Centerline is valid? [True, True] Translation: X:662.04, Y:-93.75, Z:-43.50 [[ 9.83116338e-01 1.73621962e-01 5.77726562e-02 6.62043948e+02] [-1.73170915e-01 9.84809093e-01 -1.27626226e-02 -9.37464021e+01] [-5.91109087e-02 2.54259908e-03 9.98248183e-01 -4.34995881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.580714057 meters 0.031188069161993397 Centerline is valid? [True, True] Translation: X:662.10, Y:-93.76, Z:-43.50 [[ 9.82889804e-01 1.75091647e-01 5.71887162e-02 6.62099259e+02] [-1.74652284e-01 9.84549147e-01 -1.26315553e-02 -9.37635053e+01] [-5.85167816e-02 2.42728693e-03 9.98283474e-01 -4.35041193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.640714057 meters 0.03004055140873974 Centerline is valid? [True, True] Translation: X:662.16, Y:-93.78, Z:-43.51 [[ 9.82718643e-01 1.75563145e-01 5.86655874e-02 6.62157304e+02] [-1.75102104e-01 9.84465116e-01 -1.29494943e-02 -9.37754833e+01] [-6.00276783e-02 2.45324168e-03 9.98193698e-01 -4.35069371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.700714057 meters 0.02974895539843786 Centerline is valid? [True, True] Translation: X:662.21, Y:-93.79, Z:-43.51 [[ 9.83309490e-01 1.71762708e-01 6.00001654e-02 6.62214119e+02] [-1.71273896e-01 9.85134547e-01 -1.32354684e-02 -9.37910412e+01] [-6.13815956e-02 2.73809958e-03 9.98110616e-01 -4.35104172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.760714057 meters 0.032241213604074614 Centerline is valid? [True, True] Translation: X:662.27, Y:-93.81, Z:-43.51 [[ 9.83922963e-01 1.67823834e-01 6.10799844e-02 6.62270647e+02] [-1.67309899e-01 9.85812332e-01 -1.34701010e-02 -9.38112180e+01] [-6.24740059e-02 3.03425568e-03 9.98041979e-01 -4.35146303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.820714057 meters 0.032025866069486056 Centerline is valid? [True, True] Translation: X:662.33, Y:-93.83, Z:-43.52 [[ 9.84426232e-01 1.63951197e-01 6.34428760e-02 6.62329120e+02] [-1.63388732e-01 9.86462570e-01 -1.39899860e-02 -9.38271736e+01] [-6.48776975e-02 3.40625819e-03 9.97887409e-01 -4.35169954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.880714057 meters 0.03320726490084326 Centerline is valid? [True, True] Translation: X:662.38, Y:-93.85, Z:-43.52 [[ 9.84450991e-01 1.63309361e-01 6.47016172e-02 6.62384676e+02] [-1.62722951e-01 9.86568640e-01 -1.42674128e-02 -9.38450660e+01] [-6.61625886e-02 3.51713061e-03 9.97802657e-01 -4.35207974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.940714057 meters 0.032576614760615734 Centerline is valid? [True, True] Translation: X:662.44, Y:-93.86, Z:-43.53 [[ 9.84401037e-01 1.64012108e-01 6.36759588e-02 6.62441284e+02] [-1.63446017e-01 9.86452436e-01 -1.40353477e-02 -9.38590532e+01] [-6.51152716e-02 3.40882901e-03 9.97871926e-01 -4.35270426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.000714057 meters 0.032999305429092594 Centerline is valid? [True, True] Translation: X:662.50, Y:-93.88, Z:-43.53 [[ 9.84318882e-01 1.64628518e-01 6.33544725e-02 6.62497896e+02] [-1.64070476e-01 9.86350004e-01 -1.39480576e-02 -9.38751003e+01] [-6.47859323e-02 3.33473803e-03 9.97893613e-01 -4.35332998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.060714057 meters 0.03352360781512636 Centerline is valid? [True, True] Translation: X:662.55, Y:-93.89, Z:-43.54 [[ 9.84367997e-01 1.64271014e-01 6.35191392e-02 6.62553823e+02] [-1.63710390e-01 9.86409553e-01 -1.39678949e-02 -9.38894657e+01] [-6.49504059e-02 3.35080564e-03 9.97882867e-01 -4.35381048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.120714057 meters 0.034040744119610174 Centerline is valid? [True, True] Translation: X:662.61, Y:-93.90, Z:-43.54 [[ 9.84153357e-01 1.65709324e-01 6.31077658e-02 6.62609917e+02] [-1.65160078e-01 9.86169394e-01 -1.38591138e-02 -9.39040003e+01] [-6.45315315e-02 3.21660980e-03 9.97910484e-01 -4.35427127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.180714057 meters 0.029745919473483623 Centerline is valid? [True, True] Translation: X:662.67, Y:-93.91, Z:-43.55 [[ 9.83447969e-01 1.69116756e-01 6.50354900e-02 6.62669544e+02] [-1.68541203e-01 9.85591214e-01 -1.42765910e-02 -9.39121021e+01] [-6.65128183e-02 3.07912478e-03 9.97780820e-01 -4.35450562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.240714057 meters 0.03311129778888001 Centerline is valid? [True, True] Translation: X:662.73, Y:-93.93, Z:-43.55 [[ 9.82859738e-01 1.71821352e-01 6.68143570e-02 6.62725825e+02] [-1.71220152e-01 9.85123635e-01 -1.46657239e-02 -9.39310143e+01] [-6.83402867e-02 2.97438518e-03 9.97657636e-01 -4.35465023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.300714057 meters 0.028966404934266218 Centerline is valid? [True, True] Translation: X:662.79, Y:-93.94, Z:-43.55 [[ 9.82045741e-01 1.75396083e-01 6.94433371e-02 6.62785368e+02] [-1.74755646e-01 9.84493880e-01 -1.52402221e-02 -9.39392862e+01] [-7.10396156e-02 2.83097998e-03 9.97469478e-01 -4.35501924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.360714057 meters 0.02745900106059306 Centerline is valid? [True, True] Translation: X:662.84, Y:-93.95, Z:-43.56 [[ 9.81550738e-01 1.77844054e-01 7.02114054e-02 6.62842521e+02] [-1.77195801e-01 9.84055033e-01 -1.54058609e-02 -9.39535686e+01] [-7.18317276e-02 2.68046791e-03 9.97413163e-01 -4.35556110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.420714057 meters 0.03014836346092381 Centerline is valid? [True, True] Translation: X:662.90, Y:-93.97, Z:-43.56 [[ 9.81442645e-01 1.78973280e-01 6.88396735e-02 6.62897034e+02] [-1.78354036e-01 9.83850679e-01 -1.50890544e-02 -9.39746266e+01] [-7.04284971e-02 2.53120785e-03 9.97513619e-01 -4.35605883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.480714057 meters 0.027686788619146883 Centerline is valid? [True, True] Translation: X:662.96, Y:-93.98, Z:-43.57 [[ 9.81474013e-01 1.78988219e-01 6.83518852e-02 6.62955206e+02] [-1.78378277e-01 9.83848028e-01 -1.49749120e-02 -9.39833371e+01] [-6.99282003e-02 2.50499541e-03 9.97548882e-01 -4.35662144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5407140570001 meters 0.02774515060952711 Centerline is valid? [True, True] Translation: X:663.01, Y:-94.00, Z:-43.57 [[ 9.81251142e-01 1.80337386e-01 6.80045848e-02 6.63011025e+02] [-1.79738120e-01 9.83601936e-01 -1.48808531e-02 -9.39996427e+01] [-6.95730154e-02 2.37883780e-03 9.97574026e-01 -4.35713069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.600714057 meters 0.026736911359948733 Centerline is valid? [True, True] Translation: X:663.07, Y:-94.01, Z:-43.58 [[ 9.80233609e-01 1.85276708e-01 6.93874089e-02 6.63068680e+02] [-1.84666334e-01 9.82684246e-01 -1.51663642e-02 -9.40140155e+01] [-7.09958876e-02 2.05306148e-03 9.97474495e-01 -4.35759354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6607140570001 meters 0.025741917729702392 Centerline is valid? [True, True] Translation: X:663.13, Y:-94.03, Z:-43.58 [[ 9.78937242e-01 1.91187011e-01 7.16198503e-02 6.63127247e+02] [-1.90552643e-01 9.81552201e-01 -1.56514145e-02 -9.40273884e+01] [-7.32909689e-02 1.67440075e-03 9.97309195e-01 -4.35790125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.720714057 meters 0.02546216421365136 Centerline is valid? [True, True] Translation: X:663.18, Y:-94.04, Z:-43.58 [[ 9.77818611e-01 1.96425045e-01 7.27184005e-02 6.63183780e+02] [-1.95785790e-01 9.80517984e-01 -1.58873144e-02 -9.40432802e+01] [-7.44223660e-02 1.29768223e-03 9.97225966e-01 -4.35828070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7807140570001 meters 0.02586667869909435 Centerline is valid? [True, True] Translation: X:663.24, Y:-94.06, Z:-43.59 [[ 9.77636297e-01 1.97164862e-01 7.31661720e-02 6.63238560e+02] [-1.96520199e-01 9.80369558e-01 -1.59793696e-02 -9.40637312e+01] [-7.48804579e-02 1.24338109e-03 9.97191742e-01 -4.35878815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.840714057 meters 0.02643428244728051 Centerline is valid? [True, True] Translation: X:663.29, Y:-94.08, Z:-43.59 [[ 9.78408760e-01 1.93262300e-01 7.32528612e-02 6.63294274e+02] [-1.92605825e-01 9.81145925e-01 -1.59897080e-02 -9.40825375e+01] [-7.49619540e-02 1.53554259e-03 9.97185212e-01 -4.35928661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9007140570001 meters 0.029215135177708372 Centerline is valid? [True, True] Translation: X:663.35, Y:-94.11, Z:-43.60 [[ 9.80179198e-01 1.83840884e-01 7.38327184e-02 6.63348179e+02] [-1.83148525e-01 9.82953423e-01 -1.60992475e-02 -9.41118365e+01] [-7.55338232e-02 2.25779395e-03 9.97140684e-01 -4.35952208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.960714057 meters 0.03196698638451066 Centerline is valid? [True, True] Translation: X:663.40, Y:-94.14, Z:-43.60 [[ 9.82365158e-01 1.71972020e-01 7.33779371e-02 6.63403880e+02] [-1.71255136e-01 9.85096795e-01 -1.59994598e-02 -9.41389735e+01] [-7.50358301e-02 3.15096327e-03 9.97175860e-01 -4.35999583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.020714057 meters 0.03336490103755651 Centerline is valid? [True, True] Translation: X:663.46, Y:-94.16, Z:-43.61 [[ 9.83798950e-01 1.64251967e-01 7.18395236e-02 6.63460846e+02] [-1.63544427e-01 9.86411625e-01 -1.56628778e-02 -9.41586121e+01] [-7.34359998e-02 3.66016902e-03 9.97293215e-01 -4.36052363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.080714057 meters 0.03680932185021854 Centerline is valid? [True, True] Translation: X:663.52, Y:-94.18, Z:-43.61 [[ 9.85344454e-01 1.54042821e-01 7.32606078e-02 6.63517140e+02] [-1.53278910e-01 9.88053888e-01 -1.59715454e-02 -9.41817945e+01] [-7.48457303e-02 4.50816759e-03 9.97184934e-01 -4.36080276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.140714057 meters 0.039532416466817696 Centerline is valid? [True, True] Translation: X:663.57, Y:-94.20, Z:-43.61 [[ 9.86604374e-01 1.45643565e-01 7.34830698e-02 6.63574918e+02] [-1.44851807e-01 9.89323665e-01 -1.60200123e-02 -9.42012695e+01] [-7.50317516e-02 5.16125878e-03 9.97167788e-01 -4.36116448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.200714057 meters 0.04325496767685679 Centerline is valid? [True, True] Translation: X:663.63, Y:-94.22, Z:-43.62 [[ 9.88032526e-01 1.37433021e-01 7.00278017e-02 6.63632163e+02] [-1.36693632e-01 9.90495730e-01 -1.52663132e-02 -9.42194224e+01] [-7.14603341e-02 5.51125947e-03 9.97428216e-01 -4.36173741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.260714057 meters 0.04565409109708178 Centerline is valid? [True, True] Translation: X:663.69, Y:-94.23, Z:-43.62 [[ 9.88711226e-01 1.33319998e-01 6.83804828e-02 6.63690464e+02] [-1.32605288e-01 9.91056817e-01 -1.49071241e-02 -9.42345236e+01] [-6.97563614e-02 5.67122737e-03 9.97547937e-01 -4.36217124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.320714057 meters 0.04666295385733309 Centerline is valid? [True, True] Translation: X:663.75, Y:-94.24, Z:-43.63 [[ 9.89137153e-01 1.30264025e-01 6.81100335e-02 6.63749522e+02] [-1.29547782e-01 9.91462004e-01 -1.48481302e-02 -9.42444923e+01] [-6.94626875e-02 5.86333340e-03 9.97567319e-01 -4.36250262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.380714057 meters 0.044283986673572966 Centerline is valid? [True, True] Translation: X:663.81, Y:-94.25, Z:-43.63 [[ 9.89178856e-01 1.30618038e-01 6.68140583e-02 6.63809058e+02] [-1.29929701e-01 9.91416230e-01 -1.45647469e-02 -9.42469078e+01] [-6.81429605e-02 5.72600908e-03 9.97659135e-01 -4.36280067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.440714057 meters 0.045649767279632644 Centerline is valid? [True, True] Translation: X:663.87, Y:-94.25, Z:-43.63 [[ 9.89129362e-01 1.31642787e-01 6.55231453e-02 6.63867112e+02] [-1.30983399e-01 9.91281734e-01 -1.42783818e-02 -9.42526738e+01] [-6.68315430e-02 5.54072241e-03 9.97748889e-01 -4.36319185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.500714057 meters 0.051226605411235054 Centerline is valid? [True, True] Translation: X:663.92, Y:-94.27, Z:-43.64 [[ 9.88961519e-01 1.33176972e-01 6.49538935e-02 6.63924342e+02] [-1.32532653e-01 9.91077648e-01 -1.41489043e-02 -9.42674019e+01] [-6.62586602e-02 5.38421012e-03 9.97787954e-01 -4.36359926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.560714057 meters 0.0461812538857843 Centerline is valid? [True, True] Translation: X:663.99, Y:-94.26, Z:-43.64 [[ 9.88994189e-01 1.32731501e-01 6.53669810e-02 6.63985072e+02] [-1.32078150e-01 9.91137068e-01 -1.42363709e-02 -9.42635763e+01] [-6.66772528e-02 5.44613823e-03 9.97759732e-01 -4.36383142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.620714057 meters 0.049770785535491385 Centerline is valid? [True, True] Translation: X:664.04, Y:-94.27, Z:-43.64 [[ 9.89254808e-01 1.31305457e-01 6.42946555e-02 6.64043438e+02] [-1.30670720e-01 9.91326997e-01 -1.39981431e-02 -9.42718346e+01] [-6.55750603e-02 5.44630143e-03 9.97832776e-01 -4.36413435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.680714057 meters 0.04408586904764928 Centerline is valid? [True, True] Translation: X:664.10, Y:-94.27, Z:-43.65 [[ 9.89496756e-01 1.30205294e-01 6.27913317e-02 6.64104388e+02] [-1.29598042e-01 9.91472432e-01 -1.36661820e-02 -9.42709229e+01] [-6.40352835e-02 5.38500914e-03 9.97933106e-01 -4.36456701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.740714057 meters 0.04232125543823839 Centerline is valid? [True, True] Translation: X:664.16, Y:-94.27, Z:-43.65 [[ 9.89621775e-01 1.30095463e-01 6.10238807e-02 6.64163601e+02] [-1.29521889e-01 9.91487638e-01 -1.32794216e-02 -9.42704801e+01] [-6.22320159e-02 5.23767649e-03 9.98047966e-01 -4.36496531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.800714057 meters 0.05147818753741222 Centerline is valid? [True, True] Translation: X:664.22, Y:-94.29, Z:-43.65 [[ 9.89448506e-01 1.31944761e-01 5.98517705e-02 6.64220754e+02] [-1.31396829e-01 9.91244381e-01 -1.30172803e-02 -9.42853421e+01] [-6.10452931e-02 5.01559566e-03 9.98122395e-01 -4.36531885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.860714057 meters 0.04205810780529911 Centerline is valid? [True, True] Translation: X:664.28, Y:-94.28, Z:-43.66 [[ 9.89384625e-01 1.32778133e-01 5.90595548e-02 6.64282546e+02] [-1.32246227e-01 9.91133692e-01 -1.28429238e-02 -9.42758202e+01] [-6.02411740e-02 4.89618809e-03 9.98171843e-01 -4.36561856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.920714057 meters 0.04369959426701485 Centerline is valid? [True, True] Translation: X:664.34, Y:-94.28, Z:-43.66 [[ 9.89623649e-01 1.31258138e-01 5.84494138e-02 6.64341101e+02] [-1.30734819e-01 9.91335953e-01 -1.27057348e-02 -9.42848219e+01] [-5.96107364e-02 4.93252214e-03 9.98209512e-01 -4.36598834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.980714057 meters 0.04636205037803477 Centerline is valid? [True, True] Translation: X:664.40, Y:-94.29, Z:-43.66 [[ 9.90134550e-01 1.27755934e-01 5.75499321e-02 6.64400773e+02] [-1.27242957e-01 9.91792727e-01 -1.25066774e-02 -9.42928246e+01] [-5.86754063e-02 5.06046984e-03 9.98264288e-01 -4.36631540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0407140570001 meters 0.048993039096106514 Centerline is valid? [True, True] Translation: X:664.46, Y:-94.30, Z:-43.67 [[ 9.90595930e-01 1.23988927e-01 5.78485031e-02 6.64460243e+02] [-1.23464234e-01 9.92269388e-01 -1.25716107e-02 -9.43015637e+01] [-5.89600393e-02 5.31116532e-03 9.98246215e-01 -4.36663871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.100714057 meters 0.05117394577670407 Centerline is valid? [True, True] Translation: X:664.52, Y:-94.31, Z:-43.67 [[ 9.90921424e-01 1.21812534e-01 5.68897043e-02 6.64520217e+02] [-1.21301618e-01 9.92538711e-01 -1.23622330e-02 -9.43081137e+01] [-5.79711087e-02 5.34918840e-03 9.98303930e-01 -4.36692735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1607140570001 meters 0.053174903820250766 Centerline is valid? [True, True] Translation: X:664.58, Y:-94.32, Z:-43.67 [[ 9.91076120e-01 1.20739945e-01 5.64800056e-02 6.64578804e+02] [-1.20234698e-01 9.92669637e-01 -1.22722943e-02 -9.43173878e+01] [-5.75477428e-02 5.37192136e-03 9.98328303e-01 -4.36736274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.220714057 meters 0.04930393487361475 Centerline is valid? [True, True] Translation: X:664.64, Y:-94.32, Z:-43.68 [[ 9.91220001e-01 1.20206488e-01 5.50754838e-02 6.64638225e+02] [-1.19725357e-01 9.92734941e-01 -1.19656333e-02 -9.43176947e+01] [-5.61137039e-02 5.26664309e-03 9.98410494e-01 -4.36776391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2807140570001 meters 0.051725409300247056 Centerline is valid? [True, True] Translation: X:664.70, Y:-94.32, Z:-43.68 [[ 9.91221460e-01 1.20220849e-01 5.50178603e-02 6.64695368e+02] [-1.19741016e-01 9.92733261e-01 -1.19483142e-02 -9.43248324e+01] [-5.60544964e-02 5.25553097e-03 9.98413879e-01 -4.36803362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.340714057 meters 0.048725642825934 Centerline is valid? [True, True] Translation: X:664.75, Y:-94.33, Z:-43.68 [[ 9.91174377e-01 1.20440896e-01 5.53836136e-02 6.64754980e+02] [-1.19955460e-01 9.92706512e-01 -1.20195032e-02 -9.43260170e+01] [-5.64273136e-02 5.26985677e-03 9.98392802e-01 -4.36838982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4007140570001 meters 0.04828041181234914 Centerline is valid? [True, True] Translation: X:664.81, Y:-94.34, Z:-43.69 [[ 9.91180846e-01 1.20462728e-01 5.52201207e-02 6.64812714e+02] [-1.19980425e-01 9.92703974e-01 -1.19798635e-02 -9.43361618e+01] [-5.62603603e-02 5.24887761e-03 9.98402334e-01 -4.36879968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.460714057 meters 0.04809653372323324 Centerline is valid? [True, True] Translation: X:664.87, Y:-94.34, Z:-43.69 [[ 9.91321858e-01 1.19348514e-01 5.51081246e-02 6.64871617e+02] [-1.18866715e-01 9.92838293e-01 -1.19510912e-02 -9.43447872e+01] [-5.61398013e-02 5.29685617e-03 9.98408867e-01 -4.36922482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.520714057 meters 0.05340123305451709 Centerline is valid? [True, True] Translation: X:664.93, Y:-94.36, Z:-43.70 [[ 9.91674317e-01 1.17194946e-01 5.33609818e-02 6.64928549e+02] [-1.16740278e-01 9.93095082e-01 -1.15700466e-02 -9.43592873e+01] [-5.43484795e-02 5.24434219e-03 9.98508257e-01 -4.36972284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.580714057 meters 0.0491347999068234 Centerline is valid? [True, True] Translation: X:664.99, Y:-94.36, Z:-43.70 [[ 9.91907524e-01 1.15508661e-01 5.26992759e-02 6.64990019e+02] [-1.15062919e-01 9.93292497e-01 -1.14254120e-02 -9.43616767e+01] [-5.36655294e-02 5.26921963e-03 9.98545065e-01 -4.37005646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.640714057 meters 0.05301446452441006 Centerline is valid? [True, True] Translation: X:665.05, Y:-94.37, Z:-43.70 [[ 9.91927234e-01 1.15531494e-01 5.22765420e-02 6.65045868e+02] [-1.15092859e-01 9.93290067e-01 -1.13347898e-02 -9.43741254e+01] [-5.32352950e-02 5.22663000e-03 9.98568318e-01 -4.37045117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.700714057 meters 0.059658547382203005 Centerline is valid? [True, True] Translation: X:665.10, Y:-94.39, Z:-43.71 [[ 9.91753035e-01 1.16966295e-01 5.23908722e-02 6.65102543e+02] [-1.16528015e-01 9.93122504e-01 -1.13540187e-02 -9.43918704e+01] [-5.33585917e-02 5.15537813e-03 9.98562108e-01 -4.37092932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.760714057 meters 0.05051401366355004 Centerline is valid? [True, True] Translation: X:665.16, Y:-94.39, Z:-43.71 [[ 9.91316689e-01 1.20608246e-01 5.23915408e-02 6.65164817e+02] [-1.20175096e-01 9.92687803e-01 -1.13521467e-02 -9.43868012e+01] [-5.33776060e-02 4.95741405e-03 9.98562094e-01 -4.37111532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.820714057 meters 0.048193355220734466 Centerline is valid? [True, True] Translation: X:665.22, Y:-94.39, Z:-43.71 [[ 9.91117304e-01 1.22147146e-01 5.25981496e-02 6.65224763e+02] [-1.21712785e-01 9.92499944e-01 -1.13956092e-02 -9.43917840e+01] [-5.35956016e-02 4.89251820e-03 9.98550737e-01 -4.37148798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.880714057 meters 0.046958813312839236 Centerline is valid? [True, True] Translation: X:665.28, Y:-94.40, Z:-43.72 [[ 9.91081983e-01 1.22422241e-01 5.26241114e-02 6.65282704e+02] [-1.21987812e-01 9.92466108e-01 -1.14016611e-02 -9.43993051e+01] [-5.36234640e-02 4.88048073e-03 9.98549300e-01 -4.37188742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.940714057 meters 0.047787857426725096 Centerline is valid? [True, True] Translation: X:665.34, Y:-94.41, Z:-43.72 [[ 9.91225202e-01 1.21611528e-01 5.17999538e-02 6.65339939e+02] [-1.21190230e-01 9.92566004e-01 -1.12096263e-02 -9.44113534e+01] [-5.27780930e-02 4.83361573e-03 9.98594567e-01 -4.37240202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.000714057 meters 0.04964282739996264 Centerline is valid? [True, True] Translation: X:665.40, Y:-94.42, Z:-43.73 [[ 9.91378168e-01 1.20443437e-01 5.16014142e-02 6.65396935e+02] [-1.20024514e-01 9.92708278e-01 -1.11530506e-02 -9.44245440e+01] [-5.25684628e-02 4.86345616e-03 9.98605479e-01 -4.37283747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.060714057 meters 0.04939287046616247 Centerline is valid? [True, True] Translation: X:665.46, Y:-94.44, Z:-43.73 [[ 9.90963898e-01 1.23519122e-01 5.22836456e-02 6.65456163e+02] [-1.23094163e-01 9.92330842e-01 -1.12839042e-02 -9.44350269e+01] [-5.32764520e-02 4.74613014e-03 9.98568522e-01 -4.37321011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.120714057 meters 0.047065298182778506 Centerline is valid? [True, True] Translation: X:665.52, Y:-94.44, Z:-43.73 [[ 9.89883020e-01 1.31562707e-01 5.31305939e-02 6.65516624e+02] [-1.31135341e-01 9.91298160e-01 -1.14665050e-02 -9.44411173e+01] [-5.41768244e-02 4.38320008e-03 9.98521737e-01 -4.37343130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.180714057 meters 0.04635124069672488 Centerline is valid? [True, True] Translation: X:665.58, Y:-94.45, Z:-43.74 [[ 9.89364833e-01 1.35153300e-01 5.37662791e-02 6.65575474e+02] [-1.34720954e-01 9.90815646e-01 -1.16026211e-02 -9.44521193e+01] [-5.48406030e-02 4.23578088e-03 9.98486137e-01 -4.37384633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.240714057 meters 0.04608963881263159 Centerline is valid? [True, True] Translation: X:665.63, Y:-94.46, Z:-43.74 [[ 9.88930321e-01 1.38309505e-01 5.37336138e-02 6.65633680e+02] [-1.37882325e-01 9.90380741e-01 -1.15953236e-02 -9.44648967e+01] [-5.48204798e-02 4.05805153e-03 9.98487981e-01 -4.37440362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.300714057 meters 0.046853532667012386 Centerline is valid? [True, True] Translation: X:665.69, Y:-94.48, Z:-43.75 [[ 9.88972255e-01 1.37938004e-01 5.39164656e-02 6.65689863e+02] [-1.37507305e-01 9.90432406e-01 -1.16357707e-02 -9.44772386e+01] [-5.50056297e-02 4.09354650e-03 9.98477653e-01 -4.37476724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.360714057 meters 0.051132899400946175 Centerline is valid? [True, True] Translation: X:665.75, Y:-94.49, Z:-43.75 [[ 9.89439149e-01 1.34530802e-01 5.39595519e-02 6.65746256e+02] [-1.34095355e-01 9.90900217e-01 -1.16273696e-02 -9.44946496e+01] [-5.50327710e-02 4.26884945e-03 9.98475423e-01 -4.37512197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.420714057 meters 0.056708597727362996 Centerline is valid? [True, True] Translation: X:665.80, Y:-94.52, Z:-43.76 [[ 9.90224044e-01 1.28598777e-01 5.40249706e-02 6.65802675e+02] [-1.28153512e-01 9.91686018e-01 -1.16412825e-02 -9.45174722e+01] [-5.50728626e-02 4.60398811e-03 9.98471724e-01 -4.37566510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.480714057 meters 0.045955672471049064 Centerline is valid? [True, True] Translation: X:665.86, Y:-94.52, Z:-43.76 [[ 9.90777078e-01 1.24299817e-01 5.39475347e-02 6.65864979e+02] [-1.23849546e-01 9.92232924e-01 -1.16238663e-02 -9.45169418e+01] [-5.49733645e-02 4.83528259e-03 9.98476114e-01 -4.37585944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5407140570001 meters 0.04894283330060888 Centerline is valid? [True, True] Translation: X:665.92, Y:-94.53, Z:-43.76 [[ 9.91286574e-01 1.20540201e-01 5.31129822e-02 6.65923025e+02] [-1.20098416e-01 9.92696027e-01 -1.14441165e-02 -9.45348321e+01] [-5.41045226e-02 4.96561393e-03 9.98522931e-01 -4.37628710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.600714057 meters 0.0484653905094622 Centerline is valid? [True, True] Translation: X:665.98, Y:-94.55, Z:-43.77 [[ 9.91044188e-01 1.22204549e-01 5.38281146e-02 6.65981324e+02] [-1.21753183e-01 9.92492637e-01 -1.15985934e-02 -9.45472716e+01] [-5.48414083e-02 4.94097423e-03 9.98482853e-01 -4.37666558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6607140570001 meters 0.04779883420627029 Centerline is valid? [True, True] Translation: X:666.04, Y:-94.56, Z:-43.77 [[ 9.90238013e-01 1.27784927e-01 5.56748618e-02 6.66040299e+02] [-1.27310886e-01 9.91790339e-01 -1.19942365e-02 -9.45573743e+01] [-5.67504727e-02 4.78913293e-03 9.98376907e-01 -4.37680222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.720714057 meters 0.042278654085603336 Centerline is valid? [True, True] Translation: X:666.10, Y:-94.56, Z:-43.77 [[ 9.89068144e-01 1.36409717e-01 5.60053223e-02 6.66101484e+02] [-1.35943820e-01 9.90643094e-01 -1.20638954e-02 -9.45609233e+01] [-5.71269184e-02 4.31843712e-03 9.98357584e-01 -4.37717384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7807140570001 meters 0.03960697934384316 Centerline is valid? [True, True] Translation: X:666.16, Y:-94.57, Z:-43.78 [[ 9.88295022e-01 1.41983002e-01 5.58012229e-02 6.66160980e+02] [-1.41529325e-01 9.89861088e-01 -1.20198291e-02 -9.45688341e+01] [-5.69420706e-02 3.98162789e-03 9.98369544e-01 -4.37766387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.840714057 meters 0.03579331834009358 Centerline is valid? [True, True] Translation: X:666.22, Y:-94.57, Z:-43.78 [[ 9.87417253e-01 1.48478947e-01 5.44166417e-02 6.66220853e+02] [-1.48057360e-01 9.88909315e-01 -1.17211017e-02 -9.45745400e+01] [-5.55534608e-02 3.51683373e-03 9.98449520e-01 -4.37811579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9007140570001 meters 0.03525910172646935 Centerline is valid? [True, True] Translation: X:666.28, Y:-94.58, Z:-43.78 [[ 9.86758619e-01 1.52606277e-01 5.49431652e-02 6.66280237e+02] [-1.52182963e-01 9.88281508e-01 -1.18324346e-02 -9.45845194e+01] [-5.61050180e-02 3.31434322e-03 9.98419372e-01 -4.37848926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.960714057 meters 0.04241790516175358 Centerline is valid? [True, True] Translation: X:666.33, Y:-94.61, Z:-43.79 [[ 9.86482828e-01 1.54449203e-01 5.47455440e-02 6.66334456e+02] [-1.54031749e-01 9.87995555e-01 -1.17900082e-02 -9.46065082e+01] [-5.59093115e-02 3.19808869e-03 9.98430729e-01 -4.37908021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.020714057 meters 0.03382484075071229 Centerline is valid? [True, True] Translation: X:666.40, Y:-94.60, Z:-43.79 [[ 9.86440095e-01 1.55114071e-01 5.36242935e-02 6.66395014e+02] [-1.54714710e-01 9.87891726e-01 -1.15453968e-02 -9.46038929e+01] [-5.47658493e-02 3.09237525e-03 9.98494436e-01 -4.37928847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.080714057 meters 0.0344995728547355 Centerline is valid? [True, True] Translation: X:666.45, Y:-94.62, Z:-43.80 [[ 9.86538644e-01 1.54269550e-01 5.42439884e-02 6.66451852e+02] [-1.53860430e-01 9.88023741e-01 -1.16642899e-02 -9.46179348e+01] [-5.53937931e-02 3.16126940e-03 9.98459581e-01 -4.37962622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.140714057 meters 0.03355026699552067 Centerline is valid? [True, True] Translation: X:666.51, Y:-94.63, Z:-43.80 [[ 9.86437238e-01 1.54551238e-01 5.52764962e-02 6.66509429e+02] [-1.54127651e-01 9.87979622e-01 -1.18715768e-02 -9.46280024e+01] [-5.64468187e-02 3.19092892e-03 9.98400508e-01 -4.37987497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.200714057 meters 0.033998841932459646 Centerline is valid? [True, True] Translation: X:666.57, Y:-94.64, Z:-43.80 [[ 9.86327351e-01 1.54972167e-01 5.60534008e-02 6.66566328e+02] [-1.54538122e-01 9.87913665e-01 -1.20232727e-02 -9.46406977e+01] [-5.72391933e-02 3.19649540e-03 9.98355376e-01 -4.38019131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.260714057 meters 0.03356103552249468 Centerline is valid? [True, True] Translation: X:666.62, Y:-94.65, Z:-43.81 [[ 9.86476433e-01 1.54025423e-01 5.60394099e-02 6.66623890e+02] [-1.53590912e-01 9.88061585e-01 -1.20056248e-02 -9.46517876e+01] [-5.72195596e-02 3.23612185e-03 9.98356374e-01 -4.38057323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.320714057 meters 0.0340092142990596 Centerline is valid? [True, True] Translation: X:666.68, Y:-94.67, Z:-43.81 [[ 9.86772941e-01 1.52410750e-01 5.52279492e-02 6.66681950e+02] [-1.51987144e-01 9.88311844e-01 -1.18155474e-02 -9.46653433e+01] [-5.63832528e-02 3.26532420e-03 9.98403859e-01 -4.38113159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.380714057 meters 0.03510453953612074 Centerline is valid? [True, True] Translation: X:666.74, Y:-94.68, Z:-43.82 [[ 9.87323790e-01 1.49435282e-01 5.34867359e-02 6.66740119e+02] [-1.49033761e-01 9.88765920e-01 -1.14408966e-02 -9.46805794e+01] [-5.45955353e-02 3.32453998e-03 9.98503017e-01 -4.38176087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.440714057 meters 0.04036397636618319 Centerline is valid? [True, True] Translation: X:666.80, Y:-94.70, Z:-43.82 [[ 9.87620614e-01 1.47304405e-01 5.39160099e-02 6.66795179e+02] [-1.46893267e-01 9.89085120e-01 -1.15323231e-02 -9.47011945e+01] [-5.50262851e-02 3.46966119e-03 9.98478878e-01 -4.38219855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.500714057 meters 0.04168201047662942 Centerline is valid? [True, True] Translation: X:666.85, Y:-94.72, Z:-43.82 [[ 9.87781809e-01 1.45911447e-01 5.47443925e-02 6.66851934e+02] [-1.45485627e-01 9.89291110e-01 -1.17060601e-02 -9.47162295e+01] [-5.58661890e-02 3.59851089e-03 9.98431780e-01 -4.38248957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.560714057 meters 0.03942580671526455 Centerline is valid? [True, True] Translation: X:666.91, Y:-94.73, Z:-43.83 [[ 9.88154061e-01 1.43352223e-01 5.47876992e-02 6.66911125e+02] [-1.42922683e-01 9.89664701e-01 -1.16998092e-02 -9.47276708e+01] [-5.58986456e-02 3.73080902e-03 9.98429478e-01 -4.38277823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.620714057 meters 0.041556722013205476 Centerline is valid? [True, True] Translation: X:666.97, Y:-94.75, Z:-43.83 [[ 9.88561505e-01 1.40558476e-01 5.46760155e-02 6.66968304e+02] [-1.40126492e-01 9.90064776e-01 -1.16749558e-02 -9.47459863e+01] [-5.57738110e-02 3.87985363e-03 9.98435891e-01 -4.38323539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.680714057 meters 0.04122415013039667 Centerline is valid? [True, True] Translation: X:667.03, Y:-94.76, Z:-43.84 [[ 9.88817741e-01 1.38529371e-01 5.52185485e-02 6.67026047e+02] [-1.38085665e-01 9.90350113e-01 -1.17899415e-02 -9.47607314e+01] [-5.63189489e-02 4.03321332e-03 9.98404682e-01 -4.38354617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.740714057 meters 0.04616331381775334 Centerline is valid? [True, True] Translation: X:667.08, Y:-94.78, Z:-43.84 [[ 9.89046572e-01 1.36926401e-01 5.51184118e-02 6.67081013e+02] [-1.36481922e-01 9.90572675e-01 -1.17669216e-02 -9.47819065e+01] [-5.62099949e-02 4.11536668e-03 9.98410487e-01 -4.38401620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.800714057 meters 0.043654639394032135 Centerline is valid? [True, True] Translation: X:667.14, Y:-94.79, Z:-43.84 [[ 9.89374604e-01 1.35015391e-01 5.39327102e-02 6.67138452e+02] [-1.34587288e-01 9.90834902e-01 -1.15090905e-02 -9.47942295e+01] [-5.49923160e-02 4.12814469e-03 9.98478244e-01 -4.38449717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.860714057 meters 0.04045683332582975 Centerline is valid? [True, True] Translation: X:667.20, Y:-94.80, Z:-43.85 [[ 9.89495481e-01 1.34626379e-01 5.26728744e-02 6.67195905e+02] [-1.34217548e-01 9.90888147e-01 -1.12396699e-02 -9.48045087e+01] [-5.37060830e-02 4.05197854e-03 9.98548566e-01 -4.38493167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.920714057 meters 0.03949275101949434 Centerline is valid? [True, True] Translation: X:667.25, Y:-94.82, Z:-43.85 [[ 9.89199646e-01 1.36546187e-01 5.32841334e-02 6.67253553e+02] [-1.36131467e-01 9.90625721e-01 -1.13535978e-02 -9.48185534e+01] [-5.43349236e-02 3.97732765e-03 9.98514846e-01 -4.38531882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.980714057 meters 0.0383896609011815 Centerline is valid? [True, True] Translation: X:667.31, Y:-94.83, Z:-43.86 [[ 9.88821438e-01 1.38862772e-01 5.43073987e-02 6.67311663e+02] [-1.38435538e-01 9.90303866e-01 -1.15695424e-02 -9.48312797e+01] [-5.53874057e-02 3.92213754e-03 9.98457236e-01 -4.38566077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0407140570001 meters 0.0391542919712503 Centerline is valid? [True, True] Translation: X:667.37, Y:-94.85, Z:-43.86 [[ 9.88471207e-01 1.41122069e-01 5.48564942e-02 6.67369080e+02] [-1.40689717e-01 9.89984787e-01 -1.16844216e-02 -9.48472898e+01] [-5.59560245e-02 3.83196962e-03 9.98425881e-01 -4.38608404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.100714057 meters 0.03939313434444479 Centerline is valid? [True, True] Translation: X:667.43, Y:-94.86, Z:-43.87 [[ 9.88140448e-01 1.43104951e-01 5.56725150e-02 6.67425560e+02] [-1.42662867e-01 9.89700326e-01 -1.18562622e-02 -9.48635521e+01] [-5.67957961e-02 3.77325161e-03 9.98378686e-01 -4.38650848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1607140570001 meters 0.04058480756071503 Centerline is valid? [True, True] Translation: X:667.48, Y:-94.88, Z:-43.87 [[ 9.87941972e-01 1.44249813e-01 5.62374621e-02 6.67481092e+02] [-1.43800719e-01 9.89534228e-01 -1.19735455e-02 -9.48816669e+01] [-5.73760753e-02 3.74218071e-03 9.98345623e-01 -4.38694149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.220714057 meters 0.04101578566876922 Centerline is valid? [True, True] Translation: X:667.54, Y:-94.90, Z:-43.87 [[ 9.87917680e-01 1.44662035e-01 5.56017438e-02 6.67538384e+02] [-1.44223854e-01 9.89474306e-01 -1.18354465e-02 -9.48964168e+01] [-5.67286366e-02 3.67334910e-03 9.98382877e-01 -4.38735101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2807140570001 meters 0.04124533849405845 Centerline is valid? [True, True] Translation: X:667.59, Y:-94.91, Z:-43.88 [[ 9.87851693e-01 1.45525990e-01 5.45088936e-02 6.67594974e+02] [-1.45106870e-01 9.89348095e-01 -1.15906538e-02 -9.49111222e+01] [-5.56150114e-02 3.54023205e-03 9.98446011e-01 -4.38781102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.340714057 meters 0.043547104177092774 Centerline is valid? [True, True] Translation: X:667.65, Y:-94.93, Z:-43.88 [[ 9.88110877e-01 1.44263248e-01 5.31508177e-02 6.67651508e+02] [-1.43863752e-01 9.89533132e-01 -1.12872409e-02 -9.49280790e+01] [-5.42228292e-02 3.50656950e-03 9.98522703e-01 -4.38838548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4007140570001 meters 0.03806371201835022 Centerline is valid? [True, True] Translation: X:667.71, Y:-94.93, Z:-43.89 [[ 9.88501505e-01 1.41830337e-01 5.24302401e-02 6.67711055e+02] [-1.41438331e-01 9.89884478e-01 -1.11318607e-02 -9.49332610e+01] [-5.34787164e-02 3.58821541e-03 9.98562543e-01 -4.38856626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.460714057 meters 0.04005640161751732 Centerline is valid? [True, True] Translation: X:667.77, Y:-94.95, Z:-43.89 [[ 9.88864632e-01 1.39121387e-01 5.28391864e-02 6.67769285e+02] [-1.38719656e-01 9.90268201e-01 -1.12137254e-02 -9.49486914e+01] [-5.38850351e-02 3.75902270e-03 9.98540071e-01 -4.38886747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.520714057 meters 0.0418973658289003 Centerline is valid? [True, True] Translation: X:667.83, Y:-94.96, Z:-43.89 [[ 9.88913042e-01 1.37943259e-01 5.49786645e-02 6.67826455e+02] [-1.37506447e-01 9.90432140e-01 -1.16685028e-02 -9.49627162e+01] [-5.60622276e-02 3.97921376e-03 9.98419347e-01 -4.38904307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.580714057 meters 0.04156612927277096 Centerline is valid? [True, True] Translation: X:667.88, Y:-94.97, Z:-43.89 [[ 9.88783483e-01 1.38366125e-01 5.62320197e-02 6.67884580e+02] [-1.37910673e-01 9.90372943e-01 -1.19197272e-02 -9.49720443e+01] [-5.73399574e-02 4.03103368e-03 9.98346573e-01 -4.38924333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.640714057 meters 0.042236562705739576 Centerline is valid? [True, True] Translation: X:667.94, Y:-94.98, Z:-43.90 [[ 9.88636973e-01 1.39202191e-01 5.67422724e-02 6.67942385e+02] [-1.38740657e-01 9.90255885e-01 -1.20130195e-02 -9.49842197e+01] [-5.78616078e-02 4.00405514e-03 9.98316584e-01 -4.38956948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.700714057 meters 0.04173880679807687 Centerline is valid? [True, True] Translation: X:668.00, Y:-94.99, Z:-43.90 [[ 9.88379931e-01 1.41374468e-01 5.58423801e-02 6.68001423e+02] [-1.40931740e-01 9.89948894e-01 -1.18081452e-02 -9.49934778e+01] [-5.69504727e-02 3.80096996e-03 9.98369769e-01 -4.38999841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.760714057 meters 0.03678855736408916 Centerline is valid? [True, True] Translation: X:668.06, Y:-95.00, Z:-43.90 [[ 9.88195948e-01 1.42985493e-01 5.49901557e-02 6.68061102e+02] [-1.42558682e-01 9.89718050e-01 -1.16277454e-02 -9.49965271e+01] [-5.60873486e-02 3.65116680e-03 9.98419190e-01 -4.39032540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.820714057 meters 0.03696032447647373 Centerline is valid? [True, True] Translation: X:668.12, Y:-95.01, Z:-43.91 [[ 9.87958079e-01 1.44441765e-01 5.54563937e-02 6.68119376e+02] [-1.44010745e-01 9.89506808e-01 -1.17124497e-02 -9.50070572e+01] [-5.65662461e-02 3.58509266e-03 9.98392411e-01 -4.39069413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.880714057 meters 0.036503020250538955 Centerline is valid? [True, True] Translation: X:668.18, Y:-95.02, Z:-43.91 [[ 9.87858532e-01 1.44872730e-01 5.61018049e-02 6.68177087e+02] [-1.44433085e-01 9.89443791e-01 -1.18350512e-02 -9.50169430e+01] [-5.72241587e-02 3.58839961e-03 9.98354906e-01 -4.39096051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.940714057 meters 0.036603619125109385 Centerline is valid? [True, True] Translation: X:668.23, Y:-95.03, Z:-43.91 [[ 9.87864964e-01 1.44580280e-01 5.67393709e-02 6.68233420e+02] [-1.44130953e-01 9.89486409e-01 -1.19547125e-02 -9.50276453e+01] [-5.78712520e-02 3.63174203e-03 9.98317449e-01 -4.39127868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.000714057 meters 0.03607278737411949 Centerline is valid? [True, True] Translation: X:668.29, Y:-95.04, Z:-43.92 [[ 9.87976960e-01 1.43858502e-01 5.66238248e-02 6.68291311e+02] [-1.43410820e-01 9.89591538e-01 -1.19131816e-02 -9.50387045e+01] [-5.77482704e-02 3.64947976e-03 9.98324506e-01 -4.39162107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.060714057 meters 0.03992366742118893 Centerline is valid? [True, True] Translation: X:668.35, Y:-95.06, Z:-43.92 [[ 9.87956134e-01 1.44199029e-01 5.61187874e-02 6.68345899e+02] [-1.43760769e-01 9.89542225e-01 -1.17909573e-02 -9.50570922e+01] [-5.72321544e-02 3.58126853e-03 9.98354474e-01 -4.39209058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.120714057 meters 0.040905287324701535 Centerline is valid? [True, True] Translation: X:668.40, Y:-95.07, Z:-43.92 [[ 9.87818885e-01 1.44979599e-01 5.65222637e-02 6.68402076e+02] [-1.44536586e-01 9.89428254e-01 -1.18703925e-02 -9.50715619e+01] [-5.76456894e-02 3.55626279e-03 9.98330771e-01 -4.39246056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.180714057 meters 0.0343290141407708 Centerline is valid? [True, True] Translation: X:668.46, Y:-95.07, Z:-43.93 [[ 9.87584545e-01 1.46187609e-01 5.74973948e-02 6.68461476e+02] [-1.45731503e-01 9.89250547e-01 -1.20699853e-02 -9.50740548e+01] [-5.86438115e-02 3.54094918e-03 9.98272691e-01 -4.39261816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.240714057 meters 0.034621969036054336 Centerline is valid? [True, True] Translation: X:668.52, Y:-95.09, Z:-43.93 [[ 9.87449007e-01 1.47008716e-01 5.77312344e-02 6.68519243e+02] [-1.46550524e-01 9.89128996e-01 -1.21149989e-02 -9.50868743e+01] [-5.88846484e-02 3.50240096e-03 9.98258650e-01 -4.39294581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.300714057 meters 0.03399931543789942 Centerline is valid? [True, True] Translation: X:668.58, Y:-95.10, Z:-43.93 [[ 9.86977276e-01 1.50156792e-01 5.76957068e-02 6.68578442e+02] [-1.49705019e-01 9.88656675e-01 -1.20990423e-02 -9.50984484e+01] [-5.88579990e-02 3.30414292e-03 9.98260897e-01 -4.39333270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.360714057 meters 0.03191063716160667 Centerline is valid? [True, True] Translation: X:668.64, Y:-95.11, Z:-43.94 [[ 9.86369765e-01 1.54716026e-01 5.60146217e-02 6.68637261e+02] [-1.54297597e-01 9.87954601e-01 -1.17455910e-02 -9.51081037e+01] [-5.71571343e-02 2.94257430e-03 9.98360858e-01 -4.39388667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.420714057 meters 0.03167419439097155 Centerline is valid? [True, True] Translation: X:668.70, Y:-95.12, Z:-43.94 [[ 9.86127412e-01 1.56744074e-01 5.46262120e-02 6.68695216e+02] [-1.56349324e-01 9.87635415e-01 -1.14531871e-02 -9.51187026e+01] [-5.57460008e-02 2.75353047e-03 9.98441186e-01 -4.39428941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.480714057 meters 0.03055484564360074 Centerline is valid? [True, True] Translation: X:668.75, Y:-95.13, Z:-43.95 [[ 9.85657142e-01 1.59788042e-01 5.42934597e-02 6.68753625e+02] [-1.59402935e-01 9.87148024e-01 -1.13790548e-02 -9.51300874e+01] [-5.54139183e-02 2.56130984e-03 9.98460183e-01 -4.39463570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5407140570001 meters 0.02975320778948329 Centerline is valid? [True, True] Translation: X:668.81, Y:-95.14, Z:-43.95 [[ 9.85326431e-01 1.62029317e-01 5.36500206e-02 6.68811756e+02] [-1.61656604e-01 9.86783011e-01 -1.12442178e-02 -9.51411647e+01] [-5.47628218e-02 2.40634479e-03 9.98496491e-01 -4.39498229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.600714057 meters 0.028620222322297335 Centerline is valid? [True, True] Translation: X:668.87, Y:-95.15, Z:-43.95 [[ 9.84701672e-01 1.65700000e-01 5.39085062e-02 6.68870629e+02] [-1.65330004e-01 9.86173757e-01 -1.12832097e-02 -9.51515718e+01] [-5.50327819e-02 2.19790195e-03 9.98482129e-01 -4.39525800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6607140570001 meters 0.028504348312243955 Centerline is valid? [True, True] Translation: X:668.93, Y:-95.16, Z:-43.96 [[ 9.84430242e-01 1.67180540e-01 5.42933216e-02 6.68928170e+02] [-1.66807495e-01 9.85923998e-01 -1.13635403e-02 -9.51646995e+01] [-5.54288515e-02 2.13007976e-03 9.98460367e-01 -4.39560596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.720714057 meters 0.029445126537027872 Centerline is valid? [True, True] Translation: X:668.99, Y:-95.18, Z:-43.96 [[ 9.84782242e-01 1.65159539e-01 5.40949344e-02 6.68985067e+02] [-1.64786887e-01 9.86264359e-01 -1.13091325e-02 -9.51806341e+01] [-5.52197169e-02 2.22289702e-03 9.98471753e-01 -4.39595911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7807140570001 meters 0.030564370182515035 Centerline is valid? [True, True] Translation: X:669.04, Y:-95.20, Z:-43.96 [[ 9.85506246e-01 1.61139456e-01 5.30237237e-02 6.69043286e+02] [-1.60776496e-01 9.86928768e-01 -1.10690765e-02 -9.51978672e+01] [-5.41143033e-02 2.38367548e-03 9.98531903e-01 -4.39644318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.840714057 meters 0.034550891642398024 Centerline is valid? [True, True] Translation: X:669.10, Y:-95.22, Z:-43.97 [[ 9.86644004e-01 1.54029647e-01 5.29950692e-02 6.69099084e+02] [-1.53656832e-01 9.88062337e-01 -1.10632965e-02 -9.52212218e+01] [-5.40665076e-02 2.77248072e-03 9.98533488e-01 -4.39686666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9007140570001 meters 0.037483257302463345 Centerline is valid? [True, True] Translation: X:669.16, Y:-95.24, Z:-43.97 [[ 9.87429785e-01 1.48722484e-01 5.35167581e-02 6.69156239e+02] [-1.48334580e-01 9.88874138e-01 -1.11710037e-02 -9.52419733e+01] [-5.45827175e-02 3.09219600e-03 9.98504464e-01 -4.39717200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.960714057 meters 0.038195929048448186 Centerline is valid? [True, True] Translation: X:669.21, Y:-95.26, Z:-43.98 [[ 9.87473407e-01 1.48390091e-01 5.36344259e-02 6.69211608e+02] [-1.47999857e-01 9.88923985e-01 -1.11979847e-02 -9.52572664e+01] [-5.47020402e-02 3.11982476e-03 9.98497849e-01 -4.39752907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.020714057 meters 0.03285334431079937 Centerline is valid? [True, True] Translation: X:669.27, Y:-95.26, Z:-43.98 [[ 9.87092442e-01 1.50538682e-01 5.46499443e-02 6.69272208e+02] [-1.50137802e-01 9.88599446e-01 -1.13919169e-02 -9.52624221e+01] [-5.57418288e-02 3.03985255e-03 9.98440588e-01 -4.39767489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.080714057 meters 0.031176729089981994 Centerline is valid? [True, True] Translation: X:669.33, Y:-95.27, Z:-43.98 [[ 9.86244538e-01 1.55872056e-01 5.50055692e-02 6.69331353e+02] [-1.55474259e-01 9.87773411e-01 -1.14649064e-02 -9.52734168e+01] [-5.61200972e-02 2.75525123e-03 9.98420224e-01 -4.39806882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.140714057 meters 0.031499741289269315 Centerline is valid? [True, True] Translation: X:669.39, Y:-95.29, Z:-43.98 [[ 9.85811554e-01 1.58803112e-01 5.43797071e-02 6.69388596e+02] [-1.58418778e-01 9.87306956e-01 -1.13342830e-02 -9.52869014e+01] [-5.54893825e-02 2.55870036e-03 9.98455999e-01 -4.39848628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.200714057 meters 0.03276522078292615 Centerline is valid? [True, True] Translation: X:669.44, Y:-95.30, Z:-43.99 [[ 9.85459164e-01 1.61279310e-01 5.34716710e-02 6.69444249e+02] [-1.60911439e-01 9.86905939e-01 -1.11434134e-02 -9.53041737e+01] [-5.45687117e-02 2.37717537e-03 9.98507188e-01 -4.39904009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.260714057 meters 0.031173304859375264 Centerline is valid? [True, True] Translation: X:669.50, Y:-95.32, Z:-43.99 [[ 9.85271948e-01 1.62164140e-01 5.42400172e-02 6.69501760e+02] [-1.61787087e-01 9.86760977e-01 -1.13010087e-02 -9.53176900e+01] [-5.53545507e-02 2.35923250e-03 9.98463974e-01 -4.39948496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.320714057 meters 0.02924221262541195 Centerline is valid? [True, True] Translation: X:669.56, Y:-95.33, Z:-44.00 [[ 9.85013995e-01 1.63821162e-01 5.39449370e-02 6.69559054e+02] [-1.63451368e-01 9.86487508e-01 -1.12270906e-02 -9.53291166e+01] [-5.50552415e-02 2.24146761e-03 9.98480794e-01 -4.39980674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.380714057 meters 0.028928545527021995 Centerline is valid? [True, True] Translation: X:669.62, Y:-95.34, Z:-44.00 [[ 9.84752395e-01 1.65155128e-01 5.46489210e-02 6.69615920e+02] [-1.64778448e-01 9.86265190e-01 -1.13594593e-02 -9.53428269e+01] [-5.57744014e-02 2.18129040e-03 9.98441014e-01 -4.40015488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.440714057 meters 0.02896729027095825 Centerline is valid? [True, True] Translation: X:669.67, Y:-95.36, Z:-44.00 [[ 9.84375527e-01 1.66857473e-01 5.62441626e-02 6.69672405e+02] [-1.66462178e-01 9.85978726e-01 -1.16745271e-02 -9.53586717e+01] [-5.74035299e-02 2.12959298e-03 9.98348787e-01 -4.40043166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.500714057 meters 0.02775249738737504 Centerline is valid? [True, True] Translation: X:669.73, Y:-95.37, Z:-44.01 [[ 9.84338794e-01 1.66963216e-01 5.65722809e-02 6.69728879e+02] [-1.66563632e-01 9.85960818e-01 -1.17397476e-02 -9.53738469e+01] [-5.77381584e-02 2.13300446e-03 9.98329482e-01 -4.40079744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.560714057 meters 0.028525940229144377 Centerline is valid? [True, True] Translation: X:669.78, Y:-95.39, Z:-44.01 [[ 9.84379321e-01 1.66772308e-01 5.64300488e-02 6.69783734e+02] [-1.66375348e-01 9.85993149e-01 -1.16941463e-02 -9.53913423e+01] [-5.75899013e-02 2.12290683e-03 9.98338067e-01 -4.40132078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.620714057 meters 0.02809406857022716 Centerline is valid? [True, True] Translation: X:669.84, Y:-95.41, Z:-44.02 [[ 9.84455702e-01 1.66554009e-01 5.57380827e-02 6.69839489e+02] [-1.66166587e-01 9.86030084e-01 -1.15471993e-02 -9.54076363e+01] [-5.68826588e-02 2.10589916e-03 9.98378650e-01 -4.40175507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.680714057 meters 0.0270943151711901 Centerline is valid? [True, True] Translation: X:669.90, Y:-95.42, Z:-44.02 [[ 9.84192991e-01 1.67905625e-01 5.63192457e-02 6.69896679e+02] [-1.67513270e-01 9.85800980e-01 -1.16504278e-02 -9.54211071e+01] [-5.74757399e-02 2.03204833e-03 9.98344835e-01 -4.40204621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.740714057 meters 0.02860987180720184 Centerline is valid? [True, True] Translation: X:669.95, Y:-95.44, Z:-44.03 [[ 9.84083777e-01 1.68344960e-01 5.69130476e-02 6.69951388e+02] [-1.67945942e-01 9.85726091e-01 -1.17572678e-02 -9.54403904e+01] [-5.80799527e-02 2.01182111e-03 9.98309908e-01 -4.40250139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.800714057 meters 0.027296358877880483 Centerline is valid? [True, True] Translation: X:670.01, Y:-95.45, Z:-44.03 [[ 9.84121757e-01 1.67832005e-01 5.77649161e-02 6.70007233e+02] [-1.67420482e-01 9.85813446e-01 -1.19260679e-02 -9.54544400e+01] [-5.89470070e-02 2.06567284e-03 9.98258976e-01 -4.40289966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.860714057 meters 0.02957674284299933 Centerline is valid? [True, True] Translation: X:670.06, Y:-95.47, Z:-44.03 [[ 9.84126614e-01 1.67779353e-01 5.78350776e-02 6.70061760e+02] [-1.67367815e-01 9.85822435e-01 -1.19223323e-02 -9.54728929e+01] [-5.90154382e-02 2.05335400e-03 9.98254958e-01 -4.40331638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.920714057 meters 0.027644514107408306 Centerline is valid? [True, True] Translation: X:670.12, Y:-95.48, Z:-44.04 [[ 9.84108863e-01 1.67869586e-01 5.78752873e-02 6.70119621e+02] [-1.67458028e-01 9.85807095e-01 -1.19239152e-02 -9.54842743e+01] [-5.90555316e-02 2.04274922e-03 9.98252609e-01 -4.40368778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.980714057 meters 0.028255342667605394 Centerline is valid? [True, True] Translation: X:670.17, Y:-95.50, Z:-44.04 [[ 9.84278248e-01 1.67197874e-01 5.69315608e-02 6.70174847e+02] [-1.66799431e-01 9.85921263e-01 -1.17138326e-02 -9.55020263e+01] [-5.80885642e-02 2.03351871e-03 9.98309363e-01 -4.40419043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0407140570001 meters 0.02870413649071484 Centerline is valid? [True, True] Translation: X:670.23, Y:-95.52, Z:-44.05 [[ 9.84545351e-01 1.65885461e-01 5.61468170e-02 6.70231405e+02] [-1.65496031e-01 9.86142837e-01 -1.15484934e-02 -9.55174132e+01] [-5.72845086e-02 2.07794007e-03 9.98355732e-01 -4.40469175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.100714057 meters 0.02855797981083972 Centerline is valid? [True, True] Translation: X:670.29, Y:-95.53, Z:-44.05 [[ 9.84771707e-01 1.64594726e-01 5.59755349e-02 6.70288222e+02] [-1.64206403e-01 9.86358976e-01 -1.14990439e-02 -9.55319112e+01] [-5.71046532e-02 2.13239182e-03 9.98365921e-01 -4.40505227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1607140570001 meters 0.028580426344273588 Centerline is valid? [True, True] Translation: X:670.34, Y:-95.55, Z:-44.05 [[ 9.84567337e-01 1.65230895e-01 5.76707011e-02 6.70344338e+02] [-1.64820667e-01 9.86252582e-01 -1.18318620e-02 -9.55486051e+01] [-5.88328670e-02 2.14394146e-03 9.98265545e-01 -4.40533339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.220714057 meters 0.028477442045461827 Centerline is valid? [True, True] Translation: X:670.40, Y:-95.56, Z:-44.06 [[ 9.84106100e-01 1.67561311e-01 5.88080928e-02 6.70401512e+02] [-1.67139845e-01 9.85859571e-01 -1.20490452e-02 -9.55623768e+01] [-5.99954749e-02 2.02836336e-03 9.98196588e-01 -4.40570215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2807140570001 meters 0.027621342000018097 Centerline is valid? [True, True] Translation: X:670.46, Y:-95.58, Z:-44.06 [[ 9.83327969e-01 1.72087078e-01 5.87549403e-02 6.70459875e+02] [-1.71674700e-01 9.85080194e-01 -1.20336752e-02 -9.55763079e+01] [-5.99491680e-02 1.74631260e-03 9.98199904e-01 -4.40619694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.340714057 meters 0.02763542763302537 Centerline is valid? [True, True] Translation: X:670.51, Y:-95.59, Z:-44.07 [[ 9.83039691e-01 1.73734527e-01 5.87305703e-02 6.70514997e+02] [-1.73325457e-01 9.84791150e-01 -1.20281562e-02 -9.55938009e+01] [-5.99270519e-02 1.64465200e-03 9.98201404e-01 -4.40665452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4007140570001 meters 0.028219224521862377 Centerline is valid? [True, True] Translation: X:670.57, Y:-95.61, Z:-44.07 [[ 9.83034686e-01 1.72891009e-01 6.12495349e-02 6.70570614e+02] [-1.72444918e-01 9.84939388e-01 -1.25360730e-02 -9.56134749e+01] [-6.24944537e-02 1.76122356e-03 9.98043757e-01 -4.40696716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.460714057 meters 0.027434102306629377 Centerline is valid? [True, True] Translation: X:670.63, Y:-95.63, Z:-44.07 [[ 9.83266770e-01 1.71237965e-01 6.21612291e-02 6.70627223e+02] [-1.70776149e-01 9.85227907e-01 -1.27074349e-02 -9.56283872e+01] [-6.34189729e-02 1.87914315e-03 9.97985222e-01 -4.40734699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.520714057 meters 0.028127852463322098 Centerline is valid? [True, True] Translation: X:670.68, Y:-95.65, Z:-44.08 [[ 9.84037639e-01 1.66248121e-01 6.34939990e-02 6.70682357e+02] [-1.65756957e-01 9.86081427e-01 -1.29634346e-02 -9.56525719e+01] [-6.47653998e-02 2.23193553e-03 9.97898022e-01 -4.40787802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.580714057 meters 0.030242069206668595 Centerline is valid? [True, True] Translation: X:670.74, Y:-95.67, Z:-44.08 [[ 9.84207779e-01 1.64944843e-01 6.42514290e-02 6.70736612e+02] [-1.64439340e-01 9.86300012e-01 -1.31144606e-02 -9.56748219e+01] [-6.55343479e-02 2.34189160e-03 9.97847566e-01 -4.40823800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.640714057 meters 0.028134452232537653 Centerline is valid? [True, True] Translation: X:670.79, Y:-95.69, Z:-44.09 [[ 9.84289688e-01 1.64351470e-01 6.45167037e-02 6.70793921e+02] [-1.63840896e-01 9.86398958e-01 -1.31627139e-02 -9.56887172e+01] [-6.58025207e-02 2.38544904e-03 9.97829814e-01 -4.40859389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.700714057 meters 0.028387001085652373 Centerline is valid? [True, True] Translation: X:670.85, Y:-95.71, Z:-44.09 [[ 9.83988657e-01 1.65649654e-01 6.57762551e-02 6.70850932e+02] [-1.65122161e-01 9.86181891e-01 -1.34144980e-02 -9.57057511e+01] [-6.70894586e-02 2.33859647e-03 9.97744224e-01 -4.40890676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.760714057 meters 0.027491503124865705 Centerline is valid? [True, True] Translation: X:670.91, Y:-95.72, Z:-44.09 [[ 9.83764992e-01 1.66935024e-01 6.58721438e-02 6.70907693e+02] [-1.66409463e-01 9.85965342e-01 -1.34251546e-02 -9.57203697e+01] [-6.71887793e-02 2.24544902e-03 9.97737754e-01 -4.40933225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.820714057 meters 0.02804532861391712 Centerline is valid? [True, True] Translation: X:670.96, Y:-95.74, Z:-44.10 [[ 9.83570003e-01 1.68287109e-01 6.53413925e-02 6.70963125e+02] [-1.67773305e-01 9.85735720e-01 -1.33119944e-02 -9.57366280e+01] [-6.66495816e-02 2.13073693e-03 9.97774169e-01 -4.40986612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.880714057 meters 0.027518621337475613 Centerline is valid? [True, True] Translation: X:671.02, Y:-95.75, Z:-44.10 [[ 9.83635437e-01 1.68125428e-01 6.47701193e-02 6.71019805e+02] [-1.67620808e-01 9.85763344e-01 -1.31869020e-02 -9.57496131e+01] [-6.60650629e-02 2.11428433e-03 9.97813077e-01 -4.41035489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.940714057 meters 0.02841408389314844 Centerline is valid? [True, True] Translation: X:671.08, Y:-95.77, Z:-44.11 [[ 9.83998766e-01 1.66376359e-01 6.37599901e-02 6.71075060e+02] [-1.65884175e-01 9.86059893e-01 -1.29741463e-02 -9.57683523e+01] [-6.50297602e-02 2.18977060e-03 9.97880922e-01 -4.41080700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.000714057 meters 0.029807163317683336 Centerline is valid? [True, True] Translation: X:671.13, Y:-95.79, Z:-44.11 [[ 9.84609853e-01 1.62650917e-01 6.39383849e-02 6.71131755e+02] [-1.62148517e-01 9.86680668e-01 -1.30045158e-02 -9.57869336e+01] [-6.52019647e-02 2.43686010e-03 9.97869112e-01 -4.41105603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.060714057 meters 0.03191027004725739 Centerline is valid? [True, True] Translation: X:671.19, Y:-95.81, Z:-44.11 [[ 9.85186258e-01 1.58503149e-01 6.54583030e-02 6.71188929e+02] [-1.57967648e-01 9.87354579e-01 -1.33100635e-02 -9.58069831e+01] [-6.67402422e-02 2.77259753e-03 9.97766532e-01 -4.41138476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.120714057 meters 0.03126276103204966 Centerline is valid? [True, True] Translation: X:671.25, Y:-95.82, Z:-44.12 [[ 9.85620138e-01 1.55363968e-01 6.64453301e-02 6.71245826e+02] [-1.54805146e-01 9.87852652e-01 -1.35094291e-02 -9.58227707e+01] [-6.77370741e-02 3.02908631e-03 9.97698609e-01 -4.41177654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.180714057 meters 0.03319444319271481 Centerline is valid? [True, True] Translation: X:671.30, Y:-95.84, Z:-44.12 [[ 9.85991381e-01 1.52776355e-01 6.69356492e-02 6.71301689e+02] [-1.52203560e-01 9.88255520e-01 -1.36052683e-02 -9.58396289e+01] [-6.82280881e-02 3.22683317e-03 9.97664531e-01 -4.41217889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.240714057 meters 0.033713204242339236 Centerline is valid? [True, True] Translation: X:671.36, Y:-95.86, Z:-44.13 [[ 9.86849333e-01 1.47555708e-01 6.59977865e-02 6.71360356e+02] [-1.46987552e-01 9.89047437e-01 -1.34099510e-02 -9.58552427e+01] [-6.72536564e-02 3.53274818e-03 9.97729656e-01 -4.41261382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.300714057 meters 0.03640884954653958 Centerline is valid? [True, True] Translation: X:671.42, Y:-95.87, Z:-44.13 [[ 9.87192678e-01 1.44629023e-01 6.73280188e-02 6.71416839e+02] [-1.44030946e-01 9.89478626e-01 -1.36797682e-02 -9.58736927e+01] [-6.85981270e-02 3.80724876e-03 9.97637109e-01 -4.41284518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.360714057 meters 0.0337603795355117 Centerline is valid? [True, True] Translation: X:671.48, Y:-95.88, Z:-44.13 [[ 9.87267825e-01 1.44183131e-01 6.71823366e-02 6.71475113e+02] [-1.43586660e-01 9.89543613e-01 -1.36495270e-02 -9.58816739e+01] [-6.84478836e-02 3.82925152e-03 9.97647345e-01 -4.41330051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.420714057 meters 0.03462614542411175 Centerline is valid? [True, True] Translation: X:671.53, Y:-95.89, Z:-44.14 [[ 9.87290271e-01 1.44658933e-01 6.58157587e-02 6.71532335e+02] [-1.44087906e-01 9.89474609e-01 -1.33669115e-02 -9.58946236e+01] [-6.70566652e-02 3.71376687e-03 9.97742257e-01 -4.41388209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.480714057 meters 0.03409976885552952 Centerline is valid? [True, True] Translation: X:671.59, Y:-95.91, Z:-44.14 [[ 9.87135386e-01 1.45768533e-01 6.56906760e-02 6.71590297e+02] [-1.45202455e-01 9.89312076e-01 -1.33365788e-02 -9.59059470e+01] [-6.69326326e-02 3.62656143e-03 9.97750906e-01 -4.41442074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5407140570001 meters 0.03666942637444067 Centerline is valid? [True, True] Translation: X:671.65, Y:-95.92, Z:-44.15 [[ 9.86882502e-01 1.47814548e-01 6.49136850e-02 6.71646396e+02] [-1.47266455e-01 9.89009104e-01 -1.31751285e-02 -9.59209045e+01] [-6.61477011e-02 3.44269551e-03 9.97803903e-01 -4.41478255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.600714057 meters 0.03435470886440846 Centerline is valid? [True, True] Translation: X:671.70, Y:-95.93, Z:-44.15 [[ 9.86735794e-01 1.48753232e-01 6.49996065e-02 6.71704679e+02] [-1.48206112e-01 9.88868577e-01 -1.31865626e-02 -9.59285128e+01] [-6.62376122e-02 3.37831434e-03 9.97798159e-01 -4.41515160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6607140570001 meters 0.034527859563820575 Centerline is valid? [True, True] Translation: X:671.76, Y:-95.94, Z:-44.15 [[ 9.86469130e-01 1.50269073e-01 6.55580822e-02 6.71762160e+02] [-1.49716157e-01 9.88639629e-01 -1.32949847e-02 -9.59400524e+01] [-6.68111431e-02 3.29998786e-03 9.97760182e-01 -4.41545328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.720714057 meters 0.03471801413357482 Centerline is valid? [True, True] Translation: X:671.82, Y:-95.95, Z:-44.16 [[ 9.86661078e-01 1.48768273e-01 6.60902265e-02 6.71819926e+02] [-1.48203301e-01 9.88866156e-01 -1.33980580e-02 -9.59516404e+01] [-6.73475941e-02 3.42455264e-03 9.97723696e-01 -4.41592519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7807140570001 meters 0.03447806922594118 Centerline is valid? [True, True] Translation: X:671.88, Y:-95.96, Z:-44.16 [[ 9.86873190e-01 1.47029128e-01 6.68112460e-02 6.71877826e+02] [-1.46448109e-01 9.89125695e-01 -1.35392693e-02 -9.59634005e+01] [-6.80753871e-02 3.57716128e-03 9.97673767e-01 -4.41629037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.840714057 meters 0.034173277394695514 Centerline is valid? [True, True] Translation: X:671.94, Y:-95.97, Z:-44.17 [[ 9.87218204e-01 1.45075986e-01 6.59786099e-02 6.71936770e+02] [-1.44505341e-01 9.89413744e-01 -1.33660184e-02 -9.59728624e+01] [-6.72192317e-02 3.66091512e-03 9.97731513e-01 -4.41670652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9007140570001 meters 0.0348206821775768 Centerline is valid? [True, True] Translation: X:671.99, Y:-95.99, Z:-44.17 [[ 9.87373276e-01 1.43915526e-01 6.61992140e-02 6.71993696e+02] [-1.43338635e-01 9.89582872e-01 -1.34080304e-02 -9.59851633e+01] [-6.74392321e-02 3.74982586e-03 9.97716337e-01 -4.41702057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.960714057 meters 0.03565161535579406 Centerline is valid? [True, True] Translation: X:672.05, Y:-96.00, Z:-44.17 [[ 9.87481657e-01 1.43099046e-01 6.63524005e-02 6.72051603e+02] [-1.42518063e-01 9.89701046e-01 -1.34328581e-02 -9.59968545e+01] [-6.75912694e-02 3.80828539e-03 9.97705827e-01 -4.41734566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.020714057 meters 0.036172209978358565 Centerline is valid? [True, True] Translation: X:672.11, Y:-96.01, Z:-44.18 [[ 9.87387779e-01 1.43600844e-01 6.66646202e-02 6.72108984e+02] [-1.43015851e-01 9.89628444e-01 -1.34910685e-02 -9.60082774e+01] [-6.79105332e-02 3.78681876e-03 9.97684228e-01 -4.41779238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.080714057 meters 0.03423234258042954 Centerline is valid? [True, True] Translation: X:672.17, Y:-96.02, Z:-44.18 [[ 9.87214916e-01 1.44999578e-01 6.61954134e-02 6.72167240e+02] [-1.44426263e-01 9.89424949e-01 -1.33912476e-02 -9.60161421e+01] [-6.74371188e-02 3.65968321e-03 9.97716814e-01 -4.41828263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.140714057 meters 0.034012206883560665 Centerline is valid? [True, True] Translation: X:672.23, Y:-96.03, Z:-44.19 [[ 9.86875952e-01 1.47209738e-01 6.63712986e-02 6.72226300e+02] [-1.46638672e-01 9.89099060e-01 -1.34219857e-02 -9.60259149e+01] [-6.76236360e-02 3.51323582e-03 9.97704716e-01 -4.41873788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.200714057 meters 0.031228289362996497 Centerline is valid? [True, True] Translation: X:672.29, Y:-96.03, Z:-44.19 [[ 9.86200795e-01 1.51803822e-01 6.60574878e-02 6.72286545e+02] [-1.51248499e-01 9.88405522e-01 -1.33572472e-02 -9.60309929e+01] [-6.73192669e-02 3.18183194e-03 9.97726412e-01 -4.41915586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.260714057 meters 0.030039732410533086 Centerline is valid? [True, True] Translation: X:672.35, Y:-96.04, Z:-44.19 [[ 9.85262547e-01 1.57096963e-01 6.76628192e-02 6.72345358e+02] [-1.56526881e-01 9.87578965e-01 -1.36793365e-02 -9.60402188e+01] [-6.89713592e-02 2.88668785e-03 9.97614464e-01 -4.41946616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.320714057 meters 0.02963052085328459 Centerline is valid? [True, True] Translation: X:672.40, Y:-96.05, Z:-44.20 [[ 9.84574803e-01 1.61047734e-01 6.83819036e-02 6.72402903e+02] [-1.60475133e-01 9.86943100e-01 -1.38220452e-02 -9.60506722e+01] [-6.97150570e-02 2.63524238e-03 9.97563465e-01 -4.41982309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.380714057 meters 0.030269729490569382 Centerline is valid? [True, True] Translation: X:672.46, Y:-96.06, Z:-44.20 [[ 9.83510724e-01 1.67773516e-01 6.75181684e-02 6.72461129e+02] [-1.67231352e-01 9.85823270e-01 -1.36438539e-02 -9.60631291e+01] [-6.88500589e-02 2.12772204e-03 9.97624750e-01 -4.42025567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.440714057 meters 0.02710550652650411 Centerline is valid? [True, True] Translation: X:672.52, Y:-96.07, Z:-44.21 [[ 9.82233518e-01 1.74969461e-01 6.78454374e-02 6.72520784e+02] [-1.74439243e-01 9.84572512e-01 -1.37083764e-02 -9.60706839e+01] [-6.91972999e-02 1.62992001e-03 9.97601663e-01 -4.42070789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.500714057 meters 0.026384999899082363 Centerline is valid? [True, True] Translation: X:672.58, Y:-96.08, Z:-44.21 [[ 9.81379632e-01 1.79551496e-01 6.82295941e-02 6.72578985e+02] [-1.79026394e-01 9.83747700e-01 -1.37845569e-02 -9.60815015e+01] [-6.95957441e-02 1.31298519e-03 9.97574413e-01 -4.42111521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.560714057 meters 0.026151019877048168 Centerline is valid? [True, True] Translation: X:672.64, Y:-96.10, Z:-44.21 [[ 9.80290874e-01 1.85066308e-01 6.91394555e-02 6.72635453e+02] [-1.84541056e-01 9.82725596e-01 -1.39643101e-02 -9.60964775e+01] [-7.05294359e-02 9.30017632e-04 9.97509265e-01 -4.42141310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.620714057 meters 0.026079344440255846 Centerline is valid? [True, True] Translation: X:672.69, Y:-96.12, Z:-44.22 [[ 9.79645814e-01 1.88048630e-01 7.02267193e-02 6.72691927e+02] [-1.87514732e-01 9.82159454e-01 -1.41786127e-02 -9.61151130e+01] [-7.16401050e-02 7.21474145e-04 9.97430286e-01 -4.42185715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.680714057 meters 0.02573086717767014 Centerline is valid? [True, True] Translation: X:672.75, Y:-96.13, Z:-44.22 [[ 9.79572048e-01 1.88517846e-01 6.99973165e-02 6.72747740e+02] [-1.87989006e-01 9.82069529e-01 -1.41270579e-02 -9.61331828e+01] [-7.14054342e-02 6.79745118e-04 9.97447142e-01 -4.42232068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.740714057 meters 0.026470209741573703 Centerline is valid? [True, True] Translation: X:672.80, Y:-96.16, Z:-44.23 [[ 9.79822619e-01 1.87352164e-01 6.96189787e-02 6.72802055e+02] [-1.86826475e-01 9.82292521e-01 -1.40453481e-02 -9.61560568e+01] [-7.10176285e-02 7.55281371e-04 9.97474775e-01 -4.42272541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.800714057 meters 0.02662336366033796 Centerline is valid? [True, True] Translation: X:672.86, Y:-96.18, Z:-44.23 [[ 9.79803881e-01 1.87333575e-01 6.99320096e-02 6.72855257e+02] [-1.86803604e-01 9.82296068e-01 -1.41013862e-02 -9.61799494e+01] [-7.13356012e-02 7.53041456e-04 9.97452087e-01 -4.42300968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.860714057 meters 0.02601645989820713 Centerline is valid? [True, True] Translation: X:672.91, Y:-96.20, Z:-44.23 [[ 9.79290440e-01 1.89705521e-01 7.07251693e-02 6.72911112e+02] [-1.89170505e-01 9.81840865e-01 -1.42490447e-02 -9.61978928e+01] [-7.21439839e-02 5.74837248e-04 9.97394062e-01 -4.42334145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.920714057 meters 0.02501970463799352 Centerline is valid? [True, True] Translation: X:672.97, Y:-96.22, Z:-44.24 [[ 9.77902941e-01 1.96789824e-01 7.05663066e-02 6.72966641e+02] [-1.96275989e-01 9.80445696e-01 -1.42117229e-02 -9.62195346e+01] [-7.19831540e-02 4.72140294e-05 9.97405847e-01 -4.42361199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.980714057 meters 0.024185505155987413 Centerline is valid? [True, True] Translation: X:673.02, Y:-96.24, Z:-44.24 [[ 9.76156288e-01 2.05730115e-01 6.92388780e-02 6.73021943e+02] [-2.05258234e-01 9.78608581e-01 -1.39392709e-02 -9.62414757e+01] [-7.06254879e-02 -6.04942957e-04 9.97502719e-01 -4.42402692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0407140570001 meters 0.023110848846054015 Centerline is valid? [True, True] Translation: X:673.08, Y:-96.27, Z:-44.24 [[ 9.75097064e-01 2.11385200e-01 6.70970356e-02 6.73076197e+02] [-2.10955779e-01 9.77402334e-01 -1.35032423e-02 -9.62683353e+01] [-6.84351848e-02 -9.87535436e-04 9.97655076e-01 -4.42432890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.100714057 meters 0.021993814924673106 Centerline is valid? [True, True] Translation: X:673.13, Y:-96.29, Z:-44.24 [[ 9.75182872e-01 2.10800563e-01 6.76866951e-02 6.73130678e+02] [-2.10362505e-01 9.77528619e-01 -1.36167247e-02 -9.62927662e+01] [-6.90360948e-02 -9.59946064e-04 9.97613701e-01 -4.42449875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1607140570001 meters 0.020125925315997016 Centerline is valid? [True, True] Translation: X:673.19, Y:-96.33, Z:-44.25 [[ 9.75728927e-01 2.08325300e-01 6.74805993e-02 6.73185050e+02] [-2.07884433e-01 9.78059276e-01 -1.35688881e-02 -9.63272725e+01] [-6.88267688e-02 -7.88609571e-04 9.97628315e-01 -4.42457607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.220714057 meters 0.018554388516131632 Centerline is valid? [True, True] Translation: X:673.24, Y:-96.36, Z:-44.25 [[ 9.75996942e-01 2.07405643e-01 6.64294288e-02 6.73239985e+02] [-2.06976456e-01 9.78254767e-01 -1.33550947e-02 -9.63570445e+01] [-6.77548274e-02 -7.14796118e-04 9.97701745e-01 -4.42484564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2807140570001 meters 0.017568526097568083 Centerline is valid? [True, True] Translation: X:673.30, Y:-96.39, Z:-44.25 [[ 9.75461582e-01 2.09770353e-01 6.68662894e-02 6.73296987e+02] [-2.09341068e-01 9.77750283e-01 -1.34425472e-02 -9.63864736e+01] [-6.81983812e-02 -8.85172050e-04 9.97671387e-01 -4.42504974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.340714057 meters 0.016880529597745678 Centerline is valid? [True, True] Translation: X:673.36, Y:-96.41, Z:-44.25 [[ 9.74982685e-01 2.11815044e-01 6.74029067e-02 6.73355929e+02] [-2.11382596e-01 9.77309237e-01 -1.35666009e-02 -9.64109997e+01] [-6.87470935e-02 -1.02060041e-03 9.97633598e-01 -4.42524153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4007140570001 meters 0.01648345465452783 Centerline is valid? [True, True] Translation: X:673.41, Y:-96.44, Z:-44.25 [[ 9.74585819e-01 2.13511615e-01 6.77884286e-02 6.73413540e+02] [-2.13077046e-01 9.76939873e-01 -1.36622519e-02 -9.64396593e+01] [-6.91422683e-02 -1.12912120e-03 9.97606171e-01 -4.42547138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.460714057 meters 0.01612398039255065 Centerline is valid? [True, True] Translation: X:673.47, Y:-96.46, Z:-44.26 [[ 9.74670895e-01 2.12978297e-01 6.82414211e-02 6.73472058e+02] [-2.12535329e-01 9.77056332e-01 -1.37716118e-02 -9.64635749e+01] [-6.96087670e-02 -1.08092373e-03 9.97573782e-01 -4.42582622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.520714057 meters 0.015202747012517635 Centerline is valid? [True, True] Translation: X:673.53, Y:-96.49, Z:-44.26 [[ 9.75350777e-01 2.10193045e-01 6.71546367e-02 6.73529689e+02] [-2.09756334e-01 9.77659531e-01 -1.35691398e-02 -9.64941228e+01] [-6.85065095e-02 -8.51439378e-04 9.97650306e-01 -4.42614037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.580714057 meters 0.01412289642570572 Centerline is valid? [True, True] Translation: X:673.59, Y:-96.52, Z:-44.27 [[ 9.76488192e-01 2.05088259e-01 6.64049477e-02 6.73586699e+02] [-2.04648997e-01 9.78743365e-01 -1.34243541e-02 -9.65243339e+01] [-6.77465794e-02 -4.80982642e-04 9.97702445e-01 -4.42654641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.640714057 meters 0.014055659249789602 Centerline is valid? [True, True] Translation: X:673.64, Y:-96.56, Z:-44.27 [[ 9.77982940e-01 1.97793582e-01 6.65362153e-02 6.73643046e+02] [-1.97334528e-01 9.80243693e-01 -1.34679921e-02 -9.65551683e+01] [-6.78855877e-02 4.15738763e-05 9.97693112e-01 -4.42690071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.700714057 meters 0.01412740557016996 Centerline is valid? [True, True] Translation: X:673.70, Y:-96.58, Z:-44.27 [[ 9.78960115e-01 1.92478672e-01 6.77425517e-02 6.73701900e+02] [-1.91989341e-01 9.81301064e-01 -1.37228101e-02 -9.65784734e+01] [-6.91171863e-02 4.28235902e-04 9.97608456e-01 -4.42714800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.760714057 meters 0.014668886230136879 Centerline is valid? [True, True] Translation: X:673.76, Y:-96.60, Z:-44.27 [[ 9.79913925e-01 1.86968682e-01 6.93643477e-02 6.73760390e+02] [-1.86440489e-01 9.82365503e-01 -1.40699276e-02 -9.66034024e+01] [-7.07717781e-02 8.54995009e-04 9.97492168e-01 -4.42743525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.820714057 meters 0.01571619764396005 Centerline is valid? [True, True] Translation: X:673.82, Y:-96.62, Z:-44.28 [[ 9.80393496e-01 1.84505708e-01 6.91826361e-02 6.73818555e+02] [-1.83972881e-01 9.82830884e-01 -1.40511084e-02 -9.66239855e+01] [-7.05873411e-02 1.04788647e-03 9.97505052e-01 -4.42779939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.880714057 meters 0.015315237607701029 Centerline is valid? [True, True] Translation: X:673.88, Y:-96.64, Z:-44.28 [[ 9.80860750e-01 1.81815309e-01 6.96805745e-02 6.73878879e+02] [-1.81266779e-01 9.83331881e-01 -1.41692455e-02 -9.66386710e+01] [-7.10953161e-02 1.26728353e-03 9.97468721e-01 -4.42827976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.940714057 meters 0.01658797384281441 Centerline is valid? [True, True] Translation: X:673.94, Y:-96.66, Z:-44.29 [[ 9.81763418e-01 1.76862131e-01 6.97164055e-02 6.73936591e+02] [-1.76299335e-01 9.84234263e-01 -1.41936632e-02 -9.66590069e+01] [-7.11275965e-02 1.64386338e-03 9.97465870e-01 -4.42872953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.000714057 meters 0.017373295039333252 Centerline is valid? [True, True] Translation: X:674.00, Y:-96.68, Z:-44.29 [[ 9.82481060e-01 1.72915282e-01 6.95073495e-02 6.73995998e+02] [-1.72345721e-01 9.84934815e-01 -1.41549656e-02 -9.66766038e+01] [-7.09078183e-02 1.92769135e-03 9.97481010e-01 -4.42917977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.060714057 meters 0.019934523021874782 Centerline is valid? [True, True] Translation: X:674.05, Y:-96.70, Z:-44.30 [[ 9.83839609e-01 1.64902343e-01 6.97627435e-02 6.74053288e+02] [-1.64307354e-01 9.86306654e-01 -1.42224197e-02 -9.66964299e+01] [-7.11527685e-02 2.53004804e-03 9.97462221e-01 -4.42963228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.120714057 meters 0.024953902838073968 Centerline is valid? [True, True] Translation: X:674.11, Y:-96.72, Z:-44.30 [[ 9.84809983e-01 1.59490317e-01 6.86450069e-02 6.74110459e+02] [-1.58901100e-01 9.87195307e-01 -1.39952294e-02 -9.67173879e+01] [-6.99981322e-02 2.87487451e-03 9.97542980e-01 -4.43000940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.180714057 meters 0.02366148973888647 Centerline is valid? [True, True] Translation: X:674.17, Y:-96.73, Z:-44.30 [[ 9.85704969e-01 1.53389973e-01 6.96938326e-02 6.74170422e+02] [-1.52767283e-01 9.88160020e-01 -1.42102838e-02 -9.67272219e+01] [-7.10483741e-02 3.36020987e-03 9.97467211e-01 -4.43040666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.240714057 meters 0.022597872748244867 Centerline is valid? [True, True] Translation: X:674.23, Y:-96.73, Z:-44.31 [[ 9.85468546e-01 1.55002068e-01 6.94701677e-02 6.74233181e+02] [-1.54387287e-01 9.87908850e-01 -1.41657822e-02 -9.67329499e+01] [-7.08259190e-02 3.23462208e-03 9.97483447e-01 -4.43078191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.300714057 meters 0.02335888648392183 Centerline is valid? [True, True] Translation: X:674.29, Y:-96.74, Z:-44.31 [[ 9.84276734e-01 1.62785945e-01 6.85568979e-02 6.74293073e+02] [-1.62205645e-01 9.86657864e-01 -1.39853107e-02 -9.67389469e+01] [-6.99188144e-02 2.64510007e-03 9.97549178e-01 -4.43107695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.360714057 meters 0.019849497437374353 Centerline is valid? [True, True] Translation: X:674.36, Y:-96.74, Z:-44.31 [[ 9.83398745e-01 1.67954692e-01 6.86886404e-02 6.74355210e+02] [-1.67384712e-01 9.85792074e-01 -1.40123260e-02 -9.67402700e+01] [-7.00661532e-02 2.28227555e-03 9.97539736e-01 -4.43147500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.420714057 meters 0.01780135601915988 Centerline is valid? [True, True] Translation: X:674.42, Y:-96.74, Z:-44.32 [[ 9.82330651e-01 1.74202872e-01 6.84094376e-02 6.74416387e+02] [-1.73652547e-01 9.84708083e-01 -1.39565009e-02 -9.67415060e+01] [-6.97945887e-02 1.83042556e-03 9.97559705e-01 -4.43186172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.480714057 meters 0.017766214211668126 Centerline is valid? [True, True] Translation: X:674.48, Y:-96.75, Z:-44.32 [[ 9.81771511e-01 1.77075967e-01 6.90565178e-02 6.74477912e+02] [-1.76522219e-01 9.84195817e-01 -1.40890377e-02 -9.67485509e+01] [-7.04599659e-02 1.64220607e-03 9.97513256e-01 -4.43220343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5407140570001 meters 0.0176958088924039 Centerline is valid? [True, True] Translation: X:674.54, Y:-96.76, Z:-44.33 [[ 9.82185219e-01 1.74667413e-01 6.93072247e-02 6.74538974e+02] [-1.74103124e-01 9.84625792e-01 -1.41475035e-02 -9.67567380e+01] [-7.07127889e-02 1.82886445e-03 9.97495041e-01 -4.43265359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.600714057 meters 0.018252036837963923 Centerline is valid? [True, True] Translation: X:674.60, Y:-96.77, Z:-44.33 [[ 9.82716326e-01 1.72293070e-01 6.77031873e-02 6.74599911e+02] [-1.71747882e-01 9.85043765e-01 -1.38363807e-02 -9.67680937e+01] [-6.90745150e-02 1.96935825e-03 9.97609559e-01 -4.43311171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6607140570001 meters 0.01880932649234543 Centerline is valid? [True, True] Translation: X:674.66, Y:-96.78, Z:-44.33 [[ 9.83088292e-01 1.70259110e-01 6.74480888e-02 6.74660966e+02] [-1.69712049e-01 9.85397044e-01 -1.38016586e-02 -9.67784318e+01] [-6.88130055e-02 2.12149564e-03 9.97627320e-01 -4.43349155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.720714057 meters 0.019062616483529755 Centerline is valid? [True, True] Translation: X:674.72, Y:-96.79, Z:-44.34 [[ 9.83182740e-01 1.69638106e-01 6.76358787e-02 6.74721964e+02] [-1.69085306e-01 9.85503995e-01 -1.38576914e-02 -9.67894121e+01] [-6.90062212e-02 2.18840977e-03 9.97613829e-01 -4.43380718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7807140570001 meters 0.018830554420689535 Centerline is valid? [True, True] Translation: X:674.78, Y:-96.80, Z:-44.34 [[ 9.83338949e-01 1.68862653e-01 6.73046436e-02 6.74782935e+02] [-1.68312260e-01 9.85637026e-01 -1.38071050e-02 -9.67989760e+01] [-6.86694531e-02 2.24886739e-03 9.97636932e-01 -4.43419217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.840714057 meters 0.01940205270092071 Centerline is valid? [True, True] Translation: X:674.84, Y:-96.81, Z:-44.35 [[ 9.83728441e-01 1.66603094e-01 6.72440636e-02 6.74844069e+02] [-1.66047269e-01 9.86021069e-01 -1.38114789e-02 -9.68102524e+01] [-6.86050986e-02 2.42105154e-03 9.97640957e-01 -4.43452150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9007140570001 meters 0.021930294765446532 Centerline is valid? [True, True] Translation: X:674.90, Y:-96.82, Z:-44.35 [[ 9.84424111e-01 1.62563149e-01 6.69506723e-02 6.74903273e+02] [-1.62002513e-01 9.86694459e-01 -1.37560748e-02 -9.68245818e+01] [-6.82960883e-02 2.69563451e-03 9.97661455e-01 -4.43483895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.960714057 meters 0.02105128912850394 Centerline is valid? [True, True] Translation: X:674.96, Y:-96.83, Z:-44.35 [[ 9.85046000e-01 1.58593563e-01 6.73235428e-02 6.74963660e+02] [-1.58017233e-01 9.87339426e-01 -1.38351879e-02 -9.68343564e+01] [-6.86653599e-02 2.99001652e-03 9.97635268e-01 -4.43521870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.020714057 meters 0.023627284055907565 Centerline is valid? [True, True] Translation: X:675.02, Y:-96.85, Z:-44.36 [[ 9.85954186e-01 1.52443385e-01 6.82301744e-02 6.75022403e+02] [-1.51836538e-01 9.88306123e-01 -1.40240174e-02 -9.68474960e+01] [-6.95701678e-02 3.46720524e-03 9.97571035e-01 -4.43561784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.080714057 meters 0.024621736752885225 Centerline is valid? [True, True] Translation: X:675.08, Y:-96.86, Z:-44.36 [[ 9.86522564e-01 1.48650418e-01 6.83833592e-02 6.75082730e+02] [-1.48031710e-01 9.88882722e-01 -1.40561672e-02 -9.68561539e+01] [-6.97125775e-02 3.74382055e-03 9.97560094e-01 -4.43601816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.140714057 meters 0.025528258492263936 Centerline is valid? [True, True] Translation: X:675.14, Y:-96.87, Z:-44.36 [[ 9.86614899e-01 1.48024280e-01 6.84094560e-02 6.75143859e+02] [-1.47403427e-01 9.88976458e-01 -1.40640029e-02 -9.68659207e+01] [-6.97371554e-02 3.79196651e-03 9.97558194e-01 -4.43646229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.200714057 meters 0.026682326015445613 Centerline is valid? [True, True] Translation: X:675.21, Y:-96.87, Z:-44.37 [[ 9.86526844e-01 1.49124485e-01 6.72805585e-02 6.75205654e+02] [-1.48525411e-01 9.88811624e-01 -1.38482588e-02 -9.68721617e+01] [-6.85929128e-02 3.66880643e-03 9.97637987e-01 -4.43700081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.260714057 meters 0.025339381576925536 Centerline is valid? [True, True] Translation: X:675.27, Y:-96.87, Z:-44.37 [[ 9.86221746e-01 1.50981637e-01 6.76107424e-02 6.75268147e+02] [-1.50380577e-01 9.88530146e-01 -1.39224070e-02 -9.68741312e+01] [-6.89372848e-02 3.56323807e-03 9.97614632e-01 -4.43743972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.320714057 meters 0.02625426217152944 Centerline is valid? [True, True] Translation: X:675.33, Y:-96.88, Z:-44.38 [[ 9.85934697e-01 1.52566687e-01 6.82362044e-02 6.75329778e+02] [-1.51957868e-01 9.88287018e-01 -1.40561883e-02 -9.68830725e+01] [-6.95814610e-02 3.48945558e-03 9.97570170e-01 -4.43783362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.380714057 meters 0.024237991775691078 Centerline is valid? [True, True] Translation: X:675.39, Y:-96.88, Z:-44.38 [[ 9.85585534e-01 1.54331523e-01 6.93032182e-02 6.75392603e+02] [-1.53706505e-01 9.88013144e-01 -1.42946566e-02 -9.68840819e+01] [-7.06786066e-02 3.43625128e-03 9.97493221e-01 -4.43829503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.440714057 meters 0.024094739358155325 Centerline is valid? [True, True] Translation: X:675.45, Y:-96.89, Z:-44.39 [[ 9.85129359e-01 1.57762175e-01 6.80532347e-02 6.75453122e+02] [-1.57166502e-01 9.87472115e-01 -1.40538923e-02 -9.68875811e+01] [-6.94178442e-02 3.14921302e-03 9.97582701e-01 -4.43889526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.500714057 meters 0.025166493149397416 Centerline is valid? [True, True] Translation: X:675.51, Y:-96.90, Z:-44.39 [[ 9.84601777e-01 1.61358788e-01 6.72508962e-02 6.75512133e+02] [-1.60785465e-01 9.86891663e-01 -1.38881259e-02 -9.68953868e+01] [-6.86103200e-02 2.86130686e-03 9.97639432e-01 -4.43938671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.560714057 meters 0.020347776120853426 Centerline is valid? [True, True] Translation: X:675.57, Y:-96.89, Z:-44.40 [[ 9.83065094e-01 1.70102880e-01 6.81764669e-02 6.75574420e+02] [-1.69534665e-01 9.85423668e-01 -1.40780691e-02 -9.68904969e+01] [-6.95774242e-02 2.28138387e-03 9.97573946e-01 -4.43976348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.620714057 meters 0.018672774122170863 Centerline is valid? [True, True] Translation: X:675.64, Y:-96.89, Z:-44.40 [[ 9.81157823e-01 1.80307888e-01 6.94146426e-02 6.75635566e+02] [-1.79744258e-01 9.83608941e-01 -1.43336511e-02 -9.68903830e+01] [-7.08613334e-02 1.58669047e-03 9.97484914e-01 -4.44022484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.680714057 meters 0.017628218168616726 Centerline is valid? [True, True] Translation: X:675.70, Y:-96.90, Z:-44.41 [[ 9.79964825e-01 1.86811829e-01 6.90672362e-02 6.75696894e+02] [-1.86270000e-01 9.82395087e-01 -1.42611159e-02 -9.68953034e+01] [-7.05154587e-02 1.11023792e-03 9.97510069e-01 -4.44074032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.740714057 meters 0.016557109673791884 Centerline is valid? [True, True] Translation: X:675.76, Y:-96.90, Z:-44.41 [[ 9.78375770e-01 1.94999689e-01 6.89635774e-02 6.75757699e+02] [-1.94479582e-01 9.80803165e-01 -1.42423201e-02 -9.69006621e+01] [-7.04169429e-02 5.22333151e-04 9.97517509e-01 -4.44120343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.800714057 meters 0.016288947547840802 Centerline is valid? [True, True] Translation: X:675.82, Y:-96.91, Z:-44.42 [[ 9.77682712e-01 1.98265553e-01 6.94786659e-02 6.75818602e+02] [-1.97745588e-01 9.80148297e-01 -1.43526248e-02 -9.69125896e+01] [-7.09450272e-02 2.93213466e-04 9.97480184e-01 -4.44156105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.860714057 meters 0.016260502641980555 Centerline is valid? [True, True] Translation: X:675.88, Y:-96.93, Z:-44.42 [[ 9.77641968e-01 1.98402848e-01 6.96598281e-02 6.75879905e+02] [-1.97879232e-01 9.80120512e-01 -1.44080161e-02 -9.69263313e+01] [-7.11336179e-02 3.01647917e-04 9.97466750e-01 -4.44196993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.920714057 meters 0.015876099919061186 Centerline is valid? [True, True] Translation: X:675.94, Y:-96.95, Z:-44.42 [[ 9.78042516e-01 1.96724778e-01 6.87909869e-02 6.75940006e+02] [-1.96208605e-01 9.80458653e-01 -1.42482699e-02 -9.69453123e+01] [-7.02497061e-02 4.38030169e-04 9.97529341e-01 -4.44237819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.980714057 meters 0.015753433935588222 Centerline is valid? [True, True] Translation: X:676.00, Y:-96.97, Z:-44.43 [[ 9.78889860e-01 1.92939696e-01 6.74456448e-02 6.75998507e+02] [-1.92433241e-01 9.81210356e-01 -1.39887447e-02 -9.69663538e+01] [-6.88773493e-02 7.14656380e-04 9.97624879e-01 -4.44294276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0407140570001 meters 0.016044547286669736 Centerline is valid? [True, True] Translation: X:676.06, Y:-96.99, Z:-44.43 [[ 9.79500115e-01 1.90005892e-01 6.69125206e-02 6.76057471e+02] [-1.89499383e-01 9.81782509e-01 -1.38956664e-02 -9.69858731e+01] [-6.83338008e-02 9.30925496e-04 9.97662080e-01 -4.44328169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.100714057 meters 0.017374723263795914 Centerline is valid? [True, True] Translation: X:676.12, Y:-97.01, Z:-44.43 [[ 9.80227899e-01 1.86253379e-01 6.68052839e-02 6.76115279e+02] [-1.85738594e-01 9.82501003e-01 -1.38908209e-02 -9.70097239e+01] [-6.82234708e-02 1.20785072e-03 9.97669334e-01 -4.44345922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1607140570001 meters 0.016637718620267316 Centerline is valid? [True, True] Translation: X:676.18, Y:-97.03, Z:-44.44 [[ 9.80660319e-01 1.84231406e-01 6.60615410e-02 6.76175555e+02] [-1.83722392e-01 9.82881971e-01 -1.37518465e-02 -9.70257550e+01] [-6.74642197e-02 1.34890583e-03 9.97720782e-01 -4.44389827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.220714057 meters 0.01648825392758264 Centerline is valid? [True, True] Translation: X:676.23, Y:-97.05, Z:-44.44 [[ 9.80916735e-01 1.82742644e-01 6.63888963e-02 6.76234968e+02] [-1.82223979e-01 9.83159676e-01 -1.38373730e-02 -9.70469728e+01] [-6.77995639e-02 1.47566191e-03 9.97697871e-01 -4.44416282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2807140570001 meters 0.016476243611179987 Centerline is valid? [True, True] Translation: X:676.29, Y:-97.07, Z:-44.45 [[ 9.80959936e-01 1.82761062e-01 6.56962651e-02 6.76294559e+02] [-1.82252062e-01 9.83156252e-01 -1.37101999e-02 -9.70675552e+01] [-6.70953845e-02 1.47587704e-03 9.97745474e-01 -4.44462264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.340714057 meters 0.016057261344792188 Centerline is valid? [True, True] Translation: X:676.35, Y:-97.09, Z:-44.45 [[ 9.80768262e-01 1.83785704e-01 6.56995605e-02 6.76353976e+02] [-1.83277624e-01 9.82965301e-01 -1.37305764e-02 -9.70855889e+01] [-6.71038719e-02 1.42525417e-03 9.97744977e-01 -4.44493101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4007140570001 meters 0.015611406670789389 Centerline is valid? [True, True] Translation: X:676.41, Y:-97.10, Z:-44.45 [[ 9.80240734e-01 1.86626071e-01 6.55653418e-02 6.76413583e+02] [-1.86125260e-01 9.82430231e-01 -1.37196425e-02 -9.71041137e+01] [-6.69738168e-02 1.24518613e-03 9.97753956e-01 -4.44532424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.460714057 meters 0.014836474629244728 Centerline is valid? [True, True] Translation: X:676.47, Y:-97.12, Z:-44.46 [[ 9.79453523e-01 1.91144500e-01 6.43006770e-02 6.76472481e+02] [-1.90671489e-01 9.81561464e-01 -1.34713102e-02 -9.71220662e+01] [-6.56900335e-02 9.34216414e-04 9.97839640e-01 -4.44588608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.520714057 meters 0.014325713993138617 Centerline is valid? [True, True] Translation: X:676.53, Y:-97.14, Z:-44.46 [[ 9.78571480e-01 1.95510306e-01 6.46032350e-02 6.76532204e+02] [-1.95041229e-01 9.80701424e-01 -1.35511971e-02 -9.71383732e+01] [-6.60058832e-02 6.60520589e-04 9.97819015e-01 -4.44629274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.580714057 meters 0.013444265809476979 Centerline is valid? [True, True] Translation: X:676.59, Y:-97.15, Z:-44.47 [[ 9.76809795e-01 2.03962063e-01 6.51314111e-02 6.76592872e+02] [-2.03502917e-01 9.78978787e-01 -1.36783399e-02 -9.71523412e+01] [-6.65521322e-02 1.06704251e-04 9.97782944e-01 -4.44657263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.640714057 meters 0.013746038101470686 Centerline is valid? [True, True] Translation: X:676.65, Y:-97.17, Z:-44.47 [[ 9.74725949e-01 2.13192826e-01 6.67693297e-02 6.76652914e+02] [-2.12730655e-01 9.77010005e-01 -1.40398971e-02 -9.71675757e+01] [-6.82275085e-02 -5.18831236e-04 9.97669654e-01 -4.44678003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.700714057 meters 0.014465153580286815 Centerline is valid? [True, True] Translation: X:676.71, Y:-97.19, Z:-44.47 [[ 9.73197328e-01 2.19882246e-01 6.73703077e-02 6.76712137e+02] [-2.19426494e-01 9.75525929e-01 -1.41836100e-02 -9.71884489e+01] [-6.88402061e-02 -9.79379063e-04 9.97627218e-01 -4.44713978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.760714057 meters 0.014980307367243803 Centerline is valid? [True, True] Translation: X:676.77, Y:-97.21, Z:-44.48 [[ 9.72602181e-01 2.22417010e-01 6.76437084e-02 6.76771426e+02] [-2.21962420e-01 9.74950953e-01 -1.42591565e-02 -9.72077578e+01] [-6.91207769e-02 -1.14587450e-03 9.97607641e-01 -4.44755309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.820714057 meters 0.015250149818397112 Centerline is valid? [True, True] Translation: X:676.83, Y:-97.23, Z:-44.48 [[ 9.72326953e-01 2.24094083e-01 6.60464889e-02 6.76828974e+02] [-2.23663441e-01 9.74566754e-01 -1.39394358e-02 -9.72334779e+01] [-6.74904574e-02 -1.21849583e-03 9.97719176e-01 -4.44812765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.880714057 meters 0.015681332944424378 Centerline is valid? [True, True] Translation: X:676.89, Y:-97.26, Z:-44.49 [[ 9.72049429e-01 2.25964924e-01 6.37162584e-02 6.76886190e+02] [-2.25567109e-01 9.74134592e-01 -1.34638998e-02 -9.72601094e+01] [-6.51105805e-02 -1.28471611e-03 9.97877228e-01 -4.44866120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.940714057 meters 0.01631227733183728 Centerline is valid? [True, True] Translation: X:676.94, Y:-97.28, Z:-44.49 [[ 9.71574729e-01 2.28177836e-01 6.30667928e-02 6.76944990e+02] [-2.27792164e-01 9.73618451e-01 -1.33357172e-02 -9.72817314e+01] [-6.44459083e-02 -1.40947538e-03 9.97920206e-01 -4.44904672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.000714057 meters 0.017171073707497618 Centerline is valid? [True, True] Translation: X:677.00, Y:-97.31, Z:-44.49 [[ 9.71092684e-01 2.29507832e-01 6.56136686e-02 6.77002281e+02] [-2.29092173e-01 9.73305595e-01 -1.38922928e-02 -9.73089755e+01] [-6.70505407e-02 -1.54087403e-03 9.97748391e-01 -4.44922899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.060714057 meters 0.01731968269639291 Centerline is valid? [True, True] Translation: X:677.06, Y:-97.34, Z:-44.50 [[ 9.71290956e-01 2.28500963e-01 6.61905559e-02 6.77059707e+02] [-2.28074515e-01 9.73542579e-01 -1.40307471e-02 -9.73373764e+01] [-6.76453638e-02 -1.46844126e-03 9.97708348e-01 -4.44963881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.120714057 meters 0.017095683052719256 Centerline is valid? [True, True] Translation: X:677.12, Y:-97.36, Z:-44.50 [[ 9.71722182e-01 2.26567041e-01 6.65084749e-02 6.77117971e+02] [-2.26130777e-01 9.73994674e-01 -1.41154855e-02 -9.73598978e+01] [-6.79770042e-02 -1.32328275e-03 9.97686011e-01 -4.45008541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.180714057 meters 0.0159621162939503 Centerline is valid? [True, True] Translation: X:677.17, Y:-97.39, Z:-44.50 [[ 9.72780280e-01 2.21579535e-01 6.78309373e-02 6.77174698e+02] [-2.21112378e-01 9.75141813e-01 -1.44139024e-02 -9.73901723e+01] [-6.93386090e-02 -9.76699828e-04 9.97592704e-01 -4.45047431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.240714057 meters 0.015379305624959927 Centerline is valid? [True, True] Translation: X:677.23, Y:-97.42, Z:-44.51 [[ 9.74245599e-01 2.14272782e-01 7.02330943e-02 6.77232654e+02] [-2.13751631e-01 9.76773755e-01 -1.49422944e-02 -9.74186279e+01] [-7.18035702e-02 -4.54973858e-04 9.97418689e-01 -4.45077367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.300714057 meters 0.015134282183805676 Centerline is valid? [True, True] Translation: X:677.29, Y:-97.45, Z:-44.51 [[ 9.75969579e-01 2.06165206e-01 7.05640727e-02 6.77290647e+02] [-2.05617353e-01 9.78517187e-01 -1.50206137e-02 -9.74459652e+01] [-7.21448859e-02 1.50464193e-04 9.97394151e-01 -4.45118007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.360714057 meters 0.015617783307443085 Centerline is valid? [True, True] Translation: X:677.35, Y:-97.47, Z:-44.52 [[ 9.77263836e-01 2.00184482e-01 6.98682174e-02 6.77349884e+02] [-1.99630800e-01 9.79758035e-01 -1.48907893e-02 -9.74669574e+01] [-7.14348523e-02 6.04381733e-04 9.97445085e-01 -4.45175189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.420714057 meters 0.016417373446155296 Centerline is valid? [True, True] Translation: X:677.41, Y:-97.49, Z:-44.52 [[ 9.78935260e-01 1.92282215e-01 6.86535274e-02 6.77408921e+02] [-1.91727031e-01 9.81338965e-01 -1.46486035e-02 -9.74888153e+01] [-7.01890474e-02 1.17729744e-03 9.97533013e-01 -4.45224948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.480714057 meters 0.017736020824223278 Centerline is valid? [True, True] Translation: X:677.47, Y:-97.51, Z:-44.53 [[ 9.79599262e-01 1.88881830e-01 6.86217157e-02 6.77467324e+02] [-1.88318437e-01 9.81998789e-01 -1.46473488e-02 -9.75069111e+01] [-7.01530598e-02 1.42579784e-03 9.97535220e-01 -4.45259003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5407140570001 meters 0.018272944237188404 Centerline is valid? [True, True] Translation: X:677.53, Y:-97.52, Z:-44.53 [[ 9.80166868e-01 1.85615663e-01 6.94243279e-02 6.77527805e+02] [-1.85030170e-01 9.82620973e-01 -1.48276687e-02 -9.75222980e+01] [-7.09700482e-02 1.68799440e-03 9.97477019e-01 -4.45286140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.600714057 meters 0.019540849556942037 Centerline is valid? [True, True] Translation: X:677.59, Y:-97.54, Z:-44.53 [[ 9.80585866e-01 1.82888689e-01 7.07324982e-02 6.77587041e+02] [-1.82273342e-01 9.83131737e-01 -1.51134490e-02 -9.75364472e+01] [-7.23034427e-02 1.92738565e-03 9.97380819e-01 -4.45314950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6607140570001 meters 0.019329147229537026 Centerline is valid? [True, True] Translation: X:677.65, Y:-97.55, Z:-44.54 [[ 9.81694142e-01 1.77467754e-01 6.91506228e-02 6.77647020e+02] [-1.76865212e-01 9.84123955e-01 -1.47898163e-02 -9.75465341e+01] [-7.06774998e-02 2.28873640e-03 9.97496593e-01 -4.45363432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.720714057 meters 0.019658115255886774 Centerline is valid? [True, True] Translation: X:677.71, Y:-97.56, Z:-44.54 [[ 9.81949141e-01 1.76180408e-01 6.88211330e-02 6.77707372e+02] [-1.75580271e-01 9.84355035e-01 -1.47218648e-02 -9.75589616e+01] [-7.03381330e-02 2.37248932e-03 9.97520385e-01 -4.45401933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7807140570001 meters 0.024128107956603806 Centerline is valid? [True, True] Translation: X:677.77, Y:-97.58, Z:-44.54 [[ 9.82367673e-01 1.74023108e-01 6.83352990e-02 6.77766323e+02] [-1.73425070e-01 9.84738331e-01 -1.46343361e-02 -9.75754296e+01] [-6.98391009e-02 2.52524469e-03 9.97555073e-01 -4.45432875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.840714057 meters 0.020303594635636198 Centerline is valid? [True, True] Translation: X:677.83, Y:-97.58, Z:-44.55 [[ 9.82511995e-01 1.73836028e-01 6.67174344e-02 6.77830773e+02] [-1.73264510e-01 9.84771454e-01 -1.43035926e-02 -9.75764176e+01] [-6.81879046e-02 2.49368777e-03 9.97669380e-01 -4.45484132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9007140570001 meters 0.019725431079733544 Centerline is valid? [True, True] Translation: X:677.89, Y:-97.58, Z:-44.55 [[ 9.82074084e-01 1.76683017e-01 6.56780475e-02 6.77892417e+02] [-1.76134283e-01 9.84265167e-01 -1.40994584e-02 -9.75814820e+01] [-6.71357493e-02 2.27855688e-03 9.97741249e-01 -4.45526216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.960714057 meters 0.017742106574673466 Centerline is valid? [True, True] Translation: X:677.95, Y:-97.58, Z:-44.56 [[ 9.80824788e-01 1.83949921e-01 6.43829257e-02 6.77954243e+02] [-1.83438095e-01 9.82934062e-01 -1.38237355e-02 -9.75807128e+01] [-6.58270457e-02 1.74838124e-03 9.97829516e-01 -4.45576863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.020714057 meters 0.01647761518668691 Centerline is valid? [True, True] Translation: X:678.02, Y:-97.58, Z:-44.56 [[ 9.79844636e-01 1.89470274e-01 6.32890554e-02 6.78015862e+02] [-1.88987198e-01 9.81885524e-01 -1.35888710e-02 -9.75847478e+01] [-6.47172944e-02 1.35416113e-03 9.97902720e-01 -4.45622386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.080714057 meters 0.01579780878456081 Centerline is valid? [True, True] Translation: X:678.08, Y:-97.59, Z:-44.57 [[ 9.78667233e-01 1.95712700e-01 6.25058908e-02 6.78076707e+02] [-1.95254068e-01 9.80660833e-01 -1.34230721e-02 -9.75874925e+01] [-6.39241447e-02 9.32191409e-04 9.97954325e-01 -4.45661002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.140714057 meters 0.015630448641829487 Centerline is valid? [True, True] Translation: X:678.14, Y:-97.59, Z:-44.57 [[ 9.78737045e-01 1.94992575e-01 6.36529084e-02 6.78138812e+02] [-1.94515329e-01 9.80804210e-01 -1.36707093e-02 -9.75931131e+01] [-6.50967274e-02 9.98563246e-04 9.97878459e-01 -4.45675832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.200714057 meters 0.017086610287097032 Centerline is valid? [True, True] Translation: X:678.20, Y:-97.60, Z:-44.57 [[ 9.79685375e-01 1.89665971e-01 6.51412732e-02 6.78199333e+02] [-1.89153201e-01 9.81847674e-01 -1.40075237e-02 -9.76019982e+01] [-6.66155582e-02 1.40128580e-03 9.97777733e-01 -4.45707327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.260714057 meters 0.01848835446156907 Centerline is valid? [True, True] Translation: X:678.26, Y:-97.61, Z:-44.57 [[ 9.80374913e-01 1.85773420e-01 6.59792963e-02 6.78259981e+02] [-1.85237510e-01 9.82591135e-01 -1.42030508e-02 -9.76143413e+01] [-6.74692209e-02 1.70247410e-03 9.97719904e-01 -4.45746206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.320714057 meters 0.021047294220487546 Centerline is valid? [True, True] Translation: X:678.32, Y:-97.62, Z:-44.58 [[ 9.81668072e-01 1.79210294e-01 6.48958186e-02 6.78319191e+02] [-1.78677237e-01 9.83808500e-01 -1.39742699e-02 -9.76239362e+01] [-6.63493910e-02 2.12268906e-03 9.97794194e-01 -4.45794046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.380714057 meters 0.023129417743013372 Centerline is valid? [True, True] Translation: X:678.38, Y:-97.63, Z:-44.58 [[ 9.82442398e-01 1.74811405e-01 6.51759705e-02 6.78378918e+02] [-1.74264061e-01 9.84598937e-01 -1.40346295e-02 -9.76346754e+01] [-6.66256045e-02 2.43038575e-03 9.97775086e-01 -4.45833852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.440714057 meters 0.026103492681602208 Centerline is valid? [True, True] Translation: X:678.44, Y:-97.64, Z:-44.59 [[ 9.83484698e-01 1.68900793e-01 6.50412986e-02 6.78439006e+02] [-1.68342735e-01 9.85629005e-01 -1.40067316e-02 -9.76440465e+01] [-6.64723385e-02 2.82617610e-03 9.97784266e-01 -4.45868692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.500714057 meters 0.02963551181009148 Centerline is valid? [True, True] Translation: X:678.50, Y:-97.65, Z:-44.59 [[ 9.84327977e-01 1.64377925e-01 6.38618227e-02 6.78498031e+02] [-1.63830419e-01 9.86392640e-01 -1.37532989e-02 -9.76518162e+01] [-6.52535707e-02 3.07524774e-03 9.97863976e-01 -4.45921430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.560714057 meters 0.02475953386404568 Centerline is valid? [True, True] Translation: X:678.56, Y:-97.65, Z:-44.60 [[ 9.84511266e-01 1.62740315e-01 6.52162288e-02 6.78562166e+02] [-1.62165716e-01 9.86663578e-01 -1.40450896e-02 -9.76474618e+01] [-6.66321799e-02 3.25171256e-03 9.97772308e-01 -4.45950650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.620714057 meters 0.023292888854125792 Centerline is valid? [True, True] Translation: X:678.62, Y:-97.65, Z:-44.60 [[ 9.84398239e-01 1.63781903e-01 6.43085931e-02 6.78624520e+02] [-1.63225097e-01 9.86491570e-01 -1.38545788e-02 -9.76509507e+01] [-6.57090142e-02 3.14164664e-03 9.97833882e-01 -4.45993779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.680714057 meters 0.030409714577092427 Centerline is valid? [True, True] Translation: X:678.68, Y:-97.66, Z:-44.60 [[ 9.83527792e-01 1.68960025e-01 6.42307752e-02 6.78683299e+02] [-1.68414465e-01 9.85618902e-01 -1.38545353e-02 -9.76629727e+01] [-6.56479288e-02 2.80892888e-03 9.97838895e-01 -4.46027550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.740714057 meters 0.01930144539436199 Centerline is valid? [True, True] Translation: X:678.75, Y:-97.65, Z:-44.61 [[ 9.81843764e-01 1.78168501e-01 6.51061250e-02 6.78748562e+02] [-1.77628127e-01 9.83997481e-01 -1.40430356e-02 -9.76475706e+01] [-6.65662896e-02 2.22338785e-03 9.97779528e-01 -4.46057284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.800714057 meters 0.017973666796885755 Centerline is valid? [True, True] Translation: X:678.81, Y:-97.65, Z:-44.61 [[ 9.80410715e-01 1.85540594e-01 6.61023238e-02 6.78809638e+02] [-1.85000232e-01 9.82635043e-01 -1.42578777e-02 -9.76467115e+01] [-6.75998749e-02 1.74963076e-03 9.97710978e-01 -4.46102950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.860714057 meters 0.01707139106671737 Centerline is valid? [True, True] Translation: X:678.87, Y:-97.65, Z:-44.61 [[ 9.80044480e-01 1.87295108e-01 6.65834835e-02 6.78871745e+02] [-1.86750820e-01 9.82302320e-01 -1.43625546e-02 -9.76523708e+01] [-6.80951465e-02 1.64142221e-03 9.97677481e-01 -4.46148508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.920714057 meters 0.017290138780937686 Centerline is valid? [True, True] Translation: X:678.93, Y:-97.66, Z:-44.62 [[ 9.79753819e-01 1.88733603e-01 6.67988185e-02 6.78932720e+02] [-1.88187903e-01 9.82027078e-01 -1.44267819e-02 -9.76586856e+01] [-6.83210671e-02 1.56396506e-03 9.97662160e-01 -4.46192466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.980714057 meters 0.016687768259450377 Centerline is valid? [True, True] Translation: X:678.99, Y:-97.66, Z:-44.62 [[ 9.79207485e-01 1.91483448e-01 6.69835134e-02 6.78994834e+02] [-1.90940015e-01 9.81494856e-01 -1.44830709e-02 -9.76646819e+01] [-6.85172421e-02 1.39209839e-03 9.97648961e-01 -4.46238275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0407140570001 meters 0.01666732988804714 Centerline is valid? [True, True] Translation: X:679.06, Y:-97.68, Z:-44.63 [[ 9.78602738e-01 1.94477881e-01 6.71940044e-02 6.79055046e+02] [-1.93936840e-01 9.80906165e-01 -1.45463841e-02 -9.76753533e+01] [-6.87399631e-02 1.20373840e-03 9.97633885e-01 -4.46276910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.100714057 meters 0.01606368636687482 Centerline is valid? [True, True] Translation: X:679.12, Y:-97.68, Z:-44.63 [[ 9.77694338e-01 1.99471815e-01 6.57630340e-02 6.79115037e+02] [-1.98963820e-01 9.79903196e-01 -1.42522240e-02 -9.76845912e+01] [-6.72843242e-02 8.49854329e-04 9.97733480e-01 -4.46334493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1607140570001 meters 0.015225115155789429 Centerline is valid? [True, True] Translation: X:679.18, Y:-97.69, Z:-44.64 [[ 9.76854722e-01 2.03792128e-01 6.49893910e-02 6.79176776e+02] [-2.03304554e-01 9.79014021e-01 -1.40997937e-02 -9.76941074e+01] [-6.64989520e-02 5.60810936e-04 9.97786337e-01 -4.46386957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.220714057 meters 0.015097087187964122 Centerline is valid? [True, True] Translation: X:679.24, Y:-97.71, Z:-44.64 [[ 9.76680697e-01 2.04590939e-01 6.50950397e-02 6.79238243e+02] [-2.04102393e-01 9.78847421e-01 -1.41400241e-02 -9.77081000e+01] [-6.66110325e-02 5.24235229e-04 9.97778881e-01 -4.46424433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2807140570001 meters 0.015533462362129723 Centerline is valid? [True, True] Translation: X:679.30, Y:-97.73, Z:-44.65 [[ 9.77307479e-01 2.01615617e-01 6.49710278e-02 6.79297544e+02] [-2.01121067e-01 9.79464440e-01 -1.41325151e-02 -9.77251769e+01] [-6.64861471e-02 7.44770266e-04 9.97787070e-01 -4.46459170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.340714057 meters 0.016073221370766447 Centerline is valid? [True, True] Translation: X:679.36, Y:-97.74, Z:-44.65 [[ 9.78180085e-01 1.96988158e-01 6.60256489e-02 6.79356994e+02] [-1.96466197e-01 9.80405266e-01 -1.43717736e-02 -9.77437180e+01] [-6.75629631e-02 1.08637460e-03 9.97714421e-01 -4.46483965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4007140570001 meters 0.017042604615539587 Centerline is valid? [True, True] Translation: X:679.42, Y:-97.76, Z:-44.65 [[ 9.79104928e-01 1.92202579e-01 6.64206933e-02 6.79416716e+02] [-1.91662190e-01 9.81354212e-01 -1.44746484e-02 -9.77615682e+01] [-6.79642919e-02 1.44186405e-03 9.97686712e-01 -4.46515935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.460714057 meters 0.017373318354867117 Centerline is valid? [True, True] Translation: X:679.48, Y:-97.78, Z:-44.66 [[ 9.79588872e-01 1.89880448e-01 6.59625397e-02 6.79476604e+02] [-1.89341872e-01 9.81805920e-01 -1.43802339e-02 -9.77772147e+01] [-6.74929372e-02 1.59724633e-03 9.97718473e-01 -4.46555583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.520714057 meters 0.01919749306157014 Centerline is valid? [True, True] Translation: X:679.53, Y:-97.80, Z:-44.66 [[ 9.80708062e-01 1.84160572e-01 6.55483075e-02 6.79534743e+02] [-1.83614876e-01 9.82894147e-01 -1.43063770e-02 -9.77961243e+01] [-6.70617184e-02 1.99473495e-03 9.97746835e-01 -4.46600363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.580714057 meters 0.01976615508455039 Centerline is valid? [True, True] Translation: X:679.59, Y:-97.81, Z:-44.66 [[ 9.81832036e-01 1.78074137e-01 6.55397283e-02 6.79593565e+02] [-1.77514958e-01 9.84014119e-01 -1.43057054e-02 -9.78110637e+01] [-6.70394942e-02 2.41151772e-03 9.97747408e-01 -4.46636996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.640714057 meters 0.021985729298924596 Centerline is valid? [True, True] Translation: X:679.65, Y:-97.83, Z:-44.67 [[ 9.82196542e-01 1.76085418e-01 6.54513432e-02 6.79652431e+02] [-1.75523226e-01 9.84371599e-01 -1.42881548e-02 -9.78276843e+01] [-6.69443791e-02 2.54554536e-03 9.97753462e-01 -4.46673283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.700714057 meters 0.022092725176152118 Centerline is valid? [True, True] Translation: X:679.71, Y:-97.84, Z:-44.67 [[ 9.83216053e-01 1.70539440e-01 6.48266362e-02 6.79711979e+02] [-1.69974902e-01 9.85346553e-01 -1.41669625e-02 -9.78384212e+01] [-6.62927284e-02 2.91028383e-03 9.97795973e-01 -4.46722497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.760714057 meters 0.02429672953110944 Centerline is valid? [True, True] Translation: X:679.77, Y:-97.85, Z:-44.68 [[ 9.83572682e-01 1.68176341e-01 6.55858070e-02 6.79771541e+02] [-1.67593143e-01 9.85752030e-01 -1.43343814e-02 -9.78531640e+01] [-6.70620462e-02 3.10717438e-03 9.97743969e-01 -4.46761117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.820714057 meters 0.02800813905255518 Centerline is valid? [True, True] Translation: X:679.83, Y:-97.87, Z:-44.68 [[ 9.84263473e-01 1.63828227e-01 6.62248317e-02 6.79829743e+02] [-1.63222746e-01 9.86482842e-01 -1.44892537e-02 -9.78660818e+01] [-6.77034089e-02 3.45184430e-03 9.97699521e-01 -4.46798390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.880714057 meters 0.030090486620691963 Centerline is valid? [True, True] Translation: X:679.89, Y:-97.88, Z:-44.68 [[ 9.84827580e-01 1.60600992e-01 6.57416155e-02 6.79889933e+02] [-1.59997085e-01 9.87012672e-01 -1.43846819e-02 -9.78759809e+01] [-6.71980017e-02 3.64796465e-03 9.97732991e-01 -4.46840394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.940714057 meters 0.031830028534453506 Centerline is valid? [True, True] Translation: X:679.95, Y:-97.89, Z:-44.69 [[ 9.85012786e-01 1.59708860e-01 6.51374755e-02 6.79950880e+02] [-1.59113967e-01 9.87157315e-01 -1.42541231e-02 -9.78866147e+01] [-6.65774452e-02 3.67621137e-03 9.97774488e-01 -4.46887821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.000714057 meters 0.03279829188797391 Centerline is valid? [True, True] Translation: X:680.01, Y:-97.89, Z:-44.69 [[ 9.84946493e-01 1.60643035e-01 6.38296330e-02 6.80011946e+02] [-1.60072749e-01 9.87006166e-01 -1.39836829e-02 -9.78910739e+01] [-6.52466226e-02 3.55579456e-03 9.97862834e-01 -4.46942642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.060714057 meters 0.03222664962382687 Centerline is valid? [True, True] Translation: X:680.07, Y:-97.89, Z:-44.70 [[ 9.84179710e-01 1.64634244e-01 6.54665155e-02 6.80072916e+02] [-1.64042070e-01 9.86348857e-01 -1.43572855e-02 -9.78921066e+01] [-6.69365236e-02 3.39088640e-03 9.97751474e-01 -4.46973380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.120714057 meters 0.026597737094158778 Centerline is valid? [True, True] Translation: X:680.14, Y:-97.89, Z:-44.70 [[ 9.83390027e-01 1.68966048e-01 6.62912523e-02 6.80136476e+02] [-1.68368632e-01 9.85616885e-01 -1.45382137e-02 -9.78859412e+01] [-6.77942421e-02 3.13536686e-03 9.97694397e-01 -4.47014249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.180714057 meters 0.030307586033160232 Centerline is valid? [True, True] Translation: X:680.20, Y:-97.90, Z:-44.71 [[ 9.82736582e-01 1.72711313e-01 6.63295785e-02 6.80195496e+02] [-1.72121624e-01 9.84968278e-01 -1.45477848e-02 -9.78958374e+01] [-6.78450977e-02 2.87988559e-03 9.97691710e-01 -4.47059895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.240714057 meters 0.02202370589215318 Centerline is valid? [True, True] Translation: X:680.26, Y:-97.88, Z:-44.71 [[ 9.81480495e-01 1.79690489e-01 6.63879933e-02 6.80259422e+02] [-1.79115660e-01 9.83720270e-01 -1.45606073e-02 -9.78842973e+01] [-6.79236173e-02 2.39982278e-03 9.97687638e-01 -4.47121450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.300714057 meters 0.020170339306726605 Centerline is valid? [True, True] Translation: X:680.32, Y:-97.88, Z:-44.72 [[ 9.80450545e-01 1.84805778e-01 6.75540711e-02 6.80323020e+02] [-1.84222618e-01 9.82772857e-01 -1.48168218e-02 -9.78832984e+01] [-6.91285417e-02 2.08217318e-03 9.97605588e-01 -4.47154629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.360714057 meters 0.02053398842549082 Centerline is valid? [True, True] Translation: X:680.39, Y:-97.89, Z:-44.72 [[ 9.80104018e-01 1.86336093e-01 6.83737877e-02 6.80385344e+02] [-1.85742095e-01 9.82484021e-01 -1.50007832e-02 -9.78910298e+01] [-6.99713411e-02 2.00243735e-03 9.97546992e-01 -4.47196720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.420714057 meters 0.021114287670630855 Centerline is valid? [True, True] Translation: X:680.45, Y:-97.90, Z:-44.72 [[ 9.80334650e-01 1.84756677e-01 6.93465494e-02 6.80447158e+02] [-1.84141137e-01 9.82781937e-01 -1.52219149e-02 -9.78989962e+01] [-7.09648866e-02 2.15301815e-03 9.97476491e-01 -4.47234071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.480714057 meters 0.02308160208568248 Centerline is valid? [True, True] Translation: X:680.51, Y:-97.91, Z:-44.73 [[ 9.81253989e-01 1.80292083e-01 6.80835877e-02 6.80506668e+02] [-1.79686906e-01 9.83610074e-01 -1.49612515e-02 -9.79101323e+01] [-6.96650979e-02 2.44705844e-03 9.97567434e-01 -4.47295754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5407140570001 meters 0.02343141775695543 Centerline is valid? [True, True] Translation: X:680.57, Y:-97.92, Z:-44.73 [[ 9.81896076e-01 1.77330781e-01 6.65874610e-02 6.80567596e+02] [-1.76745054e-01 9.84147872e-01 -1.46339106e-02 -9.79207128e+01] [-6.81269509e-02 2.59997493e-03 9.97673273e-01 -4.47348094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.600714057 meters 0.024058808620213562 Centerline is valid? [True, True] Translation: X:680.63, Y:-97.93, Z:-44.74 [[ 9.82367968e-01 1.74728146e-01 6.65075218e-02 6.80628815e+02] [-1.74137526e-01 9.84612784e-01 -1.46214808e-02 -9.79320965e+01] [-6.80389405e-02 2.78221904e-03 9.97678787e-01 -4.47379368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6607140570001 meters 0.025813053646596997 Centerline is valid? [True, True] Translation: X:680.69, Y:-97.94, Z:-44.74 [[ 9.82616257e-01 1.72892946e-01 6.76263302e-02 6.80688633e+02] [-1.72277535e-01 9.84936162e-01 -1.48730269e-02 -9.79432223e+01] [-6.91790596e-02 2.96398051e-03 9.97599856e-01 -4.47396369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.720714057 meters 0.02695133661200127 Centerline is valid? [True, True] Translation: X:680.75, Y:-97.95, Z:-44.74 [[ 9.82929027e-01 1.71095194e-01 6.76532501e-02 6.80749276e+02] [-1.70474418e-01 9.85249623e-01 -1.48880028e-02 -9.79539769e+01] [-6.92026049e-02 3.10070170e-03 9.97597807e-01 -4.47434693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7807140570001 meters 0.026555358091546466 Centerline is valid? [True, True] Translation: X:680.81, Y:-97.96, Z:-44.75 [[ 9.83007779e-01 1.70849495e-01 6.71279089e-02 6.80810681e+02] [-1.70237109e-01 9.85292251e-01 -1.47819452e-02 -9.79624795e+01] [-6.86660963e-02 3.10310594e-03 9.97634872e-01 -4.47483714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.840714057 meters 0.028519366194686323 Centerline is valid? [True, True] Translation: X:680.87, Y:-97.97, Z:-44.75 [[ 9.82865212e-01 1.72363393e-01 6.53210253e-02 6.80870746e+02] [-1.71785768e-01 9.85029064e-01 -1.44011279e-02 -9.79720892e+01] [-6.68253357e-02 2.93314512e-03 9.97760378e-01 -4.47536108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9007140570001 meters 0.026419840268968948 Centerline is valid? [True, True] Translation: X:680.93, Y:-97.98, Z:-44.76 [[ 9.82572594e-01 1.74277661e-01 6.46404965e-02 6.80933629e+02] [-1.73715110e-01 9.84692601e-01 -1.42668541e-02 -9.79760746e+01] [-6.61374125e-02 2.78918888e-03 9.97806626e-01 -4.47587042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.960714057 meters 0.027310664152049417 Centerline is valid? [True, True] Translation: X:680.99, Y:-97.98, Z:-44.76 [[ 9.81910107e-01 1.77566752e-01 6.57464089e-02 6.80994164e+02] [-1.76990924e-01 9.84105247e-01 -1.45284724e-02 -9.79829229e+01] [-6.72811596e-02 2.62913627e-03 9.97730592e-01 -4.47613128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.020714057 meters 0.02638721304049605 Centerline is valid? [True, True] Translation: X:681.05, Y:-97.99, Z:-44.76 [[ 9.81237231e-01 1.80922437e-01 6.66375958e-02 6.81054756e+02] [-1.80338414e-01 9.83494355e-01 -1.47278640e-02 -9.79897821e+01] [-6.82023003e-02 2.43421015e-03 9.97668543e-01 -4.47643889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.080714057 meters 0.025883726034258318 Centerline is valid? [True, True] Translation: X:681.11, Y:-98.00, Z:-44.77 [[ 9.80238806e-01 1.86337560e-01 6.64093175e-02 6.81113279e+02] [-1.85769920e-01 9.82483643e-01 -1.46774676e-02 -9.79953162e+01] [-6.79810317e-02 2.05056977e-03 9.97684507e-01 -4.47697099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.140714057 meters 0.024539902503419225 Centerline is valid? [True, True] Translation: X:681.17, Y:-98.00, Z:-44.77 [[ 9.79522744e-01 1.90113959e-01 6.62712309e-02 6.81173961e+02] [-1.89557229e-01 9.81760405e-01 -1.46479827e-02 -9.79985573e+01] [-6.78472565e-02 1.78584137e-03 9.97694122e-01 -4.47746843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.200714057 meters 0.025261386370339423 Centerline is valid? [True, True] Translation: X:681.23, Y:-98.01, Z:-44.78 [[ 9.78851640e-01 1.93450163e-01 6.65319629e-02 6.81232425e+02] [-1.92896826e-01 9.81108864e-01 -1.47041418e-02 -9.80056003e+01] [-6.81196171e-02 1.55936887e-03 9.97675942e-01 -4.47781869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.260714057 meters 0.024796690612388032 Centerline is valid? [True, True] Translation: X:681.29, Y:-98.02, Z:-44.78 [[ 9.78394422e-01 1.95663856e-01 6.67833036e-02 6.81290562e+02] [-1.95111817e-01 9.80670016e-01 -1.47546314e-02 -9.80159782e+01] [-6.83793314e-02 1.40563732e-03 9.97658404e-01 -4.47823924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.320714057 meters 0.024729813394578113 Centerline is valid? [True, True] Translation: X:681.35, Y:-98.03, Z:-44.79 [[ 9.77838153e-01 1.98514513e-01 6.65171792e-02 6.81348874e+02] [-1.97973787e-01 9.80097218e-01 -1.46909327e-02 -9.80267284e+01] [-6.81096656e-02 1.19669663e-03 9.97677123e-01 -4.47862917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.380714057 meters 0.024770523485279302 Centerline is valid? [True, True] Translation: X:681.41, Y:-98.04, Z:-44.79 [[ 9.77758446e-01 1.98929104e-01 6.64502309e-02 6.81405505e+02] [-1.98390684e-01 9.80013194e-01 -1.46723201e-02 -9.80388227e+01] [-6.80408545e-02 1.16287810e-03 9.97681858e-01 -4.47908523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.440714057 meters 0.024495852452330262 Centerline is valid? [True, True] Translation: X:681.46, Y:-98.05, Z:-44.79 [[ 9.77959407e-01 1.98298023e-01 6.53704257e-02 6.81461120e+02] [-1.97776023e-01 9.80141061e-01 -1.44272160e-02 -9.80542447e+01] [-6.69331268e-02 1.18052877e-03 9.97756765e-01 -4.47949389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.500714057 meters 0.02456801649259011 Centerline is valid? [True, True] Translation: X:681.52, Y:-98.07, Z:-44.80 [[ 9.78011512e-01 1.98032816e-01 6.53948443e-02 6.81517875e+02] [-1.97510220e-01 9.80194664e-01 -1.44268290e-02 -9.80683021e+01] [-6.69566631e-02 1.19345475e-03 9.97755171e-01 -4.47986431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.560714057 meters 0.024190635010221243 Centerline is valid? [True, True] Translation: X:681.57, Y:-98.08, Z:-44.80 [[ 9.77948969e-01 1.98049693e-01 6.62731683e-02 6.81573827e+02] [-1.97513314e-01 9.80191242e-01 -1.46157666e-02 -9.80833627e+01] [-6.78550272e-02 1.20364076e-03 9.97694466e-01 -4.48012220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.620714057 meters 0.023718653733487836 Centerline is valid? [True, True] Translation: X:681.63, Y:-98.10, Z:-44.80 [[ 9.77893034e-01 1.98017266e-01 6.71891137e-02 6.81630098e+02] [-1.97466352e-01 9.80197778e-01 -1.48106470e-02 -9.80995473e+01] [-6.87913838e-02 1.21563932e-03 9.97630326e-01 -4.48029720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.680714057 meters 0.022950978128415567 Centerline is valid? [True, True] Translation: X:681.69, Y:-98.12, Z:-44.81 [[ 9.77215824e-01 2.01444409e-01 6.68534458e-02 6.81685914e+02] [-2.00907464e-01 9.79499476e-01 -1.47298285e-02 -9.81156827e+01] [-6.84501567e-02 9.62865187e-04 9.97654073e-01 -4.48064705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.740714057 meters 0.021545575163449036 Centerline is valid? [True, True] Translation: X:681.74, Y:-98.13, Z:-44.81 [[ 9.76052806e-01 2.07117984e-01 6.65060903e-02 6.81743835e+02] [-2.06600126e-01 9.78315813e-01 -1.46477695e-02 -9.81280213e+01] [-6.80977763e-02 5.56829846e-04 9.97678497e-01 -4.48101574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.800714057 meters 0.0212358837925932 Centerline is valid? [True, True] Translation: X:681.80, Y:-98.14, Z:-44.81 [[ 9.75467823e-01 2.09952398e-01 6.62005738e-02 6.81799312e+02] [-2.09446061e-01 9.77711545e-01 -1.45767674e-02 -9.81427174e+01] [-6.77854925e-02 3.53718119e-04 9.97699856e-01 -4.48138478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.860714057 meters 0.020001448721114267 Centerline is valid? [True, True] Translation: X:681.86, Y:-98.16, Z:-44.82 [[ 9.75070286e-01 2.12165692e-01 6.49896640e-02 6.81855115e+02] [-2.11683018e-01 9.77233689e-01 -1.43044429e-02 -9.81625620e+01] [-6.65450011e-02 1.90628989e-04 9.97783407e-01 -4.48176363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.920714057 meters 0.019158265649268116 Centerline is valid? [True, True] Translation: X:681.91, Y:-98.18, Z:-44.82 [[ 9.74870838e-01 2.13208229e-01 6.45685732e-02 6.81910437e+02] [-2.12734393e-01 9.77006775e-01 -1.42070307e-02 -9.81835892e+01] [-6.61129893e-02 1.14063661e-04 9.97812136e-01 -4.48203165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.980714057 meters 0.018610674432930664 Centerline is valid? [True, True] Translation: X:681.97, Y:-98.21, Z:-44.82 [[ 9.74260395e-01 2.15939781e-01 6.47046672e-02 6.81966181e+02] [-2.15470270e-01 9.76406680e-01 -1.42322746e-02 -9.82055996e+01] [-6.62513835e-02 -7.59906746e-05 9.97802961e-01 -4.48220871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0407140570001 meters 0.017784053851457964 Centerline is valid? [True, True] Translation: X:682.02, Y:-98.23, Z:-44.82 [[ 9.73548541e-01 2.19034670e-01 6.50157775e-02 6.82022726e+02] [-2.18567830e-01 9.75717033e-01 -1.42960121e-02 -9.82251389e+01] [-6.65683238e-02 -2.92495621e-04 9.97781826e-01 -4.48248998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.100714057 meters 0.017327834310033315 Centerline is valid? [True, True] Translation: X:682.08, Y:-98.25, Z:-44.83 [[ 9.72461255e-01 2.23603545e-01 6.57309835e-02 6.82078658e+02] [-2.23136948e-01 9.74679987e-01 -1.44507758e-02 -9.82491491e+01] [-6.72979188e-02 -6.14191486e-04 9.97732736e-01 -4.48269413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1607140570001 meters 0.016571118599096973 Centerline is valid? [True, True] Translation: X:682.14, Y:-98.28, Z:-44.83 [[ 9.71929348e-01 2.26000093e-01 6.54010729e-02 6.82135012e+02] [-2.25543751e-01 9.74126969e-01 -1.43758341e-02 -9.82753171e+01] [-6.69578887e-02 -7.78508203e-04 9.97755499e-01 -4.48287107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.220714057 meters 0.016237289773693694 Centerline is valid? [True, True] Translation: X:682.19, Y:-98.30, Z:-44.83 [[ 9.71734785e-01 2.26868551e-01 6.52852826e-02 6.82194277e+02] [-2.26415739e-01 9.73925029e-01 -1.43510204e-02 -9.82999305e+01] [-6.68387659e-02 -8.36229817e-04 9.97763439e-01 -4.48328123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2807140570001 meters 0.01567760866583516 Centerline is valid? [True, True] Translation: X:682.25, Y:-98.33, Z:-44.84 [[ 9.71729239e-01 2.27376309e-01 6.35790833e-02 6.82251518e+02] [-2.26946740e-01 9.73806616e-01 -1.39947098e-02 -9.83300811e+01] [-6.50957974e-02 -8.29996924e-04 9.97878674e-01 -4.48370917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.340714057 meters 0.015233217653350768 Centerline is valid? [True, True] Translation: X:682.31, Y:-98.36, Z:-44.84 [[ 9.71508147e-01 2.28900419e-01 6.14533908e-02 6.82308179e+02] [-2.28501038e-01 9.73449443e-01 -1.35446685e-02 -9.83610336e+01] [-6.29221493e-02 -8.83407785e-04 9.98018047e-01 -4.48412401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4007140570001 meters 0.015433755823117777 Centerline is valid? [True, True] Translation: X:682.37, Y:-98.39, Z:-44.84 [[ 9.71038236e-01 2.30532261e-01 6.27663988e-02 6.82365311e+02] [-2.30117952e-01 9.73064175e-01 -1.38506338e-02 -9.83899538e+01] [-6.42687520e-02 -9.94180127e-04 9.97932132e-01 -4.48432577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.460714057 meters 0.01486251178270535 Centerline is valid? [True, True] Translation: X:682.42, Y:-98.42, Z:-44.85 [[ 9.70889125e-01 2.30912667e-01 6.36682587e-02 6.82423402e+02] [-2.30486083e-01 9.72973948e-01 -1.40663247e-02 -9.84206766e+01] [-6.51956496e-02 -1.01780589e-03 9.97871981e-01 -4.48459988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.520714057 meters 0.014479100675389867 Centerline is valid? [True, True] Translation: X:682.48, Y:-98.45, Z:-44.85 [[ 9.71381546e-01 2.28699464e-01 6.41439622e-02 6.82481182e+02] [-2.28260361e-01 9.73496698e-01 -1.41910674e-02 -9.84460647e+01] [-6.56894249e-02 -8.56582924e-04 9.97839750e-01 -4.48502186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.580714057 meters 0.013769052457391996 Centerline is valid? [True, True] Translation: X:682.54, Y:-98.48, Z:-44.85 [[ 9.72832805e-01 2.21939941e-01 6.58710598e-02 6.82537810e+02] [-2.21460138e-01 9.75060259e-01 -1.45910696e-02 -9.84786431e+01] [-6.74665938e-02 -3.93142823e-04 9.97721456e-01 -4.48534476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.640714057 meters 0.013673471692402236 Centerline is valid? [True, True] Translation: X:682.59, Y:-98.51, Z:-44.86 [[ 9.74849927e-01 2.12821400e-01 6.61413031e-02 6.82594826e+02] [-2.12315444e-01 9.77091084e-01 -1.46685558e-02 -9.85111132e+01] [-6.77478601e-02 2.56820378e-04 9.97702441e-01 -4.48574475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.700714057 meters 0.0147687233581726 Centerline is valid? [True, True] Translation: X:682.65, Y:-98.54, Z:-44.86 [[ 9.77059889e-01 2.02536729e-01 6.58243585e-02 6.82651462e+02] [-2.02010951e-01 9.79274172e-01 -1.46175339e-02 -9.85427339e+01] [-6.74206816e-02 9.84964746e-04 9.97724151e-01 -4.48617702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.760714057 meters 0.017174367726234343 Centerline is valid? [True, True] Translation: X:682.71, Y:-98.57, Z:-44.87 [[ 9.79440356e-01 1.91100226e-01 6.46319795e-02 6.82706767e+02] [-1.90568117e-01 9.81568977e-01 -1.43574360e-02 -9.85717267e+01] [-6.61844553e-02 1.74545759e-03 9.97805879e-01 -4.48663625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.820714057 meters 0.01889476811433543 Centerline is valid? [True, True] Translation: X:682.76, Y:-98.59, Z:-44.87 [[ 9.80723977e-01 1.84877649e-01 6.32513625e-02 6.82764254e+02] [-1.84355073e-01 9.82759259e-01 -1.40515742e-02 -9.85924132e+01] [-6.47586841e-02 2.12000615e-03 9.97898702e-01 -4.48703970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.880714057 meters 0.020477774007209945 Centerline is valid? [True, True] Translation: X:682.82, Y:-98.61, Z:-44.87 [[ 9.82024969e-01 1.77981199e-01 6.28462615e-02 6.82822526e+02] [-1.77451123e-01 9.84030559e-01 -1.39627399e-02 -9.86108713e+01] [-6.43277470e-02 2.55961962e-03 9.97925543e-01 -4.48719529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.940714057 meters 0.022871437522247115 Centerline is valid? [True, True] Translation: X:682.88, Y:-98.63, Z:-44.87 [[ 9.82826626e-01 1.73000170e-01 6.42087492e-02 6.82880290e+02] [-1.72436173e-01 9.84917379e-01 -1.42661560e-02 -9.86262587e+01] [-6.57083603e-02 2.94924700e-03 9.97834512e-01 -4.48731643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.000714057 meters 0.0251094015417307 Centerline is valid? [True, True] Translation: X:682.94, Y:-98.64, Z:-44.87 [[ 9.83437868e-01 1.68983165e-01 6.55335725e-02 6.82940444e+02] [-1.68386721e-01 9.85613465e-01 -1.45605415e-02 -9.86379914e+01] [-6.70512578e-02 3.28440455e-03 9.97744126e-01 -4.48749774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.060714057 meters 0.028221359192644555 Centerline is valid? [True, True] Translation: X:683.00, Y:-98.65, Z:-44.88 [[ 9.83806505e-01 1.66787283e-01 6.56259360e-02 6.83000820e+02] [-1.66184202e-01 9.85986900e-01 -1.45823121e-02 -9.86480117e+01] [-6.71384574e-02 3.44017971e-03 9.97737737e-01 -4.48777187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.120714057 meters 0.02473701663036249 Centerline is valid? [True, True] Translation: X:683.06, Y:-98.65, Z:-44.88 [[ 9.83713162e-01 1.67128841e-01 6.61541025e-02 6.83064283e+02] [-1.66516511e-01 9.85929034e-01 -1.47034372e-02 -9.86502134e+01] [-6.76806188e-02 3.44821438e-03 9.97701079e-01 -4.48816092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.180714057 meters 0.026193937770577307 Centerline is valid? [True, True] Translation: X:683.12, Y:-98.65, Z:-44.89 [[ 9.83198145e-01 1.70553155e-01 6.50617354e-02 6.83124504e+02] [-1.69967130e-01 9.85343353e-01 -1.44793325e-02 -9.86543470e+01] [-6.65776443e-02 3.17769642e-03 9.97776187e-01 -4.48863074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.240714057 meters 0.022751880302405634 Centerline is valid? [True, True] Translation: X:683.19, Y:-98.65, Z:-44.89 [[ 9.82636907e-01 1.74349432e-01 6.34585313e-02 6.83186101e+02] [-1.73799858e-01 9.84679726e-01 -1.41225433e-02 -9.86540871e+01] [-6.49485866e-02 2.84824857e-03 9.97884547e-01 -4.48915781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.300714057 meters 0.02195801581809579 Centerline is valid? [True, True] Translation: X:683.25, Y:-98.65, Z:-44.90 [[ 9.81820576e-01 1.79634182e-01 6.13181569e-02 6.83247646e+02] [-1.79131372e-01 9.83730518e-01 -1.36462082e-02 -9.86543100e+01] [-6.27718677e-02 2.41412238e-03 9.98024982e-01 -4.48979490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.360714057 meters 0.020126815995680263 Centerline is valid? [True, True] Translation: X:683.31, Y:-98.65, Z:-44.90 [[ 9.80890249e-01 1.84976868e-01 6.03148167e-02 6.83309708e+02] [-1.84500465e-01 9.82740761e-01 -1.34229172e-02 -9.86533025e+01] [-6.17567581e-02 2.03829690e-03 9.98089148e-01 -4.49022210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.420714057 meters 0.018165755939380406 Centerline is valid? [True, True] Translation: X:683.37, Y:-98.65, Z:-44.91 [[ 9.79358146e-01 1.92961458e-01 6.01954941e-02 6.83372555e+02] [-1.92501975e-01 9.81205141e-01 -1.33963058e-02 -9.86516249e+01] [-6.16490990e-02 1.53202978e-03 9.98096710e-01 -4.49053691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.480714057 meters 0.017837724714127354 Centerline is valid? [True, True] Translation: X:683.43, Y:-98.66, Z:-44.91 [[ 9.78707638e-01 1.96161871e-01 6.04307896e-02 6.83434318e+02] [-1.95704841e-01 9.80570617e-01 -1.34491747e-02 -9.86610968e+01] [-6.18948719e-02 1.33621197e-03 9.98081780e-01 -4.49086780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5407140570001 meters 0.016612026831445165 Centerline is valid? [True, True] Translation: X:683.50, Y:-98.66, Z:-44.91 [[ 9.76724108e-01 2.04708790e-01 6.40650347e-02 6.83497653e+02] [-2.04212235e-01 9.78822543e-01 -1.42755727e-02 -9.86622175e+01] [-6.56306354e-02 8.60432061e-04 9.97843615e-01 -4.49101841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.600714057 meters 0.01621041898663765 Centerline is valid? [True, True] Translation: X:683.56, Y:-98.67, Z:-44.91 [[ 9.75333087e-01 2.10687917e-01 6.58480937e-02 6.83560875e+02] [-2.10176600e-01 9.77553260e-01 -1.46772424e-02 -9.86654646e+01] [-6.74623362e-02 4.75471744e-04 9.97721708e-01 -4.49141941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6607140570001 meters 0.01610909830813521 Centerline is valid? [True, True] Translation: X:683.62, Y:-98.67, Z:-44.92 [[ 9.74712124e-01 2.13369468e-01 6.64059125e-02 6.83622839e+02] [-2.12854478e-01 9.76971532e-01 -1.48187984e-02 -9.86747994e+01] [-6.80385652e-02 3.09266616e-04 9.97682644e-01 -4.49184266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.720714057 meters 0.016010078385268935 Centerline is valid? [True, True] Translation: X:683.68, Y:-98.68, Z:-44.92 [[ 9.73807054e-01 2.17433651e-01 6.65013409e-02 6.83684327e+02] [-2.16926165e-01 9.76075103e-01 -1.48469739e-02 -9.86823030e+01] [-6.81385349e-02 3.22071326e-05 9.97675869e-01 -4.49232361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7807140570001 meters 0.01623187758804749 Centerline is valid? [True, True] Translation: X:683.75, Y:-98.69, Z:-44.93 [[ 9.73194175e-01 2.20713462e-01 6.46425920e-02 6.83746802e+02] [-2.20240086e-01 9.75338678e-01 -1.44487981e-02 -9.86925256e+01] [-6.62374645e-02 -1.75403916e-04 9.97803872e-01 -4.49299028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.840714057 meters 0.01619148809501341 Centerline is valid? [True, True] Translation: X:683.81, Y:-98.71, Z:-44.94 [[ 9.73038438e-01 2.21729636e-01 6.34993489e-02 6.83808304e+02] [-2.21273802e-01 9.75108158e-01 -1.42121549e-02 -9.87068341e+01] [-6.50699891e-02 -2.21769352e-04 9.97880678e-01 -4.49353890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9007140570001 meters 0.016534142851880762 Centerline is valid? [True, True] Translation: X:683.87, Y:-98.72, Z:-44.94 [[ 9.73088511e-01 2.21530588e-01 6.34267216e-02 6.83867817e+02] [-2.21074139e-01 9.75153405e-01 -1.42148650e-02 -9.87225498e+01] [-6.49998109e-02 -1.89686078e-04 9.97885258e-01 -4.49398603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.960714057 meters 0.016196783810550085 Centerline is valid? [True, True] Translation: X:683.93, Y:-98.74, Z:-44.94 [[ 9.74128561e-01 2.17045453e-01 6.29668021e-02 6.83927565e+02] [-2.16585120e-01 9.76161491e-01 -1.41290532e-02 -9.87436222e+01] [-6.45324141e-02 1.25841834e-04 9.97915604e-01 -4.49435801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.020714057 meters 0.01640739038712597 Centerline is valid? [True, True] Translation: X:683.99, Y:-98.77, Z:-44.95 [[ 9.75650623e-01 2.09584243e-01 6.46552880e-02 6.83986025e+02] [-2.09081161e-01 9.77790374e-01 -1.45276729e-02 -9.87684291e+01] [-6.62640896e-02 6.55730439e-04 9.97801904e-01 -4.49460773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.080714057 meters 0.01674347851949583 Centerline is valid? [True, True] Translation: X:684.04, Y:-98.79, Z:-44.95 [[ 9.76743660e-01 2.04113803e-01 6.56458612e-02 6.84044358e+02] [-2.03581605e-01 9.78946592e-01 -1.47681831e-02 -9.87895514e+01] [-6.72781821e-02 1.06043946e-03 9.97733693e-01 -4.49490526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.140714057 meters 0.01710496262675449 Centerline is valid? [True, True] Translation: X:684.10, Y:-98.81, Z:-44.95 [[ 9.77059384e-01 2.01940904e-01 6.76375061e-02 6.84103632e+02] [-2.01369462e-01 9.79396893e-01 -1.52337311e-02 -9.88100139e+01] [-6.93202768e-02 1.26413174e-03 9.97593655e-01 -4.49516760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.200714057 meters 0.01738705963815735 Centerline is valid? [True, True] Translation: X:684.16, Y:-98.83, Z:-44.95 [[ 9.77050221e-01 2.01432249e-01 6.92669800e-02 6.84163009e+02] [-2.00830287e-01 9.79501519e-01 -1.56195351e-02 -9.88282724e+01] [-7.09933902e-02 1.35016275e-03 9.97475872e-01 -4.49542854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.260714057 meters 0.017548352300959084 Centerline is valid? [True, True] Translation: X:684.22, Y:-98.85, Z:-44.96 [[ 9.77345762e-01 1.99539299e-01 7.05643599e-02 6.84222557e+02] [-1.98908252e-01 9.79888624e-01 -1.59308775e-02 -9.88466650e+01] [-7.23240496e-02 1.53414216e-03 9.97380007e-01 -4.49582152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.320714057 meters 0.01871634455821499 Centerline is valid? [True, True] Translation: X:684.28, Y:-98.87, Z:-44.96 [[ 9.78207922e-01 1.95745853e-01 6.92302154e-02 6.84281208e+02] [-1.95127731e-01 9.80653012e-01 -1.56473318e-02 -9.88664705e+01] [-7.09537196e-02 1.79760913e-03 9.97477989e-01 -4.49641294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.380714057 meters 0.020517696730360285 Centerline is valid? [True, True] Translation: X:684.34, Y:-98.88, Z:-44.97 [[ 9.79320525e-01 1.90534590e-01 6.80285179e-02 6.84338367e+02] [-1.89924176e-01 9.81678124e-01 -1.53905339e-02 -9.88843751e+01] [-6.97145369e-02 2.15200552e-03 9.97564661e-01 -4.49696735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.440714057 meters 0.020559111350000017 Centerline is valid? [True, True] Translation: X:684.40, Y:-98.90, Z:-44.97 [[ 9.80130414e-01 1.85624947e-01 6.99124517e-02 6.84397896e+02] [-1.84967712e-01 9.82617305e-01 -1.58170039e-02 -9.88984743e+01] [-7.16332154e-02 2.57118035e-03 9.97427727e-01 -4.49733210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.500714057 meters 0.02399406650108678 Centerline is valid? [True, True] Translation: X:684.45, Y:-98.92, Z:-44.98 [[ 9.80870253e-01 1.81705457e-01 6.98331831e-02 6.84454950e+02] [-1.81039631e-01 9.83348853e-01 -1.58014291e-02 -9.89169799e+01] [-7.15415864e-02 2.85657812e-03 9.97433527e-01 -4.49763569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.560714057 meters 0.02380708313456729 Centerline is valid? [True, True] Translation: X:684.51, Y:-98.93, Z:-44.98 [[ 9.81957385e-01 1.75524523e-01 7.03621706e-02 6.84514777e+02] [-1.74832716e-01 9.84469419e-01 -1.59211773e-02 -9.89264360e+01] [-7.20639623e-02 3.33230827e-03 9.97394446e-01 -4.49808580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.620714057 meters 0.027308923401632657 Centerline is valid? [True, True] Translation: X:684.57, Y:-98.94, Z:-44.98 [[ 9.82795615e-01 1.70524533e-01 7.09518406e-02 6.84572881e+02] [-1.69808042e-01 9.85346369e-01 -1.60549756e-02 -9.89397217e+01] [-7.26499057e-02 3.73056648e-03 9.97350527e-01 -4.49843273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.680714057 meters 0.025606699967796735 Centerline is valid? [True, True] Translation: X:684.64, Y:-98.95, Z:-44.99 [[ 9.83123691e-01 1.68600262e-01 7.10053568e-02 6.84635129e+02] [-1.67877695e-01 9.85676890e-01 -1.60669995e-02 -9.89452133e+01] [-7.26972395e-02 3.87563220e-03 9.97346525e-01 -4.49887688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.740714057 meters 0.022918735389044233 Centerline is valid? [True, True] Translation: X:684.70, Y:-98.95, Z:-44.99 [[ 9.82752486e-01 1.70389092e-01 7.18686899e-02 6.84697867e+02] [-1.69653045e-01 9.85369548e-01 -1.62695502e-02 -9.89495809e+01] [-7.35893724e-02 3.79619882e-03 9.97281401e-01 -4.49930046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.800714057 meters 0.023301380678671393 Centerline is valid? [True, True] Translation: X:684.76, Y:-98.95, Z:-45.00 [[ 9.81986742e-01 1.74881491e-01 7.15437164e-02 6.84758463e+02] [-1.74162710e-01 9.84583408e-01 -1.62130565e-02 -9.89540974e+01] [-7.32761196e-02 3.46075897e-03 9.97305687e-01 -4.49971276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.860714057 meters 0.02070923865964199 Centerline is valid? [True, True] Translation: X:684.82, Y:-98.95, Z:-45.00 [[ 9.80573615e-01 1.83286421e-01 6.98675464e-02 6.84820162e+02] [-1.82622216e-01 9.83055663e-01 -1.58331975e-02 -9.89538977e+01] [-7.15856973e-02 2.76624947e-03 9.97430617e-01 -4.50025828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.920714057 meters 0.01805288229401123 Centerline is valid? [True, True] Translation: X:684.88, Y:-98.95, Z:-45.01 [[ 9.78579697e-01 1.94091315e-01 6.86319043e-02 6.84881837e+02] [-1.93476894e-01 9.80981546e-01 -1.55530860e-02 -9.89528689e+01] [-7.03453505e-02 1.94124654e-03 9.97520808e-01 -4.50079254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.980714057 meters 0.01746746076627208 Centerline is valid? [True, True] Translation: X:684.94, Y:-98.96, Z:-45.01 [[ 9.76966580e-01 2.01541812e-01 7.01227499e-02 6.84942331e+02] [-2.00919496e-01 9.79478860e-01 -1.58908688e-02 -9.89565912e+01] [-7.18864256e-02 1.43582013e-03 9.97411791e-01 -4.50112516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0407140570001 meters 0.01761674890255516 Centerline is valid? [True, True] Translation: X:685.00, Y:-98.96, Z:-45.01 [[ 9.76225842e-01 2.04743864e-01 7.11551587e-02 6.85004956e+02] [-2.04111489e-01 9.78814827e-01 -1.61255991e-02 -9.89633425e+01] [-7.29493418e-02 1.21864112e-03 9.97334903e-01 -4.50147487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.100714057 meters 0.017944079859087754 Centerline is valid? [True, True] Translation: X:685.06, Y:-98.98, Z:-45.02 [[ 9.75956421e-01 2.05758063e-01 7.19213694e-02 6.85064790e+02] [-2.05114176e-01 9.78602201e-01 -1.63066548e-02 -9.89753868e+01] [-7.37376362e-02 1.16249205e-03 9.97276997e-01 -4.50175981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1607140570001 meters 0.017925765363414017 Centerline is valid? [True, True] Translation: X:685.13, Y:-98.99, Z:-45.02 [[ 9.75756931e-01 2.06856055e-01 7.14771557e-02 6.85126241e+02] [-2.06222195e-01 9.78370787e-01 -1.62175576e-02 -9.89862345e+01] [-7.32858611e-02 1.08421825e-03 9.97310387e-01 -4.50229835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.220714057 meters 0.017977412970251693 Centerline is valid? [True, True] Translation: X:685.19, Y:-99.00, Z:-45.03 [[ 9.75517874e-01 2.08118383e-01 7.10747186e-02 6.85185501e+02] [-2.07493630e-01 9.78103131e-01 -1.61449320e-02 -9.89994805e+01] [-7.28784620e-02 1.00211840e-03 9.97340326e-01 -4.50279260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2807140570001 meters 0.01767803228062 Centerline is valid? [True, True] Translation: X:685.24, Y:-99.02, Z:-45.03 [[ 9.75560256e-01 2.08392556e-01 6.96758885e-02 6.85244868e+02] [-2.07791683e-01 9.78044777e-01 -1.58439709e-02 -9.90164214e+01] [-7.14479044e-02 9.78678115e-04 9.97443853e-01 -4.50323517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.340714057 meters 0.018183937451514313 Centerline is valid? [True, True] Translation: X:685.31, Y:-99.03, Z:-45.04 [[ 9.75685551e-01 2.07817365e-01 6.96394186e-02 6.85305914e+02] [-2.07214347e-01 9.78167095e-01 -1.58540051e-02 -9.90320654e+01] [-7.14137253e-02 1.03823703e-03 9.97446240e-01 -4.50369127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4007140570001 meters 0.018798395424343427 Centerline is valid? [True, True] Translation: X:685.36, Y:-99.05, Z:-45.04 [[ 9.76558961e-01 2.03841157e-01 6.91475157e-02 6.85363616e+02] [-2.03235296e-01 9.79003060e-01 -1.57614697e-02 -9.90527142e+01] [-7.09084657e-02 1.33878859e-03 9.97481928e-01 -4.50409149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.460714057 meters 0.020124765547672233 Centerline is valid? [True, True] Translation: X:685.42, Y:-99.07, Z:-45.05 [[ 9.77630331e-01 1.99153769e-01 6.76513988e-02 6.85421386e+02] [-1.98562033e-01 9.79966861e-01 -1.54295119e-02 -9.90739970e+01] [-6.93689744e-02 1.65135958e-03 9.97589704e-01 -4.50452620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.520714057 meters 0.019765393132030202 Centerline is valid? [True, True] Translation: X:685.48, Y:-99.09, Z:-45.05 [[ 9.78750841e-01 1.93418025e-01 6.80900717e-02 6.85479891e+02] [-1.92803672e-01 9.81114222e-01 -1.55443935e-02 -9.90916105e+01] [-6.98107035e-02 2.08607235e-03 9.97558076e-01 -4.50487499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.580714057 meters 0.02089013993788355 Centerline is valid? [True, True] Translation: X:685.54, Y:-99.11, Z:-45.05 [[ 9.79579529e-01 1.88793933e-01 6.91433087e-02 6.85538244e+02] [-1.88148792e-01 9.82013659e-01 -1.57862812e-02 -9.91112432e+01] [-7.08800277e-02 2.45468791e-03 9.97481828e-01 -4.50513793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.640714057 meters 0.02230801130754871 Centerline is valid? [True, True] Translation: X:685.60, Y:-99.13, Z:-45.05 [[ 9.80993068e-01 1.80715361e-01 7.06721967e-02 6.85595814e+02] [-1.80020211e-01 9.83530525e-01 -1.61378188e-02 -9.91315333e+01] [-7.24246145e-02 3.10866459e-03 9.97369045e-01 -4.50544681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.700714057 meters 0.027096554281189913 Centerline is valid? [True, True] Translation: X:685.65, Y:-99.15, Z:-45.06 [[ 9.82776054e-01 1.71354647e-01 6.92012446e-02 6.85652396e+02] [-1.70664967e-01 9.85202388e-01 -1.58026753e-02 -9.91549291e+01] [-7.08850933e-02 3.72026274e-03 9.97477550e-01 -4.50594845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.760714057 meters 0.029818031251366606 Centerline is valid? [True, True] Translation: X:685.71, Y:-99.17, Z:-45.06 [[ 9.83764544e-01 1.65954909e-01 6.83102488e-02 6.85710537e+02] [-1.65269811e-01 9.86124993e-01 -1.56009169e-02 -9.91736171e+01] [-6.99514924e-02 4.05800697e-03 9.97542140e-01 -4.50647994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.820714057 meters 0.03412047391405262 Centerline is valid? [True, True] Translation: X:685.77, Y:-99.19, Z:-45.07 [[ 9.84704521e-01 1.60515644e-01 6.77623327e-02 6.85767081e+02] [-1.59828651e-01 9.87023448e-01 -1.54762858e-02 -9.91929743e+01] [-6.93671973e-02 4.40920638e-03 9.97581451e-01 -4.50688036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.880714057 meters 0.035140766540320216 Centerline is valid? [True, True] Translation: X:685.83, Y:-99.20, Z:-45.07 [[ 9.85105829e-01 1.57703088e-01 6.85291352e-02 6.85827026e+02] [-1.56993522e-01 9.87475572e-01 -1.56533891e-02 -9.92047692e+01] [-7.01394348e-02 4.66161451e-03 9.97526305e-01 -4.50726008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.940714057 meters 0.03865838958113016 Centerline is valid? [True, True] Translation: X:685.88, Y:-99.22, Z:-45.08 [[ 9.85430059e-01 1.55365907e-01 6.92028503e-02 6.85884915e+02] [-1.54636385e-01 9.87844946e-01 -1.58098269e-02 -9.92190358e+01] [-7.08179940e-02 4.87820008e-03 9.97477326e-01 -4.50759029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.000714057 meters 0.03639818600256249 Centerline is valid? [True, True] Translation: X:685.95, Y:-99.23, Z:-45.08 [[ 9.85566398e-01 1.54710929e-01 6.87270166e-02 6.85947192e+02] [-1.53989735e-01 9.87947666e-01 -1.57026016e-02 -9.92261815e+01] [-7.03280597e-02 4.89270147e-03 9.97511918e-01 -4.50810078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.060714057 meters 0.04080435496985879 Centerline is valid? [True, True] Translation: X:686.01, Y:-99.24, Z:-45.09 [[ 9.85818695e-01 1.53275152e-01 6.83244304e-02 6.86006440e+02] [-1.52557773e-01 9.88170988e-01 -1.56276923e-02 -9.92377514e+01] [-6.99115568e-02 4.98264829e-03 9.97540750e-01 -4.50857177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.120714057 meters 0.03535581000526202 Centerline is valid? [True, True] Translation: X:686.07, Y:-99.24, Z:-45.09 [[ 9.85788482e-01 1.53165186e-01 6.90035882e-02 6.86070742e+02] [-1.52432486e-01 9.88187696e-01 -1.57928437e-02 -9.92361504e+01] [-7.06074107e-02 5.05001488e-03 9.97491399e-01 -4.50897571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.180714057 meters 0.0353017377408357 Centerline is valid? [True, True] Translation: X:686.13, Y:-99.24, Z:-45.09 [[ 9.85679021e-01 1.53497666e-01 6.98235987e-02 6.86134210e+02] [-1.52746873e-01 9.88135822e-01 -1.59996778e-02 -9.92398078e+01] [-7.14511123e-02 5.10521044e-03 9.97431038e-01 -4.50928117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.240714057 meters 0.035416470912824544 Centerline is valid? [True, True] Translation: X:686.20, Y:-99.24, Z:-45.10 [[ 9.85476207e-01 1.54623479e-01 7.02013224e-02 6.86197274e+02] [-1.53865822e-01 9.87960451e-01 -1.61076084e-02 -9.92407952e+01] [-7.18467446e-02 5.07208062e-03 9.97402787e-01 -4.50984953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.300714057 meters 0.039199233534414 Centerline is valid? [True, True] Translation: X:686.26, Y:-99.25, Z:-45.10 [[ 9.85280737e-01 1.55907920e-01 7.01041398e-02 6.86258038e+02] [-1.55154241e-01 9.87758988e-01 -1.61041086e-02 -9.92513244e+01] [-7.17567523e-02 4.99011341e-03 9.97409679e-01 -4.51026569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.360714057 meters 0.03851738147795873 Centerline is valid? [True, True] Translation: X:686.32, Y:-99.25, Z:-45.11 [[ 9.84936665e-01 1.58611211e-01 6.88639979e-02 6.86320265e+02] [-1.57889414e-01 9.87329816e-01 -1.58356289e-02 -9.92490473e+01] [-7.05031866e-02 4.72419521e-03 9.97500367e-01 -4.51083823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.420714057 meters 0.03635299001468721 Centerline is valid? [True, True] Translation: X:686.38, Y:-99.25, Z:-45.11 [[ 9.84566598e-01 1.61019891e-01 6.85653587e-02 6.86383554e+02] [-1.60310136e-01 9.86940755e-01 -1.57672630e-02 -9.92488848e+01] [-7.02087899e-02 4.53219849e-03 9.97522022e-01 -4.51138211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.480714057 meters 0.03569284066563224 Centerline is valid? [True, True] Translation: X:686.45, Y:-99.25, Z:-45.12 [[ 9.84102685e-01 1.63315961e-01 6.97839695e-02 6.86447335e+02] [-1.62586171e-01 9.86563780e-01 -1.60513211e-02 -9.92454238e+01] [-7.14677736e-02 4.45023980e-03 9.97432982e-01 -4.51173325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5407140570001 meters 0.03835837313519262 Centerline is valid? [True, True] Translation: X:686.51, Y:-99.25, Z:-45.12 [[ 9.84154787e-01 1.63002417e-01 6.97822845e-02 6.86509146e+02] [-1.62271690e-01 9.86615519e-01 -1.60535639e-02 -9.92466909e+01] [-7.14650545e-02 4.47550253e-03 9.97433063e-01 -4.51216901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.600714057 meters 0.037843152381391944 Centerline is valid? [True, True] Translation: X:686.57, Y:-99.24, Z:-45.13 [[ 9.84259697e-01 1.61946582e-01 7.07541814e-02 6.86573487e+02] [-1.61192392e-01 9.86788717e-01 -1.62801041e-02 -9.92437042e+01] [-7.24559350e-02 4.61881461e-03 9.97360920e-01 -4.51294395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6607140570001 meters 0.03946052096472126 Centerline is valid? [True, True] Translation: X:686.63, Y:-99.25, Z:-45.13 [[ 9.84331493e-01 1.61663473e-01 7.04019452e-02 6.86634304e+02] [-1.60915647e-01 9.86835121e-01 -1.62048628e-02 -9.92507160e+01] [-7.20948466e-02 4.62218225e-03 9.97387071e-01 -4.51333876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.720714057 meters 0.03749353548373874 Centerline is valid? [True, True] Translation: X:686.70, Y:-99.25, Z:-45.14 [[ 9.84087011e-01 1.62919365e-01 7.09227484e-02 6.86697929e+02] [-1.62162950e-01 9.86628787e-01 -1.63344254e-02 -9.92456047e+01] [-7.26356195e-02 4.57345374e-03 9.97348059e-01 -4.51374220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7807140570001 meters 0.035823055693220154 Centerline is valid? [True, True] Translation: X:686.76, Y:-99.24, Z:-45.14 [[ 9.83400403e-01 1.66708129e-01 7.16383023e-02 6.86760657e+02] [-1.65946165e-01 9.85996738e-01 -1.65016011e-02 -9.92428975e+01] [-7.33860834e-02 4.33957965e-03 9.97294165e-01 -4.51420282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.840714057 meters 0.046061986557040045 Centerline is valid? [True, True] Translation: X:686.82, Y:-99.26, Z:-45.15 [[ 9.82950454e-01 1.69682675e-01 7.08251042e-02 6.86818337e+02] [-1.68945639e-01 9.85490346e-01 -1.63140627e-02 -9.92603393e+01] [-7.25656703e-02 4.07032285e-03 9.97355331e-01 -4.51450302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9007140570001 meters 0.03704271622364952 Centerline is valid? [True, True] Translation: X:686.88, Y:-99.25, Z:-45.15 [[ 9.83283316e-01 1.67043374e-01 7.24598580e-02 6.86881763e+02] [-1.66264721e-01 9.85939890e-01 -1.66906167e-02 -9.92525133e+01] [-7.42291214e-02 4.36408686e-03 9.97231664e-01 -4.51523188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.960714057 meters 0.040360670116324195 Centerline is valid? [True, True] Translation: X:686.94, Y:-99.26, Z:-45.16 [[ 9.83968724e-01 1.63570016e-01 7.10661656e-02 6.86940066e+02] [-1.62812077e-01 9.86521297e-01 -1.63694407e-02 -9.92637388e+01] [-7.27858356e-02 4.53658767e-03 9.97337276e-01 -4.51588028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.020714057 meters 0.03873985047675489 Centerline is valid? [True, True] Translation: X:687.00, Y:-99.27, Z:-45.16 [[ 9.84632443e-01 1.59971637e-01 7.00573162e-02 6.87000717e+02] [-1.59226133e-01 9.87110265e-01 -1.61357764e-02 -9.92683980e+01] [-7.17355625e-02 4.73285341e-03 9.97412457e-01 -4.51641440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.080714057 meters 0.0423523573955755 Centerline is valid? [True, True] Translation: X:687.06, Y:-99.28, Z:-45.17 [[ 9.84957401e-01 1.58541354e-01 6.87281448e-02 6.87058211e+02] [-1.57820563e-01 9.87340944e-01 -1.58281364e-02 -9.92786399e+01] [-7.03675256e-02 4.74332557e-03 9.97509856e-01 -4.51691101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.140714057 meters 0.04226935852844518 Centerline is valid? [True, True] Translation: X:687.12, Y:-99.29, Z:-45.17 [[ 9.84728662e-01 1.59758403e-01 6.91860886e-02 6.87116957e+02] [-1.59031221e-01 9.87145033e-01 -1.59296839e-02 -9.92874184e+01] [-7.08416046e-02 4.68366816e-03 9.97476581e-01 -4.51733078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.200714057 meters 0.037053376347379895 Centerline is valid? [True, True] Translation: X:687.18, Y:-99.28, Z:-45.18 [[ 9.83739492e-01 1.65380722e-01 7.00416217e-02 6.87179481e+02] [-1.64649843e-01 9.86220301e-01 -1.61228702e-02 -9.92840184e+01] [-7.17428812e-02 4.32836214e-03 9.97413768e-01 -4.51774424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.260714057 meters 0.035797877577820755 Centerline is valid? [True, True] Translation: X:687.24, Y:-99.29, Z:-45.18 [[ 9.82735346e-01 1.70912967e-01 7.08519366e-02 6.87240249e+02] [-1.70179542e-01 9.85278141e-01 -1.63066692e-02 -9.92901939e+01] [-7.25958857e-02 3.96759013e-03 9.97353546e-01 -4.51799509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.320714057 meters 0.03349225629080366 Centerline is valid? [True, True] Translation: X:687.30, Y:-99.29, Z:-45.18 [[ 9.81196196e-01 1.78839903e-01 7.25969323e-02 6.87300750e+02] [-1.78091445e-01 9.83872087e-01 -1.67078781e-02 -9.92929939e+01] [-7.44141307e-02 3.46481386e-03 9.97221406e-01 -4.51832621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.380714057 meters 0.03246119603852906 Centerline is valid? [True, True] Translation: X:687.36, Y:-99.30, Z:-45.19 [[ 9.80360798e-01 1.82706558e-01 7.42362347e-02 6.87360519e+02] [-1.81935055e-01 9.83162147e-01 -1.70829794e-02 -9.93014150e+01] [-7.61074283e-02 3.24130983e-03 9.97094355e-01 -4.51875517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.440714057 meters 0.031379468699157434 Centerline is valid? [True, True] Translation: X:687.42, Y:-99.31, Z:-45.19 [[ 9.79612145e-01 1.86418652e-01 7.48874566e-02 6.87420085e+02] [-1.85644440e-01 9.82465887e-01 -1.72314352e-02 -9.93094896e+01] [-7.67866324e-02 2.97768324e-03 9.97043102e-01 -4.51927710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.500714057 meters 0.031178105975326748 Centerline is valid? [True, True] Translation: X:687.48, Y:-99.32, Z:-45.20 [[ 9.79334316e-01 1.88158100e-01 7.41675636e-02 6.87478013e+02] [-1.87403993e-01 9.82134733e-01 -1.70619617e-02 -9.93216552e+01] [-7.60528866e-02 2.81006703e-03 9.97099826e-01 -4.51976313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.560714057 meters 0.030169558532180573 Centerline is valid? [True, True] Translation: X:687.53, Y:-99.33, Z:-45.20 [[ 9.78672485e-01 1.91519972e-01 7.42984956e-02 6.87534835e+02] [-1.90774043e-01 9.81485435e-01 -1.70764822e-02 -9.93340243e+01] [-7.61933786e-02 2.53805895e-03 9.97089829e-01 -4.52029484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.620714057 meters 0.028966441682652323 Centerline is valid? [True, True] Translation: X:687.59, Y:-99.35, Z:-45.21 [[ 9.78552893e-01 1.92236028e-01 7.40239564e-02 6.87592874e+02] [-1.91498054e-01 9.81345617e-01 -1.70081254e-02 -9.93450737e+01] [-7.59126596e-02 2.46790671e-03 9.97111417e-01 -4.52092194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.680714057 meters 0.02943319667743844 Centerline is valid? [True, True] Translation: X:687.65, Y:-99.36, Z:-45.21 [[ 9.78538690e-01 1.92235330e-01 7.42132826e-02 6.87648734e+02] [-1.91494828e-01 9.81345778e-01 -1.70351072e-02 -9.93600621e+01] [-7.61036410e-02 2.45805172e-03 9.97096883e-01 -4.52141003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.740714057 meters 0.03043215730147057 Centerline is valid? [True, True] Translation: X:687.70, Y:-99.38, Z:-45.22 [[ 9.78738356e-01 1.91138490e-01 7.44130982e-02 6.87703544e+02] [-1.90391437e-01 9.81559786e-01 -1.70729788e-02 -9.93779103e+01] [-7.63042081e-02 2.54236255e-03 9.97081343e-01 -4.52183057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.800714057 meters 0.030139053375992143 Centerline is valid? [True, True] Translation: X:687.76, Y:-99.39, Z:-45.22 [[ 9.79015721e-01 1.89204167e-01 7.56967784e-02 6.87761374e+02] [-1.88425787e-01 9.81933964e-01 -1.73612386e-02 -9.93927488e+01] [-7.76140564e-02 2.73370047e-03 9.96979732e-01 -4.52222149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.860714057 meters 0.030934930534557262 Centerline is valid? [True, True] Translation: X:687.82, Y:-99.41, Z:-45.23 [[ 9.79903735e-01 1.84033073e-01 7.69447714e-02 6.87818956e+02] [-1.83213061e-01 9.82914866e-01 -1.76448679e-02 -9.94101514e+01] [-7.88773989e-02 3.19298483e-03 9.96879211e-01 -4.52254779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.920714057 meters 0.035237722644706336 Centerline is valid? [True, True] Translation: X:687.87, Y:-99.43, Z:-45.23 [[ 9.80607473e-01 1.80084202e-01 7.73218166e-02 6.87874359e+02] [-1.79244011e-01 9.83644878e-01 -1.77296159e-02 -9.94337435e+01] [-7.92500326e-02 3.52632125e-03 9.96848533e-01 -4.52284293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.980714057 meters 0.032879288680309746 Centerline is valid? [True, True] Translation: X:687.93, Y:-99.45, Z:-45.24 [[ 9.82013637e-01 1.72736785e-01 7.62313552e-02 6.87932624e+02] [-1.71898292e-01 9.84959659e-01 -1.74770316e-02 -9.94470318e+01] [-7.81037359e-02 4.05864358e-03 9.96936976e-01 -4.52354142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0407140570001 meters 0.03598432899186229 Centerline is valid? [True, True] Translation: X:687.99, Y:-99.47, Z:-45.24 [[ 9.83284029e-01 1.65803478e-01 7.52444360e-02 6.87989661e+02] [-1.64966477e-01 9.86148326e-01 -1.72493758e-02 -9.94661661e+01] [-7.70621811e-02 4.54822618e-03 9.97015915e-01 -4.52401286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.100714057 meters 0.0388768586756638 Centerline is valid? [True, True] Translation: X:688.05, Y:-99.48, Z:-45.24 [[ 9.83894284e-01 1.62336037e-01 7.48267930e-02 6.88046536e+02] [-1.61498450e-01 9.86723899e-01 -1.71522154e-02 -9.94839529e+01] [-7.66178076e-02 4.79155564e-03 9.97049022e-01 -4.52426052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1607140570001 meters 0.03849012234301072 Centerline is valid? [True, True] Translation: X:688.11, Y:-99.49, Z:-45.25 [[ 9.84491879e-01 1.58680042e-01 7.48089901e-02 6.88105128e+02] [-1.57832489e-01 9.87317025e-01 -1.71463793e-02 -9.94948699e+01] [-7.65809777e-02 5.07318208e-03 9.97050458e-01 -4.52462900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.220714057 meters 0.038941260507883144 Centerline is valid? [True, True] Translation: X:688.16, Y:-99.50, Z:-45.25 [[ 9.84754729e-01 1.57266031e-01 7.43338310e-02 6.88164101e+02] [-1.56425352e-01 9.87542854e-01 -1.70358519e-02 -9.95048567e+01] [-7.60870045e-02 5.14843999e-03 9.97087891e-01 -4.52505363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2807140570001 meters 0.039150541201263905 Centerline is valid? [True, True] Translation: X:688.22, Y:-99.51, Z:-45.25 [[ 9.84832094e-01 1.56129058e-01 7.56932261e-02 6.88223101e+02] [-1.55254172e-01 9.87722285e-01 -1.73444682e-02 -9.95140192e+01] [-7.74718617e-02 5.32969976e-03 9.96980293e-01 -4.52524341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.340714057 meters 0.042577812299456695 Centerline is valid? [True, True] Translation: X:688.28, Y:-99.53, Z:-45.26 [[ 9.85089131e-01 1.54925102e-01 7.48172181e-02 6.88278773e+02] [-1.54067209e-01 9.87911690e-01 -1.71402516e-02 -9.95271593e+01] [-7.65682596e-02 5.35779556e-03 9.97049946e-01 -4.52556648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4007140570001 meters 0.04232339367529693 Centerline is valid? [True, True] Translation: X:688.34, Y:-99.54, Z:-45.26 [[ 9.85135502e-01 1.54965514e-01 7.41197185e-02 6.88336571e+02] [-1.54124200e-01 9.87905675e-01 -1.69737483e-02 -9.95370037e+01] [-7.58536361e-02 5.29779972e-03 9.97104889e-01 -4.52600576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.460714057 meters 0.04386887775682568 Centerline is valid? [True, True] Translation: X:688.39, Y:-99.55, Z:-45.26 [[ 9.85247920e-01 1.54814635e-01 7.29312331e-02 6.88394218e+02] [-1.54000139e-01 9.87929753e-01 -1.66961049e-02 -9.95458903e+01] [-7.46357365e-02 5.21838258e-03 9.97197210e-01 -4.52634331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.520714057 meters 0.04113058852086323 Centerline is valid? [True, True] Translation: X:688.45, Y:-99.55, Z:-45.27 [[ 9.85001167e-01 1.56977669e-01 7.16289905e-02 6.88454376e+02] [-1.56198164e-01 9.87589707e-01 -1.63921972e-02 -9.95505087e+01] [-7.33132626e-02 4.95801655e-03 9.97296638e-01 -4.52689850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.580714057 meters 0.035919246153454154 Centerline is valid? [True, True] Translation: X:688.52, Y:-99.55, Z:-45.28 [[ 9.84709724e-01 1.59546492e-01 6.99405171e-02 6.88515542e+02] [-1.58809901e-01 9.87179452e-01 -1.60045254e-02 -9.95519845e+01] [-7.15973072e-02 4.65256520e-03 9.97422769e-01 -4.52754907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.640714057 meters 0.03638963619623523 Centerline is valid? [True, True] Translation: X:688.57, Y:-99.56, Z:-45.28 [[ 9.84168696e-01 1.63665168e-01 6.80124342e-02 6.88574621e+02] [-1.62978566e-01 9.86506873e-01 -1.55620149e-02 -9.95595567e+01] [-6.96416936e-02 4.23107895e-03 9.97563097e-01 -4.52796336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.700714057 meters 0.03658057477974176 Centerline is valid? [True, True] Translation: X:688.63, Y:-99.57, Z:-45.28 [[ 9.83790307e-01 1.66291508e-01 6.71101023e-02 6.88632381e+02] [-1.65629227e-01 9.86068566e-01 -1.53538797e-02 -9.95696603e+01] [-6.87283822e-02 3.98960364e-03 9.97627432e-01 -4.52822528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.760714057 meters 0.03564096181471656 Centerline is valid? [True, True] Translation: X:688.69, Y:-99.58, Z:-45.29 [[ 9.83128859e-01 1.70402556e-01 6.64877158e-02 6.88692156e+02] [-1.69762117e-01 9.85367719e-01 -1.52079575e-02 -9.95764955e+01] [-6.81063237e-02 3.66428649e-03 9.97671340e-01 -4.52858749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.820714057 meters 0.03259424413528914 Centerline is valid? [True, True] Translation: X:688.75, Y:-99.58, Z:-45.29 [[ 9.82431003e-01 1.74505067e-01 6.61612050e-02 6.88752645e+02] [-1.73880239e-01 9.84650535e-01 -1.51322939e-02 -9.95803600e+01] [-6.77863279e-02 3.36230859e-03 9.97694196e-01 -4.52900650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.880714057 meters 0.03492801962233728 Centerline is valid? [True, True] Translation: X:688.81, Y:-99.59, Z:-45.29 [[ 9.81822276e-01 1.78261923e-01 6.51744144e-02 6.88810226e+02] [-1.77663948e-01 9.83978329e-01 -1.49053451e-02 -9.95930785e+01] [-6.67872669e-02 3.05525610e-03 9.97762560e-01 -4.52937897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.940714057 meters 0.031467870022282615 Centerline is valid? [True, True] Translation: X:688.87, Y:-99.60, Z:-45.30 [[ 9.81322795e-01 1.80875875e-01 6.54941963e-02 6.88870661e+02] [-1.80277977e-01 9.83501688e-01 -1.49759911e-02 -9.95979428e+01] [-6.71224481e-02 2.88912021e-03 9.97740562e-01 -4.52974742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.000714057 meters 0.028567537671229992 Centerline is valid? [True, True] Translation: X:688.93, Y:-99.60, Z:-45.30 [[ 9.80239278e-01 1.86618457e-01 6.56087676e-02 6.88930560e+02] [-1.86031519e-01 9.82429294e-01 -1.49985672e-02 -9.96033166e+01] [-6.72549847e-02 2.49688597e-03 9.97732696e-01 -4.53013060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.060714057 meters 0.02996762886640899 Centerline is valid? [True, True] Translation: X:688.99, Y:-99.62, Z:-45.31 [[ 9.79568194e-01 1.90208288e-01 6.53219765e-02 6.88987017e+02] [-1.89634595e-01 9.81741207e-01 -1.49306038e-02 -9.96177483e+01] [-6.69692006e-02 2.23823800e-03 9.97752533e-01 -4.53051605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.120714057 meters 0.029075249510704712 Centerline is valid? [True, True] Translation: X:689.04, Y:-99.63, Z:-45.31 [[ 9.78927665e-01 1.93488817e-01 6.52893897e-02 6.89044851e+02] [-1.92923224e-01 9.81100423e-01 -1.49194077e-02 -9.96280870e+01] [-6.69421865e-02 2.00918140e-03 9.97754833e-01 -4.53087985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.180714057 meters 0.027425468190040873 Centerline is valid? [True, True] Translation: X:689.10, Y:-99.64, Z:-45.31 [[ 9.78366590e-01 1.96648545e-01 6.42508044e-02 6.89102692e+02] [-1.96107920e-01 9.80472464e-01 -1.46775860e-02 -9.96376940e+01] [-6.58824704e-02 1.75996814e-03 9.97825838e-01 -4.53146143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.240714057 meters 0.026570292815901165 Centerline is valid? [True, True] Translation: X:689.16, Y:-99.65, Z:-45.32 [[ 9.78226780e-01 1.97727460e-01 6.30572639e-02 6.89159931e+02] [-1.97209296e-01 9.80255643e-01 -1.44003014e-02 -9.96512834e+01] [-6.46595737e-02 1.65128179e-03 9.97906014e-01 -4.53195818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.300714057 meters 0.026478372359492235 Centerline is valid? [True, True] Translation: X:689.22, Y:-99.67, Z:-45.32 [[ 9.77972151e-01 1.98927103e-01 6.32335383e-02 6.89215726e+02] [-1.98409618e-01 9.80013048e-01 -1.44239200e-02 -9.96674877e+01] [-6.48390012e-02 1.56004991e-03 9.97894519e-01 -4.53231824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.360714057 meters 0.02646682546678183 Centerline is valid? [True, True] Translation: X:689.27, Y:-99.68, Z:-45.33 [[ 9.77661511e-01 2.00488810e-01 6.31047258e-02 6.89270920e+02] [-1.99977239e-01 9.79694927e-01 -1.43859327e-02 -9.96839556e+01] [-6.47075982e-02 1.44506387e-03 9.97903221e-01 -4.53270002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.420714057 meters 0.026364824967953733 Centerline is valid? [True, True] Translation: X:689.33, Y:-99.70, Z:-45.33 [[ 9.77483479e-01 2.01179641e-01 6.36616041e-02 6.89327955e+02] [-2.00661016e-01 9.79553359e-01 -1.45042680e-02 -9.96994516e+01] [-6.52779016e-02 1.40328014e-03 9.97866137e-01 -4.53303872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.480714057 meters 0.026094949901430537 Centerline is valid? [True, True] Translation: X:689.38, Y:-99.72, Z:-45.33 [[ 9.77599575e-01 2.00442894e-01 6.42005964e-02 6.89384291e+02] [-1.99914913e-01 9.79704316e-01 -1.46109858e-02 -9.97154934e+01] [-6.58262696e-02 1.44903687e-03 9.97830047e-01 -4.53341001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5407140570001 meters 0.026161432661713904 Centerline is valid? [True, True] Translation: X:689.44, Y:-99.73, Z:-45.34 [[ 9.77799931e-01 1.99167423e-01 6.51124693e-02 6.89441282e+02] [-1.98622628e-01 9.79964268e-01 -1.48015487e-02 -9.97302341e+01] [-6.67558796e-02 1.54014351e-03 9.97768150e-01 -4.53378594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.600714057 meters 0.026790286508962664 Centerline is valid? [True, True] Translation: X:689.50, Y:-99.75, Z:-45.34 [[ 9.78212336e-01 1.96614607e-01 6.66582502e-02 6.89496813e+02] [-1.96038937e-01 9.80479310e-01 -1.51346286e-02 -9.97495783e+01] [-6.83327243e-02 1.73726781e-03 9.97661075e-01 -4.53407334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6607140570001 meters 0.027753147403874853 Centerline is valid? [True, True] Translation: X:689.55, Y:-99.77, Z:-45.35 [[ 9.79177875e-01 1.92060302e-01 6.57535492e-02 6.89551788e+02] [-1.91491049e-01 9.81381066e-01 -1.49124277e-02 -9.97720595e+01] [-6.73933736e-02 2.01070318e-03 9.97724456e-01 -4.53455724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.720714057 meters 0.0308500380948927 Centerline is valid? [True, True] Translation: X:689.61, Y:-99.80, Z:-45.35 [[ 9.80595683e-01 1.84445251e-01 6.64233075e-02 6.89606925e+02] [-1.83847121e-01 9.82839464e-01 -1.50606565e-02 -9.97970370e+01] [-6.80613146e-02 2.55668091e-03 9.97677864e-01 -4.53490751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7807140570001 meters 0.032536924921034514 Centerline is valid? [True, True] Translation: X:689.66, Y:-99.82, Z:-45.35 [[ 9.81699527e-01 1.78044798e-01 6.75728376e-02 6.89664044e+02] [-1.77410724e-01 9.84017652e-01 -1.53197642e-02 -9.98174165e+01] [-6.92204693e-02 3.05125923e-03 9.97596720e-01 -4.53523048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.840714057 meters 0.03761980944600635 Centerline is valid? [True, True] Translation: X:689.72, Y:-99.84, Z:-45.36 [[ 9.83413953e-01 1.68113965e-01 6.80785659e-02 6.89719005e+02] [-1.67446615e-01 9.85760324e-01 -1.54342042e-02 -9.98446910e+01] [-6.97038544e-02 3.77868636e-03 9.97560572e-01 -4.53553969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9007140570001 meters 0.042631860272441875 Centerline is valid? [True, True] Translation: X:689.77, Y:-99.87, Z:-45.36 [[ 9.84887842e-01 1.59504121e-01 6.74861059e-02 6.89774197e+02] [-1.58828207e-01 9.87187679e-01 -1.52999361e-02 -9.98686471e+01] [-6.90618551e-02 4.35002385e-03 9.97602896e-01 -4.53593750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.960714057 meters 0.03945178082224452 Centerline is valid? [True, True] Translation: X:689.83, Y:-99.88, Z:-45.36 [[ 9.85337171e-01 1.56708663e-01 6.74763307e-02 6.89834348e+02] [-1.56026414e-01 9.87634413e-01 -1.52978558e-02 -9.98767950e+01] [-6.90392528e-02 4.54545606e-03 9.97603589e-01 -4.53645866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.020714057 meters 0.040673232821325636 Centerline is valid? [True, True] Translation: X:689.89, Y:-99.89, Z:-45.37 [[ 9.85343508e-01 1.56583222e-01 6.76747114e-02 6.89890552e+02] [-1.55896684e-01 9.87654208e-01 -1.53424056e-02 -9.98884334e+01] [-6.92415768e-02 4.56727661e-03 9.97589467e-01 -4.53680184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.080714057 meters 0.04191317576549881 Centerline is valid? [True, True] Translation: X:689.95, Y:-99.90, Z:-45.37 [[ 9.85253022e-01 1.57354754e-01 6.72009278e-02 6.89947697e+02] [-1.56680017e-01 9.87532001e-01 -1.52288821e-02 -9.98991477e+01] [-6.87594037e-02 4.47525957e-03 9.97623234e-01 -4.53719456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.140714057 meters 0.04276264251520369 Centerline is valid? [True, True] Translation: X:690.01, Y:-99.91, Z:-45.38 [[ 9.85215567e-01 1.57869495e-01 6.65395389e-02 6.90005200e+02] [-1.57209491e-01 9.87450224e-01 -1.50741978e-02 -9.99103855e+01] [-6.80842386e-02 4.39068731e-03 9.97669915e-01 -4.53764214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.200714057 meters 0.03720001366300266 Centerline is valid? [True, True] Translation: X:690.07, Y:-99.91, Z:-45.38 [[ 9.84808148e-01 1.60797766e-01 6.55514312e-02 6.90066468e+02] [-1.60164005e-01 9.86978771e-01 -1.48458123e-02 -9.99095209e+01] [-6.70850444e-02 4.12129719e-03 9.97738749e-01 -4.53807344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.260714057 meters 0.03599692533685104 Centerline is valid? [True, True] Translation: X:690.13, Y:-99.91, Z:-45.38 [[ 9.83803493e-01 1.66715186e-01 6.58538797e-02 6.90126772e+02] [-1.66088902e-01 9.85998029e-01 -1.49118473e-02 -9.99143600e+01] [-6.74178270e-02 3.73272889e-03 9.97717848e-01 -4.53838852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.320714057 meters 0.03415249339650242 Centerline is valid? [True, True] Translation: X:690.19, Y:-99.92, Z:-45.39 [[ 9.82922647e-01 1.71661055e-01 6.62989629e-02 6.90187002e+02] [-1.71037579e-01 9.85150151e-01 -1.50108628e-02 -9.99214879e+01] [-6.78912139e-02 3.41490287e-03 9.97686886e-01 -4.53872880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.380714057 meters 0.02981467609917096 Centerline is valid? [True, True] Translation: X:690.25, Y:-99.92, Z:-45.39 [[ 9.81716036e-01 1.78611493e-01 6.58145850e-02 6.90249221e+02] [-1.78012685e-01 9.83915368e-01 -1.49007340e-02 -9.99209966e+01] [-6.74174240e-02 2.91245854e-03 9.97720606e-01 -4.53919527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.440714057 meters 0.03055889885351416 Centerline is valid? [True, True] Translation: X:690.31, Y:-99.93, Z:-45.40 [[ 9.80296130e-01 1.86469471e-01 6.51815481e-02 6.90308214e+02] [-1.85899463e-01 9.82457947e-01 -1.47570802e-02 -9.99309731e+01] [-6.67898748e-02 2.34909377e-03 9.97764298e-01 -4.53957204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.500714057 meters 0.02680671230156511 Centerline is valid? [True, True] Translation: X:690.37, Y:-99.93, Z:-45.40 [[ 9.78619401e-01 1.95352127e-01 6.43553816e-02 6.90370007e+02] [-1.94815656e-01 9.80731658e-01 -1.45696441e-02 -9.99322483e+01] [-6.59615711e-02 1.72070053e-03 9.97820680e-01 -4.54016873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.560714057 meters 0.025795628299295083 Centerline is valid? [True, True] Translation: X:690.43, Y:-99.94, Z:-45.41 [[ 9.77456709e-01 2.01232673e-01 6.39045631e-02 6.90429309e+02] [-2.00716261e-01 9.79542589e-01 -1.44671513e-02 -9.99400767e+01] [-6.55085047e-02 1.31432915e-03 9.97851145e-01 -4.54063467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.620714057 meters 0.024539195284555306 Centerline is valid? [True, True] Translation: X:690.49, Y:-99.95, Z:-45.41 [[ 9.75505008e-01 2.10289838e-01 6.45613176e-02 6.90488803e+02] [-2.09782676e-01 9.77638828e-01 -1.46133868e-02 -9.99476983e+01] [-6.61906976e-02 7.11586066e-04 9.97806737e-01 -4.54092212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.680714057 meters 0.024475887594433903 Centerline is valid? [True, True] Translation: X:690.55, Y:-99.96, Z:-45.41 [[ 9.74058307e-01 2.16815171e-01 6.48197210e-02 6.90546417e+02] [-2.16318532e-01 9.76212636e-01 -1.46690811e-02 -9.99606841e+01] [-6.64583100e-02 2.66833395e-04 9.97789167e-01 -4.54139276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.740714057 meters 0.02457694704219868 Centerline is valid? [True, True] Translation: X:690.60, Y:-99.98, Z:-45.42 [[ 9.73471770e-01 2.19211265e-01 6.55677909e-02 6.90601719e+02] [-2.18709609e-01 9.75677413e-01 -1.48220707e-02 -9.99759855e+01] [-6.72221774e-02 8.85615389e-05 9.97738027e-01 -4.54188020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.800714057 meters 0.024571849561435294 Centerline is valid? [True, True] Translation: X:690.66, Y:-100.00, Z:-45.42 [[ 9.73029708e-01 2.20928330e-01 6.63615907e-02 6.90656797e+02] [-2.20419780e-01 9.75290044e-01 -1.49816553e-02 -9.99955208e+01] [-6.80316708e-02 -4.98115335e-05 9.97683161e-01 -4.54219552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.860714057 meters 0.024499501484812728 Centerline is valid? [True, True] Translation: X:690.71, Y:-100.02, Z:-45.43 [[ 9.73308094e-01 2.19578977e-01 6.67564703e-02 6.90709619e+02] [-2.19062503e-01 9.75594727e-01 -1.50514891e-02 -1.00019893e+02] [-6.84322510e-02 2.58966849e-05 9.97655765e-01 -4.54260205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.920714057 meters 0.024627694302499843 Centerline is valid? [True, True] Translation: X:690.76, Y:-100.05, Z:-45.43 [[ 9.73870042e-01 2.16692847e-01 6.79805183e-02 6.90763585e+02] [-2.16151182e-01 9.76239808e-01 -1.53135358e-02 -1.00046946e+02] [-6.96836218e-02 2.19324341e-04 9.97569118e-01 -4.54305361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.980714057 meters 0.02466971285203477 Centerline is valid? [True, True] Translation: X:690.82, Y:-100.07, Z:-45.43 [[ 9.74012391e-01 2.15878372e-01 6.85302253e-02 6.90817481e+02] [-2.15327154e-01 9.76420227e-01 -1.54193636e-02 -1.00068896e+02] [-7.02430053e-02 2.62232845e-04 9.97529875e-01 -4.54343151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0407140570001 meters 0.02522402297507612 Centerline is valid? [True, True] Translation: X:690.87, Y:-100.10, Z:-45.44 [[ 9.74153310e-01 2.15373882e-01 6.81132824e-02 6.90869522e+02] [-2.14829462e-01 9.76531625e-01 -1.53064931e-02 -1.00095285e+02] [-6.98113931e-02 2.78131143e-04 9.97560170e-01 -4.54391616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.100714057 meters 0.025420381718029923 Centerline is valid? [True, True] Translation: X:690.92, Y:-100.12, Z:-45.44 [[ 9.74156603e-01 2.15126158e-01 6.88451074e-02 6.90923505e+02] [-2.14570031e-01 9.76586224e-01 -1.54612205e-02 -1.00117438e+02] [-7.05592964e-02 2.89553241e-04 9.97507545e-01 -4.54436047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1607140570001 meters 0.025190104093229578 Centerline is valid? [True, True] Translation: X:690.98, Y:-100.14, Z:-45.45 [[ 9.74170105e-01 2.14793439e-01 6.96877768e-02 6.90977793e+02] [-2.14224126e-01 9.76659454e-01 -1.56311940e-02 -1.00140382e+02] [-7.14187040e-02 2.98638816e-04 9.97446379e-01 -4.54467452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.220714057 meters 0.025010986276449043 Centerline is valid? [True, True] Translation: X:691.03, Y:-100.17, Z:-45.45 [[ 9.74083402e-01 2.14957729e-01 7.03896331e-02 6.91032270e+02] [-2.14377754e-01 9.76623312e-01 -1.57823939e-02 -1.00168206e+02] [-7.21367041e-02 2.83396437e-04 9.97394714e-01 -4.54496319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2807140570001 meters 0.023969094773134598 Centerline is valid? [True, True] Translation: X:691.09, Y:-100.20, Z:-45.45 [[ 9.73960721e-01 2.15493739e-01 7.04482973e-02 6.91085411e+02] [-2.14914575e-01 9.76505193e-01 -1.57903215e-02 -1.00195077e+02] [-7.21958435e-02 2.38787016e-04 9.97390447e-01 -4.54534278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.340714057 meters 0.023620359007682543 Centerline is valid? [True, True] Translation: X:691.14, Y:-100.22, Z:-45.46 [[ 9.74088306e-01 2.14841227e-01 7.06768715e-02 6.91140198e+02] [-2.14257138e-01 9.76648948e-01 -1.58338373e-02 -1.00218311e+02] [-7.24282533e-02 2.80531548e-04 9.97373586e-01 -4.54561128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4007140570001 meters 0.02334881621570907 Centerline is valid? [True, True] Translation: X:691.19, Y:-100.25, Z:-45.46 [[ 9.74249267e-01 2.13668312e-01 7.20015184e-02 6.91192933e+02] [-2.13059310e-01 9.76906196e-01 -1.61249529e-02 -1.00245569e+02] [-7.37841210e-02 3.69129680e-04 9.97274169e-01 -4.54576570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.460714057 meters 0.02236753565036457 Centerline is valid? [True, True] Translation: X:691.25, Y:-100.27, Z:-45.46 [[ 9.74249231e-01 2.13802596e-01 7.16022753e-02 6.91247461e+02] [-2.13201174e-01 9.76876823e-01 -1.60291077e-02 -1.00271940e+02] [-7.33736681e-02 3.50656671e-04 9.97304458e-01 -4.54604553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.520714057 meters 0.021258765717707566 Centerline is valid? [True, True] Translation: X:691.30, Y:-100.30, Z:-45.46 [[ 9.74141384e-01 2.14513565e-01 7.09400741e-02 6.91301539e+02] [-2.13925499e-01 9.76720967e-01 -1.58755808e-02 -1.00297038e+02] [-7.26941852e-02 2.89169511e-04 9.97354236e-01 -4.54641571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.580714057 meters 0.020616362404633076 Centerline is valid? [True, True] Translation: X:691.36, Y:-100.32, Z:-45.47 [[ 9.73847815e-01 2.15732058e-01 7.12749070e-02 6.91357382e+02] [-2.15142075e-01 9.76452580e-01 -1.59450893e-02 -1.00316178e+02] [-7.30364338e-02 1.93858968e-04 9.97329254e-01 -4.54673244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.640714057 meters 0.019734087474270714 Centerline is valid? [True, True] Translation: X:691.41, Y:-100.34, Z:-45.47 [[ 9.73433280e-01 2.17618229e-01 7.12036240e-02 6.91413645e+02] [-2.17034833e-01 9.76033967e-01 -1.59241095e-02 -1.00336656e+02] [-7.29625320e-02 4.73914812e-05 9.97334681e-01 -4.54706583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.700714057 meters 0.019140791513022865 Centerline is valid? [True, True] Translation: X:691.47, Y:-100.36, Z:-45.47 [[ 9.72915003e-01 2.19660543e-01 7.20114076e-02 6.91469786e+02] [-2.19069602e-01 9.75576360e-01 -1.61020437e-02 -1.00357437e+02] [-7.37896105e-02 -1.09590552e-04 9.97273825e-01 -4.54738803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.760714057 meters 0.018422261870869643 Centerline is valid? [True, True] Translation: X:691.53, Y:-100.38, Z:-45.48 [[ 9.72121787e-01 2.22932329e-01 7.26664118e-02 6.91526117e+02] [-2.22339896e-01 9.74833855e-01 -1.62457998e-02 -1.00377447e+02] [-7.44593924e-02 -3.63746493e-04 9.97223980e-01 -4.54763712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.820714057 meters 0.017692533009063562 Centerline is valid? [True, True] Translation: X:691.58, Y:-100.40, Z:-45.48 [[ 9.71441714e-01 2.25617340e-01 7.34698020e-02 6.91584968e+02] [-2.25019529e-01 9.74215829e-01 -1.64234456e-02 -1.00395631e+02] [-7.52808582e-02 -5.77720076e-04 9.97162203e-01 -4.54805532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.880714057 meters 0.017265667151433933 Centerline is valid? [True, True] Translation: X:691.64, Y:-100.42, Z:-45.48 [[ 9.70754282e-01 2.28324554e-01 7.41890973e-02 6.91642855e+02] [-2.27722534e-01 9.73584753e-01 -1.65884077e-02 -1.00416493e+02] [-7.60169148e-02 -7.91261406e-04 9.97106214e-01 -4.54838581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.940714057 meters 0.016542024565786715 Centerline is valid? [True, True] Translation: X:691.70, Y:-100.44, Z:-45.49 [[ 9.70755784e-01 2.28328723e-01 7.41566089e-02 6.91702056e+02] [-2.27726255e-01 9.73583786e-01 -1.65941193e-02 -1.00441169e+02] [-7.59865861e-02 -7.78569523e-04 9.97108536e-01 -4.54873243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.000714057 meters 0.015581783581065923 Centerline is valid? [True, True] Translation: X:691.76, Y:-100.47, Z:-45.49 [[ 9.71234470e-01 2.26425770e-01 7.37222809e-02 6.91760388e+02] [-2.25823363e-01 9.74028235e-01 -1.65168372e-02 -1.00466977e+02] [-7.55474208e-02 -6.06491740e-04 9.97142026e-01 -4.54913136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.060714057 meters 0.015239438840001925 Centerline is valid? [True, True] Translation: X:691.82, Y:-100.49, Z:-45.50 [[ 9.71741707e-01 2.24593306e-01 7.26353993e-02 6.91818944e+02] [-2.24002816e-01 9.74452485e-01 -1.62816745e-02 -1.00489096e+02] [-7.44365005e-02 -4.48951790e-04 9.97225654e-01 -4.54955139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.120714057 meters 0.014684585959739423 Centerline is valid? [True, True] Translation: X:691.88, Y:-100.51, Z:-45.50 [[ 9.72140516e-01 2.23218069e-01 7.15297854e-02 6.91877145e+02] [-2.22640361e-01 9.74768481e-01 -1.60523749e-02 -1.00514911e+02] [-7.33081604e-02 -3.20253212e-04 9.97309286e-01 -4.54996862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.180714057 meters 0.014101786485878958 Centerline is valid? [True, True] Translation: X:691.93, Y:-100.54, Z:-45.50 [[ 9.72513410e-01 2.21734888e-01 7.10725529e-02 6.91934822e+02] [-2.21159240e-01 9.75106970e-01 -1.59683064e-02 -1.00540174e+02] [-7.28440723e-02 -1.88959707e-04 9.97343324e-01 -4.55038945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.240714057 meters 0.014084973555886664 Centerline is valid? [True, True] Translation: X:691.99, Y:-100.57, Z:-45.51 [[ 9.73420141e-01 2.18188482e-01 6.96205166e-02 6.91992337e+02] [-2.17625797e-01 9.75906644e-01 -1.56599760e-02 -1.00566654e+02] [-7.13599511e-02 9.25156234e-05 9.97450625e-01 -4.55074209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.300714057 meters 0.014163701685053508 Centerline is valid? [True, True] Translation: X:692.05, Y:-100.59, Z:-45.51 [[ 9.74383380e-01 2.13726202e-01 6.99867077e-02 6.92051110e+02] [-2.13144742e-01 9.76893504e-01 -1.57607660e-02 -1.00589632e+02] [-7.17380488e-02 4.39729725e-04 9.97423410e-01 -4.55108061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.360714057 meters 0.015049909890011466 Centerline is valid? [True, True] Translation: X:692.11, Y:-100.62, Z:-45.51 [[ 9.76717356e-01 2.03170674e-01 6.88831240e-02 6.92109003e+02] [-2.02579974e-01 9.79142587e-01 -1.55289451e-02 -1.00616395e+02] [-7.06014265e-02 1.21304871e-03 9.97503868e-01 -4.55142524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.420714057 meters 0.018266983964243987 Centerline is valid? [True, True] Translation: X:692.16, Y:-100.64, Z:-45.52 [[ 9.78188400e-01 1.95836330e-01 6.92501648e-02 6.92164467e+02] [-1.95220588e-01 9.80635021e-01 -1.56165626e-02 -1.00641222e+02] [-7.09674272e-02 1.75688255e-03 9.97477086e-01 -4.55179369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.480714057 meters 0.01991828190436551 Centerline is valid? [True, True] Translation: X:692.22, Y:-100.66, Z:-45.52 [[ 9.80081201e-01 1.86454233e-01 6.83787886e-02 6.92221996e+02] [-1.85831081e-01 9.82460701e-01 -1.54200963e-02 -1.00663222e+02] [-7.00546149e-02 2.40604226e-03 9.97540256e-01 -4.55221376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5407140570001 meters 0.022812480794063113 Centerline is valid? [True, True] Translation: X:692.28, Y:-100.68, Z:-45.53 [[ 9.81129384e-01 1.81119604e-01 6.76817601e-02 6.92278773e+02] [-1.80496407e-01 9.83457207e-01 -1.52633492e-02 -1.00682948e+02] [-6.93266065e-02 2.75900589e-03 9.97590201e-01 -4.55258003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.600714057 meters 0.021014845102317502 Centerline is valid? [True, True] Translation: X:692.34, Y:-100.69, Z:-45.53 [[ 9.81599138e-01 1.78467697e-01 6.79147460e-02 6.92339888e+02] [-1.77833839e-01 9.83941329e-01 -1.53162561e-02 -1.00694858e+02] [-6.95575824e-02 2.95688375e-03 9.97573556e-01 -4.55302085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6607140570001 meters 0.02293005544821143 Centerline is valid? [True, True] Translation: X:692.40, Y:-100.71, Z:-45.53 [[ 9.82092771e-01 1.76111344e-01 6.69222173e-02 6.92398919e+02] [-1.75490063e-01 9.84365423e-01 -1.50980584e-02 -1.00710744e+02] [-6.85348561e-02 3.08350982e-03 9.97643957e-01 -4.55336587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.720714057 meters 0.02429578078400917 Centerline is valid? [True, True] Translation: X:692.46, Y:-100.72, Z:-45.54 [[ 9.82496404e-01 1.73424242e-01 6.80062389e-02 6.92458160e+02] [-1.72775125e-01 9.84841550e-01 -1.53582968e-02 -1.00722298e+02] [-6.96388707e-02 3.33968491e-03 9.97566677e-01 -4.55358925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7807140570001 meters 0.023365782822417847 Centerline is valid? [True, True] Translation: X:692.52, Y:-100.73, Z:-45.54 [[ 9.83312492e-01 1.68813177e-01 6.78133823e-02 6.92519026e+02] [-1.68156726e-01 9.85641282e-01 -1.53159602e-02 -1.00730060e+02] [-6.94252050e-02 3.65709865e-03 9.97580456e-01 -4.55391279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.840714057 meters 0.025478503150137964 Centerline is valid? [True, True] Translation: X:692.58, Y:-100.74, Z:-45.54 [[ 9.83956599e-01 1.65451060e-01 6.67484699e-02 6.92577970e+02] [-1.64807333e-01 9.86210550e-01 -1.50762723e-02 -1.00742221e+02] [-6.83224304e-02 3.83376028e-03 9.97655927e-01 -4.55431357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9007140570001 meters 0.030680973625177542 Centerline is valid? [True, True] Translation: X:692.64, Y:-100.76, Z:-45.55 [[ 9.84801391e-01 1.60656207e-01 6.59985162e-02 6.92637001e+02] [-1.60016078e-01 9.87001825e-01 -1.49081144e-02 -1.00755507e+02] [-6.75357371e-02 4.12070807e-03 9.97708346e-01 -4.55465679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.960714057 meters 0.03036281487863347 Centerline is valid? [True, True] Translation: X:692.70, Y:-100.76, Z:-45.55 [[ 9.85092653e-01 1.59041941e-01 6.55600897e-02 6.92698997e+02] [-1.58406625e-01 9.87262873e-01 -1.48108497e-02 -1.00763438e+02] [-6.70805888e-02 4.20490671e-03 9.97738700e-01 -4.55504590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.020714057 meters 0.03237310772701218 Centerline is valid? [True, True] Translation: X:692.76, Y:-100.77, Z:-45.55 [[ 9.85135773e-01 1.59017360e-01 6.49691313e-02 6.92760008e+02] [-1.58393057e-01 9.87266964e-01 -1.46826547e-02 -1.00768859e+02] [-6.64766740e-02 4.17374906e-03 9.97779250e-01 -4.55538559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.080714057 meters 0.03155151773327879 Centerline is valid? [True, True] Translation: X:692.82, Y:-100.77, Z:-45.56 [[ 9.84842127e-01 1.60984147e-01 6.45762241e-02 6.92822116e+02] [-1.60370563e-01 9.86948757e-01 -1.46093616e-02 -1.00772826e+02] [-6.60852997e-02 4.03178933e-03 9.97805832e-01 -4.55576658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.140714057 meters 0.028590831974567157 Centerline is valid? [True, True] Translation: X:692.88, Y:-100.77, Z:-45.56 [[ 9.83913135e-01 1.66615767e-01 6.44525381e-02 6.92884625e+02] [-1.66016394e-01 9.86015148e-01 -1.45837388e-02 -1.00770116e+02] [-6.59810597e-02 3.64895423e-03 9.97814204e-01 -4.55615704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.200714057 meters 0.02678513840874559 Centerline is valid? [True, True] Translation: X:692.95, Y:-100.77, Z:-45.57 [[ 9.82753544e-01 1.72937724e-01 6.54829457e-02 6.92946535e+02] [-1.72332968e-01 9.84927311e-01 -1.48168688e-02 -1.00768578e+02] [-6.70583372e-02 3.27645997e-03 9.97743677e-01 -4.55658121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.260714057 meters 0.023481722299780974 Centerline is valid? [True, True] Translation: X:693.01, Y:-100.77, Z:-45.57 [[ 9.82019202e-01 1.76882985e-01 6.59598144e-02 6.93008659e+02] [-1.76278235e-01 9.84227227e-01 -1.49248071e-02 -1.00769330e+02] [-6.75593896e-02 3.02916746e-03 9.97710656e-01 -4.55692249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.320714057 meters 0.023052151144282565 Centerline is valid? [True, True] Translation: X:693.07, Y:-100.77, Z:-45.57 [[ 9.80946856e-01 1.82284136e-01 6.71993991e-02 6.93070814e+02] [-1.81668924e-01 9.83242165e-01 -1.52068003e-02 -1.00771851e+02] [-6.88452411e-02 2.70902042e-03 9.97623674e-01 -4.55736559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.380714057 meters 0.021994297510818103 Centerline is valid? [True, True] Translation: X:693.13, Y:-100.78, Z:-45.58 [[ 9.80422031e-01 1.85283253e-01 6.66540155e-02 6.93132302e+02] [-1.84684821e-01 9.82682028e-01 -1.50847055e-02 -1.00777523e+02] [-6.82946465e-02 2.47939275e-03 9.97662114e-01 -4.55785277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.440714057 meters 0.02156515717226458 Centerline is valid? [True, True] Translation: X:693.20, Y:-100.78, Z:-45.58 [[ 9.80023562e-01 1.87366538e-01 6.66903155e-02 6.93195082e+02] [-1.86772031e-01 9.82287285e-01 -1.50963020e-02 -1.00782001e+02] [-6.83375908e-02 2.33884594e-03 9.97659513e-01 -4.55837292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.500714057 meters 0.02119949123569085 Centerline is valid? [True, True] Translation: X:693.26, Y:-100.79, Z:-45.59 [[ 9.79762556e-01 1.88920448e-01 6.61392344e-02 6.93257344e+02] [-1.88338075e-01 9.81989865e-01 -1.49891567e-02 -1.00789188e+02] [-6.77798161e-02 2.22927835e-03 9.97697813e-01 -4.55888492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.560714057 meters 0.021362908612227925 Centerline is valid? [True, True] Translation: X:693.32, Y:-100.80, Z:-45.59 [[ 9.79455507e-01 1.90438076e-01 6.63343785e-02 6.93318858e+02] [-1.89854502e-01 9.81696860e-01 -1.50513829e-02 -1.00797240e+02] [-6.79866074e-02 2.14827951e-03 9.97683921e-01 -4.55936164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.620714057 meters 0.021700583172051056 Centerline is valid? [True, True] Translation: X:693.38, Y:-100.81, Z:-45.60 [[ 9.79122654e-01 1.92050502e-01 6.65990538e-02 6.93380464e+02] [-1.91464736e-01 9.81382877e-01 -1.51295589e-02 -1.00807700e+02] [-6.82648104e-02 2.06232365e-03 9.97665105e-01 -4.55979957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.680714057 meters 0.021503048725902016 Centerline is valid? [True, True] Translation: X:693.44, Y:-100.82, Z:-45.60 [[ 9.78200266e-01 1.96806818e-01 6.62670069e-02 6.93440148e+02] [-1.96236594e-01 9.80440744e-01 -1.50713719e-02 -1.00816583e+02] [-6.79370223e-02 1.73880823e-03 9.97688096e-01 -4.56022455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.740714057 meters 0.020805671495818776 Centerline is valid? [True, True] Translation: X:693.50, Y:-100.82, Z:-45.60 [[ 9.76811357e-01 2.03117035e-01 6.76981719e-02 6.93499435e+02] [-2.02536484e-01 9.79153556e-01 -1.54040995e-02 -1.00824016e+02] [-6.94157407e-02 1.33554963e-03 9.97586924e-01 -4.56048903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.800714057 meters 0.020156746711987986 Centerline is valid? [True, True] Translation: X:693.56, Y:-100.83, Z:-45.61 [[ 9.75667087e-01 2.08306647e-01 6.84257044e-02 6.93558380e+02] [-2.07726358e-01 9.78063080e-01 -1.55682710e-02 -1.00832111e+02] [-7.01676296e-02 9.75627240e-04 9.97534737e-01 -4.56076561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.860714057 meters 0.019549028535146663 Centerline is valid? [True, True] Translation: X:693.62, Y:-100.84, Z:-45.61 [[ 9.73898445e-01 2.16315300e-01 6.87714351e-02 6.93618102e+02] [-2.15749199e-01 9.76323477e-01 -1.56445201e-02 -1.00839467e+02] [-7.05273157e-02 3.98791804e-04 9.97509769e-01 -4.56120391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.920714057 meters 0.019218667071588806 Centerline is valid? [True, True] Translation: X:693.68, Y:-100.85, Z:-45.62 [[ 9.73030460e-01 2.20525331e-01 6.76779263e-02 6.93675552e+02] [-2.19987379e-01 9.75381243e-01 -1.53942570e-02 -1.00850852e+02] [-6.94066036e-02 9.07913830e-05 9.97588450e-01 -4.56170364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.980714057 meters 0.019285955733704417 Centerline is valid? [True, True] Translation: X:693.73, Y:-100.87, Z:-45.62 [[ 9.73015053e-01 2.20560916e-01 6.77833946e-02 6.93732858e+02] [-2.20021722e-01 9.75373198e-01 -1.54131924e-02 -1.00865711e+02] [-6.95136542e-02 8.34489774e-05 9.97580997e-01 -4.56211105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0407140570001 meters 0.018848417518614508 Centerline is valid? [True, True] Translation: X:693.79, Y:-100.88, Z:-45.63 [[ 9.73430941e-01 2.19109117e-01 6.65086322e-02 6.93790094e+02] [-2.18586973e-01 9.75700345e-01 -1.51186106e-02 -1.00883410e+02] [-6.82051207e-02 1.79002743e-04 9.97671303e-01 -4.56254845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.100714057 meters 0.018454152566008308 Centerline is valid? [True, True] Translation: X:693.85, Y:-100.90, Z:-45.63 [[ 9.73675075e-01 2.18347679e-01 6.54304241e-02 6.93847234e+02] [-2.17840791e-01 9.75871016e-01 -1.48711171e-02 -1.00901925e+02] [-6.70987283e-02 2.26220731e-04 9.97746315e-01 -4.56300706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1607140570001 meters 0.017791974972215806 Centerline is valid? [True, True] Translation: X:693.90, Y:-100.92, Z:-45.63 [[ 9.73282015e-01 2.19963541e-01 6.58647021e-02 6.93904676e+02] [-2.19453757e-01 9.75508087e-01 -1.49673285e-02 -1.00920105e+02] [-6.75438162e-02 1.13175304e-04 9.97716302e-01 -4.56322352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.220714057 meters 0.017512597065608666 Centerline is valid? [True, True] Translation: X:693.96, Y:-100.94, Z:-45.63 [[ 9.72937079e-01 2.21199905e-01 6.68134846e-02 6.93961944e+02] [-2.20678389e-01 9.75228487e-01 -1.51804848e-02 -1.00938306e+02] [-6.85163352e-02 2.53643796e-05 9.97649994e-01 -4.56343125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2807140570001 meters 0.017196210877092263 Centerline is valid? [True, True] Translation: X:694.02, Y:-100.96, Z:-45.64 [[ 9.72792800e-01 2.21086575e-01 6.92451853e-02 6.94019774e+02] [-2.20526140e-01 9.75254185e-01 -1.57320134e-02 -1.00959087e+02] [-7.10097937e-02 3.36159467e-05 9.97475618e-01 -4.56357597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.340714057 meters 0.016729847482197666 Centerline is valid? [True, True] Translation: X:694.08, Y:-100.98, Z:-45.64 [[ 9.72978617e-01 2.20063902e-01 6.98891295e-02 6.94079181e+02] [-2.19490026e-01 9.75485452e-01 -1.58827643e-02 -1.00980722e+02] [-7.16710521e-02 1.13623195e-04 9.97428317e-01 -4.56395567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4007140570001 meters 0.016521359295313152 Centerline is valid? [True, True] Translation: X:694.14, Y:-101.00, Z:-45.64 [[ 9.73028154e-01 2.20155780e-01 6.89031491e-02 6.94138486e+02] [-2.19596785e-01 9.75464718e-01 -1.56791271e-02 -1.00999713e+02] [-7.06644414e-02 1.25322036e-04 9.97500136e-01 -4.56435498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.460714057 meters 0.016322057867006707 Centerline is valid? [True, True] Translation: X:694.20, Y:-101.02, Z:-45.65 [[ 9.73138486e-01 2.20081646e-01 6.75688944e-02 6.94198046e+02] [-2.19542647e-01 9.75481444e-01 -1.53941095e-02 -1.01019878e+02] [-6.93001636e-02 1.46346484e-04 9.97595843e-01 -4.56497849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.520714057 meters 0.01615226288670538 Centerline is valid? [True, True] Translation: X:694.26, Y:-101.04, Z:-45.65 [[ 9.73332057e-01 2.19425172e-01 6.69126396e-02 6.94257305e+02] [-2.18893676e-01 9.75629309e-01 -1.52646443e-02 -1.01039879e+02] [-6.86313796e-02 2.10814024e-04 9.97642065e-01 -4.56535888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.580714057 meters 0.016008022137277287 Centerline is valid? [True, True] Translation: X:694.32, Y:-101.06, Z:-45.66 [[ 9.73434383e-01 2.18836884e-01 6.73492432e-02 6.94317811e+02] [-2.18296088e-01 9.75761419e-01 -1.53776256e-02 -1.01059128e+02] [-6.90819848e-02 2.67033155e-04 9.97610950e-01 -4.56570836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.640714057 meters 0.015871224603921257 Centerline is valid? [True, True] Translation: X:694.38, Y:-101.08, Z:-45.66 [[ 9.73741637e-01 2.17188937e-01 6.82362800e-02 6.94376541e+02] [-2.16628272e-01 9.76129499e-01 -1.56010823e-02 -1.01080354e+02] [-6.99958282e-02 4.09516032e-04 9.97547200e-01 -4.56596680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.700714057 meters 0.01591740677601826 Centerline is valid? [True, True] Translation: X:694.43, Y:-101.10, Z:-45.66 [[ 9.74082326e-01 2.15752592e-01 6.79296765e-02 6.94434731e+02] [-2.15192181e-01 9.76447920e-01 -1.55494548e-02 -1.01102122e+02] [-6.96846265e-02 5.28513908e-04 9.97568932e-01 -4.56629322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.760714057 meters 0.01575115603154939 Centerline is valid? [True, True] Translation: X:694.49, Y:-101.12, Z:-45.67 [[ 9.74362166e-01 2.14131309e-01 6.90373233e-02 6.94493729e+02] [-2.13546965e-01 9.76804652e-01 -1.58229629e-02 -1.01122631e+02] [-7.08241703e-02 6.74585499e-04 9.97488587e-01 -4.56651506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.820714057 meters 0.015860696099903447 Centerline is valid? [True, True] Translation: X:694.55, Y:-101.14, Z:-45.67 [[ 9.74792964e-01 2.11977293e-01 6.96010453e-02 6.94552587e+02] [-2.11376591e-01 9.77274217e-01 -1.59700077e-02 -1.01141577e+02] [-7.14045861e-02 8.55419416e-04 9.97447068e-01 -4.56682572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.880714057 meters 0.016211176211406404 Centerline is valid? [True, True] Translation: X:694.61, Y:-101.16, Z:-45.67 [[ 9.75426866e-01 2.08832673e-01 7.02235253e-02 6.94611619e+02] [-2.08212220e-01 9.77950761e-01 -1.61239105e-02 -1.01161469e+02] [-7.20423493e-02 1.10629940e-03 9.97400961e-01 -4.56719414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.940714057 meters 0.016905412909071885 Centerline is valid? [True, True] Translation: X:694.67, Y:-101.18, Z:-45.68 [[ 9.76407548e-01 2.04080607e-01 7.05649020e-02 6.94670005e+02] [-2.03440344e-01 9.78952965e-01 -1.62209217e-02 -1.01183006e+02] [-7.23900956e-02 1.48248240e-03 9.97375294e-01 -4.56760115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.000714057 meters 0.017507530630591402 Centerline is valid? [True, True] Translation: X:694.73, Y:-101.20, Z:-45.68 [[ 9.77183938e-01 2.01336404e-01 6.76402515e-02 6.94729683e+02] [-2.00740489e-01 9.79520796e-01 -1.55648926e-02 -1.01200191e+02] [-6.93888125e-02 1.63162595e-03 9.97588357e-01 -4.56825067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.060714057 meters 0.01792573515340794 Centerline is valid? [True, True] Translation: X:694.79, Y:-101.22, Z:-45.69 [[ 9.78174722e-01 1.97085941e-01 6.58129557e-02 6.94789071e+02] [-1.96511100e-01 9.80384380e-01 -1.51609577e-02 -1.01217519e+02] [-6.75100054e-02 1.89708930e-03 9.97716794e-01 -4.56880812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.120714057 meters 0.020628952433536057 Centerline is valid? [True, True] Translation: X:694.85, Y:-101.24, Z:-45.69 [[ 9.79322047e-01 1.90531669e-01 6.80147828e-02 6.94845848e+02] [-1.89901517e-01 9.81678034e-01 -1.56732382e-02 -1.01238507e+02] [-6.97548666e-02 2.43303729e-03 9.97561196e-01 -4.56894391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.180714057 meters 0.021227333450889636 Centerline is valid? [True, True] Translation: X:694.90, Y:-101.25, Z:-45.69 [[ 9.80325047e-01 1.85594905e-01 6.72111081e-02 6.94904781e+02] [-1.84967991e-01 9.82622491e-01 -1.54881191e-02 -1.01253347e+02] [-6.89176625e-02 2.75148739e-03 9.97618557e-01 -4.56935522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.240714057 meters 0.025697563288765872 Centerline is valid? [True, True] Translation: X:694.96, Y:-101.27, Z:-45.70 [[ 9.81969141e-01 1.76992072e-01 6.64109463e-02 6.94961725e+02] [-1.76360286e-01 9.84206688e-01 -1.53050361e-02 -1.01271858e+02] [-6.80709675e-02 3.31681963e-03 9.97674968e-01 -4.56978373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.300714057 meters 0.030988339861934614 Centerline is valid? [True, True] Translation: X:695.02, Y:-101.29, Z:-45.70 [[ 9.83491458e-01 1.68416846e-01 6.61839721e-02 6.95018814e+02] [-1.67769832e-01 9.85708150e-01 -1.52553842e-02 -1.01288268e+02] [-6.78073444e-02 3.89986615e-03 9.97690811e-01 -4.57019469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.360714057 meters 0.029459296907106674 Centerline is valid? [True, True] Translation: X:695.08, Y:-101.30, Z:-45.71 [[ 9.84151925e-01 1.64131148e-01 6.71264061e-02 6.95078946e+02] [-1.63455409e-01 9.86429336e-01 -1.54756339e-02 -1.01296428e+02] [-6.87554897e-02 4.25820078e-03 9.97624454e-01 -4.57058423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.420714057 meters 0.03183567990019504 Centerline is valid? [True, True] Translation: X:695.14, Y:-101.30, Z:-45.71 [[ 9.84641004e-01 1.60882668e-01 6.78148988e-02 6.95140057e+02] [-1.60185231e-01 9.86963133e-01 -1.56354224e-02 -1.01304822e+02] [-6.94462735e-02 4.53233276e-03 9.97575397e-01 -4.57087844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.480714057 meters 0.030287936130342356 Centerline is valid? [True, True] Translation: X:695.20, Y:-101.31, Z:-45.71 [[ 9.84403177e-01 1.62018734e-01 6.85588432e-02 6.95203941e+02] [-1.61308347e-01 9.86777398e-01 -1.58108775e-02 -1.01305288e+02] [-7.02139752e-02 4.50516439e-03 9.97521780e-01 -4.57124599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5407140570001 meters 0.030121066600118575 Centerline is valid? [True, True] Translation: X:695.26, Y:-101.31, Z:-45.72 [[ 9.83509661e-01 1.67506394e-01 6.81935120e-02 6.95264444e+02] [-1.66815496e-01 9.85862430e-01 -1.57435555e-02 -1.01307298e+02] [-6.98665677e-02 4.10820443e-03 9.97547886e-01 -4.57173203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.600714057 meters 0.028388432686460033 Centerline is valid? [True, True] Translation: X:695.33, Y:-101.31, Z:-45.72 [[ 9.82822213e-01 1.71576186e-01 6.79860994e-02 6.95326028e+02] [-1.70899258e-01 9.85163502e-01 -1.56945264e-02 -1.01310530e+02] [-6.96702307e-02 3.80615524e-03 9.97562816e-01 -4.57232028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6607140570001 meters 0.027458318080059475 Centerline is valid? [True, True] Translation: X:695.39, Y:-101.31, Z:-45.73 [[ 9.81703394e-01 1.78404869e-01 6.65593700e-02 6.95386630e+02] [-1.77771638e-01 9.83951789e-01 -1.53662714e-02 -1.01311852e+02] [-6.82326287e-02 3.25275249e-03 9.97664136e-01 -4.57299103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.720714057 meters 0.026446780093602153 Centerline is valid? [True, True] Translation: X:695.45, Y:-101.32, Z:-45.74 [[ 9.80866438e-01 1.83203280e-01 6.58603731e-02 6.95447505e+02] [-1.82594155e-01 9.83070813e-01 -1.52036531e-02 -1.01315707e+02] [-6.75307697e-02 2.88703385e-03 9.97713015e-01 -4.57352315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7807140570001 meters 0.023398597387469515 Centerline is valid? [True, True] Translation: X:695.51, Y:-101.32, Z:-45.74 [[ 9.80007261e-01 1.87606089e-01 6.62549845e-02 6.95509752e+02] [-1.86999653e-01 9.82240907e-01 -1.52948092e-02 -1.01316437e+02] [-6.79477554e-02 2.59936493e-03 9.97685494e-01 -4.57395685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.840714057 meters 0.021930298384125725 Centerline is valid? [True, True] Translation: X:695.57, Y:-101.32, Z:-45.74 [[ 9.79203525e-01 1.91867646e-01 6.59337747e-02 6.95570952e+02] [-1.91276625e-01 9.81418129e-01 -1.52219632e-02 -1.01322679e+02] [-6.76292040e-02 2.29381012e-03 9.97707888e-01 -4.57446658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9007140570001 meters 0.02037360576086349 Centerline is valid? [True, True] Translation: X:695.63, Y:-101.33, Z:-45.75 [[ 9.78212187e-01 1.96682778e-01 6.64590303e-02 6.95632472e+02] [-1.96093183e-01 9.80465179e-01 -1.53458952e-02 -1.01329487e+02] [-6.81790384e-02 1.97937891e-03 9.97671139e-01 -4.57490384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.960714057 meters 0.020571255887456272 Centerline is valid? [True, True] Translation: X:695.69, Y:-101.34, Z:-45.75 [[ 9.76771209e-01 2.03251327e-01 6.78741749e-02 6.95692517e+02] [-2.02651821e-01 9.79125360e-01 -1.56770257e-02 -1.01337017e+02] [-6.96437022e-02 1.55804221e-03 9.97570713e-01 -4.57519852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.020714057 meters 0.019448814940518824 Centerline is valid? [True, True] Translation: X:695.75, Y:-101.34, Z:-45.76 [[ 9.75668534e-01 2.08374060e-01 6.81994316e-02 6.95753672e+02] [-2.07780740e-01 9.78048464e-01 -1.57596583e-02 -1.01344918e+02] [-6.99862533e-02 1.20567434e-03 9.97547227e-01 -4.57566049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.080714057 meters 0.01923074236518718 Centerline is valid? [True, True] Translation: X:695.81, Y:-101.36, Z:-45.76 [[ 9.75047689e-01 2.10969695e-01 6.90926271e-02 6.95812420e+02] [-2.10367037e-01 9.77492054e-01 -1.59685254e-02 -1.01357561e+02] [-7.09063689e-02 1.03526253e-03 9.97482439e-01 -4.57600063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.140714057 meters 0.018855386356494745 Centerline is valid? [True, True] Translation: X:695.87, Y:-101.37, Z:-45.76 [[ 9.74553603e-01 2.12920773e-01 7.00715340e-02 6.95871512e+02] [-2.12305925e-01 9.77069048e-01 -1.61947680e-02 -1.01371509e+02] [-7.19129295e-02 9.06067684e-04 9.97410502e-01 -4.57628335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.200714057 meters 0.018432022194420663 Centerline is valid? [True, True] Translation: X:695.93, Y:-101.39, Z:-45.77 [[ 9.74564111e-01 2.13351381e-01 6.86001585e-02 6.95930797e+02] [-2.12763169e-01 9.76975156e-01 -1.58549164e-02 -1.01387208e+02] [-7.04033189e-02 8.56045369e-04 9.97518240e-01 -4.57675724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.260714057 meters 0.01834288364813687 Centerline is valid? [True, True] Translation: X:695.99, Y:-101.41, Z:-45.77 [[ 9.74520887e-01 2.14016570e-01 6.71263627e-02 6.95988278e+02] [-2.13454804e-01 9.76829708e-01 -1.55166809e-02 -1.01406120e+02] [-6.88918521e-02 7.92885007e-04 9.97623819e-01 -4.57726407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.320714057 meters 0.017527262054975307 Centerline is valid? [True, True] Translation: X:696.05, Y:-101.42, Z:-45.78 [[ 9.73945519e-01 2.16460218e-01 6.76394886e-02 6.96046685e+02] [-2.15895609e-01 9.76291238e-01 -1.56366353e-02 -1.01424062e+02] [-6.94205495e-02 6.26162326e-04 9.97587287e-01 -4.57750477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.380714057 meters 0.017203048454014255 Centerline is valid? [True, True] Translation: X:696.11, Y:-101.44, Z:-45.78 [[ 9.73215029e-01 2.19536014e-01 6.82381593e-02 6.96106962e+02] [-2.18968635e-01 9.75604309e-01 -1.57787793e-02 -1.01439368e+02] [-7.00374526e-02 4.14128558e-04 9.97544277e-01 -4.57788741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.440714057 meters 0.017016239644109695 Centerline is valid? [True, True] Translation: X:696.17, Y:-101.46, Z:-45.78 [[ 9.71728280e-01 2.25828887e-01 6.88873295e-02 6.96165402e+02] [-2.25265152e-01 9.74166984e-01 -1.59467235e-02 -1.01456028e+02] [-7.07089929e-02 -2.20324862e-05 9.97496986e-01 -4.57805805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.500714057 meters 0.016724737055861232 Centerline is valid? [True, True] Translation: X:696.22, Y:-101.47, Z:-45.78 [[ 9.70873450e-01 2.29494142e-01 6.88271992e-02 6.96224153e+02] [-2.28940123e-01 9.73310002e-01 -1.59392904e-02 -1.01473017e+02] [-7.06481752e-02 -2.82273552e-04 9.97501256e-01 -4.57845731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.560714057 meters 0.01690792667068623 Centerline is valid? [True, True] Translation: X:696.28, Y:-101.49, Z:-45.79 [[ 9.69556180e-01 2.35558180e-01 6.68816654e-02 6.96282683e+02] [-2.35049238e-01 9.71859997e-01 -1.54920017e-02 -1.01493264e+02] [-6.86488829e-02 -7.00118446e-04 9.97640637e-01 -4.57889749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.620714057 meters 0.01697289308857263 Centerline is valid? [True, True] Translation: X:696.34, Y:-101.52, Z:-45.79 [[ 9.68548983e-01 2.39730596e-01 6.66491518e-02 6.96341162e+02] [-2.39233920e-01 9.70838961e-01 -1.54545495e-02 -1.01517913e+02] [-6.84105216e-02 -9.76249652e-04 9.97656778e-01 -4.57907337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.680714057 meters 0.01708528655720322 Centerline is valid? [True, True] Translation: X:696.40, Y:-101.54, Z:-45.79 [[ 9.68064434e-01 2.41466376e-01 6.74183973e-02 6.96399515e+02] [-2.40961097e-01 9.70408570e-01 -1.56511041e-02 -1.01539171e+02] [-6.92026059e-02 -1.09393378e-03 9.97602026e-01 -4.57926355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.740714057 meters 0.01692842587479926 Centerline is valid? [True, True] Translation: X:696.46, Y:-101.56, Z:-45.80 [[ 9.67893312e-01 2.42089562e-01 6.76400768e-02 6.96459376e+02] [-2.41581298e-01 9.70253254e-01 -1.57194120e-02 -1.01557896e+02] [-6.94335102e-02 -1.12586382e-03 9.97585946e-01 -4.57955370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.800714057 meters 0.01686154677747124 Centerline is valid? [True, True] Translation: X:696.52, Y:-101.59, Z:-45.80 [[ 9.67952099e-01 2.42462227e-01 6.54278428e-02 6.96516785e+02] [-2.41986263e-01 9.70160228e-01 -1.52243795e-02 -1.01586134e+02] [-6.71668278e-02 -1.09616904e-03 9.97741157e-01 -4.57991395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.860714057 meters 0.01605705879074472 Centerline is valid? [True, True] Translation: X:696.57, Y:-101.62, Z:-45.80 [[ 9.68278155e-01 2.41566373e-01 6.38991469e-02 6.96573908e+02] [-2.41109321e-01 9.70383791e-01 -1.48860301e-02 -1.01616186e+02] [-6.56026607e-02 -9.92862112e-04 9.97845331e-01 -4.58034509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.920714057 meters 0.01581885095321564 Centerline is valid? [True, True] Translation: X:696.63, Y:-101.64, Z:-45.81 [[ 9.68434575e-01 2.41118364e-01 6.32171520e-02 6.96631739e+02] [-2.40668989e-01 9.70495265e-01 -1.47437831e-02 -1.01640112e+02] [-6.49069435e-02 -9.36018709e-04 9.97890882e-01 -4.58070897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.980714057 meters 0.015628379140010192 Centerline is valid? [True, True] Translation: X:696.69, Y:-101.67, Z:-45.81 [[ 9.68612410e-01 2.40238087e-01 6.38409011e-02 6.96688589e+02] [-2.39776768e-01 9.70713607e-01 -1.49062232e-02 -1.01669966e+02] [-6.55522739e-02 -8.69212113e-04 9.97848758e-01 -4.58093228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0407140570001 meters 0.01607169390371686 Centerline is valid? [True, True] Translation: X:696.75, Y:-101.69, Z:-45.81 [[ 9.68742886e-01 2.39621633e-01 6.41770588e-02 6.96747145e+02] [-2.39152940e-01 9.70866010e-01 -1.50020706e-02 -1.01693683e+02] [-6.59021456e-02 -8.14983165e-04 9.97825758e-01 -4.58124692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.100714057 meters 0.016959477808651008 Centerline is valid? [True, True] Translation: X:696.80, Y:-101.72, Z:-45.82 [[ 9.69432031e-01 2.36768039e-01 6.43617293e-02 6.96803928e+02] [-2.36289218e-01 9.71566019e-01 -1.50624358e-02 -1.01723997e+02] [-6.60979725e-02 -6.05975002e-04 9.97812954e-01 -4.58172692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1607140570001 meters 0.017642917420662443 Centerline is valid? [True, True] Translation: X:696.86, Y:-101.75, Z:-45.82 [[ 9.70492486e-01 2.32516554e-01 6.38779038e-02 6.96859778e+02] [-2.32034607e-01 9.72592393e-01 -1.49658793e-02 -1.01753151e+02] [-6.56069780e-02 -2.97610956e-04 9.97845497e-01 -4.58224445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.220714057 meters 0.01834667124370857 Centerline is valid? [True, True] Translation: X:696.92, Y:-101.78, Z:-45.83 [[ 9.71154311e-01 2.30024653e-01 6.28328222e-02 6.96919062e+02] [-2.29552190e-01 9.73184796e-01 -1.47358708e-02 -1.01776698e+02] [-6.45375608e-02 -1.12607509e-04 9.97915272e-01 -4.58276591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2807140570001 meters 0.018427432114802425 Centerline is valid? [True, True] Translation: X:696.98, Y:-101.80, Z:-45.83 [[ 9.71643894e-01 2.28077396e-01 6.23606078e-02 6.96978407e+02] [-2.27606859e-01 9.73643005e-01 -1.46430023e-02 -1.01799304e+02] [-6.40567074e-02 3.40817568e-05 9.97946260e-01 -4.58311104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.340714057 meters 0.01898995412632824 Centerline is valid? [True, True] Translation: X:697.04, Y:-101.82, Z:-45.83 [[ 9.72070348e-01 2.26220317e-01 6.24788446e-02 6.97036265e+02] [-2.25742973e-01 9.74076146e-01 -1.46891965e-02 -1.01823839e+02] [-6.41821469e-02 1.74772239e-04 9.97938185e-01 -4.58339199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4007140570001 meters 0.01874228595378207 Centerline is valid? [True, True] Translation: X:697.10, Y:-101.84, Z:-45.84 [[ 9.71930086e-01 2.26728068e-01 6.28195186e-02 6.97096672e+02] [-2.26245449e-01 9.73958088e-01 -1.47864467e-02 -1.01842379e+02] [-6.45360807e-02 1.58762255e-04 9.97915362e-01 -4.58376660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.460714057 meters 0.018633503664001197 Centerline is valid? [True, True] Translation: X:697.16, Y:-101.86, Z:-45.84 [[ 9.71232552e-01 2.29799168e-01 6.24473634e-02 6.97156712e+02] [-2.29327391e-01 9.73238071e-01 -1.47175303e-02 -1.01862119e+02] [-6.41582277e-02 -2.67464499e-05 9.97939738e-01 -4.58407914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.520714057 meters 0.01959839124925805 Centerline is valid? [True, True] Translation: X:697.22, Y:-101.88, Z:-45.84 [[ 9.70499808e-01 2.33126188e-01 6.15004337e-02 6.97216003e+02] [-2.32674124e-01 9.72446466e-01 -1.45128287e-02 -1.01878972e+02] [-6.31891999e-02 -2.24862063e-04 9.98001540e-01 -4.58445038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.580714057 meters 0.01981096273994721 Centerline is valid? [True, True] Translation: X:697.28, Y:-101.90, Z:-45.85 [[ 9.69974636e-01 2.35159716e-01 6.20412266e-02 6.97276894e+02] [-2.34702691e-01 9.71956681e-01 -1.46580000e-02 -1.01896264e+02] [-6.37483558e-02 -3.43354607e-04 9.97965946e-01 -4.58476959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.640714057 meters 0.01961560744512855 Centerline is valid? [True, True] Translation: X:697.34, Y:-101.91, Z:-45.85 [[ 9.69505229e-01 2.36993605e-01 6.23990615e-02 6.97336990e+02] [-2.36533893e-01 9.71511106e-01 -1.47610155e-02 -1.01914877e+02] [-6.41196475e-02 -4.48611204e-04 9.97942117e-01 -4.58504706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.700714057 meters 0.019859742226324858 Centerline is valid? [True, True] Translation: X:697.40, Y:-101.94, Z:-45.85 [[ 9.68893895e-01 2.39287329e-01 6.31363121e-02 6.97395583e+02] [-2.38820332e-01 9.70948622e-01 -1.49540178e-02 -1.01935830e+02] [-6.48804222e-02 -5.89378422e-04 9.97892872e-01 -4.58536169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.760714057 meters 0.020228892296765055 Centerline is valid? [True, True] Translation: X:697.45, Y:-101.95, Z:-45.86 [[ 9.68438841e-01 2.41044200e-01 6.34342548e-02 6.97454780e+02] [-2.40575443e-01 9.70513891e-01 -1.50414269e-02 -1.01954934e+02] [-6.51894742e-02 -6.94021942e-04 9.97872663e-01 -4.58581456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.820714057 meters 0.020034855540731145 Centerline is valid? [True, True] Translation: X:697.51, Y:-101.97, Z:-45.86 [[ 9.68640604e-01 2.40562440e-01 6.21698667e-02 6.97514276e+02] [-2.40110192e-01 9.70633459e-01 -1.47574892e-02 -1.01974968e+02] [-6.38942504e-02 -6.32915358e-04 9.97956474e-01 -4.58633786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.880714057 meters 0.01979378534625713 Centerline is valid? [True, True] Translation: X:697.57, Y:-102.00, Z:-45.87 [[ 9.69700505e-01 2.36497974e-01 6.12342899e-02 6.97571635e+02] [-2.36050003e-01 9.71631922e-01 -1.45534975e-02 -1.02000082e+02] [-6.29390635e-02 -3.41820453e-04 9.98017313e-01 -4.58679323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.940714057 meters 0.01953792264686458 Centerline is valid? [True, True] Translation: X:697.63, Y:-102.02, Z:-45.87 [[ 9.70676718e-01 2.32678257e-01 6.03948427e-02 6.97630205e+02] [-2.32234119e-01 9.72553763e-01 -1.43697996e-02 -1.02020553e+02] [-6.20807715e-02 -7.73131793e-05 9.98071126e-01 -4.58717261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.000714057 meters 0.019420823945170744 Centerline is valid? [True, True] Translation: X:697.69, Y:-102.05, Z:-45.87 [[ 9.72180887e-01 2.25785226e-01 6.23326102e-02 6.97688234e+02] [-2.25296838e-01 9.74177026e-01 -1.48477814e-02 -1.02045870e+02] [-6.40754065e-02 3.91389324e-04 9.97944983e-01 -4.58730349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.060714057 meters 0.019567396560694252 Centerline is valid? [True, True] Translation: X:697.75, Y:-102.07, Z:-45.88 [[ 9.73634842e-01 2.19216808e-01 6.30807930e-02 6.97745894e+02] [-2.18701739e-01 9.75675801e-01 -1.50426441e-02 -1.02069467e+02] [-6.48440037e-02 8.50163271e-04 9.97895051e-01 -4.58751092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.120714057 meters 0.020460700249790575 Centerline is valid? [True, True] Translation: X:697.81, Y:-102.09, Z:-45.88 [[ 9.74451368e-01 2.15444455e-01 6.34682436e-02 6.97805365e+02] [-2.14914476e-01 9.76515458e-01 -1.51435653e-02 -1.02088464e+02] [-6.52403182e-02 1.11642361e-03 9.97868957e-01 -4.58796389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.180714057 meters 0.021043184297604794 Centerline is valid? [True, True] Translation: X:697.86, Y:-102.11, Z:-45.88 [[ 9.75454225e-01 2.10997416e-01 6.30011500e-02 6.97864855e+02] [-2.10464908e-01 9.77485589e-01 -1.50481416e-02 -1.02106467e+02] [-6.47578352e-02 1.41924208e-03 9.97899999e-01 -4.58834348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.240714057 meters 0.021490011061553183 Centerline is valid? [True, True] Translation: X:697.92, Y:-102.12, Z:-45.89 [[ 9.75724817e-01 2.10090178e-01 6.18320278e-02 6.97924538e+02] [-2.09575174e-01 9.77680928e-01 -1.47732814e-02 -1.02123083e+02] [-6.35557156e-02 1.45619933e-03 9.97977229e-01 -4.58877387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.300714057 meters 0.021543263092112092 Centerline is valid? [True, True] Translation: X:697.99, Y:-102.14, Z:-45.89 [[ 9.75688597e-01 2.10435215e-01 6.12272920e-02 6.97985768e+02] [-2.09929935e-01 9.77606752e-01 -1.46444999e-02 -1.02135408e+02] [-6.29379326e-02 1.43503009e-03 9.98016411e-01 -4.58923806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.360714057 meters 0.02163010174802625 Centerline is valid? [True, True] Translation: X:698.05, Y:-102.15, Z:-45.90 [[ 9.75295481e-01 2.11927098e-01 6.23348253e-02 6.98045423e+02] [-2.11405170e-01 9.77284501e-01 -1.49284332e-02 -1.02147194e+02] [-6.40825981e-02 1.38172908e-03 9.97943641e-01 -4.58952602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.420714057 meters 0.021186172397955852 Centerline is valid? [True, True] Translation: X:698.11, Y:-102.16, Z:-45.90 [[ 9.75002426e-01 2.13065280e-01 6.30353594e-02 6.98106031e+02] [-2.12532927e-01 9.77037051e-01 -1.51114236e-02 -1.02159167e+02] [-6.48076014e-02 1.33658526e-03 9.97896883e-01 -4.58979531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.480714057 meters 0.021504644651609617 Centerline is valid? [True, True] Translation: X:698.17, Y:-102.17, Z:-45.90 [[ 9.74716205e-01 2.14107949e-01 6.39226623e-02 6.98166142e+02] [-2.13561624e-01 9.76809138e-01 -1.53408115e-02 -1.02171964e+02] [-6.57248303e-02 1.30151001e-03 9.97836937e-01 -4.59008392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5407140570001 meters 0.02140893945650392 Centerline is valid? [True, True] Translation: X:698.23, Y:-102.18, Z:-45.90 [[ 9.74322729e-01 2.15715431e-01 6.45141362e-02 6.98226834e+02] [-2.15161442e-01 9.76455512e-01 -1.54979677e-02 -1.02182308e+02] [-6.63383347e-02 1.21906763e-03 9.97796442e-01 -4.59043058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.600714057 meters 0.021178349319198035 Centerline is valid? [True, True] Translation: X:698.29, Y:-102.19, Z:-45.91 [[ 9.73599728e-01 2.18768755e-01 6.51444742e-02 6.98286866e+02] [-2.18210060e-01 9.75776189e-01 -1.56588435e-02 -1.02193677e+02] [-6.69920924e-02 1.03026614e-03 9.97752975e-01 -4.59069282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6607140570001 meters 0.02070400651968904 Centerline is valid? [True, True] Translation: X:698.35, Y:-102.20, Z:-45.91 [[ 9.73023725e-01 2.21428675e-01 6.47624291e-02 6.98347766e+02] [-2.20881436e-01 9.75176194e-01 -1.55814799e-02 -1.02204690e+02] [-6.66049655e-02 8.56331316e-04 9.97779056e-01 -4.59109987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.720714057 meters 0.019895202010275784 Centerline is valid? [True, True] Translation: X:698.41, Y:-102.21, Z:-45.92 [[ 9.72288587e-01 2.24654767e-01 6.46926463e-02 6.98408800e+02] [-2.24114800e-01 9.74438204e-01 -1.55802201e-02 -1.02213918e+02] [-6.65391568e-02 6.49890704e-04 9.97783603e-01 -4.59165540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7807140570001 meters 0.019937457078647268 Centerline is valid? [True, True] Translation: X:698.47, Y:-102.23, Z:-45.92 [[ 9.71834924e-01 2.26975832e-01 6.33944150e-02 6.98469362e+02] [-2.26461210e-01 9.73900264e-01 -1.52838501e-02 -1.02227225e+02] [-6.52089021e-02 4.97003381e-04 9.97871511e-01 -4.59214961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.840714057 meters 0.019430926979063547 Centerline is valid? [True, True] Translation: X:698.53, Y:-102.24, Z:-45.93 [[ 9.71411886e-01 2.28895032e-01 6.29762894e-02 6.98529527e+02] [-2.28390154e-01 9.73451036e-01 -1.51993086e-02 -1.02242250e+02] [-6.47833804e-02 3.81624643e-04 9.97899278e-01 -4.59267356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9007140570001 meters 0.019539635101579446 Centerline is valid? [True, True] Translation: X:698.59, Y:-102.26, Z:-45.93 [[ 9.71534351e-01 2.28286527e-01 6.32950699e-02 6.98589355e+02] [-2.27774163e-01 9.73593893e-01 -1.52925748e-02 -1.02258460e+02] [-6.51147823e-02 4.40280223e-04 9.97877684e-01 -4.59305895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.960714057 meters 0.019460955422619195 Centerline is valid? [True, True] Translation: X:698.65, Y:-102.28, Z:-45.93 [[ 9.72594403e-01 2.23454198e-01 6.42522339e-02 6.98648556e+02] [-2.22914486e-01 9.74714108e-01 -1.55415256e-02 -1.02276898e+02] [-6.61003780e-02 7.92847069e-04 9.97812664e-01 -4.59336597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.020714057 meters 0.020845976191690128 Centerline is valid? [True, True] Translation: X:698.71, Y:-102.30, Z:-45.94 [[ 9.73632481e-01 2.18561659e-01 6.53497784e-02 6.98705977e+02] [-2.17991144e-01 9.75822449e-01 -1.58243142e-02 -1.02297566e+02] [-6.72283692e-02 1.16139329e-03 9.97736938e-01 -4.59362912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.080714057 meters 0.02096014343801442 Centerline is valid? [True, True] Translation: X:698.76, Y:-102.32, Z:-45.94 [[ 9.75162407e-01 2.10568969e-01 6.86949010e-02 6.98764379e+02] [-2.09918014e-01 9.77577330e-01 -1.66430855e-02 -1.02315858e+02] [-7.06590952e-02 1.80941416e-03 9.97498881e-01 -4.59386124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.140714057 meters 0.023011596390939408 Centerline is valid? [True, True] Translation: X:698.82, Y:-102.34, Z:-45.94 [[ 9.76276983e-01 2.05181778e-01 6.91642229e-02 6.98821078e+02] [-2.04508293e-01 9.78721374e-01 -1.67579814e-02 -1.02335001e+02] [-7.11309357e-02 2.21577437e-03 9.97464526e-01 -4.59418630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.200714057 meters 0.025605184413567152 Centerline is valid? [True, True] Translation: X:698.88, Y:-102.35, Z:-45.95 [[ 9.77628376e-01 1.99090785e-01 6.78647030e-02 6.98877822e+02] [-1.98427727e-01 9.79977577e-01 -1.64434284e-02 -1.02353240e+02] [-6.97796223e-02 2.60932340e-03 9.97559019e-01 -4.59476230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.260714057 meters 0.024581053525651923 Centerline is valid? [True, True] Translation: X:698.94, Y:-102.36, Z:-45.95 [[ 9.78392197e-01 1.95509221e-01 6.72670363e-02 6.98937488e+02] [-1.94849086e-01 9.80697741e-01 -1.63025742e-02 -1.02364687e+02] [-6.91559341e-02 2.84339089e-03 9.97601810e-01 -4.59525517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.320714057 meters 0.025823818605478915 Centerline is valid? [True, True] Translation: X:699.00, Y:-102.38, Z:-45.96 [[ 9.78834560e-01 1.93359497e-01 6.70448328e-02 6.98997593e+02] [-1.92698592e-01 9.81123430e-01 -1.62501856e-02 -1.02379259e+02] [-6.89213840e-02 2.98679832e-03 9.97617623e-01 -4.59566659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.380714057 meters 0.026740049828205503 Centerline is valid? [True, True] Translation: X:699.06, Y:-102.39, Z:-45.96 [[ 9.78964420e-01 1.92445257e-01 6.77752764e-02 6.99058388e+02] [-1.91767255e-01 9.81302845e-01 -1.64331126e-02 -1.02391831e+02] [-6.96705461e-02 3.09035386e-03 9.97565268e-01 -4.59602089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.440714057 meters 0.029381989915224203 Centerline is valid? [True, True] Translation: X:699.12, Y:-102.41, Z:-45.96 [[ 9.78513781e-01 1.94789228e-01 6.75865104e-02 6.99117264e+02] [-1.94119460e-01 9.80840744e-01 -1.64033440e-02 -1.02407136e+02] [-6.94867978e-02 2.93104134e-03 9.97578565e-01 -4.59633607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.500714057 meters 0.023211523413224636 Centerline is valid? [True, True] Translation: X:699.18, Y:-102.40, Z:-45.97 [[ 9.76990034e-01 2.02140229e-01 6.80426397e-02 6.99180530e+02] [-2.01478964e-01 9.79353581e-01 -1.65163652e-02 -1.02403268e+02] [-6.99764247e-02 2.42716364e-03 9.97545693e-01 -4.59675742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.560714057 meters 0.021790189292964123 Centerline is valid? [True, True] Translation: X:699.24, Y:-102.41, Z:-45.97 [[ 9.75822830e-01 2.07593601e-01 6.83717928e-02 6.99241867e+02] [-2.06939204e-01 9.78213017e-01 -1.65969585e-02 -1.02407981e+02] [-7.03276001e-02 2.04688666e-03 9.97521849e-01 -4.59721652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.620714057 meters 0.020780982709957454 Centerline is valid? [True, True] Translation: X:699.30, Y:-102.41, Z:-45.98 [[ 9.74498879e-01 2.13325825e-01 6.95990480e-02 6.99304059e+02] [-2.12662130e-01 9.76979693e-01 -1.68966604e-02 -1.02412805e+02] [-7.16013506e-02 1.66469485e-03 9.97431940e-01 -4.59764591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.680714057 meters 0.020220592646487512 Centerline is valid? [True, True] Translation: X:699.37, Y:-102.42, Z:-45.98 [[ 9.73886632e-01 2.16304051e-01 6.89738033e-02 6.99366065e+02] [-2.15659326e-01 9.76324992e-01 -1.67500688e-02 -1.02421404e+02] [-7.09639557e-02 1.43782409e-03 9.97477844e-01 -4.59813912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.740714057 meters 0.020582056428825917 Centerline is valid? [True, True] Translation: X:699.43, Y:-102.43, Z:-45.99 [[ 9.73567935e-01 2.18027536e-01 6.80402098e-02 6.99426884e+02] [-2.17403122e-01 9.75941736e-01 -1.65411523e-02 -1.02430076e+02] [-7.00097072e-02 1.31178149e-03 9.97545448e-01 -4.59869480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.800714057 meters 0.019938578490284485 Centerline is valid? [True, True] Translation: X:699.49, Y:-102.44, Z:-45.99 [[ 9.73989102e-01 2.16034205e-01 6.83699639e-02 6.99488185e+02] [-2.15397626e-01 9.76384676e-01 -1.66381163e-02 -1.02438185e+02] [-7.03497873e-02 1.47861599e-03 9.97521289e-01 -4.59917133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.860714057 meters 0.021060908675472074 Centerline is valid? [True, True] Translation: X:699.55, Y:-102.45, Z:-45.99 [[ 9.74504589e-01 2.13595914e-01 6.86847294e-02 6.99547512e+02] [-2.12946171e-01 9.76920655e-01 -1.67320859e-02 -1.02453936e+02] [-7.06734360e-02 1.67934431e-03 9.97498093e-01 -4.59945694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.920714057 meters 0.02117008296994435 Centerline is valid? [True, True] Translation: X:699.61, Y:-102.46, Z:-46.00 [[ 9.75360266e-01 2.09513606e-01 6.91115074e-02 6.99609333e+02] [-2.08844363e-01 9.77803679e-01 -1.68522004e-02 -1.02463519e+02] [-7.11082515e-02 2.00341788e-03 9.97466592e-01 -4.59983524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.980714057 meters 0.022076191518319306 Centerline is valid? [True, True] Translation: X:699.67, Y:-102.48, Z:-46.00 [[ 9.75814051e-01 2.07393009e-01 6.91019326e-02 6.99669499e+02] [-2.06718202e-01 9.78255313e-01 -1.68560623e-02 -1.02475860e+02] [-7.10951622e-02 2.16375516e-03 9.97467191e-01 -4.60022243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0407140570001 meters 0.022046436872317346 Centerline is valid? [True, True] Translation: X:699.73, Y:-102.49, Z:-46.01 [[ 9.76561594e-01 2.04116548e-01 6.82926589e-02 6.99730859e+02] [-2.03448405e-01 9.78943679e-01 -1.66739176e-02 -1.02486699e+02] [-7.02580892e-02 2.38907500e-03 9.97525986e-01 -4.60065857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.100714057 meters 0.024802523557777054 Centerline is valid? [True, True] Translation: X:699.79, Y:-102.50, Z:-46.01 [[ 9.78121189e-01 1.96879589e-01 6.72113669e-02 6.99789074e+02] [-1.96215082e-01 9.80423482e-01 -1.64145355e-02 -1.02499130e+02] [-6.91272894e-02 2.86752108e-03 9.97603727e-01 -4.60102900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1607140570001 meters 0.028178534945249092 Centerline is valid? [True, True] Translation: X:699.85, Y:-102.51, Z:-46.01 [[ 9.79775161e-01 1.88437415e-01 6.73199433e-02 6.99847911e+02] [-1.87750903e-01 9.82079075e-01 -1.64404615e-02 -1.02511044e+02] [-6.92115057e-02 3.46857566e-03 9.97595979e-01 -4.60125093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.220714057 meters 0.028873349658509982 Centerline is valid? [True, True] Translation: X:699.91, Y:-102.52, Z:-46.02 [[ 9.80601035e-01 1.84535191e-01 6.60936723e-02 6.99908333e+02] [-1.83864683e-01 9.82819035e-01 -1.61407206e-02 -1.02521315e+02] [-6.79366502e-02 3.67531522e-03 9.97682867e-01 -4.60163809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2807140570001 meters 0.02892286700750242 Centerline is valid? [True, True] Translation: X:699.97, Y:-102.53, Z:-46.02 [[ 9.80934556e-01 1.82991251e-01 6.54339226e-02 6.99971141e+02] [-1.82330574e-01 9.83107406e-01 -1.59809109e-02 -1.02526181e+02] [-6.72529408e-02 3.74562310e-03 9.97728927e-01 -4.60202539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.340714057 meters 0.025629032135655646 Centerline is valid? [True, True] Translation: X:700.03, Y:-102.53, Z:-46.02 [[ 9.80603505e-01 1.84733253e-01 6.55010777e-02 7.00033256e+02] [-1.84074771e-01 9.82781978e-01 -1.60019663e-02 -1.02528937e+02] [-6.73293740e-02 3.63448837e-03 9.97724183e-01 -4.60235806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4007140570001 meters 0.022762502272023182 Centerline is valid? [True, True] Translation: X:700.10, Y:-102.53, Z:-46.03 [[ 9.78725550e-01 1.94550311e-01 6.51649779e-02 7.00096262e+02] [-1.93920057e-01 9.80888115e-01 -1.59222514e-02 -1.02528547e+02] [-6.70172313e-02 2.94671800e-03 9.97747467e-01 -4.60268290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.460714057 meters 0.019700936848521523 Centerline is valid? [True, True] Translation: X:700.16, Y:-102.53, Z:-46.03 [[ 9.76811861e-01 2.03900179e-01 6.52939855e-02 7.00158287e+02] [-2.03288142e-01 9.78988955e-01 -1.59548335e-02 -1.02530114e+02] [-6.71752841e-02 2.31137766e-03 9.97738512e-01 -4.60305522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.520714057 meters 0.01618734308445839 Centerline is valid? [True, True] Translation: X:700.22, Y:-102.53, Z:-46.03 [[ 9.74080615e-01 2.16640084e-01 6.50694208e-02 7.00221089e+02] [-2.16060550e-01 9.76250497e-01 -1.58998805e-02 -1.02526426e+02] [-6.69686059e-02 1.42883049e-03 9.97754060e-01 -4.60347853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.580714057 meters 0.015557870030987471 Centerline is valid? [True, True] Translation: X:700.28, Y:-102.54, Z:-46.04 [[ 9.73341820e-01 2.20042561e-01 6.47068265e-02 7.00282245e+02] [-2.19476948e-01 9.75489548e-01 -1.58117218e-02 -1.02537128e+02] [-6.66000848e-02 1.18855329e-03 9.97779042e-01 -4.60390941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.640714057 meters 0.015023246278052741 Centerline is valid? [True, True] Translation: X:700.34, Y:-102.54, Z:-46.04 [[ 9.71963235e-01 2.26123946e-01 6.44626255e-02 7.00342148e+02] [-2.25574795e-01 9.74098221e-01 -1.57692239e-02 -1.02544448e+02] [-6.63587279e-02 7.85962297e-04 9.97795521e-01 -4.60438173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.700714057 meters 0.014598530925839546 Centerline is valid? [True, True] Translation: X:700.40, Y:-102.55, Z:-46.05 [[ 9.71144499e-01 2.29595045e-01 6.45327680e-02 7.00402863e+02] [-2.29052237e-01 9.73286089e-01 -1.57880118e-02 -1.02554126e+02] [-6.64336946e-02 5.51065929e-04 9.97790690e-01 -4.60479400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.760714057 meters 0.014591463487374303 Centerline is valid? [True, True] Translation: X:700.46, Y:-102.57, Z:-46.05 [[ 9.70613163e-01 2.31912737e-01 6.42383898e-02 7.00463450e+02] [-2.31378898e-01 9.72736510e-01 -1.57317513e-02 -1.02567684e+02] [-6.61354206e-02 4.06037074e-04 9.97810574e-01 -4.60522721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.820714057 meters 0.014678417885173089 Centerline is valid? [True, True] Translation: X:700.52, Y:-102.58, Z:-46.06 [[ 9.69914610e-01 2.34885752e-01 6.39869757e-02 7.00523262e+02] [-2.34361440e-01 9.72022960e-01 -1.56869417e-02 -1.02583532e+02] [-6.58814487e-02 2.18914219e-04 9.97827433e-01 -4.60566643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.880714057 meters 0.01466819486400226 Centerline is valid? [True, True] Translation: X:700.58, Y:-102.60, Z:-46.06 [[ 9.69696653e-01 2.35644518e-01 6.44985465e-02 7.00583771e+02] [-2.35112303e-01 9.71839301e-01 -1.58296738e-02 -1.02599752e+02] [-6.64123982e-02 1.85579929e-04 9.97792242e-01 -4.60600566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.940714057 meters 0.014868609180963385 Centerline is valid? [True, True] Translation: X:700.64, Y:-102.62, Z:-46.06 [[ 9.70482510e-01 2.31751008e-01 6.67470400e-02 7.00641759e+02] [-2.31170357e-01 9.72775016e-01 -1.64022590e-02 -1.02621577e+02] [-6.87310929e-02 4.88168408e-04 9.97635103e-01 -4.60623717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.000714057 meters 0.017410343492006677 Centerline is valid? [True, True] Translation: X:700.70, Y:-102.65, Z:-46.07 [[ 9.72836250e-01 2.21497507e-01 6.72940188e-02 7.00696796e+02] [-2.20881668e-01 9.75160151e-01 -1.65519764e-02 -1.02649750e+02] [-6.92886670e-02 1.23834756e-03 9.97595884e-01 -4.60667571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.060714057 meters 0.02007536430267588 Centerline is valid? [True, True] Translation: X:700.75, Y:-102.67, Z:-46.07 [[ 9.75032959e-01 2.11702249e-01 6.70290020e-02 7.00753438e+02] [-2.11068020e-01 9.77332307e-01 -1.64879617e-02 -1.02673837e+02] [-6.90001477e-02 1.92862737e-03 9.97614785e-01 -4.60708767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.120714057 meters 0.0268095228594706 Centerline is valid? [True, True] Translation: X:700.81, Y:-102.70, Z:-46.07 [[ 9.78031417e-01 1.97449999e-01 6.68434369e-02 7.00807084e+02] [-1.96785930e-01 9.80308587e-01 -1.64430016e-02 -1.02703951e+02] [-6.87738658e-02 2.92792418e-03 9.97627978e-01 -4.60746688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.180714057 meters 0.025205565304029058 Centerline is valid? [True, True] Translation: X:700.87, Y:-102.72, Z:-46.08 [[ 9.79426526e-01 1.90750911e-01 6.58617564e-02 7.00865552e+02] [-1.90091016e-01 9.81632756e-01 -1.62030203e-02 -1.02719193e+02] [-6.77427984e-02 3.34993971e-03 9.97697194e-01 -4.60804422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.240714057 meters 0.02555072650055041 Centerline is valid? [True, True] Translation: X:700.92, Y:-102.73, Z:-46.08 [[ 9.80424652e-01 1.85902389e-01 6.48675855e-02 7.00924331e+02] [-1.85251669e-01 9.82561513e-01 -1.59591126e-02 -1.02734344e+02] [-6.67032301e-02 3.62987890e-03 9.97766257e-01 -4.60844062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.300714057 meters 0.02552225916934755 Centerline is valid? [True, True] Translation: X:700.98, Y:-102.75, Z:-46.09 [[ 9.79926115e-01 1.87967553e-01 6.64304716e-02 7.00984749e+02] [-1.87289723e-01 9.82168734e-01 -1.63443476e-02 -1.02746251e+02] [-6.83181392e-02 3.57450836e-03 9.97657183e-01 -4.60871587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.360714057 meters 0.02436511854733983 Centerline is valid? [True, True] Translation: X:701.04, Y:-102.76, Z:-46.09 [[ 9.79264967e-01 1.91188958e-01 6.69843719e-02 7.01044311e+02] [-1.90507098e-01 9.81547429e-01 -1.64830058e-02 -1.02756833e+02] [-6.88997068e-02 3.38023188e-03 9.97617865e-01 -4.60901826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.420714057 meters 0.02159004601876587 Centerline is valid? [True, True] Translation: X:701.11, Y:-102.76, Z:-46.09 [[ 9.78258097e-01 1.96287179e-01 6.69510274e-02 7.01105866e+02] [-1.95617879e-01 9.80541801e-01 -1.64748780e-02 -1.02761016e+02] [-6.88820884e-02 3.01986482e-03 9.97620238e-01 -4.60940807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.480714057 meters 0.021327499267978802 Centerline is valid? [True, True] Translation: X:701.17, Y:-102.77, Z:-46.10 [[ 9.77763018e-01 1.98828201e-01 6.66845419e-02 7.01166332e+02] [-1.98170024e-01 9.80030272e-01 -1.64106196e-02 -1.02771590e+02] [-6.86157636e-02 2.83081963e-03 9.97639145e-01 -4.60973793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5407140570001 meters 0.02193545141508918 Centerline is valid? [True, True] Translation: X:701.23, Y:-102.78, Z:-46.10 [[ 9.77901689e-01 1.98507542e-01 6.55975852e-02 7.01227391e+02] [-1.97869749e-01 9.80095333e-01 -1.61462249e-02 -1.02782502e+02] [-6.74970345e-02 2.80964288e-03 9.97715519e-01 -4.61011061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.600714057 meters 0.023875146627295403 Centerline is valid? [True, True] Translation: X:701.29, Y:-102.80, Z:-46.10 [[ 9.78826803e-01 1.93960923e-01 6.54006851e-02 7.01286658e+02] [-1.93315717e-01 9.81004262e-01 -1.61143104e-02 -1.02795980e+02] [-6.72838973e-02 3.13013868e-03 9.97728961e-01 -4.61049666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6607140570001 meters 0.026049717569917367 Centerline is valid? [True, True] Translation: X:701.35, Y:-102.81, Z:-46.11 [[ 9.79076147e-01 1.92700381e-01 6.53946567e-02 7.01346860e+02] [-1.92052396e-01 9.81252367e-01 -1.61142443e-02 -1.02811001e+02] [-6.72738827e-02 3.21787174e-03 9.97729357e-01 -4.61090402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.720714057 meters 0.021762677468655164 Centerline is valid? [True, True] Translation: X:701.41, Y:-102.81, Z:-46.11 [[ 9.78128466e-01 1.97829041e-01 6.42524366e-02 7.01408846e+02] [-1.97214160e-01 9.80232480e-01 -1.58385824e-02 -1.02813279e+02] [-6.61156569e-02 2.82067796e-03 9.97807979e-01 -4.61131837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7807140570001 meters 0.019134454548895515 Centerline is valid? [True, True] Translation: X:701.47, Y:-102.82, Z:-46.12 [[ 9.75567275e-01 2.10278606e-01 6.36506008e-02 7.01470286e+02] [-2.09701488e-01 9.77639537e-01 -1.56914380e-02 -1.02816855e+02] [-6.55269176e-02 1.96042771e-03 9.97848876e-01 -4.61164809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.840714057 meters 0.016799178968665385 Centerline is valid? [True, True] Translation: X:701.53, Y:-102.82, Z:-46.12 [[ 9.73685433e-01 2.18649138e-01 6.42590996e-02 7.01531483e+02] [-2.18079009e-01 9.75802521e-01 -1.58425164e-02 -1.02822875e+02] [-6.61681439e-02 1.41206667e-03 9.97807488e-01 -4.61191177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9007140570001 meters 0.015567169654914996 Centerline is valid? [True, True] Translation: X:701.59, Y:-102.83, Z:-46.12 [[ 9.71895671e-01 2.26111219e-01 6.55173362e-02 7.01591606e+02] [-2.25535325e-01 9.74101054e-01 -1.61540513e-02 -1.02832326e+02] [-6.74731185e-02 9.23578845e-04 9.97720665e-01 -4.61207039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.960714057 meters 0.01531171030477588 Centerline is valid? [True, True] Translation: X:701.65, Y:-102.85, Z:-46.13 [[ 9.71628949e-01 2.27383910e-01 6.50672269e-02 7.01651412e+02] [-2.26818562e-01 9.73804839e-01 -1.60460301e-02 -1.02846993e+02] [-6.70113895e-02 8.32332537e-04 9.97751863e-01 -4.61255717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.020714057 meters 0.01543633579435714 Centerline is valid? [True, True] Translation: X:701.71, Y:-102.87, Z:-46.13 [[ 9.72185193e-01 2.25764499e-01 6.23405326e-02 7.01710110e+02] [-2.25241261e-01 9.74181475e-01 -1.53892347e-02 -1.02865046e+02] [-6.42053348e-02 9.19525926e-04 9.97936285e-01 -4.61328317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.080714057 meters 0.01580055587719367 Centerline is valid? [True, True] Translation: X:701.77, Y:-102.88, Z:-46.14 [[ 9.72928777e-01 2.22933735e-01 6.09109498e-02 7.01768855e+02] [-2.22427785e-01 9.74832986e-01 -1.50509155e-02 -1.02883378e+02] [-6.27333599e-02 1.09518114e-03 9.98029722e-01 -4.61379641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.140714057 meters 0.017052342230137046 Centerline is valid? [True, True] Translation: X:701.83, Y:-102.91, Z:-46.14 [[ 9.74799224e-01 2.14930308e-01 5.97614886e-02 7.01826422e+02] [-2.14427297e-01 9.76628086e-01 -1.47822964e-02 -1.02905471e+02] [-6.15419117e-02 1.59527659e-03 9.98103225e-01 -4.61399635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.200714057 meters 0.019588641704507855 Centerline is valid? [True, True] Translation: X:701.88, Y:-102.93, Z:-46.14 [[ 9.76679619e-01 2.05324454e-01 6.27597936e-02 7.01883131e+02] [-2.04749724e-01 9.78691227e-01 -1.55252144e-02 -1.02927726e+02] [-6.46101656e-02 2.31311012e-03 9.97907900e-01 -4.61395245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.260714057 meters 0.02131090493667308 Centerline is valid? [True, True] Translation: X:701.94, Y:-102.95, Z:-46.14 [[ 9.77828908e-01 1.99568779e-01 6.34265736e-02 7.01941354e+02] [-1.98969644e-01 9.79880038e-01 -1.56904751e-02 -1.02945510e+02] [-6.52817623e-02 2.72263737e-03 9.97863156e-01 -4.61419555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.320714057 meters 0.024328925042372107 Centerline is valid? [True, True] Translation: X:702.00, Y:-102.96, Z:-46.15 [[ 9.79338928e-01 1.92411987e-01 6.22325575e-02 7.01999407e+02] [-1.91820674e-01 9.81309206e-01 -1.53970967e-02 -1.02963834e+02] [-6.40319676e-02 3.14148506e-03 9.97942903e-01 -4.61468163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.380714057 meters 0.029973458057060462 Centerline is valid? [True, True] Translation: X:702.06, Y:-102.98, Z:-46.15 [[ 9.80476197e-01 1.87157306e-01 6.03205631e-02 7.02055071e+02] [-1.86591797e-01 9.82324145e-01 -1.49256794e-02 -1.02984277e+02] [-6.20477955e-02 3.37895109e-03 9.98067460e-01 -4.61525369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.440714057 meters 0.02993739701180575 Centerline is valid? [True, True] Translation: X:702.11, Y:-103.00, Z:-46.16 [[ 9.81049304e-01 1.84551365e-01 5.90174297e-02 7.02114943e+02] [-1.84005284e-01 9.82816751e-01 -1.46044506e-02 -1.02997034e+02] [-6.06985897e-02 3.46816715e-03 9.98150116e-01 -4.61565662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.500714057 meters 0.031190665940484596 Centerline is valid? [True, True] Translation: X:702.17, Y:-103.01, Z:-46.16 [[ 9.81187657e-01 1.83972862e-01 5.85215208e-02 7.02173634e+02] [-1.83434827e-01 9.82925178e-01 -1.44830511e-02 -1.03012514e+02] [-6.01867646e-02 3.47570591e-03 9.98181082e-01 -4.61602282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.560714057 meters 0.028243845154793695 Centerline is valid? [True, True] Translation: X:702.24, Y:-103.02, Z:-46.16 [[ 9.80764659e-01 1.85846238e-01 5.96813178e-02 7.02235123e+02] [-1.85289142e-01 9.82572808e-01 -1.47854857e-02 -1.03018297e+02] [-6.13890669e-02 3.44278163e-03 9.98107975e-01 -4.61620601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.620714057 meters 0.026624572986682596 Centerline is valid? [True, True] Translation: X:702.30, Y:-103.02, Z:-46.17 [[ 9.79406155e-01 1.92134428e-01 6.20318064e-02 7.02296437e+02] [-1.91544911e-01 9.81363490e-01 -1.53703164e-02 -1.03023666e+02] [-6.38289170e-02 3.17190568e-03 9.97955815e-01 -4.61651636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.680714057 meters 0.02680289950869529 Centerline is valid? [True, True] Translation: X:702.35, Y:-103.03, Z:-46.17 [[ 9.78314107e-01 1.97870223e-01 6.12281271e-02 7.02354905e+02] [-1.97307011e-01 9.80224333e-01 -1.51723530e-02 -1.03032522e+02] [-6.30194570e-02 2.76258821e-03 9.98008475e-01 -4.61703984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.740714057 meters 0.021400064163441736 Centerline is valid? [True, True] Translation: X:702.42, Y:-103.03, Z:-46.18 [[ 9.76737032e-01 2.05776280e-01 6.03398100e-02 7.02417535e+02] [-2.05244394e-01 9.78596545e-01 -1.49512519e-02 -1.03031556e+02] [-6.21249426e-02 2.21903359e-03 9.98065913e-01 -4.61757606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.800714057 meters 0.020997736075686942 Centerline is valid? [True, True] Translation: X:702.48, Y:-103.04, Z:-46.18 [[ 9.76075621e-01 2.08765345e-01 6.07734524e-02 7.02477532e+02] [-2.08231559e-01 9.77963627e-01 -1.50586379e-02 -1.03041515e+02] [-6.25779477e-02 2.04341859e-03 9.98037988e-01 -4.61785695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.860714057 meters 0.020051133883529956 Centerline is valid? [True, True] Translation: X:702.54, Y:-103.05, Z:-46.18 [[ 9.75665121e-01 2.10009883e-01 6.30350823e-02 7.02539816e+02] [-2.09438000e-01 9.77697136e-01 -1.56216155e-02 -1.03049695e+02] [-6.49099131e-02 2.03952379e-03 9.97889044e-01 -4.61801726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.920714057 meters 0.02120884112580821 Centerline is valid? [True, True] Translation: X:702.60, Y:-103.06, Z:-46.19 [[ 9.75759510e-01 2.09801874e-01 6.22619614e-02 7.02598828e+02] [-2.09242441e-01 9.77741783e-01 -1.54469332e-02 -1.03064024e+02] [-6.41169166e-02 2.04464722e-03 9.97940299e-01 -4.61854124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.980714057 meters 0.02111711153183295 Centerline is valid? [True, True] Translation: X:702.66, Y:-103.08, Z:-46.19 [[ 9.76004281e-01 2.08758216e-01 6.19326350e-02 7.02659455e+02] [-2.08201601e-01 9.77964992e-01 -1.53807844e-02 -1.03078496e+02] [-6.37788140e-02 2.11723762e-03 9.97961813e-01 -4.61901006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0407140570001 meters 0.02169974103592097 Centerline is valid? [True, True] Translation: X:702.72, Y:-103.09, Z:-46.19 [[ 9.76205748e-01 2.07775212e-01 6.20628678e-02 7.02719676e+02] [-2.07213196e-01 9.78174121e-01 -1.54298820e-02 -1.03092586e+02] [-6.39142382e-02 2.20249433e-03 9.97952964e-01 -4.61947304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.100714057 meters 0.0225185713878752 Centerline is valid? [True, True] Translation: X:702.78, Y:-103.11, Z:-46.20 [[ 9.76140991e-01 2.08094920e-01 6.20102459e-02 7.02780022e+02] [-2.07533432e-01 9.78106171e-01 -1.54335073e-02 -1.03107747e+02] [-6.38642386e-02 2.19607999e-03 9.97956180e-01 -4.61980876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1607140570001 meters 0.021442192268984323 Centerline is valid? [True, True] Translation: X:702.84, Y:-103.12, Z:-46.20 [[ 9.75504952e-01 2.10501266e-01 6.38694416e-02 7.02840762e+02] [-2.09909464e-01 9.77591290e-01 -1.59150003e-02 -1.03119959e+02] [-6.57883375e-02 2.11836140e-03 9.97831352e-01 -4.61996827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.220714057 meters 0.020656031644482865 Centerline is valid? [True, True] Translation: X:702.90, Y:-103.13, Z:-46.20 [[ 9.74884439e-01 2.12871790e-01 6.54670251e-02 7.02902239e+02] [-2.12254130e-01 9.77078043e-01 -1.63304039e-02 -1.03131956e+02] [-6.74426751e-02 2.02461022e-03 9.97721097e-01 -4.62036069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2807140570001 meters 0.02165355745758707 Centerline is valid? [True, True] Translation: X:702.96, Y:-103.15, Z:-46.21 [[ 9.74631942e-01 2.14021149e-01 6.54791985e-02 7.02960964e+02] [-2.13405413e-01 9.76827077e-01 -1.63398556e-02 -1.03147375e+02] [-6.74589288e-02 1.95172981e-03 9.97720143e-01 -4.62087189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.340714057 meters 0.020774162234740472 Centerline is valid? [True, True] Translation: X:703.02, Y:-103.16, Z:-46.22 [[ 9.74633569e-01 2.14737428e-01 6.30653857e-02 7.03021736e+02] [-2.14167211e-01 9.76670082e-01 -1.57466571e-02 -1.03160366e+02] [-6.49754721e-02 1.84068290e-03 9.97885164e-01 -4.62157253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4007140570001 meters 0.020262653928977192 Centerline is valid? [True, True] Translation: X:703.08, Y:-103.18, Z:-46.22 [[ 9.75124026e-01 2.12951654e-01 6.15201335e-02 7.03081159e+02] [-2.12404527e-01 9.77060838e-01 -1.53764873e-02 -1.03176412e+02] [-6.33833615e-02 1.92682735e-03 9.97987393e-01 -4.62216210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.460714057 meters 0.021236855348170998 Centerline is valid? [True, True] Translation: X:703.14, Y:-103.19, Z:-46.23 [[ 9.75596694e-01 2.10731903e-01 6.16697293e-02 7.03140312e+02] [-2.10176699e-01 9.77541657e-01 -1.54292994e-02 -1.03194010e+02] [-6.35361750e-02 2.09123332e-03 9.97977345e-01 -4.62250799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.520714057 meters 0.021675329441792894 Centerline is valid? [True, True] Translation: X:703.20, Y:-103.21, Z:-46.23 [[ 9.76076764e-01 2.08259567e-01 6.24668158e-02 7.03199455e+02] [-2.07683832e-01 9.78070896e-01 -1.56444482e-02 -1.03211076e+02] [-6.43550805e-02 2.29683477e-03 9.97924420e-01 -4.62275288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.580714057 meters 0.022083132007791544 Centerline is valid? [True, True] Translation: X:703.26, Y:-103.23, Z:-46.23 [[ 9.75982972e-01 2.08264311e-01 6.39000347e-02 7.03259920e+02] [-2.07660750e-01 9.78069722e-01 -1.60197130e-02 -1.03227703e+02] [-6.58350237e-02 2.36543791e-03 9.97827718e-01 -4.62295484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.640714057 meters 0.022126677810655557 Centerline is valid? [True, True] Translation: X:703.32, Y:-103.24, Z:-46.23 [[ 9.75588842e-01 2.09862790e-01 6.46840130e-02 7.03320847e+02] [-2.09246513e-01 9.77728131e-01 -1.62356977e-02 -1.03241982e+02] [-6.66506480e-02 2.30446133e-03 9.97773712e-01 -4.62329498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.700714057 meters 0.021164284658200343 Centerline is valid? [True, True] Translation: X:703.38, Y:-103.25, Z:-46.24 [[ 9.74900547e-01 2.13181072e-01 6.42086740e-02 7.03381632e+02] [-2.12580615e-01 9.77010519e-01 -1.61223036e-02 -1.03253088e+02] [-6.61695199e-02 2.06812316e-03 9.97806253e-01 -4.62372783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.760714057 meters 0.01962635058492606 Centerline is valid? [True, True] Translation: X:703.44, Y:-103.26, Z:-46.24 [[ 9.74210540e-01 2.16246846e-01 6.44292223e-02 7.03441998e+02] [-2.15648698e-01 9.76336932e-01 -1.61812837e-02 -1.03264894e+02] [-6.64037808e-02 1.86989924e-03 9.97791081e-01 -4.62412441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.820714057 meters 0.017219500803079425 Centerline is valid? [True, True] Translation: X:703.50, Y:-103.27, Z:-46.25 [[ 9.72515095e-01 2.24064299e-01 6.33212404e-02 7.03502321e+02] [-2.23502931e-01 9.74573475e-01 -1.59053786e-02 -1.03273990e+02] [-6.52750288e-02 1.31573804e-03 9.97866444e-01 -4.62464540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.880714057 meters 0.015906503619873568 Centerline is valid? [True, True] Translation: X:703.56, Y:-103.28, Z:-46.25 [[ 9.70210384e-01 2.34008639e-01 6.27038054e-02 7.03563388e+02] [-2.33478793e-01 9.72234305e-01 -1.57514797e-02 -1.03283230e+02] [-6.46487730e-02 6.42240380e-04 9.97907873e-01 -4.62517646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.940714057 meters 0.015438983802171284 Centerline is valid? [True, True] Translation: X:703.62, Y:-103.30, Z:-46.26 [[ 9.68474936e-01 2.41126398e-01 6.25648370e-02 7.03623173e+02] [-2.40613471e-01 9.70493705e-01 -1.57202529e-02 -1.03296241e+02] [-6.45093484e-02 1.70728325e-04 9.97917088e-01 -4.62563969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.000714057 meters 0.015372129659762162 Centerline is valid? [True, True] Translation: X:703.68, Y:-103.31, Z:-46.26 [[ 9.67108513e-01 2.46429357e-01 6.30372567e-02 7.03682063e+02] [-2.45919724e-01 9.69160739e-01 -1.58414203e-02 -1.03312228e+02] [-6.49970253e-02 -1.81732332e-04 9.97885441e-01 -4.62603215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.060714057 meters 0.015568243853903525 Centerline is valid? [True, True] Translation: X:703.74, Y:-103.33, Z:-46.26 [[ 9.65438236e-01 2.52751383e-01 6.36062233e-02 7.03738935e+02] [-2.52246018e-01 9.67531067e-01 -1.59868731e-02 -1.03330923e+02] [-6.55817015e-02 -6.10077987e-04 9.97847016e-01 -4.62636432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.120714057 meters 0.016473481181319517 Centerline is valid? [True, True] Translation: X:703.80, Y:-103.35, Z:-46.27 [[ 9.64023807e-01 2.57929521e-01 6.42686746e-02 7.03795503e+02] [-2.57425033e-01 9.66163246e-01 -1.61534889e-02 -1.03351083e+02] [-6.62604929e-02 -9.72017844e-04 9.97801885e-01 -4.62662770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.180714057 meters 0.017081474972115776 Centerline is valid? [True, True] Translation: X:703.85, Y:-103.37, Z:-46.27 [[ 9.63135854e-01 2.61134098e-01 6.46398442e-02 7.03852965e+02] [-2.60630647e-01 9.65301795e-01 -1.62514811e-02 -1.03371305e+02] [-6.66407735e-02 -1.19474029e-03 9.97776318e-01 -4.62701807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.240714057 meters 0.016889906055865895 Centerline is valid? [True, True] Translation: X:703.91, Y:-103.40, Z:-46.27 [[ 9.62900634e-01 2.61918355e-01 6.49703399e-02 7.03910794e+02] [-2.61411475e-01 9.65089219e-01 -1.63352349e-02 -1.03400549e+02] [-6.69806725e-02 -1.25478432e-03 9.97753484e-01 -4.62737757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.300714057 meters 0.01557491969828189 Centerline is valid? [True, True] Translation: X:703.96, Y:-103.43, Z:-46.28 [[ 9.64701460e-01 2.55286788e-01 6.46509799e-02 7.03964100e+02] [-2.54768749e-01 9.66865068e-01 -1.62734428e-02 -1.03434299e+02] [-6.66631690e-02 -7.72035245e-04 9.97775238e-01 -4.62783116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.360714057 meters 0.015129948086148495 Centerline is valid? [True, True] Translation: X:704.02, Y:-103.46, Z:-46.28 [[ 9.65559262e-01 2.52048297e-01 6.45520583e-02 7.04021913e+02] [-2.51524499e-01 9.67714502e-01 -1.62501771e-02 -1.03458156e+02] [-6.65637924e-02 -5.45915104e-04 9.97782022e-01 -4.62830684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.420714057 meters 0.0156037525384525 Centerline is valid? [True, True] Translation: X:704.08, Y:-103.50, Z:-46.29 [[ 9.68100915e-01 2.42139341e-01 6.44139536e-02 7.04076340e+02] [-2.41594690e-01 9.70241473e-01 -1.62323552e-02 -1.03495790e+02] [-6.64275810e-02 1.52488790e-04 9.97791237e-01 -4.62886655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.480714057 meters 0.016401005973890638 Centerline is valid? [True, True] Translation: X:704.13, Y:-103.52, Z:-46.29 [[ 9.69369820e-01 2.36913524e-01 6.47621458e-02 7.04133574e+02] [-2.36350135e-01 9.71530597e-01 -1.63374668e-02 -1.03524265e+02] [-6.67889730e-02 5.30505329e-04 9.97766983e-01 -4.62927901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5407140570001 meters 0.018351070068642138 Centerline is valid? [True, True] Translation: X:704.19, Y:-103.56, Z:-46.30 [[ 9.70776908e-01 2.30632590e-01 6.63385539e-02 7.04188046e+02] [-2.30025563e-01 9.73040391e-01 -1.67522597e-02 -1.03556269e+02] [-6.84137094e-02 1.00314363e-03 9.97656533e-01 -4.62964322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.600714057 meters 0.018939720646879696 Centerline is valid? [True, True] Translation: X:704.25, Y:-103.58, Z:-46.30 [[ 9.71628040e-01 2.26632913e-01 6.76496451e-02 7.04245488e+02] [-2.25991741e-01 9.73979362e-01 -1.70860955e-02 -1.03581385e+02] [-6.97616298e-02 1.31306838e-03 9.97562826e-01 -4.62998171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6607140570001 meters 0.019843838915929855 Centerline is valid? [True, True] Translation: X:704.30, Y:-103.61, Z:-46.31 [[ 9.73173541e-01 2.19610364e-01 6.85897053e-02 7.04301914e+02] [-2.18933433e-01 9.75585914e-01 -1.73284542e-02 -1.03606273e+02] [-7.07206585e-02 1.84701342e-03 9.97494450e-01 -4.63056169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.720714057 meters 0.02113137222455539 Centerline is valid? [True, True] Translation: X:704.36, Y:-103.63, Z:-46.31 [[ 9.74531609e-01 2.13650175e-01 6.81303623e-02 7.04359141e+02] [-2.12967518e-01 9.76907601e-01 -1.72155622e-02 -1.03629581e+02] [-7.02351767e-02 2.26755542e-03 9.97527883e-01 -4.63115755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7807140570001 meters 0.021641839731582777 Centerline is valid? [True, True] Translation: X:704.42, Y:-103.65, Z:-46.32 [[ 9.74820520e-01 2.12539080e-01 6.74692095e-02 7.04416995e+02] [-2.11866723e-01 9.77149794e-01 -1.70520569e-02 -1.03648714e+02] [-6.95517526e-02 2.32821461e-03 9.97575628e-01 -4.63165515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.840714057 meters 0.021864122983722672 Centerline is valid? [True, True] Translation: X:704.48, Y:-103.67, Z:-46.32 [[ 9.74245313e-01 2.15153728e-01 6.74903214e-02 7.04475546e+02] [-2.14486049e-01 9.76577807e-01 -1.70739825e-02 -1.03665796e+02] [-6.95830811e-02 2.15851506e-03 9.97573825e-01 -4.63206398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9007140570001 meters 0.020602844628023906 Centerline is valid? [True, True] Translation: X:704.54, Y:-103.68, Z:-46.32 [[ 9.73339511e-01 2.18945547e-01 6.83596728e-02 7.04535996e+02] [-2.18268752e-01 9.75735176e-01 -1.73094915e-02 -1.03677525e+02] [-7.04907734e-02 1.92723154e-03 9.97510570e-01 -4.63244764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.960714057 meters 0.019151477597772217 Centerline is valid? [True, True] Translation: X:704.60, Y:-103.69, Z:-46.33 [[ 9.71831066e-01 2.25491720e-01 6.85409686e-02 7.04596160e+02] [-2.24827365e-01 9.74243991e-01 -1.73580199e-02 -1.03689557e+02] [-7.06897166e-02 1.45917762e-03 9.97497286e-01 -4.63287064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.020714057 meters 0.019419007810690832 Centerline is valid? [True, True] Translation: X:704.65, Y:-103.71, Z:-46.33 [[ 9.71275387e-01 2.28056553e-01 6.79288712e-02 7.04654722e+02] [-2.27410032e-01 9.73647066e-01 -1.72066254e-02 -1.03705470e+02] [-7.00628298e-02 1.26466500e-03 9.97541779e-01 -4.63331894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.080714057 meters 0.01868379487681145 Centerline is valid? [True, True] Translation: X:704.72, Y:-103.72, Z:-46.34 [[ 9.70956896e-01 2.29564794e-01 6.73996406e-02 7.04715166e+02] [-2.28930801e-01 9.73292686e-01 -1.70890479e-02 -1.03717763e+02] [-6.95226211e-02 1.16287522e-03 9.97579698e-01 -4.63378621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.140714057 meters 0.018040496551563645 Centerline is valid? [True, True] Translation: X:704.78, Y:-103.73, Z:-46.34 [[ 9.70352411e-01 2.31893317e-01 6.81299429e-02 7.04776087e+02] [-2.31249961e-01 9.72740685e-01 -1.72920576e-02 -1.03730661e+02] [-7.02826799e-02 1.02434318e-03 9.97526589e-01 -4.63410556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.200714057 meters 0.017510737294836126 Centerline is valid? [True, True] Translation: X:704.84, Y:-103.75, Z:-46.34 [[ 9.69904156e-01 2.33450372e-01 6.91870863e-02 7.04836061e+02] [-2.32789484e-01 9.72368260e-01 -1.75790561e-02 -1.03745535e+02] [-7.13791639e-02 9.43973459e-04 9.97448808e-01 -4.63435312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.260714057 meters 0.0177466542392233 Centerline is valid? [True, True] Translation: X:704.90, Y:-103.76, Z:-46.35 [[ 9.69715263e-01 2.33850543e-01 7.04714955e-02 7.04895702e+02] [-2.33164549e-01 9.72272092e-01 -1.79240532e-02 -1.03761566e+02] [-7.27090179e-02 9.49773513e-04 9.97352744e-01 -4.63470348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.320714057 meters 0.017963715371294355 Centerline is valid? [True, True] Translation: X:704.96, Y:-103.78, Z:-46.35 [[ 9.69824944e-01 2.33561330e-01 6.99191144e-02 7.04955234e+02] [-2.32884312e-01 9.72341581e-01 -1.77973853e-02 -1.03777309e+02] [-7.21420432e-02 9.77283305e-04 9.97393889e-01 -4.63521066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.380714057 meters 0.0180620615904555 Centerline is valid? [True, True] Translation: X:705.02, Y:-103.79, Z:-46.36 [[ 9.70103368e-01 2.32503048e-01 6.95829644e-02 7.05015306e+02] [-2.31828430e-01 9.72595079e-01 -1.77310690e-02 -1.03793200e+02] [-7.17985764e-02 1.06966034e-03 9.97418578e-01 -4.63585192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.440714057 meters 0.018172403329067614 Centerline is valid? [True, True] Translation: X:705.07, Y:-103.81, Z:-46.36 [[ 9.70514780e-01 2.30628600e-01 7.00821682e-02 7.05074592e+02] [-2.29938020e-01 9.73041069e-01 -1.78769122e-02 -1.03810486e+02] [-7.23157551e-02 1.23525254e-03 9.97381023e-01 -4.63622700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.500714057 meters 0.018496844962027182 Centerline is valid? [True, True] Translation: X:705.13, Y:-103.83, Z:-46.37 [[ 9.70995606e-01 2.28798239e-01 6.94182857e-02 7.05134358e+02] [-2.28114708e-01 9.73472892e-01 -1.77259307e-02 -1.03827795e+02] [-7.16324810e-02 1.37646882e-03 9.97430144e-01 -4.63670283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.560714057 meters 0.018706102548979437 Centerline is valid? [True, True] Translation: X:705.20, Y:-103.84, Z:-46.37 [[ 9.70799836e-01 2.29313215e-01 7.04494686e-02 7.05195467e+02] [-2.28609150e-01 9.73351711e-01 -1.80084262e-02 -1.03844194e+02] [-7.27016809e-02 1.37718403e-03 9.97352781e-01 -4.63711144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.620714057 meters 0.018847012432442405 Centerline is valid? [True, True] Translation: X:705.26, Y:-103.86, Z:-46.38 [[ 9.70493586e-01 2.30401512e-01 7.11149964e-02 7.05255300e+02] [-2.29685418e-01 9.73094743e-01 -1.81997481e-02 -1.03859371e+02] [-7.33948786e-02 1.32866110e-03 9.97302074e-01 -4.63751550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.680714057 meters 0.018340130216506986 Centerline is valid? [True, True] Translation: X:705.32, Y:-103.87, Z:-46.38 [[ 9.69746816e-01 2.33642023e-01 7.07284850e-02 7.05315015e+02] [-2.32940971e-01 9.72322069e-01 -1.81190159e-02 -1.03873587e+02] [-7.30042304e-02 1.09529602e-03 9.97331030e-01 -4.63796378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.740714057 meters 0.017648975950202327 Centerline is valid? [True, True] Translation: X:705.38, Y:-103.89, Z:-46.38 [[ 9.68533835e-01 2.38955172e-01 6.95890499e-02 7.05375957e+02] [-2.38288975e-01 9.71030347e-01 -1.78446039e-02 -1.03885438e+02] [-7.18371397e-02 7.00799288e-04 9.97416129e-01 -4.63847615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.800714057 meters 0.017465691577621404 Centerline is valid? [True, True] Translation: X:705.44, Y:-103.90, Z:-46.39 [[ 9.67999574e-01 2.41150329e-01 6.94503016e-02 7.05435963e+02] [-2.40491150e-01 9.70487615e-01 -1.78268043e-02 -1.03899734e+02] [-7.16995973e-02 5.54156063e-04 9.97426118e-01 -4.63887043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.860714057 meters 0.017579141623904823 Centerline is valid? [True, True] Translation: X:705.50, Y:-103.92, Z:-46.39 [[ 9.67922010e-01 2.41139606e-01 7.05597087e-02 7.05495049e+02] [-2.40457871e-01 9.70490264e-01 -1.81289540e-02 -1.03916702e+02] [-7.28491192e-02 5.80776230e-04 9.97342804e-01 -4.63911294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.920714057 meters 0.018953378780601993 Centerline is valid? [True, True] Translation: X:705.55, Y:-103.94, Z:-46.39 [[ 9.68858183e-01 2.36858150e-01 7.21944397e-02 7.05552186e+02] [-2.36131838e-01 9.71543795e-01 -1.85582526e-02 -1.03938047e+02] [-7.45357334e-02 9.32909138e-04 9.97217907e-01 -4.63934664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.980714057 meters 0.0194912732589473 Centerline is valid? [True, True] Translation: X:705.61, Y:-103.96, Z:-46.40 [[ 9.70428421e-01 2.30199941e-01 7.26406701e-02 7.05610060e+02] [-2.29445762e-01 9.73142264e-01 -1.86755425e-02 -1.03957816e+02] [-7.49888149e-02 1.45618334e-03 9.97183312e-01 -4.63989750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0407140570001 meters 0.019787268485111597 Centerline is valid? [True, True] Translation: X:705.67, Y:-103.98, Z:-46.40 [[ 9.71179913e-01 2.26896970e-01 7.29886361e-02 7.05669082e+02] [-2.26125857e-01 9.73917241e-01 -1.87697895e-02 -1.03975810e+02] [-7.53436995e-02 1.72422463e-03 9.97156133e-01 -4.64038061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.100714057 meters 0.020036716648829916 Centerline is valid? [True, True] Translation: X:705.73, Y:-103.99, Z:-46.41 [[ 9.71319093e-01 2.26126507e-01 7.35256537e-02 7.05728285e+02] [-2.25340415e-01 9.74096253e-01 -1.89258547e-02 -1.03993625e+02] [-7.59007011e-02 1.81474274e-03 9.97113730e-01 -4.64079079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1607140570001 meters 0.018889353386591604 Centerline is valid? [True, True] Translation: X:705.79, Y:-104.01, Z:-46.41 [[ 9.70192401e-01 2.31132410e-01 7.28320917e-02 7.05788815e+02] [-2.30373911e-01 9.72921259e-01 -1.87639483e-02 -1.04005131e+02] [-7.51968470e-02 1.42602629e-03 9.97167689e-01 -4.64126936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.220714057 meters 0.018941056991627323 Centerline is valid? [True, True] Translation: X:705.85, Y:-104.02, Z:-46.42 [[ 9.68922147e-01 2.36445407e-01 7.26872887e-02 7.05847291e+02] [-2.35704484e-01 9.71644244e-01 -1.87312434e-02 -1.04018936e+02] [-7.50551021e-02 1.01639664e-03 9.97178870e-01 -4.64157538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2807140570001 meters 0.017676072797035734 Centerline is valid? [True, True] Translation: X:705.91, Y:-104.03, Z:-46.42 [[ 9.67239430e-01 2.43228158e-01 7.27182753e-02 7.05909137e+02] [-2.42505125e-01 9.69968976e-01 -1.87469932e-02 -1.04028745e+02] [-7.50942676e-02 4.98276602e-04 9.97176315e-01 -4.64231522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.340714057 meters 0.018007203309598877 Centerline is valid? [True, True] Translation: X:705.97, Y:-104.04, Z:-46.43 [[ 9.66839995e-01 2.44876336e-01 7.24983031e-02 7.05969087e+02] [-2.44161659e-01 9.69554247e-01 -1.86988405e-02 -1.04043475e+02] [-7.48699412e-02 3.77480921e-04 9.97193236e-01 -4.64278506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4007140570001 meters 0.017738431058758657 Centerline is valid? [True, True] Translation: X:706.03, Y:-104.06, Z:-46.43 [[ 9.66524216e-01 2.46615091e-01 7.07950393e-02 7.06028676e+02] [-2.45936950e-01 9.69113477e-01 -1.82779790e-02 -1.04060102e+02] [-7.31160522e-02 2.54993276e-04 9.97323407e-01 -4.64340026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.460714057 meters 0.0178813334996113 Centerline is valid? [True, True] Translation: X:706.09, Y:-104.08, Z:-46.44 [[ 9.66978014e-01 2.44996369e-01 7.02160902e-02 7.06089282e+02] [-2.44323647e-01 9.69523917e-01 -1.81474790e-02 -1.04078467e+02] [-7.25222453e-02 3.92761960e-04 9.97366718e-01 -4.64382526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.520714057 meters 0.018184108233609084 Centerline is valid? [True, True] Translation: X:706.15, Y:-104.10, Z:-46.44 [[ 9.67606721e-01 2.42100331e-01 7.15867469e-02 7.06148463e+02] [-2.41391498e-01 9.70251007e-01 -1.85237354e-02 -1.04099001e+02] [-7.39417158e-02 6.43258768e-04 9.97262357e-01 -4.64408140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.580714057 meters 0.01843365213044544 Centerline is valid? [True, True] Translation: X:706.21, Y:-104.12, Z:-46.45 [[ 9.68228699e-01 2.39596921e-01 7.15995986e-02 7.06207300e+02] [-2.38879571e-01 9.70872076e-01 -1.85462473e-02 -1.04117664e+02] [-7.39576747e-02 8.53327436e-04 9.97261016e-01 -4.64457367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.640714057 meters 0.019667362099449345 Centerline is valid? [True, True] Translation: X:706.26, Y:-104.14, Z:-46.45 [[ 9.69614436e-01 2.33959447e-01 7.14900173e-02 7.06263989e+02] [-2.33227631e-01 9.72245488e-01 -1.85359942e-02 -1.04140227e+02] [-7.38425177e-02 1.29932014e-03 9.97269068e-01 -4.64493693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.700714057 meters 0.019809015605959282 Centerline is valid? [True, True] Translation: X:706.32, Y:-104.16, Z:-46.45 [[ 9.70885102e-01 2.28539823e-01 7.17751241e-02 7.06322887e+02] [-2.27786555e-01 9.73533030e-01 -1.86205719e-02 -1.04157724e+02] [-7.41309962e-02 1.72902759e-03 9.97247014e-01 -4.64541315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.760714057 meters 0.024310465124713843 Centerline is valid? [True, True] Translation: X:706.38, Y:-104.18, Z:-46.46 [[ 9.73501415e-01 2.17255007e-01 7.13810690e-02 7.06378356e+02] [-2.16478473e-01 9.76111443e-01 -1.85343092e-02 -1.04182921e+02] [-7.37025497e-02 2.59071135e-03 9.97276904e-01 -4.64568830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.820714057 meters 0.024392318589163742 Centerline is valid? [True, True] Translation: X:706.44, Y:-104.20, Z:-46.46 [[ 9.75159222e-01 2.09752314e-01 7.11931043e-02 7.06437043e+02] [-2.08959697e-01 9.77749471e-01 -1.84882888e-02 -1.04198267e+02] [-7.34869814e-02 3.15253585e-03 9.97291194e-01 -4.64609583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.880714057 meters 0.027067042510498063 Centerline is valid? [True, True] Translation: X:706.49, Y:-104.21, Z:-46.46 [[ 9.76511124e-01 2.03409643e-01 7.10671696e-02 7.06494602e+02] [-2.02602995e-01 9.79087013e-01 -1.84566435e-02 -1.04214103e+02] [-7.33352020e-02 3.62469635e-03 9.97300762e-01 -4.64625523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.940714057 meters 0.02756385565880239 Centerline is valid? [True, True] Translation: X:706.55, Y:-104.22, Z:-46.46 [[ 9.76201442e-01 2.05095502e-01 7.04739685e-02 7.06554826e+02] [-2.04306645e-01 9.78735818e-01 -1.83028259e-02 -1.04223546e+02] [-7.27292245e-02 3.46894497e-03 9.97345691e-01 -4.64643262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.000714057 meters 0.02719957597549754 Centerline is valid? [True, True] Translation: X:706.61, Y:-104.23, Z:-46.47 [[ 9.75303421e-01 2.09472838e-01 7.00311852e-02 7.06614984e+02] [-2.08704951e-01 9.77809473e-01 -1.81900787e-02 -1.04231547e+02] [-7.22874836e-02 3.12499093e-03 9.97378942e-01 -4.64674074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.060714057 meters 0.02172404383671635 Centerline is valid? [True, True] Translation: X:706.68, Y:-104.23, Z:-46.47 [[ 9.73109253e-01 2.19401132e-01 7.01535835e-02 7.06678271e+02] [-2.18656217e-01 9.75631805e-01 -1.82219523e-02 -1.04228843e+02] [-7.24419843e-02 2.39243326e-03 9.97369759e-01 -4.64712064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.120714057 meters 0.020345100984885872 Centerline is valid? [True, True] Translation: X:706.74, Y:-104.24, Z:-46.47 [[ 9.71647568e-01 2.25692523e-01 7.04548759e-02 7.06739244e+02] [-2.24957600e-01 9.74196669e-01 -1.83010745e-02 -1.04235820e+02] [-7.27673210e-02 1.93283478e-03 9.97347072e-01 -4.64743014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.180714057 meters 0.018656077648324415 Centerline is valid? [True, True] Translation: X:706.80, Y:-104.24, Z:-46.48 [[ 9.70035406e-01 2.32733729e-01 6.97590319e-02 7.06800716e+02] [-2.32031299e-01 9.72539496e-01 -1.81219272e-02 -1.04239848e+02] [-7.20609974e-02 1.39263221e-03 9.97399255e-01 -4.64785202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.240714057 meters 0.018041834854119972 Centerline is valid? [True, True] Translation: X:706.86, Y:-104.25, Z:-46.48 [[ 9.69391076e-01 2.35546057e-01 6.92747899e-02 7.06861952e+02] [-2.34860306e-01 9.71862473e-01 -1.79991608e-02 -1.04249394e+02] [-7.15652000e-02 1.17832750e-03 9.97435228e-01 -4.64830518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.300714057 meters 0.017262612626465355 Centerline is valid? [True, True] Translation: X:706.92, Y:-104.26, Z:-46.49 [[ 9.69213564e-01 2.36420489e-01 6.87780408e-02 7.06923056e+02] [-2.35745487e-01 9.71650190e-01 -1.78878212e-02 -1.04260564e+02] [-7.10572438e-02 1.12300625e-03 9.97471607e-01 -4.64881059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.360714057 meters 0.017528635687736754 Centerline is valid? [True, True] Translation: X:706.98, Y:-104.27, Z:-46.49 [[ 9.69526611e-01 2.35479507e-01 6.75836767e-02 7.06982277e+02] [-2.34824284e-01 9.71878588e-01 -1.75944662e-02 -1.04273173e+02] [-6.98262645e-02 1.18801470e-03 9.97558460e-01 -4.64935755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.420714057 meters 0.018080722405472097 Centerline is valid? [True, True] Translation: X:707.04, Y:-104.29, Z:-46.50 [[ 9.69899945e-01 2.34502579e-01 6.55944903e-02 7.07041315e+02] [-2.33882523e-01 9.72114719e-01 -1.70862298e-02 -1.04288550e+02] [-6.77721345e-02 1.23052851e-03 9.97700067e-01 -4.64985104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.480714057 meters 0.017798963382027494 Centerline is valid? [True, True] Translation: X:707.10, Y:-104.30, Z:-46.50 [[ 9.70441084e-01 2.32856910e-01 6.34173651e-02 7.07101847e+02] [-2.32272896e-01 9.72510118e-01 -1.65339565e-02 -1.04302118e+02] [-6.55240753e-02 1.31509561e-03 9.97850122e-01 -4.65043226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5407140570001 meters 0.018273613760724648 Centerline is valid? [True, True] Translation: X:707.16, Y:-104.32, Z:-46.51 [[ 9.70911230e-01 2.31130435e-01 6.25308326e-02 7.07161279e+02] [-2.30558016e-01 9.72921726e-01 -1.63192216e-02 -1.04319202e+02] [-6.46094743e-02 1.42753089e-03 9.97909604e-01 -4.65083590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.600714057 meters 0.018802955549740034 Centerline is valid? [True, True] Translation: X:707.22, Y:-104.34, Z:-46.51 [[ 9.71433018e-01 2.28928768e-01 6.25260840e-02 7.07220970e+02] [-2.28350815e-01 9.73441879e-01 -1.63344425e-02 -1.04337606e+02] [-6.46049325e-02 1.58993454e-03 9.97909653e-01 -4.65108845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6607140570001 meters 0.019512998522688278 Centerline is valid? [True, True] Translation: X:707.28, Y:-104.35, Z:-46.51 [[ 9.71650213e-01 2.27885096e-01 6.29622578e-02 7.07280911e+02] [-2.27295779e-01 9.73686570e-01 -1.64648710e-02 -1.04354938e+02] [-6.50576036e-02 1.68703997e-03 9.97880084e-01 -4.65138589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.720714057 meters 0.021446629368579852 Centerline is valid? [True, True] Translation: X:707.34, Y:-104.37, Z:-46.52 [[ 9.72746851e-01 2.22878599e-01 6.39428927e-02 7.07338354e+02] [-2.22258870e-01 9.74844012e-01 -1.67376261e-02 -1.04374311e+02] [-6.60648047e-02 2.06959808e-03 9.97813188e-01 -4.65163571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7807140570001 meters 0.022143976090091617 Centerline is valid? [True, True] Translation: X:707.40, Y:-104.39, Z:-46.52 [[ 9.74113940e-01 2.16737434e-01 6.42410786e-02 7.07396541e+02] [-2.16098484e-01 9.76226736e-01 -1.68168432e-02 -1.04391696e+02] [-6.63586979e-02 2.49912176e-03 9.97792703e-01 -4.65199588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.840714057 meters 0.024115879174593173 Centerline is valid? [True, True] Translation: X:707.45, Y:-104.41, Z:-46.52 [[ 9.76667153e-01 2.05157134e-01 6.34966398e-02 7.07454275e+02] [-2.04508390e-01 9.78723653e-01 -1.66231365e-02 -1.04409798e+02] [-6.55560183e-02 3.24967587e-03 9.97843599e-01 -4.65226007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9007140570001 meters 0.02772771369724111 Centerline is valid? [True, True] Translation: X:707.51, Y:-104.43, Z:-46.52 [[ 9.78615295e-01 1.95342500e-01 6.44469675e-02 7.07512517e+02] [-1.94652851e-01 9.80727060e-01 -1.68730868e-02 -1.04427399e+02] [-6.65009160e-02 3.96747486e-03 9.97778476e-01 -4.65237470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.960714057 meters 0.033024303766510076 Centerline is valid? [True, True] Translation: X:707.57, Y:-104.45, Z:-46.53 [[ 9.79286013e-01 1.92083303e-01 6.40539578e-02 7.07569102e+02] [-1.91395066e-01 9.81369791e-01 -1.67708480e-02 -1.04447286e+02] [-6.60820191e-02 4.16384538e-03 9.97805507e-01 -4.65267367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.020714057 meters 0.03037114314574078 Centerline is valid? [True, True] Translation: X:707.63, Y:-104.46, Z:-46.53 [[ 9.79584125e-01 1.90784300e-01 6.33742240e-02 7.07630494e+02] [-1.90107627e-01 9.81622954e-01 -1.65972036e-02 -1.04455621e+02] [-6.53760788e-02 4.21043386e-03 9.97851813e-01 -4.65315271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.080714057 meters 0.03152478662929173 Centerline is valid? [True, True] Translation: X:707.69, Y:-104.47, Z:-46.54 [[ 9.79767348e-01 1.90424761e-01 6.15983244e-02 7.07691174e+02] [-1.89783907e-01 9.81693108e-01 -1.61465467e-02 -1.04466482e+02] [-6.35453528e-02 4.12948856e-03 9.97970408e-01 -4.65368068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.140714057 meters 0.0303380389052444 Centerline is valid? [True, True] Translation: X:707.75, Y:-104.48, Z:-46.54 [[ 9.79699873e-01 1.91057752e-01 6.07049743e-02 7.07752886e+02] [-1.90435681e-01 9.81570471e-01 -1.59267849e-02 -1.04475101e+02] [-6.26291460e-02 4.04307606e-03 9.98028679e-01 -4.65407114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.200714057 meters 0.03264289783865547 Centerline is valid? [True, True] Translation: X:707.81, Y:-104.49, Z:-46.54 [[ 9.79440661e-01 1.92527651e-01 6.02419810e-02 7.07812726e+02] [-1.91917265e-01 9.81283689e-01 -1.58140657e-02 -1.04486803e+02] [-6.21591183e-02 3.92746276e-03 9.98058525e-01 -4.65441784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.260714057 meters 0.028742006500983262 Centerline is valid? [True, True] Translation: X:707.88, Y:-104.49, Z:-46.55 [[ 9.79083827e-01 1.94049991e-01 6.11511293e-02 7.07875587e+02] [-1.93423371e-01 9.80983896e-01 -1.60622168e-02 -1.04490564e+02] [-6.31051461e-02 3.89819914e-03 9.97999271e-01 -4.65473672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.320714057 meters 0.029182421948973775 Centerline is valid? [True, True] Translation: X:707.94, Y:-104.50, Z:-46.55 [[ 9.79027192e-01 1.93748573e-01 6.29860861e-02 7.07938303e+02] [-1.93082006e-01 9.81042848e-01 -1.65610777e-02 -1.04496030e+02] [-6.50007345e-02 4.05226549e-03 9.97876988e-01 -4.65491683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.380714057 meters 0.03164052335657995 Centerline is valid? [True, True] Translation: X:708.00, Y:-104.51, Z:-46.55 [[ 9.79682893e-01 1.90613014e-01 6.23547000e-02 7.07998155e+02] [-1.89952861e-01 9.81656160e-01 -1.64040795e-02 -1.04506681e+02] [-6.43377064e-02 4.22634242e-03 9.97919234e-01 -4.65526934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.440714057 meters 0.035157749364983525 Centerline is valid? [True, True] Translation: X:708.06, Y:-104.51, Z:-46.56 [[ 9.81438246e-01 1.81573312e-01 6.17260283e-02 7.08059238e+02] [-1.80908548e-01 9.83365834e-01 -1.62398872e-02 -1.04513949e+02] [-6.36479974e-02 4.77168023e-03 9.97961003e-01 -4.65573038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.500714057 meters 0.03648284785895715 Centerline is valid? [True, True] Translation: X:708.12, Y:-104.52, Z:-46.56 [[ 9.82745676e-01 1.74424198e-01 6.15397014e-02 7.08119370e+02] [-1.73749482e-01 9.84656770e-01 -1.61914187e-02 -1.04522181e+02] [-6.34196588e-02 5.21955547e-03 9.97973298e-01 -4.65610575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.560714057 meters 0.041376690908946905 Centerline is valid? [True, True] Translation: X:708.18, Y:-104.53, Z:-46.56 [[ 9.84086842e-01 1.66329098e-01 6.25117430e-02 7.08179875e+02] [-1.65616622e-01 9.86053045e-01 -1.64477175e-02 -1.04529284e+02] [-6.43756285e-02 5.83299868e-03 9.97908691e-01 -4.65632486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.620714057 meters 0.04377287907773329 Centerline is valid? [True, True] Translation: X:708.24, Y:-104.54, Z:-46.57 [[ 9.84461599e-01 1.63700301e-01 6.35418936e-02 7.08240483e+02] [-1.62958690e-01 9.86491232e-01 -1.67187119e-02 -1.04537307e+02] [-6.54203791e-02 6.10422605e-03 9.97839122e-01 -4.65669997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.680714057 meters 0.04746903905467712 Centerline is valid? [True, True] Translation: X:708.30, Y:-104.54, Z:-46.57 [[ 9.84448544e-01 1.63337258e-01 6.46684193e-02 7.08302250e+02] [-1.62568228e-01 9.86550567e-01 -1.70161811e-02 -1.04541443e+02] [-6.65780420e-02 6.23852436e-03 9.97761718e-01 -4.65719823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.740714057 meters 0.04098291796762293 Centerline is valid? [True, True] Translation: X:708.37, Y:-104.53, Z:-46.58 [[ 9.84235185e-01 1.65096386e-01 6.34372481e-02 7.08368667e+02] [-1.64359011e-01 9.86259078e-01 -1.67076622e-02 -1.04531070e+02] [-6.53239365e-02 6.01778562e-03 9.97845965e-01 -4.65792009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.800714057 meters 0.04165509309197012 Centerline is valid? [True, True] Translation: X:708.43, Y:-104.54, Z:-46.58 [[ 9.83842111e-01 1.67409866e-01 6.34715546e-02 7.08429977e+02] [-1.66676208e-01 9.85869903e-01 -1.67205063e-02 -1.04535961e+02] [-6.53738731e-02 5.87114021e-03 9.97843568e-01 -4.65843339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.860714057 meters 0.04523106766086622 Centerline is valid? [True, True] Translation: X:708.49, Y:-104.54, Z:-46.59 [[ 9.83232062e-01 1.70944419e-01 6.35036894e-02 7.08490637e+02] [-1.70217236e-01 9.85264530e-01 -1.67301951e-02 -1.04537427e+02] [-6.54278661e-02 5.64024179e-03 9.97841361e-01 -4.65892819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.920714057 meters 0.04381565801917897 Centerline is valid? [True, True] Translation: X:708.55, Y:-104.54, Z:-46.59 [[ 9.82685176e-01 1.74134194e-01 6.33018749e-02 7.08552977e+02] [-1.73418269e-01 9.84707074e-01 -1.66758146e-02 -1.04538904e+02] [-6.52376336e-02 5.40937428e-03 9.97855095e-01 -4.65945113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.980714057 meters 0.03833211759887024 Centerline is valid? [True, True] Translation: X:708.62, Y:-104.53, Z:-46.60 [[ 9.81423664e-01 1.81042729e-01 6.34911176e-02 7.08618125e+02] [-1.80336822e-01 9.83462696e-01 -1.67259067e-02 -1.04527845e+02] [-6.54692495e-02 4.96541423e-03 9.97842233e-01 -4.66010227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0407140570001 meters 0.03719920926877432 Centerline is valid? [True, True] Translation: X:708.68, Y:-104.53, Z:-46.61 [[ 9.80568574e-01 1.85654746e-01 6.33844450e-02 7.08679838e+02] [-1.84960742e-01 9.82604036e-01 -1.66982887e-02 -1.04528863e+02] [-6.53819280e-02 4.65018313e-03 9.97849477e-01 -4.66068473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.100714057 meters 0.036966698391254924 Centerline is valid? [True, True] Translation: X:708.74, Y:-104.53, Z:-46.61 [[ 9.79389681e-01 1.91985612e-01 6.27485239e-02 7.08741928e+02] [-1.91318385e-01 9.81388817e-01 -1.65307649e-02 -1.04526367e+02] [-6.47543686e-02 4.18511430e-03 9.97892457e-01 -4.66127683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1607140570001 meters 0.03651625169160931 Centerline is valid? [True, True] Translation: X:708.80, Y:-104.53, Z:-46.62 [[ 9.78044335e-01 1.98257760e-01 6.42116771e-02 7.08802839e+02] [-1.97572585e-01 9.80142332e-01 -1.69139899e-02 -1.04527506e+02] [-6.62899127e-02 3.85616497e-03 9.97792953e-01 -4.66155195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.220714057 meters 0.03704794959853083 Centerline is valid? [True, True] Translation: X:708.86, Y:-104.54, Z:-46.62 [[ 9.77156423e-01 2.01748396e-01 6.68050211e-02 7.08861967e+02] [-2.01014933e-01 9.79430149e-01 -1.75949139e-02 -1.04535922e+02] [-6.89805974e-02 3.76417634e-03 9.97610900e-01 -4.66166137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2807140570001 meters 0.03563316523177249 Centerline is valid? [True, True] Translation: X:708.92, Y:-104.54, Z:-46.62 [[ 9.76499834e-01 2.04889132e-01 6.68469699e-02 7.08922663e+02] [-2.04162246e-01 9.78778778e-01 -1.76034197e-02 -1.04539169e+02] [-6.90351450e-02 3.54210889e-03 9.97607940e-01 -4.66216271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.340714057 meters 0.03476435785344196 Centerline is valid? [True, True] Translation: X:708.98, Y:-104.55, Z:-46.63 [[ 9.75926453e-01 2.08128674e-01 6.51921206e-02 7.08982144e+02] [-2.07444743e-01 9.78096127e-01 -1.71652232e-02 -1.04546199e+02] [-6.73367358e-02 3.22823269e-03 9.97725084e-01 -4.66287396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4007140570001 meters 0.03219443450791902 Centerline is valid? [True, True] Translation: X:709.04, Y:-104.55, Z:-46.63 [[ 9.75378766e-01 2.10510233e-01 6.57396673e-02 7.09041366e+02] [-2.09820313e-01 9.77586779e-01 -1.73067845e-02 -1.04552220e+02] [-6.79094849e-02 3.08715248e-03 9.97686710e-01 -4.66331457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.460714057 meters 0.03085760222741343 Centerline is valid? [True, True] Translation: X:709.10, Y:-104.56, Z:-46.64 [[ 9.74093961e-01 2.16219936e-01 6.62562748e-02 7.09100200e+02] [-2.15532603e-01 9.76340933e-01 -1.74378492e-02 -1.04560355e+02] [-6.84591238e-02 2.70571626e-03 9.97650253e-01 -4.66374077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.520714057 meters 0.029716236353725698 Centerline is valid? [True, True] Translation: X:709.16, Y:-104.57, Z:-46.64 [[ 9.73407721e-01 2.18801309e-01 6.78483230e-02 7.09157889e+02] [-2.18086894e-01 9.75766014e-01 -1.78547545e-02 -1.04571331e+02] [-7.01107314e-02 2.58312584e-03 9.97535870e-01 -4.66411481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.580714057 meters 0.029752602483439576 Centerline is valid? [True, True] Translation: X:709.21, Y:-104.59, Z:-46.64 [[ 9.73239635e-01 2.19067688e-01 6.93827136e-02 7.09214006e+02] [-2.18321723e-01 9.75706159e-01 -1.82514989e-02 -1.04585654e+02] [-7.16954546e-02 2.61532853e-03 9.97423141e-01 -4.66441420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.640714057 meters 0.03035363986686446 Centerline is valid? [True, True] Translation: X:709.27, Y:-104.60, Z:-46.65 [[ 9.73968444e-01 2.16022330e-01 6.87009732e-02 7.09270364e+02] [-2.15284787e-01 9.76384430e-01 -1.80528707e-02 -1.04604878e+02] [-7.09783837e-02 2.79265196e-03 9.97473945e-01 -4.66510536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.700714057 meters 0.03199410984407593 Centerline is valid? [True, True] Translation: X:709.33, Y:-104.63, Z:-46.66 [[ 9.74805384e-01 2.12267415e-01 6.85347214e-02 7.09326656e+02] [-2.11524370e-01 9.77206838e-01 -1.80065494e-02 -1.04625589e+02] [-7.07948021e-02 3.05611752e-03 9.97486219e-01 -4.66562308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.760714057 meters 0.03431229783257597 Centerline is valid? [True, True] Translation: X:709.38, Y:-104.65, Z:-46.66 [[ 9.76513477e-01 2.04884122e-01 6.66627714e-02 7.09382914e+02] [-2.04164165e-01 9.78780011e-01 -1.75123844e-02 -1.04648077e+02] [-6.88361976e-02 3.49093031e-03 9.97621868e-01 -4.66619099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.820714057 meters 0.03445777405976295 Centerline is valid? [True, True] Translation: X:709.44, Y:-104.67, Z:-46.67 [[ 9.77692774e-01 1.99223962e-01 6.65330921e-02 7.09440515e+02] [-1.98493740e-01 9.79946296e-01 -1.74783459e-02 -1.04667165e+02] [-6.86809624e-02 3.88205020e-03 9.97631122e-01 -4.66652804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.880714057 meters 0.038266966348105697 Centerline is valid? [True, True] Translation: X:709.50, Y:-104.69, Z:-46.67 [[ 9.79386846e-01 1.90139489e-01 6.81790397e-02 7.09495054e+02] [-1.89350716e-01 9.81746161e-01 -1.79103841e-02 -1.04693155e+02] [-7.03399818e-02 4.63144456e-03 9.97512324e-01 -4.66678656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.940714057 meters 0.04172150827716519 Centerline is valid? [True, True] Translation: X:709.55, Y:-104.72, Z:-46.67 [[ 9.80762587e-01 1.82561379e-01 6.91092664e-02 7.09551251e+02] [-1.81732174e-01 9.83180462e-01 -1.81547882e-02 -1.04716427e+02] [-7.12612436e-02 5.24615984e-03 9.97443890e-01 -4.66734554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.000714057 meters 0.04304885927725841 Centerline is valid? [True, True] Translation: X:709.61, Y:-104.73, Z:-46.68 [[ 9.81529548e-01 1.78573284e-01 6.86391191e-02 7.09609212e+02] [-1.77745676e-01 9.83911255e-01 -1.80309749e-02 -1.04731674e+02] [-7.07546523e-02 5.49762798e-03 9.97478599e-01 -4.66804536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.060714057 meters 0.04934421025213714 Centerline is valid? [True, True] Translation: X:709.67, Y:-104.75, Z:-46.69 [[ 9.82073609e-01 1.75308366e-01 6.92705083e-02 7.09665529e+02] [-1.74457398e-01 9.84496574e-01 -1.81964770e-02 -1.04750728e+02] [-7.13865728e-02 5.78552713e-03 9.97431945e-01 -4.66852472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.120714057 meters 0.046882031046552745 Centerline is valid? [True, True] Translation: X:709.72, Y:-104.76, Z:-46.70 [[ 9.82027639e-01 1.74103474e-01 7.28676637e-02 7.09724403e+02] [-1.73158393e-01 9.84707976e-01 -1.91408845e-02 -1.04758259e+02] [-7.50858641e-02 6.17923002e-03 9.97157926e-01 -4.66957981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.180714057 meters 0.05918610056351875 Centerline is valid? [True, True] Translation: X:709.78, Y:-104.79, Z:-46.69 [[ 9.81482087e-01 1.76028143e-01 7.55447256e-02 7.09776706e+02] [-1.75018199e-01 9.84365291e-01 -1.98394718e-02 -1.04793617e+02] [-7.78559111e-02 6.25038438e-03 9.96945029e-01 -4.66862840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.240714057 meters 0.040437860038736596 Centerline is valid? [True, True] Translation: X:709.84, Y:-104.77, Z:-46.70 [[ 9.81067963e-01 1.82182694e-01 6.56895545e-02 7.09844231e+02] [-1.81433399e-01 9.83251970e-01 -1.72477612e-02 -1.04772803e+02] [-6.77316275e-02 5.00294683e-03 9.97691033e-01 -4.66983213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.300714057 meters 0.04459147521693837 Centerline is valid? [True, True] Translation: X:709.90, Y:-104.79, Z:-46.70 [[ 9.81594999e-01 1.81228921e-01 6.02273734e-02 7.09900434e+02] [-1.80597425e-01 9.83429964e-01 -1.58137728e-02 -1.04785370e+02] [-6.20953167e-02 4.64581180e-03 9.98059411e-01 -4.67011480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.360714057 meters 0.039727874057458 Centerline is valid? [True, True] Translation: X:709.96, Y:-104.79, Z:-46.71 [[ 9.79845007e-01 1.87513755e-01 6.88647579e-02 7.09960530e+02] [-1.86703685e-01 9.82249988e-01 -1.80747038e-02 -1.04791701e+02] [-7.10316632e-02 4.85310415e-03 9.97462255e-01 -4.67063302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.420714057 meters 0.04275238652928494 Centerline is valid? [True, True] Translation: X:710.02, Y:-104.80, Z:-46.72 [[ 9.79511258e-01 1.89668120e-01 6.77030324e-02 7.10018589e+02] [-1.88890385e-01 9.81837408e-01 -1.77687182e-02 -1.04801495e+02] [-6.98435292e-02 4.61620766e-03 9.97547278e-01 -4.67152925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.480714057 meters 0.03949289964010249 Centerline is valid? [True, True] Translation: X:710.08, Y:-104.81, Z:-46.72 [[ 9.78585719e-01 1.94051780e-01 6.86578268e-02 7.10078890e+02] [-1.93262810e-01 9.80981590e-01 -1.80168505e-02 -1.04808081e+02] [-7.08482660e-02 4.36202806e-03 9.97477567e-01 -4.67184118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5407140570001 meters 0.03799762230614848 Centerline is valid? [True, True] Translation: X:710.14, Y:-104.81, Z:-46.72 [[ 9.76588484e-01 2.02777652e-01 7.18063850e-02 7.10139162e+02] [-2.01937985e-01 9.79217037e-01 -1.88426351e-02 -1.04813037e+02] [-7.41349009e-02 3.90106377e-03 9.97240592e-01 -4.67189728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.600714057 meters 0.03552511605123895 Centerline is valid? [True, True] Translation: X:710.20, Y:-104.82, Z:-46.72 [[ 9.74056117e-01 2.14150643e-01 7.31722872e-02 7.10200713e+02] [-2.13310674e-01 9.76795749e-01 -1.91994954e-02 -1.04817858e+02] [-7.55859634e-02 3.09295601e-03 9.97134492e-01 -4.67199264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6607140570001 meters 0.031606536388635025 Centerline is valid? [True, True] Translation: X:710.26, Y:-104.82, Z:-46.73 [[ 9.72843633e-01 2.19578085e-01 7.32170105e-02 7.10260722e+02] [-2.18752453e-01 9.75591268e-01 -1.92104548e-02 -1.04824196e+02] [-7.56480710e-02 2.67236802e-03 9.97130998e-01 -4.67277314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.720714057 meters 0.029963979600283443 Centerline is valid? [True, True] Translation: X:710.32, Y:-104.84, Z:-46.73 [[ 9.72059507e-01 2.23449703e-01 7.19065040e-02 7.10318880e+02] [-2.22664164e-01 9.74712686e-01 -1.88639876e-02 -1.04835954e+02] [-7.43033340e-02 2.32591690e-03 9.97232974e-01 -4.67322858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7807140570001 meters 0.03053254999107279 Centerline is valid? [True, True] Translation: X:710.38, Y:-104.85, Z:-46.73 [[ 9.72759268e-01 2.20327466e-01 7.20778320e-02 7.10375146e+02] [-2.19529833e-01 9.75422582e-01 -1.89060428e-02 -1.04854984e+02] [-7.44718655e-02 2.56779396e-03 9.97219809e-01 -4.67337999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.840714057 meters 0.03146723706013989 Centerline is valid? [True, True] Translation: X:710.43, Y:-104.87, Z:-46.74 [[ 9.73613698e-01 2.16451385e-01 7.22853013e-02 7.10430756e+02] [-2.15638790e-01 9.76289183e-01 -1.89563613e-02 -1.04874880e+02] [-7.46744884e-02 2.86865814e-03 9.97203837e-01 -4.67372164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9007140570001 meters 0.03468885811580625 Centerline is valid? [True, True] Translation: X:710.49, Y:-104.90, Z:-46.74 [[ 9.74033180e-01 2.14888811e-01 7.12892948e-02 7.10486192e+02] [-2.14094748e-01 9.76634091e-01 -1.86893483e-02 -1.04896442e+02] [-7.36396874e-02 2.94138170e-03 9.97280575e-01 -4.67375317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.960714057 meters 0.03293439691162641 Centerline is valid? [True, True] Translation: X:710.54, Y:-104.91, Z:-46.74 [[ 9.74422117e-01 2.12844805e-01 7.21015060e-02 7.10542522e+02] [-2.12028381e-01 9.77081062e-01 -1.88828788e-02 -1.04913470e+02] [-7.44681387e-02 3.11232918e-03 9.97218537e-01 -4.67435833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.020714057 meters 0.03248780977341901 Centerline is valid? [True, True] Translation: X:710.60, Y:-104.93, Z:-46.75 [[ 9.74457035e-01 2.12566626e-01 7.24494078e-02 7.10597863e+02] [-2.11742994e-01 9.77141564e-01 -1.89543985e-02 -1.04931199e+02] [-7.48224002e-02 3.12959245e-03 9.97191965e-01 -4.67468561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.080714057 meters 0.03654512565813147 Centerline is valid? [True, True] Translation: X:710.65, Y:-104.95, Z:-46.75 [[ 9.74109288e-01 2.14819897e-01 7.04521647e-02 7.10654405e+02] [-2.14048494e-01 9.76649509e-01 -1.84113635e-02 -1.04950549e+02] [-7.27621993e-02 2.85450039e-03 9.97345233e-01 -4.67456668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.140714057 meters 0.03704629543880714 Centerline is valid? [True, True] Translation: X:710.71, Y:-104.97, Z:-46.75 [[ 9.73952838e-01 2.16155606e-01 6.85027275e-02 7.10709189e+02] [-2.15430837e-01 9.76355298e-01 -1.78853601e-02 -1.04970597e+02] [-7.07490218e-02 2.66189726e-03 9.97490597e-01 -4.67496697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.200714057 meters 0.03295819948954456 Centerline is valid? [True, True] Translation: X:710.77, Y:-104.99, Z:-46.76 [[ 9.73918792e-01 2.15752550e-01 7.02354879e-02 7.10765034e+02] [-2.14990875e-01 9.76444223e-01 -1.83194839e-02 -1.04986459e+02] [-7.25335117e-02 2.74170063e-03 9.97362207e-01 -4.67563715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.260714057 meters 0.03148091206519808 Centerline is valid? [True, True] Translation: X:710.82, Y:-105.00, Z:-46.76 [[ 9.72778504e-01 2.20862306e-01 7.01557080e-02 7.10822249e+02] [-2.20116805e-01 9.75302187e-01 -1.82821065e-02 -1.05003733e+02] [-7.24608437e-02 2.34198994e-03 9.97368508e-01 -4.67595462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.320714057 meters 0.030000521831986204 Centerline is valid? [True, True] Translation: X:710.88, Y:-105.02, Z:-46.76 [[ 9.72244775e-01 2.24052689e-01 6.73831561e-02 7.10878617e+02] [-2.23372867e-01 9.74574944e-01 -1.75568197e-02 -1.05022186e+02] [-6.96035882e-02 2.01795753e-03 9.97572688e-01 -4.67646721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.380714057 meters 0.030232708953254958 Centerline is valid? [True, True] Translation: X:710.93, Y:-105.04, Z:-46.77 [[ 9.72421218e-01 2.23571602e-01 6.64282676e-02 7.10932692e+02] [-2.22910061e-01 9.74685416e-01 -1.73044833e-02 -1.05042249e+02] [-6.86154546e-02 2.01971759e-03 9.97641138e-01 -4.67678597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.440714057 meters 0.03015287896695558 Centerline is valid? [True, True] Translation: X:710.99, Y:-105.07, Z:-46.77 [[ 9.72959011e-01 2.21411404e-01 6.57856640e-02 7.10987022e+02] [-2.20759041e-01 9.75178161e-01 -1.71172321e-02 -1.05065964e+02] [-6.79426933e-02 2.13158519e-03 9.97686948e-01 -4.67698088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.500714057 meters 0.03187706163539071 Centerline is valid? [True, True] Translation: X:711.04, Y:-105.09, Z:-46.77 [[ 9.73020284e-01 2.21184244e-01 6.56434072e-02 7.11039610e+02] [-2.20535390e-01 9.75229723e-01 -1.70625147e-02 -1.05091338e+02] [-6.77913612e-02 2.12547848e-03 9.97697256e-01 -4.67718968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.560714057 meters 0.031700859583038726 Centerline is valid? [True, True] Translation: X:711.09, Y:-105.11, Z:-46.77 [[ 9.72374443e-01 2.23702560e-01 6.66716408e-02 7.11094041e+02] [-2.23040037e-01 9.74655475e-01 -1.73161081e-02 -1.05114253e+02] [-6.88555375e-02 1.96729572e-03 9.97624701e-01 -4.67739461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.620714057 meters 0.02927043899161774 Centerline is valid? [True, True] Translation: X:711.15, Y:-105.13, Z:-46.78 [[ 9.71362662e-01 2.28635084e-01 6.46573903e-02 7.11150446e+02] [-2.28023233e-01 9.73510940e-01 -1.67885109e-02 -1.05133491e+02] [-6.67831195e-02 1.56434550e-03 9.97766289e-01 -4.67786833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.680714057 meters 0.028721423238478816 Centerline is valid? [True, True] Translation: X:711.20, Y:-105.15, Z:-46.78 [[ 9.70534204e-01 2.32194488e-01 6.44133483e-02 7.11204922e+02] [-2.31595241e-01 9.72668493e-01 -1.67226236e-02 -1.05153988e+02] [-6.65357354e-02 1.31205325e-03 9.97783180e-01 -4.67815622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.740714057 meters 0.027346785606749427 Centerline is valid? [True, True] Translation: X:711.26, Y:-105.18, Z:-46.78 [[ 9.70336093e-01 2.32795679e-01 6.52229858e-02 7.11259345e+02] [-2.32183020e-01 9.72524823e-01 -1.69267334e-02 -1.05177505e+02] [-6.73714431e-02 1.28095057e-03 9.97727141e-01 -4.67824908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.800714057 meters 0.027876055121896184 Centerline is valid? [True, True] Translation: X:711.31, Y:-105.21, Z:-46.78 [[ 9.71381372e-01 2.28739000e-01 6.40054641e-02 7.11313235e+02] [-2.28140541e-01 9.73486586e-01 -1.66060406e-02 -1.05206181e+02] [-6.61069098e-02 1.52855732e-03 9.97811375e-01 -4.67842863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.860714057 meters 0.02969516335408896 Centerline is valid? [True, True] Translation: X:711.37, Y:-105.23, Z:-46.79 [[ 9.72670026e-01 2.23384687e-01 6.33427423e-02 7.11366268e+02] [-2.22787379e-01 9.74728569e-01 -1.64317122e-02 -1.05234358e+02] [-6.54125734e-02 1.87067040e-03 9.97856551e-01 -4.67876278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.920714057 meters 0.03181580040007783 Centerline is valid? [True, True] Translation: X:711.42, Y:-105.26, Z:-46.79 [[ 9.74151308e-01 2.17113516e-01 6.23774821e-02 7.11421067e+02] [-2.16521672e-01 9.76143761e-01 -1.61778665e-02 -1.05260912e+02] [-6.44018235e-02 2.25361309e-03 9.97921503e-01 -4.67911419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.980714057 meters 0.03453948824843761 Centerline is valid? [True, True] Translation: X:711.48, Y:-105.29, Z:-46.80 [[ 9.75594978e-01 2.10782206e-01 6.15247981e-02 7.11476458e+02] [-2.10193945e-01 9.77529500e-01 -1.59556387e-02 -1.05287399e+02] [-6.35054698e-02 2.63410093e-03 9.97978014e-01 -4.67955990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0407140570001 meters 0.03701292190081223 Centerline is valid? [True, True] Translation: X:711.53, Y:-105.31, Z:-46.80 [[ 9.76708744e-01 2.05789215e-01 6.07521931e-02 7.11531666e+02] [-2.05206024e-01 9.78591980e-01 -1.57551147e-02 -1.05312511e+02] [-6.26938416e-02 2.92144227e-03 9.98028530e-01 -4.67986047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.100714057 meters 0.04072409583222403 Centerline is valid? [True, True] Translation: X:711.59, Y:-105.34, Z:-46.80 [[ 9.77944401e-01 1.99432411e-01 6.20601575e-02 7.11586778e+02] [-1.98811084e-01 9.79905685e-01 -1.60935230e-02 -1.05339467e+02] [-6.40226712e-02 3.40032355e-03 9.97942651e-01 -4.68006011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1607140570001 meters 0.033794155763724826 Centerline is valid? [True, True] Translation: X:711.65, Y:-105.35, Z:-46.80 [[ 9.78839822e-01 1.95293335e-01 6.10992371e-02 7.11647099e+02] [-1.94683154e-01 9.80738221e-01 -1.58433071e-02 -1.05348371e+02] [-6.30164494e-02 3.61306770e-03 9.98005948e-01 -4.68040673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.220714057 meters 0.03592738881305641 Centerline is valid? [True, True] Translation: X:711.70, Y:-105.37, Z:-46.81 [[ 9.78727013e-01 1.95787837e-01 6.13233828e-02 7.11704985e+02] [-1.95174064e-01 9.80639687e-01 -1.59024789e-02 -1.05368807e+02] [-6.32496549e-02 3.59545180e-03 9.97991259e-01 -4.68081461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2807140570001 meters 0.034249101809625336 Centerline is valid? [True, True] Translation: X:711.76, Y:-105.38, Z:-46.81 [[ 9.78040721e-01 1.99311371e-01 6.09206427e-02 7.11764138e+02] [-1.98711484e-01 9.79930449e-01 -1.58133360e-02 -1.05382636e+02] [-6.28497705e-02 3.36045525e-03 9.98017341e-01 -4.68110332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.340714057 meters 0.031873365492884234 Centerline is valid? [True, True] Translation: X:711.82, Y:-105.39, Z:-46.81 [[ 9.76809302e-01 2.05074338e-01 6.15475679e-02 7.11824329e+02] [-2.04473331e-01 9.78741735e-01 -1.59772557e-02 -1.05391775e+02] [-6.35156985e-02 3.02189576e-03 9.97976264e-01 -4.68145850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4007140570001 meters 0.0287391920443858 Centerline is valid? [True, True] Translation: X:711.88, Y:-105.40, Z:-46.82 [[ 9.73639187e-01 2.19720596e-01 6.12339314e-02 7.11884816e+02] [-2.19154512e-01 9.75560674e-01 -1.58956245e-02 -1.05396754e+02] [-6.32300114e-02 2.05691053e-03 9.97996861e-01 -4.68183676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.460714057 meters 0.025901823310532857 Centerline is valid? [True, True] Translation: X:711.95, Y:-105.40, Z:-46.82 [[ 9.71194638e-01 2.30281814e-01 6.12475402e-02 7.11945676e+02] [-2.29736406e-01 9.73123018e-01 -1.58988845e-02 -1.05403300e+02] [-6.32626151e-02 1.37012156e-03 9.97995974e-01 -4.68213425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.520714057 meters 0.024347907094813992 Centerline is valid? [True, True] Translation: X:712.01, Y:-105.41, Z:-46.82 [[ 9.67787862e-01 2.43705781e-01 6.31992578e-02 7.12006471e+02] [-2.43153518e-01 9.69849077e-01 -1.64053080e-02 -1.05409596e+02] [-6.52918102e-02 5.09736088e-04 9.97866083e-01 -4.68226742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.580714057 meters 0.023516411836955155 Centerline is valid? [True, True] Translation: X:712.06, Y:-105.42, Z:-46.83 [[ 9.66116025e-01 2.50137158e-01 6.36492648e-02 7.12064009e+02] [-2.49590994e-01 9.68210409e-01 -1.65208719e-02 -1.05422508e+02] [-6.57583647e-02 7.47958089e-05 9.97835574e-01 -4.68255248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.640714057 meters 0.023483392098634984 Centerline is valid? [True, True] Translation: X:712.12, Y:-105.44, Z:-46.83 [[ 9.64599125e-01 2.56101328e-01 6.29335982e-02 7.12120185e+02] [-2.55580357e-01 9.66649885e-01 -1.63303892e-02 -1.05438637e+02] [-6.50169898e-02 -3.32312355e-04 9.97884102e-01 -4.68309343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.700714057 meters 0.02307144140480661 Centerline is valid? [True, True] Translation: X:712.18, Y:-105.46, Z:-46.84 [[ 9.63571887e-01 2.59871107e-01 6.32157170e-02 7.12176403e+02] [-2.59353860e-01 9.65643130e-01 -1.63987910e-02 -1.05457289e+02] [-6.53053948e-02 -5.93826268e-04 9.97865148e-01 -4.68353206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.760714057 meters 0.02318185989622003 Centerline is valid? [True, True] Translation: X:712.23, Y:-105.48, Z:-46.84 [[ 9.62686873e-01 2.63220393e-01 6.28411407e-02 7.12231786e+02] [-2.62716692e-01 9.64735379e-01 -1.62968847e-02 -1.05477230e+02] [-6.49147441e-02 -8.20619613e-04 9.97890476e-01 -4.68373905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.820714057 meters 0.0229004248373712 Centerline is valid? [True, True] Translation: X:712.29, Y:-105.50, Z:-46.84 [[ 9.61406194e-01 2.67704602e-01 6.35009979e-02 7.12285772e+02] [-2.67200333e-01 9.63500362e-01 -1.64631474e-02 -1.05501952e+02] [-6.55904948e-02 -1.13971589e-03 9.97845974e-01 -4.68391708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.880714057 meters 0.02109230903906601 Centerline is valid? [True, True] Translation: X:712.34, Y:-105.53, Z:-46.84 [[ 9.61167966e-01 2.68135752e-01 6.52637728e-02 7.12337787e+02] [-2.67604488e-01 9.63380382e-01 -1.69138495e-02 -1.05530120e+02] [-6.74090461e-02 -1.20782816e-03 9.97724692e-01 -4.68397934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.940714057 meters 0.02003289709845401 Centerline is valid? [True, True] Translation: X:712.39, Y:-105.56, Z:-46.84 [[ 9.61527436e-01 2.66744014e-01 6.56705420e-02 7.12391737e+02] [-2.66203348e-01 9.63766760e-01 -1.70120601e-02 -1.05556835e+02] [-6.78289507e-02 -1.12415565e-03 9.97696331e-01 -4.68438277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.000714057 meters 0.01862405650482462 Centerline is valid? [True, True] Translation: X:712.45, Y:-105.59, Z:-46.85 [[ 9.62646838e-01 2.63178222e-01 6.36261715e-02 7.12445252e+02] [-2.62663242e-01 9.64746859e-01 -1.64778605e-02 -1.05588466e+02] [-6.57197631e-02 -8.49896235e-04 9.97837758e-01 -4.68475038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.060714057 meters 0.017698845689058065 Centerline is valid? [True, True] Translation: X:712.50, Y:-105.62, Z:-46.85 [[ 9.63569285e-01 2.59861199e-01 6.32960539e-02 7.12500225e+02] [-2.59344475e-01 9.65645779e-01 -1.63912096e-02 -1.05616569e+02] [-6.53810067e-02 -6.21415798e-04 9.97860180e-01 -4.68516381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.120714057 meters 0.01610323070569633 Centerline is valid? [True, True] Translation: X:712.56, Y:-105.65, Z:-46.85 [[ 9.65403871e-01 2.52820082e-01 6.38543059e-02 7.12555185e+02] [-2.52278760e-01 9.67513300e-01 -1.65360876e-02 -1.05653275e+02] [-6.59605452e-02 -1.45082121e-04 9.97822221e-01 -4.68528439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.180714057 meters 0.01603625330098645 Centerline is valid? [True, True] Translation: X:712.61, Y:-105.68, Z:-46.86 [[ 9.66694738e-01 2.47158145e-01 6.64389621e-02 7.12611495e+02] [-2.46557480e-01 9.68975118e-01 -1.72229429e-02 -1.05682207e+02] [-6.86344917e-02 2.68305224e-04 9.97641837e-01 -4.68558035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.240714057 meters 0.017469287632524887 Centerline is valid? [True, True] Translation: X:712.66, Y:-105.72, Z:-46.86 [[ 9.69055499e-01 2.37182534e-01 6.83804458e-02 7.12664477e+02] [-2.36520016e-01 9.71464565e-01 -1.77449065e-02 -1.05720709e+02] [-7.06379619e-02 1.02245512e-03 9.97501495e-01 -4.68583996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.300714057 meters 0.018685223423682083 Centerline is valid? [True, True] Translation: X:712.72, Y:-105.75, Z:-46.86 [[ 9.70947885e-01 2.29246930e-01 6.86006536e-02 7.12720286e+02] [-2.28559221e-01 9.73366950e-01 -1.78175154e-02 -1.05747926e+02] [-7.08582196e-02 1.62056697e-03 9.97485081e-01 -4.68643817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.360714057 meters 0.02099441585919552 Centerline is valid? [True, True] Translation: X:712.78, Y:-105.78, Z:-46.87 [[ 9.73443018e-01 2.18722315e-01 6.75961486e-02 7.12775140e+02] [-2.18029157e-01 9.75784305e-01 -1.75578220e-02 -1.05777845e+02] [-6.97995483e-02 2.35360795e-03 9.97558261e-01 -4.68712002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.420714057 meters 0.02304585935326227 Centerline is valid? [True, True] Translation: X:712.83, Y:-105.80, Z:-46.87 [[ 9.74942704e-01 2.11598318e-01 6.86503834e-02 7.12831105e+02] [-2.10865654e-01 9.77352386e-01 -1.78322319e-02 -1.05803560e+02] [-7.08688863e-02 2.90939638e-03 9.97481397e-01 -4.68742455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.480714057 meters 0.026507754474249943 Centerline is valid? [True, True] Translation: X:712.89, Y:-105.83, Z:-46.88 [[ 9.75439377e-01 2.08797581e-01 7.01540642e-02 7.12886897e+02] [-2.08025105e-01 9.77953701e-01 -1.82240086e-02 -1.05826717e+02] [-7.24125556e-02 3.18260895e-03 9.97369687e-01 -4.68765518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5407140570001 meters 0.027545519941148254 Centerline is valid? [True, True] Translation: X:712.95, Y:-105.85, Z:-46.88 [[ 9.75990064e-01 2.05512834e-01 7.21655816e-02 7.12945047e+02] [-2.04685944e-01 9.78648051e-01 -1.87525272e-02 -1.05845014e+02] [-7.44785908e-02 3.53100005e-03 9.97216361e-01 -4.68796962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.600714057 meters 0.024036523640504105 Centerline is valid? [True, True] Translation: X:713.01, Y:-105.85, Z:-46.89 [[ 9.76188853e-01 2.04588664e-01 7.21027153e-02 7.13006306e+02] [-2.03760430e-01 9.78841409e-01 -1.87398718e-02 -1.05854152e+02] [-7.44110888e-02 3.60197363e-03 9.97221147e-01 -4.68856302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6607140570001 meters 0.02495351324638032 Centerline is valid? [True, True] Translation: X:713.07, Y:-105.87, Z:-46.89 [[ 9.76260460e-01 2.04234140e-01 7.21382718e-02 7.13066751e+02] [-2.03402678e-01 9.78915264e-01 -1.87684858e-02 -1.05868867e+02] [-7.44504210e-02 3.64981293e-03 9.97218037e-01 -4.68907544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.720714057 meters 0.029018810913802925 Centerline is valid? [True, True] Translation: X:713.13, Y:-105.89, Z:-46.89 [[ 9.76272427e-01 2.04245962e-01 7.19425851e-02 7.13125781e+02] [-2.03417610e-01 9.78912768e-01 -1.87368363e-02 -1.05887531e+02] [-7.42524383e-02 3.65786795e-03 9.97232769e-01 -4.68945197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7807140570001 meters 0.02439493906558987 Centerline is valid? [True, True] Translation: X:713.19, Y:-105.89, Z:-46.90 [[ 9.75897045e-01 2.05699449e-01 7.28882344e-02 7.13188943e+02] [-2.04851611e-01 9.78608539e-01 -1.90038333e-02 -1.05890847e+02] [-7.52381266e-02 3.61451254e-03 9.97159044e-01 -4.68993117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.840714057 meters 0.02409093527446883 Centerline is valid? [True, True] Translation: X:713.25, Y:-105.90, Z:-46.90 [[ 9.75620645e-01 2.07284727e-01 7.20929854e-02 7.13250224e+02] [-2.06458207e-01 9.78274492e-01 -1.88155939e-02 -1.05900533e+02] [-7.44269139e-02 3.47269339e-03 9.97220424e-01 -4.69032570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9007140570001 meters 0.023770426523037937 Centerline is valid? [True, True] Translation: X:713.31, Y:-105.91, Z:-46.91 [[ 9.75290086e-01 2.08844868e-01 7.20629515e-02 7.13312625e+02] [-2.08021865e-01 9.77942973e-01 -1.88267207e-02 -1.05907927e+02] [-7.44053211e-02 3.37084453e-03 9.97222385e-01 -4.69084376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.960714057 meters 0.026450984512830043 Centerline is valid? [True, True] Translation: X:713.37, Y:-105.93, Z:-46.91 [[ 9.75138488e-01 2.09653501e-01 7.17658553e-02 7.13370955e+02] [-2.08838081e-01 9.77770131e-01 -1.87677021e-02 -1.05925079e+02] [-7.41052242e-02 3.31366517e-03 9.97244923e-01 -4.69119864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0207140570001 meters 0.026210100679936166 Centerline is valid? [True, True] Translation: X:713.43, Y:-105.93, Z:-46.92 [[ 9.74672205e-01 2.11776769e-01 7.18657950e-02 7.13432736e+02] [-2.10963663e-01 9.77312917e-01 -1.88094205e-02 -1.05932061e+02] [-7.42187681e-02 3.17194799e-03 9.97236939e-01 -4.69161305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.080714057 meters 0.021626557248960915 Centerline is valid? [True, True] Translation: X:713.50, Y:-105.93, Z:-46.92 [[ 9.74098518e-01 2.14267598e-01 7.22597640e-02 7.13495372e+02] [-2.13452085e-01 9.76770384e-01 -1.89162620e-02 -1.05934017e+02] [-7.46343394e-02 3.00230551e-03 9.97206449e-01 -4.69215886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.140714057 meters 0.020438091487385384 Centerline is valid? [True, True] Translation: X:713.56, Y:-105.94, Z:-46.92 [[ 9.72248757e-01 2.21678101e-01 7.47741598e-02 7.13556292e+02] [-2.20826368e-01 9.75116640e-01 -1.95768628e-02 -1.05938272e+02] [-7.72532892e-02 2.52147444e-03 9.97008311e-01 -4.69244101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.200714057 meters 0.019579532264848425 Centerline is valid? [True, True] Translation: X:713.62, Y:-105.95, Z:-46.93 [[ 9.70740523e-01 2.27796737e-01 7.59702774e-02 7.13616024e+02] [-2.26936195e-01 9.73706513e-01 -1.98894369e-02 -1.05946803e+02] [-7.85035028e-02 2.06707669e-03 9.96911695e-01 -4.69269595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.260714057 meters 0.017351132518814604 Centerline is valid? [True, True] Translation: X:713.68, Y:-105.95, Z:-46.93 [[ 9.69374450e-01 2.33202959e-01 7.70036073e-02 7.13677895e+02] [-2.32335756e-01 9.72426681e-01 -2.01605323e-02 -1.05951157e+02] [-7.95818580e-02 1.65241360e-03 9.96826965e-01 -4.69331426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.320714057 meters 0.018454895063388165 Centerline is valid? [True, True] Translation: X:713.74, Y:-105.97, Z:-46.94 [[ 9.69785651e-01 2.32072819e-01 7.52196693e-02 7.13737430e+02] [-2.31241632e-01 9.72696913e-01 -1.96982887e-02 -1.05966165e+02] [-7.77373776e-02 1.70919866e-03 9.96972406e-01 -4.69388937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.380714057 meters 0.018472389871861904 Centerline is valid? [True, True] Translation: X:713.80, Y:-105.98, Z:-46.94 [[ 9.70807910e-01 2.28141216e-01 7.40512544e-02 7.13797488e+02] [-2.27323294e-01 9.73625989e-01 -1.94050034e-02 -1.05980628e+02] [-7.65253069e-02 2.00495576e-03 9.97065624e-01 -4.69447599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.440714057 meters 0.01923157515058925 Centerline is valid? [True, True] Translation: X:713.86, Y:-106.00, Z:-46.95 [[ 9.72403314e-01 2.21225077e-01 7.41030429e-02 7.13855736e+02] [-2.20385557e-01 9.75219427e-01 -1.94235964e-02 -1.05997181e+02] [-7.65637137e-02 2.55632910e-03 9.97061414e-01 -4.69490339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.500714057 meters 0.021366211180879575 Centerline is valid? [True, True] Translation: X:713.91, Y:-106.02, Z:-46.95 [[ 9.73084479e-01 2.18270770e-01 7.39220393e-02 7.13914036e+02] [-2.17426686e-01 9.75884276e-01 -1.93782414e-02 -1.06016033e+02] [-7.63690594e-02 2.78404187e-03 9.97075732e-01 -4.69530200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.560714057 meters 0.021460577231056325 Centerline is valid? [True, True] Translation: X:713.98, Y:-106.03, Z:-46.96 [[ 9.73141726e-01 2.18193090e-01 7.33958844e-02 7.13975292e+02] [-2.17360164e-01 9.75901664e-01 -1.92484165e-02 -1.06031227e+02] [-7.58270371e-02 2.77809582e-03 9.97117116e-01 -4.69574249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.620714057 meters 0.020051029714514643 Centerline is valid? [True, True] Translation: X:714.04, Y:-106.04, Z:-46.96 [[ 9.72157884e-01 2.22400386e-01 7.38045883e-02 7.14036246e+02] [-2.21568680e-01 9.74952256e-01 -1.93757466e-02 -1.06041801e+02] [-7.62651234e-02 2.48349967e-03 9.97084482e-01 -4.69607679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.680714057 meters 0.0177123376416862 Centerline is valid? [True, True] Translation: X:714.10, Y:-106.05, Z:-46.97 [[ 9.69908114e-01 2.32458126e-01 7.23980059e-02 7.14096453e+02] [-2.31685495e-01 9.72604981e-01 -1.90100518e-02 -1.06049814e+02] [-7.48337022e-02 1.66443568e-03 9.97194638e-01 -4.69656929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.740714057 meters 0.016423148839822575 Centerline is valid? [True, True] Translation: X:714.16, Y:-106.06, Z:-46.97 [[ 9.68392319e-01 2.38676956e-01 7.24543066e-02 7.14156537e+02] [-2.37920438e-01 9.71098298e-01 -1.90252533e-02 -1.06061352e+02] [-7.49011434e-02 1.18554878e-03 9.97190259e-01 -4.69701442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.800714057 meters 0.01571906210728904 Centerline is valid? [True, True] Translation: X:714.22, Y:-106.08, Z:-46.97 [[ 9.66677804e-01 2.45309785e-01 7.31924294e-02 7.14217143e+02] [-2.44556436e-01 9.69444503e-01 -1.92225367e-02 -1.06076696e+02] [-7.56714747e-02 6.82319853e-04 9.97132570e-01 -4.69732171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.860714057 meters 0.015293800980457104 Centerline is valid? [True, True] Translation: X:714.28, Y:-106.09, Z:-46.98 [[ 9.66174442e-01 2.47731191e-01 7.16673190e-02 7.14276657e+02] [-2.47014987e-01 9.68828683e-01 -1.88302979e-02 -1.06093602e+02] [-7.40982063e-02 4.90450721e-04 9.97250829e-01 -4.69774709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.920714057 meters 0.015356860361403653 Centerline is valid? [True, True] Translation: X:714.34, Y:-106.11, Z:-46.98 [[ 9.65510956e-01 2.50497840e-01 7.09889141e-02 7.14336142e+02] [-2.49801340e-01 9.68117114e-01 -1.86693279e-02 -1.06112941e+02] [-7.34022090e-02 2.92314722e-04 9.97302377e-01 -4.69830829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.980714057 meters 0.014941016423714456 Centerline is valid? [True, True] Translation: X:714.40, Y:-106.13, Z:-46.99 [[ 9.64940655e-01 2.53073590e-01 6.95937527e-02 7.14395271e+02] [-2.52410346e-01 9.67447026e-01 -1.83103602e-02 -1.06131743e+02] [-7.19621376e-02 1.02227754e-04 9.97407359e-01 -4.69868366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0407140570001 meters 0.014791676183901696 Centerline is valid? [True, True] Translation: X:714.45, Y:-106.15, Z:-46.99 [[ 9.63365359e-01 2.59499589e-01 6.77284871e-02 7.14454062e+02] [-2.58886034e-01 9.65743155e-01 -1.78376130e-02 -1.06151274e+02] [-7.00371761e-02 -3.49820915e-04 9.97544321e-01 -4.69906194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.100714057 meters 0.015491959925166101 Centerline is valid? [True, True] Translation: X:714.51, Y:-106.17, Z:-46.99 [[ 9.61024545e-01 2.68018152e-01 6.78092437e-02 7.14512998e+02] [-2.67422963e-01 9.63413391e-01 -1.78772796e-02 -1.06170203e+02] [-7.01197689e-02 -9.53244369e-04 9.97538124e-01 -4.69936180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1607140570001 meters 0.016618910456681013 Centerline is valid? [True, True] Translation: X:714.57, Y:-106.19, Z:-47.00 [[ 9.59626388e-01 2.72840911e-01 6.83742111e-02 7.14572175e+02] [-2.72247583e-01 9.62058272e-01 -1.80315204e-02 -1.06188827e+02] [-7.06997118e-02 -1.31119087e-03 9.97496783e-01 -4.69970311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.220714057 meters 0.017441526828658512 Centerline is valid? [True, True] Translation: X:714.63, Y:-106.21, Z:-47.00 [[ 9.58739279e-01 2.76145903e-01 6.75458064e-02 7.14630630e+02] [-2.75574637e-01 9.61114509e-01 -1.78190927e-02 -1.06210404e+02] [-6.98399239e-02 -1.53004702e-03 9.97557038e-01 -4.70011709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2807140570001 meters 0.018036674372847537 Centerline is valid? [True, True] Translation: X:714.69, Y:-106.24, Z:-47.01 [[ 9.58751838e-01 2.76172012e-01 6.72601903e-02 7.14687715e+02] [-2.75604390e-01 9.61107041e-01 -1.77616128e-02 -1.06238129e+02] [-6.95495029e-02 -1.50822487e-03 9.97577361e-01 -4.70053858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.340714057 meters 0.01669124611887007 Centerline is valid? [True, True] Translation: X:714.74, Y:-106.27, Z:-47.01 [[ 9.60484141e-01 2.70132953e-01 6.70701315e-02 7.14742205e+02] [-2.69552576e-01 9.62822458e-01 -1.77291848e-02 -1.06273256e+02] [-6.93658659e-02 -1.05032587e-03 9.97590734e-01 -4.70094537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4007140570001 meters 0.01627931957665713 Centerline is valid? [True, True] Translation: X:714.80, Y:-106.30, Z:-47.01 [[ 9.61927411e-01 2.64817330e-01 6.75828294e-02 7.14798525e+02] [-2.64214560e-01 9.64298365e-01 -1.78697856e-02 -1.06300475e+02] [-6.99022408e-02 -6.66930975e-04 9.97553624e-01 -4.70137124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.460714057 meters 0.01662785471090887 Centerline is valid? [True, True] Translation: X:714.85, Y:-106.33, Z:-47.02 [[ 9.63700398e-01 2.58687744e-01 6.60469080e-02 7.14854786e+02] [-2.58096495e-01 9.65960978e-01 -1.74810797e-02 -1.06331345e+02] [-6.83208769e-02 -1.99952031e-04 9.97663379e-01 -4.70187471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5207140570001 meters 0.01707203579831194 Centerline is valid? [True, True] Translation: X:714.91, Y:-106.36, Z:-47.02 [[ 9.64579208e-01 2.55779847e-01 6.45261279e-02 7.14913107e+02] [-2.55207900e-01 9.66735057e-01 -1.70955669e-02 -1.06356777e+02] [-6.67523714e-02 2.24508169e-05 9.97769573e-01 -4.70240898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.580714057 meters 0.017230104495874927 Centerline is valid? [True, True] Translation: X:714.97, Y:-106.38, Z:-47.03 [[ 9.65943592e-01 2.50774911e-01 6.37567309e-02 7.14968861e+02] [-2.50204346e-01 9.68045349e-01 -1.69111779e-02 -1.06384396e+02] [-6.59603060e-02 3.83032736e-04 9.97822174e-01 -4.70273638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.640714057 meters 0.017365867536290602 Centerline is valid? [True, True] Translation: X:715.03, Y:-106.41, Z:-47.03 [[ 9.66564551e-01 2.48343944e-01 6.38612150e-02 7.15027679e+02] [-2.47765154e-01 9.68671753e-01 -1.69547256e-02 -1.06406476e+02] [-6.60711586e-02 5.65252985e-04 9.97814754e-01 -4.70296856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.700714057 meters 0.018011037432575396 Centerline is valid? [True, True] Translation: X:715.08, Y:-106.43, Z:-47.03 [[ 9.67290601e-01 2.45229913e-01 6.48936339e-02 7.15083714e+02] [-2.44624043e-01 9.69464614e-01 -1.72464521e-02 -1.06432030e+02] [-6.71414277e-02 8.07787914e-04 9.97743141e-01 -4.70320229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.760714057 meters 0.017897361003985212 Centerline is valid? [True, True] Translation: X:715.14, Y:-106.45, Z:-47.04 [[ 9.67448323e-01 2.44420826e-01 6.55911827e-02 7.15142803e+02] [-2.43798880e-01 9.69668845e-01 -1.74481195e-02 -1.06452458e+02] [-6.78664102e-02 8.89097107e-04 9.97694021e-01 -4.70351965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.820714057 meters 0.017896964508016405 Centerline is valid? [True, True] Translation: X:715.20, Y:-106.47, Z:-47.04 [[ 9.67108801e-01 2.45415408e-01 6.68718466e-02 7.15203086e+02] [-2.44770025e-01 9.69417635e-01 -1.78068680e-02 -1.06472130e+02] [-6.91968271e-02 8.52955172e-04 9.97602662e-01 -4.70388108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.880714057 meters 0.017434958480160776 Centerline is valid? [True, True] Translation: X:715.26, Y:-106.49, Z:-47.04 [[ 9.66429244e-01 2.47772148e-01 6.79961787e-02 7.15263451e+02] [-2.47109225e-01 9.68818069e-01 -1.81267858e-02 -1.06488041e+02] [-7.03672392e-02 7.15772901e-04 9.97520897e-01 -4.70428857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.940714057 meters 0.0174219019260418 Centerline is valid? [True, True] Translation: X:715.32, Y:-106.50, Z:-47.05 [[ 9.65296396e-01 2.51799202e-01 6.92822542e-02 7.15322232e+02] [-2.51119975e-01 9.67779397e-01 -1.84877587e-02 -1.06503363e+02] [-7.17051411e-02 4.48008931e-04 9.97425773e-01 -4.70467350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.000714057 meters 0.01721586641366377 Centerline is valid? [True, True] Translation: X:715.38, Y:-106.52, Z:-47.05 [[ 9.64699098e-01 2.54027192e-01 6.94682436e-02 7.15381686e+02] [-2.53349256e-01 9.67197032e-01 -1.85487392e-02 -1.06520334e+02] [-7.19013632e-02 2.94224154e-04 9.97411704e-01 -4.70515226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.060714057 meters 0.017255707836470516 Centerline is valid? [True, True] Translation: X:715.44, Y:-106.54, Z:-47.06 [[ 9.63874517e-01 2.56777222e-01 7.07910535e-02 7.15441827e+02] [-2.56079140e-01 9.66470613e-01 -1.89216360e-02 -1.06538658e+02] [-7.32761180e-02 1.09970651e-04 9.97311686e-01 -4.70565573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.120714057 meters 0.017159601123343967 Centerline is valid? [True, True] Translation: X:715.50, Y:-106.56, Z:-47.06 [[ 9.63891173e-01 2.56773699e-01 7.05767216e-02 7.15502395e+02] [-2.56078234e-01 9.66471547e-01 -1.88861783e-02 -1.06556518e+02] [-7.30598671e-02 1.31058326e-04 9.97327548e-01 -4.70616866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.180714057 meters 0.017303921627317944 Centerline is valid? [True, True] Translation: X:715.56, Y:-106.58, Z:-47.07 [[ 9.64296079e-01 2.55433315e-01 6.99063176e-02 7.15560406e+02] [-2.54745956e-01 9.66826643e-01 -1.87280385e-02 -1.06577525e+02] [-7.23710554e-02 2.51022409e-04 9.97377746e-01 -4.70664176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.240714057 meters 0.017542243243296608 Centerline is valid? [True, True] Translation: X:715.62, Y:-106.60, Z:-47.07 [[ 9.64280160e-01 2.55276115e-01 7.06956769e-02 7.15619934e+02] [-2.54571197e-01 9.66868152e-01 -1.89600169e-02 -1.06596753e+02] [-7.31934379e-02 2.85684981e-04 9.97317722e-01 -4.70696820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.300714057 meters 0.017476729072081615 Centerline is valid? [True, True] Translation: X:715.68, Y:-106.62, Z:-47.07 [[ 9.63925133e-01 2.56521697e-01 7.10278639e-02 7.15679700e+02] [-2.55811919e-01 9.66538449e-01 -1.90706200e-02 -1.06615729e+02] [-7.35431892e-02 2.12875739e-04 9.97292010e-01 -4.70726027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.360714057 meters 0.01765240276113674 Centerline is valid? [True, True] Translation: X:715.74, Y:-106.64, Z:-47.08 [[ 9.64066873e-01 2.55689194e-01 7.20978571e-02 7.15738150e+02] [-2.54953877e-01 9.66758990e-01 -1.93797621e-02 -1.06635433e+02] [-7.46564473e-02 3.01758439e-04 9.97209268e-01 -4.70766356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.420714057 meters 0.017959831104308953 Centerline is valid? [True, True] Translation: X:715.80, Y:-106.66, Z:-47.08 [[ 9.64343833e-01 2.54599949e-01 7.22484464e-02 7.15798207e+02] [-2.53857034e-01 9.67046380e-01 -1.94397791e-02 -1.06655935e+02] [-7.48169654e-02 4.05854776e-04 9.97197201e-01 -4.70803523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.480714057 meters 0.018080528962530776 Centerline is valid? [True, True] Translation: X:715.86, Y:-106.68, Z:-47.09 [[ 9.64713661e-01 2.53428108e-01 7.14265057e-02 7.15857460e+02] [-2.52697243e-01 9.67354088e-01 -1.92398373e-02 -1.06675861e+02] [-7.39706379e-02 5.11652843e-04 9.97260289e-01 -4.70856653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5407140570001 meters 0.018836546151781205 Centerline is valid? [True, True] Translation: X:715.92, Y:-106.70, Z:-47.09 [[ 9.65439460e-01 2.50839045e-01 7.07560771e-02 7.15915094e+02] [-2.50113473e-01 9.68028539e-01 -1.90787623e-02 -1.06697549e+02] [-7.32796004e-02 7.22341790e-04 9.97311174e-01 -4.70908687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.600714057 meters 0.01938790004296168 Centerline is valid? [True, True] Translation: X:715.97, Y:-106.72, Z:-47.09 [[ 9.65772059e-01 2.48883570e-01 7.30841898e-02 7.15972619e+02] [-2.48102924e-01 9.68532983e-01 -1.97180079e-02 -1.06719523e+02] [-7.56919366e-02 9.10699861e-04 9.97130835e-01 -4.70924687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6607140570001 meters 0.01980240162858465 Centerline is valid? [True, True] Translation: X:716.03, Y:-106.74, Z:-47.10 [[ 9.65953872e-01 2.48054668e-01 7.34982864e-02 7.16031489e+02] [-2.47261422e-01 9.68745522e-01 -1.98470113e-02 -1.06738530e+02] [-7.61242796e-02 9.98006663e-04 9.97097838e-01 -4.70960230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.720714057 meters 0.01979728519034615 Centerline is valid? [True, True] Translation: X:716.09, Y:-106.76, Z:-47.10 [[ 9.66831774e-01 2.44856350e-01 7.26752325e-02 7.16091093e+02] [-2.44070429e-01 9.69558558e-01 -1.96425040e-02 -1.06756541e+02] [-7.52724855e-02 1.25312180e-03 9.97162215e-01 -4.71019398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7807140570001 meters 0.020082931705073206 Centerline is valid? [True, True] Translation: X:716.15, Y:-106.77, Z:-47.11 [[ 9.68188775e-01 2.39887119e-01 7.11664643e-02 7.16150268e+02] [-2.39118912e-01 9.70799434e-01 -1.92511029e-02 -1.06774081e+02] [-7.37064549e-02 1.62145420e-03 9.97278662e-01 -4.71071324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.840714057 meters 0.02071148442460909 Centerline is valid? [True, True] Translation: X:716.21, Y:-106.79, Z:-47.11 [[ 9.69093786e-01 2.36295724e-01 7.08630049e-02 7.16209814e+02] [-2.35524078e-01 9.71679346e-01 -1.91743931e-02 -1.06791533e+02] [-7.33869454e-02 1.89184129e-03 9.97301748e-01 -4.71111125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9007140570001 meters 0.02249251921418592 Centerline is valid? [True, True] Translation: X:716.27, Y:-106.81, Z:-47.11 [[ 9.70202199e-01 2.31506951e-01 7.14998235e-02 7.16267751e+02] [-2.30707990e-01 9.72830579e-01 -1.93516801e-02 -1.06808782e+02] [-7.40372632e-02 2.27946204e-03 9.97252871e-01 -4.71137992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.960714057 meters 0.02238135776855082 Centerline is valid? [True, True] Translation: X:716.33, Y:-106.82, Z:-47.12 [[ 9.70679764e-01 2.29563939e-01 7.12824965e-02 7.16327697e+02] [-2.28764360e-01 9.73290565e-01 -1.92961910e-02 -1.06822414e+02] [-7.38082909e-02 2.42352742e-03 9.97269504e-01 -4.71177871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0207140570001 meters 0.021909240072296377 Centerline is valid? [True, True] Translation: X:716.39, Y:-106.83, Z:-47.12 [[ 9.70698033e-01 2.29118665e-01 7.24566545e-02 7.16388871e+02] [-2.28289966e-01 9.73395250e-01 -1.96310448e-02 -1.06832479e+02] [-7.50268021e-02 2.51468934e-03 9.97178347e-01 -4.71204587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.080714057 meters 0.02138753546314698 Centerline is valid? [True, True] Translation: X:716.45, Y:-106.84, Z:-47.12 [[ 9.70330088e-01 2.30574792e-01 7.27652793e-02 7.16450396e+02] [-2.29742193e-01 9.73051586e-01 -1.97265095e-02 -1.06844366e+02] [-7.53528063e-02 2.42397090e-03 9.97153990e-01 -4.71235626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.140714057 meters 0.021069256698861956 Centerline is valid? [True, True] Translation: X:716.51, Y:-106.85, Z:-47.13 [[ 9.70165930e-01 2.31360220e-01 7.24604568e-02 7.16511940e+02] [-2.30535319e-01 9.72865264e-01 -1.96632700e-02 -1.06853940e+02] [-7.50435599e-02 2.37194016e-03 9.97177436e-01 -4.71275732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.200714057 meters 0.020845414452815132 Centerline is valid? [True, True] Translation: X:716.57, Y:-106.86, Z:-47.13 [[ 9.70183819e-01 2.31753459e-01 7.09485100e-02 7.16572926e+02] [-2.30962348e-01 9.72771810e-01 -1.92717097e-02 -1.06864926e+02] [-7.34829959e-02 2.31066642e-03 9.97293793e-01 -4.71324553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.260714057 meters 0.021357571732849082 Centerline is valid? [True, True] Translation: X:716.63, Y:-106.87, Z:-47.14 [[ 9.70011956e-01 2.33176715e-01 6.85960969e-02 7.16634211e+02] [-2.32439552e-01 9.72432008e-01 -1.86505746e-02 -1.06873482e+02] [-7.10539200e-02 2.14683428e-03 9.97470166e-01 -4.71367786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.320714057 meters 0.02098182942333277 Centerline is valid? [True, True] Translation: X:716.70, Y:-106.89, Z:-47.14 [[ 9.69652238e-01 2.34647357e-01 6.86669858e-02 7.16695502e+02] [-2.33911053e-01 9.72078381e-01 -1.86879765e-02 -1.06885089e+02] [-7.11347767e-02 2.05887129e-03 9.97464588e-01 -4.71397699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.380714057 meters 0.020370804946933947 Centerline is valid? [True, True] Translation: X:716.76, Y:-106.89, Z:-47.14 [[ 9.69529750e-01 2.35515578e-01 6.74127261e-02 7.16758206e+02] [-2.34806848e-01 9.71868566e-01 -1.83639383e-02 -1.06891972e+02] [-6.98413030e-02 1.97541484e-03 9.97556159e-01 -4.71426916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.440714057 meters 0.02195262749899263 Centerline is valid? [True, True] Translation: X:716.82, Y:-106.90, Z:-47.15 [[ 9.70574474e-01 2.31454157e-01 6.64391776e-02 7.16817170e+02] [-2.30755135e-01 9.72843207e-01 -1.81152370e-02 -1.06904000e+02] [-6.88277495e-02 2.25100525e-03 9.97626019e-01 -4.71455890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.500714057 meters 0.024284315265859863 Centerline is valid? [True, True] Translation: X:716.88, Y:-106.92, Z:-47.15 [[ 9.72223982e-01 2.24522778e-01 6.61063615e-02 7.16875660e+02] [-2.23814659e-01 9.74465018e-01 -1.80257148e-02 -1.06918861e+02] [-6.84655203e-02 2.72945948e-03 9.97649749e-01 -4.71492123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.560714057 meters 0.02500946975473897 Centerline is valid? [True, True] Translation: X:716.94, Y:-106.93, Z:-47.15 [[ 9.74758467e-01 2.13158879e-01 6.64019898e-02 7.16936074e+02] [-2.12417984e-01 9.77011117e-01 -1.81073701e-02 -1.06928404e+02] [-6.87352290e-02 3.54533548e-03 9.97628638e-01 -4.71523239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.620714057 meters 0.03187193500436682 Centerline is valid? [True, True] Translation: X:716.99, Y:-106.95, Z:-47.15 [[ 9.76016254e-01 2.07647712e-01 6.53811810e-02 7.16992495e+02] [-2.06917089e-01 9.78196005e-01 -1.78295962e-02 -1.06947558e+02] [-6.76578849e-02 3.87349208e-03 9.97701061e-01 -4.71549494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.680714057 meters 0.03427960415586146 Centerline is valid? [True, True] Translation: X:717.05, Y:-106.95, Z:-47.16 [[ 9.76420905e-01 2.05705326e-01 6.54792742e-02 7.17053118e+02] [-2.04968178e-01 9.78605747e-01 -1.78560396e-02 -1.06954438e+02] [-6.77514765e-02 4.01384277e-03 9.97694155e-01 -4.71563749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.740714057 meters 0.032611474914393535 Centerline is valid? [True, True] Translation: X:717.11, Y:-106.96, Z:-47.16 [[ 9.76249966e-01 2.06558293e-01 6.53427479e-02 7.17114397e+02] [-2.05825998e-01 9.78426330e-01 -1.78206355e-02 -1.06963998e+02] [-6.76140651e-02 3.94815851e-03 9.97703739e-01 -4.71599822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.800714057 meters 0.024411734903098208 Centerline is valid? [True, True] Translation: X:717.18, Y:-106.96, Z:-47.16 [[ 9.75531426e-01 2.09925491e-01 6.53431311e-02 7.17180176e+02] [-2.09199641e-01 9.77710271e-01 -1.78363679e-02 -1.06955372e+02] [-6.76309587e-02 3.73017787e-03 9.97703433e-01 -4.71635807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.860714057 meters 0.024777785511586423 Centerline is valid? [True, True] Translation: X:717.24, Y:-106.96, Z:-47.17 [[ 9.74668098e-01 2.14188200e-01 6.43856727e-02 7.17239699e+02] [-2.13492671e-01 9.76786546e-01 -1.75762155e-02 -1.06963625e+02] [-6.66556767e-02 3.38510729e-03 9.97770295e-01 -4.71685494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.920714057 meters 0.02448011856962231 Centerline is valid? [True, True] Translation: X:717.30, Y:-106.97, Z:-47.17 [[ 9.73002994e-01 2.21921328e-01 6.33726895e-02 7.17301025e+02] [-2.21263861e-01 9.75060524e-01 -1.72996795e-02 -1.06966351e+02] [-6.56313756e-02 2.81055397e-03 9.97839979e-01 -4.71735518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.980714057 meters 0.020843253453934972 Centerline is valid? [True, True] Translation: X:717.36, Y:-106.96, Z:-47.18 [[ 9.71752565e-01 2.27164996e-01 6.39766965e-02 7.17364291e+02] [-2.26506243e-01 9.73853128e-01 -1.74644728e-02 -1.06963625e+02] [-6.62712229e-02 2.48002505e-03 9.97798564e-01 -4.71769320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0407140570001 meters 0.020747936010363514 Centerline is valid? [True, True] Translation: X:717.43, Y:-106.97, Z:-47.18 [[ 9.71074243e-01 2.29743606e-01 6.50591274e-02 7.17425647e+02] [-2.29068063e-01 9.73248366e-01 -1.77606747e-02 -1.06973764e+02] [-6.73990909e-02 2.34396541e-03 9.97723343e-01 -4.71802494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.100714057 meters 0.019436019905841068 Centerline is valid? [True, True] Translation: X:717.49, Y:-106.98, Z:-47.18 [[ 9.70244123e-01 2.33219185e-01 6.50780558e-02 7.17487604e+02] [-2.32549895e-01 9.72421883e-01 -1.77828109e-02 -1.06978321e+02] [-6.74306182e-02 2.11977280e-03 9.97721714e-01 -4.71846326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1607140570001 meters 0.02059588076323794 Centerline is valid? [True, True] Translation: X:717.55, Y:-106.99, Z:-47.19 [[ 9.69617149e-01 2.35575323e-01 6.59306557e-02 7.17547725e+02] [-2.34893555e-01 9.71854067e-01 -1.80191832e-02 -1.06988178e+02] [-6.83198508e-02 1.98502299e-03 9.97661495e-01 -4.71894966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.220714057 meters 0.020298025993187176 Centerline is valid? [True, True] Translation: X:717.61, Y:-107.00, Z:-47.19 [[ 9.69992680e-01 2.33854503e-01 6.65302437e-02 7.17608941e+02] [-2.33155049e-01 9.72269244e-01 -1.81999977e-02 -1.07000145e+02] [-6.89414611e-02 2.14200233e-03 9.97618407e-01 -4.71942941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2807140570001 meters 0.022130702047414616 Centerline is valid? [True, True] Translation: X:717.67, Y:-107.02, Z:-47.20 [[ 9.71594536e-01 2.26935165e-01 6.71154890e-02 7.17667696e+02] [-2.26205669e-01 9.73906200e-01 -1.83768573e-02 -1.07015998e+02] [-6.95345460e-02 2.67295006e-03 9.97575963e-01 -4.71988591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.340714057 meters 0.022547038590391335 Centerline is valid? [True, True] Translation: X:717.73, Y:-107.03, Z:-47.20 [[ 9.72983758e-01 2.20862726e-01 6.72477792e-02 7.17726393e+02] [-2.20115826e-01 9.75299933e-01 -1.84136738e-02 -1.07030875e+02] [-6.96536487e-02 3.11390505e-03 9.97566375e-01 -4.72030812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4007140570001 meters 0.026153718369324397 Centerline is valid? [True, True] Translation: X:717.78, Y:-107.05, Z:-47.21 [[ 9.74408181e-01 2.13937183e-01 6.89897015e-02 7.17784392e+02] [-2.13133637e-01 9.76840397e-01 -1.88915560e-02 -1.07050114e+02] [-7.14335337e-02 3.70406065e-03 9.97438484e-01 -4.72064592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.460714057 meters 0.027822875885970287 Centerline is valid? [True, True] Translation: X:717.84, Y:-107.07, Z:-47.21 [[ 9.74786664e-01 2.12018176e-01 6.95647445e-02 7.17844329e+02] [-2.11196029e-01 9.77258019e-01 -1.90526113e-02 -1.07065304e+02] [-7.20222042e-02 3.88043357e-03 9.97395480e-01 -4.72101854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5207140570001 meters 0.026801146284327684 Centerline is valid? [True, True] Translation: X:717.91, Y:-107.07, Z:-47.22 [[ 9.74477269e-01 2.13237682e-01 7.01693857e-02 7.17906502e+02] [-2.12403786e-01 9.76992845e-01 -1.92253140e-02 -1.07073911e+02] [-7.26545492e-02 3.83038825e-03 9.97349811e-01 -4.72151294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.580714057 meters 0.028200148985023567 Centerline is valid? [True, True] Translation: X:717.97, Y:-107.09, Z:-47.22 [[ 9.73850134e-01 2.15907186e-01 7.07107106e-02 7.17965914e+02] [-2.15066047e-01 9.76406968e-01 -1.93914339e-02 -1.07087355e+02] [-7.32291805e-02 3.67687747e-03 9.97308361e-01 -4.72198159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.640714057 meters 0.02607187407707999 Centerline is valid? [True, True] Translation: X:718.03, Y:-107.09, Z:-47.22 [[ 9.72473868e-01 2.22149913e-01 7.03135361e-02 7.18027041e+02] [-2.21334269e-01 9.75007298e-01 -1.92849555e-02 -1.07092274e+02] [-7.28403620e-02 3.19132012e-03 9.97338507e-01 -4.72247895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.700714057 meters 0.023919001991043305 Centerline is valid? [True, True] Translation: X:718.09, Y:-107.10, Z:-47.23 [[ 9.71207023e-01 2.27330351e-01 7.12588904e-02 7.18087687e+02] [-2.26506469e-01 9.73813555e-01 -1.95442792e-02 -1.07099052e+02] [-7.38358813e-02 2.84094155e-03 9.97266359e-01 -4.72301370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.760714057 meters 0.022656587514193676 Centerline is valid? [True, True] Translation: X:718.15, Y:-107.11, Z:-47.24 [[ 9.69606909e-01 2.33876211e-01 7.18634855e-02 7.18148560e+02] [-2.33056153e-01 9.72263511e-01 -1.97102848e-02 -1.07106972e+02] [-7.44800115e-02 2.36300088e-03 9.97219707e-01 -4.72360375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.820714057 meters 0.022239948692737353 Centerline is valid? [True, True] Translation: X:718.21, Y:-107.12, Z:-47.24 [[ 9.69018823e-01 2.36374559e-01 7.16211415e-02 7.18209653e+02] [-2.35566680e-01 9.71659600e-01 -1.96459019e-02 -1.07119553e+02] [-7.42351611e-02 2.16569418e-03 9.97238412e-01 -4.72423694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.880714057 meters 0.022248252542633677 Centerline is valid? [True, True] Translation: X:718.27, Y:-107.13, Z:-47.25 [[ 9.68903936e-01 2.36467528e-01 7.28578825e-02 7.18270384e+02] [-2.35631044e-01 9.71636891e-01 -1.99941025e-02 -1.07132493e+02] [-7.55193624e-02 2.20478571e-03 9.97141898e-01 -4.72475133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.940714057 meters 0.022716664849976514 Centerline is valid? [True, True] Translation: X:718.33, Y:-107.15, Z:-47.25 [[ 9.69171177e-01 2.35371897e-01 7.28512139e-02 7.18330258e+02] [-2.34530976e-01 9.71902638e-01 -2.00120928e-02 -1.07148888e+02] [-7.55145712e-02 2.30927726e-03 9.97142024e-01 -4.72520384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.000714057 meters 0.023335042987051767 Centerline is valid? [True, True] Translation: X:718.39, Y:-107.16, Z:-47.26 [[ 9.69295953e-01 2.34872017e-01 7.28044759e-02 7.18390010e+02] [-2.34029286e-01 9.72023425e-01 -2.00188609e-02 -1.07163665e+02] [-7.54695263e-02 2.36582129e-03 9.97145302e-01 -4.72560862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.060714057 meters 0.022552854784833168 Centerline is valid? [True, True] Translation: X:718.45, Y:-107.18, Z:-47.26 [[ 9.68664254e-01 2.37255718e-01 7.34798406e-02 7.18450444e+02] [-2.36402839e-01 9.71444703e-01 -2.02209342e-02 -1.07176033e+02] [-7.61791342e-02 2.21645318e-03 9.97091684e-01 -4.72605644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.120714057 meters 0.02156171867805838 Centerline is valid? [True, True] Translation: X:718.51, Y:-107.19, Z:-47.26 [[ 9.66816216e-01 2.44554259e-01 7.38892401e-02 7.18508866e+02] [-2.43712779e-01 9.69634197e-01 -2.03372781e-02 -1.07187970e+02] [-7.66191020e-02 1.65465826e-03 9.97059063e-01 -4.72645532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.180714057 meters 0.020535001472053588 Centerline is valid? [True, True] Translation: X:718.57, Y:-107.20, Z:-47.27 [[ 9.64869967e-01 2.52051246e-01 7.41358006e-02 7.18566195e+02] [-2.51226228e-01 9.67713305e-01 -2.04044773e-02 -1.07200117e+02] [-7.68851745e-02 1.06280979e-03 9.97039388e-01 -4.72682127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.240714057 meters 0.019925938948503717 Centerline is valid? [True, True] Translation: X:718.62, Y:-107.21, Z:-47.27 [[ 9.63929318e-01 2.55382979e-01 7.49653494e-02 7.18623551e+02] [-2.54549728e-01 9.66839640e-01 -2.06287533e-02 -1.07214594e+02] [-7.77477039e-02 8.02250770e-04 9.96972743e-01 -4.72735858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.300714057 meters 0.019191965591322017 Centerline is valid? [True, True] Translation: X:718.68, Y:-107.23, Z:-47.28 [[ 9.62644984e-01 2.60354600e-01 7.43647533e-02 7.18680404e+02] [-2.59549679e-01 9.65512986e-01 -2.04606450e-02 -1.07233311e+02] [-7.71271580e-02 3.94989484e-04 9.97021186e-01 -4.72787058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.360714057 meters 0.018333402167719417 Centerline is valid? [True, True] Translation: X:718.74, Y:-107.25, Z:-47.28 [[ 9.61528988e-01 2.64212986e-01 7.51897776e-02 7.18737446e+02] [-2.63402071e-01 9.64464355e-01 -2.06847231e-02 -1.07250664e+02] [-7.79830327e-02 8.38177109e-05 9.96954683e-01 -4.72824654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.420714057 meters 0.01802742365466134 Centerline is valid? [True, True] Translation: X:718.79, Y:-107.27, Z:-47.28 [[ 9.59562504e-01 2.71250473e-01 7.52527879e-02 7.18792855e+02] [-2.70460009e-01 9.62508670e-01 -2.06988776e-02 -1.07269377e+02] [-7.80460412e-02 -4.91002856e-04 9.96949635e-01 -4.72848831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.480714057 meters 0.01782046503235021 Centerline is valid? [True, True] Translation: X:718.85, Y:-107.29, Z:-47.29 [[ 9.58631082e-01 2.74340933e-01 7.59177267e-02 7.18849171e+02] [-2.73546412e-01 9.61632199e-01 -2.08776296e-02 -1.07289009e+02] [-7.87325188e-02 -7.53077082e-04 9.96895493e-01 -4.72895693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5407140570001 meters 0.0176044471769523 Centerline is valid? [True, True] Translation: X:718.90, Y:-107.31, Z:-47.29 [[ 9.58552261e-01 2.74607351e-01 7.59497631e-02 7.18904257e+02] [-2.73813183e-01 9.61556134e-01 -2.08840221e-02 -1.07314256e+02] [-7.87648665e-02 -7.77619849e-04 9.96892919e-01 -4.72946809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.600714057 meters 0.017361050954995762 Centerline is valid? [True, True] Translation: X:718.96, Y:-107.34, Z:-47.30 [[ 9.58769738e-01 2.73994439e-01 7.54164201e-02 7.18962779e+02] [-2.73209230e-01 9.61731008e-01 -2.07409186e-02 -1.07335078e+02] [-7.82132060e-02 -7.18696958e-04 9.96936396e-01 -4.72993449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6607140570001 meters 0.016857043371188207 Centerline is valid? [True, True] Translation: X:719.02, Y:-107.37, Z:-47.31 [[ 9.59689318e-01 2.71485118e-01 7.27478026e-02 7.19018740e+02] [-2.70745912e-01 9.62442519e-01 -2.00261849e-02 -1.07365034e+02] [-7.54523896e-02 -4.77254491e-04 9.97149291e-01 -4.73055016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.720714057 meters 0.016431161150547723 Centerline is valid? [True, True] Translation: X:719.08, Y:-107.39, Z:-47.31 [[ 9.60066559e-01 2.70285784e-01 7.22343266e-02 7.19075881e+02] [-2.69552136e-01 9.62780071e-01 -1.99043088e-02 -1.07390073e+02] [-7.49256218e-02 -3.61455821e-04 9.97189060e-01 -4.73091558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7807140570001 meters 0.015874720593777415 Centerline is valid? [True, True] Translation: X:719.13, Y:-107.42, Z:-47.31 [[ 9.60160722e-01 2.69589696e-01 7.35716309e-02 7.19133477e+02] [-2.68824975e-01 9.62975239e-01 -2.02934140e-02 -1.07417525e+02] [-7.63185541e-02 -2.92952781e-04 9.97083443e-01 -4.73110795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.840714057 meters 0.01561288722708931 Centerline is valid? [True, True] Translation: X:719.19, Y:-107.44, Z:-47.31 [[ 9.60253782e-01 2.69292192e-01 7.34465057e-02 7.19192250e+02] [-2.68527454e-01 9.63058490e-01 -2.02818128e-02 -1.07441569e+02] [-7.61950147e-02 -2.46715796e-04 9.97092904e-01 -4.73139949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9007140570001 meters 0.01571901081195174 Centerline is valid? [True, True] Translation: X:719.25, Y:-107.47, Z:-47.32 [[ 9.60687060e-01 2.67545623e-01 7.41600474e-02 7.19249366e+02] [-2.66758956e-01 9.63545189e-01 -2.05018852e-02 -1.07469683e+02] [-7.69417466e-02 -8.69610409e-05 9.97035586e-01 -4.73189423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.960714057 meters 0.015365991120072359 Centerline is valid? [True, True] Translation: X:719.31, Y:-107.49, Z:-47.32 [[ 9.61175345e-01 2.65816201e-01 7.40520333e-02 7.19307753e+02] [-2.65024929e-01 9.64023725e-01 -2.04949963e-02 -1.07493776e+02] [-7.68358190e-02 7.36502465e-05 9.97043756e-01 -4.73229601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0207140570001 meters 0.015765968201691887 Centerline is valid? [True, True] Translation: X:719.36, Y:-107.52, Z:-47.33 [[ 9.61886826e-01 2.63242598e-01 7.40072159e-02 7.19364898e+02] [-2.62442896e-01 9.64729622e-01 -2.05056694e-02 -1.07521322e+02] [-7.67949191e-02 3.01465164e-04 9.97046864e-01 -4.73278722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.080714057 meters 0.01611681482236559 Centerline is valid? [True, True] Translation: X:719.42, Y:-107.54, Z:-47.33 [[ 9.62518002e-01 2.61169872e-01 7.31395469e-02 7.19422416e+02] [-2.60381256e-01 9.65292736e-01 -2.02863501e-02 -1.07544691e+02] [-7.58992568e-02 4.81810105e-04 9.97115375e-01 -4.73322753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.140714057 meters 0.016574015211630967 Centerline is valid? [True, True] Translation: X:719.48, Y:-107.57, Z:-47.34 [[ 9.62975825e-01 2.59382882e-01 7.34716412e-02 7.19479891e+02] [-2.58580746e-01 9.65774358e-01 -2.03933019e-02 -1.07570631e+02] [-7.62467006e-02 6.39904932e-04 9.97088778e-01 -4.73366576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.200714057 meters 0.016083147089450862 Centerline is valid? [True, True] Translation: X:719.54, Y:-107.59, Z:-47.34 [[ 9.62524487e-01 2.61145880e-01 7.31398820e-02 7.19537959e+02] [-2.60354602e-01 9.65299209e-01 -2.03203958e-02 -1.07591977e+02] [-7.59084578e-02 5.16573630e-04 9.97114657e-01 -4.73423972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.260714057 meters 0.01590107406783801 Centerline is valid? [True, True] Translation: X:719.60, Y:-107.61, Z:-47.35 [[ 9.61150693e-01 2.66385857e-01 7.23043562e-02 7.19595765e+02] [-2.65625899e-01 9.63866464e-01 -2.01077461e-02 -1.07613690e+02] [-7.50481633e-02 1.20664470e-04 9.97179903e-01 -4.73471615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.320714057 meters 0.016000161483578728 Centerline is valid? [True, True] Translation: X:719.66, Y:-107.63, Z:-47.35 [[ 9.59979397e-01 2.70407255e-01 7.29347305e-02 7.19655106e+02] [-2.69644013e-01 9.62746013e-01 -2.03032137e-02 -1.07634100e+02] [-7.57077573e-02 -1.75746635e-04 9.97130034e-01 -4.73509508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.380714057 meters 0.016703031414709534 Centerline is valid? [True, True] Translation: X:719.71, Y:-107.66, Z:-47.35 [[ 9.58761860e-01 2.74542135e-01 7.35004262e-02 7.19712660e+02] [-2.73777413e-01 9.61574948e-01 -2.04828445e-02 -1.07658766e+02] [-7.62995724e-02 -4.84586444e-04 9.97084821e-01 -4.73545596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.440714057 meters 0.017059374102297676 Centerline is valid? [True, True] Translation: X:719.77, Y:-107.68, Z:-47.36 [[ 9.57938311e-01 2.77266335e-01 7.40106159e-02 7.19769946e+02] [-2.76497525e-01 9.60792853e-01 -2.06448937e-02 -1.07684293e+02] [-7.68330049e-02 -6.87217535e-04 9.97043739e-01 -4.73595503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.500714057 meters 0.017356258582261218 Centerline is valid? [True, True] Translation: X:719.83, Y:-107.71, Z:-47.36 [[ 9.57280515e-01 2.79285052e-01 7.49258046e-02 7.19828234e+02] [-2.78501655e-01 9.60207870e-01 -2.09206618e-02 -1.07707689e+02] [-7.77871754e-02 -8.40018725e-04 9.96969633e-01 -4.73638946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.560714057 meters 0.017773454564144617 Centerline is valid? [True, True] Translation: X:719.88, Y:-107.73, Z:-47.37 [[ 9.56852690e-01 2.80319147e-01 7.65121208e-02 7.19884153e+02] [-2.79503803e-01 9.59906414e-01 -2.13845980e-02 -1.07734955e+02] [-7.94389877e-02 -9.23518666e-04 9.96839302e-01 -4.73674516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.620714057 meters 0.017625975118265042 Centerline is valid? [True, True] Translation: X:719.94, Y:-107.76, Z:-47.37 [[ 9.57082031e-01 2.79543898e-01 7.64800343e-02 7.19941683e+02] [-2.78725417e-01 9.60132543e-01 -2.13925862e-02 -1.07761166e+02] [-7.94111367e-02 -8.42469579e-04 9.96841593e-01 -4.73722911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.680714057 meters 0.017756209349242214 Centerline is valid? [True, True] Translation: X:720.00, Y:-107.79, Z:-47.38 [[ 9.57480999e-01 2.78630539e-01 7.48007982e-02 7.19997719e+02] [-2.77844150e-01 9.60398081e-01 -2.09321427e-02 -1.07789761e+02] [-7.76708773e-02 -7.40835300e-04 9.96978779e-01 -4.73794051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.740714057 meters 0.017725782398416257 Centerline is valid? [True, True] Translation: X:720.05, Y:-107.82, Z:-47.38 [[ 9.58228627e-01 2.75823341e-01 7.56266039e-02 7.20053950e+02] [-2.75009108e-01 9.61208217e-01 -2.11838342e-02 -1.07820465e+02] [-7.85359090e-02 -4.99048505e-04 9.96911161e-01 -4.73839279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.800714057 meters 0.017653361767143508 Centerline is valid? [True, True] Translation: X:720.11, Y:-107.85, Z:-47.39 [[ 9.59150114e-01 2.72733844e-01 7.51485841e-02 7.20110674e+02] [-2.71918847e-01 9.62089497e-01 -2.10699130e-02 -1.07847162e+02] [-7.80461418e-02 -2.25106899e-04 9.96949722e-01 -4.73884325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.860714057 meters 0.01805914224093583 Centerline is valid? [True, True] Translation: X:720.17, Y:-107.88, Z:-47.39 [[ 9.60552920e-01 2.68060674e-01 7.40375737e-02 7.20165918e+02] [-2.67254250e-01 9.63402017e-01 -2.07778875e-02 -1.07876483e+02] [-7.68976824e-02 1.71404340e-04 9.97038975e-01 -4.73937781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.920714057 meters 0.018358524233962913 Centerline is valid? [True, True] Translation: X:720.22, Y:-107.90, Z:-47.40 [[ 9.60768591e-01 2.67311685e-01 7.39471315e-02 7.20223989e+02] [-2.66503555e-01 9.63610088e-01 -2.07714746e-02 -1.07900122e+02] [-7.68086597e-02 2.49406878e-04 9.97045820e-01 -4.73996912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.980714057 meters 0.01844101161283274 Centerline is valid? [True, True] Translation: X:720.28, Y:-107.92, Z:-47.40 [[ 9.60686727e-01 2.67799137e-01 7.32436678e-02 7.20283487e+02] [-2.67006030e-01 9.63474737e-01 -2.05963810e-02 -1.07922181e+02] [-7.60841167e-02 2.30168888e-04 9.97101376e-01 -4.74038665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0407140570001 meters 0.01883825420365192 Centerline is valid? [True, True] Translation: X:720.34, Y:-107.94, Z:-47.41 [[ 9.60165641e-01 2.69597832e-01 7.34775555e-02 7.20341196e+02] [-2.68803140e-01 9.62972999e-01 -2.06851400e-02 -1.07944131e+02] [-7.63335709e-02 1.10163042e-04 9.97082331e-01 -4.74072565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.100714057 meters 0.019009277089586458 Centerline is valid? [True, True] Translation: X:720.40, Y:-107.97, Z:-47.41 [[ 9.59926070e-01 2.70349832e-01 7.38438098e-02 7.20399099e+02] [-2.69547832e-01 9.62762153e-01 -2.08087167e-02 -1.07966868e+02] [-7.67196584e-02 7.03907486e-05 9.97052701e-01 -4.74109742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1607140570001 meters 0.01889652715120647 Centerline is valid? [True, True] Translation: X:720.46, Y:-107.99, Z:-47.42 [[ 9.60323728e-01 2.69066744e-01 7.33581945e-02 7.20458972e+02] [-2.68270373e-01 9.63121515e-01 -2.06870677e-02 -1.07987525e+02] [-7.62190574e-02 1.86451719e-04 9.97091079e-01 -4.74157042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.220714057 meters 0.018983002465453248 Centerline is valid? [True, True] Translation: X:720.52, Y:-108.01, Z:-47.42 [[ 9.61348884e-01 2.65517015e-01 7.28631507e-02 7.20516860e+02] [-2.64719549e-01 9.64106052e-01 -2.05689464e-02 -1.08010164e+02] [-7.57092097e-02 4.85633296e-04 9.97129821e-01 -4.74208424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2807140570001 meters 0.019274104679022467 Centerline is valid? [True, True] Translation: X:720.57, Y:-108.03, Z:-47.43 [[ 9.62176506e-01 2.62429053e-01 7.31256734e-02 7.20574903e+02] [-2.61615445e-01 9.64950999e-01 -2.06622611e-02 -1.08031058e+02] [-7.59850692e-02 7.49936581e-04 9.97108674e-01 -4.74250794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.340714057 meters 0.020028142766733016 Centerline is valid? [True, True] Translation: X:720.63, Y:-108.05, Z:-47.43 [[ 9.63796735e-01 2.56612298e-01 7.24291491e-02 7.20631559e+02] [-2.55796339e-01 9.66513659e-01 -2.04836656e-02 -1.08054251e+02] [-7.52601223e-02 1.21497882e-03 9.97163195e-01 -4.74275821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4007140570001 meters 0.02054762525111147 Centerline is valid? [True, True] Translation: X:720.69, Y:-108.07, Z:-47.43 [[ 9.65635386e-01 2.49203343e-01 7.37969822e-02 7.20689890e+02] [-2.48333350e-01 9.68449430e-01 -2.08865666e-02 -1.08072391e+02] [-7.66736476e-02 1.84255603e-03 9.97054541e-01 -4.74306725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.460714057 meters 0.02340758702161116 Centerline is valid? [True, True] Translation: X:720.75, Y:-108.10, Z:-47.43 [[ 9.66798711e-01 2.44819133e-01 7.32382682e-02 7.20747284e+02] [-2.43949420e-01 9.69566321e-01 -2.07323389e-02 -1.08095270e+02] [-7.60850315e-02 2.17756549e-03 9.97098955e-01 -4.74324283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5207140570001 meters 0.022582739284030134 Centerline is valid? [True, True] Translation: X:720.81, Y:-108.11, Z:-47.44 [[ 9.68628584e-01 2.37627591e-01 7.27447209e-02 7.20806184e+02] [-2.36748135e-01 9.71352471e-01 -2.06081889e-02 -1.08108057e+02] [-7.55578387e-02 2.73950384e-03 9.97137658e-01 -4.74394372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.580714057 meters 0.022510189320326675 Centerline is valid? [True, True] Translation: X:720.87, Y:-108.12, Z:-47.44 [[ 9.69078355e-01 2.35879749e-01 7.24422989e-02 7.20866303e+02] [-2.35002375e-01 9.71778018e-01 -2.05272402e-02 -1.08123668e+02] [-7.52397939e-02 2.86839189e-03 9.97161344e-01 -4.74431606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.640714057 meters 0.024754143162637812 Centerline is valid? [True, True] Translation: X:720.92, Y:-108.14, Z:-47.45 [[ 9.69879134e-01 2.32444229e-01 7.28295730e-02 7.20923514e+02] [-2.31546412e-01 9.72604563e-01 -2.06548555e-02 -1.08140484e+02] [-7.56354770e-02 3.16928706e-03 9.97130498e-01 -4.74464789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.700714057 meters 0.025997048438748255 Centerline is valid? [True, True] Translation: X:720.98, Y:-108.15, Z:-47.45 [[ 9.70707985e-01 2.28989478e-01 7.27311959e-02 7.20983188e+02] [-2.28083977e-01 9.73422821e-01 -2.06327717e-02 -1.08152735e+02] [-7.55228935e-02 3.43957586e-03 9.97138136e-01 -4.74493780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.760714057 meters 0.023806392765903996 Centerline is valid? [True, True] Translation: X:721.05, Y:-108.16, Z:-47.45 [[ 9.70855870e-01 2.28251915e-01 7.30749183e-02 7.21046529e+02] [-2.27335424e-01 9.73595753e-01 -2.07343954e-02 -1.08157113e+02] [-7.58780956e-02 3.51759191e-03 9.97110897e-01 -4.74521658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.820714057 meters 0.024576350885921767 Centerline is valid? [True, True] Translation: X:721.11, Y:-108.17, Z:-47.45 [[ 9.70441787e-01 2.30319057e-01 7.20823889e-02 7.21106212e+02] [-2.29431748e-01 9.73109483e-01 -2.04696695e-02 -1.08168084e+02] [-7.48586112e-02 3.32663416e-03 9.97188609e-01 -4.74545447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.880714057 meters 0.025339371367287453 Centerline is valid? [True, True] Translation: X:721.17, Y:-108.17, Z:-47.46 [[ 9.69107703e-01 2.35888192e-01 7.20209821e-02 7.21167292e+02] [-2.35017616e-01 9.71775889e-01 -2.04534139e-02 -1.08173452e+02] [-7.48129727e-02 2.89536137e-03 9.97193379e-01 -4.74555124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.940714057 meters 0.02227695749822765 Centerline is valid? [True, True] Translation: X:721.23, Y:-108.18, Z:-47.46 [[ 9.67965775e-01 2.40402567e-01 7.24490519e-02 7.21229487e+02] [-2.39534186e-01 9.70669894e-01 -2.05750116e-02 -1.08178035e+02] [-7.52703991e-02 2.56188238e-03 9.97159869e-01 -4.74594856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.000714057 meters 0.01902025804669661 Centerline is valid? [True, True] Translation: X:721.29, Y:-108.18, Z:-47.46 [[ 9.66633554e-01 2.46170855e-01 7.08483130e-02 7.21292820e+02] [-2.45355824e-01 9.69224245e-01 -2.01217003e-02 -1.08178384e+02] [-7.36212788e-02 2.06726447e-03 9.97284129e-01 -4.74641776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.060714057 meters 0.018844878999739842 Centerline is valid? [True, True] Translation: X:721.35, Y:-108.19, Z:-47.47 [[ 9.66074470e-01 2.48431242e-01 7.05835454e-02 7.21354454e+02] [-2.47628075e-01 9.68647687e-01 -2.00498017e-02 -1.08186048e+02] [-7.33515852e-02 1.89113400e-03 9.97304351e-01 -4.74673259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.120714057 meters 0.019332452903532405 Centerline is valid? [True, True] Translation: X:721.41, Y:-108.20, Z:-47.47 [[ 9.66296730e-01 2.47412044e-01 7.11189813e-02 7.21414724e+02] [-2.46592535e-01 9.68908291e-01 -2.02199306e-02 -1.08199714e+02] [-7.39104250e-02 2.00104303e-03 9.97262877e-01 -4.74701134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.180714057 meters 0.020692801692880437 Centerline is valid? [True, True] Translation: X:721.47, Y:-108.21, Z:-47.47 [[ 9.67327557e-01 2.43069950e-01 7.20721595e-02 7.21474051e+02] [-2.42214980e-01 9.70005841e-01 -2.05078768e-02 -1.08213189e+02] [-7.48952643e-02 2.38087775e-03 9.97188563e-01 -4.74729196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.240714057 meters 0.022101541951321437 Centerline is valid? [True, True] Translation: X:721.53, Y:-108.23, Z:-47.48 [[ 9.68414045e-01 2.38735498e-01 7.19694332e-02 7.21533111e+02] [-2.37870914e-01 9.71080840e-01 -2.04799920e-02 -1.08228107e+02] [-7.47774387e-02 2.71367703e-03 9.97196556e-01 -4.74767732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.300714057 meters 0.026422782473336306 Centerline is valid? [True, True] Translation: X:721.59, Y:-108.24, Z:-47.48 [[ 9.70786497e-01 2.29292046e-01 7.07017364e-02 7.21590202e+02] [-2.28432598e-01 9.73351797e-01 -2.01203371e-02 -1.08244532e+02] [-7.34310954e-02 3.38197027e-03 9.97294559e-01 -4.74818912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.360714057 meters 0.03178853642107273 Centerline is valid? [True, True] Translation: X:721.65, Y:-108.26, Z:-47.49 [[ 9.73534405e-01 2.17484115e-01 7.02240834e-02 7.21648451e+02] [-2.16605599e-01 9.76054632e-01 -1.99842450e-02 -1.08262204e+02] [-7.28887977e-02 4.24442038e-03 9.97331042e-01 -4.74860091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.420714057 meters 0.035347933502323445 Centerline is valid? [True, True] Translation: X:721.71, Y:-108.28, Z:-47.49 [[ 9.75280330e-01 2.09434845e-01 7.04650592e-02 7.21706869e+02] [-2.08529232e-01 9.77810504e-01 -2.00543763e-02 -1.08279045e+02] [-7.31015602e-02 4.86461408e-03 9.97312638e-01 -4.74887985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.480714057 meters 0.03206975728346295 Centerline is valid? [True, True] Translation: X:721.77, Y:-108.28, Z:-47.49 [[ 9.77426676e-01 1.99263411e-01 7.02224028e-02 7.21768268e+02] [-1.98337846e-01 9.79929922e-01 -1.99861784e-02 -1.08283051e+02] [-7.27955477e-02 5.60726383e-03 9.97331122e-01 -4.74931915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5407140570001 meters 0.03368110016069098 Centerline is valid? [True, True] Translation: X:721.83, Y:-108.29, Z:-47.50 [[ 9.78116529e-01 1.95471379e-01 7.12670674e-02 7.21828220e+02] [-1.94507901e-01 9.80691179e-01 -2.02851666e-02 -1.08294759e+02] [-7.38561538e-02 5.97924908e-03 9.97250980e-01 -4.74952314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.600714057 meters 0.037956821083156414 Centerline is valid? [True, True] Translation: X:721.89, Y:-108.31, Z:-47.50 [[ 9.78190645e-01 1.94511817e-01 7.28575049e-02 7.21889554e+02] [-1.93501949e-01 9.80880645e-01 -2.07402144e-02 -1.08305524e+02] [-7.54987332e-02 6.18981445e-03 9.97126686e-01 -4.74964327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6607140570001 meters 0.036484579428117635 Centerline is valid? [True, True] Translation: X:721.95, Y:-108.31, Z:-47.50 [[ 9.77693818e-01 1.96880252e-01 7.31639538e-02 7.21951791e+02] [-1.95868053e-01 9.80408955e-01 -2.08323563e-02 -1.08306918e+02] [-7.58320750e-02 6.03718487e-03 9.97102326e-01 -4.74994006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.720714057 meters 0.036187694178568756 Centerline is valid? [True, True] Translation: X:722.01, Y:-108.31, Z:-47.50 [[ 9.77089614e-01 1.99695440e-01 7.36044687e-02 7.22012538e+02] [-1.98678910e-01 9.79840529e-01 -2.09577865e-02 -1.08314135e+02] [-7.63058159e-02 5.85397991e-03 9.97067276e-01 -4.75022577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7807140570001 meters 0.03399340374239012 Centerline is valid? [True, True] Translation: X:722.08, Y:-108.32, Z:-47.50 [[ 9.76172804e-01 2.03648806e-01 7.49254338e-02 7.22075277e+02] [-2.02606918e-01 9.79027729e-01 -2.13340687e-02 -1.08315219e+02] [-7.76987349e-02 5.64532644e-03 9.96960900e-01 -4.75042135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.840714057 meters 0.033021513245994255 Centerline is valid? [True, True] Translation: X:722.14, Y:-108.32, Z:-47.51 [[ 9.75839292e-01 2.04836935e-01 7.60230654e-02 7.22137514e+02] [-2.03767440e-01 9.78779880e-01 -2.16512721e-02 -1.08323441e+02] [-7.88448270e-02 5.63713658e-03 9.96870963e-01 -4.75076737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9007140570001 meters 0.03389414213217126 Centerline is valid? [True, True] Translation: X:722.20, Y:-108.33, Z:-47.51 [[ 9.75855701e-01 2.05064102e-01 7.51955111e-02 7.22201168e+02] [-2.04016805e-01 9.78732648e-01 -2.14370461e-02 -1.08330195e+02] [-7.79922703e-02 5.57831576e-03 9.96938357e-01 -4.75131665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.960714057 meters 0.03501317501933788 Centerline is valid? [True, True] Translation: X:722.26, Y:-108.34, Z:-47.52 [[ 9.75739292e-01 2.06012306e-01 7.41064409e-02 7.22263887e+02] [-2.04996144e-01 9.78534253e-01 -2.11493960e-02 -1.08336570e+02] [-7.68727267e-02 5.44476203e-03 9.97026047e-01 -4.75181907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0207140570001 meters 0.0355167368138861 Centerline is valid? [True, True] Translation: X:722.33, Y:-108.34, Z:-47.52 [[ 9.75471227e-01 2.08048471e-01 7.19146672e-02 7.22325791e+02] [-2.07095887e-01 9.78104993e-01 -2.05405843e-02 -1.08340818e+02] [-7.46135323e-02 5.14351715e-03 9.97199260e-01 -4.75242179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.080714057 meters 0.03296025944184159 Centerline is valid? [True, True] Translation: X:722.39, Y:-108.35, Z:-47.53 [[ 9.74780562e-01 2.11373203e-01 7.15836929e-02 7.22388129e+02] [-2.10438177e-01 9.77393305e-01 -2.04475229e-02 -1.08345300e+02] [-7.42874806e-02 4.86790600e-03 9.97224987e-01 -4.75289529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.140714057 meters 0.033833212067568175 Centerline is valid? [True, True] Translation: X:722.45, Y:-108.35, Z:-47.53 [[ 9.73510980e-01 2.17284574e-01 7.11602901e-02 7.22448796e+02] [-2.16376192e-01 9.76098420e-01 -2.03277733e-02 -1.08350372e+02] [-7.38763583e-02 4.39191790e-03 9.97257737e-01 -4.75344228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.200714057 meters 0.032221772761741124 Centerline is valid? [True, True] Translation: X:722.51, Y:-108.36, Z:-47.54 [[ 9.73167880e-01 2.18850858e-01 7.10533540e-02 7.22510179e+02] [-2.17949343e-01 9.75748993e-01 -2.02974717e-02 -1.08357336e+02] [-7.37723577e-02 4.26681561e-03 9.97265979e-01 -4.75395518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.260714057 meters 0.028091626743308968 Centerline is valid? [True, True] Translation: X:722.57, Y:-108.36, Z:-47.54 [[ 9.72559718e-01 2.21522284e-01 7.11018524e-02 7.22573824e+02] [-2.20626434e-01 9.75146817e-01 -2.03140738e-02 -1.08356642e+02] [-7.38347651e-02 4.06970178e-03 9.97262185e-01 -4.75449835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.320714057 meters 0.03161676832838988 Centerline is valid? [True, True] Translation: X:722.63, Y:-108.37, Z:-47.55 [[ 9.72159342e-01 2.23709318e-01 6.97162511e-02 7.22633036e+02] [-2.22853510e-01 9.74648385e-01 -1.99208089e-02 -1.08367963e+02] [-7.24053021e-02 3.82968924e-03 9.97367939e-01 -4.75487344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.380714057 meters 0.029782385093980516 Centerline is valid? [True, True] Translation: X:722.70, Y:-108.37, Z:-47.56 [[ 9.72278172e-01 2.23551043e-01 6.85571839e-02 7.22696373e+02] [-2.22722900e-01 9.74684893e-01 -1.95925654e-02 -1.08372826e+02] [-7.12015899e-02 3.78016886e-03 9.97454783e-01 -4.75551050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.440714057 meters 0.027753490058954645 Centerline is valid? [True, True] Translation: X:722.76, Y:-108.38, Z:-47.56 [[ 9.72305934e-01 2.23510037e-01 6.82966570e-02 7.22757307e+02] [-2.22686772e-01 9.74694272e-01 -1.95365782e-02 -1.08383479e+02] [-7.09349817e-02 3.78676882e-03 9.97473753e-01 -4.75601658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.500714057 meters 0.028806301277999682 Centerline is valid? [True, True] Translation: X:722.82, Y:-108.39, Z:-47.57 [[ 9.72711032e-01 2.22281566e-01 6.65143077e-02 7.22817217e+02] [-2.21496801e-01 9.74975147e-01 -1.90428365e-02 -1.08394971e+02] [-6.90826685e-02 3.79047076e-03 9.97603738e-01 -4.75671765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.560714057 meters 0.0325959783617134 Centerline is valid? [True, True] Translation: X:722.87, Y:-108.41, Z:-47.57 [[ 9.73003927e-01 2.21477814e-01 6.48917302e-02 7.22874464e+02] [-2.20728978e-01 9.75158178e-01 -1.85807913e-02 -1.08412022e+02] [-6.73949345e-02 3.75569761e-03 9.97719308e-01 -4.75738127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.620714057 meters 0.0316562496890386 Centerline is valid? [True, True] Translation: X:722.93, Y:-108.42, Z:-47.58 [[ 9.73367486e-01 2.20783254e-01 6.17291885e-02 7.22933679e+02] [-2.20104259e-01 9.75316184e-01 -1.76764341e-02 -1.08421707e+02] [-6.41081372e-02 3.61880898e-03 9.97936396e-01 -4.75805904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.680714057 meters 0.03505215232393534 Centerline is valid? [True, True] Translation: X:722.99, Y:-108.44, Z:-47.59 [[ 9.73748362e-01 2.19680085e-01 5.96220406e-02 7.22989864e+02] [-2.19044790e-01 9.75565460e-01 -1.70708307e-02 -1.08437096e+02] [-6.19153250e-02 3.56279604e-03 9.98075047e-01 -4.75869883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.740714057 meters 0.03376178463337094 Centerline is valid? [True, True] Translation: X:723.05, Y:-108.45, Z:-47.59 [[ 9.74285527e-01 2.17206781e-01 5.99076520e-02 7.23048590e+02] [-2.16560940e-01 9.76118470e-01 -1.71490733e-02 -1.08448119e+02] [-6.22018606e-02 3.73443645e-03 9.98056603e-01 -4.75895418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.800714057 meters 0.037675109008239824 Centerline is valid? [True, True] Translation: X:723.11, Y:-108.47, Z:-47.59 [[ 9.75212459e-01 2.13224814e-01 5.91256168e-02 7.23105154e+02] [-2.12588601e-01 9.76995242e-01 -1.69228891e-02 -1.08465474e+02] [-6.13738262e-02 3.93398010e-03 9.98107097e-01 -4.75940010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.860714057 meters 0.040181611426737394 Centerline is valid? [True, True] Translation: X:723.16, Y:-108.48, Z:-47.60 [[ 9.75753097e-01 2.11004345e-01 5.81640741e-02 7.23162237e+02] [-2.10384853e-01 9.77476916e-01 -1.66460865e-02 -1.08482187e+02] [-6.03664364e-02 4.00563030e-03 9.98168247e-01 -4.75985036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.920714057 meters 0.04039945388177535 Centerline is valid? [True, True] Translation: X:723.22, Y:-108.49, Z:-47.60 [[ 9.76848711e-01 2.06114264e-01 5.73018860e-02 7.23221326e+02] [-2.05504781e-01 9.78518737e-01 -1.63971778e-02 -1.08493386e+02] [-5.94506613e-02 4.24175050e-03 9.98222233e-01 -4.76018959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.980714057 meters 0.0439315990700065 Centerline is valid? [True, True] Translation: X:723.28, Y:-108.51, Z:-47.60 [[ 9.77949012e-01 2.00859931e-01 5.71928205e-02 7.23280041e+02] [-2.00243850e-01 9.79609394e-01 -1.63656967e-02 -1.08508735e+02] [-5.93138369e-02 4.55230632e-03 9.98229004e-01 -4.76041698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0407140570001 meters 0.04484263716068209 Centerline is valid? [True, True] Translation: X:723.34, Y:-108.52, Z:-47.61 [[ 9.78371332e-01 1.98624395e-01 5.77744409e-02 7.23339012e+02] [-1.97991821e-01 9.80064244e-01 -1.65323111e-02 -1.08519778e+02] [-5.99063840e-02 4.73587248e-03 9.98192765e-01 -4.76074865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.100714057 meters 0.0440808632235142 Centerline is valid? [True, True] Translation: X:723.40, Y:-108.53, Z:-47.61 [[ 9.78005094e-01 2.00181580e-01 5.85949784e-02 7.23398069e+02] [-1.99533726e-01 9.79747515e-01 -1.67660316e-02 -1.08529059e+02] [-6.07645351e-02 4.70558998e-03 9.98141037e-01 -4.76102651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1607140570001 meters 0.042804662401043324 Centerline is valid? [True, True] Translation: X:723.46, Y:-108.53, Z:-47.61 [[ 9.76696457e-01 2.06222696e-01 5.94662136e-02 7.23458990e+02] [-2.05566661e-01 9.78495226e-01 -1.70129303e-02 -1.08533658e+02] [-6.16958586e-02 4.39219780e-03 9.98085332e-01 -4.76135436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.220714057 meters 0.04437624058778795 Centerline is valid? [True, True] Translation: X:723.52, Y:-108.54, Z:-47.62 [[ 9.75204320e-01 2.12839337e-01 6.06296205e-02 7.23518067e+02] [-2.12170111e-01 9.77078814e-01 -1.73446296e-02 -1.08543030e+02] [-6.29315372e-02 4.05076443e-03 9.98009626e-01 -4.76169862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2807140570001 meters 0.0375353919191419 Centerline is valid? [True, True] Translation: X:723.58, Y:-108.54, Z:-47.62 [[ 9.73851730e-01 2.18844734e-01 6.09900789e-02 7.23581991e+02] [-2.18179298e-01 9.75752742e-01 -1.74464990e-02 -1.08538905e+02] [-6.33293112e-02 3.68353068e-03 9.97985887e-01 -4.76193091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.340714057 meters 0.037023629080381766 Centerline is valid? [True, True] Translation: X:723.64, Y:-108.54, Z:-47.62 [[ 9.72586122e-01 2.24278654e-01 6.14436382e-02 7.23642374e+02] [-2.23614097e-01 9.74519284e-01 -1.75755584e-02 -1.08544921e+02] [-6.38198329e-02 3.35408047e-03 9.97955800e-01 -4.76229151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4007140570001 meters 0.034895548702542266 Centerline is valid? [True, True] Translation: X:723.70, Y:-108.55, Z:-47.63 [[ 9.71632239e-01 2.28516661e-01 6.09173810e-02 7.23702967e+02] [-2.27871758e-01 9.73535227e-01 -1.74247853e-02 -1.08552164e+02] [-6.32870701e-02 3.04913242e-03 9.97990706e-01 -4.76274791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.460714057 meters 0.0321079537915203 Centerline is valid? [True, True] Translation: X:723.76, Y:-108.56, Z:-47.63 [[ 9.70134860e-01 2.35089152e-01 5.97615590e-02 7.23764845e+02] [-2.34481003e-01 9.71970415e-01 -1.70930333e-02 -1.08555428e+02] [-6.21048540e-02 2.56959718e-03 9.98066323e-01 -4.76337331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5207140570001 meters 0.031058345902626582 Centerline is valid? [True, True] Translation: X:723.83, Y:-108.56, Z:-47.64 [[ 9.68914752e-01 2.39606828e-01 6.15854765e-02 7.23825145e+02] [-2.38970057e-01 9.70867162e-01 -1.76143411e-02 -1.08562952e+02] [-6.40118332e-02 2.34971005e-03 9.97946373e-01 -4.76370872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.580714057 meters 0.031733129159944515 Centerline is valid? [True, True] Translation: X:723.88, Y:-108.58, Z:-47.64 [[ 9.69182162e-01 2.38369197e-01 6.21776735e-02 7.23882116e+02] [-2.37717642e-01 9.71171512e-01 -1.77825156e-02 -1.08576604e+02] [-6.46239892e-02 2.45376696e-03 9.97906669e-01 -4.76411728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.640714057 meters 0.03143690999106166 Centerline is valid? [True, True] Translation: X:723.94, Y:-108.59, Z:-47.64 [[ 9.70091088e-01 2.34476439e-01 6.28019165e-02 7.23939780e+02] [-2.33804676e-01 9.72117986e-01 -1.79442069e-02 -1.08592332e+02] [-6.52583663e-02 2.72413346e-03 9.97864683e-01 -4.76441988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.700714057 meters 0.035463675046287585 Centerline is valid? [True, True] Translation: X:723.99, Y:-108.61, Z:-47.65 [[ 9.71796308e-01 2.26768324e-01 6.47152402e-02 7.23994867e+02] [-2.26038058e-01 9.73943007e-01 -1.84882790e-02 -1.08614638e+02] [-6.72215117e-02 3.33873405e-03 9.97732490e-01 -4.76455349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.760714057 meters 0.03707410542954389 Centerline is valid? [True, True] Translation: X:724.05, Y:-108.63, Z:-47.65 [[ 9.73110107e-01 2.20492322e-01 6.66322392e-02 7.24052525e+02] [-2.19703577e-01 9.75380984e-01 -1.90335164e-02 -1.08633615e+02] [-6.91885632e-02 3.88236584e-03 9.97596046e-01 -4.76482017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.820714057 meters 0.03840178510720672 Centerline is valid? [True, True] Translation: X:724.11, Y:-108.65, Z:-47.65 [[ 9.73511575e-01 2.18619604e-01 6.69379036e-02 7.24109717e+02] [-2.17819196e-01 9.75801823e-01 -1.91206922e-02 -1.08650205e+02] [-6.94982865e-02 4.03385483e-03 9.97573915e-01 -4.76516348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.880714057 meters 0.03710373686419015 Centerline is valid? [True, True] Translation: X:724.17, Y:-108.66, Z:-47.66 [[ 9.73084553e-01 2.20791412e-01 6.60121618e-02 7.24168321e+02] [-2.20018168e-01 9.75313561e-01 -1.88537618e-02 -1.08662034e+02] [-6.85453053e-02 3.82242943e-03 9.97640682e-01 -4.76565461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.940714057 meters 0.03399569808611369 Centerline is valid? [True, True] Translation: X:724.23, Y:-108.67, Z:-47.66 [[ 9.72516796e-01 2.23387670e-01 6.56432107e-02 7.24227911e+02] [-2.22629112e-01 9.74722970e-01 -1.87459355e-02 -1.08670921e+02] [-6.81715562e-02 3.61664740e-03 9.97667058e-01 -4.76623924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.000714057 meters 0.034140827109466435 Centerline is valid? [True, True] Translation: X:724.28, Y:-108.69, Z:-47.67 [[ 9.71450281e-01 2.27889458e-01 6.59601890e-02 7.24284656e+02] [-2.27133971e-01 9.73681366e-01 -1.88349795e-02 -1.08685337e+02] [-6.85165002e-02 3.31544649e-03 9.97644474e-01 -4.76665552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.060714057 meters 0.03361048180439787 Centerline is valid? [True, True] Translation: X:724.34, Y:-108.70, Z:-47.67 [[ 9.70844356e-01 2.30390645e-01 6.61920475e-02 7.24342829e+02] [-2.29635881e-01 9.73093136e-01 -1.88973818e-02 -1.08698757e+02] [-6.87648071e-02 3.14634730e-03 9.97627938e-01 -4.76706792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.120714057 meters 0.03394650243995557 Centerline is valid? [True, True] Translation: X:724.40, Y:-108.72, Z:-47.67 [[ 9.71003301e-01 2.29734575e-01 6.61408736e-02 7.24398296e+02] [-2.28979702e-01 9.73248102e-01 -1.88792956e-02 -1.08716414e+02] [-6.87087067e-02 3.18694081e-03 9.97631674e-01 -4.76747515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.180714057 meters 0.03596554287179745 Centerline is valid? [True, True] Translation: X:724.45, Y:-108.74, Z:-47.68 [[ 9.71648933e-01 2.27002310e-01 6.60931388e-02 7.24453755e+02] [-2.26243401e-01 9.73888420e-01 -1.88485811e-02 -1.08736230e+02] [-6.86460139e-02 3.36106720e-03 9.97635418e-01 -4.76783788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.240714057 meters 0.03744305631225348 Centerline is valid? [True, True] Translation: X:724.51, Y:-108.76, Z:-47.68 [[ 9.72089153e-01 2.25384535e-01 6.51497533e-02 7.24508070e+02] [-2.24643907e-01 9.74263883e-01 -1.85742337e-02 -1.08755004e+02] [-6.76593967e-02 3.42031602e-03 9.97702615e-01 -4.76813006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.300714057 meters 0.03561213163484281 Centerline is valid? [True, True] Translation: X:724.57, Y:-108.77, Z:-47.68 [[ 9.72716573e-01 2.22422940e-01 6.59583513e-02 7.24565767e+02] [-2.21657504e-01 9.74943387e-01 -1.87974261e-02 -1.08768177e+02] [-6.84866372e-02 3.66440446e-03 9.97645304e-01 -4.76825089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.360714057 meters 0.03679022680980955 Centerline is valid? [True, True] Translation: X:724.62, Y:-108.79, Z:-47.68 [[ 9.72905309e-01 2.21317182e-01 6.68876961e-02 7.24622217e+02] [-2.20527849e-01 9.75194519e-01 -1.90556462e-02 -1.08786036e+02] [-6.94458566e-02 3.78873969e-03 9.97578528e-01 -4.76843980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.420714057 meters 0.03737939492161887 Centerline is valid? [True, True] Translation: X:724.68, Y:-108.80, Z:-47.69 [[ 9.72464839e-01 2.23439761e-01 6.62330044e-02 7.24678836e+02] [-2.22671891e-01 9.74711148e-01 -1.88522651e-02 -1.08802397e+02] [-6.87703934e-02 3.58493659e-03 9.97626073e-01 -4.76872540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.480714057 meters 0.035783608558102184 Centerline is valid? [True, True] Translation: X:724.74, Y:-108.82, Z:-47.69 [[ 9.71101149e-01 2.29434144e-01 6.57459625e-02 7.24738039e+02] [-2.28691372e-01 9.73319139e-01 -1.87112587e-02 -1.08815191e+02] [-6.82848052e-02 3.13499052e-03 9.97660943e-01 -4.76933581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5407140570001 meters 0.032166493660736005 Centerline is valid? [True, True] Translation: X:724.80, Y:-108.83, Z:-47.70 [[ 9.69332465e-01 2.36669339e-01 6.61981554e-02 7.24798184e+02] [-2.35933117e-01 9.71586659e-01 -1.88395279e-02 -1.08825823e+02] [-6.87759833e-02 2.64342892e-03 9.97628627e-01 -4.76965515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.600714057 meters 0.0296026642472836 Centerline is valid? [True, True] Translation: X:724.86, Y:-108.84, Z:-47.70 [[ 9.67750526e-01 2.42835208e-01 6.70073296e-02 7.24857134e+02] [-2.42095534e-01 9.70064985e-01 -1.90703275e-02 -1.08836418e+02] [-6.96324111e-02 2.23314419e-03 9.97570218e-01 -4.77000192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6607140570001 meters 0.028234687204609882 Centerline is valid? [True, True] Translation: X:724.91, Y:-108.85, Z:-47.70 [[ 9.64400320e-01 2.55583092e-01 6.78918679e-02 7.24913160e+02] [-2.54855345e-01 9.66786179e-01 -1.93193304e-02 -1.08854445e+02] [-7.05746138e-02 1.32896306e-03 9.97505618e-01 -4.77021893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.720714057 meters 0.026979964437188052 Centerline is valid? [True, True] Translation: X:724.97, Y:-108.87, Z:-47.71 [[ 9.62798947e-01 2.61571924e-01 6.78108931e-02 7.24970120e+02] [-2.60860961e-01 9.65183580e-01 -1.92928859e-02 -1.08870474e+02] [-7.04964378e-02 8.85955499e-04 9.97511638e-01 -4.77063542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7807140570001 meters 0.026265971536339656 Centerline is valid? [True, True] Translation: X:725.02, Y:-108.89, Z:-47.71 [[ 9.61103138e-01 2.68386205e-01 6.51889821e-02 7.25024900e+02] [-2.67745909e-01 9.63311330e-01 -1.85313356e-02 -1.08890607e+02] [-6.77708399e-02 3.56441542e-04 9.97700850e-01 -4.77134664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.840714057 meters 0.025746817888467093 Centerline is valid? [True, True] Translation: X:725.08, Y:-108.92, Z:-47.72 [[ 9.59700039e-01 2.73492606e-01 6.46345861e-02 7.25079111e+02] [-2.72875838e-01 9.61874105e-01 -1.83570921e-02 -1.08915795e+02] [-6.71908636e-02 -1.99148612e-05 9.97740140e-01 -4.77182516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9007140570001 meters 0.025491835262020313 Centerline is valid? [True, True] Translation: X:725.13, Y:-108.94, Z:-47.72 [[ 9.58849079e-01 2.76323676e-01 6.52201622e-02 7.25133439e+02] [-2.75703415e-01 9.61064602e-01 -1.85055925e-02 -1.08939271e+02] [-6.77943226e-02 -2.37351111e-04 9.97699290e-01 -4.77207273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.960714057 meters 0.024455340362363687 Centerline is valid? [True, True] Translation: X:725.18, Y:-108.97, Z:-47.72 [[ 9.58026566e-01 2.78757877e-01 6.69264118e-02 7.25184965e+02] [-2.78111847e-01 9.60361315e-01 -1.89722263e-02 -1.08970045e+02] [-6.95621944e-02 -4.37131168e-04 9.97577521e-01 -4.77208854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0207140570001 meters 0.023615290644154623 Centerline is valid? [True, True] Translation: X:725.24, Y:-109.00, Z:-47.72 [[ 9.58593328e-01 2.76596397e-01 6.77736285e-02 7.25235763e+02] [-2.75929027e-01 9.60986133e-01 -1.92047899e-02 -1.09004867e+02] [-7.04414929e-02 -2.91127877e-04 9.97515870e-01 -4.77219398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.080714057 meters 0.022615738109059112 Centerline is valid? [True, True] Translation: X:725.28, Y:-109.04, Z:-47.72 [[ 9.60569406e-01 2.69978338e-01 6.64688899e-02 7.25284636e+02] [-2.69321912e-01 9.62866381e-01 -1.88159559e-02 -1.09042792e+02] [-6.90805599e-02 1.72503026e-04 9.97611070e-01 -4.77236223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.140714057 meters 0.022280754333728628 Centerline is valid? [True, True] Translation: X:725.34, Y:-109.07, Z:-47.73 [[ 9.62199210e-01 2.64223161e-01 6.60212276e-02 7.25337220e+02] [-2.63562425e-01 9.64461399e-01 -1.86831196e-02 -1.09074184e+02] [-6.86114384e-02 5.76168105e-04 9.97643292e-01 -4.77269223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.200714057 meters 0.02155793917018235 Centerline is valid? [True, True] Translation: X:725.39, Y:-109.11, Z:-47.73 [[ 9.63443307e-01 2.59629137e-01 6.61037408e-02 7.25388615e+02] [-2.58956276e-01 9.65707979e-01 -1.87014929e-02 -1.09109739e+02] [-6.86923624e-02 8.99849624e-04 9.97637484e-01 -4.77278944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.260714057 meters 0.019811250193971834 Centerline is valid? [True, True] Translation: X:725.44, Y:-109.14, Z:-47.73 [[ 9.62589881e-01 2.62721387e-01 6.63188753e-02 7.25440166e+02] [-2.62051805e-01 9.64871502e-01 -1.87572938e-02 -1.09139066e+02] [-6.89171351e-02 6.76600162e-04 9.97622158e-01 -4.77280775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.320714057 meters 0.01856452167789303 Centerline is valid? [True, True] Translation: X:725.49, Y:-109.16, Z:-47.73 [[ 9.60092889e-01 2.71501921e-01 6.71442612e-02 7.25494057e+02] [-2.70837372e-01 9.62437897e-01 -1.89845457e-02 -1.09163475e+02] [-6.97765221e-02 4.17521209e-05 9.97562647e-01 -4.77302340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.380714057 meters 0.018081699492496824 Centerline is valid? [True, True] Translation: X:725.55, Y:-109.18, Z:-47.73 [[ 9.57975558e-01 2.79120974e-01 6.61385874e-02 7.25548995e+02] [-2.78494639e-01 9.60255811e-01 -1.86952873e-02 -1.09184090e+02] [-6.87282097e-02 -5.09613822e-04 9.97635291e-01 -4.77341921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.440714057 meters 0.017756275665825022 Centerline is valid? [True, True] Translation: X:725.60, Y:-109.21, Z:-47.74 [[ 9.55534560e-01 2.87557804e-01 6.53009519e-02 7.25603153e+02] [-2.86967197e-01 9.57762646e-01 -1.84537715e-02 -1.09211946e+02] [-6.78493384e-02 -1.10601467e-03 9.97694965e-01 -4.77385015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.500714057 meters 0.017875738760167317 Centerline is valid? [True, True] Translation: X:725.66, Y:-109.24, Z:-47.74 [[ 9.54652729e-01 2.90491254e-01 6.52150223e-02 7.25656052e+02] [-2.89909202e-01 9.56876743e-01 -1.84269453e-02 -1.09243724e+02] [-6.77556046e-02 -1.31510149e-03 9.97701082e-01 -4.77411400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.560714057 meters 0.01727458877285994 Centerline is valid? [True, True] Translation: X:725.71, Y:-109.28, Z:-47.74 [[ 9.54914889e-01 2.89839848e-01 6.42683232e-02 7.25708726e+02] [-2.89273271e-01 9.57074341e-01 -1.81571217e-02 -1.09278226e+02] [-6.67722205e-02 -1.25260226e-03 9.97767459e-01 -4.77443517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.620714057 meters 0.0162768344064213 Centerline is valid? [True, True] Translation: X:725.76, Y:-109.31, Z:-47.75 [[ 9.55946035e-01 2.86445661e-01 6.41565424e-02 7.25763206e+02] [-2.85873300e-01 9.58095955e-01 -1.81272410e-02 -1.09313471e+02] [-6.66605933e-02 -1.01197835e-03 9.97775196e-01 -4.77481702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.680714057 meters 0.015791737999584467 Centerline is valid? [True, True] Translation: X:725.82, Y:-109.34, Z:-47.75 [[ 9.56924364e-01 2.83053121e-01 6.46273415e-02 7.25819422e+02] [-2.82463422e-01 9.59103929e-01 -1.82775590e-02 -1.09343582e+02] [-6.71578573e-02 -7.64618502e-04 9.97742070e-01 -4.77513649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.740714057 meters 0.0156169659087778 Centerline is valid? [True, True] Translation: X:725.87, Y:-109.38, Z:-47.76 [[ 9.59118648e-01 2.75625321e-01 6.42035881e-02 7.25873840e+02] [-2.75025581e-01 9.61265120e-01 -1.81741255e-02 -1.09380408e+02] [-6.67259190e-02 -2.26486371e-04 9.97771317e-01 -4.77564762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.800714057 meters 0.015973709978568167 Centerline is valid? [True, True] Translation: X:725.93, Y:-109.41, Z:-47.76 [[ 9.60733907e-01 2.70162280e-01 6.32669179e-02 7.25930170e+02] [-2.69567673e-01 9.62814789e-01 -1.79151232e-02 -1.09413543e+02] [-6.57543147e-02 1.56950412e-04 9.97835831e-01 -4.77622427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.860714057 meters 0.016771998224139814 Centerline is valid? [True, True] Translation: X:725.99, Y:-109.44, Z:-47.77 [[ 9.61839407e-01 2.66105498e-01 6.36617582e-02 7.25987393e+02] [-2.65493282e-01 9.63943803e-01 -1.80460795e-02 -1.09440530e+02] [-6.61685184e-02 4.55661266e-04 9.97808358e-01 -4.77673514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.920714057 meters 0.018164134529190284 Centerline is valid? [True, True] Translation: X:726.04, Y:-109.47, Z:-47.77 [[ 9.64155077e-01 2.57484068e-01 6.40854256e-02 7.26042604e+02] [-2.56843507e-01 9.66281951e-01 -1.81825440e-02 -1.09472889e+02] [-6.66063054e-02 1.07086661e-03 9.97778760e-01 -4.77716179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.980714057 meters 0.020147053337945187 Centerline is valid? [True, True] Translation: X:726.10, Y:-109.50, Z:-47.78 [[ 9.67098278e-01 2.46084896e-01 6.45224352e-02 7.26097855e+02] [-2.45409829e-01 9.69246465e-01 -1.83113555e-02 -1.09501873e+02] [-6.70442903e-02 1.87444060e-03 9.97748240e-01 -4.77758176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0407140570001 meters 0.023620759769093218 Centerline is valid? [True, True] Translation: X:726.15, Y:-109.53, Z:-47.78 [[ 9.69747641e-01 2.35097212e-01 6.57176840e-02 7.26152017e+02] [-2.34371481e-01 9.71968151e-01 -1.86526982e-02 -1.09529937e+02] [-6.82606931e-02 2.68605923e-03 9.97663903e-01 -4.77789932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.100714057 meters 0.029039243077743235 Centerline is valid? [True, True] Translation: X:726.21, Y:-109.56, Z:-47.78 [[ 9.71988414e-01 2.25629357e-01 6.58020985e-02 7.26206085e+02] [-2.24879725e-01 9.74207420e-01 -1.86818688e-02 -1.09556988e+02] [-6.83200706e-02 3.36100218e-03 9.97657793e-01 -4.77824262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1607140570001 meters 0.027014601441420722 Centerline is valid? [True, True] Translation: X:726.27, Y:-109.57, Z:-47.79 [[ 9.73025253e-01 2.21051684e-01 6.60152329e-02 7.26265647e+02] [-2.20286707e-01 9.75255098e-01 -1.87419358e-02 -1.09569341e+02] [-6.85246289e-02 3.69409853e-03 9.97642586e-01 -4.77864004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.220714057 meters 0.028230523185157105 Centerline is valid? [True, True] Translation: X:726.32, Y:-109.59, Z:-47.79 [[ 9.73693778e-01 2.17886719e-01 6.66768680e-02 7.26324533e+02] [-2.17098848e-01 9.75966043e-01 -1.89307266e-02 -1.09586030e+02] [-6.91991129e-02 3.95725943e-03 9.97595020e-01 -4.77900327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2807140570001 meters 0.029742034255603775 Centerline is valid? [True, True] Translation: X:726.38, Y:-109.60, Z:-47.79 [[ 9.74174633e-01 2.15777121e-01 6.65132966e-02 7.26383025e+02] [-2.14988043e-01 9.76434037e-01 -1.88868707e-02 -1.09601225e+02] [-6.90212012e-02 4.09954690e-03 9.97606770e-01 -4.77941055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.340714057 meters 0.03110602150551908 Centerline is valid? [True, True] Translation: X:726.44, Y:-109.61, Z:-47.80 [[ 9.74342162e-01 2.15303771e-01 6.55868774e-02 7.26443479e+02] [-2.14535202e-01 9.76538604e-01 -1.86279870e-02 -1.09614987e+02] [-6.80587935e-02 4.07933913e-03 9.97672972e-01 -4.77982996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4007140570001 meters 0.031878316273661236 Centerline is valid? [True, True] Translation: X:726.50, Y:-109.63, Z:-47.80 [[ 9.74958330e-01 2.12719450e-01 6.48590077e-02 7.26503529e+02] [-2.11961108e-01 9.77104171e-01 -1.84371357e-02 -1.09626341e+02] [-6.72959443e-02 4.22785186e-03 9.97724101e-01 -4.78026066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.460714057 meters 0.03352433131195695 Centerline is valid? [True, True] Translation: X:726.56, Y:-109.64, Z:-47.81 [[ 9.75459505e-01 2.10334621e-01 6.51007063e-02 7.26563711e+02] [-2.09565238e-01 9.77619506e-01 -1.85070960e-02 -1.09638801e+02] [-6.75364034e-02 4.41007767e-03 9.97707064e-01 -4.78062561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5207140570001 meters 0.03117636880219615 Centerline is valid? [True, True] Translation: X:726.63, Y:-109.65, Z:-47.81 [[ 9.75172968e-01 2.11641044e-01 6.51594305e-02 7.26625856e+02] [-2.10873006e-01 9.77337892e-01 -1.85262095e-02 -1.09645834e+02] [-6.76036868e-02 4.32589377e-03 9.97702876e-01 -4.78095288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.580714057 meters 0.024483275415437277 Centerline is valid? [True, True] Translation: X:726.69, Y:-109.64, Z:-47.81 [[ 9.72115053e-01 2.24805017e-01 6.67460047e-02 7.26691906e+02] [-2.24029596e-01 9.74397488e-01 -1.89809222e-02 -1.09635219e+02] [-6.93041458e-02 3.49855972e-03 9.97589442e-01 -4.78091517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.640714057 meters 0.0227387817926768 Centerline is valid? [True, True] Translation: X:726.75, Y:-109.64, Z:-47.81 [[ 9.69623997e-01 2.35234621e-01 6.70371390e-02 7.26751976e+02] [-2.34477142e-01 9.71934678e-01 -1.90643852e-02 -1.09640379e+02] [-6.96403236e-02 2.76660865e-03 9.97568329e-01 -4.78127402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.700714057 meters 0.01825074501756006 Centerline is valid? [True, True] Translation: X:726.82, Y:-109.64, Z:-47.82 [[ 9.65994971e-01 2.50021347e-01 6.59017560e-02 7.26815951e+02] [-2.49323632e-01 9.68238881e-01 -1.87402358e-02 -1.09637520e+02] [-6.84941014e-02 1.67210838e-03 9.97650120e-01 -4.78184763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.760714057 meters 0.016006434671862628 Centerline is valid? [True, True] Translation: X:726.88, Y:-109.64, Z:-47.82 [[ 9.62607776e-01 2.62586915e-01 6.65911579e-02 7.26878264e+02] [-2.61904345e-01 9.64908021e-01 -1.89373745e-02 -1.09639296e+02] [-6.92270492e-02 7.88750337e-04 9.97600618e-01 -4.78221611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.820714057 meters 0.015568185641916083 Centerline is valid? [True, True] Translation: X:726.94, Y:-109.65, Z:-47.83 [[ 9.59666803e-01 2.72777877e-01 6.80577476e-02 7.26940127e+02] [-2.72090192e-01 9.62077038e-01 -1.93571917e-02 -1.09647176e+02] [-7.07570098e-02 5.86086764e-05 9.97493580e-01 -4.78257842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.880714057 meters 0.015577057888983756 Centerline is valid? [True, True] Translation: X:727.00, Y:-109.66, Z:-47.83 [[ 9.58456504e-01 2.77196248e-01 6.72559981e-02 7.27001204e+02] [-2.76534301e-01 9.60813290e-01 -1.91468436e-02 -1.09663056e+02] [-6.99278900e-02 -2.47173607e-04 9.97552018e-01 -4.78305856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.940714057 meters 0.015636738089448324 Centerline is valid? [True, True] Translation: X:727.06, Y:-109.68, Z:-47.84 [[ 9.57495397e-01 2.80843595e-01 6.57984792e-02 7.27060451e+02] [-2.80217321e-01 9.59753427e-01 -1.87513161e-02 -1.09683379e+02] [-6.84165029e-02 -4.83574700e-04 9.97656729e-01 -4.78367499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.000714057 meters 0.016058824439074297 Centerline is valid? [True, True] Translation: X:727.12, Y:-109.70, Z:-47.84 [[ 9.56293395e-01 2.84992085e-01 6.54404582e-02 7.27119861e+02] [-2.84380972e-01 9.58529571e-01 -1.86688139e-02 -1.09702682e+02] [-6.80470785e-02 -7.57157723e-04 9.97681824e-01 -4.78414156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.060714057 meters 0.015841541111963644 Centerline is valid? [True, True] Translation: X:727.18, Y:-109.73, Z:-47.84 [[ 9.55587974e-01 2.87191489e-01 6.61261879e-02 7.27178087e+02] [-2.86571533e-01 9.57872761e-01 -1.88819832e-02 -1.09725709e+02] [-6.87632191e-02 -9.06486928e-04 9.97632597e-01 -4.78448971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.120714057 meters 0.015894355688129122 Centerline is valid? [True, True] Translation: X:727.24, Y:-109.75, Z:-47.85 [[ 9.55608182e-01 2.87029297e-01 6.65371028e-02 7.27235669e+02] [-2.86399924e-01 9.57921398e-01 -1.90178691e-02 -1.09754343e+02] [-6.91960001e-02 -8.82589882e-04 9.97602694e-01 -4.78492997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.180714057 meters 0.015662445345573546 Centerline is valid? [True, True] Translation: X:727.29, Y:-109.79, Z:-47.85 [[ 9.56922167e-01 2.82564839e-01 6.67613549e-02 7.27291204e+02] [-2.81918913e-01 9.59248049e-01 -1.91025540e-02 -1.09786060e+02] [-6.94384095e-02 -5.41631231e-04 9.97586094e-01 -4.78532166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.240714057 meters 0.015620869232318008 Centerline is valid? [True, True] Translation: X:727.35, Y:-109.82, Z:-47.86 [[ 9.58768732e-01 2.75856528e-01 6.83058901e-02 7.27345174e+02] [-2.75161938e-01 9.61198821e-01 -1.95635715e-02 -1.09819016e+02] [-7.10522800e-02 -3.82404913e-05 9.97472592e-01 -4.78562058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.300714057 meters 0.016321549058373602 Centerline is valid? [True, True] Translation: X:727.40, Y:-109.85, Z:-47.86 [[ 9.59988453e-01 2.71396119e-01 6.90385139e-02 7.27401493e+02] [-2.70673731e-01 9.62467687e-01 -1.97909604e-02 -1.09848946e+02] [-7.18185287e-02 3.12181299e-04 9.97417667e-01 -4.78602944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.360714057 meters 0.017024356772253453 Centerline is valid? [True, True] Translation: X:727.46, Y:-109.88, Z:-47.86 [[ 9.61261284e-01 2.66212104e-01 7.14692955e-02 7.27456608e+02] [-2.65422098e-01 9.63914189e-01 -2.05072428e-02 -1.09881502e+02] [-7.43495442e-02 7.43288248e-04 9.97231965e-01 -4.78632215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.420714057 meters 0.017751470914159028 Centerline is valid? [True, True] Translation: X:727.51, Y:-109.91, Z:-47.87 [[ 9.61730613e-01 2.64163625e-01 7.27448084e-02 7.27512806e+02] [-2.63337771e-01 9.64477424e-01 -2.08929880e-02 -1.09911132e+02] [-7.56798929e-02 9.36970473e-04 9.97131724e-01 -4.78662978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.480714057 meters 0.01804827944358005 Centerline is valid? [True, True] Translation: X:727.57, Y:-109.94, Z:-47.87 [[ 9.61749677e-01 2.64246664e-01 7.21890614e-02 7.27570401e+02] [-2.63432168e-01 9.64454671e-01 -2.07528276e-02 -1.09935566e+02] [-7.51069430e-02 9.42104250e-04 9.97175040e-01 -4.78709883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5407140570001 meters 0.0181437670558876 Centerline is valid? [True, True] Translation: X:727.63, Y:-109.96, Z:-47.88 [[ 9.61778062e-01 2.64243965e-01 7.18198254e-02 7.27628280e+02] [-2.63436254e-01 9.64455396e-01 -2.06671057e-02 -1.09960196e+02] [-7.47281761e-02 9.57223027e-04 9.97203482e-01 -4.78762792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.600714057 meters 0.017941854304148106 Centerline is valid? [True, True] Translation: X:727.69, Y:-109.98, Z:-47.88 [[ 9.61600596e-01 2.65111044e-01 7.09959663e-02 7.27686208e+02] [-2.64322598e-01 9.64217467e-01 -2.04509132e-02 -1.09981332e+02] [-7.38773138e-02 8.99772138e-04 9.97266932e-01 -4.78814967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6607140570001 meters 0.01814808178571333 Centerline is valid? [True, True] Translation: X:727.74, Y:-110.00, Z:-47.89 [[ 9.61936185e-01 2.63975203e-01 7.06814597e-02 7.27743472e+02] [-2.63189264e-01 9.64528947e-01 -2.03794306e-02 -1.10004891e+02] [-7.35539782e-02 1.00111035e-03 9.97290735e-01 -4.78862290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.720714057 meters 0.019250085853623266 Centerline is valid? [True, True] Translation: X:727.80, Y:-110.03, Z:-47.89 [[ 9.62602644e-01 2.61865784e-01 6.94439452e-02 7.27800322e+02] [-2.61100347e-01 9.65103604e-01 -2.00410310e-02 -1.10028927e+02] [-7.22686620e-02 1.15971129e-03 9.97384527e-01 -4.78889479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7807140570001 meters 0.01981134049468568 Centerline is valid? [True, True] Translation: X:727.86, Y:-110.05, Z:-47.89 [[ 9.63302071e-01 2.59444945e-01 6.88290727e-02 7.27859235e+02] [-2.58685631e-01 9.65756962e-01 -1.98805270e-02 -1.10049002e+02] [-7.16300584e-02 1.34586077e-03 9.97430360e-01 -4.78930613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.840714057 meters 0.019343261386807926 Centerline is valid? [True, True] Translation: X:727.92, Y:-110.07, Z:-47.90 [[ 9.64239855e-01 2.56283986e-01 6.75279302e-02 7.27917505e+02] [-2.55544244e-01 9.66600261e-01 -1.95211466e-02 -1.10069237e+02] [-7.02754722e-02 1.56669368e-03 9.97526392e-01 -4.78986505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9007140570001 meters 0.019355401255801794 Centerline is valid? [True, True] Translation: X:727.98, Y:-110.09, Z:-47.90 [[ 9.64611924e-01 2.55249531e-01 6.61174264e-02 7.27977552e+02] [-2.54536782e-01 9.66873848e-01 -1.91308313e-02 -1.10086059e+02] [-6.88103462e-02 1.62451101e-03 9.97628436e-01 -4.79039404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.960714057 meters 0.019224447648361197 Centerline is valid? [True, True] Translation: X:728.04, Y:-110.10, Z:-47.91 [[ 9.64028327e-01 2.57362133e-01 6.64388278e-02 7.28037353e+02] [-2.56646172e-01 9.66313866e-01 -1.92420254e-02 -1.10101539e+02] [-6.91529292e-02 1.49858676e-03 9.97604945e-01 -4.79066859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0207140570001 meters 0.018862476084172835 Centerline is valid? [True, True] Translation: X:728.10, Y:-110.12, Z:-47.91 [[ 9.62900802e-01 2.61429243e-01 6.69088606e-02 7.28096997e+02] [-2.60711624e-01 9.65221856e-01 -1.93963438e-02 -1.10116393e+02] [-6.96526661e-02 1.23283724e-03 9.97570542e-01 -4.79084607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.080714057 meters 0.018628883969092902 Centerline is valid? [True, True] Translation: X:728.16, Y:-110.13, Z:-47.91 [[ 9.62864306e-01 2.61162085e-01 6.84594319e-02 7.28156667e+02] [-2.60408856e-01 9.65294090e-01 -1.98632221e-02 -1.10132058e+02] [-7.12710055e-02 1.29814517e-03 9.97456144e-01 -4.79103202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.140714057 meters 0.018940688209860293 Centerline is valid? [True, True] Translation: X:728.22, Y:-110.15, Z:-47.91 [[ 9.63074961e-01 2.60237620e-01 6.90144961e-02 7.28216606e+02] [-2.59468465e-01 9.65543596e-01 -2.00419593e-02 -1.10149568e+02] [-7.18521765e-02 1.39482384e-03 9.97414317e-01 -4.79135558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.200714057 meters 0.019201844547085907 Centerline is valid? [True, True] Translation: X:728.28, Y:-110.17, Z:-47.92 [[ 9.63406474e-01 2.59119886e-01 6.85919113e-02 7.28276665e+02] [-2.58355987e-01 9.65844021e-01 -1.99376643e-02 -1.10165051e+02] [-7.14153328e-02 1.48694392e-03 9.97445557e-01 -4.79170012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.260714057 meters 0.01929135144571238 Centerline is valid? [True, True] Translation: X:728.34, Y:-110.18, Z:-47.92 [[ 9.63546320e-01 2.59228776e-01 6.61734908e-02 7.28337382e+02] [-2.58516936e-01 9.65814868e-01 -1.92518739e-02 -1.10179524e+02] [-6.89019810e-02 1.44310412e-03 9.97622391e-01 -4.79230028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.320714057 meters 0.019050819757572987 Centerline is valid? [True, True] Translation: X:728.40, Y:-110.20, Z:-47.93 [[ 9.63150859e-01 2.61104945e-01 6.45339512e-02 7.28397159e+02] [-2.60431049e-01 9.65309555e-01 -1.87918168e-02 -1.10195411e+02] [-6.72018760e-02 1.29270989e-03 9.97738561e-01 -4.79264330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.380714057 meters 0.018562044057233898 Centerline is valid? [True, True] Translation: X:728.46, Y:-110.21, Z:-47.93 [[ 9.62322504e-01 2.64480029e-01 6.31324965e-02 7.28457298e+02] [-2.63841266e-01 9.64390591e-01 -1.84003959e-02 -1.10210654e+02] [-6.57509228e-02 1.05015726e-03 9.97835514e-01 -4.79300718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.440714057 meters 0.018606780551946228 Centerline is valid? [True, True] Translation: X:728.52, Y:-110.23, Z:-47.93 [[ 9.61289787e-01 2.68460204e-01 6.20569457e-02 7.28516338e+02] [-2.67850240e-01 9.63290459e-01 -1.81035823e-02 -1.10227596e+02] [-6.46389551e-02 7.80821013e-04 9.97908411e-01 -4.79337681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.500714057 meters 0.018198529531140418 Centerline is valid? [True, True] Translation: X:728.58, Y:-110.25, Z:-47.94 [[ 9.60994644e-01 2.69405126e-01 6.25313747e-02 7.28576973e+02] [-2.68786681e-01 9.63026652e-01 -1.82589376e-02 -1.10245707e+02] [-6.51384317e-02 7.39140566e-04 9.97875963e-01 -4.79363723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.560714057 meters 0.017892574518112152 Centerline is valid? [True, True] Translation: X:728.64, Y:-110.26, Z:-47.94 [[ 9.60610888e-01 2.70598888e-01 6.32689793e-02 7.28636130e+02] [-2.69967035e-01 9.62691941e-01 -1.84939863e-02 -1.10264603e+02] [-6.59129886e-02 6.84985841e-04 9.97825139e-01 -4.79389440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.620714057 meters 0.01822385327195918 Centerline is valid? [True, True] Translation: X:728.70, Y:-110.28, Z:-47.94 [[ 9.60560266e-01 2.70682206e-01 6.36798217e-02 7.28695259e+02] [-2.70041153e-01 9.62668506e-01 -1.86312285e-02 -1.10282726e+02] [-6.63457009e-02 7.00245359e-04 9.97796451e-01 -4.79426820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.680714057 meters 0.018280660528074342 Centerline is valid? [True, True] Translation: X:728.75, Y:-110.30, Z:-47.95 [[ 9.61267535e-01 2.68150199e-01 6.37196822e-02 7.28754027e+02] [-2.67501966e-01 9.63376709e-01 -1.86551546e-02 -1.10303375e+02] [-6.63884411e-02 8.87454179e-04 9.97793459e-01 -4.79454452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.740714057 meters 0.019396063281417072 Centerline is valid? [True, True] Translation: X:728.81, Y:-110.33, Z:-47.95 [[ 9.63151536e-01 2.61320992e-01 6.36432064e-02 7.28810573e+02] [-2.60658308e-01 9.65250980e-01 -1.86491820e-02 -1.10328632e+02] [-6.63050901e-02 1.37285777e-03 9.97798452e-01 -4.79475767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.800714057 meters 0.020410879732195172 Centerline is valid? [True, True] Translation: X:728.87, Y:-110.35, Z:-47.95 [[ 9.64900071e-01 2.54633762e-01 6.42611932e-02 7.28867695e+02] [-2.53943132e-01 9.67035787e-01 -1.88327498e-02 -1.10348669e+02] [-6.69383275e-02 1.85303298e-03 9.97755394e-01 -4.79514518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.860714057 meters 0.02345038940372048 Centerline is valid? [True, True] Translation: X:728.92, Y:-110.37, Z:-47.96 [[ 9.67553928e-01 2.44620037e-01 6.32489817e-02 7.28922123e+02] [-2.43929422e-01 9.69615770e-01 -1.85390426e-02 -1.10374004e+02] [-6.58622313e-02 2.50923593e-03 9.97825571e-01 -4.79564156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.920714057 meters 0.02519093743613311 Centerline is valid? [True, True] Translation: X:728.98, Y:-110.39, Z:-47.96 [[ 9.68902688e-01 2.39243178e-01 6.31686879e-02 7.28979775e+02] [-2.38542953e-01 9.70955437e-01 -1.85148100e-02 -1.10394894e+02] [-6.57635230e-02 2.87060381e-03 9.97831107e-01 -4.79596445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.980714057 meters 0.02546008260361967 Centerline is valid? [True, True] Translation: X:729.04, Y:-110.41, Z:-47.96 [[ 9.68307382e-01 2.41421808e-01 6.40025282e-02 7.29038887e+02] [-2.40707544e-01 9.70416348e-01 -1.87614073e-02 -1.10409283e+02] [-6.66385125e-02 2.76091778e-03 9.97773364e-01 -4.79618161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0407140570001 meters 0.021210334692343402 Centerline is valid? [True, True] Translation: X:729.10, Y:-110.41, Z:-47.96 [[ 9.65894568e-01 2.50304268e-01 6.62982500e-02 7.29100394e+02] [-2.49558419e-01 9.68164659e-01 -1.94367798e-02 -1.10414237e+02] [-6.90527315e-02 2.22859357e-03 9.97610522e-01 -4.79643002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.100714057 meters 0.019621205280319753 Centerline is valid? [True, True] Translation: X:729.16, Y:-110.42, Z:-47.97 [[ 9.63647253e-01 2.58395657e-01 6.79386169e-02 7.29160524e+02] [-2.57632378e-01 9.66037694e-01 -1.99181437e-02 -1.10424675e+02] [-7.07780266e-02 1.69087704e-03 9.97490658e-01 -4.79671958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1607140570001 meters 0.018303359895282596 Centerline is valid? [True, True] Translation: X:729.22, Y:-110.43, Z:-47.97 [[ 9.60752028e-01 2.68679716e-01 6.90416583e-02 7.29219701e+02] [-2.67917766e-01 9.63229104e-01 -2.02426308e-02 -1.10433585e+02] [-7.19417189e-02 9.50661726e-04 9.97408384e-01 -4.79707349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.220714057 meters 0.01744981015828914 Centerline is valid? [True, True] Translation: X:729.28, Y:-110.44, Z:-47.98 [[ 9.58581704e-01 2.76160023e-01 6.96904470e-02 7.29280669e+02] [-2.75403301e-01 9.61111589e-01 -2.04336844e-02 -1.10444883e+02] [-7.26232630e-02 3.94376879e-04 9.97359367e-01 -4.79770351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2807140570001 meters 0.01730817585128156 Centerline is valid? [True, True] Translation: X:729.34, Y:-110.46, Z:-47.98 [[ 9.57764576e-01 2.78920928e-01 6.99294900e-02 7.29339878e+02] [-2.78164967e-01 9.60314050e-01 -2.05225940e-02 -1.10462023e+02] [-7.28784527e-02 2.03879221e-04 9.97340809e-01 -4.79820146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.340714057 meters 0.017386108548699732 Centerline is valid? [True, True] Translation: X:729.40, Y:-110.48, Z:-47.99 [[ 9.57474288e-01 2.79858392e-01 7.01588832e-02 7.29397736e+02] [-2.79098554e-01 9.60041279e-01 -2.06092199e-02 -1.10482885e+02] [-7.31230871e-02 1.51555322e-04 9.97322912e-01 -4.79872718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4007140570001 meters 0.017261592897145166 Centerline is valid? [True, True] Translation: X:729.46, Y:-110.51, Z:-47.99 [[ 9.57001485e-01 2.81572204e-01 6.97513538e-02 7.29456256e+02] [-2.80824250e-01 9.59540042e-01 -2.05097000e-02 -1.10505212e+02] [-7.27041783e-02 3.99416898e-05 9.97353549e-01 -4.79931444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.460714057 meters 0.01739585715339494 Centerline is valid? [True, True] Translation: X:729.52, Y:-110.53, Z:-48.00 [[ 9.56191763e-01 2.84445329e-01 6.91965810e-02 7.29515310e+02] [-2.83715203e-01 9.58692250e-01 -2.03679522e-02 -1.10528226e+02] [-7.21317948e-02 -1.56453884e-04 9.97395097e-01 -4.79987601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5207140570001 meters 0.01767374565180091 Centerline is valid? [True, True] Translation: X:729.57, Y:-110.55, Z:-48.00 [[ 9.55916534e-01 2.85251345e-01 6.96796274e-02 7.29574323e+02] [-2.84511526e-01 9.58452728e-01 -2.05319322e-02 -1.10550429e+02] [-7.26413902e-02 -1.97843734e-04 9.97358105e-01 -4.80020760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.580714057 meters 0.017975951256664822 Centerline is valid? [True, True] Translation: X:729.63, Y:-110.58, Z:-48.00 [[ 9.56061745e-01 2.84423044e-01 7.10596361e-02 7.29630815e+02] [-2.83649657e-01 9.58698867e-01 -2.09607611e-02 -1.10576524e+02] [-7.40865161e-02 -1.16259643e-04 9.97251811e-01 -4.80049409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.640714057 meters 0.018035259659577346 Centerline is valid? [True, True] Translation: X:729.69, Y:-110.60, Z:-48.01 [[ 9.56663066e-01 2.82306631e-01 7.14054955e-02 7.29688359e+02] [-2.81518246e-01 9.59324221e-01 -2.10835322e-02 -1.10602404e+02] [-7.44530423e-02 6.78867163e-05 9.97224518e-01 -4.80091252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.700714057 meters 0.01867509074798174 Centerline is valid? [True, True] Translation: X:729.74, Y:-110.63, Z:-48.01 [[ 9.58678447e-01 2.75415222e-01 7.12887854e-02 7.29743864e+02] [-2.74608731e-01 9.61325162e-01 -2.10707900e-02 -1.10631366e+02] [-7.43349195e-02 6.23589275e-04 9.97233138e-01 -4.80137273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.760714057 meters 0.01996187900893094 Centerline is valid? [True, True] Translation: X:729.80, Y:-110.66, Z:-48.02 [[ 9.61157510e-01 2.66479234e-01 7.18683408e-02 7.29798421e+02] [-2.65633327e-01 9.63839726e-01 -2.12583749e-02 -1.10660863e+02] [-7.49344774e-02 1.34202017e-03 9.97187557e-01 -4.80191791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.820714057 meters 0.021012759003384562 Centerline is valid? [True, True] Translation: X:729.85, Y:-110.69, Z:-48.02 [[ 9.62761896e-01 2.60874765e-01 7.09498993e-02 7.29853807e+02] [-2.60034818e-01 9.65371047e-01 -2.09913031e-02 -1.10689166e+02] [-7.39690798e-02 1.76018260e-03 9.97258982e-01 -4.80239741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.880714057 meters 0.021169023009250828 Centerline is valid? [True, True] Translation: X:729.91, Y:-110.71, Z:-48.03 [[ 9.63170636e-01 2.59915002e-01 6.88949810e-02 7.29912714e+02] [-2.59119956e-01 9.65629841e-01 -2.03926327e-02 -1.10708880e+02] [-7.18274007e-02 1.78952060e-03 9.97415471e-01 -4.80297668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.940714057 meters 0.022135629820851363 Centerline is valid? [True, True] Translation: X:729.97, Y:-110.73, Z:-48.04 [[ 9.62963680e-01 2.61188304e-01 6.69449185e-02 7.29969962e+02] [-2.60439548e-01 9.65286436e-01 -1.98327447e-02 -1.10730491e+02] [-6.98011027e-02 1.66310847e-03 9.97559542e-01 -4.80351371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.000714057 meters 0.020618526181635812 Centerline is valid? [True, True] Translation: X:730.03, Y:-110.75, Z:-48.04 [[ 9.62092566e-01 2.64269255e-01 6.73769683e-02 7.30029426e+02] [-2.63517153e-01 9.64447829e-01 -1.99773823e-02 -1.10746925e+02] [-7.02609788e-02 1.46510412e-03 9.97527568e-01 -4.80390842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.060714057 meters 0.02020008269581854 Centerline is valid? [True, True] Translation: X:730.09, Y:-110.76, Z:-48.04 [[ 9.61536200e-01 2.66451956e-01 6.67194922e-02 7.30089212e+02] [-2.65718528e-01 9.63847312e-01 -1.97995869e-02 -1.10764246e+02] [-6.95830419e-02 1.30941428e-03 9.97575303e-01 -4.80435092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.120714057 meters 0.018671234773770192 Centerline is valid? [True, True] Translation: X:730.15, Y:-110.78, Z:-48.05 [[ 9.60005383e-01 2.71949794e-01 6.65805912e-02 7.30149120e+02] [-2.71231464e-01 9.62310997e-01 -1.97747017e-02 -1.10778613e+02] [-6.94489611e-02 9.25068827e-04 9.97585077e-01 -4.80483382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.180714057 meters 0.018635075205330795 Centerline is valid? [True, True] Translation: X:730.21, Y:-110.80, Z:-48.05 [[ 9.59161634e-01 2.74323315e-01 6.89614244e-02 7.30208706e+02] [-2.73558245e-01 9.61637197e-01 -2.04887187e-02 -1.10797325e+02] [-7.19364042e-02 7.87026710e-04 9.97408910e-01 -4.80512178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.240714057 meters 0.018817797237839606 Centerline is valid? [True, True] Translation: X:730.27, Y:-110.82, Z:-48.05 [[ 9.59048521e-01 2.74321868e-01 7.05226697e-02 7.30267642e+02] [-2.73520248e-01 9.61637579e-01 -2.09723711e-02 -1.10817814e+02] [-7.35704294e-02 8.24143347e-04 9.97289683e-01 -4.80531404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.300714057 meters 0.01877017109928843 Centerline is valid? [True, True] Translation: X:730.33, Y:-110.84, Z:-48.06 [[ 9.58836830e-01 2.74716200e-01 7.18536279e-02 7.30327516e+02] [-2.73883567e-01 9.61524999e-01 -2.13885190e-02 -1.10837670e+02] [-7.49648322e-02 8.28571790e-04 9.97185834e-01 -4.80575698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.360714057 meters 0.018755790661217835 Centerline is valid? [True, True] Translation: X:730.39, Y:-110.86, Z:-48.06 [[ 9.58635320e-01 2.75680227e-01 7.08430325e-02 7.30386630e+02] [-2.74871869e-01 9.61249098e-01 -2.11098779e-02 -1.10856428e+02] [-7.39173770e-02 7.63917872e-04 9.97264076e-01 -4.80630185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.420714057 meters 0.018699454013251012 Centerline is valid? [True, True] Translation: X:730.45, Y:-110.87, Z:-48.07 [[ 9.58102090e-01 2.77893123e-01 6.93959500e-02 7.30445982e+02] [-2.77121913e-01 9.60611812e-01 -2.06976404e-02 -1.10874785e+02] [-7.24143012e-02 5.99314127e-04 9.97374458e-01 -4.80679332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.480714057 meters 0.018227999621648377 Centerline is valid? [True, True] Translation: X:730.51, Y:-110.89, Z:-48.07 [[ 9.56653976e-01 2.83608024e-01 6.61789900e-02 7.30505069e+02] [-2.82919164e-01 9.58940279e-01 -1.97557286e-02 -1.10891552e+02] [-6.90645822e-02 1.76091788e-04 9.97612175e-01 -4.80743955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5407140570001 meters 0.018131008249250718 Centerline is valid? [True, True] Translation: X:730.56, Y:-110.91, Z:-48.08 [[ 9.56186525e-01 2.85540880e-01 6.46044577e-02 7.30564287e+02] [-2.84887688e-01 9.58366529e-01 -1.93029071e-02 -1.10910982e+02] [-6.74265189e-02 5.21650906e-05 9.97724241e-01 -4.80795933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.600714057 meters 0.018716201311601434 Centerline is valid? [True, True] Translation: X:730.62, Y:-110.94, Z:-48.08 [[ 9.57287505e-01 2.81647312e-01 6.53867234e-02 7.30620886e+02] [-2.80967885e-01 9.59517937e-01 -1.95544630e-02 -1.10936770e+02] [-6.82471959e-02 3.47673753e-04 9.97668382e-01 -4.80824041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6607140570001 meters 0.018645703860601947 Centerline is valid? [True, True] Translation: X:730.68, Y:-110.96, Z:-48.09 [[ 9.58306733e-01 2.78127592e-01 6.55228769e-02 7.30679451e+02] [-2.77435864e-01 9.60543941e-01 -1.96132559e-02 -1.10958825e+02] [-6.83925900e-02 6.17119275e-04 9.97658295e-01 -4.80858187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.720714057 meters 0.01922390292664859 Centerline is valid? [True, True] Translation: X:730.74, Y:-110.98, Z:-48.09 [[ 9.59721463e-01 2.72726140e-01 6.74919644e-02 7.30736945e+02] [-2.71977529e-01 9.62091134e-01 -2.02206246e-02 -1.10982286e+02] [-7.04481134e-02 1.04986974e-03 9.97514893e-01 -4.80887652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7807140570001 meters 0.020243082669616254 Centerline is valid? [True, True] Translation: X:730.79, Y:-111.01, Z:-48.09 [[ 9.61085965e-01 2.67573539e-01 6.86889296e-02 7.30794253e+02] [-2.66784465e-01 9.63536336e-01 -2.05858914e-02 -1.11005102e+02] [-7.16925194e-02 1.45967198e-03 9.97425713e-01 -4.80918373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.840714057 meters 0.02118877000172507 Centerline is valid? [True, True] Translation: X:730.85, Y:-111.03, Z:-48.09 [[ 9.62402409e-01 2.62522831e-01 6.97378382e-02 7.30851703e+02] [-2.61695006e-01 9.64923950e-01 -2.09163742e-02 -1.11026859e+02] [-7.27827360e-02 1.87992489e-03 9.97346048e-01 -4.80945958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9007140570001 meters 0.02233616778929676 Centerline is valid? [True, True] Translation: X:730.91, Y:-111.05, Z:-48.10 [[ 9.62897265e-01 2.60692805e-01 6.97718978e-02 7.30909336e+02] [-2.59859060e-01 9.65419684e-01 -2.09308840e-02 -1.11046406e+02] [-7.28156944e-02 2.02343115e-03 9.97343361e-01 -4.80981924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.960714057 meters 0.022245532254137165 Centerline is valid? [True, True] Translation: X:730.97, Y:-111.06, Z:-48.10 [[ 9.63055633e-01 2.60411763e-01 6.86262450e-02 7.30969663e+02] [-2.59603286e-01 9.65495522e-01 -2.06041304e-02 -1.11062100e+02] [-7.16238901e-02 2.02732518e-03 9.97429651e-01 -4.81042967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0207140570001 meters 0.021586196006968376 Centerline is valid? [True, True] Translation: X:731.03, Y:-111.08, Z:-48.11 [[ 9.64041743e-01 2.56883290e-01 6.80771181e-02 7.31029646e+02] [-2.56077598e-01 9.66439721e-01 -2.04580014e-02 -1.11077633e+02] [-7.10477497e-02 2.28934247e-03 9.97470288e-01 -4.81107675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.080714057 meters 0.02315121067535285 Centerline is valid? [True, True] Translation: X:731.09, Y:-111.10, Z:-48.11 [[ 9.65240100e-01 2.52363014e-01 6.80033777e-02 7.31086768e+02] [-2.51547509e-01 9.67629073e-01 -2.04408489e-02 -1.11096418e+02] [-7.09605595e-02 2.62424674e-03 9.97475670e-01 -4.81147696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.140714057 meters 0.02678063494063765 Centerline is valid? [True, True] Translation: X:731.14, Y:-111.12, Z:-48.12 [[ 9.67368425e-01 2.44227411e-01 6.74633414e-02 7.31142536e+02] [-2.43404943e-01 9.69712714e-01 -2.02801884e-02 -1.11117285e+02] [-7.03730378e-02 3.19750313e-03 9.97515620e-01 -4.81190649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.200714057 meters 0.026741168901972194 Centerline is valid? [True, True] Translation: X:731.20, Y:-111.13, Z:-48.12 [[ 9.68732084e-01 2.38281827e-01 6.91369638e-02 7.31202100e+02] [-2.37402461e-01 9.71188906e-01 -2.07889653e-02 -1.11131469e+02] [-7.20986848e-02 3.72565241e-03 9.97390545e-01 -4.81215606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.260714057 meters 0.02718589202091443 Centerline is valid? [True, True] Translation: X:731.26, Y:-111.14, Z:-48.12 [[ 9.69267012e-01 2.35571544e-01 7.09049228e-02 7.31262606e+02] [-2.34639177e-01 9.71848654e-01 -2.13225479e-02 -1.11143011e+02] [-7.39318392e-02 4.03016952e-03 9.97255153e-01 -4.81247548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.320714057 meters 0.028674405711898276 Centerline is valid? [True, True] Translation: X:731.32, Y:-111.16, Z:-48.13 [[ 9.69518588e-01 2.34679814e-01 7.04208253e-02 7.31322542e+02] [-2.33757488e-01 9.72064187e-01 -2.11814232e-02 -1.11156471e+02] [-7.34244148e-02 4.07438831e-03 9.97292462e-01 -4.81296313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.380714057 meters 0.02791002536014779 Centerline is valid? [True, True] Translation: X:731.38, Y:-111.17, Z:-48.13 [[ 9.69701872e-01 2.33996716e-01 7.01699127e-02 7.31383738e+02] [-2.33077904e-01 9.72228622e-01 -2.11233714e-02 -1.11168469e+02] [-7.31639971e-02 4.12831663e-03 9.97311379e-01 -4.81344774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.440714057 meters 0.028365013245139913 Centerline is valid? [True, True] Translation: X:731.45, Y:-111.18, Z:-48.14 [[ 9.70147977e-01 2.32882339e-01 6.76662310e-02 7.31445294e+02] [-2.32024100e-01 9.72496367e-01 -2.03870957e-02 -1.11177061e+02] [-7.05529584e-02 4.07830333e-03 9.97499698e-01 -4.81391267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.500714057 meters 0.029600395400573267 Centerline is valid? [True, True] Translation: X:731.51, Y:-111.19, Z:-48.14 [[ 9.70032997e-01 2.33371606e-01 6.76289748e-02 7.31506431e+02] [-2.32514318e-01 9.72379163e-01 -2.03925318e-02 -1.11186096e+02] [-7.05200438e-02 4.05672374e-03 9.97502114e-01 -4.81412691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.560714057 meters 0.027842493834355123 Centerline is valid? [True, True] Translation: X:731.57, Y:-111.19, Z:-48.14 [[ 9.69506693e-01 2.35582835e-01 6.75092533e-02 7.31567979e+02] [-2.34732842e-01 9.71846432e-01 -2.03716663e-02 -1.11193636e+02] [-7.04078418e-02 3.90382789e-03 9.97510650e-01 -4.81441394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.620714057 meters 0.024094337957877993 Centerline is valid? [True, True] Translation: X:731.63, Y:-111.19, Z:-48.15 [[ 9.66268656e-01 2.48898559e-01 6.61391874e-02 7.31633243e+02] [-2.48113574e-01 9.68525286e-01 -1.99606007e-02 -1.11186132e+02] [-6.90256401e-02 2.87727267e-03 9.97610737e-01 -4.81477139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.680714057 meters 0.02077666365251355 Centerline is valid? [True, True] Translation: X:731.70, Y:-111.19, Z:-48.15 [[ 9.64069769e-01 2.57142854e-01 6.66860749e-02 7.31696462e+02] [-2.56364374e-01 9.66370647e-01 -2.01265892e-02 -1.11188179e+02] [-6.96188740e-02 2.30750229e-03 9.97570994e-01 -4.81508343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.740714057 meters 0.01799920758387761 Centerline is valid? [True, True] Translation: X:731.76, Y:-111.19, Z:-48.15 [[ 9.60934798e-01 2.68665207e-01 6.65080535e-02 7.31760352e+02] [-2.67918266e-01 9.63232497e-01 -2.00738616e-02 -1.11187144e+02] [-6.94558666e-02 1.47094977e-03 9.97583941e-01 -4.81543567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.800714057 meters 0.016663998475972747 Centerline is valid? [True, True] Translation: X:731.82, Y:-111.19, Z:-48.16 [[ 9.58693069e-01 2.76615921e-01 6.62663758e-02 7.31821610e+02] [-2.75893222e-01 9.60980142e-01 -2.00024172e-02 -1.11192668e+02] [-6.92136583e-02 8.93734803e-04 9.97601459e-01 -4.81566663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.860714057 meters 0.016242216424496834 Centerline is valid? [True, True] Translation: X:731.88, Y:-111.20, Z:-48.16 [[ 9.57471221e-01 2.80499541e-01 6.75934015e-02 7.31883034e+02] [-2.79757025e-01 9.59853954e-01 -2.04057347e-02 -1.11204576e+02] [-7.06035929e-02 6.28174822e-04 9.97504255e-01 -4.81600381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.920714057 meters 0.015838527615931384 Centerline is valid? [True, True] Translation: X:731.94, Y:-111.22, Z:-48.16 [[ 9.55850597e-01 2.85585072e-01 6.92156287e-02 7.31944663e+02] [-2.84818344e-01 9.58353322e-01 -2.09146250e-02 -1.11215649e+02] [-7.23059324e-02 2.77376101e-04 9.97382462e-01 -4.81646673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.980714057 meters 0.015758057420688556 Centerline is valid? [True, True] Translation: X:732.00, Y:-111.23, Z:-48.17 [[ 9.55128291e-01 2.88036124e-01 6.90299815e-02 7.32004540e+02] [-2.87278518e-01 9.57619538e-01 -2.08775958e-02 -1.11232308e+02] [-7.21179607e-02 1.09951648e-04 9.97396104e-01 -4.81691808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0407140570001 meters 0.016209001210454203 Centerline is valid? [True, True] Translation: X:732.07, Y:-111.25, Z:-48.17 [[ 9.53187230e-01 2.94356940e-01 6.91960748e-02 7.32065025e+02] [-2.93610804e-01 9.55695490e-01 -2.09481721e-02 -1.11247631e+02] [-7.22966165e-02 -3.49185080e-04 9.97383115e-01 -4.81742965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.100714057 meters 0.016184117857798348 Centerline is valid? [True, True] Translation: X:732.12, Y:-111.27, Z:-48.18 [[ 9.52850067e-01 2.95204135e-01 7.02229898e-02 7.32124610e+02] [-2.94436309e-01 9.55434121e-01 -2.12814414e-02 -1.11267821e+02] [-7.33758101e-02 -3.98175059e-04 9.97304283e-01 -4.81784164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1607140570001 meters 0.0162594358308491 Centerline is valid? [True, True] Translation: X:732.18, Y:-111.30, Z:-48.18 [[ 9.54647614e-01 2.89349690e-01 7.01761323e-02 7.32181247e+02] [-2.88565455e-01 9.57223460e-01 -2.12891253e-02 -1.11296306e+02] [-7.33342420e-02 7.32052019e-05 9.97307417e-01 -4.81819817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.220714057 meters 0.016353546521944814 Centerline is valid? [True, True] Translation: X:732.24, Y:-111.32, Z:-48.18 [[ 9.56029948e-01 2.84288890e-01 7.20178089e-02 7.32238481e+02] [-2.83447009e-01 9.58738538e-01 -2.18679937e-02 -1.11321389e+02] [-7.52630764e-02 4.93224344e-04 9.97163590e-01 -4.81849451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2807140570001 meters 0.016895611404375017 Centerline is valid? [True, True] Translation: X:732.30, Y:-111.35, Z:-48.19 [[ 9.57713028e-01 2.78759931e-01 7.12646915e-02 7.32295444e+02] [-2.77918824e-01 9.60360361e-01 -2.16588226e-02 -1.11347658e+02] [-7.44773968e-02 9.37137347e-04 9.97222262e-01 -4.81896423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.340714057 meters 0.017680658900088856 Centerline is valid? [True, True] Translation: X:732.35, Y:-111.37, Z:-48.20 [[ 9.58930212e-01 2.74928793e-01 6.97639412e-02 7.32352222e+02] [-2.74111279e-01 9.61463808e-01 -2.12215179e-02 -1.11373191e+02] [-7.29099108e-02 1.22687150e-03 9.97337776e-01 -4.81956045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4007140570001 meters 0.017869986201681655 Centerline is valid? [True, True] Translation: X:732.41, Y:-111.39, Z:-48.20 [[ 9.59074962e-01 2.74297316e-01 7.02580885e-02 7.32410698e+02] [-2.73465049e-01 9.61644054e-01 -2.13911429e-02 -1.11394955e+02] [-7.34308061e-02 1.30257793e-03 9.97299464e-01 -4.81991085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.460714057 meters 0.01835058642593994 Centerline is valid? [True, True] Translation: X:732.47, Y:-111.42, Z:-48.20 [[ 9.58691305e-01 2.75179249e-01 7.20233528e-02 7.32468516e+02] [-2.74305515e-01 9.61392078e-01 -2.19489585e-02 -1.11417908e+02] [-7.52825787e-02 1.28587275e-03 9.97161411e-01 -4.82000094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5207140570001 meters 0.018170616716187107 Centerline is valid? [True, True] Translation: X:732.53, Y:-111.44, Z:-48.20 [[ 9.57756215e-01 2.78467451e-01 7.18255678e-02 7.32528253e+02] [-2.77606286e-01 9.60445100e-01 -2.19079764e-02 -1.11436139e+02] [-7.50851730e-02 1.04327144e-03 9.97176578e-01 -4.82048726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.580714057 meters 0.01830518152868207 Centerline is valid? [True, True] Translation: X:732.59, Y:-111.46, Z:-48.21 [[ 9.57548461e-01 2.78939362e-01 7.27583556e-02 7.32587139e+02] [-2.78056072e-01 9.60308164e-01 -2.22047751e-02 -1.11457793e+02] [-7.60642286e-02 1.03124569e-03 9.97102387e-01 -4.82093227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.640714057 meters 0.01818599413717223 Centerline is valid? [True, True] Translation: X:732.65, Y:-111.48, Z:-48.21 [[ 9.58420038e-01 2.75842278e-01 7.30894595e-02 7.32645074e+02] [-2.74940228e-01 9.61202027e-01 -2.23278821e-02 -1.11479878e+02] [-7.64127105e-02 1.30425700e-03 9.97075422e-01 -4.82135495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.700714057 meters 0.019055425834205997 Centerline is valid? [True, True] Translation: X:732.70, Y:-111.50, Z:-48.22 [[ 9.58865417e-01 2.74457196e-01 7.24593725e-02 7.32702559e+02] [-2.73565227e-01 9.61598267e-01 -2.21548763e-02 -1.11500453e+02] [-7.57573723e-02 1.42118001e-03 9.97125268e-01 -4.82175111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.760714057 meters 0.018462525644746996 Centerline is valid? [True, True] Translation: X:732.76, Y:-111.52, Z:-48.22 [[ 9.58941270e-01 2.74214176e-01 7.23755949e-02 7.32762322e+02] [-2.73322156e-01 9.61667543e-01 -2.21480445e-02 -1.11518883e+02] [-7.56745683e-02 1.45682028e-03 9.97131505e-01 -4.82231735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.820714057 meters 0.01840975578556582 Centerline is valid? [True, True] Translation: X:732.82, Y:-111.54, Z:-48.23 [[ 9.58808153e-01 2.74662447e-01 7.24394005e-02 7.32822545e+02] [-2.73768397e-01 9.61539626e-01 -2.21903513e-02 -1.11538266e+02] [-7.57482103e-02 1.44467113e-03 9.97125931e-01 -4.82271124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.880714057 meters 0.018298199878950386 Centerline is valid? [True, True] Translation: X:732.88, Y:-111.56, Z:-48.23 [[ 9.59012929e-01 2.73891725e-01 7.26465811e-02 7.32882123e+02] [-2.72988643e-01 9.61759314e-01 -2.22760517e-02 -1.11555536e+02] [-7.59697522e-02 1.53132995e-03 9.97108947e-01 -4.82325634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.940714057 meters 0.019013623138330427 Centerline is valid? [True, True] Translation: X:732.94, Y:-111.58, Z:-48.24 [[ 9.59788519e-01 2.71860915e-01 6.99831584e-02 7.32940122e+02] [-2.71016179e-01 9.62335143e-01 -2.14779626e-02 -1.11576512e+02] [-7.31862713e-02 1.64773365e-03 9.97316928e-01 -4.82380653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.000714057 meters 0.019370326829406072 Centerline is valid? [True, True] Translation: X:733.00, Y:-111.60, Z:-48.24 [[ 9.60300397e-01 2.70295281e-01 6.90188970e-02 7.32998653e+02] [-2.69468329e-01 9.62775863e-01 -2.12004084e-02 -1.11595426e+02] [-7.21800985e-02 1.76035379e-03 9.97390061e-01 -4.82431070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.060714057 meters 0.020250253623432843 Centerline is valid? [True, True] Translation: X:733.06, Y:-111.62, Z:-48.25 [[ 9.61022765e-01 2.67346242e-01 7.04360189e-02 7.33055891e+02] [-2.66475769e-01 9.63598375e-01 -2.16526163e-02 -1.11615516e+02] [-7.36607790e-02 2.03916493e-03 9.97281270e-01 -4.82453436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.120714057 meters 0.0211200509602309 Centerline is valid? [True, True] Translation: X:733.11, Y:-111.64, Z:-48.25 [[ 9.62098095e-01 2.63163529e-01 7.14997332e-02 7.33113379e+02] [-2.62254348e-01 9.64748247e-01 -2.19881280e-02 -1.11636031e+02] [-7.47657156e-02 2.40362022e-03 9.97198230e-01 -4.82489622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.180714057 meters 0.024504400405088972 Centerline is valid? [True, True] Translation: X:733.17, Y:-111.66, Z:-48.25 [[ 9.62813476e-01 2.60576470e-01 7.13450377e-02 7.33169105e+02] [-2.59664021e-01 9.65449709e-01 -2.19420862e-02 -1.11660735e+02] [-7.45976373e-02 2.60039692e-03 9.97210324e-01 -4.82513483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.240714057 meters 0.021298606909145302 Centerline is valid? [True, True] Translation: X:733.23, Y:-111.67, Z:-48.26 [[ 9.63035666e-01 2.59654047e-01 7.17083188e-02 7.33230288e+02] [-2.58729335e-01 9.65697954e-01 -2.20588730e-02 -1.11673725e+02] [-7.49762524e-02 2.69043584e-03 9.97181690e-01 -4.82569426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.300714057 meters 0.021386011271729736 Centerline is valid? [True, True] Translation: X:733.29, Y:-111.69, Z:-48.26 [[ 9.62365628e-01 2.62624716e-01 6.98616997e-02 7.33288521e+02] [-2.61753667e-01 9.64895042e-01 -2.15075509e-02 -1.11688959e+02] [-7.30576221e-02 2.41157167e-03 9.97324806e-01 -4.82618351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.360714057 meters 0.02016359238684642 Centerline is valid? [True, True] Translation: X:733.35, Y:-111.70, Z:-48.27 [[ 9.60711570e-01 2.68829830e-01 6.90202960e-02 7.33347089e+02] [-2.67995531e-01 9.63185779e-01 -2.12497187e-02 -1.11703875e+02] [-7.21919259e-02 1.91771972e-03 9.97388915e-01 -4.82654226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.420714057 meters 0.018605630996200197 Centerline is valid? [True, True] Translation: X:733.41, Y:-111.72, Z:-48.27 [[ 9.59558078e-01 2.72479466e-01 7.07335472e-02 7.33407814e+02] [-2.71612870e-01 9.62160119e-01 -2.17796568e-02 -1.11716901e+02] [-7.39915074e-02 1.68670383e-03 9.97257445e-01 -4.82682932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.480714057 meters 0.018896879313379553 Centerline is valid? [True, True] Translation: X:733.47, Y:-111.73, Z:-48.27 [[ 9.59022959e-01 2.74299345e-01 7.09565567e-02 7.33466337e+02] [-2.73430785e-01 9.61643075e-01 -2.18678122e-02 -1.11734162e+02] [-7.42332079e-02 1.57002700e-03 9.97239673e-01 -4.82711353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5407140570001 meters 0.019737293972478108 Centerline is valid? [True, True] Translation: X:733.53, Y:-111.75, Z:-48.28 [[ 9.60015754e-01 2.70787089e-01 7.10218563e-02 7.33525082e+02] [-2.69906104e-01 9.62637468e-01 -2.19043311e-02 -1.11753769e+02] [-7.42997100e-02 1.85927043e-03 9.97234223e-01 -4.82759566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.600714057 meters 0.022640079120439773 Centerline is valid? [True, True] Translation: X:733.58, Y:-111.78, Z:-48.28 [[ 9.62621697e-01 2.61360178e-01 7.10656418e-02 7.33581197e+02] [-2.60452021e-01 9.65237860e-01 -2.19230084e-02 -1.11776030e+02] [-7.43250494e-02 2.59437356e-03 9.97230694e-01 -4.82793172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6607140570001 meters 0.02384558730114784 Centerline is valid? [True, True] Translation: X:733.64, Y:-111.79, Z:-48.28 [[ 9.64558836e-01 2.54214456e-01 7.07196075e-02 7.33639149e+02] [-2.53295750e-01 9.67142801e-01 -2.18189507e-02 -1.11792898e+02] [-7.39426519e-02 3.13268571e-03 9.97257575e-01 -4.82845533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.720714057 meters 0.026321136060704336 Centerline is valid? [True, True] Translation: X:733.70, Y:-111.81, Z:-48.29 [[ 9.66980984e-01 2.44694172e-01 7.12217548e-02 7.33697492e+02] [-2.43736482e-01 9.69592507e-01 -2.19749197e-02 -1.11809791e+02] [-7.44332146e-02 3.88998950e-03 9.97218414e-01 -4.82873638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7807140570001 meters 0.02998321240407403 Centerline is valid? [True, True] Translation: X:733.75, Y:-111.83, Z:-48.29 [[ 9.68047182e-01 2.40260583e-01 7.18297036e-02 7.33754598e+02] [-2.39274223e-01 9.70699045e-01 -2.21632721e-02 -1.11827994e+02] [-7.50499854e-02 4.26809664e-03 9.97170639e-01 -4.82894612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.840714057 meters 0.03071875730833639 Centerline is valid? [True, True] Translation: X:733.81, Y:-111.84, Z:-48.29 [[ 9.69088126e-01 2.36259536e-01 7.10607847e-02 7.33814091e+02] [-2.35283525e-01 9.71679435e-01 -2.19257692e-02 -1.11840435e+02] [-7.42284752e-02 4.52857073e-03 9.97230979e-01 -4.82932077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9007140570001 meters 0.031264564323765814 Centerline is valid? [True, True] Translation: X:733.87, Y:-111.85, Z:-48.30 [[ 9.70372412e-01 2.31435449e-01 6.93903122e-02 7.33874713e+02] [-2.30492526e-01 9.72838505e-01 -2.14111718e-02 -1.11847818e+02] [-7.24608717e-02 4.78286208e-03 9.97359788e-01 -4.83001722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.960714057 meters 0.030443727296381277 Centerline is valid? [True, True] Translation: X:733.94, Y:-111.86, Z:-48.31 [[ 9.71348444e-01 2.27613880e-01 6.83675526e-02 7.33935341e+02] [-2.26689175e-01 9.73738667e-01 -2.10956524e-02 -1.11856490e+02] [-7.13737928e-02 4.99304504e-03 9.97437142e-01 -4.83050965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0207140570001 meters 0.03317324026016153 Centerline is valid? [True, True] Translation: X:734.00, Y:-111.86, Z:-48.31 [[ 9.72373810e-01 2.23169857e-01 6.84425977e-02 7.33997349e+02] [-2.22232070e-01 9.74765019e-01 -2.11202577e-02 -1.11863235e+02] [-7.14288550e-02 5.32664521e-03 9.97431474e-01 -4.83080764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.080714057 meters 0.035785335672834435 Centerline is valid? [True, True] Translation: X:734.06, Y:-111.87, Z:-48.31 [[ 9.73021450e-01 2.19959763e-01 6.96201177e-02 7.34058437e+02] [-2.18981081e-01 9.75492524e-01 -2.14853813e-02 -1.11869330e+02] [-7.26398237e-02 5.66024820e-03 9.97342177e-01 -4.83115956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.140714057 meters 0.03974316243125947 Centerline is valid? [True, True] Translation: X:734.12, Y:-111.88, Z:-48.32 [[ 9.73880228e-01 2.16156006e-01 6.95261302e-02 7.34118451e+02] [-2.15170216e-01 9.76340783e-01 -2.14581962e-02 -1.11876240e+02] [-7.25195144e-02 5.93776056e-03 9.97349319e-01 -4.83158466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.200714057 meters 0.044824993170180856 Centerline is valid? [True, True] Translation: X:734.18, Y:-111.88, Z:-48.32 [[ 9.74343281e-01 2.14230945e-01 6.89947352e-02 7.34178536e+02] [-2.13255401e-01 9.76764397e-01 -2.12942771e-02 -1.11883701e+02] [-7.19534941e-02 6.03443585e-03 9.97389733e-01 -4.83219660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.260714057 meters 0.03920604845939719 Centerline is valid? [True, True] Translation: X:734.25, Y:-111.88, Z:-48.33 [[ 9.74267053e-01 2.14744346e-01 6.84731667e-02 7.34245732e+02] [-2.13784252e-01 9.76652121e-01 -2.11406698e-02 -1.11876900e+02] [-7.14143028e-02 5.95817334e-03 9.97428944e-01 -4.83267923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.320714057 meters 0.0404389988199696 Centerline is valid? [True, True] Translation: X:734.31, Y:-111.88, Z:-48.33 [[ 9.73958074e-01 2.16099463e-01 6.86053333e-02 7.34307033e+02] [-2.15137710e-01 9.76353603e-01 -2.11992184e-02 -1.11884689e+02] [-7.15642041e-02 5.88755558e-03 9.97418619e-01 -4.83310087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.380714057 meters 0.04169001436926363 Centerline is valid? [True, True] Translation: X:734.37, Y:-111.89, Z:-48.33 [[ 9.73550395e-01 2.17581318e-01 6.96993478e-02 7.34370053e+02] [-2.16592149e-01 9.76024521e-01 -2.15400881e-02 -1.11888499e+02] [-7.27149934e-02 5.87402973e-03 9.97335463e-01 -4.83348645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.440714057 meters 0.04280158500167299 Centerline is valid? [True, True] Translation: X:734.43, Y:-111.89, Z:-48.34 [[ 9.73249735e-01 2.18584992e-01 7.07499519e-02 7.34433597e+02] [-2.17567988e-01 9.75800128e-01 -2.18696482e-02 -1.11892820e+02] [-7.38181889e-02 5.89170463e-03 9.97254312e-01 -4.83388757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.500714057 meters 0.04620646061585386 Centerline is valid? [True, True] Translation: X:734.49, Y:-111.91, Z:-48.34 [[ 9.73128659e-01 2.19182217e-01 7.05674760e-02 7.34493185e+02] [-2.18170692e-01 9.75666412e-01 -2.18312167e-02 -1.11905223e+02] [-7.36353306e-02 5.84882753e-03 9.97268083e-01 -4.83431891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.560714057 meters 0.04129355823564318 Centerline is valid? [True, True] Translation: X:734.56, Y:-111.90, Z:-48.35 [[ 9.73297658e-01 2.18651886e-01 6.98786164e-02 7.34558091e+02] [-2.17657849e-01 9.75785436e-01 -2.16296674e-02 -1.11903949e+02] [-7.29159038e-02 5.84247528e-03 9.97320980e-01 -4.83500129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.620714057 meters 0.042562792830014996 Centerline is valid? [True, True] Translation: X:734.62, Y:-111.91, Z:-48.36 [[ 9.73390206e-01 2.18243846e-01 6.98650937e-02 7.34620420e+02] [-2.17247747e-01 9.75876490e-01 -2.16447099e-02 -1.11912004e+02] [-7.29035271e-02 5.89071449e-03 9.97321601e-01 -4.83552971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.680714057 meters 0.04329081808657584 Centerline is valid? [True, True] Translation: X:734.68, Y:-111.92, Z:-48.36 [[ 9.73331867e-01 2.18580999e-01 6.96234351e-02 7.34682885e+02] [-2.17591263e-01 9.75801191e-01 -2.15888383e-02 -1.11921311e+02] [-7.26575407e-02 5.86365312e-03 9.97339711e-01 -4.83608141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.740714057 meters 0.04525847752567163 Centerline is valid? [True, True] Translation: X:734.74, Y:-111.93, Z:-48.37 [[ 9.73051308e-01 2.19800259e-01 6.97065123e-02 7.34742478e+02] [-2.18809883e-01 9.75527667e-01 -2.16334366e-02 -1.11934546e+02] [-7.27556664e-02 5.79797001e-03 9.97332942e-01 -4.83656736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.800714057 meters 0.0406587496815851 Centerline is valid? [True, True] Translation: X:734.81, Y:-111.94, Z:-48.37 [[ 9.72714263e-01 2.21337474e-01 6.95462808e-02 7.34805496e+02] [-2.20354409e-01 9.75180702e-01 -2.15993777e-02 -1.11938035e+02] [-7.26009426e-02 5.68519311e-03 9.97344866e-01 -4.83722771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.860714057 meters 0.04278165877724516 Centerline is valid? [True, True] Translation: X:734.86, Y:-111.95, Z:-48.38 [[ 9.72353617e-01 2.23235134e-01 6.85165584e-02 7.34864805e+02] [-2.22285496e-01 9.74749313e-01 -2.12822661e-02 -1.11950781e+02] [-7.15374177e-02 5.46365125e-03 9.97422953e-01 -4.83782019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.920714057 meters 0.04339782057514889 Centerline is valid? [True, True] Translation: X:734.92, Y:-111.96, Z:-48.38 [[ 9.71823632e-01 2.25883004e-01 6.73475893e-02 7.34923971e+02] [-2.24971688e-01 9.74140662e-01 -2.09215384e-02 -1.11963183e+02] [-7.03318452e-02 5.18074455e-03 9.97510196e-01 -4.83836934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.980714057 meters 0.04097389555565161 Centerline is valid? [True, True] Translation: X:734.98, Y:-111.97, Z:-48.39 [[ 9.71335604e-01 2.27668276e-01 6.83688578e-02 7.34984236e+02] [-2.26733471e-01 9.73725247e-01 -2.12385391e-02 -1.11968852e+02] [-7.14078246e-02 5.12824071e-03 9.97434020e-01 -4.83875804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0407140570001 meters 0.04128890384536435 Centerline is valid? [True, True] Translation: X:735.04, Y:-111.98, Z:-48.39 [[ 9.71724393e-01 2.25781089e-01 6.90985158e-02 7.35042557e+02] [-2.24821646e-01 9.74163533e-01 -2.14624897e-02 -1.11981237e+02] [-7.21590786e-02 5.32078267e-03 9.97378943e-01 -4.83914852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.100714057 meters 0.042622838609596744 Centerline is valid? [True, True] Translation: X:735.10, Y:-112.00, Z:-48.40 [[ 9.73235636e-01 2.19486925e-01 6.81020379e-02 7.35100776e+02] [-2.18539865e-01 9.75598782e-01 -2.11504979e-02 -1.11995974e+02] [-7.10825230e-02 5.70140804e-03 9.97454144e-01 -4.83969034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1607140570001 meters 0.05014416990366415 Centerline is valid? [True, True] Translation: X:735.16, Y:-112.02, Z:-48.40 [[ 9.74442594e-01 2.14210224e-01 6.76432604e-02 7.35156803e+02] [-2.13263353e-01 9.76768881e-01 -2.10070482e-02 -1.12015819e+02] [-7.05717562e-02 6.04433402e-03 9.97488393e-01 -4.84002680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.220714057 meters 0.04785457005168987 Centerline is valid? [True, True] Translation: X:735.22, Y:-112.02, Z:-48.40 [[ 9.74663072e-01 2.12756157e-01 6.90413902e-02 7.35216857e+02] [-2.11766154e-01 9.77085170e-01 -2.14398347e-02 -1.12024469e+02] [-7.20207753e-02 6.27598554e-03 9.97383387e-01 -4.84025059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2807140570001 meters 0.04439627278877788 Centerline is valid? [True, True] Translation: X:735.28, Y:-112.03, Z:-48.41 [[ 9.73942432e-01 2.15676838e-01 7.01401585e-02 7.35277482e+02] [-2.14662700e-01 9.76445402e-01 -2.17784578e-02 -1.12032675e+02] [-7.31851442e-02 6.15448836e-03 9.97299382e-01 -4.84054054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.340714057 meters 0.04218947184386035 Centerline is valid? [True, True] Translation: X:735.34, Y:-112.04, Z:-48.41 [[ 9.71815699e-01 2.25002167e-01 7.03439519e-02 7.35339210e+02] [-2.24006360e-01 9.74342921e-01 -2.18408483e-02 -1.12037663e+02] [-7.34533698e-02 5.46778660e-03 9.97283664e-01 -4.84091538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4007140570001 meters 0.03687573319814223 Centerline is valid? [True, True] Translation: X:735.40, Y:-112.04, Z:-48.41 [[ 9.68409136e-01 2.39241020e-01 7.03383238e-02 7.35401515e+02] [-2.38282599e-01 9.70950296e-01 -2.18386385e-02 -1.12040273e+02] [-7.35197144e-02 4.38833839e-03 9.97284109e-01 -4.84141173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.460714057 meters 0.032207359556399494 Centerline is valid? [True, True] Translation: X:735.46, Y:-112.04, Z:-48.42 [[ 9.65033056e-01 2.52758996e-01 6.94556815e-02 7.35463137e+02] [-2.51859305e-01 9.67523586e-01 -2.15639062e-02 -1.12044839e+02] [-7.26504813e-02 3.31682262e-03 9.97351947e-01 -4.84211571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5207140570001 meters 0.02894655381449183 Centerline is valid? [True, True] Translation: X:735.52, Y:-112.05, Z:-48.43 [[ 9.62004777e-01 2.64222778e-01 6.87977597e-02 7.35523023e+02] [-2.63369283e-01 9.64458619e-01 -2.13586524e-02 -1.12053389e+02] [-7.19960348e-02 2.42790903e-03 9.97401963e-01 -4.84258366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.580714057 meters 0.027044962501681927 Centerline is valid? [True, True] Translation: X:735.58, Y:-112.07, Z:-48.43 [[ 9.60046284e-01 2.71061811e-01 6.95458695e-02 7.35581552e+02] [-2.70207606e-01 9.62559998e-01 -2.15893253e-02 -1.12065721e+02] [-7.27941136e-02 1.93492858e-03 9.97345112e-01 -4.84301270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.640714057 meters 0.026332609547896114 Centerline is valid? [True, True] Translation: X:735.64, Y:-112.08, Z:-48.43 [[ 9.57723144e-01 2.79096870e-01 6.97948208e-02 7.35637868e+02] [-2.78257981e-01 9.60262035e-01 -2.16637943e-02 -1.12083881e+02] [-7.30676138e-02 1.32695132e-03 9.97326107e-01 -4.84336670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.700714057 meters 0.0260105046797618 Centerline is valid? [True, True] Translation: X:735.69, Y:-112.11, Z:-48.44 [[ 9.56610537e-01 2.82746268e-01 7.03621200e-02 7.35692016e+02] [-2.81903858e-01 9.59194162e-01 -2.18351593e-02 -1.12105456e+02] [-7.36647445e-02 1.05239037e-03 9.97282507e-01 -4.84372063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.760714057 meters 0.02546078636712297 Centerline is valid? [True, True] Translation: X:735.75, Y:-112.12, Z:-48.44 [[ 9.56533344e-01 2.82932262e-01 7.06632637e-02 7.35746460e+02] [-2.82084538e-01 9.59139346e-01 -2.19095325e-02 -1.12124046e+02] [-7.39748302e-02 1.02418434e-03 9.97259583e-01 -4.84416974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.820714057 meters 0.024862716673850163 Centerline is valid? [True, True] Translation: X:735.80, Y:-112.15, Z:-48.44 [[ 9.57034289e-01 2.81346760e-01 7.02094829e-02 7.35798738e+02] [-2.80507214e-01 9.59605517e-01 -2.17474978e-02 -1.12152952e+02] [-7.34919952e-02 1.11883464e-03 9.97295179e-01 -4.84449784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.880714057 meters 0.024663021605844975 Centerline is valid? [True, True] Translation: X:735.85, Y:-112.18, Z:-48.45 [[ 9.57814871e-01 2.78759259e-01 6.98852494e-02 7.35850920e+02] [-2.77921973e-01 9.60360143e-01 -2.16280739e-02 -1.12184803e+02] [-7.31440339e-02 1.29304448e-03 9.97320549e-01 -4.84461258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.940714057 meters 0.02434459724152209 Centerline is valid? [True, True] Translation: X:735.90, Y:-112.22, Z:-48.45 [[ 9.58726107e-01 2.75773598e-01 6.92327579e-02 7.35901867e+02] [-2.74945360e-01 9.61221464e-01 -2.14090450e-02 -1.12219128e+02] [-7.24520622e-02 1.49018480e-03 9.97370783e-01 -4.84485164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.000714057 meters 0.023511355243042497 Centerline is valid? [True, True] Translation: X:735.95, Y:-112.25, Z:-48.45 [[ 9.59427750e-01 2.73673725e-01 6.78312907e-02 7.35954234e+02] [-2.72873849e-01 9.61821241e-01 -2.09705387e-02 -1.12247276e+02] [-7.09806616e-02 1.61033133e-03 9.97476392e-01 -4.84518091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.060714057 meters 0.02308336721491454 Centerline is valid? [True, True] Translation: X:736.01, Y:-112.28, Z:-48.45 [[ 9.59948451e-01 2.72069606e-01 6.69111459e-02 7.36006063e+02] [-2.71287784e-01 9.62276072e-01 -2.06809181e-02 -1.12277536e+02] [-7.00136439e-02 1.70043873e-03 9.97544585e-01 -4.84541456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.120714057 meters 0.021663563682990238 Centerline is valid? [True, True] Translation: X:736.06, Y:-112.31, Z:-48.46 [[ 9.59576520e-01 2.73381345e-01 6.68994924e-02 7.36058911e+02] [-2.72603342e-01 9.61904404e-01 -2.06720949e-02 -1.12307055e+02] [-7.00022815e-02 1.59943167e-03 9.97545549e-01 -4.84561632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.180714057 meters 0.02026544718081729 Centerline is valid? [True, True] Translation: X:736.11, Y:-112.34, Z:-48.46 [[ 9.59369709e-01 2.73915899e-01 6.76745260e-02 7.36112063e+02] [-2.73121445e-01 9.61752361e-01 -2.09062592e-02 -1.12335286e+02] [-7.08126920e-02 1.57346749e-03 9.97488389e-01 -4.84569216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.240714057 meters 0.020658927659901564 Centerline is valid? [True, True] Translation: X:736.17, Y:-112.36, Z:-48.46 [[ 9.59707434e-01 2.72579447e-01 6.82794756e-02 7.36166148e+02] [-2.71767717e-01 9.62131808e-01 -2.10877141e-02 -1.12360314e+02] [-7.14419328e-02 1.68187878e-03 9.97443343e-01 -4.84589226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.300714057 meters 0.0214167719330906 Centerline is valid? [True, True] Translation: X:736.22, Y:-112.40, Z:-48.46 [[ 9.61758402e-01 2.65524870e-01 6.72110167e-02 7.36218519e+02] [-2.64721482e-01 9.64101575e-01 -2.07530789e-02 -1.12397146e+02] [-7.03087056e-02 2.16724799e-03 9.97522927e-01 -4.84625199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.360714057 meters 0.023332624117212365 Centerline is valid? [True, True] Translation: X:736.27, Y:-112.42, Z:-48.47 [[ 9.63522154e-01 2.59469880e-01 6.55777401e-02 7.36274059e+02] [-2.58691016e-01 9.65747842e-01 -2.02500243e-02 -1.12424343e+02] [-6.85858323e-02 2.54697477e-03 9.97641968e-01 -4.84671817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.420714057 meters 0.027184948629063097 Centerline is valid? [True, True] Translation: X:736.33, Y:-112.46, Z:-48.47 [[ 9.66579158e-01 2.48338802e-01 6.36598098e-02 7.36327614e+02] [-2.47580674e-01 9.68667815e-01 -1.96589529e-02 -1.12455024e+02] [-6.65472896e-02 3.24099552e-03 9.97778009e-01 -4.84720327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.480714057 meters 0.033336388402330566 Centerline is valid? [True, True] Translation: X:736.38, Y:-112.49, Z:-48.48 [[ 9.69508406e-01 2.36811627e-01 6.30373147e-02 7.36380221e+02] [-2.36043938e-01 9.71547376e-01 -1.94667701e-02 -1.12487097e+02] [-6.58536952e-02 3.99362120e-03 9.97821298e-01 -4.84755652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5407140570001 meters 0.03440526802799149 Centerline is valid? [True, True] Translation: X:736.44, Y:-112.51, Z:-48.48 [[ 9.71180208e-01 2.29900362e-01 6.28874133e-02 7.36437024e+02] [-2.29121864e-01 9.73203987e-01 -1.94208866e-02 -1.12508879e+02] [-6.56671502e-02 4.45229936e-03 9.97831650e-01 -4.84785663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.600714057 meters 0.03897249781773516 Centerline is valid? [True, True] Translation: X:736.49, Y:-112.53, Z:-48.48 [[ 9.73158317e-01 2.21515508e-01 6.24000845e-02 7.36493015e+02] [-2.20731818e-01 9.75144130e-01 -1.92714999e-02 -1.12533485e+02] [-6.51180122e-02 4.98053632e-03 9.97865141e-01 -4.84831444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6607140570001 meters 0.039177911909048485 Centerline is valid? [True, True] Translation: X:736.55, Y:-112.55, Z:-48.49 [[ 9.74543015e-01 2.15197732e-01 6.28955292e-02 7.36550864e+02] [-2.14388429e-01 9.76555310e-01 -1.94249367e-02 -1.12551178e+02] [-6.56011654e-02 5.44636271e-03 9.97831060e-01 -4.84867063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.720714057 meters 0.042050693376848115 Centerline is valid? [True, True] Translation: X:736.61, Y:-112.57, Z:-48.49 [[ 9.75357928e-01 2.11063366e-01 6.42585984e-02 7.36609473e+02] [-2.10209624e-01 9.77454879e-01 -1.98462673e-02 -1.12567861e+02] [-6.69987005e-02 5.84943834e-03 9.97735916e-01 -4.84894765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7807140570001 meters 0.04483534634801748 Centerline is valid? [True, True] Translation: X:736.67, Y:-112.58, Z:-48.49 [[ 9.75784549e-01 2.08937747e-01 6.47265989e-02 7.36667520e+02] [-2.08066717e-01 9.77910281e-01 -1.99930704e-02 -1.12584899e+02] [-6.74741136e-02 6.04147828e-03 9.97702734e-01 -4.84934111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.840714057 meters 0.04772701087731986 Centerline is valid? [True, True] Translation: X:736.73, Y:-112.60, Z:-48.50 [[ 9.76051136e-01 2.07275318e-01 6.60387943e-02 7.36727100e+02] [-2.06364693e-01 9.78262473e-01 -2.03997089e-02 -1.12598056e+02] [-6.88316304e-02 6.28308352e-03 9.97608505e-01 -4.84965813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9007140570001 meters 0.050149081410594376 Centerline is valid? [True, True] Translation: X:736.79, Y:-112.61, Z:-48.50 [[ 9.75682592e-01 2.08941958e-01 6.62324497e-02 7.36786875e+02] [-2.08029686e-01 9.77908485e-01 -2.04608161e-02 -1.12607945e+02] [-6.90443975e-02 6.18494640e-03 9.97594415e-01 -4.85011758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.960714057 meters 0.05071072884989996 Centerline is valid? [True, True] Translation: X:736.85, Y:-112.61, Z:-48.51 [[ 9.75272898e-01 2.11798148e-01 6.31214551e-02 7.36847787e+02] [-2.10975541e-01 9.77296800e-01 -1.95009008e-02 -1.12613996e+02] [-6.58186508e-02 5.70161690e-03 9.97815312e-01 -4.85098853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0207140570001 meters 0.05072448943184795 Centerline is valid? [True, True] Translation: X:736.91, Y:-112.62, Z:-48.52 [[ 9.74607114e-01 2.15093340e-01 6.22561578e-02 7.36909140e+02] [-2.14299801e-01 9.76578543e-01 -1.92339332e-02 -1.12621349e+02] [-6.49351188e-02 5.40404590e-03 9.97874855e-01 -4.85150645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.080714057 meters 0.04886892792807245 Centerline is valid? [True, True] Translation: X:736.97, Y:-112.62, Z:-48.52 [[ 9.73029478e-01 2.21668117e-01 6.38504511e-02 7.36972447e+02] [-2.20847288e-01 9.75108862e-01 -1.97277221e-02 -1.12622418e+02] [-6.66341477e-02 5.09445619e-03 9.97764470e-01 -4.85185298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.140714057 meters 0.037959236665150754 Centerline is valid? [True, True] Translation: X:737.04, Y:-112.61, Z:-48.52 [[ 9.71455621e-01 2.28445633e-01 6.39262859e-02 7.37039305e+02] [-2.27637369e-01 9.73545634e-01 -1.97516041e-02 -1.12611316e+02] [-6.67473243e-02 4.63579529e-03 9.97759141e-01 -4.85236959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.200714057 meters 0.03510146472059179 Centerline is valid? [True, True] Translation: X:737.10, Y:-112.61, Z:-48.53 [[ 9.70415883e-01 2.32642804e-01 6.45781693e-02 7.37101077e+02] [-2.31827183e-01 9.72552332e-01 -1.99528941e-02 -1.12614669e+02] [-6.74475464e-02 4.39163024e-03 9.97713156e-01 -4.85281062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.260714057 meters 0.036245625054142354 Centerline is valid? [True, True] Translation: X:737.16, Y:-112.62, Z:-48.53 [[ 9.68823084e-01 2.38849534e-01 6.58234855e-02 7.37160866e+02] [-2.38016359e-01 9.71048202e-01 -2.03372339e-02 -1.12620034e+02] [-6.87753160e-02 4.03611534e-03 9.97624010e-01 -4.85318786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.320714057 meters 0.032335982667389136 Centerline is valid? [True, True] Translation: X:737.22, Y:-112.62, Z:-48.54 [[ 9.67447185e-01 2.43966837e-01 6.72764983e-02 7.37223739e+02] [-2.43108943e-01 9.69776321e-01 -2.07828761e-02 -1.12620601e+02] [-7.03134875e-02 3.75081651e-03 9.97517892e-01 -4.85367475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.380714057 meters 0.037145458421055585 Centerline is valid? [True, True] Translation: X:737.28, Y:-112.64, Z:-48.54 [[ 9.66744602e-01 2.46899647e-01 6.66741272e-02 7.37280802e+02] [-2.46064040e-01 9.69034714e-01 -2.05963848e-02 -1.12636082e+02] [-6.96947839e-02 3.50533869e-03 9.97562203e-01 -4.85411742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.440714057 meters 0.04369365324262668 Centerline is valid? [True, True] Translation: X:737.33, Y:-112.66, Z:-48.55 [[ 9.66437802e-01 2.48450056e-01 6.53493985e-02 7.37334568e+02] [-2.47651087e-01 9.68639007e-01 -2.01844772e-02 -1.12658529e+02] [-6.83148110e-02 3.32319224e-03 9.97658280e-01 -4.85453626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.500714057 meters 0.03199533858748397 Centerline is valid? [True, True] Translation: X:737.40, Y:-112.65, Z:-48.55 [[ 9.65667767e-01 2.51999428e-01 6.31035096e-02 7.37397951e+02] [-2.51262342e-01 9.67722851e-01 -1.94863977e-02 -1.12653928e+02] [-6.59772693e-02 2.96185050e-03 9.97816730e-01 -4.85528118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.560714057 meters 0.029812147161607655 Centerline is valid? [True, True] Translation: X:737.46, Y:-112.67, Z:-48.56 [[ 9.64232743e-01 2.57374341e-01 6.33535008e-02 7.37457282e+02] [-2.56643109e-01 9.66308272e-01 -1.95611239e-02 -1.12666676e+02] [-6.62535433e-02 2.60223673e-03 9.97799427e-01 -4.85558267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.620714057 meters 0.02980299890618927 Centerline is valid? [True, True] Translation: X:737.51, Y:-112.69, Z:-48.56 [[ 9.62883955e-01 2.62134067e-01 6.43445409e-02 7.37513049e+02] [-2.61390464e-01 9.65028705e-01 -1.98651671e-02 -1.12685257e+02] [-6.73016660e-02 2.30880125e-03 9.97730001e-01 -4.85579133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.680714057 meters 0.02859649649584687 Centerline is valid? [True, True] Translation: X:737.57, Y:-112.70, Z:-48.56 [[ 9.62676444e-01 2.62870269e-01 6.44459945e-02 7.37569466e+02] [-2.62126138e-01 9.64828545e-01 -1.98938720e-02 -1.12700397e+02] [-6.74088426e-02 2.25838228e-03 9.97722881e-01 -4.85618082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.740714057 meters 0.02824371282269069 Centerline is valid? [True, True] Translation: X:737.63, Y:-112.72, Z:-48.56 [[ 9.62488722e-01 2.63645586e-01 6.40817073e-02 7.37625052e+02] [-2.62911903e-01 9.64617138e-01 -1.97764644e-02 -1.12719453e+02] [-6.70282906e-02 2.18678030e-03 9.97748679e-01 -4.85645901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.800714057 meters 0.030146816420111428 Centerline is valid? [True, True] Translation: X:737.68, Y:-112.74, Z:-48.57 [[ 9.62926348e-01 2.61881009e-01 6.47393648e-02 7.37677501e+02] [-2.61128545e-01 9.65097361e-01 -1.99741544e-02 -1.12744170e+02] [-6.77106419e-02 2.32834339e-03 9.97702284e-01 -4.85656341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.860714057 meters 0.03038819173875175 Centerline is valid? [True, True] Translation: X:737.73, Y:-112.77, Z:-48.57 [[ 9.64407537e-01 2.56574537e-01 6.39344236e-02 7.37734062e+02] [-2.55829523e-01 9.66520785e-01 -1.97186916e-02 -1.12766147e+02] [-6.68532635e-02 2.66054174e-03 9.97759271e-01 -4.85672591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.920714057 meters 0.03212177468741588 Centerline is valid? [True, True] Translation: X:737.79, Y:-112.79, Z:-48.57 [[ 9.66056315e-01 2.50428167e-01 6.34107944e-02 7.37789173e+02] [-2.49682102e-01 9.68130345e-01 -1.95571875e-02 -1.12793679e+02] [-6.62875849e-02 3.06080408e-03 9.97795865e-01 -4.85699038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.980714057 meters 0.033474851216205005 Centerline is valid? [True, True] Translation: X:737.84, Y:-112.82, Z:-48.57 [[ 9.67112492e-01 2.46395719e-01 6.31076694e-02 7.37844715e+02] [-2.45648233e-01 9.69163619e-01 -1.94634364e-02 -1.12817356e+02] [-6.59573646e-02 3.32104497e-03 9.97816915e-01 -4.85730747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0407140570001 meters 0.03580464326022452 Centerline is valid? [True, True] Translation: X:737.90, Y:-112.84, Z:-48.58 [[ 9.68820816e-01 2.40127400e-01 6.10332545e-02 7.37899770e+02] [-2.39415977e-01 9.70734621e-01 -1.88224925e-02 -1.12841512e+02] [-6.37668893e-02 3.62328624e-03 9.97958243e-01 -4.85781624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.100714057 meters 0.038398052875942286 Centerline is valid? [True, True] Translation: X:737.96, Y:-112.87, Z:-48.58 [[ 9.70122591e-01 2.35298973e-01 5.91316446e-02 7.37955489e+02] [-2.34622325e-01 9.71915542e-01 -1.82357726e-02 -1.12865921e+02] [-6.17618229e-02 3.81733099e-03 9.98083616e-01 -4.85829280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1607140570001 meters 0.03617881707749585 Centerline is valid? [True, True] Translation: X:738.01, Y:-112.88, Z:-48.58 [[ 9.70857891e-01 2.31871001e-01 6.05870879e-02 7.38013927e+02] [-2.31153944e-01 9.72737755e-01 -1.86846120e-02 -1.12879784e+02] [-6.32677676e-02 4.13515866e-03 9.97988021e-01 -4.85843331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.220714057 meters 0.036422063465246526 Centerline is valid? [True, True] Translation: X:738.07, Y:-112.90, Z:-48.59 [[ 9.71391863e-01 2.29236320e-01 6.20367427e-02 7.38071974e+02] [-2.28479255e-01 9.73360814e-01 -1.91299841e-02 -1.12896572e+02] [-6.47694215e-02 4.40860217e-03 9.97890518e-01 -4.85880830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2807140570001 meters 0.0390102357622411 Centerline is valid? [True, True] Translation: X:738.13, Y:-112.92, Z:-48.59 [[ 9.72182586e-01 2.25601110e-01 6.29695111e-02 7.38128130e+02] [-2.24813493e-01 9.74208320e-01 -1.94175840e-02 -1.12915955e+02] [-6.57260501e-02 4.72104125e-03 9.97826537e-01 -4.85924372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.340714057 meters 0.0422936442929104 Centerline is valid? [True, True] Translation: X:738.18, Y:-112.93, Z:-48.60 [[ 9.72819896e-01 2.23124425e-01 6.19430557e-02 7.38184092e+02] [-2.22357437e-01 9.74778122e-01 -1.90992909e-02 -1.12934584e+02] [-6.46422538e-02 4.80667105e-03 9.97896926e-01 -4.85971874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4007140570001 meters 0.04527589629562424 Centerline is valid? [True, True] Translation: X:738.24, Y:-112.95, Z:-48.60 [[ 9.74074902e-01 2.17359764e-01 6.27121812e-02 7.38242563e+02] [-2.16561873e-01 9.76077432e-01 -1.93339564e-02 -1.12948313e+02] [-6.54143690e-02 5.25165423e-03 9.97844367e-01 -4.86019069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.460714057 meters 0.041349088587883394 Centerline is valid? [True, True] Translation: X:738.30, Y:-112.96, Z:-48.61 [[ 9.74817837e-01 2.13911662e-01 6.30236972e-02 7.38303552e+02] [-2.13098734e-01 9.76837472e-01 -1.94289007e-02 -1.12956621e+02] [-6.57199775e-02 5.50936888e-03 9.97822896e-01 -4.86061628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5207140570001 meters 0.049520257672687425 Centerline is valid? [True, True] Translation: X:738.36, Y:-112.98, Z:-48.61 [[ 9.76623342e-01 2.05329368e-01 6.36136635e-02 7.38358736e+02] [-2.04483071e-01 9.78673643e-01 -1.96105628e-02 -1.12978381e+02] [-6.62836402e-02 6.14421608e-03 9.97781904e-01 -4.86103783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.580714057 meters 0.04910250001025081 Centerline is valid? [True, True] Translation: X:738.42, Y:-112.99, Z:-48.61 [[ 9.78294265e-01 1.96858352e-01 6.47079630e-02 7.38419507e+02] [-1.95964317e-01 9.80408122e-01 -1.99474633e-02 -1.12987272e+02] [-6.73670373e-02 6.83403721e-03 9.97704855e-01 -4.86139734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.640714057 meters 0.06920477303750629 Centerline is valid? [True, True] Translation: X:738.47, Y:-113.02, Z:-48.62 [[ 9.78941997e-01 1.93842717e-01 6.40122417e-02 7.38470111e+02] [-1.92961487e-01 9.81007893e-01 -1.97326580e-02 -1.13023738e+02] [-6.66215464e-02 6.96523029e-03 9.97754005e-01 -4.86173515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.700714057 meters 0.054716278605768 Centerline is valid? [True, True] Translation: X:738.54, Y:-113.01, Z:-48.62 [[ 9.79095429e-01 1.93226108e-01 6.35280422e-02 7.38535381e+02] [-1.92356882e-01 9.81129609e-01 -1.95836697e-02 -1.13010488e+02] [-6.61133195e-02 6.95422536e-03 9.97787887e-01 -4.86223043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.760714057 meters 0.054844204823931604 Centerline is valid? [True, True] Translation: X:738.60, Y:-113.02, Z:-48.62 [[ 9.78331927e-01 1.96615499e-01 6.48766955e-02 7.38596332e+02] [-1.95716613e-01 9.80456647e-01 -1.99942652e-02 -1.13016854e+02] [-6.75399698e-02 6.86358093e-03 9.97692961e-01 -4.86240257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.820714057 meters 0.054765155942523056 Centerline is valid? [True, True] Translation: X:738.66, Y:-113.02, Z:-48.63 [[ 9.76710481e-01 2.04612964e-01 6.45768643e-02 7.38657083e+02] [-2.03739758e-01 9.78822814e-01 -1.99000147e-02 -1.13021869e+02] [-6.72811090e-02 6.27967824e-03 9.97714297e-01 -4.86285952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.880714057 meters 0.04933499042650499 Centerline is valid? [True, True] Translation: X:738.72, Y:-113.02, Z:-48.63 [[ 9.74100082e-01 2.16502597e-01 6.52353855e-02 7.38720916e+02] [-2.15637903e-01 9.76266473e-01 -2.01014724e-02 -1.13019726e+02] [-6.80391407e-02 5.51362417e-03 9.97667417e-01 -4.86327901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.940714057 meters 0.041053083122537644 Centerline is valid? [True, True] Translation: X:738.78, Y:-113.02, Z:-48.64 [[ 9.72084676e-01 2.25324571e-01 6.54233918e-02 7.38784805e+02] [-2.24474707e-01 9.74271383e-01 -2.01588222e-02 -1.13017791e+02] [-6.82824164e-02 4.91018541e-03 9.97653949e-01 -4.86366563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.000714057 meters 0.039233067467877226 Centerline is valid? [True, True] Translation: X:738.85, Y:-113.02, Z:-48.64 [[ 9.68458025e-01 2.40597390e-01 6.48224503e-02 7.38845326e+02] [-2.39797073e-01 9.70617572e-01 -1.99723246e-02 -1.13020745e+02] [-6.77230985e-02 3.79812416e-03 9.97696926e-01 -4.86404520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.060714057 meters 0.03159710174451806 Centerline is valid? [True, True] Translation: X:738.91, Y:-113.02, Z:-48.65 [[ 9.65773069e-01 2.51285108e-01 6.43286458e-02 7.38908943e+02] [-2.50520616e-01 9.67908387e-01 -1.98185439e-02 -1.13019231e+02] [-6.72443408e-02 3.02456397e-03 9.97731953e-01 -4.86460950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.120714057 meters 0.028601761947346115 Centerline is valid? [True, True] Translation: X:738.97, Y:-113.02, Z:-48.65 [[ 9.61565275e-01 2.66845715e-01 6.46961142e-02 7.38970303e+02] [-2.66107472e-01 9.63737291e-01 -1.99310536e-02 -1.13023151e+02] [-6.76685741e-02 1.94888965e-03 9.97705952e-01 -4.86506906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.180714057 meters 0.02660423355267382 Centerline is valid? [True, True] Translation: X:739.03, Y:-113.03, Z:-48.65 [[ 9.58127858e-01 2.78577016e-01 6.62257773e-02 7.39030683e+02] [-2.77831377e-01 9.60413208e-01 -2.04008625e-02 -1.13032657e+02] [-6.92873227e-02 1.14703577e-03 9.97596086e-01 -4.86543999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.240714057 meters 0.026664338866942063 Centerline is valid? [True, True] Translation: X:739.09, Y:-113.05, Z:-48.66 [[ 9.56489816e-01 2.84053685e-01 6.66388548e-02 7.39085942e+02] [-2.83312060e-01 9.58808081e-01 -2.05265893e-02 -1.13048197e+02] [-6.97245258e-02 7.53882353e-04 9.97565999e-01 -4.86581608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.300714057 meters 0.026598111050652785 Centerline is valid? [True, True] Translation: X:739.14, Y:-113.07, Z:-48.66 [[ 9.55375899e-01 2.87864896e-01 6.62623031e-02 7.39140423e+02] [-2.87141482e-01 9.57670918e-01 -2.04005520e-02 -1.13070065e+02] [-6.93300834e-02 4.63539782e-04 9.97593667e-01 -4.86631422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.360714057 meters 0.02686577916520798 Centerline is valid? [True, True] Translation: X:739.19, Y:-113.10, Z:-48.67 [[ 9.55770029e-01 2.86145986e-01 6.80009312e-02 7.39192819e+02] [-2.85381066e-01 9.58185855e-01 -2.09168709e-02 -1.13099708e+02] [-7.11428090e-02 5.85540089e-04 9.97465968e-01 -4.86670703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.420714057 meters 0.02722915574110446 Centerline is valid? [True, True] Translation: X:739.24, Y:-113.13, Z:-48.67 [[ 9.56549277e-01 2.83342682e-01 6.87779381e-02 7.39244795e+02] [-2.82554297e-01 9.59018409e-01 -2.11367104e-02 -1.13131236e+02] [-7.19482410e-02 7.84803106e-04 9.97408058e-01 -4.86704860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.480714057 meters 0.027243851872126183 Centerline is valid? [True, True] Translation: X:739.30, Y:-113.16, Z:-48.67 [[ 9.57034477e-01 2.81521252e-01 6.95039123e-02 7.39296376e+02] [-2.80712638e-01 9.59554558e-01 -2.13416422e-02 -1.13159309e+02] [-7.27009217e-02 9.14060851e-04 9.97353368e-01 -4.86741074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5407140570001 meters 0.027185503860442498 Centerline is valid? [True, True] Translation: X:739.35, Y:-113.19, Z:-48.68 [[ 9.57520088e-01 2.79851119e-01 6.95602808e-02 7.39347915e+02] [-2.79037386e-01 9.60042854e-01 -2.13507653e-02 -1.13192707e+02] [-7.27558861e-02 1.03386777e-03 9.97349243e-01 -4.86780238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.600714057 meters 0.027069127048675003 Centerline is valid? [True, True] Translation: X:739.40, Y:-113.21, Z:-48.68 [[ 9.57794088e-01 2.78857864e-01 6.97766161e-02 7.39402468e+02] [-2.78037832e-01 9.60331763e-01 -2.13978826e-02 -1.13214868e+02] [-7.29756686e-02 1.09422636e-03 9.97333121e-01 -4.86823177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6607140570001 meters 0.026628745875590273 Centerline is valid? [True, True] Translation: X:739.45, Y:-113.25, Z:-48.69 [[ 9.58471993e-01 2.76675797e-01 6.91515846e-02 7.39453263e+02] [-2.75866117e-01 9.60962532e-01 -2.11871774e-02 -1.13248494e+02] [-7.23140610e-02 1.23073699e-03 9.97381152e-01 -4.86862401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.720714057 meters 0.026856508627526376 Centerline is valid? [True, True] Translation: X:739.50, Y:-113.28, Z:-48.69 [[ 9.59838215e-01 2.71629649e-01 7.01992552e-02 7.39504366e+02] [-2.70783021e-01 9.62400496e-01 -2.14905014e-02 -1.13283943e+02] [-7.33972554e-02 1.61863809e-03 9.97301470e-01 -4.86885926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7807140570001 meters 0.02762079222737846 Centerline is valid? [True, True] Translation: X:739.56, Y:-113.32, Z:-48.69 [[ 9.62042526e-01 2.63927215e-01 6.94017522e-02 7.39556433e+02] [-2.63079967e-01 9.64540140e-01 -2.12426493e-02 -1.13319767e+02] [-7.25472890e-02 2.17812134e-03 9.97362595e-01 -4.86916445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.840714057 meters 0.02905441748699484 Centerline is valid? [True, True] Translation: X:739.61, Y:-113.35, Z:-48.69 [[ 9.63564566e-01 2.58415981e-01 6.90254116e-02 7.39608947e+02] [-2.57563891e-01 9.66030297e-01 -2.11259661e-02 -1.13349674e+02] [-7.21399262e-02 2.57777876e-03 9.97391190e-01 -4.86948619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9007140570001 meters 0.03090212654813576 Centerline is valid? [True, True] Translation: X:739.66, Y:-113.38, Z:-48.70 [[ 9.65654874e-01 2.50657800e-01 6.84202631e-02 7.39663136e+02] [-2.49801322e-01 9.68070702e-01 -2.09383721e-02 -1.13380114e+02] [-7.14840184e-02 3.12776895e-03 9.97436841e-01 -4.86978475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.960714057 meters 0.03327661251103994 Centerline is valid? [True, True] Translation: X:739.72, Y:-113.41, Z:-48.70 [[ 9.67559436e-01 2.43216521e-01 6.83700385e-02 7.39717074e+02] [-2.42342764e-01 9.69965060e-01 -2.09228958e-02 -1.13408914e+02] [-7.14053424e-02 3.67516114e-03 9.97440610e-01 -4.86998468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0207140570001 meters 0.03287754097387099 Centerline is valid? [True, True] Translation: X:739.77, Y:-113.43, Z:-48.70 [[ 9.68628976e-01 2.38796284e-01 6.88058338e-02 7.39773661e+02] [-2.37900309e-01 9.71061342e-01 -2.10550076e-02 -1.13428546e+02] [-7.18425429e-02 4.02556132e-03 9.97407862e-01 -4.87035076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.080714057 meters 0.035258246550836696 Centerline is valid? [True, True] Translation: X:739.83, Y:-113.45, Z:-48.71 [[ 9.70144942e-01 2.32726680e-01 6.82428246e-02 7.39830168e+02] [-2.31830444e-01 9.72532057e-01 -2.08816702e-02 -1.13449191e+02] [-7.12280564e-02 4.43748236e-03 9.97450186e-01 -4.87078010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.140714057 meters 0.03688316768225705 Centerline is valid? [True, True] Translation: X:739.89, Y:-113.47, Z:-48.71 [[ 9.71980994e-01 2.25599481e-01 6.60138017e-02 7.39887844e+02] [-2.24744560e-01 9.74208324e-01 -2.01995841e-02 -1.13466035e+02] [-6.88682109e-02 4.79736898e-03 9.97614231e-01 -4.87141094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.200714057 meters 0.044106446413427924 Centerline is valid? [True, True] Translation: X:739.94, Y:-113.49, Z:-48.72 [[ 9.73966946e-01 2.17385865e-01 6.42788733e-02 7.39943167e+02] [-2.16557637e-01 9.76071706e-01 -1.96676089e-02 -1.13488001e+02] [-6.70162497e-02 5.23552008e-03 9.97738148e-01 -4.87201817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.260714057 meters 0.04384200241827453 Centerline is valid? [True, True] Translation: X:740.00, Y:-113.50, Z:-48.72 [[ 9.74842363e-01 2.13198794e-01 6.50280050e-02 7.40002532e+02] [-2.12341876e-01 9.76992860e-01 -1.98967172e-02 -1.13499929e+02] [-6.77738527e-02 5.58799427e-03 9.97685060e-01 -4.87231765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.320714057 meters 0.045934916005243395 Centerline is valid? [True, True] Translation: X:740.06, Y:-113.51, Z:-48.73 [[ 9.75846306e-01 2.08702616e-01 6.45538940e-02 7.40062548e+02] [-2.07848405e-01 9.77961610e-01 -1.97516846e-02 -1.13508066e+02] [-6.72534584e-02 5.85718455e-03 9.97718731e-01 -4.87265307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.380714057 meters 0.04535624190962928 Centerline is valid? [True, True] Translation: X:740.12, Y:-113.51, Z:-48.73 [[ 9.76113293e-01 2.07563602e-01 6.41887101e-02 7.40123287e+02] [-2.06716649e-01 9.78203724e-01 -1.96392718e-02 -1.13511969e+02] [-6.68660332e-02 5.90127922e-03 9.97744511e-01 -4.87309974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.440714057 meters 0.045953073328649716 Centerline is valid? [True, True] Translation: X:740.18, Y:-113.52, Z:-48.73 [[ 9.75788128e-01 2.09286408e-01 6.35352631e-02 7.40184875e+02] [-2.08460422e-01 9.77837646e-01 -1.94368223e-02 -1.13515346e+02] [-6.61950348e-02 5.72163266e-03 9.97790299e-01 -4.87348248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.500714057 meters 0.04681310204083348 Centerline is valid? [True, True] Translation: X:740.24, Y:-113.52, Z:-48.74 [[ 9.75635823e-01 2.10100771e-01 6.31854956e-02 7.40244299e+02] [-2.09285647e-01 9.77663504e-01 -1.93285067e-02 -1.13523536e+02] [-6.58350872e-02 5.63376628e-03 9.97814613e-01 -4.87391223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.560714057 meters 0.05035180006740973 Centerline is valid? [True, True] Translation: X:740.30, Y:-113.53, Z:-48.74 [[ 9.76061400e-01 2.08379164e-01 6.23078436e-02 7.40302682e+02] [-2.07583323e-01 9.78031707e-01 -1.90563571e-02 -1.13530860e+02] [-6.49099943e-02 5.66610542e-03 9.97875036e-01 -4.87439784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.620714057 meters 0.0515597829503972 Centerline is valid? [True, True] Translation: X:740.36, Y:-113.54, Z:-48.75 [[ 9.77052052e-01 2.03655476e-01 6.23997941e-02 7.40363220e+02] [-2.02848093e-01 9.79024333e-01 -1.90789291e-02 -1.13537628e+02] [-6.49764453e-02 5.98342758e-03 9.97868859e-01 -4.87471383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.680714057 meters 0.053111501942094116 Centerline is valid? [True, True] Translation: X:740.42, Y:-113.54, Z:-48.75 [[ 9.78523465e-01 1.97478683e-01 5.91100465e-02 7.40424731e+02] [-1.96743194e-01 9.80288484e-01 -1.80721676e-02 -1.13543248e+02] [-6.15137658e-02 6.05454069e-03 9.98087872e-01 -4.87523154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.740714057 meters 0.06201676900353587 Centerline is valid? [True, True] Translation: X:740.48, Y:-113.56, Z:-48.76 [[ 9.79393201e-01 1.93748580e-01 5.70126808e-02 7.40480716e+02] [-1.93058170e-01 9.81032468e-01 -1.74309989e-02 -1.13563634e+02] [-5.93085222e-02 6.06503799e-03 9.98221275e-01 -4.87581672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.800714057 meters 0.05670473652631973 Centerline is valid? [True, True] Translation: X:740.55, Y:-113.56, Z:-48.76 [[ 9.80146723e-01 1.90723508e-01 5.41935895e-02 7.40545127e+02] [-1.90095232e-01 9.81625839e-01 -1.65684680e-02 -1.13560242e+02] [-5.63578241e-02 5.93758666e-03 9.98392979e-01 -4.87610831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.860714057 meters 0.057889585159921195 Centerline is valid? [True, True] Translation: X:740.61, Y:-113.56, Z:-48.76 [[ 9.79999141e-01 1.91614540e-01 5.37173339e-02 7.40605413e+02] [-1.90998556e-01 9.81452913e-01 -1.64235142e-02 -1.13563386e+02] [-5.58680180e-02 5.83509662e-03 9.98421112e-01 -4.87623667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.920714057 meters 0.060265159111193276 Centerline is valid? [True, True] Translation: X:740.66, Y:-113.57, Z:-48.76 [[ 9.79325453e-01 1.95096000e-01 5.34715578e-02 7.40664744e+02] [-1.94491012e-01 9.80768127e-01 -1.63440255e-02 -1.13569261e+02] [-5.56318536e-02 5.60638283e-03 9.98435609e-01 -4.87647388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.980714057 meters 0.0582535761906629 Centerline is valid? [True, True] Translation: X:740.73, Y:-113.57, Z:-48.77 [[ 9.78882999e-01 1.97227200e-01 5.37541338e-02 7.40725798e+02] [-1.96619130e-01 9.80342315e-01 -1.64274989e-02 -1.13574911e+02] [-5.59374016e-02 5.51150830e-03 9.98419066e-01 -4.87681780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0407140570001 meters 0.05123735914042142 Centerline is valid? [True, True] Translation: X:740.79, Y:-113.57, Z:-48.77 [[ 9.78495489e-01 1.99293324e-01 5.31859886e-02 7.40790571e+02] [-1.98701124e-01 9.79925357e-01 -1.62529340e-02 -1.13569474e+02] [-5.53574001e-02 5.33530690e-03 9.98452349e-01 -4.87702870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.100714057 meters 0.05137363033380796 Centerline is valid? [True, True] Translation: X:740.85, Y:-113.57, Z:-48.78 [[ 9.78278652e-01 2.00805883e-01 5.14575123e-02 7.40851714e+02] [-2.00253711e-01 9.79617892e-01 -1.57237565e-02 -1.13574844e+02] [-5.35661225e-02 5.07765752e-03 9.98551395e-01 -4.87753824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1607140570001 meters 0.047315953010434765 Centerline is valid? [True, True] Translation: X:740.91, Y:-113.58, Z:-48.78 [[ 9.77842391e-01 2.03222900e-01 5.02465115e-02 7.40913419e+02] [-2.02699644e-01 9.79120599e-01 -1.53527655e-02 -1.13577594e+02] [-5.23174279e-02 4.82763497e-03 9.98618837e-01 -4.87785042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.220714057 meters 0.047071080890433395 Centerline is valid? [True, True] Translation: X:740.97, Y:-113.58, Z:-48.78 [[ 9.76509503e-01 2.09685332e-01 4.96110167e-02 7.40974000e+02] [-2.09183542e-01 9.77758913e-01 -1.51576363e-02 -1.13581673e+02] [-5.16859478e-02 4.42376765e-03 9.98653590e-01 -4.87834214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2807140570001 meters 0.04705243552801192 Centerline is valid? [True, True] Translation: X:741.03, Y:-113.59, Z:-48.79 [[ 9.74280942e-01 2.19609490e-01 5.04808641e-02 7.41034196e+02] [-2.19103173e-01 9.75579801e-01 -1.54224088e-02 -1.13586074e+02] [-5.26350187e-02 3.96524143e-03 9.98605944e-01 -4.87861912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.340714057 meters 0.03743119699674802 Centerline is valid? [True, True] Translation: X:741.10, Y:-113.58, Z:-48.79 [[ 9.71491809e-01 2.31228026e-01 5.23188874e-02 7.41099997e+02] [-2.30700937e-01 9.72893444e-01 -1.59819874e-02 -1.13577854e+02] [-5.45961859e-02 3.45635351e-03 9.98502534e-01 -4.87867123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4007140570001 meters 0.03473259554011977 Centerline is valid? [True, True] Translation: X:741.16, Y:-113.59, Z:-48.79 [[ 9.69825274e-01 2.37819432e-01 5.36736037e-02 7.41159846e+02] [-2.37274740e-01 9.71304227e-01 -1.63950192e-02 -1.13585413e+02] [-5.60324523e-02 3.16491357e-03 9.98423932e-01 -4.87896441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.460714057 meters 0.037363170258026324 Centerline is valid? [True, True] Translation: X:741.22, Y:-113.60, Z:-48.79 [[ 9.68704473e-01 2.42165074e-01 5.44767917e-02 7.41215721e+02] [-2.41610903e-01 9.70230562e-01 -1.66381486e-02 -1.13602764e+02] [-5.68842267e-02 2.95526210e-03 9.98376408e-01 -4.87938897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5207140570001 meters 0.032106077091647506 Centerline is valid? [True, True] Translation: X:741.28, Y:-113.61, Z:-48.80 [[ 9.67921611e-01 2.45396022e-01 5.39309580e-02 7.41276584e+02] [-2.44857853e-01 9.69419049e-01 -1.64723675e-02 -1.13609001e+02] [-5.63239515e-02 2.73854187e-03 9.98408791e-01 -4.87977265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.580714057 meters 0.03002460742687324 Centerline is valid? [True, True] Translation: X:741.34, Y:-113.62, Z:-48.80 [[ 9.66595105e-01 2.50984084e-01 5.19701133e-02 7.41335783e+02] [-2.50492468e-01 9.67988423e-01 -1.58724697e-02 -1.13620138e+02] [-5.42902053e-02 2.32412953e-03 9.98522495e-01 -4.88032977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.640714057 meters 0.02887591856105885 Centerline is valid? [True, True] Translation: X:741.39, Y:-113.63, Z:-48.81 [[ 9.64836681e-01 2.57976820e-01 5.03799588e-02 7.41393780e+02] [-2.57524392e-01 9.66149295e-01 -1.53859298e-02 -1.13634463e+02] [-5.26437749e-02 1.87084114e-03 9.98611603e-01 -4.88100588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.700714057 meters 0.02768833161257301 Centerline is valid? [True, True] Translation: X:741.45, Y:-113.65, Z:-48.81 [[ 9.62702010e-01 2.65659317e-01 5.12832036e-02 7.41451953e+02] [-2.65201414e-01 9.64065842e-01 -1.56608413e-02 -1.13650861e+02] [-5.36008332e-02 1.47634527e-03 9.98561351e-01 -4.88141008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.760714057 meters 0.02735737025124398 Centerline is valid? [True, True] Translation: X:741.51, Y:-113.67, Z:-48.82 [[ 9.61854441e-01 2.68514100e-01 5.23088181e-02 7.41507496e+02] [-2.68041922e-01 9.63274817e-01 -1.59735501e-02 -1.13669447e+02] [-5.46768906e-02 1.34327394e-03 9.98503196e-01 -4.88177016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.820714057 meters 0.027349363759813186 Centerline is valid? [True, True] Translation: X:741.56, Y:-113.69, Z:-48.82 [[ 9.61720347e-01 2.68442915e-01 5.50670077e-02 7.41561516e+02] [-2.67919646e-01 9.63294554e-01 -1.68126555e-02 -1.13693857e+02] [-5.75589868e-02 1.41553968e-03 9.98341104e-01 -4.88206860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.880714057 meters 0.02867438948493412 Centerline is valid? [True, True] Translation: X:741.61, Y:-113.73, Z:-48.82 [[ 9.63449701e-01 2.61613167e-01 5.76474104e-02 7.41614087e+02] [-2.61028479e-01 9.65170953e-01 -1.75830870e-02 -1.13726008e+02] [-6.02395731e-02 1.89280403e-03 9.98182153e-01 -4.88242089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.940714057 meters 0.03049593093458163 Centerline is valid? [True, True] Translation: X:741.67, Y:-113.76, Z:-48.83 [[ 9.65192340e-01 2.54850097e-01 5.87807325e-02 7.41667896e+02] [-2.54229701e-01 9.66977693e-01 -1.79276235e-02 -1.13756085e+02] [-6.14085137e-02 2.35979683e-03 9.98109927e-01 -4.88277642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.000714057 meters 0.034686471198901524 Centerline is valid? [True, True] Translation: X:741.72, Y:-113.79, Z:-48.83 [[ 9.67824366e-01 2.44309972e-01 6.02381421e-02 7.41717853e+02] [-2.43638089e-01 9.69692224e-01 -1.83704423e-02 -1.13794355e+02] [-6.29005402e-02 3.10305587e-03 9.98014976e-01 -4.88323447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.060714057 meters 0.037927752914437 Centerline is valid? [True, True] Translation: X:741.77, Y:-113.83, Z:-48.84 [[ 9.70338417e-01 2.34363465e-01 5.93053362e-02 7.41769638e+02] [-2.33693763e-01 9.72142045e-01 -1.80850793e-02 -1.13829287e+02] [-6.18916927e-02 3.68936000e-03 9.98076053e-01 -4.88384353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.120714057 meters 0.03905795518385081 Centerline is valid? [True, True] Translation: X:741.82, Y:-113.86, Z:-48.84 [[ 9.71512909e-01 2.28992166e-01 6.10348770e-02 7.41824056e+02] [-2.28272263e-01 9.73419423e-01 -1.86118393e-02 -1.13858756e+02] [-6.36745001e-02 4.14907263e-03 9.97962095e-01 -4.88417777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.180714057 meters 0.037908132483483244 Centerline is valid? [True, True] Translation: X:741.88, Y:-113.88, Z:-48.85 [[ 9.71947134e-01 2.26993411e-01 6.15853860e-02 7.41880248e+02] [-2.26256471e-01 9.73886719e-01 -1.87794509e-02 -1.13878553e+02] [-6.42400011e-02 4.31854142e-03 9.97925134e-01 -4.88455563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.240714057 meters 0.03852547205850448 Centerline is valid? [True, True] Translation: X:741.93, Y:-113.90, Z:-48.85 [[ 9.72197374e-01 2.25709860e-01 6.23484121e-02 7.41934578e+02] [-2.24952059e-01 9.74184380e-01 -1.90095985e-02 -1.13902499e+02] [-6.50295030e-02 4.45567810e-03 9.97873394e-01 -4.88505326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.300714057 meters 0.04008571702162606 Centerline is valid? [True, True] Translation: X:741.99, Y:-113.93, Z:-48.85 [[ 9.72560186e-01 2.23613317e-01 6.42165735e-02 7.41989334e+02] [-2.22805072e-01 9.74666460e-01 -1.95752893e-02 -1.13927736e+02] [-6.69670358e-02 4.73036877e-03 9.97743975e-01 -4.88540315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.360714057 meters 0.04178285551363076 Centerline is valid? [True, True] Translation: X:742.04, Y:-113.95, Z:-48.86 [[ 9.73247017e-01 2.20487319e-01 6.46187726e-02 7.42044697e+02] [-2.19662223e-01 9.75377158e-01 -1.96953861e-02 -1.13950187e+02] [-6.73702576e-02 4.97417252e-03 9.97715644e-01 -4.88583451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.420714057 meters 0.046051020492658155 Centerline is valid? [True, True] Translation: X:742.10, Y:-113.97, Z:-48.86 [[ 9.74964409e-01 2.13252843e-01 6.29891027e-02 7.42100270e+02] [-2.12453970e-01 9.76982481e-01 -1.91974770e-02 -1.13974863e+02] [-6.56331663e-02 5.33457190e-03 9.97829560e-01 -4.88632812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.480714057 meters 0.05215008341108252 Centerline is valid? [True, True] Translation: X:742.15, Y:-114.00, Z:-48.87 [[ 9.76907614e-01 2.04326271e-01 6.24683089e-02 7.42153379e+02] [-2.03522502e-01 9.78885155e-01 -1.90379916e-02 -1.14003214e+02] [-6.50392620e-02 5.88465238e-03 9.97865354e-01 -4.88694263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5407140570001 meters 0.04970877970484345 Centerline is valid? [True, True] Translation: X:742.21, Y:-114.02, Z:-48.87 [[ 9.77946303e-01 1.99271013e-01 6.25467121e-02 7.42212006e+02] [-1.98455096e-01 9.79924634e-01 -1.90600967e-02 -1.14015553e+02] [-6.50891887e-02 6.22703736e-03 9.97860021e-01 -4.88723546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.600714057 meters 0.05246505870289437 Centerline is valid? [True, True] Translation: X:742.27, Y:-114.03, Z:-48.87 [[ 9.77930038e-01 1.98860875e-01 6.40873824e-02 7.42266999e+02] [-1.98003432e-01 9.80006783e-01 -1.95280659e-02 -1.14034052e+02] [-6.66894377e-02 6.40756054e-03 9.97753207e-01 -4.88744127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6607140570001 meters 0.04921637569156022 Centerline is valid? [True, True] Translation: X:742.33, Y:-114.04, Z:-48.88 [[ 9.77333965e-01 2.01691832e-01 6.43329337e-02 7.42327242e+02] [-2.00834269e-01 9.79429203e-01 -1.95967726e-02 -1.14043759e+02] [-6.69620629e-02 6.23233373e-03 9.97736057e-01 -4.88785874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.720714057 meters 0.04810116232740144 Centerline is valid? [True, True] Translation: X:742.39, Y:-114.06, Z:-48.88 [[ 9.76600437e-01 2.05313872e-01 6.40140726e-02 7.42386258e+02] [-2.04472555e-01 9.78678073e-01 -1.94988088e-02 -1.14055027e+02] [-6.66525451e-02 5.95342417e-03 9.97758485e-01 -4.88819357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7807140570001 meters 0.048704586359978264 Centerline is valid? [True, True] Translation: X:742.45, Y:-114.07, Z:-48.89 [[ 9.76120893e-01 2.07319047e-01 6.48599682e-02 7.42445187e+02] [-2.06459799e-01 9.78255639e-01 -1.97549141e-02 -1.14068467e+02] [-6.75451996e-02 5.89220837e-03 9.97698816e-01 -4.88858079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.840714057 meters 0.0511096759349966 Centerline is valid? [True, True] Translation: X:742.50, Y:-114.08, Z:-48.89 [[ 9.76389835e-01 2.06361696e-01 6.38571958e-02 7.42500827e+02] [-2.05526916e-01 9.78458204e-01 -1.94481201e-02 -1.14084763e+02] [-6.64949441e-02 5.86457426e-03 9.97769527e-01 -4.88896450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9007140570001 meters 0.04603061693151454 Centerline is valid? [True, True] Translation: X:742.56, Y:-114.09, Z:-48.90 [[ 9.76908184e-01 2.04473402e-01 6.19760213e-02 7.42561713e+02] [-2.03683761e-01 9.78854876e-01 -1.88694595e-02 -1.14088527e+02] [-6.45238332e-02 5.81022029e-03 9.97899252e-01 -4.88956080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.960714057 meters 0.05006640593134903 Centerline is valid? [True, True] Translation: X:742.62, Y:-114.10, Z:-48.90 [[ 9.77281158e-01 2.03226925e-01 6.01693908e-02 7.42617477e+02] [-2.02480512e-01 9.79114969e-01 -1.83172078e-02 -1.14103753e+02] [-6.26353010e-02 5.71793298e-03 9.98020102e-01 -4.89014286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0207140570001 meters 0.0498228003233986 Centerline is valid? [True, True] Translation: X:742.68, Y:-114.11, Z:-48.91 [[ 9.77678625e-01 2.01382586e-01 5.99129458e-02 7.42677593e+02] [-2.00639406e-01 9.79495452e-01 -1.82342625e-02 -1.14113187e+02] [-6.23565208e-02 5.80635083e-03 9.98037049e-01 -4.89051647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.080714057 meters 0.058166865368866186 Centerline is valid? [True, True] Translation: X:742.73, Y:-114.13, Z:-48.91 [[ 9.77932978e-01 2.00190561e-01 5.97564161e-02 7.42732784e+02] [-1.99449055e-01 9.79739413e-01 -1.81867469e-02 -1.14132103e+02] [-6.21865311e-02 5.86705880e-03 9.98047300e-01 -4.89084186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.140714057 meters 0.05293207566010246 Centerline is valid? [True, True] Translation: X:742.79, Y:-114.13, Z:-48.91 [[ 9.78164686e-01 1.99105682e-01 5.95883787e-02 7.42793534e+02] [-1.98366537e-01 9.79960165e-01 -1.81326445e-02 -1.14133931e+02] [-6.20045499e-02 5.91637219e-03 9.98058331e-01 -4.89112218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.200714057 meters 0.05238306107050851 Centerline is valid? [True, True] Translation: X:742.85, Y:-114.15, Z:-48.92 [[ 9.78442043e-01 1.98078178e-01 5.84483008e-02 7.42852315e+02] [-1.97366269e-01 9.80168764e-01 -1.77693329e-02 -1.14145581e+02] [-6.08089158e-02 5.85053928e-03 9.98132279e-01 -4.89158860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.260714057 meters 0.050650840234211146 Centerline is valid? [True, True] Translation: X:742.91, Y:-114.15, Z:-48.92 [[ 9.78915522e-01 1.96129011e-01 5.70772395e-02 7.42912150e+02] [-1.95447009e-01 9.80560776e-01 -1.73502425e-02 -1.14153561e+02] [-5.93705881e-02 5.82884593e-03 9.98218993e-01 -4.89212112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.320714057 meters 0.05319722038887522 Centerline is valid? [True, True] Translation: X:742.97, Y:-114.17, Z:-48.93 [[ 9.79440988e-01 1.93564859e-01 5.68154677e-02 7.42970169e+02] [-1.92884909e-01 9.81069404e-01 -1.72695080e-02 -1.14168289e+02] [-5.90826870e-02 5.95561771e-03 9.98235326e-01 -4.89251800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.380714057 meters 0.061319526673042725 Centerline is valid? [True, True] Translation: X:743.02, Y:-114.19, Z:-48.93 [[ 9.79626436e-01 1.92644765e-01 5.67454086e-02 7.43022917e+02] [-1.91964990e-01 9.81250200e-01 -1.72478317e-02 -1.14194292e+02] [-5.90041480e-02 6.00330012e-03 9.98239686e-01 -4.89293381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.440714057 meters 0.0633654218503084 Centerline is valid? [True, True] Translation: X:743.08, Y:-114.21, Z:-48.93 [[ 9.80034720e-01 1.90683498e-01 5.63182976e-02 7.43080874e+02] [-1.90011026e-01 9.81632801e-01 -1.71129677e-02 -1.14208667e+02] [-5.85470487e-02 6.07020497e-03 9.98266195e-01 -4.89334046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.500714057 meters 0.058601280675436365 Centerline is valid? [True, True] Translation: X:743.14, Y:-114.21, Z:-48.94 [[ 9.80100771e-01 1.90524887e-01 5.57023022e-02 7.43139300e+02] [-1.89866766e-01 9.81663946e-01 -1.69265587e-02 -1.14214450e+02] [-5.79058725e-02 6.01371724e-03 9.98303934e-01 -4.89367154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.560714057 meters 0.06007134970679746 Centerline is valid? [True, True] Translation: X:743.20, Y:-114.23, Z:-48.94 [[ 9.79851590e-01 1.91630377e-01 5.62908479e-02 7.43196390e+02] [-1.90961169e-01 9.81448870e-01 -1.70864804e-02 -1.14227311e+02] [-5.85208777e-02 5.99284888e-03 9.98268197e-01 -4.89395623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.620714057 meters 0.058883733357871094 Centerline is valid? [True, True] Translation: X:743.25, Y:-114.24, Z:-48.94 [[ 9.79583229e-01 1.92551469e-01 5.77981722e-02 7.43254979e+02] [-1.91847673e-01 9.81267952e-01 -1.75407245e-02 -1.14237166e+02] [-6.00929863e-02 6.09415471e-03 9.98174180e-01 -4.89421118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.680714057 meters 0.052582838365091054 Centerline is valid? [True, True] Translation: X:743.31, Y:-114.24, Z:-48.94 [[ 9.79355810e-01 1.93442160e-01 5.86713576e-02 7.43314914e+02] [-1.92718762e-01 9.81092551e-01 -1.78012460e-02 -1.14241051e+02] [-6.10055434e-02 6.12668224e-03 9.98118624e-01 -4.89448202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.740714057 meters 0.05448105911103438 Centerline is valid? [True, True] Translation: X:743.37, Y:-114.26, Z:-48.95 [[ 9.79560701e-01 1.92413158e-01 5.86345456e-02 7.43372029e+02] [-1.91689136e-01 9.81294531e-01 -1.77853295e-02 -1.14257554e+02] [-6.09598903e-02 6.18220439e-03 9.98121071e-01 -4.89489649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.800714057 meters 0.05868543814837688 Centerline is valid? [True, True] Translation: X:743.43, Y:-114.28, Z:-48.95 [[ 9.79722562e-01 1.91698239e-01 5.82708095e-02 7.43425664e+02] [-1.90982044e-01 9.81434418e-01 -1.76732130e-02 -1.14277950e+02] [-6.05769018e-02 6.18616720e-03 9.98144364e-01 -4.89524064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.860714057 meters 0.05619314184443253 Centerline is valid? [True, True] Translation: X:743.48, Y:-114.29, Z:-48.96 [[ 9.80203233e-01 1.90244885e-01 5.48498446e-02 7.43484104e+02] [-1.89608691e-01 9.81718955e-01 -1.66264397e-02 -1.14289135e+02] [-5.70102272e-02 5.89728272e-03 9.98356177e-01 -4.89591455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.920714057 meters 0.06282550427183904 Centerline is valid? [True, True] Translation: X:743.54, Y:-114.31, Z:-48.96 [[ 9.80385976e-01 1.89434195e-01 5.43877101e-02 7.43538232e+02] [-1.88807725e-01 9.81875755e-01 -1.64816228e-02 -1.14312642e+02] [-5.65241569e-02 5.88953205e-03 9.98383861e-01 -4.89640948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.980714057 meters 0.05950026330863371 Centerline is valid? [True, True] Translation: X:743.60, Y:-114.32, Z:-48.97 [[ 9.79789169e-01 1.92122435e-01 5.56969838e-02 7.43598011e+02] [-1.91469893e-01 9.81353412e-01 -1.68748662e-02 -1.14322993e+02] [-5.79004655e-02 5.86951555e-03 9.98305106e-01 -4.89657978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0407140570001 meters 0.05636852459436904 Centerline is valid? [True, True] Translation: X:743.66, Y:-114.33, Z:-48.97 [[ 9.79118704e-01 1.94978266e-01 5.75329432e-02 7.43657512e+02] [-1.94286861e-01 9.80789887e-01 -1.74302157e-02 -1.14333397e+02] [-5.98262421e-02 5.88835525e-03 9.98191439e-01 -4.89675224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.100714057 meters 0.052456875980327757 Centerline is valid? [True, True] Translation: X:743.72, Y:-114.34, Z:-48.97 [[ 9.78363248e-01 1.98468433e-01 5.84434433e-02 7.43717774e+02] [-1.97761192e-01 9.80090334e-01 -1.77044775e-02 -1.14342068e+02] [-6.07936338e-02 5.76356504e-03 9.98133716e-01 -4.89703388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1607140570001 meters 0.04915286923152134 Centerline is valid? [True, True] Translation: X:743.77, Y:-114.35, Z:-48.97 [[ 9.78402185e-01 1.98190218e-01 5.87350154e-02 7.43774787e+02] [-1.97475366e-01 9.80146355e-01 -1.77933051e-02 -1.14353229e+02] [-6.10953703e-02 5.81028994e-03 9.98115022e-01 -4.89748081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.220714057 meters 0.05523829545129832 Centerline is valid? [True, True] Translation: X:743.83, Y:-114.38, Z:-48.98 [[ 9.78646247e-01 1.97305056e-01 5.76388638e-02 7.43828061e+02] [-1.96616289e-01 9.80325354e-01 -1.74423271e-02 -1.14376249e+02] [-5.99462989e-02 5.73712844e-03 9.98185116e-01 -4.89808818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2807140570001 meters 0.06057590659169261 Centerline is valid? [True, True] Translation: X:743.88, Y:-114.40, Z:-48.99 [[ 9.78815502e-01 1.97135909e-01 5.52959943e-02 7.43881272e+02] [-1.96502094e-01 9.80360696e-01 -1.67281884e-02 -1.14398960e+02] [-5.75077461e-02 5.50803147e-03 9.98329866e-01 -4.89879285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.340714057 meters 0.05225273810561676 Centerline is valid? [True, True] Translation: X:743.94, Y:-114.40, Z:-48.99 [[ 9.78432099e-01 1.98938267e-01 5.56254783e-02 7.43942298e+02] [-1.98300075e-01 9.79996987e-01 -1.68222031e-02 -1.14403673e+02] [-5.78593810e-02 5.42884694e-03 9.98309982e-01 -4.89898971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4007140570001 meters 0.04619277847232612 Centerline is valid? [True, True] Translation: X:744.00, Y:-114.41, Z:-48.99 [[ 9.77587499e-01 2.02885323e-01 5.62158984e-02 7.44002910e+02] [-2.02240011e-01 9.79188433e-01 -1.69997311e-02 -1.14410687e+02] [-5.84949534e-02 5.24962066e-03 9.98273901e-01 -4.89930421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.460714057 meters 0.049718736919823 Centerline is valid? [True, True] Translation: X:744.06, Y:-114.43, Z:-49.00 [[ 9.76883884e-01 2.05961139e-01 5.72528317e-02 7.44058546e+02] [-2.05297107e-01 9.78546580e-01 -1.73115149e-02 -1.14430577e+02] [-5.95900620e-02 5.15749921e-03 9.98209610e-01 -4.89963809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5207140570001 meters 0.049863128832060365 Centerline is valid? [True, True] Translation: X:744.12, Y:-114.45, Z:-49.00 [[ 9.75539886e-01 2.11708646e-01 5.91724649e-02 7.44115627e+02] [-2.11009875e-01 9.77320206e-01 -1.78898761e-02 -1.14446245e+02] [-6.16178871e-02 4.96631326e-03 9.98087457e-01 -4.89994330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.580714057 meters 0.042700349161987214 Centerline is valid? [True, True] Translation: X:744.18, Y:-114.45, Z:-49.00 [[ 9.74330003e-01 2.17043113e-01 5.97773641e-02 7.44176222e+02] [-2.16340035e-01 9.76150826e-01 -1.80708265e-02 -1.14451987e+02] [-6.22738718e-02 4.67471133e-03 9.98048151e-01 -4.90029585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.640714057 meters 0.04764599658926683 Centerline is valid? [True, True] Translation: X:744.23, Y:-114.48, Z:-49.01 [[ 9.73825813e-01 2.19686019e-01 5.83210090e-02 7.44230070e+02] [-2.19021639e-01 9.75560735e-01 -1.76287767e-02 -1.14475115e+02] [-6.07684822e-02 4.39379475e-03 9.98142217e-01 -4.90087163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.700714057 meters 0.04155620723037438 Centerline is valid? [True, True] Translation: X:744.29, Y:-114.48, Z:-49.02 [[ 9.73365506e-01 2.22570271e-01 5.49733276e-02 7.44289576e+02] [-2.21984804e-01 9.74908575e-01 -1.66137784e-02 -1.14482470e+02] [-5.72917017e-02 3.96803545e-03 9.98349596e-01 -4.90164228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.760714057 meters 0.04426502248410415 Centerline is valid? [True, True] Translation: X:744.34, Y:-114.50, Z:-49.02 [[ 9.73126472e-01 2.23591486e-01 5.50610228e-02 7.44343781e+02] [-2.23005872e-01 9.74675094e-01 -1.66385576e-02 -1.14502141e+02] [-5.73868474e-02 3.91248945e-03 9.98344351e-01 -4.90195124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.820714057 meters 0.041826602106540725 Centerline is valid? [True, True] Translation: X:744.40, Y:-114.51, Z:-49.02 [[ 9.72099019e-01 2.27865213e-01 5.56861076e-02 7.44403031e+02] [-2.27273512e-01 9.73685669e-01 -1.68216915e-02 -1.14514380e+02] [-5.80538432e-02 3.69637251e-03 9.98306610e-01 -4.90220811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.880714057 meters 0.03613854382147811 Centerline is valid? [True, True] Translation: X:744.46, Y:-114.52, Z:-49.02 [[ 9.70586374e-01 2.33933878e-01 5.68949146e-02 7.44463275e+02] [-2.33326618e-01 9.72246547e-01 -1.71855119e-02 -1.14520686e+02] [-5.93361577e-02 3.40492565e-03 9.98232251e-01 -4.90246172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.940714057 meters 0.03429172694253484 Centerline is valid? [True, True] Translation: X:744.52, Y:-114.53, Z:-49.03 [[ 9.69686306e-01 2.37544287e-01 5.72815885e-02 7.44521481e+02] [-2.36935110e-01 9.71371425e-01 -1.73005036e-02 -1.14533513e+02] [-5.97513340e-02 3.20404193e-03 9.98208151e-01 -4.90276776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.000714057 meters 0.034320987873183884 Centerline is valid? [True, True] Translation: X:744.58, Y:-114.55, Z:-49.03 [[ 9.69095606e-01 2.40002811e-01 5.70294430e-02 7.44579358e+02] [-2.39403363e-01 9.70767443e-01 -1.72221296e-02 -1.14548548e+02] [-5.94956860e-02 3.03684973e-03 9.98223943e-01 -4.90309944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.060714057 meters 0.03339717781619645 Centerline is valid? [True, True] Translation: X:744.64, Y:-114.56, Z:-49.04 [[ 9.69000651e-01 2.40383661e-01 5.70388874e-02 7.44635573e+02] [-2.39784734e-01 9.70673281e-01 -1.72239260e-02 -1.14564591e+02] [-5.95064743e-02 3.01294108e-03 9.98223373e-01 -4.90372673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.120714057 meters 0.03254428229380368 Centerline is valid? [True, True] Translation: X:744.69, Y:-114.58, Z:-49.04 [[ 9.68876246e-01 2.40954283e-01 5.67437499e-02 7.44692765e+02] [-2.40363471e-01 9.70531993e-01 -1.71187546e-02 -1.14579637e+02] [-5.91964619e-02 2.94682999e-03 9.98242002e-01 -4.90412051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.180714057 meters 0.033182816222467826 Centerline is valid? [True, True] Translation: X:744.75, Y:-114.60, Z:-49.04 [[ 9.69078763e-01 2.40014028e-01 5.72679485e-02 7.44749128e+02] [-2.39411077e-01 9.70764709e-01 -1.72689513e-02 -1.14597097e+02] [-5.97384939e-02 3.02439272e-03 9.98209480e-01 -4.90441147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.240714057 meters 0.039531470394982275 Centerline is valid? [True, True] Translation: X:744.80, Y:-114.63, Z:-49.05 [[ 9.69859380e-01 2.36854114e-01 5.72093652e-02 7.44802232e+02] [-2.36247919e-01 9.71539959e-01 -1.72345267e-02 -1.14625268e+02] [-5.96632528e-02 3.19947397e-03 9.98213434e-01 -4.90491428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.300714057 meters 0.034040316333994645 Centerline is valid? [True, True] Translation: X:744.86, Y:-114.63, Z:-49.05 [[ 9.70329136e-01 2.35013029e-01 5.68352323e-02 7.44862098e+02] [-2.34411766e-01 9.71986658e-01 -1.71190016e-02 -1.14633263e+02] [-5.92662760e-02 3.28821886e-03 9.98236794e-01 -4.90520574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.360714057 meters 0.036074084289001135 Centerline is valid? [True, True] Translation: X:744.92, Y:-114.66, Z:-49.06 [[ 9.71571844e-01 2.29969638e-01 5.62327043e-02 7.44917887e+02] [-2.29372781e-01 9.73191309e-01 -1.69352834e-02 -1.14655760e+02] [-5.86197801e-02 3.55559273e-03 9.98274050e-01 -4.90576430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.420714057 meters 0.03788432371119603 Centerline is valid? [True, True] Translation: X:744.97, Y:-114.68, Z:-49.06 [[ 9.72520424e-01 2.25994754e-01 5.59499540e-02 7.44974048e+02] [-2.25397450e-01 9.74121207e-01 -1.68482529e-02 -1.14677167e+02] [-5.83096534e-02 3.77429312e-03 9.98291410e-01 -4.90616582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.480714057 meters 0.037449952854138366 Centerline is valid? [True, True] Translation: X:745.03, Y:-114.69, Z:-49.07 [[ 9.73015853e-01 2.23948762e-01 5.55616871e-02 7.45030640e+02] [-2.23356453e-01 9.74593239e-01 -1.67305852e-02 -1.14694055e+02] [-5.78968385e-02 3.86906325e-03 9.98315074e-01 -4.90657022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5407140570001 meters 0.03929680694838562 Centerline is valid? [True, True] Translation: X:745.09, Y:-114.72, Z:-49.07 [[ 9.74117150e-01 2.18919015e-01 5.63049208e-02 7.45086453e+02] [-2.18302590e-01 9.75733905e-01 -1.69507124e-02 -1.14716357e+02] [-5.86494534e-02 4.22046958e-03 9.98269718e-01 -4.90690719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.600714057 meters 0.042519597402354434 Centerline is valid? [True, True] Translation: X:745.14, Y:-114.74, Z:-49.07 [[ 9.74642986e-01 2.16735923e-01 5.56470133e-02 7.45140801e+02] [-2.16130327e-01 9.76220798e-01 -1.67521781e-02 -1.14738154e+02] [-5.79545705e-02 4.30038570e-03 9.98309959e-01 -4.90729996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6607140570001 meters 0.04388083802505574 Centerline is valid? [True, True] Translation: X:745.20, Y:-114.76, Z:-49.08 [[ 9.74950751e-01 2.15622578e-01 5.45704753e-02 7.45196930e+02] [-2.15038630e-01 9.76467404e-01 -1.64254682e-02 -1.14758208e+02] [-5.68279922e-02 4.27926233e-03 9.98374813e-01 -4.90776624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.720714057 meters 0.045399744873800954 Centerline is valid? [True, True] Translation: X:745.25, Y:-114.78, Z:-49.08 [[ 9.74664076e-01 2.16565189e-01 5.59415668e-02 7.45251488e+02] [-2.15953130e-01 9.76258561e-01 -1.68365168e-02 -1.14776561e+02] [-5.82596369e-02 4.32919160e-03 9.98292078e-01 -4.90805684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7807140570001 meters 0.04012763143363869 Centerline is valid? [True, True] Translation: X:745.31, Y:-114.78, Z:-49.08 [[ 9.74034613e-01 2.19342936e-01 5.60825283e-02 7.45311799e+02] [-2.18732835e-01 9.75638931e-01 -1.68707679e-02 -1.14783535e+02] [-5.84167817e-02 4.16562144e-03 9.98283591e-01 -4.90831272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.840714057 meters 0.045889276453821314 Centerline is valid? [True, True] Translation: X:745.37, Y:-114.81, Z:-49.09 [[ 9.73558828e-01 2.21476950e-01 5.59568587e-02 7.45365884e+02] [-2.20873142e-01 9.75157290e-01 -1.68319859e-02 -1.14807340e+02] [-5.82946355e-02 4.02756127e-03 9.98291297e-01 -4.90888417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9007140570001 meters 0.04103022097897258 Centerline is valid? [True, True] Translation: X:745.42, Y:-114.82, Z:-49.09 [[ 9.73556095e-01 2.21813103e-01 5.46578236e-02 7.45424638e+02] [-2.21237633e-01 9.75081349e-01 -1.64399681e-02 -1.14817286e+02] [-5.69424247e-02 3.91286361e-03 9.98369796e-01 -4.90932474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.960714057 meters 0.043142973914973876 Centerline is valid? [True, True] Translation: X:745.48, Y:-114.84, Z:-49.10 [[ 9.73676438e-01 2.21522457e-01 5.36842224e-02 7.45479486e+02] [-2.20967341e-01 9.75147663e-01 -1.61390648e-02 -1.14835698e+02] [-5.59252094e-02 3.85176729e-03 9.98427531e-01 -4.90980934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0207140570001 meters 0.043803211560510355 Centerline is valid? [True, True] Translation: X:745.54, Y:-114.85, Z:-49.10 [[ 9.73352570e-01 2.22676219e-01 5.47729467e-02 7.45535101e+02] [-2.22100449e-01 9.74884825e-01 -1.64611297e-02 -1.14851668e+02] [-5.70628167e-02 3.85738690e-03 9.98363138e-01 -4.91010927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.080714057 meters 0.03873450562839096 Centerline is valid? [True, True] Translation: X:745.59, Y:-114.86, Z:-49.10 [[ 9.73360163e-01 2.22833671e-01 5.39921089e-02 7.45594527e+02] [-2.22274651e-01 9.74849113e-01 -1.62230346e-02 -1.14857626e+02] [-5.62491978e-02 3.78977839e-03 9.98409568e-01 -4.91034139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.140714057 meters 0.03990424977758566 Centerline is valid? [True, True] Translation: X:745.65, Y:-114.87, Z:-49.11 [[ 9.73762808e-01 2.21090523e-01 5.38978149e-02 7.45651800e+02] [-2.20531728e-01 9.75245622e-01 -1.61781947e-02 -1.14874681e+02] [-5.61404535e-02 3.86754607e-03 9.98415390e-01 -4.91069106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.200714057 meters 0.041277878207326806 Centerline is valid? [True, True] Translation: X:745.71, Y:-114.89, Z:-49.11 [[ 9.74286026e-01 2.18847288e-01 5.35966793e-02 7.45708722e+02] [-2.18291472e-01 9.75751036e-01 -1.60856464e-02 -1.14892978e+02] [-5.58173155e-02 3.97232245e-03 9.98433096e-01 -4.91114955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.260714057 meters 0.04443706148820102 Centerline is valid? [True, True] Translation: X:745.76, Y:-114.91, Z:-49.12 [[ 9.74451682e-01 2.18170107e-01 5.33453204e-02 7.45763449e+02] [-2.17618537e-01 9.75902594e-01 -1.60093450e-02 -1.14912185e+02] [-5.55525971e-02 3.99140261e-03 9.98447784e-01 -4.91158298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.320714057 meters 0.04019786659131388 Centerline is valid? [True, True] Translation: X:745.82, Y:-114.92, Z:-49.12 [[ 9.74214137e-01 2.19286860e-01 5.31045134e-02 7.45821689e+02] [-2.18742201e-01 9.75652615e-01 -1.59318716e-02 -1.14922268e+02] [-5.53052075e-02 3.90485643e-03 9.98461860e-01 -4.91198479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.380714057 meters 0.040586077826459586 Centerline is valid? [True, True] Translation: X:745.88, Y:-114.94, Z:-49.12 [[ 9.73943395e-01 2.20712154e-01 5.21575254e-02 7.45878402e+02] [-2.20189014e-01 9.75331774e-01 -1.56437876e-02 -1.14937043e+02] [-5.43236658e-02 3.75164957e-03 9.98516332e-01 -4.91238214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.440714057 meters 0.041892817058635616 Centerline is valid? [True, True] Translation: X:745.93, Y:-114.95, Z:-49.13 [[ 9.73465912e-01 2.22741794e-01 5.24424635e-02 7.45934059e+02] [-2.22216077e-01 9.74870627e-01 -1.57249784e-02 -1.14954233e+02] [-5.46272272e-02 3.65417190e-03 9.98500132e-01 -4.91291753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.500714057 meters 0.04182224818959632 Centerline is valid? [True, True] Translation: X:745.99, Y:-114.97, Z:-49.13 [[ 9.73010935e-01 2.24614246e-01 5.28976434e-02 7.45991630e+02] [-2.24082294e-01 9.74441198e-01 -1.58580488e-02 -1.14970509e+02] [-5.51075867e-02 3.57662964e-03 9.98474017e-01 -4.91331159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.560714057 meters 0.04173864521537514 Centerline is valid? [True, True] Translation: X:746.05, Y:-114.98, Z:-49.14 [[ 9.72218279e-01 2.27707046e-01 5.42320868e-02 7.46048733e+02] [-2.27152713e-01 9.73723443e-01 -1.62573384e-02 -1.14984060e+02] [-5.65089648e-02 3.48671593e-03 9.98396003e-01 -4.91354837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.620714057 meters 0.03890768880550011 Centerline is valid? [True, True] Translation: X:746.11, Y:-115.00, Z:-49.14 [[ 9.71668271e-01 2.30073181e-01 5.41027132e-02 7.46107983e+02] [-2.29525309e-01 9.73167605e-01 -1.62155676e-02 -1.14995911e+02] [-5.63817750e-02 3.33821052e-03 9.98403702e-01 -4.91385540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.680714057 meters 0.0366317704296945 Centerline is valid? [True, True] Translation: X:746.16, Y:-115.01, Z:-49.14 [[ 9.71698644e-01 2.29994282e-01 5.38922528e-02 7.46164500e+02] [-2.29450574e-01 9.73186285e-01 -1.61520381e-02 -1.15008187e+02] [-5.61620777e-02 3.32930516e-03 9.98416114e-01 -4.91422769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.740714057 meters 0.04058353365343973 Centerline is valid? [True, True] Translation: X:746.22, Y:-115.03, Z:-49.15 [[ 9.71302830e-01 2.31438825e-01 5.48350560e-02 7.46218602e+02] [-2.30879275e-01 9.72843915e-01 -1.64157781e-02 -1.15030167e+02] [-5.71451989e-02 3.28441378e-03 9.98360475e-01 -4.91466093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.800714057 meters 0.033220198268117174 Centerline is valid? [True, True] Translation: X:746.28, Y:-115.04, Z:-49.15 [[ 9.69445671e-01 2.39181202e-01 5.44742530e-02 7.46279445e+02] [-2.38641409e-01 9.70970897e-01 -1.63032281e-02 -1.15036663e+02] [-5.67923400e-02 2.80528145e-03 9.98382071e-01 -4.91496624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.860714057 meters 0.0318092817262692 Centerline is valid? [True, True] Translation: X:746.34, Y:-115.05, Z:-49.15 [[ 9.68916700e-01 2.41109196e-01 5.53785564e-02 7.46337042e+02] [-2.40554473e-01 9.70494135e-01 -1.65734602e-02 -1.15049989e+02] [-5.77405778e-02 2.73674289e-03 9.98327870e-01 -4.91515777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.920714057 meters 0.03257573954691991 Centerline is valid? [True, True] Translation: X:746.39, Y:-115.07, Z:-49.16 [[ 9.69037621e-01 2.41214197e-01 5.27427766e-02 7.46390517e+02] [-2.40711325e-01 9.70468423e-01 -1.57828648e-02 -1.15070018e+02] [-5.49922502e-02 2.59840614e-03 9.98483400e-01 -4.91600156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.980714057 meters 0.035321271379352065 Centerline is valid? [True, True] Translation: X:746.44, Y:-115.09, Z:-49.17 [[ 9.68965017e-01 2.41702643e-01 5.18326982e-02 7.46443873e+02] [-2.41218655e-01 9.70347122e-01 -1.54926613e-02 -1.15092896e+02] [-5.40403267e-02 2.50883314e-03 9.98535602e-01 -4.91660645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0407140570001 meters 0.041996658123436025 Centerline is valid? [True, True] Translation: X:746.50, Y:-115.12, Z:-49.17 [[ 9.67555163e-01 2.46427110e-01 5.57735352e-02 7.46496982e+02] [-2.45874819e-01 9.69158330e-01 -1.66644590e-02 -1.15120450e+02] [-5.81599607e-02 2.41047549e-03 9.98304367e-01 -4.91671644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.100714057 meters 0.031037621113094962 Centerline is valid? [True, True] Translation: X:746.56, Y:-115.12, Z:-49.17 [[ 9.67316996e-01 2.47271475e-01 5.61662401e-02 7.46558608e+02] [-2.46712834e-01 9.68943329e-01 -1.67810490e-02 -1.15119889e+02] [-5.85713784e-02 2.37566166e-03 9.98280396e-01 -4.91667222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1607140570001 meters 0.030672709800820968 Centerline is valid? [True, True] Translation: X:746.61, Y:-115.14, Z:-49.17 [[ 9.66754405e-01 2.49076317e-01 5.78524777e-02 7.46614595e+02] [-2.48487812e-01 9.68481085e-01 -1.72683210e-02 -1.15137219e+02] [-6.03301602e-02 2.31858979e-03 9.98175784e-01 -4.91699304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.220714057 meters 0.030277162167511754 Centerline is valid? [True, True] Translation: X:746.67, Y:-115.16, Z:-49.17 [[ 9.66194407e-01 2.50912640e-01 5.92555046e-02 7.46670461e+02] [-2.50298936e-01 9.68007113e-01 -1.76825425e-02 -1.15155677e+02] [-6.17965233e-02 2.25318395e-03 9.98086225e-01 -4.91736613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2807140570001 meters 0.02867821977500608 Centerline is valid? [True, True] Translation: X:746.73, Y:-115.17, Z:-49.18 [[ 9.64655006e-01 2.56572235e-01 6.00949887e-02 7.46727617e+02] [-2.55952230e-01 9.66523165e-01 -1.79284279e-02 -1.15173371e+02] [-6.26831355e-02 1.91330135e-03 9.98031645e-01 -4.91767195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.340714057 meters 0.027553255837769103 Centerline is valid? [True, True] Translation: X:746.78, Y:-115.19, Z:-49.18 [[ 9.63775302e-01 2.60049830e-01 5.92558256e-02 7.46784639e+02] [-2.59453696e-01 9.65593767e-01 -1.76764327e-02 -1.15189087e+02] [-6.18138092e-02 1.66196629e-03 9.98086314e-01 -4.91805545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4007140570001 meters 0.026838437819117364 Centerline is valid? [True, True] Translation: X:746.84, Y:-115.21, Z:-49.19 [[ 9.62905864e-01 2.63695757e-01 5.72437333e-02 7.46838672e+02] [-2.63146758e-01 9.64604937e-01 -1.70616477e-02 -1.15210643e+02] [-5.97166718e-02 1.36525775e-03 9.98214434e-01 -4.91876792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.460714057 meters 0.02635581397489631 Centerline is valid? [True, True] Translation: X:746.89, Y:-115.23, Z:-49.19 [[ 9.62426206e-01 2.65805582e-01 5.55264852e-02 7.46894060e+02] [-2.65292725e-01 9.64025915e-01 -1.65470425e-02 -1.15228745e+02] [-5.79272670e-02 1.19453483e-03 9.98320091e-01 -4.91937372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5207140570001 meters 0.025504484178471398 Centerline is valid? [True, True] Translation: X:746.95, Y:-115.25, Z:-49.20 [[ 9.61186451e-01 2.70199969e-01 5.57905296e-02 7.46949040e+02] [-2.69690565e-01 9.62803788e-01 -1.66092127e-02 -1.15248868e+02] [-5.82031420e-02 9.18370808e-04 9.98304338e-01 -4.91971195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.580714057 meters 0.025461031093233093 Centerline is valid? [True, True] Translation: X:747.00, Y:-115.27, Z:-49.20 [[ 9.60646409e-01 2.71445668e-01 5.89552974e-02 7.47002584e+02] [-2.70879410e-01 9.62453357e-01 -1.75465417e-02 -1.15272465e+02] [-6.15046566e-02 8.86246093e-04 9.98106403e-01 -4.91986778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.640714057 meters 0.025603324258435447 Centerline is valid? [True, True] Translation: X:747.06, Y:-115.30, Z:-49.20 [[ 9.61340511e-01 2.68897075e-01 5.93193434e-02 7.47056506e+02] [-2.68319302e-01 9.63168345e-01 -1.76491421e-02 -1.15295198e+02] [-6.18803165e-02 1.05031044e-03 9.98083024e-01 -4.92024247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.700714057 meters 0.02643015077159948 Centerline is valid? [True, True] Translation: X:747.11, Y:-115.33, Z:-49.21 [[ 9.63832917e-01 2.60225565e-01 5.75218555e-02 7.47109769e+02] [-2.59667204e-01 9.65546603e-01 -1.71084798e-02 -1.15327886e+02] [-5.99920960e-02 1.55317661e-03 9.98197644e-01 -4.92090195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.760714057 meters 0.029155999849256757 Centerline is valid? [True, True] Translation: X:747.16, Y:-115.36, Z:-49.21 [[ 9.66647892e-01 2.50218132e-01 5.46144673e-02 7.47162190e+02] [-2.49698838e-01 9.68187287e-01 -1.62440311e-02 -1.15359781e+02] [-5.69415840e-02 2.06508933e-03 9.98375376e-01 -4.92148416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.820714057 meters 0.030871767907727932 Centerline is valid? [True, True] Translation: X:747.22, Y:-115.39, Z:-49.22 [[ 9.68572049e-01 2.42594349e-01 5.49196414e-02 7.47215659e+02] [-2.42057111e-01 9.70124530e-01 -1.63325332e-02 -1.15389296e+02] [-5.72410716e-02 2.52554539e-03 9.98357191e-01 -4.92189842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.880714057 meters 0.03325983028527642 Centerline is valid? [True, True] Translation: X:747.27, Y:-115.42, Z:-49.22 [[ 9.69540508e-01 2.38509317e-01 5.57181188e-02 7.47269259e+02] [-2.37949646e-01 9.71136154e-01 -1.65691163e-02 -1.15416526e+02] [-5.80617682e-02 2.80632279e-03 9.98309048e-01 -4.92214518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.940714057 meters 0.033523698751314224 Centerline is valid? [True, True] Translation: X:747.32, Y:-115.44, Z:-49.23 [[ 9.69925081e-01 2.37089627e-01 5.50803589e-02 7.47324088e+02] [-2.36540454e-01 9.71483578e-01 -1.63789770e-02 -1.15437055e+02] [-5.73929497e-02 2.85764753e-03 9.98347576e-01 -4.92252317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.000714057 meters 0.03419745938284432 Centerline is valid? [True, True] Translation: X:747.38, Y:-115.46, Z:-49.23 [[ 9.70067896e-01 2.36390483e-01 5.55681230e-02 7.47379197e+02] [-2.35831261e-01 9.71653781e-01 -1.65089484e-02 -1.15457928e+02] [-5.78955352e-02 2.91010035e-03 9.98318405e-01 -4.92301197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.060714057 meters 0.034682426149725464 Centerline is valid? [True, True] Translation: X:747.43, Y:-115.48, Z:-49.23 [[ 9.70263874e-01 2.35785960e-01 5.47082761e-02 7.47434895e+02] [-2.35243785e-01 9.71800725e-01 -1.62392415e-02 -1.15477410e+02] [-5.69945275e-02 2.88656739e-03 9.98370318e-01 -4.92340764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.120714057 meters 0.032088665568860385 Centerline is valid? [True, True] Translation: X:747.49, Y:-115.49, Z:-49.24 [[ 9.69823539e-01 2.38001392e-01 5.28927297e-02 7.47491978e+02] [-2.37498755e-01 9.71261198e-01 -1.56852233e-02 -1.15490558e+02] [-5.51057610e-02 2.64994138e-03 9.98477007e-01 -4.92382569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.180714057 meters 0.03164055876851372 Centerline is valid? [True, True] Translation: X:747.55, Y:-115.51, Z:-49.24 [[ 9.69279662e-01 2.40101977e-01 5.33664515e-02 7.47548698e+02] [-2.39593608e-01 9.70744320e-01 -1.58230256e-02 -1.15506801e+02] [-5.56043194e-02 2.55067623e-03 9.98449625e-01 -4.92414309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.240714057 meters 0.031586321902714154 Centerline is valid? [True, True] Translation: X:747.61, Y:-115.52, Z:-49.24 [[ 9.68930048e-01 2.41336890e-01 5.41393425e-02 7.47605012e+02] [-2.40816373e-01 9.70438171e-01 -1.60384405e-02 -1.15523926e+02] [-5.64095519e-02 2.50248678e-03 9.98404577e-01 -4.92440343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.300714057 meters 0.02987893252079355 Centerline is valid? [True, True] Translation: X:747.66, Y:-115.54, Z:-49.24 [[ 9.68282075e-01 2.43828979e-01 5.45641960e-02 7.47662439e+02] [-2.43305116e-01 9.69815373e-01 -1.61481322e-02 -1.15537453e+02] [-5.68545787e-02 2.36019898e-03 9.98379681e-01 -4.92444396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.360714057 meters 0.02940147628345807 Centerline is valid? [True, True] Translation: X:747.72, Y:-115.55, Z:-49.24 [[ 9.68204186e-01 2.43558696e-01 5.70948014e-02 7.47718435e+02] [-2.42984808e-01 9.69882981e-01 -1.68934060e-02 -1.15554955e+02] [-5.94898121e-02 2.48309706e-03 9.98225824e-01 -4.92447834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.420714057 meters 0.029628311530893403 Centerline is valid? [True, True] Translation: X:747.77, Y:-115.57, Z:-49.25 [[ 9.67811474e-01 2.45054674e-01 5.73511799e-02 7.47772864e+02] [-2.44479236e-01 9.69506326e-01 -1.69525209e-02 -1.15573567e+02] [-5.97566262e-02 2.38567159e-03 9.98210125e-01 -4.92475515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.480714057 meters 0.028866014030313247 Centerline is valid? [True, True] Translation: X:747.83, Y:-115.59, Z:-49.25 [[ 9.67550043e-01 2.46638158e-01 5.49229837e-02 7.47830215e+02] [-2.46113234e-01 9.69105173e-01 -1.62308194e-02 -1.15588168e+02] [-5.72292870e-02 2.18685685e-03 9.98358666e-01 -4.92522742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5407140570001 meters 0.02819022844996435 Centerline is valid? [True, True] Translation: X:747.89, Y:-115.61, Z:-49.26 [[ 9.67332700e-01 2.48215696e-01 5.15404277e-02 7.47885608e+02] [-2.47756360e-01 9.68702821e-01 -1.52194202e-02 -1.15605458e+02] [-5.37050566e-02 1.95277407e-03 9.98554933e-01 -4.92583881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.600714057 meters 0.028179976759005406 Centerline is valid? [True, True] Translation: X:747.94, Y:-115.62, Z:-49.26 [[ 9.67076470e-01 2.49317515e-01 5.10281995e-02 7.47940726e+02] [-2.48869545e-01 9.68420012e-01 -1.50542216e-02 -1.15624733e+02] [-5.31700107e-02 1.85921875e-03 9.98583744e-01 -4.92636075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6607140570001 meters 0.027244622145847216 Centerline is valid? [True, True] Translation: X:748.00, Y:-115.64, Z:-49.27 [[ 9.65969698e-01 2.53238986e-01 5.26550856e-02 7.47997987e+02] [-2.52768714e-01 9.67402292e-01 -1.55171492e-02 -1.15641327e+02] [-5.48681977e-02 1.67953762e-03 9.98492193e-01 -4.92656716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.720714057 meters 0.02619249713894789 Centerline is valid? [True, True] Translation: X:748.05, Y:-115.66, Z:-49.27 [[ 9.64942062e-01 2.56929480e-01 5.36102541e-02 7.48054353e+02] [-2.56447673e-01 9.66428996e-01 -1.57983345e-02 -1.15659161e+02] [-5.58695619e-02 1.49625255e-03 9.98436955e-01 -4.92702101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7807140570001 meters 0.025965948507225424 Centerline is valid? [True, True] Translation: X:748.11, Y:-115.68, Z:-49.27 [[ 9.64871821e-01 2.56794804e-01 5.54869179e-02 7.48109907e+02] [-2.56279255e-01 9.66464716e-01 -1.63369407e-02 -1.15680103e+02] [-5.78213899e-02 1.54290780e-03 9.98325752e-01 -4.92730414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.840714057 meters 0.02750696325854346 Centerline is valid? [True, True] Translation: X:748.16, Y:-115.71, Z:-49.27 [[ 9.65953671e-01 2.52239963e-01 5.75196150e-02 7.48164047e+02] [-2.51678790e-01 9.67662914e-01 -1.69195583e-02 -1.15705909e+02] [-5.99273870e-02 1.86704239e-03 9.98200993e-01 -4.92746224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9007140570001 meters 0.028787267370542494 Centerline is valid? [True, True] Translation: X:748.22, Y:-115.73, Z:-49.28 [[ 9.67154964e-01 2.47733040e-01 5.69176330e-02 7.48217878e+02] [-2.47176056e-01 9.68826016e-01 -1.67376055e-02 -1.15733445e+02] [-5.92897415e-02 2.11918216e-03 9.98238567e-01 -4.92803758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.960714057 meters 0.028332970168640087 Centerline is valid? [True, True] Translation: X:748.27, Y:-115.75, Z:-49.29 [[ 9.67202734e-01 2.47954404e-01 5.51133808e-02 7.48271720e+02] [-2.47432572e-01 9.68769559e-01 -1.62069184e-02 -1.15754784e+02] [-5.74107424e-02 2.03853019e-03 9.98348562e-01 -4.92859571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0207140570001 meters 0.027021894402360448 Centerline is valid? [True, True] Translation: X:748.33, Y:-115.77, Z:-49.29 [[ 9.65549051e-01 2.54292702e-01 5.52290841e-02 7.48328477e+02] [-2.53780101e-01 9.67125901e-01 -1.62219339e-02 -1.15773021e+02] [-5.75385971e-02 1.64703030e-03 9.98341924e-01 -4.92893256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.080714057 meters 0.026449672502069012 Centerline is valid? [True, True] Translation: X:748.39, Y:-115.79, Z:-49.29 [[ 9.64842380e-01 2.56898643e-01 5.55181815e-02 7.48385013e+02] [-2.56385069e-01 9.66437191e-01 -1.63049706e-02 -1.15789663e+02] [-5.78435602e-02 1.49769389e-03 9.98324536e-01 -4.92925297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.140714057 meters 0.025480576843344243 Centerline is valid? [True, True] Translation: X:748.44, Y:-115.81, Z:-49.30 [[ 9.63085027e-01 2.62746537e-01 5.85788994e-02 7.48441516e+02] [-2.62185795e-01 9.64864138e-01 -1.71989815e-02 -1.15810775e+02] [-6.10396521e-02 1.20552621e-03 9.98134614e-01 -4.92954329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.200714057 meters 0.025323921939217873 Centerline is valid? [True, True] Translation: X:748.50, Y:-115.83, Z:-49.30 [[ 9.63084752e-01 2.62444229e-01 5.99231821e-02 7.48495098e+02] [-2.61856991e-01 9.64946352e-01 -1.75912888e-02 -1.15834074e+02] [-6.24393882e-02 1.25059791e-03 9.98047974e-01 -4.92992910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.260714057 meters 0.02549024154546244 Centerline is valid? [True, True] Translation: X:748.55, Y:-115.86, Z:-49.30 [[ 9.63559291e-01 2.60599956e-01 6.03419897e-02 7.48549511e+02] [-2.60002053e-01 9.65445912e-01 -1.76952707e-02 -1.15856669e+02] [-6.28683140e-02 1.36140127e-03 9.98020902e-01 -4.93044397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.320714057 meters 0.026110128629000286 Centerline is valid? [True, True] Translation: X:748.60, Y:-115.88, Z:-49.31 [[ 9.64386791e-01 2.57508983e-01 6.03923972e-02 7.48602665e+02] [-2.56905062e-01 9.66274664e-01 -1.76935800e-02 -1.15884311e+02] [-6.29118991e-02 1.54834228e-03 9.98017883e-01 -4.93102682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.380714057 meters 0.026705211575658857 Centerline is valid? [True, True] Translation: X:748.66, Y:-115.91, Z:-49.31 [[ 9.65306734e-01 2.53722985e-01 6.17053974e-02 7.48656866e+02] [-2.53085857e-01 9.67275216e-01 -1.80611928e-02 -1.15909839e+02] [-6.42686413e-02 1.81782765e-03 9.97930978e-01 -4.93132995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.440714057 meters 0.02790563128701322 Centerline is valid? [True, True] Translation: X:748.71, Y:-115.94, Z:-49.32 [[ 9.66429867e-01 2.49393369e-01 6.17758823e-02 7.48710943e+02] [-2.48746177e-01 9.68399978e-01 -1.80782374e-02 -1.15935697e+02] [-6.43323556e-02 2.10483408e-03 9.97926309e-01 -4.93181052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.500714057 meters 0.030758511130314276 Centerline is valid? [True, True] Translation: X:748.76, Y:-115.96, Z:-49.32 [[ 9.67913743e-01 2.43409066e-01 6.24100345e-02 7.48763765e+02] [-2.42736309e-01 9.69920435e-01 -1.82601741e-02 -1.15964696e+02] [-6.49774598e-02 2.52509202e-03 9.97883537e-01 -4.93227666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.560714057 meters 0.03064500089838904 Centerline is valid? [True, True] Translation: X:748.82, Y:-115.98, Z:-49.33 [[ 9.68718125e-01 2.40023756e-01 6.30380152e-02 7.48820236e+02] [-2.39330303e-01 9.70763037e-01 -1.84426499e-02 -1.15983686e+02] [-6.56216492e-02 2.77882191e-03 9.97840707e-01 -4.93263021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.620714057 meters 0.03102652617046949 Centerline is valid? [True, True] Translation: X:748.87, Y:-116.00, Z:-49.33 [[ 9.68860574e-01 2.39809953e-01 6.16471859e-02 7.48874314e+02] [-2.39146512e-01 9.70816016e-01 -1.80335325e-02 -1.16003502e+02] [-6.41726960e-02 2.72926913e-03 9.97935076e-01 -4.93307649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.680714057 meters 0.03135786378365687 Centerline is valid? [True, True] Translation: X:748.93, Y:-116.02, Z:-49.33 [[ 9.68706289e-01 2.40433508e-01 6.16429501e-02 7.48929719e+02] [-2.39772633e-01 9.70661940e-01 -1.80133854e-02 -1.16022466e+02] [-6.41654870e-02 2.66938727e-03 9.97935702e-01 -4.93336632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.740714057 meters 0.030378951792201802 Centerline is valid? [True, True] Translation: X:748.99, Y:-116.04, Z:-49.33 [[ 9.68609704e-01 2.40710882e-01 6.20766701e-02 7.48986481e+02] [-2.40042298e-01 9.70593236e-01 -1.81236279e-02 -1.16038862e+02] [-6.46137506e-02 2.65369531e-03 9.97906820e-01 -4.93346383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.800714057 meters 0.030610869152995317 Centerline is valid? [True, True] Translation: X:749.04, Y:-116.05, Z:-49.34 [[ 9.68664824e-01 2.40526176e-01 6.19323625e-02 7.49041870e+02] [-2.39861391e-01 9.70639052e-01 -1.80649892e-02 -1.16054771e+02] [-6.44590724e-02 2.64373693e-03 9.97916850e-01 -4.93382136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.860714057 meters 0.029990340561274486 Centerline is valid? [True, True] Translation: X:749.10, Y:-116.07, Z:-49.34 [[ 9.68244437e-01 2.42509021e-01 6.07625398e-02 7.49098905e+02] [-2.41874194e-01 9.70146067e-01 -1.77054693e-02 -1.16070367e+02] [-6.32422750e-02 2.44633181e-03 9.97995206e-01 -4.93432282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.920714057 meters 0.029597041862691905 Centerline is valid? [True, True] Translation: X:749.16, Y:-116.08, Z:-49.35 [[ 9.67206358e-01 2.47213045e-01 5.82886829e-02 7.49156475e+02] [-2.46638316e-01 9.68959008e-01 -1.69700206e-02 -1.16083325e+02] [-6.06745549e-02 2.03728920e-03 9.98155523e-01 -4.93479535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.980714057 meters 0.026773274296580475 Centerline is valid? [True, True] Translation: X:749.22, Y:-116.09, Z:-49.35 [[ 9.65797299e-01 2.52698654e-01 5.81288814e-02 7.49216233e+02] [-2.52137113e-01 9.67543564e-01 -1.69212566e-02 -1.16093560e+02] [-6.05182038e-02 1.68605559e-03 9.98165670e-01 -4.93514554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0407140570001 meters 0.02631196037426931 Centerline is valid? [True, True] Translation: X:749.27, Y:-116.11, Z:-49.35 [[ 9.64821695e-01 2.56245301e-01 5.88000196e-02 7.49273698e+02] [-2.55677297e-01 9.66610653e-01 -1.71162367e-02 -1.16108300e+02] [-6.12226806e-02 1.48028643e-03 9.98123035e-01 -4.93542511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.100714057 meters 0.02553106071240825 Centerline is valid? [True, True] Translation: X:749.33, Y:-116.12, Z:-49.36 [[ 9.63084356e-01 2.62364198e-01 6.02789408e-02 7.49331869e+02] [-2.61780174e-01 9.64968294e-01 -1.75308780e-02 -1.16122286e+02] [-6.27667415e-02 1.10388279e-03 9.98027614e-01 -4.93558099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1607140570001 meters 0.025212976177103285 Centerline is valid? [True, True] Translation: X:749.39, Y:-116.14, Z:-49.36 [[ 9.62505007e-01 2.64674971e-01 5.94245012e-02 7.49386838e+02] [-2.64111901e-01 9.64337223e-01 -1.72807414e-02 -1.16141977e+02] [-6.18790382e-02 9.38082093e-04 9.98083215e-01 -4.93609038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.220714057 meters 0.02520660012912145 Centerline is valid? [True, True] Translation: X:749.44, Y:-116.16, Z:-49.37 [[ 9.62966926e-01 2.63241097e-01 5.82994452e-02 7.49441492e+02] [-2.62697478e-01 9.64729565e-01 -1.69381800e-02 -1.16163457e+02] [-6.07020235e-02 9.95789929e-04 9.98155435e-01 -4.93661416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2807140570001 meters 0.02598226241064185 Centerline is valid? [True, True] Translation: X:749.49, Y:-116.19, Z:-49.37 [[ 9.64446557e-01 2.58092204e-01 5.68441143e-02 7.49494953e+02] [-2.57567430e-01 9.66119453e-01 -1.64991109e-02 -1.16187892e+02] [-5.91764966e-02 1.27131829e-03 9.98246726e-01 -4.93690638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.340714057 meters 0.026670638016017153 Centerline is valid? [True, True] Translation: X:749.55, Y:-116.21, Z:-49.37 [[ 9.65768458e-01 2.52754499e-01 5.83647867e-02 7.49549321e+02] [-2.52191788e-01 9.67529061e-01 -1.69357079e-02 -1.16214180e+02] [-6.07502037e-02 1.63685257e-03 9.98151659e-01 -4.93713443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4007140570001 meters 0.02660014370054265 Centerline is valid? [True, True] Translation: X:749.60, Y:-116.23, Z:-49.37 [[ 9.66243328e-01 2.50308599e-01 6.09871777e-02 7.49604315e+02] [-2.49689409e-01 9.68164300e-01 -1.76942714e-02 -1.16233978e+02] [-6.34746365e-02 1.86911938e-03 9.97981702e-01 -4.93730055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.460714057 meters 0.026562848695148255 Centerline is valid? [True, True] Translation: X:749.66, Y:-116.26, Z:-49.37 [[ 9.65926487e-01 2.50759500e-01 6.40756918e-02 7.49659447e+02] [-2.50077380e-01 9.68047500e-01 -1.85833629e-02 -1.16255083e+02] [-6.66882681e-02 1.92628138e-03 9.97772000e-01 -4.93741228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5207140570001 meters 0.02698862756586994 Centerline is valid? [True, True] Translation: X:749.71, Y:-116.28, Z:-49.38 [[ 9.65690023e-01 2.52093552e-01 6.23828561e-02 7.49712442e+02] [-2.51450911e-01 9.67701251e-01 -1.80756341e-02 -1.16277845e+02] [-6.49247187e-02 1.76923347e-03 9.97888596e-01 -4.93793030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.580714057 meters 0.027302381030989798 Centerline is valid? [True, True] Translation: X:749.77, Y:-116.30, Z:-49.38 [[ 9.66499060e-01 2.49017804e-01 6.22069249e-02 7.49767068e+02] [-2.48372815e-01 9.68496915e-01 -1.80186203e-02 -1.16299412e+02] [-6.47341721e-02 1.96447053e-03 9.97900610e-01 -4.93827349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.640714057 meters 0.027764033787234334 Centerline is valid? [True, True] Translation: X:749.82, Y:-116.32, Z:-49.39 [[ 9.66994157e-01 2.46946211e-01 6.27683820e-02 7.49821921e+02] [-2.46286276e-01 9.69026901e-01 -1.81641228e-02 -1.16321576e+02] [-6.53098120e-02 2.10560956e-03 9.97862814e-01 -4.93866502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.700714057 meters 0.028756906835717987 Centerline is valid? [True, True] Translation: X:749.88, Y:-116.35, Z:-49.39 [[ 9.67865474e-01 2.43785380e-01 6.16855898e-02 7.49876909e+02] [-2.43142697e-01 9.69826566e-01 -1.78342632e-02 -1.16346052e+02] [-6.41720563e-02 2.26276700e-03 9.97936284e-01 -4.93929715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.760714057 meters 0.029228234404740924 Centerline is valid? [True, True] Translation: X:749.93, Y:-116.37, Z:-49.40 [[ 9.68170653e-01 2.43019022e-01 5.98944178e-02 7.49931666e+02] [-2.42411809e-01 9.70018926e-01 -1.73146559e-02 -1.16368977e+02] [-6.23065096e-02 2.24442758e-03 9.98054538e-01 -4.93989091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.820714057 meters 0.029585363472690262 Centerline is valid? [True, True] Translation: X:749.99, Y:-116.39, Z:-49.40 [[ 9.68035215e-01 2.43842965e-01 5.87233455e-02 7.49985884e+02] [-2.43261790e-01 9.69812384e-01 -1.69599999e-02 -1.16388508e+02] [-6.10862044e-02 2.13273102e-03 9.98130216e-01 -4.94041956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.880714057 meters 0.02951948995338513 Centerline is valid? [True, True] Translation: X:750.04, Y:-116.41, Z:-49.41 [[ 9.67464490e-01 2.46291853e-01 5.79032215e-02 7.50042125e+02] [-2.45731478e-01 9.69193756e-01 -1.67183578e-02 -1.16406517e+02] [-6.02370361e-02 1.94577330e-03 9.98182205e-01 -4.94079403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.940714057 meters 0.027261110418586542 Centerline is valid? [True, True] Translation: X:750.10, Y:-116.42, Z:-49.41 [[ 9.66268389e-01 2.50201461e-01 6.10297484e-02 7.50100710e+02] [-2.49587641e-01 9.68192162e-01 -1.76052828e-02 -1.16420301e+02] [-6.34933916e-02 1.77915730e-03 9.97980673e-01 -4.94072757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.000714057 meters 0.027500284495734995 Centerline is valid? [True, True] Translation: X:750.16, Y:-116.44, Z:-49.41 [[ 9.66014191e-01 2.50851791e-01 6.23695609e-02 7.50156407e+02] [-2.50212128e-01 9.68023881e-01 -1.79904775e-02 -1.16437871e+02] [-6.48881679e-02 1.77343608e-03 9.97890966e-01 -4.94099034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.060714057 meters 0.02690040800740012 Centerline is valid? [True, True] Translation: X:750.21, Y:-116.46, Z:-49.41 [[ 9.65289985e-01 2.53156050e-01 6.42437491e-02 7.50211398e+02] [-2.52483602e-01 9.67424049e-01 -1.85132210e-02 -1.16458143e+02] [-6.68376818e-02 1.65013365e-03 9.97762498e-01 -4.94136436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.120714057 meters 0.026597183600706707 Centerline is valid? [True, True] Translation: X:750.27, Y:-116.48, Z:-49.42 [[ 9.65178779e-01 2.53518259e-01 6.44857850e-02 7.50266247e+02] [-2.52842705e-01 9.67329254e-01 -1.85655591e-02 -1.16480870e+02] [-6.70856946e-02 1.61432335e-03 9.97745911e-01 -4.94188205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.180714057 meters 0.02680591294386904 Centerline is valid? [True, True] Translation: X:750.32, Y:-116.50, Z:-49.42 [[ 9.65726351e-01 2.51842090e-01 6.28345168e-02 7.50321059e+02] [-2.51198255e-01 9.67766899e-01 -1.80738913e-02 -1.16501628e+02] [-6.53609321e-02 1.67051214e-03 9.97860290e-01 -4.94235120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.240714057 meters 0.027111991412589995 Centerline is valid? [True, True] Translation: X:750.38, Y:-116.52, Z:-49.43 [[ 9.66541693e-01 2.48682727e-01 6.28812962e-02 7.50376191e+02] [-2.48032380e-01 9.68583196e-01 -1.80701506e-02 -1.16521722e+02] [-6.53995012e-02 1.86895641e-03 9.97857411e-01 -4.94271867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.300714057 meters 0.028877549572490238 Centerline is valid? [True, True] Translation: X:750.43, Y:-116.55, Z:-49.43 [[ 9.67686160e-01 2.43718017e-01 6.46917564e-02 7.50429498e+02] [-2.43019751e-01 9.69843524e-01 -1.85725415e-02 -1.16547254e+02] [-6.72673440e-02 2.25101686e-03 9.97732448e-01 -4.94297353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.360714057 meters 0.02989229232997668 Centerline is valid? [True, True] Translation: X:750.49, Y:-116.57, Z:-49.43 [[ 9.69247174e-01 2.36949561e-01 6.64441215e-02 7.50485780e+02] [-2.36197424e-01 9.71517949e-01 -1.90696487e-02 -1.16568636e+02] [-6.90702016e-02 2.78927277e-03 9.97607903e-01 -4.94338680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.420714057 meters 0.03217476499966325 Centerline is valid? [True, True] Translation: X:750.54, Y:-116.59, Z:-49.44 [[ 9.70980226e-01 2.29662623e-01 6.67269069e-02 7.50541954e+02] [-2.28886912e-01 9.73264633e-01 -1.91503369e-02 -1.16592843e+02] [-6.93410552e-02 3.32168278e-03 9.97587482e-01 -4.94372661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.480714057 meters 0.03300223234911924 Centerline is valid? [True, True] Translation: X:750.60, Y:-116.61, Z:-49.44 [[ 9.72115733e-01 2.24857632e-01 6.65586022e-02 7.50599816e+02] [-2.24074632e-01 9.74384774e-01 -1.91016300e-02 -1.16610682e+02] [-6.91488358e-02 3.65490075e-03 9.97599659e-01 -4.94418713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5407140570001 meters 0.03636405386001037 Centerline is valid? [True, True] Translation: X:750.66, Y:-116.63, Z:-49.45 [[ 9.74301211e-01 2.15608111e-01 6.51942732e-02 7.50655620e+02] [-2.14836259e-01 9.76470842e-01 -1.87103319e-02 -1.16633811e+02] [-6.76944062e-02 4.22340527e-03 9.97697164e-01 -4.94468285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.600714057 meters 0.037041861471032535 Centerline is valid? [True, True] Translation: X:750.71, Y:-116.65, Z:-49.45 [[ 9.75408703e-01 2.09975215e-01 6.69945623e-02 7.50713516e+02] [-2.09146873e-01 9.77695209e-01 -1.92266526e-02 -1.16652018e+02] [-6.95373831e-02 4.74214107e-03 9.97568075e-01 -4.94498882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6607140570001 meters 0.04154996386358156 Centerline is valid? [True, True] Translation: X:750.77, Y:-116.67, Z:-49.45 [[ 9.76633412e-01 2.03673486e-01 6.85878243e-02 7.50770274e+02] [-2.02789753e-01 9.79024444e-01 -1.96838569e-02 -1.16669977e+02] [-7.11582363e-02 5.31500439e-03 9.97450879e-01 -4.94530948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.720714057 meters 0.044454100882262586 Centerline is valid? [True, True] Translation: X:750.83, Y:-116.69, Z:-49.46 [[ 9.77612133e-01 1.99138730e-01 6.79579604e-02 7.50828084e+02] [-1.98260377e-01 9.79955354e-01 -1.95019771e-02 -1.16685132e+02] [-7.04793661e-02 5.59199860e-03 9.97497563e-01 -4.94590035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7807140570001 meters 0.04577871995740282 Centerline is valid? [True, True] Translation: X:750.89, Y:-116.70, Z:-49.47 [[ 9.78828870e-01 1.93334842e-01 6.71988289e-02 7.50887358e+02] [-1.92462486e-01 9.81114840e-01 -1.92837307e-02 -1.16695890e+02] [-6.96579853e-02 5.94221864e-03 9.97553234e-01 -4.94654170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.840714057 meters 0.04680058417528013 Centerline is valid? [True, True] Translation: X:750.95, Y:-116.71, Z:-49.47 [[ 9.79437210e-01 1.90072700e-01 6.76396433e-02 7.50946660e+02] [-1.89181210e-01 9.81750354e-01 -1.94090967e-02 -1.16707286e+02] [-7.00943832e-02 6.21384195e-03 9.97521010e-01 -4.94688718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9007140570001 meters 0.050437644686265624 Centerline is valid? [True, True] Translation: X:751.01, Y:-116.72, Z:-49.47 [[ 9.79844860e-01 1.87452226e-01 6.90341483e-02 7.51005538e+02] [-1.86517118e-01 9.82251992e-01 -1.98087937e-02 -1.16716650e+02] [-7.15221322e-02 6.53349428e-03 9.97417615e-01 -4.94705284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.960714057 meters 0.052488900274928744 Centerline is valid? [True, True] Translation: X:751.06, Y:-116.72, Z:-49.47 [[ 9.79943352e-01 1.86864466e-01 6.92293194e-02 7.51063864e+02] [-1.85922693e-01 9.82363575e-01 -1.98635163e-02 -1.16724458e+02] [-7.17201471e-02 6.59381925e-03 9.97402999e-01 -4.94743698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0207140570001 meters 0.05123705831037226 Centerline is valid? [True, True] Translation: X:751.12, Y:-116.73, Z:-49.48 [[ 9.80031720e-01 1.86818772e-01 6.80923954e-02 7.51122293e+02] [-1.85908073e-01 9.82373009e-01 -1.95309720e-02 -1.16732558e+02] [-7.05408836e-02 6.48204600e-03 9.97487828e-01 -4.94799283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.080714057 meters 0.05003713023098858 Centerline is valid? [True, True] Translation: X:751.18, Y:-116.74, Z:-49.48 [[ 9.80120603e-01 1.87013852e-01 6.62527140e-02 7.51182065e+02] [-1.86152568e-01 9.82337155e-01 -1.89982946e-02 -1.16735464e+02] [-6.86354469e-02 6.28750717e-03 9.97621994e-01 -4.94844139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.140714057 meters 0.04990567786008772 Centerline is valid? [True, True] Translation: X:751.24, Y:-116.74, Z:-49.49 [[ 9.79970452e-01 1.88541165e-01 6.41103944e-02 7.51243269e+02] [-1.87738321e-01 9.82047110e-01 -1.83792160e-02 -1.16738629e+02] [-6.64246664e-02 5.97511080e-03 9.97773552e-01 -4.94880311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.200714057 meters 0.04849989877826495 Centerline is valid? [True, True] Translation: X:751.30, Y:-116.75, Z:-49.49 [[ 9.79721866e-01 1.90092905e-01 6.33226166e-02 7.51303651e+02] [-1.89313068e-01 9.81749003e-01 -1.81509855e-02 -1.16745631e+02] [-6.56172893e-02 5.79511857e-03 9.97828035e-01 -4.94914912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.260714057 meters 0.04618613988699666 Centerline is valid? [True, True] Translation: X:751.36, Y:-116.75, Z:-49.50 [[ 9.79945112e-01 1.89633226e-01 6.12112494e-02 7.51364184e+02] [-1.88903770e-01 9.81838858e-01 -1.75448812e-02 -1.16745718e+02] [-6.34266757e-02 5.62998480e-03 9.97970621e-01 -4.94957989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.320714057 meters 0.049851384717203316 Centerline is valid? [True, True] Translation: X:751.42, Y:-116.75, Z:-49.50 [[ 9.80431450e-01 1.87562490e-01 5.97869962e-02 7.51422924e+02] [-1.86863859e-01 9.82236636e-01 -1.71198692e-02 -1.16754839e+02] [-6.19360233e-02 5.61282934e-03 9.98064339e-01 -4.94992008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.380714057 meters 0.04964855779043828 Centerline is valid? [True, True] Translation: X:751.48, Y:-116.76, Z:-49.50 [[ 9.80824171e-01 1.85732836e-01 5.90530234e-02 7.51484048e+02] [-1.85048029e-01 9.82583996e-01 -1.69090845e-02 -1.16759834e+02] [-6.11651279e-02 5.65719318e-03 9.98111629e-01 -4.95024218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.440714057 meters 0.05005449067804784 Centerline is valid? [True, True] Translation: X:751.54, Y:-116.77, Z:-49.51 [[ 9.81029121e-01 1.84642150e-01 5.90689406e-02 7.51542137e+02] [-1.83955038e-01 9.82789135e-01 -1.69132827e-02 -1.16769096e+02] [-6.11752179e-02 5.72639360e-03 9.98110616e-01 -4.95051752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.500714057 meters 0.051307547734701364 Centerline is valid? [True, True] Translation: X:751.60, Y:-116.78, Z:-49.51 [[ 9.81343771e-01 1.83390808e-01 5.77253447e-02 7.51602601e+02] [-1.82733479e-01 9.83023817e-01 -1.65121737e-02 -1.16775216e+02] [-5.97735695e-02 5.65576575e-03 9.98195939e-01 -4.95088989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.560714057 meters 0.0534351455203737 Centerline is valid? [True, True] Translation: X:751.66, Y:-116.79, Z:-49.51 [[ 9.81694644e-01 1.82103357e-01 5.58031762e-02 7.51660789e+02] [-1.81487174e-01 9.83263783e-01 -1.59605383e-02 -1.16785819e+02] [-5.77757097e-02 5.54081426e-03 9.98314212e-01 -4.95139785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.620714057 meters 0.0590791835607093 Centerline is valid? [True, True] Translation: X:751.72, Y:-116.80, Z:-49.52 [[ 9.81839106e-01 1.81997193e-01 5.35629806e-02 7.51717578e+02] [-1.81429616e-01 9.83284660e-01 -1.53157311e-02 -1.16798218e+02] [-5.54550772e-02 5.31967271e-03 9.98447012e-01 -4.95191231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.680714057 meters 0.05783263219822419 Centerline is valid? [True, True] Translation: X:751.78, Y:-116.81, Z:-49.52 [[ 9.81835435e-01 1.82217733e-01 5.28760479e-02 7.51776225e+02] [-1.81665137e-01 9.83244266e-01 -1.51159557e-02 -1.16806975e+02] [-5.47444661e-02 5.23564648e-03 9.98486671e-01 -4.95233300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.740714057 meters 0.05232210145094887 Centerline is valid? [True, True] Translation: X:751.84, Y:-116.81, Z:-49.53 [[ 9.82035693e-01 1.81436989e-01 5.18316159e-02 7.51836844e+02] [-1.80905652e-01 9.83389025e-01 -1.48044243e-02 -1.16808410e+02] [-5.36567123e-02 5.16184080e-03 9.98546099e-01 -4.95265886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.800714057 meters 0.05280011695921727 Centerline is valid? [True, True] Translation: X:751.90, Y:-116.82, Z:-49.53 [[ 9.82155294e-01 1.80784324e-01 5.18459826e-02 7.51895343e+02] [-1.80252544e-01 9.83509096e-01 -1.47945359e-02 -1.16818158e+02] [-5.36656157e-02 5.18516154e-03 9.98545500e-01 -4.95293974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.860714057 meters 0.05230110433302926 Centerline is valid? [True, True] Translation: X:751.95, Y:-116.83, Z:-49.53 [[ 9.82059463e-01 1.81704644e-01 5.04245288e-02 7.51953518e+02] [-1.81203655e-01 9.83340549e-01 -1.43735624e-02 -1.16828391e+02] [-5.21962269e-02 4.97858402e-03 9.98624438e-01 -4.95335986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.920714057 meters 0.05238192054338162 Centerline is valid? [True, True] Translation: X:752.01, Y:-116.84, Z:-49.54 [[ 9.82002792e-01 1.82273868e-01 4.94646785e-02 7.52010310e+02] [-1.81792569e-01 9.83235826e-01 -1.40986880e-02 -1.16842575e+02] [-5.12052664e-02 4.85263995e-03 9.98676360e-01 -4.95376356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.980714057 meters 0.05025339404536051 Centerline is valid? [True, True] Translation: X:752.07, Y:-116.85, Z:-49.54 [[ 9.81257898e-01 1.86417289e-01 4.88009508e-02 7.52070489e+02] [-1.85954726e-01 9.82460085e-01 -1.38932276e-02 -1.16851105e+02] [-5.05349241e-02 4.55807187e-03 9.98711893e-01 -4.95421373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0407140570001 meters 0.07832486820834442 Centerline is valid? [True, True] Translation: X:752.12, Y:-116.90, Z:-49.55 [[ 9.80016716e-01 1.92271674e-01 5.09788136e-02 7.52117271e+02] [-1.91774730e-01 9.81331664e-01 -1.45127004e-02 -1.16901014e+02] [-5.28175052e-02 4.44624073e-03 9.98594283e-01 -4.95501897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.100714057 meters 0.0475018049084229 Centerline is valid? [True, True] Translation: X:752.19, Y:-116.87, Z:-49.55 [[ 9.79440644e-01 1.95957366e-01 4.79242700e-02 7.52188834e+02] [-1.95522653e-01 9.80604292e-01 -1.36423781e-02 -1.16872009e+02] [-4.96680693e-02 3.99161925e-03 9.98757803e-01 -4.95487548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1607140570001 meters 0.040817577515980176 Centerline is valid? [True, True] Translation: X:752.25, Y:-116.88, Z:-49.55 [[ 9.78438823e-01 2.00643783e-01 4.89851265e-02 7.52250458e+02] [-2.00195454e-01 9.79656753e-01 -1.39436906e-02 -1.16875018e+02] [-5.07863248e-02 3.83644860e-03 9.98702173e-01 -4.95495075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.220714057 meters 0.04701648173448979 Centerline is valid? [True, True] Translation: X:752.30, Y:-116.90, Z:-49.55 [[ 9.78181621e-01 2.01595840e-01 5.01979517e-02 7.52304136e+02] [-2.01126277e-01 9.79461106e-01 -1.42885590e-02 -1.16896031e+02] [-5.20474553e-02 3.88067865e-03 9.98637073e-01 -4.95539798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2807140570001 meters 0.043706734755790504 Centerline is valid? [True, True] Translation: X:752.36, Y:-116.91, Z:-49.56 [[ 9.78981219e-01 1.97804055e-01 4.96923462e-02 7.52363444e+02] [-1.97339483e-01 9.80233284e-01 -1.41364017e-02 -1.16907374e+02] [-5.15063293e-02 4.03300988e-03 9.98664525e-01 -4.95583642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.340714057 meters 0.05415606729162084 Centerline is valid? [True, True] Translation: X:752.42, Y:-116.94, Z:-49.57 [[ 9.79699672e-01 1.94477724e-01 4.86514961e-02 7.52416077e+02] [-1.94028365e-01 9.80898285e-01 -1.38400832e-02 -1.16937636e+02] [-5.04137570e-02 4.11935470e-03 9.98719923e-01 -4.95656923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4007140570001 meters 0.04419167792461101 Centerline is valid? [True, True] Translation: X:752.48, Y:-116.94, Z:-49.57 [[ 9.80869982e-01 1.89036727e-01 4.64671315e-02 7.52477809e+02] [-1.88620848e-01 9.81961037e-01 -1.32173506e-02 -1.16939062e+02] [-4.81274773e-02 4.19983268e-03 9.98832372e-01 -4.95680988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.460714057 meters 0.047636636004987104 Centerline is valid? [True, True] Translation: X:752.53, Y:-116.96, Z:-49.57 [[ 9.81525488e-01 1.85531239e-01 4.67533524e-02 7.52534498e+02] [-1.85106321e-01 9.82628526e-01 -1.32977740e-02 -1.16958848e+02] [-4.84083302e-02 4.39776306e-03 9.98817948e-01 -4.95713472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5207140570001 meters 0.05412078001324172 Centerline is valid? [True, True] Translation: X:752.59, Y:-116.98, Z:-49.57 [[ 9.81691370e-01 1.84174804e-01 4.85972879e-02 7.52588606e+02] [-1.83714013e-01 9.82882545e-01 -1.38225595e-02 -1.16982767e+02] [-5.03111932e-02 4.64148453e-03 9.98722805e-01 -4.95747405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.580714057 meters 0.04902007635184295 Centerline is valid? [True, True] Translation: X:752.65, Y:-116.99, Z:-49.58 [[ 9.81359068e-01 1.85498053e-01 5.02479137e-02 7.52648993e+02] [-1.85007296e-01 9.82633267e-01 -1.42885687e-02 -1.16989751e+02] [-5.20257732e-02 4.72598586e-03 9.98634560e-01 -4.95751825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.640714057 meters 0.047554906317236065 Centerline is valid? [True, True] Translation: X:752.71, Y:-117.00, Z:-49.58 [[ 9.80886071e-01 1.87870188e-01 5.06686107e-02 7.52707668e+02] [-1.87374356e-01 9.82182917e-01 -1.44072079e-02 -1.17002229e+02] [-5.24725287e-02 4.63783131e-03 9.98611598e-01 -4.95793747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.700714057 meters 0.048657333841049984 Centerline is valid? [True, True] Translation: X:752.76, Y:-117.02, Z:-49.58 [[ 9.80811970e-01 1.88595997e-01 4.93905811e-02 7.52764613e+02] [-1.88125695e-01 9.82044519e-01 -1.40458333e-02 -1.17018130e+02] [-5.11527374e-02 4.48468407e-03 9.98680772e-01 -4.95844592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.760714057 meters 0.04925485908793943 Centerline is valid? [True, True] Translation: X:752.82, Y:-117.03, Z:-49.59 [[ 9.80646312e-01 1.89800731e-01 4.80467886e-02 7.52821261e+02] [-1.89357821e-01 9.81813271e-01 -1.36497765e-02 -1.17033110e+02] [-4.97637122e-02 4.28756776e-03 9.98751816e-01 -4.95900419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.820714057 meters 0.04967439342206042 Centerline is valid? [True, True] Translation: X:752.88, Y:-117.05, Z:-49.60 [[ 9.79602617e-01 1.95283323e-01 4.73617571e-02 7.52878277e+02] [-1.94859518e-01 9.80738925e-01 -1.34509943e-02 -1.17047164e+02] [-4.90762736e-02 3.94774007e-03 9.98787232e-01 -4.95957607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.880714057 meters 0.04153950679480445 Centerline is valid? [True, True] Translation: X:752.94, Y:-117.05, Z:-49.60 [[ 9.77811162e-01 2.03975456e-01 4.77424913e-02 7.52940725e+02] [-2.03555149e-01 9.78969607e-01 -1.35576284e-02 -1.17046321e+02] [-4.95038714e-02 3.53857042e-03 9.98767663e-01 -4.95965187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.940714057 meters 0.04355928222139332 Centerline is valid? [True, True] Translation: X:753.00, Y:-117.06, Z:-49.60 [[ 9.75752403e-01 2.13175455e-01 4.96333848e-02 7.52997579e+02] [-2.12733037e-01 9.77008715e-01 -1.40934455e-02 -1.17061572e+02] [-5.14966262e-02 3.19305258e-03 9.98668064e-01 -4.96013016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.000714057 meters 0.03441174791335885 Centerline is valid? [True, True] Translation: X:753.06, Y:-117.06, Z:-49.60 [[ 9.73662430e-01 2.21952233e-01 5.21409477e-02 7.53060629e+02] [-2.21476596e-01 9.75053332e-01 -1.48026309e-02 -1.17059744e+02] [-5.41256818e-02 2.86476593e-03 9.98530021e-01 -4.96003928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.060714057 meters 0.033212591792322284 Centerline is valid? [True, True] Translation: X:753.12, Y:-117.07, Z:-49.60 [[ 9.72330024e-01 2.27572796e-01 5.27726008e-02 7.53118940e+02] [-2.27093829e-01 9.73757646e-01 -1.49812919e-02 -1.17071256e+02] [-5.47970581e-02 2.58242790e-03 9.98494173e-01 -4.96047016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.120714057 meters 0.029972360201624314 Centerline is valid? [True, True] Translation: X:753.18, Y:-117.08, Z:-49.61 [[ 9.70905507e-01 2.33659013e-01 5.24019324e-02 7.53179016e+02] [-2.33195715e-01 9.72316066e-01 -1.48736602e-02 -1.17078560e+02] [-5.44266055e-02 2.22101248e-03 9.98515304e-01 -4.96104138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.180714057 meters 0.028802874501174965 Centerline is valid? [True, True] Translation: X:753.24, Y:-117.09, Z:-49.62 [[ 9.69684902e-01 2.38723635e-01 5.21748746e-02 7.53238410e+02] [-2.38271700e-01 9.71085635e-01 -1.48083203e-02 -1.17089781e+02] [-5.42013672e-02 1.92760860e-03 9.98528165e-01 -4.96152508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.240714057 meters 0.029289638102668943 Centerline is valid? [True, True] Translation: X:753.29, Y:-117.11, Z:-49.62 [[ 9.69084478e-01 2.41065540e-01 5.25612123e-02 7.53293834e+02] [-2.40610334e-01 9.70507151e-01 -1.49176740e-02 -1.17105761e+02] [-5.46071696e-02 1.80971552e-03 9.98506275e-01 -4.96206396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.300714057 meters 0.027768314094503376 Centerline is valid? [True, True] Translation: X:753.35, Y:-117.12, Z:-49.62 [[ 9.68904291e-01 2.41593846e-01 5.34498776e-02 7.53351019e+02] [-2.41124105e-01 9.70375778e-01 -1.51662906e-02 -1.17119042e+02] [-5.55305490e-02 1.80663012e-03 9.98455354e-01 -4.96230805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.360714057 meters 0.028207410812211717 Centerline is valid? [True, True] Translation: X:753.41, Y:-117.14, Z:-49.63 [[ 9.68664324e-01 2.42185521e-01 5.50962807e-02 7.53406635e+02] [-2.41688217e-01 9.70228266e-01 -1.56178518e-02 -1.17137189e+02] [-5.72383865e-02 1.81233405e-03 9.98358895e-01 -4.96260486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.420714057 meters 0.02823500202906833 Centerline is valid? [True, True] Translation: X:753.46, Y:-117.16, Z:-49.63 [[ 9.68669654e-01 2.41891381e-01 5.62819772e-02 7.53461817e+02] [-2.41372826e-01 9.70301562e-01 -1.59385595e-02 -1.17155639e+02] [-5.84658905e-02 1.85425901e-03 9.98287685e-01 -4.96287528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.480714057 meters 0.02878663309908413 Centerline is valid? [True, True] Translation: X:753.52, Y:-117.18, Z:-49.63 [[ 9.69303615e-01 2.38873440e-01 5.82235544e-02 7.53515924e+02] [-2.38314147e-01 9.71048463e-01 -1.64696792e-02 -1.17178548e+02] [-6.04720620e-02 2.08862291e-03 9.98167705e-01 -4.96327465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5407140570001 meters 0.029823139220649882 Centerline is valid? [True, True] Translation: X:753.57, Y:-117.20, Z:-49.64 [[ 9.70385379e-01 2.34522753e-01 5.78903768e-02 7.53571266e+02] [-2.33963114e-01 9.72107838e-01 -1.63588728e-02 -1.17202976e+02] [-6.01122169e-02 2.33019815e-03 9.98188906e-01 -4.96371271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.600714057 meters 0.03159072992458885 Centerline is valid? [True, True] Translation: X:753.63, Y:-117.23, Z:-49.64 [[ 9.71533540e-01 2.29669716e-01 5.80896003e-02 7.53625691e+02] [-2.29097620e-01 9.73265051e-01 -1.64140516e-02 -1.17227905e+02] [-6.03063884e-02 2.63861251e-03 9.98176426e-01 -4.96408103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6607140570001 meters 0.033734373565016094 Centerline is valid? [True, True] Translation: X:753.68, Y:-117.25, Z:-49.65 [[ 9.72984799e-01 2.23558679e-01 5.76376501e-02 7.53680432e+02] [-2.22984817e-01 9.74685877e-01 -1.62853514e-02 -1.17253843e+02] [-5.98193351e-02 2.99307849e-03 9.98204733e-01 -4.96460151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.720714057 meters 0.03626363850305023 Centerline is valid? [True, True] Translation: X:753.74, Y:-117.28, Z:-49.65 [[ 9.73926843e-01 2.19512096e-01 5.72795369e-02 7.53736085e+02] [-2.18938419e-01 9.75604462e-01 -1.61833926e-02 -1.17277350e+02] [-5.94346222e-02 3.22074917e-03 9.98227005e-01 -4.96501416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7807140570001 meters 0.038977785828788164 Centerline is valid? [True, True] Translation: X:753.79, Y:-117.30, Z:-49.65 [[ 9.74679839e-01 2.15721690e-01 5.88503515e-02 7.53791790e+02] [-2.15109261e-01 9.76448452e-01 -1.66260784e-02 -1.17301830e+02] [-6.10509403e-02 3.54584786e-03 9.98128353e-01 -4.96533250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.840714057 meters 0.03983579420140018 Centerline is valid? [True, True] Translation: X:753.85, Y:-117.32, Z:-49.66 [[ 9.74889855e-01 2.14726563e-01 5.90108008e-02 7.53847211e+02] [-2.14109013e-01 9.76667506e-01 -1.66707096e-02 -1.17319535e+02] [-6.12135759e-02 3.61736135e-03 9.98118136e-01 -4.96567879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9007140570001 meters 0.04100029258486929 Centerline is valid? [True, True] Translation: X:753.90, Y:-117.34, Z:-49.66 [[ 9.74853714e-01 2.14731975e-01 5.95853652e-02 7.53902483e+02] [-2.14102826e-01 9.76666215e-01 -1.68251138e-02 -1.17338725e+02] [-6.18079030e-02 3.64462965e-03 9.98081409e-01 -4.96597787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.960714057 meters 0.034949486540868664 Centerline is valid? [True, True] Translation: X:753.96, Y:-117.35, Z:-49.66 [[ 9.74435300e-01 2.16393261e-01 6.04136004e-02 7.53961073e+02] [-2.15750621e-01 9.76299742e-01 -1.70435755e-02 -1.17349344e+02] [-6.26698974e-02 3.57358980e-03 9.98027912e-01 -4.96623420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0207140570001 meters 0.03383856072507819 Centerline is valid? [True, True] Translation: X:754.02, Y:-117.37, Z:-49.67 [[ 9.73620193e-01 2.20228612e-01 5.96915267e-02 7.54018949e+02] [-2.19609387e-01 9.75442799e-01 -1.68244874e-02 -1.17365827e+02] [-6.19309034e-02 3.27184109e-03 9.98075077e-01 -4.96667440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.080714057 meters 0.032868627032834725 Centerline is valid? [True, True] Translation: X:754.08, Y:-117.38, Z:-49.67 [[ 9.72800425e-01 2.24064744e-01 5.87734957e-02 7.54076910e+02] [-2.23471480e-01 9.74569706e-01 -1.65646159e-02 -1.17382030e+02] [-6.09904148e-02 2.97986525e-03 9.98133904e-01 -4.96711128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.140714057 meters 0.03013346011612094 Centerline is valid? [True, True] Translation: X:754.14, Y:-117.40, Z:-49.68 [[ 9.71643923e-01 2.29111546e-01 5.84464441e-02 7.54135200e+02] [-2.28534032e-01 9.73396575e-01 -1.64713199e-02 -1.17396043e+02] [-6.06653380e-02 2.64725637e-03 9.98154652e-01 -4.96750948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.200714057 meters 0.029346049608289366 Centerline is valid? [True, True] Translation: X:754.19, Y:-117.41, Z:-49.68 [[ 9.70420057e-01 2.34450775e-01 5.75998888e-02 7.54192855e+02] [-2.33899314e-01 9.72125321e-01 -1.62317925e-02 -1.17413311e+02] [-5.97998667e-02 2.27908247e-03 9.98207785e-01 -4.96790956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.260714057 meters 0.02828877513508447 Centerline is valid? [True, True] Translation: X:754.25, Y:-117.43, Z:-49.68 [[ 9.69262726e-01 2.39133260e-01 5.78364310e-02 7.54248918e+02] [-2.38585626e-01 9.70984703e-01 -1.62974009e-02 -1.17430745e+02] [-6.00555404e-02 1.99752210e-03 9.98193038e-01 -4.96824789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.320714057 meters 0.028324599936318685 Centerline is valid? [True, True] Translation: X:754.30, Y:-117.45, Z:-49.69 [[ 9.68824577e-01 2.40596192e-01 5.90966214e-02 7.54304285e+02] [-2.40027219e-01 9.70623347e-01 -1.66509030e-02 -1.17450083e+02] [-6.13667043e-02 1.94700641e-03 9.98113389e-01 -4.96855260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.380714057 meters 0.028383024523220536 Centerline is valid? [True, True] Translation: X:754.36, Y:-117.47, Z:-49.69 [[ 9.68733449e-01 2.40642061e-01 6.03896018e-02 7.54359663e+02] [-2.40049011e-01 9.70611928e-01 -1.69987748e-02 -1.17469151e+02] [-6.27054880e-02 1.97081758e-03 9.98030129e-01 -4.96884212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.440714057 meters 0.029014841856804766 Centerline is valid? [True, True] Translation: X:754.41, Y:-117.49, Z:-49.69 [[ 9.69592292e-01 2.37025771e-01 6.09062491e-02 7.54414461e+02] [-2.36416435e-01 9.71500854e-01 -1.71277473e-02 -1.17491621e+02] [-6.32301905e-02 2.20769350e-03 9.97996528e-01 -4.96924130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.500714057 meters 0.03383677482609591 Centerline is valid? [True, True] Translation: X:754.47, Y:-117.52, Z:-49.70 [[ 9.71641236e-01 2.28776408e-01 5.97884859e-02 7.54467046e+02] [-2.28173856e-01 9.73475276e-01 -1.68100764e-02 -1.17521652e+02] [-6.20483617e-02 2.69119403e-03 9.98069516e-01 -4.96978051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.560714057 meters 0.03317047021323314 Centerline is valid? [True, True] Translation: X:754.52, Y:-117.54, Z:-49.70 [[ 9.73629230e-01 2.20346929e-01 5.91045915e-02 7.54523111e+02] [-2.19742748e-01 9.75416352e-01 -1.66151946e-02 -1.17543625e+02] [-6.13126921e-02 3.18923372e-03 9.98113512e-01 -4.97023769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.620714057 meters 0.0350967572575311 Centerline is valid? [True, True] Translation: X:754.58, Y:-117.57, Z:-49.71 [[ 9.74820674e-01 2.15161296e-01 5.85685004e-02 7.54579538e+02] [-2.14558777e-01 9.76572316e-01 -1.64633491e-02 -1.17566385e+02] [-6.07386517e-02 3.48242722e-03 9.98147629e-01 -4.97065688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.680714057 meters 0.03759455160671375 Centerline is valid? [True, True] Translation: X:754.63, Y:-117.59, Z:-49.71 [[ 9.75761293e-01 2.10833991e-01 5.86423629e-02 7.54633942e+02] [-2.10222198e-01 9.77514665e-01 -1.64835484e-02 -1.17591941e+02] [-6.07990620e-02 3.75608210e-03 9.98142959e-01 -4.97107044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.740714057 meters 0.03897213041962659 Centerline is valid? [True, True] Translation: X:754.69, Y:-117.61, Z:-49.72 [[ 9.76653187e-01 2.07089590e-01 5.71179011e-02 7.54690414e+02] [-2.06502898e-01 9.78314271e-01 -1.60543016e-02 -1.17613097e+02] [-5.92039365e-02 3.88447270e-03 9.98238351e-01 -4.97151919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.800714057 meters 0.040247812750698435 Centerline is valid? [True, True] Translation: X:754.75, Y:-117.63, Z:-49.72 [[ 9.77365274e-01 2.03595531e-01 5.74976562e-02 7.54746719e+02] [-2.02995034e-01 9.79046405e-01 -1.61602259e-02 -1.17634614e+02] [-5.95830233e-02 4.12270495e-03 9.98214840e-01 -4.97182958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.860714057 meters 0.042730264205436755 Centerline is valid? [True, True] Translation: X:754.80, Y:-117.66, Z:-49.72 [[ 9.77805838e-01 2.01470947e-01 5.74908737e-02 7.54801181e+02] [-2.00866985e-01 9.79485266e-01 -1.61575976e-02 -1.17656005e+02] [-5.95667502e-02 4.25097486e-03 9.98215273e-01 -4.97215414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.920714057 meters 0.04374901935560618 Centerline is valid? [True, True] Translation: X:754.86, Y:-117.67, Z:-49.73 [[ 9.77932757e-01 2.01312738e-01 5.58632624e-02 7.54856133e+02] [-2.00742475e-01 9.79518287e-01 -1.56966476e-02 -1.17672501e+02] [-5.78790221e-02 4.13613635e-03 9.98315036e-01 -4.97259248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.980714057 meters 0.045374934050798885 Centerline is valid? [True, True] Translation: X:754.91, Y:-117.69, Z:-49.73 [[ 9.78006434e-01 2.01241143e-01 5.48216898e-02 7.54910898e+02] [-2.00692854e-01 9.79533376e-01 -1.53864999e-02 -1.17691162e+02] [-5.67960717e-02 4.04577456e-03 9.98377603e-01 -4.97306566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0407140570001 meters 0.04727784600229282 Centerline is valid? [True, True] Translation: X:754.97, Y:-117.71, Z:-49.73 [[ 9.78194291e-01 2.00219672e-01 5.52087998e-02 7.54965971e+02] [-1.99662278e-01 9.79742330e-01 -1.54900582e-02 -1.17710356e+02] [-5.71918125e-02 4.12917184e-03 9.98354670e-01 -4.97334284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.100714057 meters 0.04861822266254042 Centerline is valid? [True, True] Translation: X:755.02, Y:-117.73, Z:-49.73 [[ 9.78552245e-01 1.98224126e-01 5.60597886e-02 7.55022896e+02] [-1.97646452e-01 9.80147261e-01 -1.57234719e-02 -1.17726710e+02] [-5.80636197e-02 4.30622041e-03 9.98303597e-01 -4.97339265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1607140570001 meters 0.04475811992353739 Centerline is valid? [True, True] Translation: X:755.08, Y:-117.74, Z:-49.74 [[ 9.78639233e-01 1.97744207e-01 5.62359360e-02 7.55080519e+02] [-1.97162253e-01 9.80244022e-01 -1.57703685e-02 -1.17736875e+02] [-5.82434391e-02 4.34589747e-03 9.98292951e-01 -4.97365681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.220714057 meters 0.04525064739969668 Centerline is valid? [True, True] Translation: X:755.14, Y:-117.75, Z:-49.74 [[ 9.78595616e-01 1.98124559e-01 5.56532044e-02 7.55136955e+02] [-1.97555625e-01 9.80167543e-01 -1.56000701e-02 -1.17751902e+02] [-5.76402217e-02 4.27155661e-03 9.98328282e-01 -4.97401718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2807140570001 meters 0.04636410213406979 Centerline is valid? [True, True] Translation: X:755.19, Y:-117.77, Z:-49.74 [[ 9.78549388e-01 1.98470220e-01 5.52328489e-02 7.55194069e+02] [-1.97911218e-01 9.80097898e-01 -1.54680395e-02 -1.17766303e+02] [-5.72035443e-02 4.20504016e-03 9.98353681e-01 -4.97432311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.340714057 meters 0.04075955244326722 Centerline is valid? [True, True] Translation: X:755.25, Y:-117.77, Z:-49.75 [[ 9.78714341e-01 1.98054227e-01 5.37844074e-02 7.55253017e+02] [-1.97524302e-01 9.80182468e-01 -1.50492274e-02 -1.17773377e+02] [-5.56990963e-02 4.10516713e-03 9.98439161e-01 -4.97478995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4007140570001 meters 0.040345308796133086 Centerline is valid? [True, True] Translation: X:755.31, Y:-117.79, Z:-49.75 [[ 9.78742177e-01 1.98242136e-01 5.25719116e-02 7.55309989e+02] [-1.97736883e-01 9.80144963e-01 -1.46961206e-02 -1.17786579e+02] [-5.44414847e-02 3.98830717e-03 9.98508998e-01 -4.97526289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.460714057 meters 0.03973646861283602 Centerline is valid? [True, True] Translation: X:755.37, Y:-117.80, Z:-49.76 [[ 9.78220702e-01 2.00900686e-01 5.21840286e-02 7.55368974e+02] [-2.00407525e-01 9.79604261e-01 -1.45710947e-02 -1.17797666e+02] [-5.40470397e-02 3.79567447e-03 9.98531177e-01 -4.97556088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5207140570001 meters 0.03921037469322087 Centerline is valid? [True, True] Translation: X:755.43, Y:-117.81, Z:-49.76 [[ 9.77269492e-01 2.05193364e-01 5.32918667e-02 7.55428477e+02] [-2.04685429e-01 9.78714711e-01 -1.48791801e-02 -1.17809785e+02] [-5.52106429e-02 3.63290021e-03 9.98468120e-01 -4.97581766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.580714057 meters 0.03892830199308401 Centerline is valid? [True, True] Translation: X:755.49, Y:-117.82, Z:-49.76 [[ 9.76786076e-01 2.07394275e-01 5.36337326e-02 7.55487365e+02] [-2.06883075e-01 9.78251064e-01 -1.49749805e-02 -1.17822657e+02] [-5.55729812e-02 3.53144097e-03 9.98448383e-01 -4.97613264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.640714057 meters 0.03757457516326163 Centerline is valid? [True, True] Translation: X:755.55, Y:-117.83, Z:-49.76 [[ 9.76280284e-01 2.09939663e-01 5.29352832e-02 7.55546560e+02] [-2.09445479e-01 9.77708634e-01 -1.47789866e-02 -1.17833030e+02] [-5.48579789e-02 3.34137748e-03 9.98488577e-01 -4.97646013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.700714057 meters 0.04022259438188904 Centerline is valid? [True, True] Translation: X:755.60, Y:-117.85, Z:-49.77 [[ 9.76240275e-01 2.10490270e-01 5.14662144e-02 7.55601521e+02] [-2.10023929e-01 9.77590655e-01 -1.43687011e-02 -1.17850086e+02] [-5.33373620e-02 3.21816815e-03 9.98571364e-01 -4.97699007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.760714057 meters 0.03539774376176428 Centerline is valid? [True, True] Translation: X:755.66, Y:-117.86, Z:-49.77 [[ 9.76225003e-01 2.10825744e-01 5.03711255e-02 7.55660563e+02] [-2.10379626e-01 9.77518651e-01 -1.40605510e-02 -1.17856482e+02] [-5.22030408e-02 3.12920288e-03 9.98631589e-01 -4.97717877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.820714057 meters 0.03548356474738546 Centerline is valid? [True, True] Translation: X:755.72, Y:-117.87, Z:-49.77 [[ 9.75999484e-01 2.11943546e-01 5.00493839e-02 7.55717531e+02] [-2.11505286e-01 9.77277194e-01 -1.39570976e-02 -1.17869633e+02] [-5.18702382e-02 3.03641084e-03 9.98649217e-01 -4.97735422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.880714057 meters 0.03463212778926046 Centerline is valid? [True, True] Translation: X:755.78, Y:-117.88, Z:-49.77 [[ 9.75531646e-01 2.14048888e-01 5.02103760e-02 7.55776503e+02] [-2.13611400e-01 9.76818589e-01 -1.39861879e-02 -1.17881198e+02] [-5.20401566e-02 2.91846018e-03 9.98640729e-01 -4.97749137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.940714057 meters 0.03371521437763186 Centerline is valid? [True, True] Translation: X:755.83, Y:-117.89, Z:-49.78 [[ 9.75268444e-01 2.15388760e-01 4.95897687e-02 7.55834380e+02] [-2.14963712e-01 9.76524332e-01 -1.38141508e-02 -1.17893601e+02] [-5.14010286e-02 2.81250457e-03 9.98674133e-01 -4.97784021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.000714057 meters 0.0342467041675056 Centerline is valid? [True, True] Translation: X:755.89, Y:-117.91, Z:-49.78 [[ 9.75533087e-01 2.14309135e-01 4.90590605e-02 7.55891274e+02] [-2.13892387e-01 9.76761794e-01 -1.36544412e-02 -1.17906818e+02] [-5.08452874e-02 2.82699960e-03 9.98702541e-01 -4.97810704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.060714057 meters 0.034026671104866596 Centerline is valid? [True, True] Translation: X:755.95, Y:-117.92, Z:-49.78 [[ 9.75886860e-01 2.12671779e-01 4.91482488e-02 7.55948512e+02] [-2.12252247e-01 9.77119384e-01 -1.36635377e-02 -1.17921184e+02] [-5.09295554e-02 2.90224064e-03 9.98698031e-01 -4.97837924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.120714057 meters 0.03556400111642334 Centerline is valid? [True, True] Translation: X:756.01, Y:-117.94, Z:-49.79 [[ 9.76549879e-01 2.09831047e-01 4.81795158e-02 7.56005996e+02] [-2.09424691e-01 9.77733101e-01 -1.33895990e-02 -1.17938437e+02] [-4.99162610e-02 2.98563104e-03 9.98748944e-01 -4.97886992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.180714057 meters 0.03716099363966117 Centerline is valid? [True, True] Translation: X:756.06, Y:-117.96, Z:-49.79 [[ 9.77335351e-01 2.06379550e-01 4.71496847e-02 7.56063145e+02] [-2.05986435e-01 9.78467124e-01 -1.31025143e-02 -1.17955218e+02] [-4.88385074e-02 3.09335492e-03 9.98801898e-01 -4.97934015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.240714057 meters 0.041489728065057144 Centerline is valid? [True, True] Translation: X:756.12, Y:-117.98, Z:-49.80 [[ 9.77658150e-01 2.04724106e-01 4.76716070e-02 7.56117075e+02] [-2.04320278e-01 9.78814450e-01 -1.32474790e-02 -1.17976968e+02] [-4.93737361e-02 3.21122979e-03 9.98775211e-01 -4.97986211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.300714057 meters 0.039908069846954906 Centerline is valid? [True, True] Translation: X:756.17, Y:-117.99, Z:-49.80 [[ 9.77968205e-01 2.02818548e-01 4.94249662e-02 7.56174879e+02] [-2.02382238e-01 9.79210347e-01 -1.37304432e-02 -1.17989432e+02] [-5.11822269e-02 3.42520162e-03 9.98683457e-01 -4.98002280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.360714057 meters 0.03794555762424219 Centerline is valid? [True, True] Translation: X:756.23, Y:-118.00, Z:-49.80 [[ 9.78271660e-01 2.01173098e-01 5.01392500e-02 7.56232881e+02] [-2.00722073e-01 9.79549241e-01 -1.39260185e-02 -1.18000788e+02] [-5.19154046e-02 3.55937500e-03 9.98645143e-01 -4.98032972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.420714057 meters 0.04467015700968009 Centerline is valid? [True, True] Translation: X:756.29, Y:-118.03, Z:-49.81 [[ 9.78849392e-01 1.98477928e-01 4.96022196e-02 7.56287441e+02] [-1.98033253e-01 9.80098526e-01 -1.37734984e-02 -1.18025912e+02] [-5.13487977e-02 3.65929161e-03 9.98674076e-01 -4.98096646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.480714057 meters 0.041868944414515184 Centerline is valid? [True, True] Translation: X:756.35, Y:-118.04, Z:-49.81 [[ 9.79274508e-01 1.96149488e-01 5.04659915e-02 7.56346269e+02] [-1.95686142e-01 9.80566460e-01 -1.40125739e-02 -1.18037220e+02] [-5.22338178e-02 3.84666124e-03 9.98627474e-01 -4.98129783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5407140570001 meters 0.04175763126137296 Centerline is valid? [True, True] Translation: X:756.40, Y:-118.05, Z:-49.82 [[ 9.79773885e-01 1.93316952e-01 5.16884063e-02 7.56404618e+02] [-1.92827063e-01 9.81127824e-01 -1.43498252e-02 -1.18051576e+02] [-5.34869981e-02 4.09266042e-03 9.98560159e-01 -4.98159121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.600714057 meters 0.04361755698081022 Centerline is valid? [True, True] Translation: X:756.46, Y:-118.07, Z:-49.82 [[ 9.80114072e-01 1.91489333e-01 5.20407650e-02 7.56460988e+02] [-1.90990210e-01 9.81485620e-01 -1.44470241e-02 -1.18068874e+02] [-5.38437135e-02 4.22045498e-03 9.98540456e-01 -4.98207206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6607140570001 meters 0.0432795492537445 Centerline is valid? [True, True] Translation: X:756.52, Y:-118.08, Z:-49.83 [[ 9.80297653e-01 1.90451727e-01 5.23894252e-02 7.56518132e+02] [-1.89944465e-01 9.81687121e-01 -1.45428965e-02 -1.18083038e+02] [-5.41997438e-02 4.30528599e-03 9.98520832e-01 -4.98253267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.720714057 meters 0.04756857990647693 Centerline is valid? [True, True] Translation: X:756.57, Y:-118.10, Z:-49.83 [[ 9.80702398e-01 1.88441265e-01 5.20835574e-02 7.56572999e+02] [-1.87937963e-01 9.82074717e-01 -1.44420140e-02 -1.18102385e+02] [-5.38714163e-02 4.37484013e-03 9.98538297e-01 -4.98308026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7807140570001 meters 0.05041269453288706 Centerline is valid? [True, True] Translation: X:756.63, Y:-118.12, Z:-49.84 [[ 9.80981187e-01 1.86799225e-01 5.27443006e-02 7.56628445e+02] [-1.86280923e-01 9.82387723e-01 -1.46211845e-02 -1.18119239e+02] [-5.45465793e-02 4.51784991e-03 9.98501006e-01 -4.98361587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.840714057 meters 0.05295846866143632 Centerline is valid? [True, True] Translation: X:756.68, Y:-118.14, Z:-49.84 [[ 9.81063753e-01 1.85989344e-01 5.40543846e-02 7.56683450e+02] [-1.85443947e-01 9.82540651e-01 -1.49804078e-02 -1.18136067e+02] [-5.58968264e-02 4.67267666e-03 9.98425616e-01 -4.98402898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9007140570001 meters 0.044236506609474625 Centerline is valid? [True, True] Translation: X:756.74, Y:-118.14, Z:-49.84 [[ 9.80920041e-01 1.86532062e-01 5.47874413e-02 7.56744538e+02] [-1.85972801e-01 9.82437625e-01 -1.51799127e-02 -1.18135530e+02] [-5.66567841e-02 4.70130663e-03 9.98382645e-01 -4.98417256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.960714057 meters 0.04934969355361321 Centerline is valid? [True, True] Translation: X:756.80, Y:-118.16, Z:-49.85 [[ 9.80509885e-01 1.88396549e-01 5.57414096e-02 7.56799601e+02] [-1.87821580e-01 9.82081998e-01 -1.54273707e-02 -1.18155025e+02] [-5.76490983e-02 4.65724981e-03 9.98326045e-01 -4.98475884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0207140570001 meters 0.04340778332382037 Centerline is valid? [True, True] Translation: X:756.86, Y:-118.16, Z:-49.85 [[ 9.79974897e-01 1.90940065e-01 5.64897623e-02 7.56860633e+02] [-1.90353932e-01 9.81591082e-01 -1.56309888e-02 -1.18158511e+02] [-5.84344290e-02 4.56492829e-03 9.98280812e-01 -4.98505400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.080714057 meters 0.04786872831286679 Centerline is valid? [True, True] Translation: X:756.92, Y:-118.18, Z:-49.86 [[ 9.79435997e-01 1.93743484e-01 5.62902260e-02 7.56916534e+02] [-1.93166139e-01 9.81042439e-01 -1.55748118e-02 -1.18176554e+02] [-5.82406189e-02 4.38116569e-03 9.98292961e-01 -4.98552332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.140714057 meters 0.0416786279902324 Centerline is valid? [True, True] Translation: X:756.98, Y:-118.18, Z:-49.86 [[ 9.78542686e-01 1.98250896e-01 5.61319322e-02 7.56977321e+02] [-1.97684285e-01 9.80142734e-01 -1.55288480e-02 -1.18179445e+02] [-5.80959135e-02 4.09923976e-03 9.98302590e-01 -4.98604633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.200714057 meters 0.03750985289447967 Centerline is valid? [True, True] Translation: X:757.04, Y:-118.18, Z:-49.86 [[ 9.77415320e-01 2.03617769e-01 5.65605539e-02 7.57038286e+02] [-2.03051469e-01 9.79043055e-01 -1.56459822e-02 -1.18182902e+02] [-5.85610174e-02 3.80791912e-03 9.98276568e-01 -4.98633970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.260714057 meters 0.03716931427532258 Centerline is valid? [True, True] Translation: X:757.10, Y:-118.19, Z:-49.87 [[ 9.76575074e-01 2.07328344e-01 5.75854460e-02 7.57095949e+02] [-2.06747829e-01 9.78264608e-01 -1.59277262e-02 -1.18194669e+02] [-5.96360728e-02 3.64895441e-03 9.98213516e-01 -4.98666464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.320714057 meters 0.03763887105379356 Centerline is valid? [True, True] Translation: X:757.15, Y:-118.21, Z:-49.87 [[ 9.75484566e-01 2.11976346e-01 5.91260612e-02 7.57154027e+02] [-2.11372926e-01 9.77268695e-01 -1.63518553e-02 -1.18205788e+02] [-6.12482553e-02 3.45333395e-03 9.98116589e-01 -4.98698984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.380714057 meters 0.035753007122333126 Centerline is valid? [True, True] Translation: X:757.21, Y:-118.22, Z:-49.87 [[ 9.74868142e-01 2.14275138e-01 6.09776279e-02 7.57213465e+02] [-2.13637902e-01 9.76767389e-01 -1.68616365e-02 -1.18216699e+02] [-6.31739879e-02 3.41073976e-03 9.97996700e-01 -4.98732518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.440714057 meters 0.03244721948207743 Centerline is valid? [True, True] Translation: X:757.27, Y:-118.22, Z:-49.88 [[ 9.74257148e-01 2.16701657e-01 6.21562697e-02 7.57273275e+02] [-2.16044637e-01 9.76232254e-01 -1.71843524e-02 -1.18223270e+02] [-6.44028329e-02 3.31344944e-03 9.97918482e-01 -4.98769431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.500714057 meters 0.03633860034298328 Centerline is valid? [True, True] Translation: X:757.33, Y:-118.24, Z:-49.88 [[ 9.74043004e-01 2.17864207e-01 6.14444028e-02 7.57327745e+02] [-2.17224611e-01 9.75973855e-01 -1.69853913e-02 -1.18243295e+02] [-6.36686394e-02 3.19726512e-03 9.97965972e-01 -4.98829191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.560714057 meters 0.03701939307380092 Centerline is valid? [True, True] Translation: X:757.38, Y:-118.26, Z:-49.89 [[ 9.74201677e-01 2.17250145e-01 6.11021067e-02 7.57383997e+02] [-2.16617498e-01 9.76110707e-01 -1.68744312e-02 -1.18259004e+02] [-6.33083932e-02 3.20331367e-03 9.97988871e-01 -4.98883617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.620714057 meters 0.03485617097066552 Centerline is valid? [True, True] Translation: X:757.44, Y:-118.27, Z:-49.89 [[ 9.74531570e-01 2.15827646e-01 6.08822375e-02 7.57441402e+02] [-2.15197738e-01 9.76426004e-01 -1.67986054e-02 -1.18270477e+02] [-6.30726033e-02 3.26905155e-03 9.98003587e-01 -4.98928561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.680714057 meters 0.037387837427706426 Centerline is valid? [True, True] Translation: X:757.50, Y:-118.29, Z:-49.90 [[ 9.74888382e-01 2.14054634e-01 6.14268328e-02 7.57497104e+02] [-2.13410925e-01 9.76815779e-01 -1.69325435e-02 -1.18289362e+02] [-6.36271890e-02 3.39818274e-03 9.97967952e-01 -4.98968412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.740714057 meters 0.04198860511630547 Centerline is valid? [True, True] Translation: X:757.55, Y:-118.31, Z:-49.90 [[ 9.75402765e-01 2.11777261e-01 6.11542163e-02 7.57551660e+02] [-2.11135012e-01 9.77311592e-01 -1.68540702e-02 -1.18311772e+02] [-6.33360333e-02 3.52771053e-03 9.97986023e-01 -4.99015309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.800714057 meters 0.034863878711336706 Centerline is valid? [True, True] Translation: X:757.61, Y:-118.32, Z:-49.90 [[ 9.75751072e-01 2.09947899e-01 6.19009397e-02 7.57612320e+02] [-2.09286491e-01 9.77705625e-01 -1.70550603e-02 -1.18315992e+02] [-6.41015710e-02 3.68646294e-03 9.97936570e-01 -4.99041857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.860714057 meters 0.034999711812924925 Centerline is valid? [True, True] Translation: X:757.67, Y:-118.33, Z:-49.91 [[ 9.75979597e-01 2.08845914e-01 6.20258807e-02 7.57668663e+02] [-2.08179762e-01 9.77941315e-01 -1.70871753e-02 -1.18332685e+02] [-6.42262580e-02 3.76420142e-03 9.97928263e-01 -4.99081044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.920714057 meters 0.03778113987506841 Centerline is valid? [True, True] Translation: X:757.72, Y:-118.35, Z:-49.91 [[ 9.76651094e-01 2.06250488e-01 6.01113748e-02 7.57723479e+02] [-2.05620989e-01 9.78491859e-01 -1.65436269e-02 -1.18353184e+02] [-6.22306220e-02 3.79719095e-03 9.98054573e-01 -4.99141205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.980714057 meters 0.03899591873287367 Centerline is valid? [True, True] Translation: X:757.78, Y:-118.37, Z:-49.92 [[ 9.77194876e-01 2.03813105e-01 5.95851699e-02 7.57779804e+02] [-2.03190290e-01 9.79001990e-01 -1.63954423e-02 -1.18371942e+02] [-6.16756059e-02 3.91441425e-03 9.98088572e-01 -4.99198377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0407140570001 meters 0.03866099603816865 Centerline is valid? [True, True] Translation: X:757.84, Y:-118.39, Z:-49.92 [[ 9.77894642e-01 2.00606459e-01 5.89840454e-02 7.57837215e+02] [-1.99990493e-01 9.79663442e-01 -1.62278312e-02 -1.18388090e+02] [-6.10399207e-02 4.07286087e-03 9.98127016e-01 -4.99236696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.100714057 meters 0.03674199814667692 Centerline is valid? [True, True] Translation: X:757.89, Y:-118.40, Z:-49.93 [[ 9.78187621e-01 1.99244584e-01 5.87415883e-02 7.57894582e+02] [-1.98631271e-01 9.79941047e-01 -1.61605445e-02 -1.18400540e+02] [-6.07831945e-02 4.14012823e-03 9.98142406e-01 -4.99268262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1607140570001 meters 0.044029852446064756 Centerline is valid? [True, True] Translation: X:757.95, Y:-118.43, Z:-49.93 [[ 9.78153628e-01 1.99070171e-01 5.98877964e-02 7.57946237e+02] [-1.98433399e-01 9.79976172e-01 -1.64586977e-02 -1.18425508e+02] [-6.19650492e-02 4.21539591e-03 9.98069418e-01 -4.99294985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.220714057 meters 0.03721610836651873 Centerline is valid? [True, True] Translation: X:758.01, Y:-118.43, Z:-49.93 [[ 9.78016952e-01 1.99541553e-01 6.05475811e-02 7.58005510e+02] [-1.98892055e-01 9.79880262e-01 -1.66319926e-02 -1.18430965e+02] [-6.26481533e-02 4.22393789e-03 9.98026737e-01 -4.99328871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2807140570001 meters 0.03739204581494016 Centerline is valid? [True, True] Translation: X:758.06, Y:-118.45, Z:-49.94 [[ 9.77961848e-01 2.00000620e-01 5.99197390e-02 7.58062468e+02] [-1.99366403e-01 9.79787045e-01 -1.64433468e-02 -1.18445430e+02] [-6.19972636e-02 4.13498298e-03 9.98067754e-01 -4.99365953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.340714057 meters 0.03722874163876201 Centerline is valid? [True, True] Translation: X:758.12, Y:-118.46, Z:-49.94 [[ 9.78122511e-01 1.99454966e-01 5.91106583e-02 7.58118978e+02] [-1.98837762e-01 9.79898427e-01 -1.62054697e-02 -1.18459859e+02] [-6.11547025e-02 4.09750368e-03 9.98119889e-01 -4.99411310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4007140570001 meters 0.04145803446196971 Centerline is valid? [True, True] Translation: X:758.17, Y:-118.48, Z:-49.95 [[ 9.78613663e-01 1.97645783e-01 5.70214196e-02 7.58173553e+02] [-1.97069380e-01 9.80265157e-01 -1.56167047e-02 -1.18480291e+02] [-5.89826867e-02 4.04554474e-03 9.98250808e-01 -4.99475933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.460714057 meters 0.03915844778975058 Centerline is valid? [True, True] Translation: X:758.23, Y:-118.49, Z:-49.95 [[ 9.79139173e-01 1.95419376e-01 5.56574151e-02 7.58231984e+02] [-1.94866920e-01 9.80711303e-01 -1.52388722e-02 -1.18490429e+02] [-5.75618270e-02 4.07518769e-03 9.98333626e-01 -4.99516301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5207140570001 meters 0.040536329502352426 Centerline is valid? [True, True] Translation: X:758.29, Y:-118.51, Z:-49.96 [[ 9.79389294e-01 1.94016710e-01 5.61616161e-02 7.58289222e+02] [-1.93452093e-01 9.80989268e-01 -1.53735037e-02 -1.18507376e+02] [-5.80766593e-02 4.19206277e-03 9.98303325e-01 -4.99552198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.580714057 meters 0.04442035390935335 Centerline is valid? [True, True] Translation: X:758.35, Y:-118.53, Z:-49.96 [[ 9.79888863e-01 1.91316999e-01 5.67064554e-02 7.58345831e+02] [-1.90737004e-01 9.81518474e-01 -1.55203230e-02 -1.18526427e+02] [-5.86277352e-02 4.39217226e-03 9.98270253e-01 -4.99575930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.640714057 meters 0.0474479610786231 Centerline is valid? [True, True] Translation: X:758.40, Y:-118.55, Z:-49.96 [[ 9.80186545e-01 1.89472916e-01 5.77438400e-02 7.58402146e+02] [-1.88868358e-01 9.81875246e-01 -1.58032928e-02 -1.18545498e+02] [-5.96915431e-02 4.58419072e-03 9.98206344e-01 -4.99607038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.700714057 meters 0.04598310965233403 Centerline is valid? [True, True] Translation: X:758.46, Y:-118.56, Z:-49.96 [[ 9.80696144e-01 1.86657116e-01 5.82597162e-02 7.58460102e+02] [-1.86036964e-01 9.82413421e-01 -1.59410726e-02 -1.18559730e+02] [-6.02106417e-02 4.79488768e-03 9.98174177e-01 -4.99644943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.760714057 meters 0.044738328302937905 Centerline is valid? [True, True] Translation: X:758.52, Y:-118.57, Z:-49.97 [[ 9.81060448e-01 1.85168638e-01 5.68592449e-02 7.58517655e+02] [-1.84575549e-01 9.82695195e-01 -1.55570213e-02 -1.18572074e+02] [-5.87559792e-02 4.76755194e-03 9.98260991e-01 -4.99695417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.820714057 meters 0.04693473375266183 Centerline is valid? [True, True] Translation: X:758.57, Y:-118.59, Z:-49.97 [[ 9.81202692e-01 1.84852012e-01 5.54166976e-02 7.58572185e+02] [-1.84288308e-01 9.82755309e-01 -1.51599190e-02 -1.18588796e+02] [-5.72633953e-02 4.66230390e-03 9.98348219e-01 -4.99748277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.880714057 meters 0.046619312665510455 Centerline is valid? [True, True] Translation: X:758.63, Y:-118.60, Z:-49.98 [[ 9.80767874e-01 1.87326513e-01 5.48010424e-02 7.58630421e+02] [-1.86779681e-01 9.82287589e-01 -1.49814346e-02 -1.18603075e+02] [-5.66368037e-02 4.45758854e-03 9.98384897e-01 -4.99799491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.940714057 meters 0.04644606705609951 Centerline is valid? [True, True] Translation: X:758.69, Y:-118.62, Z:-49.98 [[ 9.80250476e-01 1.89988002e-01 5.48959317e-02 7.58688272e+02] [-1.89443464e-01 9.81776950e-01 -1.50064880e-02 -1.18616678e+02] [-5.67466131e-02 4.31044157e-03 9.98379308e-01 -4.99835538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.000714057 meters 0.044959853527305714 Centerline is valid? [True, True] Translation: X:758.75, Y:-118.63, Z:-49.99 [[ 9.78865316e-01 1.96608832e-01 5.62819651e-02 7.58746290e+02] [-1.96047400e-01 9.80473749e-01 -1.53832253e-02 -1.18627104e+02] [-5.82074673e-02 4.02417271e-03 9.98296397e-01 -4.99861643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.060714057 meters 0.03719076299943497 Centerline is valid? [True, True] Translation: X:758.81, Y:-118.63, Z:-49.99 [[ 9.77883386e-01 2.01176289e-01 5.72030060e-02 7.58808145e+02] [-2.00604173e-01 9.79547634e-01 -1.56332608e-02 -1.18629997e+02] [-5.91781105e-02 3.81234427e-03 9.98240160e-01 -4.99882607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.120714057 meters 0.03423402498795653 Centerline is valid? [True, True] Translation: X:758.87, Y:-118.64, Z:-49.99 [[ 9.76388122e-01 2.08279065e-01 5.73242234e-02 7.58867965e+02] [-2.07716844e-01 9.78063578e-01 -1.56636834e-02 -1.18638579e+02] [-5.93291524e-02 3.38662761e-03 9.98232730e-01 -4.99916696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.180714057 meters 0.03542788570229867 Centerline is valid? [True, True] Translation: X:758.92, Y:-118.65, Z:-50.00 [[ 9.75633488e-01 2.11945291e-01 5.67317444e-02 7.58924876e+02] [-2.11400850e-01 9.77276519e-01 -1.55011542e-02 -1.18654657e+02] [-5.87279983e-02 3.13030619e-03 9.98269114e-01 -4.99968801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.240714057 meters 0.03144454313041228 Centerline is valid? [True, True] Translation: X:758.98, Y:-118.66, Z:-50.00 [[ 9.74594025e-01 2.16922339e-01 5.57779997e-02 7.58984207e+02] [-2.16404304e-01 9.76184904e-01 -1.52384635e-02 -1.18663204e+02] [-5.77552044e-02 2.78071622e-03 9.98326902e-01 -5.00009597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.300714057 meters 0.029827112002711736 Centerline is valid? [True, True] Translation: X:759.04, Y:-118.68, Z:-50.00 [[ 9.73603604e-01 2.21424598e-01 5.53820298e-02 7.59042807e+02] [-2.20921271e-01 9.75174307e-01 -1.51282318e-02 -1.18676215e+02] [-5.73568951e-02 2.49383258e-03 9.98350624e-01 -5.00038440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.360714057 meters 0.029369571563697325 Centerline is valid? [True, True] Translation: X:759.10, Y:-118.69, Z:-50.01 [[ 9.73093711e-01 2.23481406e-01 5.60775499e-02 7.59099011e+02] [-2.22968791e-01 9.74705234e-01 -1.53174888e-02 -1.18691887e+02] [-5.80822553e-02 2.40180846e-03 9.98308912e-01 -5.00074382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.420714057 meters 0.030371616306357773 Centerline is valid? [True, True] Translation: X:759.15, Y:-118.71, Z:-50.01 [[ 9.72772659e-01 2.24758522e-01 5.65416727e-02 7.59153528e+02] [-2.24239763e-01 9.74411682e-01 -1.54402733e-02 -1.18710141e+02] [-5.85651994e-02 2.34098441e-03 9.98280841e-01 -5.00105804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.480714057 meters 0.029586642319039673 Centerline is valid? [True, True] Translation: X:759.21, Y:-118.73, Z:-50.01 [[ 9.72878405e-01 2.24189877e-01 5.69781337e-02 7.59210106e+02] [-2.23662522e-01 9.74542561e-01 -1.55522582e-02 -1.18726826e+02] [-5.90142752e-02 2.38658311e-03 9.98254286e-01 -5.00125832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5407140570001 meters 0.02880865111023274 Centerline is valid? [True, True] Translation: X:759.27, Y:-118.74, Z:-50.02 [[ 9.72972983e-01 2.23650758e-01 5.74796722e-02 7.59266269e+02] [-2.23114035e-01 9.74666330e-01 -1.56739657e-02 -1.18742214e+02] [-5.95289954e-02 2.42582357e-03 9.98223629e-01 -5.00159946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.600714057 meters 0.028935371693152034 Centerline is valid? [True, True] Translation: X:759.32, Y:-118.76, Z:-50.02 [[ 9.73456924e-01 2.21470571e-01 5.77269802e-02 7.59321161e+02] [-2.20926481e-01 9.75163715e-01 -1.57232006e-02 -1.18762800e+02] [-5.97754827e-02 2.55243988e-03 9.98208584e-01 -5.00196134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6607140570001 meters 0.029747848092034703 Centerline is valid? [True, True] Translation: X:759.38, Y:-118.78, Z:-50.02 [[ 9.73991543e-01 2.19156791e-01 5.75393405e-02 7.59377262e+02] [-2.18613205e-01 9.75686003e-01 -1.56553817e-02 -1.18783004e+02] [-5.95713124e-02 2.66934967e-03 9.98220483e-01 -5.00233655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.720714057 meters 0.035049038929791394 Centerline is valid? [True, True] Translation: X:759.43, Y:-118.81, Z:-50.03 [[ 9.74930732e-01 2.15406349e-01 5.57689239e-02 7.59430410e+02] [-2.14889739e-01 9.76520469e-01 -1.51715070e-02 -1.18813579e+02] [-5.77275346e-02 2.80699894e-03 9.98328429e-01 -5.00297397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7807140570001 meters 0.03671767148649158 Centerline is valid? [True, True] Translation: X:759.49, Y:-118.84, Z:-50.04 [[ 9.75393006e-01 2.13564072e-01 5.47619484e-02 7.59485877e+02] [-2.13063143e-01 9.76924867e-01 -1.48963485e-02 -1.18835585e+02] [-5.66796340e-02 2.86204131e-03 9.98388315e-01 -5.00350112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.840714057 meters 0.03444150328272456 Centerline is valid? [True, True] Translation: X:759.54, Y:-118.85, Z:-50.04 [[ 9.75757301e-01 2.12056672e-01 5.41263019e-02 7.59541909e+02] [-2.11565006e-01 9.77253022e-01 -1.47234189e-02 -1.18851798e+02] [-5.60172913e-02 2.91525206e-03 9.98425543e-01 -5.00381045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9007140570001 meters 0.032738246908038955 Centerline is valid? [True, True] Translation: X:759.60, Y:-118.87, Z:-50.04 [[ 9.75743384e-01 2.12186116e-01 5.38693018e-02 7.59599061e+02] [-2.11700084e-01 9.77225028e-01 -1.46396318e-02 -1.18866829e+02] [-5.57487565e-02 2.88038819e-03 9.98440674e-01 -5.00404930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.960714057 meters 0.03279969031931249 Centerline is valid? [True, True] Translation: X:759.65, Y:-118.89, Z:-50.04 [[ 9.75503648e-01 2.13141425e-01 5.44368005e-02 7.59654490e+02] [-2.12647403e-01 9.77017226e-01 -1.47790960e-02 -1.18887009e+02] [-5.63357294e-02 2.84121785e-03 9.98407839e-01 -5.00441286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0207140570001 meters 0.03211825329194979 Centerline is valid? [True, True] Translation: X:759.71, Y:-118.90, Z:-50.05 [[ 9.75568504e-01 2.12863080e-01 5.43636142e-02 7.59709320e+02] [-2.12370742e-01 9.77077911e-01 -1.47452849e-02 -1.18903920e+02] [-5.62562134e-02 2.83979452e-03 9.98412327e-01 -5.00470582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.080714057 meters 0.0331133914693711 Centerline is valid? [True, True] Translation: X:759.76, Y:-118.92, Z:-50.05 [[ 9.75859824e-01 2.11788414e-01 5.33223320e-02 7.59764212e+02] [-2.11314164e-01 9.77311449e-01 -1.44449595e-02 -1.18923447e+02] [-5.51718006e-02 2.82849163e-03 9.98472870e-01 -5.00513494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.140714057 meters 0.03496750079115184 Centerline is valid? [True, True] Translation: X:759.82, Y:-118.95, Z:-50.06 [[ 9.76368718e-01 2.09412285e-01 5.33912135e-02 7.59817917e+02] [-2.08933550e-01 9.77822951e-01 -1.44584934e-02 -1.18947134e+02] [-5.52349401e-02 2.96160489e-03 9.98468993e-01 -5.00555567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.200714057 meters 0.03577148090160758 Centerline is valid? [True, True] Translation: X:759.87, Y:-118.97, Z:-50.06 [[ 9.76717552e-01 2.07856412e-01 5.30898905e-02 7.59874326e+02] [-2.07381058e-01 9.78154664e-01 -1.43718472e-02 -1.18967133e+02] [-5.49174046e-02 3.02739776e-03 9.98486311e-01 -5.00597859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.260714057 meters 0.037954772609310496 Centerline is valid? [True, True] Translation: X:759.93, Y:-118.99, Z:-50.06 [[ 9.77074519e-01 2.06217724e-01 5.29115830e-02 7.59928849e+02] [-2.05743265e-01 9.78501198e-01 -1.43217933e-02 -1.18990100e+02] [-5.47274550e-02 3.10725742e-03 9.98496495e-01 -5.00636279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.320714057 meters 0.03942476079940512 Centerline is valid? [True, True] Translation: X:759.98, Y:-119.01, Z:-50.07 [[ 9.77040136e-01 2.06259864e-01 5.33801623e-02 7.59982366e+02] [-2.05777164e-01 9.78492244e-01 -1.44459857e-02 -1.19011511e+02] [-5.52117018e-02 3.12988943e-03 9.98469765e-01 -5.00667568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.380714057 meters 0.03697804423619937 Centerline is valid? [True, True] Translation: X:760.04, Y:-119.03, Z:-50.07 [[ 9.76750038e-01 2.07529203e-01 5.37679573e-02 7.60040032e+02] [-2.07041569e-01 9.78223984e-01 -1.45473775e-02 -1.19025139e+02] [-5.56161111e-02 3.07694927e-03 9.98447485e-01 -5.00688586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.440714057 meters 0.03291039179187042 Centerline is valid? [True, True] Translation: X:760.10, Y:-119.04, Z:-50.07 [[ 9.76076664e-01 2.10696909e-01 5.36764295e-02 7.60099642e+02] [-2.10216515e-01 9.77547203e-01 -1.45080424e-02 -1.19035806e+02] [-5.55280432e-02 2.87728974e-03 9.98452982e-01 -5.00708338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.500714057 meters 0.03197209475606128 Centerline is valid? [True, True] Translation: X:760.16, Y:-119.05, Z:-50.07 [[ 9.75742209e-01 2.12231010e-01 5.37135088e-02 7.60155796e+02] [-2.11752295e-01 9.77215537e-01 -1.45175405e-02 -1.19051863e+02] [-5.55707477e-02 2.79141826e-03 9.98450850e-01 -5.00746619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.560714057 meters 0.031372829771038335 Centerline is valid? [True, True] Translation: X:760.21, Y:-119.07, Z:-50.08 [[ 9.75582179e-01 2.13172354e-01 5.28862901e-02 7.60211872e+02] [-2.12709783e-01 9.77010897e-01 -1.42917918e-02 -1.19069732e+02] [-5.47170966e-02 2.69338613e-03 9.98498265e-01 -5.00782604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.620714057 meters 0.032065402036695514 Centerline is valid? [True, True] Translation: X:760.27, Y:-119.09, Z:-50.08 [[ 9.75433556e-01 2.14111082e-01 5.18249281e-02 7.60267318e+02] [-2.13668967e-01 9.76805927e-01 -1.39912232e-02 -1.19086859e+02] [-5.36185729e-02 2.57412973e-03 9.98558172e-01 -5.00822922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.680714057 meters 0.030092909399493464 Centerline is valid? [True, True] Translation: X:760.33, Y:-119.10, Z:-50.08 [[ 9.74668786e-01 2.17484926e-01 5.21638279e-02 7.60325038e+02] [-2.17042703e-01 9.76060758e-01 -1.40663334e-02 -1.19102038e+02] [-5.39742809e-02 2.38823785e-03 9.98539470e-01 -5.00848674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.740714057 meters 0.02991403435248974 Centerline is valid? [True, True] Translation: X:760.38, Y:-119.12, Z:-50.09 [[ 9.74161658e-01 2.19631851e-01 5.26394833e-02 7.60381231e+02] [-2.19184735e-01 9.75580142e-01 -1.41929095e-02 -1.19118985e+02] [-5.44712496e-02 2.28841703e-03 9.98512717e-01 -5.00883318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.800714057 meters 0.030337562522718686 Centerline is valid? [True, True] Translation: X:760.44, Y:-119.14, Z:-50.09 [[ 9.73428096e-01 2.22762296e-01 5.30537710e-02 7.60437243e+02] [-2.22312978e-01 9.74870474e-01 -1.43003297e-02 -1.19136002e+02] [-5.49061291e-02 2.12580088e-03 9.98489258e-01 -5.00915518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.860714057 meters 0.029082622353645213 Centerline is valid? [True, True] Translation: X:760.49, Y:-119.15, Z:-50.10 [[ 9.73220943e-01 2.23620337e-01 5.32441692e-02 7.60493994e+02] [-2.23169126e-01 9.74674101e-01 -1.43505677e-02 -1.19151854e+02] [-5.51047915e-02 2.08381837e-03 9.98478402e-01 -5.00956623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.920714057 meters 0.0282767525102555 Centerline is valid? [True, True] Translation: X:760.55, Y:-119.17, Z:-50.10 [[ 9.73400327e-01 2.22809197e-01 5.33653999e-02 7.60549967e+02] [-2.22355493e-01 9.74859766e-01 -1.43690815e-02 -1.19167787e+02] [-5.52253448e-02 2.12077879e-03 9.98471664e-01 -5.00995510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.980714057 meters 0.030622942371735854 Centerline is valid? [True, True] Translation: X:760.60, Y:-119.19, Z:-50.10 [[ 9.74071967e-01 2.19927280e-01 5.30640556e-02 7.60604220e+02] [-2.19475333e-01 9.75513663e-01 -1.42713713e-02 -1.19190505e+02] [-5.49033751e-02 2.25509145e-03 9.98489126e-01 -5.01035107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0407140570001 meters 0.03068570506066985 Centerline is valid? [True, True] Translation: X:760.66, Y:-119.21, Z:-50.11 [[ 9.74581680e-01 2.17692617e-01 5.29195025e-02 7.60660073e+02] [-2.17239903e-01 9.76014493e-01 -1.42314144e-02 -1.19208892e+02] [-5.47482752e-02 2.37344813e-03 9.98497368e-01 -5.01076980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.100714057 meters 0.03199644007899832 Centerline is valid? [True, True] Translation: X:760.72, Y:-119.23, Z:-50.11 [[ 9.75478859e-01 2.13878718e-01 5.19315820e-02 7.60715804e+02] [-2.13438237e-01 9.76856963e-01 -1.39496516e-02 -1.19231628e+02] [-5.37132611e-02 2.52340496e-03 9.98553212e-01 -5.01123001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1607140570001 meters 0.03634202066989044 Centerline is valid? [True, True] Translation: X:760.77, Y:-119.26, Z:-50.11 [[ 9.76087762e-01 2.10663488e-01 5.36057493e-02 7.60770021e+02] [-2.10189323e-01 9.77554667e-01 -1.43986353e-02 -1.19255946e+02] [-5.54358172e-02 2.78697555e-03 9.98458363e-01 -5.01148412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.220714057 meters 0.037837067303321606 Centerline is valid? [True, True] Translation: X:760.83, Y:-119.28, Z:-50.12 [[ 9.76449418e-01 2.08996375e-01 5.35448322e-02 7.60826188e+02] [-2.08520965e-01 9.77912188e-01 -1.43791094e-02 -1.19276605e+02] [-5.53673258e-02 2.87525292e-03 9.98461913e-01 -5.01194251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2807140570001 meters 0.03476022062696105 Centerline is valid? [True, True] Translation: X:760.88, Y:-119.29, Z:-50.12 [[ 9.76947575e-01 2.06931513e-01 5.24669871e-02 7.60883998e+02] [-2.06472175e-01 9.78351042e-01 -1.40882981e-02 -1.19288537e+02] [-5.42464443e-02 2.93055567e-03 9.98523277e-01 -5.01228310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.340714057 meters 0.03673188008829149 Centerline is valid? [True, True] Translation: X:760.94, Y:-119.31, Z:-50.13 [[ 9.77542872e-01 2.04182966e-01 5.21464312e-02 7.60938946e+02] [-2.03725572e-01 9.78927961e-01 -1.39977719e-02 -1.19309860e+02] [-5.39057061e-02 3.05986063e-03 9.98541342e-01 -5.01273657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4007140570001 meters 0.035070607024075204 Centerline is valid? [True, True] Translation: X:761.00, Y:-119.33, Z:-50.13 [[ 9.78215001e-01 2.01114115e-01 5.14638249e-02 7.60997514e+02] [-2.00664579e-01 9.79562647e-01 -1.38111238e-02 -1.19325547e+02] [-5.31896525e-02 3.18328172e-03 9.98579355e-01 -5.01303123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.460714057 meters 0.03713728418341397 Centerline is valid? [True, True] Translation: X:761.05, Y:-119.34, Z:-50.13 [[ 9.78480814e-01 1.99901844e-01 5.11326733e-02 7.61051839e+02] [-1.99456332e-01 9.79810604e-01 -1.37241537e-02 -1.19343460e+02] [-5.28438192e-02 3.23008559e-03 9.98597565e-01 -5.01342086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5207140570001 meters 0.04142304589136806 Centerline is valid? [True, True] Translation: X:761.11, Y:-119.37, Z:-50.14 [[ 9.78723752e-01 1.98470674e-01 5.20500598e-02 7.61105079e+02] [-1.98007513e-01 9.80101076e-01 -1.39608953e-02 -1.19365696e+02] [-5.37851479e-02 3.35755693e-03 9.98546887e-01 -5.01380389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.580714057 meters 0.03677650437814448 Centerline is valid? [True, True] Translation: X:761.16, Y:-119.38, Z:-50.14 [[ 9.78856125e-01 1.97567931e-01 5.29867864e-02 7.61163397e+02] [-1.97086866e-01 9.80283078e-01 -1.42075754e-02 -1.19375182e+02] [-5.47490113e-02 3.46417254e-03 9.98494139e-01 -5.01398073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.640714057 meters 0.03581543377032845 Centerline is valid? [True, True] Translation: X:761.22, Y:-119.39, Z:-50.14 [[ 9.78810390e-01 1.97724817e-01 5.32458146e-02 7.61220460e+02] [-1.97240056e-01 9.80251466e-01 -1.42626368e-02 -1.19389196e+02] [-5.50143651e-02 3.45820958e-03 9.98479574e-01 -5.01416002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.700714057 meters 0.036410631336059096 Centerline is valid? [True, True] Translation: X:761.28, Y:-119.41, Z:-50.15 [[ 9.78717740e-01 1.98255983e-01 5.29731210e-02 7.61276649e+02] [-1.97777741e-01 9.80144391e-01 -1.41752344e-02 -1.19405170e+02] [-5.47316325e-02 3.39664913e-03 9.98495324e-01 -5.01459304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.760714057 meters 0.03633598845618185 Centerline is valid? [True, True] Translation: X:761.33, Y:-119.42, Z:-50.15 [[ 9.78265489e-01 2.00690258e-01 5.21541255e-02 7.61334659e+02] [-2.00231029e-01 9.79649539e-01 -1.39397112e-02 -1.19419766e+02] [-5.38903292e-02 3.19386415e-03 9.98541753e-01 -5.01503080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.820714057 meters 0.035190344713829404 Centerline is valid? [True, True] Translation: X:761.39, Y:-119.43, Z:-50.15 [[ 9.77649480e-01 2.03751539e-01 5.18343939e-02 7.61393280e+02] [-2.03302262e-01 9.79018017e-01 -1.38532785e-02 -1.19432074e+02] [-5.35694323e-02 3.00560102e-03 9.98559604e-01 -5.01539300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.880714057 meters 0.032458067212171544 Centerline is valid? [True, True] Translation: X:761.45, Y:-119.44, Z:-50.16 [[ 9.76502720e-01 2.08978286e-01 5.26356647e-02 7.61452501e+02] [-2.08522613e-01 9.77916386e-01 -1.40663570e-02 -1.19441606e+02] [-5.44128422e-02 2.76010955e-03 9.98514709e-01 -5.01574493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.940714057 meters 0.03151511149309867 Centerline is valid? [True, True] Translation: X:761.51, Y:-119.45, Z:-50.16 [[ 9.75139561e-01 2.15001957e-01 5.36376205e-02 7.61510250e+02] [-2.14537853e-01 9.76610494e-01 -1.43335882e-02 -1.19453212e+02] [-5.54648126e-02 2.46994898e-03 9.98457587e-01 -5.01608805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.000714057 meters 0.028891754984199602 Centerline is valid? [True, True] Translation: X:761.57, Y:-119.46, Z:-50.16 [[ 9.74250991e-01 2.18639853e-01 5.50601601e-02 7.61569748e+02] [-2.18156688e-01 9.75802863e-01 -1.47116442e-02 -1.19461866e+02] [-5.69444136e-02 2.32109179e-03 9.98374652e-01 -5.01629223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.060714057 meters 0.02837762048822501 Centerline is valid? [True, True] Translation: X:761.63, Y:-119.48, Z:-50.17 [[ 9.73409531e-01 2.21996538e-01 5.64926795e-02 7.61627590e+02] [-2.21493643e-01 9.75045021e-01 -1.50921501e-02 -1.19475740e+02] [-5.84333109e-02 2.17807332e-03 9.98288938e-01 -5.01671659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.120714057 meters 0.030817861837310792 Centerline is valid? [True, True] Translation: X:761.68, Y:-119.50, Z:-50.17 [[ 9.73465326e-01 2.21408867e-01 5.78219065e-02 7.61681860e+02] [-2.20881088e-01 9.75178440e-01 -1.54452483e-02 -1.19495260e+02] [-5.98063915e-02 2.26364808e-03 9.98207429e-01 -5.01715450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.180714057 meters 0.028973426528118008 Centerline is valid? [True, True] Translation: X:761.74, Y:-119.51, Z:-50.18 [[ 9.73949021e-01 2.19201345e-01 5.80867829e-02 7.61738779e+02] [-2.18665124e-01 9.75676682e-01 -1.55105287e-02 -1.19507212e+02] [-6.00738484e-02 2.40491065e-03 9.98191038e-01 -5.01754134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.240714057 meters 0.03196447829627577 Centerline is valid? [True, True] Translation: X:761.79, Y:-119.53, Z:-50.18 [[ 9.74736005e-01 2.15736496e-01 5.78574504e-02 7.61793389e+02] [-2.15198750e-01 9.76448150e-01 -1.54436923e-02 -1.19529420e+02] [-5.98265684e-02 2.60267192e-03 9.98205394e-01 -5.01810591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.300714057 meters 0.03129592504247584 Centerline is valid? [True, True] Translation: X:761.85, Y:-119.55, Z:-50.18 [[ 9.75881092e-01 2.10482348e-01 5.79074762e-02 7.61851484e+02] [-2.09934749e-01 9.77593290e-01 -1.54518724e-02 -1.19546418e+02] [-5.98623065e-02 2.92239865e-03 9.98202366e-01 -5.01848846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.360714057 meters 0.03412920050377935 Centerline is valid? [True, True] Translation: X:761.91, Y:-119.57, Z:-50.19 [[ 9.76463495e-01 2.07500343e-01 5.88442939e-02 7.61906263e+02] [-2.06929430e-01 9.78229853e-01 -1.57023961e-02 -1.19566346e+02] [-6.08214975e-02 3.15620043e-03 9.98143669e-01 -5.01880412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.420714057 meters 0.0353540124040187 Centerline is valid? [True, True] Translation: X:761.96, Y:-119.59, Z:-50.19 [[ 9.77390455e-01 2.02980332e-01 5.92189528e-02 7.61963574e+02] [-2.02394190e-01 9.79176723e-01 -1.57967506e-02 -1.19585230e+02] [-6.11922498e-02 3.45402131e-03 9.98120022e-01 -5.01910867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.480714057 meters 0.03718957547613093 Centerline is valid? [True, True] Translation: X:762.02, Y:-119.60, Z:-50.20 [[ 9.78160510e-01 1.99108228e-01 5.96483862e-02 7.62020629e+02] [-1.98506421e-01 9.79970437e-01 -1.59104923e-02 -1.19604935e+02] [-6.16215650e-02 3.72242755e-03 9.98092644e-01 -5.01962885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5407140570001 meters 0.03847050000346727 Centerline is valid? [True, True] Translation: X:762.08, Y:-119.62, Z:-50.20 [[ 9.79344373e-01 1.93443087e-01 5.88589146e-02 7.62078616e+02] [-1.92847034e-01 9.81103249e-01 -1.56982826e-02 -1.19622823e+02] [-6.07833966e-02 4.02325760e-03 9.98142872e-01 -5.02002947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.600714057 meters 0.03730968992730792 Centerline is valid? [True, True] Translation: X:762.14, Y:-119.64, Z:-50.20 [[ 9.80156409e-01 1.89558481e-01 5.79740913e-02 7.62137248e+02] [-1.88973472e-01 9.81860450e-01 -1.54623523e-02 -1.19637825e+02] [-5.98534874e-02 4.19995835e-03 9.98198337e-01 -5.02039930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6607140570001 meters 0.04167457854143684 Centerline is valid? [True, True] Translation: X:762.19, Y:-119.66, Z:-50.21 [[ 9.81358408e-01 1.83575988e-01 5.68817407e-02 7.62193108e+02] [-1.83002903e-01 9.82995324e-01 -1.51700649e-02 -1.19659419e+02] [-5.86993448e-02 4.47774705e-03 9.98265664e-01 -5.02084252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.720714057 meters 0.04124151787589054 Centerline is valid? [True, True] Translation: X:762.25, Y:-119.67, Z:-50.21 [[ 9.81969479e-01 1.80329532e-01 5.67203817e-02 7.62251929e+02] [-1.79754378e-01 9.83595225e-01 -1.51260237e-02 -1.19671402e+02] [-5.85175654e-02 4.65755669e-03 9.98275514e-01 -5.02120278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7807140570001 meters 0.04051783659261653 Centerline is valid? [True, True] Translation: X:762.31, Y:-119.68, Z:-50.22 [[ 9.82126036e-01 1.79492762e-01 5.66638981e-02 7.62309294e+02] [-1.78917326e-01 9.83748050e-01 -1.51117433e-02 -1.19684472e+02] [-5.84554478e-02 4.70348344e-03 9.98278938e-01 -5.02158790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.840714057 meters 0.04620284080530899 Centerline is valid? [True, True] Translation: X:762.36, Y:-119.71, Z:-50.22 [[ 9.82190991e-01 1.79172332e-01 5.65520307e-02 7.62363970e+02] [-1.78599624e-01 9.83806494e-01 -1.50650912e-02 -1.19705156e+02] [-5.83355026e-02 4.69662540e-03 9.98285987e-01 -5.02191396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9007140570001 meters 0.04580687156630665 Centerline is valid? [True, True] Translation: X:762.42, Y:-119.71, Z:-50.22 [[ 9.81812253e-01 1.81232056e-01 5.65653713e-02 7.62423200e+02] [-1.80662813e-01 9.83429744e-01 -1.50627523e-02 -1.19714679e+02] [-5.83579222e-02 4.56953563e-03 9.98285266e-01 -5.02218997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.960714057 meters 0.04026576213248412 Centerline is valid? [True, True] Translation: X:762.48, Y:-119.72, Z:-50.22 [[ 9.81560079e-01 1.82786633e-01 5.59361984e-02 7.62483460e+02] [-1.82232623e-01 9.83142647e-01 -1.48931564e-02 -1.19720272e+02] [-5.77155321e-02 4.42512765e-03 9.98323262e-01 -5.02249236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0207140570001 meters 0.040524911260056834 Centerline is valid? [True, True] Translation: X:762.54, Y:-119.73, Z:-50.23 [[ 9.81308089e-01 1.84624346e-01 5.42981229e-02 7.62541972e+02] [-1.84105254e-01 9.82800239e-01 -1.44549502e-02 -1.19731781e+02] [-5.60329439e-02 4.18818988e-03 9.98420136e-01 -5.02289394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.080714057 meters 0.03892165332570648 Centerline is valid? [True, True] Translation: X:762.60, Y:-119.74, Z:-50.23 [[ 9.80495969e-01 1.89554314e-01 5.19308831e-02 7.62601657e+02] [-1.89086519e-01 9.81863138e-01 -1.38226820e-02 -1.19739261e+02] [-5.36091688e-02 3.73365408e-03 9.98555014e-01 -5.02329593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.140714057 meters 0.0381648443078762 Centerline is valid? [True, True] Translation: X:762.66, Y:-119.75, Z:-50.24 [[ 9.79639426e-01 1.94097314e-01 5.13110920e-02 7.62661371e+02] [-1.93646887e-01 9.80976240e-01 -1.36564735e-02 -1.19747919e+02] [-5.29856469e-02 3.44218662e-03 9.98589341e-01 -5.02359455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.200714057 meters 0.03641500248083235 Centerline is valid? [True, True] Translation: X:762.72, Y:-119.76, Z:-50.24 [[ 9.79166727e-01 1.96527307e-01 5.10836434e-02 7.62721095e+02] [-1.96084209e-01 9.80492815e-01 -1.35949466e-02 -1.19757290e+02] [-5.27589236e-02 3.29502350e-03 9.98601842e-01 -5.02386764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.260714057 meters 0.035718868881221194 Centerline is valid? [True, True] Translation: X:762.78, Y:-119.77, Z:-50.24 [[ 9.78719184e-01 1.98762847e-01 5.10106760e-02 7.62780280e+02] [-1.98324068e-01 9.80042492e-01 -1.35749265e-02 -1.19768004e+02] [-5.26908210e-02 3.16939622e-03 9.98605844e-01 -5.02417906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.320714057 meters 0.0351326281195633 Centerline is valid? [True, True] Translation: X:762.84, Y:-119.78, Z:-50.25 [[ 9.78633211e-01 1.99169069e-01 5.10756370e-02 7.62837904e+02] [-1.98729743e-01 9.79960077e-01 -1.35918049e-02 -1.19781186e+02] [-5.27591523e-02 3.15114347e-03 9.98602294e-01 -5.02453275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.380714057 meters 0.034664368863075695 Centerline is valid? [True, True] Translation: X:762.90, Y:-119.79, Z:-50.25 [[ 9.78473166e-01 2.00333106e-01 4.95672277e-02 7.62896148e+02] [-1.99921459e-01 9.79723295e-01 -1.31786104e-02 -1.19791587e+02] [-5.12022796e-02 2.98536417e-03 9.98683841e-01 -5.02490609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.440714057 meters 0.03490543742146398 Centerline is valid? [True, True] Translation: X:762.95, Y:-119.80, Z:-50.25 [[ 9.78016601e-01 2.02679439e-01 4.90364413e-02 7.62953335e+02] [-2.02280317e-01 9.79241091e-01 -1.30214648e-02 -1.19804584e+02] [-5.06576815e-02 2.81610182e-03 9.98712105e-01 -5.02536004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.500714057 meters 0.03336676507326589 Centerline is valid? [True, True] Translation: X:763.01, Y:-119.82, Z:-50.26 [[ 9.77725775e-01 2.03967302e-01 4.94939217e-02 7.63010703e+02] [-2.03562469e-01 9.78973775e-01 -1.31403423e-02 -1.19816747e+02] [-5.11334516e-02 2.77254645e-03 9.98687981e-01 -5.02563689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.560714057 meters 0.03639934972291639 Centerline is valid? [True, True] Translation: X:763.07, Y:-119.83, Z:-50.26 [[ 9.77562709e-01 2.04819133e-01 4.91962730e-02 7.63065420e+02] [-2.04420413e-01 9.78796092e-01 -1.30577872e-02 -1.19834040e+02] [-5.08276044e-02 2.70808336e-03 9.98703770e-01 -5.02613026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.620714057 meters 0.03723924479855131 Centerline is valid? [True, True] Translation: X:763.12, Y:-119.85, Z:-50.27 [[ 9.77609008e-01 2.04626990e-01 4.90756805e-02 7.63120781e+02] [-2.04230087e-01 9.78836275e-01 -1.30237262e-02 -1.19849831e+02] [-5.07020622e-02 2.70938160e-03 9.98710148e-01 -5.02655425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.680714057 meters 0.03334003756709685 Centerline is valid? [True, True] Translation: X:763.18, Y:-119.86, Z:-50.27 [[ 9.78025492e-01 2.02621067e-01 4.91003162e-02 7.63179876e+02] [-2.02222130e-01 9.79253224e-01 -1.30128427e-02 -1.19859071e+02] [-5.07183189e-02 2.79772132e-03 9.98709079e-01 -5.02674302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.740714057 meters 0.033689143810155905 Centerline is valid? [True, True] Translation: X:763.24, Y:-119.87, Z:-50.27 [[ 9.78409997e-01 2.00735591e-01 4.91843451e-02 7.63237259e+02] [-2.00332996e-01 9.79641169e-01 -1.30334686e-02 -1.19873544e+02] [-5.07992903e-02 2.89882881e-03 9.98704676e-01 -5.02713493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.800714057 meters 0.03920893638469001 Centerline is valid? [True, True] Translation: X:763.29, Y:-119.90, Z:-50.28 [[ 9.79218270e-01 1.96762380e-01 4.91543015e-02 7.63292059e+02] [-1.96355460e-01 9.80446305e-01 -1.30221658e-02 -1.19897136e+02] [-5.07554256e-02 3.09982716e-03 9.98706302e-01 -5.02778434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.860714057 meters 0.035814089989424855 Centerline is valid? [True, True] Translation: X:763.35, Y:-119.91, Z:-50.28 [[ 9.79776506e-01 1.93812960e-01 4.97446941e-02 7.63351233e+02] [-1.93392469e-01 9.81032980e-01 -1.31774601e-02 -1.19907528e+02] [-5.13551481e-02 3.29071660e-03 9.98675032e-01 -5.02805929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.920714057 meters 0.03768601659489332 Centerline is valid? [True, True] Translation: X:763.41, Y:-119.93, Z:-50.28 [[ 9.80511359e-01 1.89761230e-01 5.08738732e-02 7.63408541e+02] [-1.89316052e-01 9.81823736e-01 -1.34752938e-02 -1.19925784e+02] [-5.25062646e-02 3.58143783e-03 9.98614173e-01 -5.02837944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.980714057 meters 0.03888067999568177 Centerline is valid? [True, True] Translation: X:763.46, Y:-119.94, Z:-50.29 [[ 9.80767794e-01 1.88411049e-01 5.09491079e-02 7.63464976e+02] [-1.87962754e-01 9.82083443e-01 -1.34949551e-02 -1.19943017e+02] [-5.25788740e-02 3.65888275e-03 9.98610071e-01 -5.02884065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0407140570001 meters 0.03960055365495781 Centerline is valid? [True, True] Translation: X:763.52, Y:-119.96, Z:-50.29 [[ 9.80616492e-01 1.88961697e-01 5.18147928e-02 7.63521626e+02] [-1.88498831e-01 9.81977524e-01 -1.37234382e-02 -1.19958392e+02] [-5.34741661e-02 3.69040195e-03 9.98562414e-01 -5.02923419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.100714057 meters 0.03689242135956488 Centerline is valid? [True, True] Translation: X:763.58, Y:-119.97, Z:-50.30 [[ 9.79778767e-01 1.93140958e-01 5.22507216e-02 7.63581843e+02] [-1.92677068e-01 9.81164865e-01 -1.38222330e-02 -1.19967678e+02] [-5.39362116e-02 3.47521451e-03 9.98538336e-01 -5.02953112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1607140570001 meters 0.037109259822828096 Centerline is valid? [True, True] Translation: X:763.64, Y:-119.98, Z:-50.30 [[ 9.78881811e-01 1.97448013e-01 5.29592542e-02 7.63639297e+02] [-1.96977761e-01 9.80307868e-01 -1.40087587e-02 -1.19981909e+02] [-5.46823751e-02 3.28112380e-03 9.98498409e-01 -5.02998646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.220714057 meters 0.03312600032744339 Centerline is valid? [True, True] Translation: X:763.70, Y:-119.99, Z:-50.30 [[ 9.77281840e-01 2.05004869e-01 5.37885633e-02 7.63699446e+02] [-2.04531234e-01 9.78756652e-01 -1.42264193e-02 -1.19988273e+02] [-5.55623993e-02 2.90178002e-03 9.98451000e-01 -5.03027606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2807140570001 meters 0.03140498183553564 Centerline is valid? [True, True] Translation: X:763.76, Y:-120.00, Z:-50.31 [[ 9.75775208e-01 2.12078152e-01 5.37177886e-02 7.63758683e+02] [-2.11616525e-01 9.77249526e-01 -1.42059871e-02 -1.19998122e+02] [-5.55084629e-02 2.49427822e-03 9.98455101e-01 -5.03077853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.340714057 meters 0.030641116101396883 Centerline is valid? [True, True] Translation: X:763.82, Y:-120.01, Z:-50.31 [[ 9.75083432e-01 2.15447527e-01 5.28645823e-02 7.63817682e+02] [-2.15005499e-01 9.76512794e-01 -1.39784873e-02 -1.20009699e+02] [-5.46345715e-02 2.26401546e-03 9.98503850e-01 -5.03125094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4007140570001 meters 0.031087678324376488 Centerline is valid? [True, True] Translation: X:763.87, Y:-120.03, Z:-50.32 [[ 9.74448594e-01 2.18142905e-01 5.35127094e-02 7.63874328e+02] [-2.17694062e-01 9.75914495e-01 -1.41489865e-02 -1.20025219e+02] [-5.53103298e-02 2.13806092e-03 9.98466923e-01 -5.03174418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.460714057 meters 0.02938704940250611 Centerline is valid? [True, True] Translation: X:763.93, Y:-120.04, Z:-50.32 [[ 9.74491006e-01 2.17686643e-01 5.45875975e-02 7.63930825e+02] [-2.17218850e-01 9.76016215e-01 -1.44332719e-02 -1.20036644e+02] [-5.64203108e-02 2.20763848e-03 9.98404665e-01 -5.03200346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5207140570001 meters 0.02981391030864795 Centerline is valid? [True, True] Translation: X:763.99, Y:-120.05, Z:-50.32 [[ 9.74663538e-01 2.16436049e-01 5.64484265e-02 7.63987475e+02] [-2.15934785e-01 9.76293994e-01 -1.49065756e-02 -1.20052241e+02] [-5.83365800e-02 2.33971684e-03 9.98294230e-01 -5.03232261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.580714057 meters 0.030881191135355878 Centerline is valid? [True, True] Translation: X:764.04, Y:-120.07, Z:-50.33 [[ 9.75167788e-01 2.14012561e-01 5.69772696e-02 7.64042942e+02] [-2.13498643e-01 9.76827728e-01 -1.50306267e-02 -1.20070785e+02] [-5.88737197e-02 2.49281323e-03 9.98262326e-01 -5.03291063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.640714057 meters 0.03190663088940173 Centerline is valid? [True, True] Translation: X:764.10, Y:-120.09, Z:-50.33 [[ 9.75808255e-01 2.10921561e-01 5.75356006e-02 7.64099103e+02] [-2.10393134e-01 9.77499290e-01 -1.51613743e-02 -1.20088953e+02] [-5.94388694e-02 2.68949885e-03 9.98228324e-01 -5.03331600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.700714057 meters 0.03355888732316986 Centerline is valid? [True, True] Translation: X:764.15, Y:-120.11, Z:-50.34 [[ 9.76358882e-01 2.08049580e-01 5.86404833e-02 7.64154782e+02] [-2.07495679e-01 9.78113934e-01 -1.54491238e-02 -1.20107319e+02] [-6.05712575e-02 2.91624228e-03 9.98159616e-01 -5.03368000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.760714057 meters 0.03164750245577829 Centerline is valid? [True, True] Translation: X:764.21, Y:-120.12, Z:-50.34 [[ 9.76277786e-01 2.08152532e-01 5.96171739e-02 7.64212000e+02] [-2.07580365e-01 9.78091911e-01 -1.57036739e-02 -1.20119873e+02] [-6.15798350e-02 2.95579324e-03 9.98097784e-01 -5.03405592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.820714057 meters 0.03352235167878897 Centerline is valid? [True, True] Translation: X:764.27, Y:-120.14, Z:-50.34 [[ 9.75819716e-01 2.10065830e-01 6.04005797e-02 7.64266957e+02] [-2.09483212e-01 9.77683073e-01 -1.58931801e-02 -1.20138117e+02] [-6.23912385e-02 2.85597106e-03 9.98047683e-01 -5.03447240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.880714057 meters 0.02992422896810824 Centerline is valid? [True, True] Translation: X:764.33, Y:-120.15, Z:-50.35 [[ 9.74734918e-01 2.14830063e-01 6.11545857e-02 7.64327121e+02] [-2.14242504e-01 9.76648044e-01 -1.60856506e-02 -1.20146472e+02] [-6.31821878e-02 2.57733371e-03 9.97998682e-01 -5.03483800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.940714057 meters 0.028257001298189695 Centerline is valid? [True, True] Translation: X:764.39, Y:-120.16, Z:-50.35 [[ 9.73713554e-01 2.19182905e-01 6.19739412e-02 7.64385888e+02] [-2.18588415e-01 9.75681021e-01 -1.62987528e-02 -1.20158510e+02] [-6.40392063e-02 2.32353098e-03 9.97944679e-01 -5.03525630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.000714057 meters 0.02831831101219516 Centerline is valid? [True, True] Translation: X:764.44, Y:-120.17, Z:-50.36 [[ 9.73117989e-01 2.21780932e-01 6.20854120e-02 7.64441801e+02] [-2.21189761e-01 9.75094139e-01 -1.63251268e-02 -1.20173354e+02] [-6.41597232e-02 2.15361711e-03 9.97937319e-01 -5.03566761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.060714057 meters 0.02730673275911083 Centerline is valid? [True, True] Translation: X:764.50, Y:-120.19, Z:-50.36 [[ 9.72447328e-01 2.24679786e-01 6.21706396e-02 7.64499247e+02] [-2.24093274e-01 9.74430682e-01 -1.63416667e-02 -1.20186319e+02] [-6.42526209e-02 1.95938802e-03 9.97931742e-01 -5.03622860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.120714057 meters 0.02683257938106211 Centerline is valid? [True, True] Translation: X:764.56, Y:-120.20, Z:-50.37 [[ 9.71845644e-01 2.26926668e-01 6.34060826e-02 7.64556030e+02] [-2.26322419e-01 9.73910126e-01 -1.66501794e-02 -1.20201817e+02] [-6.55301956e-02 1.83118637e-03 9.97848907e-01 -5.03662055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.180714057 meters 0.026600317015160385 Centerline is valid? [True, True] Translation: X:764.61, Y:-120.22, Z:-50.37 [[ 9.71526872e-01 2.28011100e-01 6.43931251e-02 7.64611864e+02] [-2.27391418e-01 9.73656927e-01 -1.68917632e-02 -1.20218551e+02] [-6.65483218e-02 1.76835779e-03 9.97781636e-01 -5.03701031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.240714057 meters 0.02700338210031796 Centerline is valid? [True, True] Translation: X:764.67, Y:-120.24, Z:-50.37 [[ 9.71469426e-01 2.28102531e-01 6.49337386e-02 7.64666589e+02] [-2.27473745e-01 9.73635526e-01 -1.70164147e-02 -1.20235055e+02] [-6.71032820e-02 1.76020591e-03 9.97744482e-01 -5.03737343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.300714057 meters 0.026425996596692303 Centerline is valid? [True, True] Translation: X:764.72, Y:-120.25, Z:-50.38 [[ 9.71124147e-01 2.29450240e-01 6.53488960e-02 7.64722888e+02] [-2.28817030e-01 9.73318962e-01 -1.71162142e-02 -1.20251540e+02] [-6.75326390e-02 1.66902859e-03 9.97715669e-01 -5.03781809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.360714057 meters 0.026399831795471472 Centerline is valid? [True, True] Translation: X:764.78, Y:-120.27, Z:-50.38 [[ 9.70400033e-01 2.32355085e-01 6.58398886e-02 7.64777441e+02] [-2.31720131e-01 9.72629929e-01 -1.72279666e-02 -1.20271057e+02] [-6.80408518e-02 1.46159177e-03 9.97681465e-01 -5.03818352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.420714057 meters 0.025585922598957842 Centerline is valid? [True, True] Translation: X:764.83, Y:-120.29, Z:-50.39 [[ 9.70253035e-01 2.32943678e-01 6.59264080e-02 7.64833718e+02] [-2.32308861e-01 9.72489197e-01 -1.72439627e-02 -1.20285876e+02] [-6.81295917e-02 1.41571839e-03 9.97675476e-01 -5.03872766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.480714057 meters 0.02503976506424274 Centerline is valid? [True, True] Translation: X:764.89, Y:-120.30, Z:-50.39 [[ 9.70211561e-01 2.33101541e-01 6.59787678e-02 7.64888808e+02] [-2.32467260e-01 9.72451409e-01 -1.72403783e-02 -1.20304237e+02] [-6.81799045e-02 1.38891105e-03 9.97672076e-01 -5.03915669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5407140570001 meters 0.025188540887085897 Centerline is valid? [True, True] Translation: X:764.94, Y:-120.33, Z:-50.40 [[ 9.70300529e-01 2.32554711e-01 6.65972231e-02 7.64943346e+02] [-2.31908573e-01 9.72582278e-01 -1.73818021e-02 -1.20325366e+02] [-6.88134989e-02 1.42110482e-03 9.97628530e-01 -5.03971667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.600714057 meters 0.0250742580829891 Centerline is valid? [True, True] Translation: X:765.00, Y:-120.34, Z:-50.40 [[ 9.70671021e-01 2.31110687e-01 6.62240096e-02 7.64999367e+02] [-2.30469610e-01 9.72926311e-01 -1.72671039e-02 -1.20342810e+02] [-6.84216936e-02 1.49805565e-03 9.97655365e-01 -5.04015890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6607140570001 meters 0.02588870934824965 Centerline is valid? [True, True] Translation: X:765.05, Y:-120.36, Z:-50.41 [[ 9.71200054e-01 2.28483773e-01 6.75693765e-02 7.65053291e+02] [-2.27811234e-01 9.73546237e-01 -1.76002034e-02 -1.20364822e+02] [-6.98032731e-02 1.70025544e-03 9.97559328e-01 -5.04051537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.720714057 meters 0.025918928214282117 Centerline is valid? [True, True] Translation: X:765.11, Y:-120.38, Z:-50.41 [[ 9.71562441e-01 2.26575815e-01 6.87737045e-02 7.65108817e+02] [-2.25874828e-01 9.73991751e-01 -1.79062020e-02 -1.20383979e+02] [-7.10421331e-02 1.86274466e-03 9.97471576e-01 -5.04090597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7807140570001 meters 0.02650241846819097 Centerline is valid? [True, True] Translation: X:765.16, Y:-120.41, Z:-50.41 [[ 9.71903573e-01 2.24899915e-01 6.94512250e-02 7.65163774e+02] [-2.24182116e-01 9.74379845e-01 -1.80636765e-02 -1.20405851e+02] [-7.17343932e-02 1.98642909e-03 9.97421792e-01 -5.04126718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.840714057 meters 0.027663002659023016 Centerline is valid? [True, True] Translation: X:765.22, Y:-120.43, Z:-50.42 [[ 9.72284961e-01 2.23164119e-01 6.97117641e-02 7.65217481e+02] [-2.22437725e-01 9.74778612e-01 -1.81139608e-02 -1.20429118e+02] [-7.19959228e-02 2.10540547e-03 9.97402704e-01 -5.04168132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9007140570001 meters 0.02782113617099368 Centerline is valid? [True, True] Translation: X:765.27, Y:-120.45, Z:-50.42 [[ 9.72750478e-01 2.21327930e-01 6.90684761e-02 7.65272827e+02] [-2.20610818e-01 9.75196928e-01 -1.79392898e-02 -1.20447443e+02] [-7.13258316e-02 2.21319976e-03 9.97450614e-01 -5.04222621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.960714057 meters 0.028448400880547887 Centerline is valid? [True, True] Translation: X:765.33, Y:-120.47, Z:-50.43 [[ 9.73439582e-01 2.18520083e-01 6.82960669e-02 7.65327750e+02] [-2.17813214e-01 9.75829560e-01 -1.77221403e-02 -1.20470478e+02] [-7.05179644e-02 2.37564707e-03 9.97507681e-01 -5.04269354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0207140570001 meters 0.029588661123334224 Centerline is valid? [True, True] Translation: X:765.38, Y:-120.49, Z:-50.43 [[ 9.74094898e-01 2.15399875e-01 6.88623541e-02 7.65381794e+02] [-2.14673723e-01 9.76522418e-01 -1.78650423e-02 -1.20492815e+02] [-7.10937604e-02 2.61930868e-03 9.97466198e-01 -5.04301310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.080714057 meters 0.031491959808102564 Centerline is valid? [True, True] Translation: X:765.44, Y:-120.51, Z:-50.43 [[ 9.74850098e-01 2.11922749e-01 6.89640082e-02 7.65437124e+02] [-2.11186181e-01 9.77282202e-01 -1.78855801e-02 -1.20514902e+02] [-7.11876591e-02 2.87151393e-03 9.97458807e-01 -5.04339021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.140714057 meters 0.028425835036279726 Centerline is valid? [True, True] Translation: X:765.50, Y:-120.53, Z:-50.44 [[ 9.75423670e-01 2.09353245e-01 6.87014081e-02 7.65495110e+02] [-2.08616291e-01 9.77835345e-01 -1.78123614e-02 -1.20528616e+02] [-7.09077407e-02 3.04236593e-03 9.97478239e-01 -5.04392296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.200714057 meters 0.0342330783069022 Centerline is valid? [True, True] Translation: X:765.55, Y:-120.56, Z:-50.44 [[ 9.76637443e-01 2.04068799e-01 6.73441217e-02 7.65548663e+02] [-2.03348368e-01 9.78950798e-01 -1.74578487e-02 -1.20557095e+02] [-6.94891839e-02 3.35567146e-03 9.97577061e-01 -5.04431001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.260714057 meters 0.03256189128897509 Centerline is valid? [True, True] Translation: X:765.61, Y:-120.57, Z:-50.45 [[ 9.77484754e-01 2.00111391e-01 6.69252395e-02 7.65606620e+02] [-1.99390834e-01 9.79766495e-01 -1.73467586e-02 -1.20572743e+02] [-6.90423914e-02 3.61191266e-03 9.97607188e-01 -5.04481038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.320714057 meters 0.03536459021793598 Centerline is valid? [True, True] Translation: X:765.66, Y:-120.60, Z:-50.45 [[ 9.78880598e-01 1.93409117e-01 6.62245342e-02 7.65662099e+02] [-1.92688385e-01 9.81109875e-01 -1.71639153e-02 -1.20597081e+02] [-6.82932022e-02 4.04072515e-03 9.97657111e-01 -5.04532091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.380714057 meters 0.04243960785079978 Centerline is valid? [True, True] Translation: X:765.72, Y:-120.62, Z:-50.46 [[ 9.79628120e-01 1.89812721e-01 6.55734517e-02 7.65715860e+02] [-1.89098135e-01 9.81811123e-01 -1.69945372e-02 -1.20623165e+02] [-6.76065236e-02 4.24850914e-03 9.97703016e-01 -5.04566783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.440714057 meters 0.039596880023597965 Centerline is valid? [True, True] Translation: X:765.78, Y:-120.64, Z:-50.46 [[ 9.80466810e-01 1.85530211e-01 6.52945355e-02 7.65775245e+02] [-1.84812331e-01 9.82628150e-01 -1.69210421e-02 -1.20635584e+02] [-6.72996131e-02 4.52328492e-03 9.97722558e-01 -5.04602776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.500714057 meters 0.037476153156044266 Centerline is valid? [True, True] Translation: X:765.83, Y:-120.65, Z:-50.46 [[ 9.81072539e-01 1.81996630e-01 6.61354733e-02 7.65833406e+02] [-1.81252148e-01 9.83287306e-01 -1.71386245e-02 -1.20648564e+02] [-6.81493433e-02 4.82703722e-03 9.97663454e-01 -5.04643407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.560714057 meters 0.038697769716686425 Centerline is valid? [True, True] Translation: X:765.89, Y:-120.66, Z:-50.47 [[ 9.81503137e-01 1.79766957e-01 6.58440011e-02 7.65890631e+02] [-1.79024133e-01 9.83696729e-01 -1.70618311e-02 -1.20664383e+02] [-6.78376819e-02 4.95857556e-03 9.97684049e-01 -5.04679167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.620714057 meters 0.0431735107017247 Centerline is valid? [True, True] Translation: X:765.95, Y:-120.68, Z:-50.47 [[ 9.82172448e-01 1.76515128e-01 6.46505406e-02 7.65946558e+02] [-1.75792277e-01 9.84284791e-01 -1.67488910e-02 -1.20683504e+02] [-6.65909765e-02 5.08523357e-03 9.97767399e-01 -5.04726499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.680714057 meters 0.04416330372502651 Centerline is valid? [True, True] Translation: X:766.00, Y:-120.70, Z:-50.48 [[ 9.82730626e-01 1.73606529e-01 6.40413180e-02 7.66004638e+02] [-1.72891284e-01 9.84801208e-01 -1.65886708e-02 -1.20698319e+02] [-6.59478690e-02 5.23000919e-03 9.97809363e-01 -5.04779444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.740714057 meters 0.04545095488181905 Centerline is valid? [True, True] Translation: X:766.06, Y:-120.71, Z:-50.48 [[ 9.82992727e-01 1.72245063e-01 6.36940900e-02 7.66062265e+02] [-1.71534809e-01 9.85039919e-01 -1.64974877e-02 -1.20711826e+02] [-6.55828321e-02 5.29115688e-03 9.97833100e-01 -5.04813754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.800714057 meters 0.046610498979674904 Centerline is valid? [True, True] Translation: X:766.12, Y:-120.72, Z:-50.49 [[ 9.83181637e-01 1.71140113e-01 6.37568103e-02 7.66119166e+02] [-1.70426406e-01 9.85232086e-01 -1.65098894e-02 -1.20724598e+02] [-6.56407596e-02 5.36637598e-03 9.97828890e-01 -5.04857438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.860714057 meters 0.04377246376552779 Centerline is valid? [True, True] Translation: X:766.18, Y:-120.73, Z:-50.49 [[ 9.83347722e-01 1.70657991e-01 6.24748585e-02 7.66178337e+02] [-1.69972810e-01 9.85316212e-01 -1.61618624e-02 -1.20729665e+02] [-6.43156419e-02 5.27370335e-03 9.97915671e-01 -5.04895637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.920714057 meters 0.045933426807780724 Centerline is valid? [True, True] Translation: X:766.23, Y:-120.74, Z:-50.49 [[ 9.83299762e-01 1.70920227e-01 6.25128348e-02 7.66234967e+02] [-1.70235825e-01 9.85270920e-01 -1.61548246e-02 -1.20742577e+02] [-6.43532645e-02 5.24311118e-03 9.97913407e-01 -5.04931593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.980714057 meters 0.04588168280420716 Centerline is valid? [True, True] Translation: X:766.29, Y:-120.75, Z:-50.50 [[ 9.82957878e-01 1.72404443e-01 6.38006130e-02 7.66293888e+02] [-1.71695728e-01 9.85012333e-01 -1.64706056e-02 -1.20752862e+02] [-6.56839962e-02 5.23561889e-03 9.97826739e-01 -5.04962879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0407140570001 meters 0.0460497278025223 Centerline is valid? [True, True] Translation: X:766.35, Y:-120.76, Z:-50.50 [[ 9.82840871e-01 1.73056100e-01 6.38389313e-02 7.66351644e+02] [-1.72348070e-01 9.84898281e-01 -1.64778338e-02 -1.20764189e+02] [-6.57264434e-02 5.19257192e-03 9.97824169e-01 -5.04992121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.100714057 meters 0.042753271294882926 Centerline is valid? [True, True] Translation: X:766.41, Y:-120.77, Z:-50.50 [[ 9.82884461e-01 1.73072104e-01 6.31203874e-02 7.66411153e+02] [-1.72381041e-01 9.84895865e-01 -1.62760974e-02 -1.20768713e+02] [-6.49839470e-02 5.11676518e-03 9.97873191e-01 -5.05036171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1607140570001 meters 0.04536960739425115 Centerline is valid? [True, True] Translation: X:766.47, Y:-120.79, Z:-50.51 [[ 9.82970111e-01 1.72792717e-01 6.25494827e-02 7.66465886e+02] [-1.72114633e-01 9.84945151e-01 -1.61121714e-02 -1.20785527e+02] [-6.43918755e-02 5.07210160e-03 9.97911800e-01 -5.05083005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.220714057 meters 0.04479231991470707 Centerline is valid? [True, True] Translation: X:766.52, Y:-120.79, Z:-50.51 [[ 9.82971643e-01 1.73270464e-01 6.11890144e-02 7.66523845e+02] [-1.72622859e-01 9.84861963e-01 -1.57563198e-02 -1.20793891e+02] [-6.29928377e-02 4.92539293e-03 9.98001825e-01 -5.05133401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2807140570001 meters 0.04345074204093835 Centerline is valid? [True, True] Translation: X:766.58, Y:-120.80, Z:-50.52 [[ 9.82971933e-01 1.73209827e-01 6.13558115e-02 7.66582003e+02] [-1.72559590e-01 9.84872623e-01 -1.57830523e-02 -1.20802187e+02] [-6.31614388e-02 4.92676367e-03 9.97991162e-01 -5.05164449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.340714057 meters 0.0466564045593916 Centerline is valid? [True, True] Translation: X:766.64, Y:-120.82, Z:-50.52 [[ 9.82911689e-01 1.73408749e-01 6.17577334e-02 7.66638265e+02] [-1.72751411e-01 9.84837602e-01 -1.58696932e-02 -1.20816617e+02] [-6.35732817e-02 4.92977137e-03 9.97964997e-01 -5.05196281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4007140570001 meters 0.04458543239488606 Centerline is valid? [True, True] Translation: X:766.70, Y:-120.83, Z:-50.52 [[ 9.83003820e-01 1.72728927e-01 6.21949142e-02 7.66696228e+02] [-1.72061255e-01 9.84956691e-01 -1.59762420e-02 -1.20825994e+02] [-6.40188561e-02 5.00337190e-03 9.97936146e-01 -5.05228375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.460714057 meters 0.04471335207603751 Centerline is valid? [True, True] Translation: X:766.76, Y:-120.84, Z:-50.53 [[ 9.83462261e-01 1.70353560e-01 6.14950870e-02 7.66755161e+02] [-1.69697279e-01 9.85369891e-01 -1.57801052e-02 -1.20837183e+02] [-6.32836042e-02 5.08358902e-03 9.97982636e-01 -5.05266673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5207140570001 meters 0.045899010891137286 Centerline is valid? [True, True] Translation: X:766.81, Y:-120.85, Z:-50.53 [[ 9.84027947e-01 1.67539916e-01 6.01612478e-02 7.66813438e+02] [-1.66906686e-01 9.85851848e-01 -1.54367137e-02 -1.20851367e+02] [-6.18963431e-02 5.14884321e-03 9.98069302e-01 -5.05319128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.580714057 meters 0.047327747261102594 Centerline is valid? [True, True] Translation: X:766.87, Y:-120.87, Z:-50.54 [[ 9.84358607e-01 1.65689617e-01 5.98755706e-02 7.66870337e+02] [-1.65059059e-01 9.86164034e-01 -1.53624531e-02 -1.20866462e+02] [-6.15925332e-02 5.23915761e-03 9.98087627e-01 -5.05361563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.640714057 meters 0.047171162632146005 Centerline is valid? [True, True] Translation: X:766.93, Y:-120.88, Z:-50.54 [[ 9.84782562e-01 1.63626729e-01 5.85627807e-02 7.66929176e+02] [-1.63020238e-01 9.86508379e-01 -1.50206630e-02 -1.20878635e+02] [-6.02304558e-02 5.24516856e-03 9.98170717e-01 -5.05401508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.700714057 meters 0.048140858534047655 Centerline is valid? [True, True] Translation: X:766.99, Y:-120.89, Z:-50.54 [[ 9.84965629e-01 1.62652959e-01 5.81955749e-02 7.66985662e+02] [-1.62052375e-01 9.86669260e-01 -1.49264754e-02 -1.20893153e+02] [-5.98476202e-02 5.27133410e-03 9.98193606e-01 -5.05439878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.760714057 meters 0.048151868636561394 Centerline is valid? [True, True] Translation: X:767.04, Y:-120.91, Z:-50.55 [[ 9.85010605e-01 1.62319765e-01 5.83643918e-02 7.67041328e+02] [-1.61716033e-01 9.86724020e-01 -1.49543803e-02 -1.20906978e+02] [-6.00169388e-02 5.29176521e-03 9.98183332e-01 -5.05480133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.820714057 meters 0.047271378549631635 Centerline is valid? [True, True] Translation: X:767.10, Y:-120.92, Z:-50.55 [[ 9.85178596e-01 1.61434191e-01 5.79839207e-02 7.67098599e+02] [-1.60837850e-01 9.86869284e-01 -1.48392387e-02 -1.20919043e+02] [-5.96181108e-02 5.29329119e-03 9.98207224e-01 -5.05514211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.880714057 meters 0.053696951017213744 Centerline is valid? [True, True] Translation: X:767.15, Y:-120.94, Z:-50.56 [[ 9.85127814e-01 1.61658819e-01 5.82204204e-02 7.67152733e+02] [-1.61058960e-01 9.86832556e-01 -1.48835072e-02 -1.20940558e+02] [-5.98598564e-02 5.28523660e-03 9.98192799e-01 -5.05551976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.940714057 meters 0.05106932195132422 Centerline is valid? [True, True] Translation: X:767.21, Y:-120.95, Z:-50.56 [[ 9.85257945e-01 1.61251398e-01 5.71381516e-02 7.67210514e+02] [-1.60673405e-01 9.86899643e-01 -1.45996803e-02 -1.20950474e+02] [-5.87438403e-02 5.20386960e-03 9.98259526e-01 -5.05595969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.000714057 meters 0.04788160460025306 Centerline is valid? [True, True] Translation: X:767.27, Y:-120.96, Z:-50.56 [[ 9.85472250e-01 1.60320355e-01 5.60520177e-02 7.67269236e+02] [-1.59763558e-01 9.87051633e-01 -1.43066346e-02 -1.20959259e+02] [-5.76198803e-02 5.14372158e-03 9.98325344e-01 -5.05635581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.060714057 meters 0.049283672936000736 Centerline is valid? [True, True] Translation: X:767.33, Y:-120.97, Z:-50.57 [[ 9.86123500e-01 1.56560473e-01 5.52201100e-02 7.67327582e+02] [-1.56014451e-01 9.87654260e-01 -1.40909211e-02 -1.20973308e+02] [-5.67444581e-02 5.28025336e-03 9.98374772e-01 -5.05674719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.120714057 meters 0.046873814485290564 Centerline is valid? [True, True] Translation: X:767.39, Y:-120.98, Z:-50.57 [[ 9.86410405e-01 1.54693329e-01 5.53578129e-02 7.67386592e+02] [-1.54141724e-01 9.87947778e-01 -1.41250196e-02 -1.20984600e+02] [-5.68756746e-02 5.40011758e-03 9.98366664e-01 -5.05714589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.180714057 meters 0.05224678203494258 Centerline is valid? [True, True] Translation: X:767.44, Y:-121.00, Z:-50.57 [[ 9.86749135e-01 1.52412668e-01 5.56464057e-02 7.67443025e+02] [-1.51851755e-01 9.88301305e-01 -1.41976955e-02 -1.21003290e+02] [-5.71593240e-02 5.55955941e-03 9.98349590e-01 -5.05748997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.240714057 meters 0.04940545263819079 Centerline is valid? [True, True] Translation: X:767.50, Y:-121.01, Z:-50.58 [[ 9.86839665e-01 1.51684962e-01 5.60281072e-02 7.67501182e+02] [-1.51115194e-01 9.88412802e-01 -1.42944614e-02 -1.21011816e+02] [-5.75471532e-02 5.63964325e-03 9.98326860e-01 -5.05773839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.300714057 meters 0.05231018902358447 Centerline is valid? [True, True] Translation: X:767.56, Y:-121.03, Z:-50.58 [[ 9.86954607e-01 1.50867684e-01 5.62098453e-02 7.67555547e+02] [-1.50293822e-01 9.88537590e-01 -1.43248251e-02 -1.21029560e+02] [-5.77266982e-02 5.68995964e-03 9.98316209e-01 -5.05819268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.360714057 meters 0.049623975544354985 Centerline is valid? [True, True] Translation: X:767.62, Y:-121.04, Z:-50.59 [[ 9.87273118e-01 1.49095617e-01 5.53379324e-02 7.67615129e+02] [-1.48537277e-01 9.88806394e-01 -1.40922912e-02 -1.21040013e+02] [-5.68196002e-02 5.69319452e-03 9.98368229e-01 -5.05854191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.420714057 meters 0.05234891533593222 Centerline is valid? [True, True] Translation: X:767.67, Y:-121.06, Z:-50.59 [[ 9.87400853e-01 1.48533563e-01 5.45649699e-02 7.67670253e+02] [-1.47989817e-01 9.88891247e-01 -1.38966218e-02 -1.21057765e+02] [-5.60229359e-02 5.64647631e-03 9.98413516e-01 -5.05902784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.480714057 meters 0.05271119547454043 Centerline is valid? [True, True] Translation: X:767.73, Y:-121.07, Z:-50.60 [[ 9.87436078e-01 1.48712153e-01 5.34292677e-02 7.67726876e+02] [-1.48191442e-01 9.88865162e-01 -1.36009932e-02 -1.21073274e+02] [-5.48569745e-02 5.51235119e-03 9.98479007e-01 -5.05952186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5407140570001 meters 0.05355884233693352 Centerline is valid? [True, True] Translation: X:767.78, Y:-121.09, Z:-50.60 [[ 9.87075481e-01 1.51159765e-01 5.32233162e-02 7.67784945e+02] [-1.50647488e-01 9.88494926e-01 -1.35320179e-02 -1.21088495e+02] [-5.46564746e-02 5.33916413e-03 9.98490943e-01 -5.05990653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.600714057 meters 0.05345149337131592 Centerline is valid? [True, True] Translation: X:767.84, Y:-121.10, Z:-50.60 [[ 9.86570716e-01 1.54329163e-01 5.34858126e-02 7.67843870e+02] [-1.53816477e-01 9.88005867e-01 -1.35977609e-02 -1.21102406e+02] [-5.49428277e-02 5.18815348e-03 9.98476023e-01 -5.06025118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6607140570001 meters 0.051967502878177384 Centerline is valid? [True, True] Translation: X:767.90, Y:-121.11, Z:-50.61 [[ 9.85769308e-01 1.59359500e-01 5.35109502e-02 7.67902504e+02] [-1.58853684e-01 9.87208410e-01 -1.36037872e-02 -1.21114176e+02] [-5.49943527e-02 4.90978429e-03 9.98474594e-01 -5.06065454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.720714057 meters 0.046235507081125574 Centerline is valid? [True, True] Translation: X:767.96, Y:-121.12, Z:-50.61 [[ 9.85182499e-01 1.62857498e-01 5.37854927e-02 7.67963235e+02] [-1.62351722e-01 9.86638228e-01 -1.36720478e-02 -1.21120314e+02] [-5.52934187e-02 4.73729492e-03 9.98458911e-01 -5.06090687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7807140570001 meters 0.049593592126642876 Centerline is valid? [True, True] Translation: X:768.02, Y:-121.14, Z:-50.61 [[ 9.84245603e-01 1.67965409e-01 5.52106398e-02 7.68019611e+02] [-1.67440435e-01 9.85782305e-01 -1.40338191e-02 -1.21137972e+02] [-5.67828680e-02 4.56823117e-03 9.98376100e-01 -5.06125973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.840714057 meters 0.04199102735030233 Centerline is valid? [True, True] Translation: X:768.08, Y:-121.14, Z:-50.62 [[ 9.83823118e-01 1.70403783e-01 5.52686468e-02 7.68080239e+02] [-1.69881606e-01 9.85364359e-01 -1.40470753e-02 -1.21142631e+02] [-5.68534295e-02 4.43071098e-03 9.98372704e-01 -5.06160363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9007140570001 meters 0.03987519153053877 Centerline is valid? [True, True] Translation: X:768.14, Y:-121.15, Z:-50.62 [[ 9.83240425e-01 1.73942947e-01 5.46087693e-02 7.68139287e+02] [-1.73438734e-01 9.84746890e-01 -1.38769197e-02 -1.21154873e+02] [-5.61896080e-02 4.17307258e-03 9.98411395e-01 -5.06198435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.960714057 meters 0.039516062931053496 Centerline is valid? [True, True] Translation: X:768.20, Y:-121.17, Z:-50.62 [[ 9.82721179e-01 1.76914104e-01 5.44103337e-02 7.68197336e+02] [-1.76418092e-01 9.84218214e-01 -1.38261974e-02 -1.21168056e+02] [-5.59976908e-02 3.98832976e-03 9.98422932e-01 -5.06235210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0207140570001 meters 0.03837284662265292 Centerline is valid? [True, True] Translation: X:768.25, Y:-121.18, Z:-50.63 [[ 9.81622331e-01 1.83178679e-01 5.35086085e-02 7.68254618e+02] [-1.82708336e-01 9.83073158e-01 -1.35951886e-02 -1.21179884e+02] [-5.50932255e-02 3.56887189e-03 9.98474837e-01 -5.06276181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.080714057 meters 0.03784638212074785 Centerline is valid? [True, True] Translation: X:768.31, Y:-121.19, Z:-50.63 [[ 9.81276885e-01 1.85032844e-01 5.34651531e-02 7.68312669e+02] [-1.84566162e-01 9.82726249e-01 -1.35812652e-02 -1.21193013e+02] [-5.50545895e-02 3.45912352e-03 9.98477354e-01 -5.06314203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.140714057 meters 0.037254656021470586 Centerline is valid? [True, True] Translation: X:768.37, Y:-121.20, Z:-50.64 [[ 9.80497494e-01 1.89147820e-01 5.33644712e-02 7.68371411e+02] [-1.88689080e-01 9.81943346e-01 -1.35534682e-02 -1.21204830e+02] [-5.49644964e-02 3.21984859e-03 9.98483118e-01 -5.06353791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.200714057 meters 0.036708850193860894 Centerline is valid? [True, True] Translation: X:768.43, Y:-121.22, Z:-50.64 [[ 9.80349843e-01 1.89764340e-01 5.38858157e-02 7.68428331e+02] [-1.89297425e-01 9.81824393e-01 -1.36874204e-02 -1.21217685e+02] [-5.55037926e-02 3.21801433e-03 9.98453291e-01 -5.06385634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.260714057 meters 0.03435519919094104 Centerline is valid? [True, True] Translation: X:768.49, Y:-121.23, Z:-50.64 [[ 9.80454836e-01 1.88815886e-01 5.52890268e-02 7.68486411e+02] [-1.88323638e-01 9.82006816e-01 -1.40292816e-02 -1.21227561e+02] [-5.69431524e-02 3.34284628e-03 9.98371826e-01 -5.06398673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.320714057 meters 0.03441635547566831 Centerline is valid? [True, True] Translation: X:768.54, Y:-121.24, Z:-50.64 [[ 9.80734939e-01 1.87211723e-01 5.57741077e-02 7.68544315e+02] [-1.86709164e-01 9.82313529e-01 -1.41357215e-02 -1.21242426e+02] [-5.74340334e-02 3.44985896e-03 9.98343343e-01 -5.06429106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.380714057 meters 0.03587141438902628 Centerline is valid? [True, True] Translation: X:768.60, Y:-121.26, Z:-50.65 [[ 9.81444199e-01 1.83347216e-01 5.61345057e-02 7.68601578e+02] [-1.82831972e-01 9.83041264e-01 -1.42247636e-02 -1.21261288e+02] [-5.77906063e-02 3.69762933e-03 9.98321879e-01 -5.06480589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.440714057 meters 0.041131906068712094 Centerline is valid? [True, True] Translation: X:768.66, Y:-121.29, Z:-50.65 [[ 9.82388098e-01 1.78361234e-01 5.56856838e-02 7.68656211e+02] [-1.77846283e-01 9.83957115e-01 -1.41101534e-02 -1.21285145e+02] [-5.73090291e-02 3.95815490e-03 9.98348641e-01 -5.06530079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.500714057 meters 0.04128723776522507 Centerline is valid? [True, True] Translation: X:768.71, Y:-121.30, Z:-50.66 [[ 9.82984955e-01 1.74988146e-01 5.58545147e-02 7.68714597e+02] [-1.74464788e-01 9.84561730e-01 -1.41505069e-02 -1.21300621e+02] [-5.74683886e-02 4.16508936e-03 9.98338638e-01 -5.06566819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.560714057 meters 0.040506901738394545 Centerline is valid? [True, True] Translation: X:768.77, Y:-121.32, Z:-50.66 [[ 9.83643572e-01 1.71091741e-01 5.63288454e-02 7.68772440e+02] [-1.70553153e-01 9.85245146e-01 -1.42696852e-02 -1.21317378e+02] [-5.79391468e-02 4.42922195e-03 9.98310291e-01 -5.06609874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.620714057 meters 0.047673253670168246 Centerline is valid? [True, True] Translation: X:768.83, Y:-121.34, Z:-50.67 [[ 9.83878240e-01 1.69888419e-01 5.58706845e-02 7.68826238e+02] [-1.69356636e-01 9.85453197e-01 -1.41536985e-02 -1.21342090e+02] [-5.74624941e-02 4.46344478e-03 9.98337688e-01 -5.06656755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.680714057 meters 0.04105707369870729 Centerline is valid? [True, True] Translation: X:768.89, Y:-121.35, Z:-50.67 [[ 9.83756921e-01 1.70170185e-01 5.71351881e-02 7.68885461e+02] [-1.69614700e-01 9.85404209e-01 -1.44706091e-02 -1.21347483e+02] [-5.87637210e-02 4.54459403e-03 9.98261575e-01 -5.06673797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.740714057 meters 0.042502369294634294 Centerline is valid? [True, True] Translation: X:768.94, Y:-121.36, Z:-50.67 [[ 9.83378902e-01 1.72242879e-01 5.74310545e-02 7.68941924e+02] [-1.71686120e-01 9.85044563e-01 -1.45287791e-02 -1.21363618e+02] [-5.90746267e-02 4.42717994e-03 9.98243752e-01 -5.06710456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.800714057 meters 0.04152959579651477 Centerline is valid? [True, True] Translation: X:769.00, Y:-121.38, Z:-50.67 [[ 9.83192692e-01 1.73427143e-01 5.70539834e-02 7.68999360e+02] [-1.72879773e-01 9.84837203e-01 -1.44314680e-02 -1.21375878e+02] [-5.86916937e-02 4.32543419e-03 9.98266786e-01 -5.06748845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.860714057 meters 0.04424254551654235 Centerline is valid? [True, True] Translation: X:769.06, Y:-121.39, Z:-50.68 [[ 9.82838232e-01 1.75292034e-01 5.74605255e-02 7.69055727e+02] [-1.74740256e-01 9.84507352e-01 -1.45298390e-02 -1.21392511e+02] [-5.91172749e-02 4.23981436e-03 9.98242041e-01 -5.06782910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.920714057 meters 0.04350575807333805 Centerline is valid? [True, True] Translation: X:769.11, Y:-121.41, Z:-50.68 [[ 9.82574821e-01 1.76553190e-01 5.81007055e-02 7.69112445e+02] [-1.75991414e-01 9.84282109e-01 -1.46885321e-02 -1.21406341e+02] [-5.97807922e-02 4.20735648e-03 9.98202662e-01 -5.06822824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.980714057 meters 0.04387027631289261 Centerline is valid? [True, True] Translation: X:769.17, Y:-121.42, Z:-50.69 [[ 9.82413463e-01 1.77549478e-01 5.77924807e-02 7.69169216e+02] [-1.76995615e-01 9.84103249e-01 -1.46064523e-02 -1.21419874e+02] [-5.94671360e-02 4.12055978e-03 9.98221759e-01 -5.06862337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0407140570001 meters 0.03875877310749256 Centerline is valid? [True, True] Translation: X:769.23, Y:-121.43, Z:-50.69 [[ 9.82209236e-01 1.78622312e-01 5.79576249e-02 7.69228732e+02] [-1.78067380e-01 9.83909325e-01 -1.46440392e-02 -1.21425457e+02] [-5.96407998e-02 4.06314809e-03 9.98211634e-01 -5.06887899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.100714057 meters 0.0374655964295134 Centerline is valid? [True, True] Translation: X:769.29, Y:-121.44, Z:-50.69 [[ 9.81792494e-01 1.80794914e-01 5.82811905e-02 7.69287434e+02] [-1.80237838e-01 9.83512891e-01 -1.47212425e-02 -1.21437719e+02] [-5.99818279e-02 3.94872963e-03 9.98191659e-01 -5.06929618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1607140570001 meters 0.03569006079617865 Centerline is valid? [True, True] Translation: X:769.35, Y:-121.45, Z:-50.70 [[ 9.80989124e-01 1.84989985e-01 5.86433719e-02 7.69346733e+02] [-1.84433591e-01 9.82733394e-01 -1.48096762e-02 -1.21448241e+02] [-6.03704417e-02 3.71232369e-03 9.98169138e-01 -5.06968336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.220714057 meters 0.03333798121278953 Centerline is valid? [True, True] Translation: X:769.41, Y:-121.46, Z:-50.70 [[ 9.80361130e-01 1.87964612e-01 5.96771203e-02 7.69405818e+02] [-1.87393918e-01 9.82169236e-01 -1.50702005e-02 -1.21458730e+02] [-6.14456960e-02 3.59110935e-03 9.98103968e-01 -5.06985730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2807140570001 meters 0.03393233191320279 Centerline is valid? [True, True] Translation: X:769.46, Y:-121.47, Z:-50.70 [[ 9.80030120e-01 1.89723697e-01 5.95473095e-02 7.69461742e+02] [-1.89158874e-01 9.81831387e-01 -1.50348732e-02 -1.21473494e+02] [-6.13178892e-02 3.47072656e-03 9.98112254e-01 -5.07021313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.340714057 meters 0.03663734381443841 Centerline is valid? [True, True] Translation: X:769.52, Y:-121.49, Z:-50.71 [[ 9.79525235e-01 1.92553601e-01 5.87658549e-02 7.69517384e+02] [-1.92008936e-01 9.81281093e-01 -1.48319112e-02 -1.21492159e+02] [-6.05217602e-02 3.24466204e-03 9.98161605e-01 -5.07074532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4007140570001 meters 0.03153662324248594 Centerline is valid? [True, True] Translation: X:769.58, Y:-121.50, Z:-50.71 [[ 9.79148204e-01 1.94566933e-01 5.84166376e-02 7.69576153e+02] [-1.94032444e-01 9.80884348e-01 -1.47413493e-02 -1.21500438e+02] [-6.01681446e-02 3.09924274e-03 9.98183445e-01 -5.07106294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.460714057 meters 0.031989184753981534 Centerline is valid? [True, True] Translation: X:769.63, Y:-121.52, Z:-50.72 [[ 9.79173109e-01 1.94780874e-01 5.72750668e-02 7.69632070e+02] [-1.94268279e-01 9.80842158e-01 -1.44394098e-02 -1.21516253e+02] [-5.89903210e-02 3.01195311e-03 9.98254011e-01 -5.07155976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5207140570001 meters 0.032535918426009273 Centerline is valid? [True, True] Translation: X:769.69, Y:-121.53, Z:-50.72 [[ 9.79319466e-01 1.93882808e-01 5.78173100e-02 7.69688088e+02] [-1.93359821e-01 9.81019863e-01 -1.45605058e-02 -1.21533583e+02] [-5.95429613e-02 3.07984202e-03 9.98220993e-01 -5.07197930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.580714057 meters 0.03513968846170302 Centerline is valid? [True, True] Translation: X:769.74, Y:-121.56, Z:-50.72 [[ 9.79899259e-01 1.90801728e-01 5.82421106e-02 7.69743757e+02] [-1.90266594e-01 9.81623133e-01 -1.46508447e-02 -1.21555706e+02] [-5.99672096e-02 3.27482387e-03 9.98194976e-01 -5.07236883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6407140570001 meters 0.03806891617766997 Centerline is valid? [True, True] Translation: X:769.80, Y:-121.58, Z:-50.73 [[ 9.80791876e-01 1.85990592e-01 5.87775168e-02 7.69800231e+02] [-1.85437021e-01 9.82544927e-01 -1.47843831e-02 -1.21579773e+02] [-6.05013071e-02 3.60087528e-03 9.98161623e-01 -5.07277309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.700714057 meters 0.04053713507151591 Centerline is valid? [True, True] Translation: X:769.86, Y:-121.60, Z:-50.73 [[ 9.81611181e-01 1.81662020e-01 5.86378666e-02 7.69856978e+02] [-1.81103416e-01 9.83353459e-01 -1.47487823e-02 -1.21601487e+02] [-6.03410426e-02 3.85805164e-03 9.98170363e-01 -5.07318958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.760714057 meters 0.03975625911193326 Centerline is valid? [True, True] Translation: X:769.91, Y:-121.62, Z:-50.74 [[ 9.82505095e-01 1.76793359e-01 5.85478112e-02 7.69913830e+02] [-1.76227917e-01 9.84239242e-01 -1.47253220e-02 -1.21620138e+02] [-6.02283925e-02 4.14994507e-03 9.98175996e-01 -5.07367977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.820714057 meters 0.03877932443460848 Centerline is valid? [True, True] Translation: X:769.97, Y:-121.64, Z:-50.74 [[ 9.82946880e-01 1.74822588e-01 5.70306457e-02 7.69970966e+02] [-1.74282872e-01 9.84591168e-01 -1.43426494e-02 -1.21637186e+02] [-5.86592891e-02 4.15859772e-03 9.98269399e-01 -5.07417068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.880714057 meters 0.039981500142534106 Centerline is valid? [True, True] Translation: X:770.03, Y:-121.66, Z:-50.75 [[ 9.83190701e-01 1.73468936e-01 5.69611536e-02 7.70026102e+02] [-1.72928329e-01 9.84830243e-01 -1.43243047e-02 -1.21657175e+02] [-5.85818887e-02 4.23332606e-03 9.98273631e-01 -5.07459437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.940714057 meters 0.03802225622375459 Centerline is valid? [True, True] Translation: X:770.08, Y:-121.67, Z:-50.75 [[ 9.83148988e-01 1.73673870e-01 5.70565834e-02 7.70083795e+02] [-1.73132693e-01 9.84794210e-01 -1.43329675e-02 -1.21670125e+02] [-5.86782550e-02 4.21308258e-03 9.98268056e-01 -5.07492668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.000714057 meters 0.03904142925194853 Centerline is valid? [True, True] Translation: X:770.14, Y:-121.69, Z:-50.75 [[ 9.82949722e-01 1.74684977e-01 5.74021117e-02 7.70140192e+02] [-1.74139794e-01 9.84615572e-01 -1.44051530e-02 -1.21687779e+02] [-5.90353768e-02 4.16354923e-03 9.98247208e-01 -5.07527675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.060714057 meters 0.03856384241529432 Centerline is valid? [True, True] Translation: X:770.20, Y:-121.70, Z:-50.76 [[ 9.82234557e-01 1.79006159e-01 5.63211286e-02 7.70199262e+02] [-1.78489276e-01 9.83840556e-01 -1.41187624e-02 -1.21701489e+02] [-5.79383559e-02 3.81521885e-03 9.98312872e-01 -5.07571665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.120714057 meters 0.037606196967654555 Centerline is valid? [True, True] Translation: X:770.26, Y:-121.71, Z:-50.76 [[ 9.81306578e-01 1.84350884e-01 5.52462788e-02 7.70256606e+02] [-1.83862053e-01 9.82854504e-01 -1.38480772e-02 -1.21713770e+02] [-5.68519592e-02 3.43151502e-03 9.98376722e-01 -5.07622776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.180714057 meters 0.03683180233908965 Centerline is valid? [True, True] Translation: X:770.31, Y:-121.73, Z:-50.77 [[ 9.80528967e-01 1.88830357e-01 5.39077152e-02 7.70314620e+02] [-1.88371827e-01 9.82004854e-01 -1.35100199e-02 -1.21725667e+02] [-5.54887399e-02 3.09227098e-03 9.98454525e-01 -5.07673379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.240714057 meters 0.037017293985764935 Centerline is valid? [True, True] Translation: X:770.37, Y:-121.74, Z:-50.77 [[ 9.80164884e-01 1.90520989e-01 5.45761318e-02 7.70371728e+02] [-1.90053681e-01 9.81678438e-01 -1.36763566e-02 -1.21739389e+02] [-5.61818448e-02 3.03268977e-03 9.98415947e-01 -5.07707537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.300714057 meters 0.037839336409417085 Centerline is valid? [True, True] Translation: X:770.43, Y:-121.75, Z:-50.77 [[ 9.79863652e-01 1.91605523e-01 5.61653492e-02 7.70427632e+02] [-1.91112580e-01 9.81467269e-01 -1.40705811e-02 -1.21753528e+02] [-5.78204529e-02 3.05334623e-03 9.98322329e-01 -5.07735293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.360714057 meters 0.03863686564709832 Centerline is valid? [True, True] Translation: X:770.48, Y:-121.77, Z:-50.78 [[ 9.79909538e-01 1.91266589e-01 5.65189349e-02 7.70483482e+02] [-1.90767073e-01 9.81533265e-01 -1.41553464e-02 -1.21768273e+02] [-5.81826596e-02 3.08900714e-03 9.98301175e-01 -5.07772410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.420714057 meters 0.033201867292241484 Centerline is valid? [True, True] Translation: X:770.54, Y:-121.77, Z:-50.78 [[ 9.80197900e-01 1.89662808e-01 5.69218366e-02 7.70542514e+02] [-1.89154376e-01 9.81844099e-01 -1.42403380e-02 -1.21773425e+02] [-5.85892318e-02 3.19133487e-03 9.98277074e-01 -5.07800109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.480714057 meters 0.034491533322904805 Centerline is valid? [True, True] Translation: X:770.60, Y:-121.79, Z:-50.79 [[ 9.80650261e-01 1.87288517e-01 5.69919097e-02 7.70599823e+02] [-1.86775799e-01 9.82299334e-01 -1.42414819e-02 -1.21790498e+02] [-5.86503809e-02 3.32120342e-03 9.98273060e-01 -5.07851047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5407140570001 meters 0.03591871755206542 Centerline is valid? [True, True] Translation: X:770.66, Y:-121.81, Z:-50.79 [[ 9.80950761e-01 1.85676732e-01 5.70942740e-02 7.70656333e+02] [-1.85159501e-01 9.82604923e-01 -1.42661842e-02 -1.21805570e+02] [-5.87500132e-02 3.42287697e-03 9.98266858e-01 -5.07879546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.600714057 meters 0.03467373471296657 Centerline is valid? [True, True] Translation: X:770.71, Y:-121.82, Z:-50.79 [[ 9.81365778e-01 1.83443982e-01 5.71796770e-02 7.70714717e+02] [-1.82922375e-01 9.83023769e-01 -1.42714224e-02 -1.21818098e+02] [-5.88269882e-02 3.54604317e-03 9.98261895e-01 -5.07919182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6607140570001 meters 0.035774705741224176 Centerline is valid? [True, True] Translation: X:770.77, Y:-121.83, Z:-50.80 [[ 9.81788203e-01 1.81431416e-01 5.63432837e-02 7.70772042e+02] [-1.80921798e-01 9.83396972e-01 -1.40605564e-02 -1.21833494e+02] [-5.79588412e-02 3.61076022e-03 9.98312444e-01 -5.07962646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.720714057 meters 0.03686322916488716 Centerline is valid? [True, True] Translation: X:770.83, Y:-121.85, Z:-50.80 [[ 9.82082768e-01 1.80013796e-01 5.57536571e-02 7.70828781e+02] [-1.79512640e-01 9.83657300e-01 -1.39114601e-02 -1.21849249e+02] [-5.73467465e-02 3.65371909e-03 9.98347635e-01 -5.08005813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7807140570001 meters 0.040656321163670184 Centerline is valid? [True, True] Translation: X:770.88, Y:-121.87, Z:-50.80 [[ 9.82327728e-01 1.78767857e-01 5.54462676e-02 7.70883455e+02] [-1.78270385e-01 9.83884311e-01 -1.38322648e-02 -1.21867789e+02] [-5.70254772e-02 3.70338978e-03 9.98365855e-01 -5.08044979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.840714057 meters 0.03696043577929925 Centerline is valid? [True, True] Translation: X:770.94, Y:-121.87, Z:-50.81 [[ 9.82271066e-01 1.79512093e-01 5.40274093e-02 7.70942248e+02] [-1.79041250e-01 9.83749325e-01 -1.34720685e-02 -1.21874891e+02] [-5.55678266e-02 3.56008826e-03 9.98448568e-01 -5.08076961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9007140570001 meters 0.034522053089360565 Centerline is valid? [True, True] Translation: X:771.00, Y:-121.88, Z:-50.81 [[ 9.81461438e-01 1.84076751e-01 5.33778622e-02 7.71002127e+02] [-1.83624781e-01 9.82906513e-01 -1.32938354e-02 -1.21884073e+02] [-5.49125345e-02 3.24588854e-03 9.98485893e-01 -5.08119373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.960714057 meters 0.031749825796322136 Centerline is valid? [True, True] Translation: X:771.06, Y:-121.89, Z:-50.81 [[ 9.80246237e-01 1.89876293e-01 5.53561880e-02 7.71061638e+02] [-1.89399385e-01 9.81803349e-01 -1.37860958e-02 -1.21892672e+02] [-5.69665436e-02 3.02934059e-03 9.98371492e-01 -5.08135784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0207140570001 meters 0.031385382323996805 Centerline is valid? [True, True] Translation: X:771.12, Y:-121.90, Z:-50.82 [[ 9.79231015e-01 1.94760661e-01 5.63462934e-02 7.71120232e+02] [-1.94274655e-01 9.80846819e-01 -1.40312296e-02 -1.21903664e+02] [-5.79998142e-02 2.79315848e-03 9.98312686e-01 -5.08159366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.080714057 meters 0.0295617843514764 Centerline is valid? [True, True] Translation: X:771.18, Y:-121.91, Z:-50.82 [[ 9.78290166e-01 1.99269105e-01 5.69225371e-02 7.71179778e+02] [-1.98780802e-01 9.79941488e-01 -1.41729384e-02 -1.21914264e+02] [-5.86049845e-02 2.55013870e-03 9.98277994e-01 -5.08201030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1407140570001 meters 0.029197035560704385 Centerline is valid? [True, True] Translation: X:771.24, Y:-121.93, Z:-50.83 [[ 9.77901935e-01 2.01443968e-01 5.59297201e-02 7.71236867e+02] [-2.00976152e-01 9.79497156e-01 -1.39250825e-02 -1.21928175e+02] [-5.75881257e-02 2.37682518e-03 9.98337597e-01 -5.08252440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.200714057 meters 0.029007221301332795 Centerline is valid? [True, True] Translation: X:771.29, Y:-121.94, Z:-50.83 [[ 9.78013345e-01 2.01251914e-01 5.46586149e-02 7.71292073e+02] [-2.00804964e-01 9.79536743e-01 -1.36064578e-02 -1.21943081e+02] [-5.62784473e-02 2.33157609e-03 9.98412390e-01 -5.08306760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.260714057 meters 0.03036536968239871 Centerline is valid? [True, True] Translation: X:771.35, Y:-121.96, Z:-50.83 [[ 9.78043792e-01 2.01023387e-01 5.49539741e-02 7.71347329e+02] [-2.00572272e-01 9.79583649e-01 -1.36615649e-02 -1.21961399e+02] [-5.65783085e-02 2.33936531e-03 9.98395424e-01 -5.08349615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.320714057 meters 0.02945968210710369 Centerline is valid? [True, True] Translation: X:771.40, Y:-121.97, Z:-50.84 [[ 9.78219441e-01 1.99752823e-01 5.64405476e-02 7.71404096e+02] [-1.99275087e-01 9.79843196e-01 -1.40267980e-02 -1.21974856e+02] [-5.81047790e-02 2.47409143e-03 9.98307424e-01 -5.08372133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.380714057 meters 0.029387108129155477 Centerline is valid? [True, True] Translation: X:771.46, Y:-121.99, Z:-50.84 [[ 9.78580653e-01 1.97785174e-01 5.71045691e-02 7.71460820e+02] [-1.97293678e-01 9.80241925e-01 -1.41765004e-02 -1.21990953e+02] [-5.87801943e-02 2.60647849e-03 9.98267547e-01 -5.08395293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.440714057 meters 0.03206553760761336 Centerline is valid? [True, True] Translation: X:771.52, Y:-122.01, Z:-50.84 [[ 9.79138293e-01 1.94771914e-01 5.78973620e-02 7.71516149e+02] [-1.94262410e-01 9.80844538e-01 -1.43565023e-02 -1.22011202e+02] [-5.95845547e-02 2.80972015e-03 9.98219308e-01 -5.08433473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.500714057 meters 0.032224731691787925 Centerline is valid? [True, True] Translation: X:771.57, Y:-122.03, Z:-50.85 [[ 9.80461720e-01 1.88087590e-01 5.76009917e-02 7.71573824e+02] [-1.87571991e-01 9.82147058e-01 -1.42795470e-02 -1.22029288e+02] [-5.92584501e-02 3.19621646e-03 9.98237557e-01 -5.08469366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.560714057 meters 0.03787507118244588 Centerline is valid? [True, True] Translation: X:771.63, Y:-122.05, Z:-50.85 [[ 9.82101368e-01 1.79861833e-01 5.59162223e-02 7.71628099e+02] [-1.79362736e-01 9.83685355e-01 -1.38611418e-02 -1.22054340e+02] [-5.74970593e-02 3.58375969e-03 9.98339243e-01 -5.08514437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.620714057 meters 0.035808138427295196 Centerline is valid? [True, True] Translation: X:771.69, Y:-122.07, Z:-50.85 [[ 9.82852994e-01 1.75837149e-01 5.55093547e-02 7.71687117e+02] [-1.75338935e-01 9.84411970e-01 -1.37597884e-02 -1.22066770e+02] [-5.70635551e-02 3.79089807e-03 9.98363351e-01 -5.08548653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.680714057 meters 0.041438383169894406 Centerline is valid? [True, True] Translation: X:771.74, Y:-122.09, Z:-50.86 [[ 9.83238217e-01 1.73852459e-01 5.49357049e-02 7.71741186e+02] [-1.73361421e-01 9.84764124e-01 -1.36175695e-02 -1.22088827e+02] [-5.64661593e-02 3.86558290e-03 9.98397030e-01 -5.08592941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.740714057 meters 0.039211326766639396 Centerline is valid? [True, True] Translation: X:771.80, Y:-122.10, Z:-50.86 [[ 9.83210216e-01 1.74221584e-01 5.42633413e-02 7.71799466e+02] [-1.73743248e-01 9.84699165e-01 -1.34475954e-02 -1.22097564e+02] [-5.57759282e-02 3.79392397e-03 9.98436103e-01 -5.08622306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.800714057 meters 0.03855914182283352 Centerline is valid? [True, True] Translation: X:771.86, Y:-122.11, Z:-50.87 [[ 9.83159817e-01 1.74598199e-01 5.39651982e-02 7.71856422e+02] [-1.74126458e-01 9.84632671e-01 -1.33596268e-02 -1.22110192e+02] [-5.54684641e-02 3.73787937e-03 9.98453443e-01 -5.08664925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.860714057 meters 0.041867398259941416 Centerline is valid? [True, True] Translation: X:771.91, Y:-122.13, Z:-50.87 [[ 9.83322570e-01 1.73985696e-01 5.29688758e-02 7.71911257e+02] [-1.73531185e-01 9.84741276e-01 -1.30976013e-02 -1.22128482e+02] [-5.44394336e-02 3.68741515e-03 9.98510266e-01 -5.08711967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.920714057 meters 0.040401273343753055 Centerline is valid? [True, True] Translation: X:771.97, Y:-122.14, Z:-50.88 [[ 9.83427099e-01 1.73886164e-01 5.13297407e-02 7.71968640e+02] [-1.73459382e-01 9.84759268e-01 -1.26896203e-02 -1.22138984e+02] [-5.27539873e-02 3.57569139e-03 9.98601137e-01 -5.08751300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.980714057 meters 0.04130548130839697 Centerline is valid? [True, True] Translation: X:772.03, Y:-122.15, Z:-50.88 [[ 9.82977102e-01 1.76694986e-01 5.03477730e-02 7.72025574e+02] [-1.76288859e-01 9.84259976e-01 -1.24313495e-02 -1.22152859e+02] [-5.17518550e-02 3.34398048e-03 9.98654376e-01 -5.08794024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0407140570001 meters 0.039729666227788105 Centerline is valid? [True, True] Translation: X:772.09, Y:-122.16, Z:-50.88 [[ 9.82392497e-01 1.79976238e-01 5.01351778e-02 7.72085226e+02] [-1.79577881e-01 9.83665895e-01 -1.23770393e-02 -1.22163129e+02] [-5.15438375e-02 3.15594152e-03 9.98665746e-01 -5.08826976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.100714057 meters 0.03374638403482333 Centerline is valid? [True, True] Translation: X:772.15, Y:-122.16, Z:-50.88 [[ 9.81015532e-01 1.87476073e-01 4.96109622e-02 7.72146342e+02] [-1.87095641e-01 9.82265372e-01 -1.22457913e-02 -1.22164592e+02] [-5.10269231e-02 2.73131668e-03 9.98693543e-01 -5.08841524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1607140570001 meters 0.031723810664674876 Centerline is valid? [True, True] Translation: X:772.21, Y:-122.17, Z:-50.89 [[ 9.79481034e-01 1.95378022e-01 4.94401882e-02 7.72206087e+02] [-1.95010313e-01 9.80725288e-01 -1.22018986e-02 -1.22173349e+02] [-5.08712257e-02 2.31018172e-03 9.98702549e-01 -5.08879520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.220714057 meters 0.0310781849947141 Centerline is valid? [True, True] Translation: X:772.26, Y:-122.19, Z:-50.89 [[ 9.78589633e-01 1.99787516e-01 4.94699845e-02 7.72263659e+02] [-1.99424993e-01 9.79837034e-01 -1.22089595e-02 -1.22185112e+02] [-5.09117206e-02 2.08200990e-03 9.98700987e-01 -5.08913638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2807140570001 meters 0.02850818816908405 Centerline is valid? [True, True] Translation: X:772.32, Y:-122.19, Z:-50.89 [[ 9.77937272e-01 2.03098724e-01 4.88835417e-02 7.72323740e+02] [-2.02748954e-01 9.79156450e-01 -1.20626879e-02 -1.22193098e+02] [-5.03145516e-02 1.88546511e-03 9.98731641e-01 -5.08937207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.340714057 meters 0.02893702094420993 Centerline is valid? [True, True] Translation: X:772.38, Y:-122.21, Z:-50.90 [[ 9.78048293e-01 2.02845773e-01 4.76983104e-02 7.72380360e+02] [-2.02512436e-01 9.79208945e-01 -1.17709146e-02 -1.22208051e+02] [-4.90942924e-02 1.85302187e-03 9.98792429e-01 -5.08987198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4007140570001 meters 0.029434420447397167 Centerline is valid? [True, True] Translation: X:772.44, Y:-122.22, Z:-50.90 [[ 9.78562982e-01 2.00569098e-01 4.67603143e-02 7.72437620e+02] [-2.00246906e-01 9.79677690e-01 -1.15238849e-02 -1.22224697e+02] [-4.81213719e-02 1.91323891e-03 9.98839663e-01 -5.09030014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.460714057 meters 0.02940602194711724 Centerline is valid? [True, True] Translation: X:772.49, Y:-122.24, Z:-50.91 [[ 9.79203988e-01 1.97193053e-01 4.76912026e-02 7.72494116e+02] [-1.96853974e-01 9.80362387e-01 -1.17517766e-02 -1.22241729e+02] [-4.90720299e-02 2.11918373e-03 9.98792994e-01 -5.09053572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5207140570001 meters 0.030712840782577334 Centerline is valid? [True, True] Translation: X:772.55, Y:-122.26, Z:-50.91 [[ 9.79721657e-01 1.94487822e-01 4.81659867e-02 7.72551069e+02] [-1.94138842e-01 9.80902296e-01 -1.18657036e-02 -1.22260018e+02] [-4.95538618e-02 2.27419793e-03 9.98768864e-01 -5.09091366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.580714057 meters 0.032224134361324784 Centerline is valid? [True, True] Translation: X:772.61, Y:-122.28, Z:-50.91 [[ 9.80024473e-01 1.92830603e-01 4.86661238e-02 7.72606133e+02] [-1.92472348e-01 9.81229172e-01 -1.19878367e-02 -1.22278068e+02] [-5.00642422e-02 2.38149024e-03 9.98743160e-01 -5.09129490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6407140570001 meters 0.03266183786324614 Centerline is valid? [True, True] Translation: X:772.66, Y:-122.29, Z:-50.92 [[ 9.80745136e-01 1.89149388e-01 4.85951332e-02 7.72663819e+02] [-1.88787946e-01 9.81944985e-01 -1.19648496e-02 -1.22294162e+02] [-4.99808914e-02 2.56029265e-03 9.98746893e-01 -5.09164623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.700714057 meters 0.03551658348381496 Centerline is valid? [True, True] Translation: X:772.72, Y:-122.31, Z:-50.92 [[ 9.81227620e-01 1.86507542e-01 4.90641990e-02 7.72719025e+02] [-1.86135820e-01 9.82449763e-01 -1.20797389e-02 -1.22314810e+02] [-5.04560731e-02 2.72036857e-03 9.98722576e-01 -5.09218249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.760714057 meters 0.03466394530797187 Centerline is valid? [True, True] Translation: X:772.78, Y:-122.33, Z:-50.92 [[ 9.81895394e-01 1.82971445e-01 4.90192403e-02 7.72777822e+02] [-1.82596187e-01 9.83113963e-01 -1.20651971e-02 -1.22329007e+02] [-5.03990862e-02 2.89603511e-03 9.98724960e-01 -5.09244111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.820714057 meters 0.036426370063465364 Centerline is valid? [True, True] Translation: X:772.83, Y:-122.35, Z:-50.93 [[ 9.82220909e-01 1.81234261e-01 4.89512813e-02 7.72834499e+02] [-1.80857856e-01 9.83435433e-01 -1.20492444e-02 -1.22345786e+02] [-5.03241604e-02 2.98179602e-03 9.98728486e-01 -5.09288146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.880714057 meters 0.036660294163638724 Centerline is valid? [True, True] Translation: X:772.89, Y:-122.36, Z:-50.93 [[ 9.82171322e-01 1.81228477e-01 4.99573158e-02 7.72890795e+02] [-1.80836433e-01 9.83436311e-01 -1.22966252e-02 -1.22361026e+02] [-5.13583370e-02 3.04328987e-03 9.98675653e-01 -5.09323255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.940714057 meters 0.03557680951380012 Centerline is valid? [True, True] Translation: X:772.95, Y:-122.37, Z:-50.94 [[ 9.81893982e-01 1.82583333e-01 5.04731116e-02 7.72948113e+02] [-1.82185733e-01 9.83185841e-01 -1.24080600e-02 -1.22372945e+02] [-5.18899537e-02 2.98791862e-03 9.98648339e-01 -5.09351914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.000714057 meters 0.03881622911161094 Centerline is valid? [True, True] Translation: X:773.00, Y:-122.39, Z:-50.94 [[ 9.81779557e-01 1.83255378e-01 5.02629972e-02 7.73003039e+02] [-1.82862143e-01 9.83060956e-01 -1.23528921e-02 -1.22391214e+02] [-5.16753240e-02 2.93661753e-03 9.98659620e-01 -5.09405477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.060714057 meters 0.03365537766599379 Centerline is valid? [True, True] Translation: X:773.06, Y:-122.40, Z:-50.94 [[ 9.81808695e-01 1.83172411e-01 4.99955539e-02 7.73060558e+02] [-1.82783341e-01 9.83076457e-01 -1.22853190e-02 -1.22397649e+02] [-5.13997835e-02 2.92347865e-03 9.98673879e-01 -5.09429272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.120714057 meters 0.03351372804894527 Centerline is valid? [True, True] Translation: X:773.12, Y:-122.41, Z:-50.95 [[ 9.81671160e-01 1.83890841e-01 5.00588963e-02 7.73117318e+02] [-1.83502528e-01 9.82942470e-01 -1.22850834e-02 -1.22411274e+02] [-5.14641295e-02 2.87397802e-03 9.98670708e-01 -5.09465229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.180714057 meters 0.033483568103295294 Centerline is valid? [True, True] Translation: X:773.18, Y:-122.42, Z:-50.95 [[ 9.81144334e-01 1.86658516e-01 5.01437415e-02 7.73175651e+02] [-1.86273337e-01 9.82421099e-01 -1.22893868e-02 -1.22424756e+02] [-5.15561883e-02 2.71722017e-03 9.98666399e-01 -5.09495497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.240714057 meters 0.033057040878706784 Centerline is valid? [True, True] Translation: X:773.23, Y:-122.44, Z:-50.95 [[ 9.80643616e-01 1.89015241e-01 5.11012496e-02 7.73233722e+02] [-1.88618416e-01 9.81970599e-01 -1.25234476e-02 -1.22439280e+02] [-5.25470471e-02 2.64240214e-03 9.98614954e-01 -5.09536990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.300714057 meters 0.0325167923754254 Centerline is valid? [True, True] Translation: X:773.29, Y:-122.45, Z:-50.96 [[ 9.79911785e-01 1.92568533e-01 5.18676542e-02 7.73292000e+02] [-1.92164813e-01 9.81280378e-01 -1.27084595e-02 -1.22451849e+02] [-5.33439607e-02 2.48603112e-03 9.98573103e-01 -5.09571554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.360714057 meters 0.029451783916324997 Centerline is valid? [True, True] Translation: X:773.35, Y:-122.46, Z:-50.96 [[ 9.79165992e-01 1.96198075e-01 5.23476446e-02 7.73352072e+02] [-1.95792108e-01 9.80561568e-01 -1.28242404e-02 -1.22458884e+02] [-5.38461798e-02 2.30780440e-03 9.98546575e-01 -5.09596212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.420714057 meters 0.032237906316154315 Centerline is valid? [True, True] Translation: X:773.41, Y:-122.48, Z:-50.97 [[ 9.78640794e-01 1.98667624e-01 5.28523656e-02 7.73406991e+02] [-1.98257495e-01 9.80064475e-01 -1.29456628e-02 -1.22478420e+02] [-5.43706100e-02 2.19077608e-03 9.98518421e-01 -5.09653398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.480714057 meters 0.03199702119179237 Centerline is valid? [True, True] Translation: X:773.46, Y:-122.49, Z:-50.97 [[ 9.78137978e-01 2.01073160e-01 5.30629930e-02 7.73463584e+02] [-2.00663502e-01 9.79574058e-01 -1.29932112e-02 -1.22491447e+02] [-5.45917174e-02 2.06134725e-03 9.98506633e-01 -5.09694706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5407140570001 meters 0.028558961822581077 Centerline is valid? [True, True] Translation: X:773.52, Y:-122.50, Z:-50.97 [[ 9.77808874e-01 2.02738044e-01 5.27929105e-02 7.73522165e+02] [-2.02335063e-01 9.79231054e-01 -1.29253673e-02 -1.22499133e+02] [-5.43169211e-02 1.95668190e-03 9.98521829e-01 -5.09725310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.600714057 meters 0.02768397059336964 Centerline is valid? [True, True] Translation: X:773.58, Y:-122.51, Z:-50.98 [[ 9.77226406e-01 2.05417661e-01 5.32178110e-02 7.73579506e+02] [-2.05012992e-01 9.78672734e-01 -1.30135883e-02 -1.22512351e+02] [-5.47560414e-02 1.80687944e-03 9.98498128e-01 -5.09777834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6607140570001 meters 0.0264434964800841 Centerline is valid? [True, True] Translation: X:773.64, Y:-122.52, Z:-50.98 [[ 9.76895327e-01 2.06789679e-01 5.39772929e-02 7.73637225e+02] [-2.06375587e-01 9.78383850e-01 -1.31969482e-02 -1.22523776e+02] [-5.55395043e-02 1.75244152e-03 9.98454953e-01 -5.09805727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.720714057 meters 0.029362812466793516 Centerline is valid? [True, True] Translation: X:773.69, Y:-122.54, Z:-50.99 [[ 9.76779917e-01 2.07070312e-01 5.49807149e-02 7.73691478e+02] [-2.06642049e-01 9.78324493e-01 -1.34257002e-02 -1.22544439e+02] [-5.65690440e-02 1.75262672e-03 9.98397151e-01 -5.09856390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7807140570001 meters 0.027312396419341595 Centerline is valid? [True, True] Translation: X:773.75, Y:-122.55, Z:-50.99 [[ 9.76934125e-01 2.06311006e-01 5.50952236e-02 7.73749090e+02] [-2.05879972e-01 9.78484819e-01 -1.34497511e-02 -1.22554345e+02] [-5.66846715e-02 1.79651774e-03 9.98390515e-01 -5.09882413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.840714057 meters 0.027208324512454345 Centerline is valid? [True, True] Translation: X:773.80, Y:-122.57, Z:-50.99 [[ 9.77330886e-01 2.04255879e-01 5.57124295e-02 7.73804984e+02] [-2.03812650e-01 9.78915645e-01 -1.35854409e-02 -1.22571077e+02] [-5.73126750e-02 1.92257314e-03 9.98354427e-01 -5.09928163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9007140570001 meters 0.027794629658508336 Centerline is valid? [True, True] Translation: X:773.86, Y:-122.59, Z:-51.00 [[ 9.77527301e-01 2.03008613e-01 5.68144203e-02 7.73861234e+02] [-2.02546469e-01 9.79174868e-01 -1.38385493e-02 -1.22587850e+02] [-5.84405972e-02 2.01999959e-03 9.98288844e-01 -5.09960434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.960714057 meters 0.028164148218898306 Centerline is valid? [True, True] Translation: X:773.92, Y:-122.60, Z:-51.00 [[ 9.77722321e-01 2.01765889e-01 5.78756264e-02 7.73917287e+02] [-2.01285057e-01 9.79431488e-01 -1.40814306e-02 -1.22603859e+02] [-5.95263632e-02 2.11823022e-03 9.98224486e-01 -5.09996506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0207140570001 meters 0.0284059309800053 Centerline is valid? [True, True] Translation: X:773.97, Y:-122.62, Z:-51.00 [[ 9.77949638e-01 2.00563730e-01 5.82125098e-02 7.73973894e+02] [-2.00076091e-01 9.79678212e-01 -1.41477476e-02 -1.22620227e+02] [-5.98670526e-02 2.18885326e-03 9.98203960e-01 -5.10039365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.080714057 meters 0.02986140478360877 Centerline is valid? [True, True] Translation: X:774.03, Y:-122.64, Z:-51.01 [[ 9.78784401e-01 1.96534727e-01 5.79240659e-02 7.74030312e+02] [-1.96045849e-01 9.80493910e-01 -1.40612381e-02 -1.22639960e+02] [-5.95577154e-02 2.40714784e-03 9.98221961e-01 -5.10091553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1407140570001 meters 0.032108513328325275 Centerline is valid? [True, True] Translation: X:774.09, Y:-122.66, Z:-51.01 [[ 9.79792970e-01 1.91406971e-01 5.80440175e-02 7.74085361e+02] [-1.90907212e-01 9.81506984e-01 -1.40881803e-02 -1.22662207e+02] [-5.96671844e-02 2.72247849e-03 9.98214614e-01 -5.10138740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.200714057 meters 0.03186633865119612 Centerline is valid? [True, True] Translation: X:774.14, Y:-122.68, Z:-51.02 [[ 9.80654389e-01 1.86911714e-01 5.81462042e-02 7.74143222e+02] [-1.86402444e-01 9.82372137e-01 -1.41107298e-02 -1.22678420e+02] [-5.97586716e-02 2.99915451e-03 9.98208348e-01 -5.10172030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.260714057 meters 0.03466862750303178 Centerline is valid? [True, True] Translation: X:774.20, Y:-122.70, Z:-51.02 [[ 9.81443102e-01 1.82776899e-01 5.79831329e-02 7.74198848e+02] [-1.82263350e-01 9.83149074e-01 -1.40701469e-02 -1.22698621e+02] [-5.95777612e-02 3.24084859e-03 9.98218407e-01 -5.10214990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.320714057 meters 0.03591742137759611 Centerline is valid? [True, True] Translation: X:774.26, Y:-122.72, Z:-51.03 [[ 9.82301487e-01 1.78243576e-01 5.75588154e-02 7.74256432e+02] [-1.77729905e-01 9.83980215e-01 -1.39648943e-02 -1.22717556e+02] [-5.91258883e-02 3.48781369e-03 9.98244441e-01 -5.10254106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.380714057 meters 0.03844430811394425 Centerline is valid? [True, True] Translation: X:774.31, Y:-122.74, Z:-51.03 [[ 9.82868568e-01 1.75041201e-01 5.77057745e-02 7.74312114e+02] [-1.74519428e-01 9.84554196e-01 -1.40001475e-02 -1.22736885e+02] [-5.92650650e-02 3.68952616e-03 9.98235463e-01 -5.10283537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.440714057 meters 0.040012333511796845 Centerline is valid? [True, True] Translation: X:774.37, Y:-122.75, Z:-51.03 [[ 9.83152551e-01 1.73502447e-01 5.75148824e-02 7.74368728e+02] [-1.72981560e-01 9.84826227e-01 -1.39528766e-02 -1.22753250e+02] [-5.90630229e-02 3.76879221e-03 9.98247142e-01 -5.10317548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.500714057 meters 0.04155921178047664 Centerline is valid? [True, True] Translation: X:774.42, Y:-122.77, Z:-51.03 [[ 9.83186071e-01 1.73400117e-01 5.72498825e-02 7.74423751e+02] [-1.72884748e-01 9.84844350e-01 -1.38733852e-02 -1.22768202e+02] [-5.87878699e-02 3.74248754e-03 9.98263482e-01 -5.10342045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.560714057 meters 0.042495776213135925 Centerline is valid? [True, True] Translation: X:774.48, Y:-122.78, Z:-51.04 [[ 9.83058616e-01 1.74258715e-01 5.68300697e-02 7.74480848e+02] [-1.73752683e-01 9.84693110e-01 -1.37653226e-02 -1.22781666e+02] [-5.83589055e-02 3.65774189e-03 9.98288966e-01 -5.10384379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.620714057 meters 0.03566155243870466 Centerline is valid? [True, True] Translation: X:774.54, Y:-122.78, Z:-51.04 [[ 9.82817020e-01 1.76186710e-01 5.50358803e-02 7.74540530e+02] [-1.75715984e-01 9.84350836e-01 -1.33163224e-02 -1.22783858e+02] [-5.65207738e-02 3.41682446e-03 9.98395577e-01 -5.10428486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.680714057 meters 0.03624551660571504 Centerline is valid? [True, True] Translation: X:774.60, Y:-122.80, Z:-51.05 [[ 9.82890897e-01 1.76385963e-01 5.30422233e-02 7.74597306e+02] [-1.75949136e-01 9.84315617e-01 -1.28322925e-02 -1.22795792e+02] [-5.44737250e-02 3.28001012e-03 9.98509817e-01 -5.10469031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.740714057 meters 0.03373305106319064 Centerline is valid? [True, True] Translation: X:774.66, Y:-122.80, Z:-51.05 [[ 9.82735675e-01 1.77376628e-01 5.26129712e-02 7.74656511e+02] [-1.76949138e-01 9.84137897e-01 -1.27122891e-02 -1.22803323e+02] [-5.40332818e-02 3.18300018e-03 9.98534062e-01 -5.10490788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.800714057 meters 0.03377438182769216 Centerline is valid? [True, True] Translation: X:774.72, Y:-122.81, Z:-51.05 [[ 9.82367748e-01 1.79602310e-01 5.19289729e-02 7.74715917e+02] [-1.79189771e-01 9.83734708e-01 -1.25320041e-02 -1.22813876e+02] [-5.33351099e-02 3.00589588e-03 9.98572146e-01 -5.10527189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.860714057 meters 0.0334822582450821 Centerline is valid? [True, True] Translation: X:774.77, Y:-122.83, Z:-51.06 [[ 9.82164360e-01 1.80670290e-01 5.20712706e-02 7.74773681e+02] [-1.80257012e-01 9.83539278e-01 -1.25657424e-02 -1.22825872e+02] [-5.34843962e-02 2.95541264e-03 9.98564312e-01 -5.10559144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.920714057 meters 0.03286992338282187 Centerline is valid? [True, True] Translation: X:774.83, Y:-122.84, Z:-51.06 [[ 9.81836085e-01 1.82495038e-01 5.18985930e-02 7.74831511e+02] [-1.82087872e-01 9.83202698e-01 -1.25084343e-02 -1.22836102e+02] [-5.33095638e-02 2.83112775e-03 9.98574021e-01 -5.10597682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.980714057 meters 0.032798072030842326 Centerline is valid? [True, True] Translation: X:774.89, Y:-122.85, Z:-51.06 [[ 9.81480009e-01 1.84684301e-01 5.08792818e-02 7.74889148e+02] [-1.84296114e-01 9.82794312e-01 -1.22589964e-02 -1.22848032e+02] [-5.22679129e-02 2.65510597e-03 9.98629569e-01 -5.10639716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0407140570001 meters 0.031885863279083645 Centerline is valid? [True, True] Translation: X:774.95, Y:-122.86, Z:-51.07 [[ 9.81105825e-01 1.87053820e-01 4.94189072e-02 7.74947051e+02] [-1.86690793e-01 9.82346605e-01 -1.19035565e-02 -1.22857688e+02] [-5.07731015e-02 2.45259362e-03 9.98707203e-01 -5.10675413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.100714057 meters 0.03137324887833472 Centerline is valid? [True, True] Translation: X:775.00, Y:-122.87, Z:-51.07 [[ 9.80851679e-01 1.88632217e-01 4.84548261e-02 7.75004659e+02] [-1.88285189e-01 9.82045054e-01 -1.16704912e-02 -1.22868682e+02] [-4.97862529e-02 2.32369477e-03 9.98757192e-01 -5.10713346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1607140570001 meters 0.032789710926446586 Centerline is valid? [True, True] Translation: X:775.06, Y:-122.88, Z:-51.08 [[ 9.80962223e-01 1.88128818e-01 4.81732794e-02 7.75059949e+02] [-1.87785956e-01 9.82141620e-01 -1.15876215e-02 -1.22883481e+02] [-4.94929483e-02 2.32075366e-03 9.98771777e-01 -5.10759863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.220714057 meters 0.031441460979676907 Centerline is valid? [True, True] Translation: X:775.12, Y:-122.89, Z:-51.08 [[ 9.81025823e-01 1.87455832e-01 4.94837940e-02 7.75117039e+02] [-1.87093289e-01 9.82270059e-01 -1.19009276e-02 -1.22893403e+02] [-5.08373475e-02 2.41703150e-03 9.98704021e-01 -5.10772141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2807140570001 meters 0.034207234918757726 Centerline is valid? [True, True] Translation: X:775.17, Y:-122.91, Z:-51.08 [[ 9.81162993e-01 1.86441904e-01 5.05825857e-02 7.75171822e+02] [-1.86062679e-01 9.82462790e-01 -1.21468142e-02 -1.22911871e+02] [-5.19601835e-02 2.50647314e-03 9.98646012e-01 -5.10821733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.340714057 meters 0.032570472136503374 Centerline is valid? [True, True] Translation: X:775.23, Y:-122.92, Z:-51.09 [[ 9.81835799e-01 1.82840704e-01 5.06728890e-02 7.75231083e+02] [-1.82455646e-01 9.83138855e-01 -1.21626257e-02 -1.22923781e+02] [-5.20423092e-02 2.69614658e-03 9.98641241e-01 -5.10851733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4007140570001 meters 0.03395332850200187 Centerline is valid? [True, True] Translation: X:775.29, Y:-122.94, Z:-51.09 [[ 9.82374392e-01 1.79818667e-01 5.10470425e-02 7.75287822e+02] [-1.79423794e-01 9.83695565e-01 -1.22531006e-02 -1.22940987e+02] [-5.24180855e-02 2.87807824e-03 9.98621080e-01 -5.10890945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.460714057 meters 0.03687630586541907 Centerline is valid? [True, True] Translation: X:775.35, Y:-122.96, Z:-51.09 [[ 9.83250785e-01 1.74872542e-01 5.13564893e-02 7.75345155e+02] [-1.74466322e-01 9.84586017e-01 -1.23238790e-02 -1.22960727e+02] [-5.27199893e-02 3.15748589e-03 9.98604343e-01 -5.10947546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5207140570001 meters 0.03928237349318026 Centerline is valid? [True, True] Translation: X:775.40, Y:-122.98, Z:-51.10 [[ 9.83791287e-01 1.71783801e-01 5.14298483e-02 7.75401635e+02] [-1.71372227e-01 9.85129054e-01 -1.23412695e-02 -1.22979327e+02] [-5.27850680e-02 3.32758575e-03 9.98600352e-01 -5.10993549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.580714057 meters 0.03651850284986781 Centerline is valid? [True, True] Translation: X:775.46, Y:-122.99, Z:-51.10 [[ 9.83752820e-01 1.71641250e-01 5.26276553e-02 7.75459852e+02] [-1.71209975e-01 9.85153603e-01 -1.26302487e-02 -1.22988378e+02] [-5.40141959e-02 3.41466320e-03 9.98534329e-01 -5.11016896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6407140570001 meters 0.036550290159245574 Centerline is valid? [True, True] Translation: X:775.52, Y:-123.00, Z:-51.10 [[ 9.83411860e-01 1.72998018e-01 5.45233806e-02 7.75517464e+02] [-1.72538087e-01 9.84916150e-01 -1.30685376e-02 -1.23001182e+02] [-5.59617892e-02 3.44439513e-03 9.98426970e-01 -5.11040800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.700714057 meters 0.03496711099558389 Centerline is valid? [True, True] Translation: X:775.58, Y:-123.01, Z:-51.11 [[ 9.82886250e-01 1.75613537e-01 5.56282773e-02 7.75576625e+02] [-1.75139191e-01 9.84453458e-01 -1.33286770e-02 -1.23011628e+02] [-5.71041460e-02 3.35788184e-03 9.98362580e-01 -5.11071659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.760714057 meters 0.03405927144651516 Centerline is valid? [True, True] Translation: X:775.63, Y:-123.02, Z:-51.11 [[ 9.82074085e-01 1.80065586e-01 5.57393609e-02 7.75634370e+02] [-1.79596533e-01 9.83649708e-01 -1.33542962e-02 -1.23024139e+02] [-5.72326553e-02 3.10431228e-03 9.98356042e-01 -5.11112826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.820714057 meters 0.03343490549497866 Centerline is valid? [True, True] Translation: X:775.69, Y:-123.04, Z:-51.12 [[ 9.81719472e-01 1.82142876e-01 5.52345084e-02 7.75691599e+02] [-1.81685632e-01 9.83267634e-01 -1.32321687e-02 -1.23036502e+02] [-5.67204497e-02 2.95496115e-03 9.98385727e-01 -5.11161879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.880714057 meters 0.031426975739312496 Centerline is valid? [True, True] Translation: X:775.75, Y:-123.05, Z:-51.12 [[ 9.81116274e-01 1.85351165e-01 5.52793225e-02 7.75749841e+02] [-1.84898499e-01 9.82668452e-01 -1.32385055e-02 -1.23048009e+02] [-5.67750187e-02 2.76744946e-03 9.98383162e-01 -5.11203969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.940714057 meters 0.029765774337792067 Centerline is valid? [True, True] Translation: X:775.81, Y:-123.06, Z:-51.12 [[ 9.80465985e-01 1.88747806e-01 5.53237621e-02 7.75808293e+02] [-1.88299918e-01 9.82022228e-01 -1.32470476e-02 -1.23058805e+02] [-5.68295153e-02 2.57081974e-03 9.98380587e-01 -5.11238537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.000714057 meters 0.02875242366138704 Centerline is valid? [True, True] Translation: X:775.87, Y:-123.07, Z:-51.13 [[ 9.78903201e-01 1.96263849e-01 5.68245006e-02 7.75866168e+02] [-1.95804046e-01 9.80548674e-01 -1.36041625e-02 -1.23069977e+02] [-5.83891941e-02 2.19069109e-03 9.98291492e-01 -5.11269988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.060714057 meters 0.027246649669106168 Centerline is valid? [True, True] Translation: X:775.93, Y:-123.08, Z:-51.13 [[ 9.77693674e-01 2.01609250e-01 5.88964392e-02 7.75925287e+02] [-2.01125085e-01 9.79464117e-01 -1.40976775e-02 -1.23082251e+02] [-6.05291710e-02 1.93765878e-03 9.98164548e-01 -5.11302797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.120714057 meters 0.026116996356899506 Centerline is valid? [True, True] Translation: X:775.98, Y:-123.10, Z:-51.13 [[ 9.76394465e-01 2.06810405e-01 6.23161698e-02 7.75983248e+02] [-2.06279035e-01 9.78379549e-01 -1.49136669e-02 -1.23095693e+02] [-6.40531676e-02 1.70710244e-03 9.97945027e-01 -5.11320599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.180714057 meters 0.025489561514716083 Centerline is valid? [True, True] Translation: X:776.04, Y:-123.11, Z:-51.14 [[ 9.76086832e-01 2.07648597e-01 6.43160720e-02 7.76039986e+02] [-2.07084531e-01 9.78202005e-01 -1.53894557e-02 -1.23110276e+02] [-6.61097094e-02 1.70258148e-03 9.97810908e-01 -5.11356156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.240714057 meters 0.026184114103134325 Centerline is valid? [True, True] Translation: X:776.09, Y:-123.13, Z:-51.14 [[ 9.76510674e-01 2.05869572e-01 6.35973567e-02 7.76094456e+02] [-2.05315395e-01 9.78577810e-01 -1.52006307e-02 -1.23130945e+02] [-6.53643093e-02 1.78606173e-03 9.97859868e-01 -5.11410793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.300714057 meters 0.026700074172688836 Centerline is valid? [True, True] Translation: X:776.15, Y:-123.15, Z:-51.15 [[ 9.77473448e-01 2.01994231e-01 6.11881497e-02 7.76149769e+02] [-2.01474065e-01 9.79384746e-01 -1.46191676e-02 -1.23153183e+02] [-6.28797280e-02 1.96202294e-03 9.98019183e-01 -5.11472002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.360714057 meters 0.026921770576211607 Centerline is valid? [True, True] Translation: X:776.21, Y:-123.17, Z:-51.15 [[ 9.78031368e-01 1.99271302e-01 6.12012445e-02 7.76205930e+02] [-1.98745808e-01 9.79942036e-01 -1.46188428e-02 -1.23172267e+02] [-6.28867879e-02 2.13419605e-03 9.98018385e-01 -5.11510940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.420714057 meters 0.028650944247429335 Centerline is valid? [True, True] Translation: X:776.26, Y:-123.20, Z:-51.15 [[ 9.78699838e-01 1.95728992e-01 6.19418125e-02 7.76260118e+02] [-1.95183831e-01 9.80655120e-01 -1.47921671e-02 -1.23196848e+02] [-6.36388115e-02 2.38705129e-03 9.97970142e-01 -5.11545782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.480714057 meters 0.029917085045911656 Centerline is valid? [True, True] Translation: X:776.32, Y:-123.22, Z:-51.16 [[ 9.79266486e-01 1.92600004e-01 6.27884386e-02 7.76316162e+02] [-1.92033631e-01 9.81273846e-01 -1.49907830e-02 -1.23216813e+02] [-6.44998775e-02 2.62247954e-03 9.97914269e-01 -5.11579971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5407140570001 meters 0.03100780040975992 Centerline is valid? [True, True] Translation: X:776.37, Y:-123.24, Z:-51.16 [[ 9.80226753e-01 1.87284060e-01 6.38763929e-02 7.76372244e+02] [-1.86686930e-01 9.82301158e-01 -1.52454659e-02 -1.23240357e+02] [-6.56010875e-02 3.01912582e-03 9.97841361e-01 -5.11599846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.600714057 meters 0.03072175027117137 Centerline is valid? [True, True] Translation: X:776.43, Y:-123.26, Z:-51.16 [[ 9.81231426e-01 1.81989068e-01 6.37563109e-02 7.76429661e+02] [-1.81383109e-01 9.83294793e-01 -1.52156835e-02 -1.23258206e+02] [-6.54603367e-02 3.36578893e-03 9.97849496e-01 -5.11632230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6607140570001 meters 0.03159262341532182 Centerline is valid? [True, True] Translation: X:776.49, Y:-123.28, Z:-51.17 [[ 9.81937353e-01 1.78436560e-01 6.29239995e-02 7.76487499e+02] [-1.77839117e-01 9.83944997e-01 -1.50163574e-02 -1.23275682e+02] [-6.45932217e-02 3.55477370e-03 9.97905346e-01 -5.11670935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.720714057 meters 0.035629434669312766 Centerline is valid? [True, True] Translation: X:776.54, Y:-123.30, Z:-51.17 [[ 9.83306068e-01 1.71523273e-01 6.07366711e-02 7.76542558e+02] [-1.70953553e-01 9.85172470e-01 -1.44943936e-02 -1.23300384e+02] [-6.23222221e-02 3.86927550e-03 9.98048581e-01 -5.11723103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7807140570001 meters 0.038948658794521314 Centerline is valid? [True, True] Translation: X:776.60, Y:-123.32, Z:-51.18 [[ 9.84320235e-01 1.66088506e-01 5.93993562e-02 7.76599044e+02] [-1.65533820e-01 9.86102244e-01 -1.41745705e-02 -1.23321525e+02] [-6.09280717e-02 4.11971426e-03 9.98133657e-01 -5.11772304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.840714057 meters 0.04179573398351199 Centerline is valid? [True, True] Translation: X:776.66, Y:-123.34, Z:-51.18 [[ 9.85283534e-01 1.60206916e-01 5.95827390e-02 7.76656706e+02] [-1.59638164e-01 9.87073213e-01 -1.42172215e-02 -1.23341326e+02] [-6.10902228e-02 4.49631524e-03 9.98122121e-01 -5.11800690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9007140570001 meters 0.04316624694509745 Centerline is valid? [True, True] Translation: X:776.71, Y:-123.36, Z:-51.18 [[ 9.85534745e-01 1.58313833e-01 6.04813687e-02 7.76713955e+02] [-1.57724214e-01 9.87377736e-01 -1.44318943e-02 -1.23356002e+02] [-6.20027254e-02 4.68375688e-03 9.98064990e-01 -5.11820018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.960714057 meters 0.03989701122724229 Centerline is valid? [True, True] Translation: X:776.77, Y:-123.36, Z:-51.19 [[ 9.85728534e-01 1.57406918e-01 5.96851717e-02 7.76772404e+02] [-1.56831283e-01 9.87522762e-01 -1.42387861e-02 -1.23361939e+02] [-6.11817491e-02 4.67507570e-03 9.98115693e-01 -5.11855754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0207140570001 meters 0.04341718165923426 Centerline is valid? [True, True] Translation: X:776.83, Y:-123.38, Z:-51.19 [[ 9.85982967e-01 1.55906278e-01 5.94207191e-02 7.76828663e+02] [-1.55333381e-01 9.87760473e-01 -1.41699952e-02 -1.23376787e+02] [-6.09026288e-02 4.74135270e-03 9.98132451e-01 -5.11875598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.080714057 meters 0.042605205966867156 Centerline is valid? [True, True] Translation: X:776.89, Y:-123.39, Z:-51.19 [[ 9.86263376e-01 1.54058308e-01 5.95868292e-02 7.76886659e+02] [-1.53479176e-01 9.88049787e-01 -1.42042784e-02 -1.23387835e+02] [-6.10630410e-02 4.86382216e-03 9.98122061e-01 -5.11905761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1407140570001 meters 0.045520010442597056 Centerline is valid? [True, True] Translation: X:776.95, Y:-123.40, Z:-51.20 [[ 9.86845547e-01 1.50937830e-01 5.79106010e-02 7.76945216e+02] [-1.50385736e-01 9.88531060e-01 -1.38012591e-02 -1.23402571e+02] [-5.93295598e-02 4.91078276e-03 9.98226371e-01 -5.11964159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.200714057 meters 0.04257856960044518 Centerline is valid? [True, True] Translation: X:777.01, Y:-123.41, Z:-51.20 [[ 9.87204437e-01 1.49416354e-01 5.56969655e-02 7.77005346e+02] [-1.48903314e-01 9.88762668e-01 -1.32736261e-02 -1.23406520e+02] [-5.70543770e-02 4.81031982e-03 9.98359484e-01 -5.12009809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.260714057 meters 0.043440800157631666 Centerline is valid? [True, True] Translation: X:777.06, Y:-123.42, Z:-51.20 [[ 9.87201711e-01 1.49741627e-01 5.48655442e-02 7.77062949e+02] [-1.49244407e-01 9.88713905e-01 -1.30736963e-02 -1.23416440e+02] [-5.62040031e-02 4.71799977e-03 9.98408158e-01 -5.12038719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.320714057 meters 0.04349867905268081 Centerline is valid? [True, True] Translation: X:777.12, Y:-123.42, Z:-51.21 [[ 9.87052894e-01 1.50219674e-01 5.62195188e-02 7.77121340e+02] [-1.49698529e-01 9.88640973e-01 -1.33931851e-02 -1.23424811e+02] [-5.75928396e-02 4.80380283e-03 9.98328597e-01 -5.12058337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.380714057 meters 0.044399914111858944 Centerline is valid? [True, True] Translation: X:777.18, Y:-123.44, Z:-51.21 [[ 9.87080037e-01 1.49394707e-01 5.79156535e-02 7.77179428e+02] [-1.48841144e-01 9.88765084e-01 -1.37812120e-02 -1.23435427e+02] [-5.93238162e-02 4.98292708e-03 9.98226355e-01 -5.12074991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.440714057 meters 0.04682374926542943 Centerline is valid? [True, True] Translation: X:777.24, Y:-123.45, Z:-51.21 [[ 9.87255503e-01 1.47604401e-01 5.94938037e-02 7.77237614e+02] [-1.47018032e-01 9.89032743e-01 -1.41396973e-02 -1.23446671e+02] [-6.09284014e-02 5.21283203e-03 9.98128527e-01 -5.12107694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.500714057 meters 0.048672222581902375 Centerline is valid? [True, True] Translation: X:777.30, Y:-123.46, Z:-51.22 [[ 9.87531544e-01 1.45979590e-01 5.89186660e-02 7.77295427e+02] [-1.45401845e-01 9.89273627e-01 -1.39998146e-02 -1.23459018e+02] [-6.03303696e-02 5.25837583e-03 9.98164614e-01 -5.12157904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.560714057 meters 0.04884625789576205 Centerline is valid? [True, True] Translation: X:777.36, Y:-123.47, Z:-51.22 [[ 9.87904114e-01 1.43919010e-01 5.77302280e-02 7.77355464e+02] [-1.43361173e-01 9.89575435e-01 -1.37124809e-02 -1.23467399e+02] [-5.91019022e-02 5.27034308e-03 9.98238042e-01 -5.12196727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.620714057 meters 0.04966541421866065 Centerline is valid? [True, True] Translation: X:777.41, Y:-123.48, Z:-51.22 [[ 9.88021427e-01 1.43198924e-01 5.75128572e-02 7.77412305e+02] [-1.42644046e-01 9.89679768e-01 -1.36613566e-02 -1.23479809e+02] [-5.88756028e-02 5.29384639e-03 9.98251290e-01 -5.12234140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.680714057 meters 0.05213346423918139 Centerline is valid? [True, True] Translation: X:777.47, Y:-123.49, Z:-51.23 [[ 9.88364983e-01 1.41063183e-01 5.68844392e-02 7.77471655e+02] [-1.40517216e-01 9.89986108e-01 -1.35062604e-02 -1.23491688e+02] [-5.82200407e-02 5.35587178e-03 9.98289408e-01 -5.12271961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.740714057 meters 0.05090399136150576 Centerline is valid? [True, True] Translation: X:777.53, Y:-123.50, Z:-51.23 [[ 9.88518270e-01 1.40149321e-01 5.64782907e-02 7.77529848e+02] [-1.39609557e-01 9.90115803e-01 -1.34115214e-02 -1.23501171e+02] [-5.77996637e-02 5.37262482e-03 9.98313745e-01 -5.12315048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.800714057 meters 0.04762555359804342 Centerline is valid? [True, True] Translation: X:777.59, Y:-123.51, Z:-51.24 [[ 9.88555340e-01 1.39994272e-01 5.62133693e-02 7.77588172e+02] [-1.39460146e-01 9.90137902e-01 -1.33342448e-02 -1.23505176e+02] [-5.75257054e-02 5.34211422e-03 9.98329733e-01 -5.12354485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.860714057 meters 0.04784976098841584 Centerline is valid? [True, True] Translation: X:777.65, Y:-123.52, Z:-51.24 [[ 9.88237111e-01 1.41434781e-01 5.81688579e-02 7.77647355e+02] [-1.40866449e-01 9.89932727e-01 -1.37782631e-02 -1.23516714e+02] [-5.95319817e-02 5.42215043e-03 9.98211673e-01 -5.12378587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.920714057 meters 0.04799325040086075 Centerline is valid? [True, True] Translation: X:777.71, Y:-123.53, Z:-51.24 [[ 9.88167511e-01 1.41661703e-01 5.87956871e-02 7.77705127e+02] [-1.41081563e-01 9.89900044e-01 -1.39246439e-02 -1.23528023e+02] [-6.01744420e-02 5.46489329e-03 9.98172917e-01 -5.12407055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.980714057 meters 0.05145917303141264 Centerline is valid? [True, True] Translation: X:777.76, Y:-123.54, Z:-51.25 [[ 9.88321944e-01 1.41112603e-01 5.75062538e-02 7.77760475e+02] [-1.40557682e-01 9.89979034e-01 -1.36033515e-02 -1.23543638e+02] [-5.88495899e-02 5.36154507e-03 9.98252463e-01 -5.12463880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0407140570001 meters 0.050979551780731956 Centerline is valid? [True, True] Translation: X:777.82, Y:-123.56, Z:-51.25 [[ 9.88442383e-01 1.40827681e-01 5.61179108e-02 7.77817175e+02] [-1.40299038e-01 9.90020233e-01 -1.32709625e-02 -1.23556502e+02] [-5.74267860e-02 5.24429293e-03 9.98335946e-01 -5.12524282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.100714057 meters 0.05445036419130773 Centerline is valid? [True, True] Translation: X:777.87, Y:-123.57, Z:-51.26 [[ 9.88351400e-01 1.42022086e-01 5.46922018e-02 7.77872759e+02] [-1.41522643e-01 9.89850718e-01 -1.29188760e-02 -1.23572005e+02] [-5.59718809e-02 5.02820422e-03 9.98419684e-01 -5.12581725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1607140570001 meters 0.04635366559745307 Centerline is valid? [True, True] Translation: X:777.93, Y:-123.57, Z:-51.26 [[ 9.87737319e-01 1.45862908e-01 5.56686657e-02 7.77934748e+02] [-1.45351955e-01 9.89292733e-01 -1.31414165e-02 -1.23571547e+02] [-5.69894517e-02 4.88871817e-03 9.98362811e-01 -5.12611458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.220714057 meters 0.05104794328000035 Centerline is valid? [True, True] Translation: X:777.99, Y:-123.59, Z:-51.26 [[ 9.87205694e-01 1.48961310e-01 5.68809819e-02 7.77991584e+02] [-1.48432995e-01 9.88831318e-01 -1.34264843e-02 -1.23589850e+02] [-5.82457230e-02 4.81168729e-03 9.98290681e-01 -5.12643017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2807140570001 meters 0.04342105168271466 Centerline is valid? [True, True] Translation: X:778.05, Y:-123.59, Z:-51.27 [[ 9.86238647e-01 1.54243822e-01 5.95161746e-02 7.78053931e+02] [-1.53674981e-01 9.88021600e-01 -1.40469800e-02 -1.23589168e+02] [-6.09699259e-02 4.70752750e-03 9.98128502e-01 -5.12650509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.340714057 meters 0.043530703636000416 Centerline is valid? [True, True] Translation: X:778.11, Y:-123.60, Z:-51.27 [[ 9.85752958e-01 1.57189246e-01 5.98552208e-02 7.78112640e+02] [-1.56619390e-01 9.87558020e-01 -1.41253171e-02 -1.23600902e+02] [-6.13308512e-02 4.54958495e-03 9.98107123e-01 -5.12686638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4007140570001 meters 0.0440250753538835 Centerline is valid? [True, True] Translation: X:778.17, Y:-123.61, Z:-51.27 [[ 9.85402260e-01 1.59853981e-01 5.85584470e-02 7.78169890e+02] [-1.59313286e-01 9.87131358e-01 -1.38187642e-02 -1.23612192e+02] [-6.00138638e-02 4.28790290e-03 9.98188334e-01 -5.12737645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.460714057 meters 0.045410331946939025 Centerline is valid? [True, True] Translation: X:778.23, Y:-123.63, Z:-51.28 [[ 9.85307622e-01 1.60831960e-01 5.74627824e-02 7.78225493e+02] [-1.60313158e-01 9.86973095e-01 -1.35573244e-02 -1.23625572e+02] [-5.88946712e-02 4.14609497e-03 9.98255592e-01 -5.12790757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5207140570001 meters 0.039110631732934754 Centerline is valid? [True, True] Translation: X:778.29, Y:-123.63, Z:-51.28 [[ 9.85219545e-01 1.61804460e-01 5.62295794e-02 7.78285898e+02] [-1.61309510e-01 9.86814748e-01 -1.32625189e-02 -1.23626908e+02] [-5.76341130e-02 3.99612694e-03 9.98329775e-01 -5.12833180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.580714057 meters 0.03927476942899363 Centerline is valid? [True, True] Translation: X:778.34, Y:-123.64, Z:-51.29 [[ 9.85069076e-01 1.63011116e-01 5.53741134e-02 7.78343368e+02] [-1.62533859e-01 9.86616717e-01 -1.30460450e-02 -1.23638073e+02] [-5.67596763e-02 3.85108713e-03 9.98380443e-01 -5.12878747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6407140570001 meters 0.03965022736203564 Centerline is valid? [True, True] Translation: X:778.40, Y:-123.65, Z:-51.29 [[ 9.84693935e-01 1.65089147e-01 5.58876359e-02 7.78400766e+02] [-1.64606566e-01 9.86271475e-01 -1.31626534e-02 -1.23649269e+02] [-5.72933924e-02 3.76171314e-03 9.98350298e-01 -5.12913885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.700714057 meters 0.04001977769954308 Centerline is valid? [True, True] Translation: X:778.46, Y:-123.66, Z:-51.29 [[ 9.84447368e-01 1.66283284e-01 5.66855338e-02 7.78458248e+02] [-1.65788956e-01 9.86070924e-01 -1.33475038e-02 -1.23661775e+02] [-5.81154234e-02 3.74207948e-03 9.98302857e-01 -5.12944515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.760714057 meters 0.04012688545088477 Centerline is valid? [True, True] Translation: X:778.52, Y:-123.67, Z:-51.30 [[ 9.84089440e-01 1.67870174e-01 5.82029078e-02 7.78516672e+02] [-1.67352024e-01 9.85802010e-01 -1.37002648e-02 -1.23672903e+02] [-5.96764093e-02 3.74191148e-03 9.98210761e-01 -5.12968808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.820714057 meters 0.03621936358434211 Centerline is valid? [True, True] Translation: X:778.58, Y:-123.68, Z:-51.30 [[ 9.83988046e-01 1.68534669e-01 5.79964750e-02 7.78575884e+02] [-1.68021397e-01 9.85688829e-01 -1.36507321e-02 -1.23678044e+02] [-5.94670992e-02 3.68750842e-03 9.98223455e-01 -5.13008594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.880714057 meters 0.037050501741943416 Centerline is valid? [True, True] Translation: X:778.63, Y:-123.69, Z:-51.31 [[ 9.84016886e-01 1.68744404e-01 5.68866757e-02 7.78632623e+02] [-1.68251819e-01 9.85653306e-01 -1.33748139e-02 -1.23692364e+02] [-5.83274650e-02 3.58975604e-03 9.98291050e-01 -5.13066842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.940714057 meters 0.03676820790894137 Centerline is valid? [True, True] Translation: X:778.69, Y:-123.70, Z:-51.31 [[ 9.84043526e-01 1.69043468e-01 5.55215675e-02 7.78690158e+02] [-1.68575543e-01 9.85602481e-01 -1.30397922e-02 -1.23704689e+02] [-5.69264864e-02 3.47214465e-03 9.98372335e-01 -5.13121229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.000714057 meters 0.03841915934479332 Centerline is valid? [True, True] Translation: X:778.75, Y:-123.72, Z:-51.32 [[ 9.83968784e-01 1.69739465e-01 5.47169568e-02 7.78746071e+02] [-1.69286955e-01 9.85483221e-01 -1.28354233e-02 -1.23719214e+02] [-5.61013207e-02 3.36678883e-03 9.98419404e-01 -5.13157656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.060714057 meters 0.03704708075091828 Centerline is valid? [True, True] Translation: X:778.80, Y:-123.73, Z:-51.32 [[ 9.83966531e-01 1.69811749e-01 5.45328916e-02 7.78803600e+02] [-1.69362591e-01 9.85470833e-01 -1.27887022e-02 -1.23729322e+02] [-5.59122459e-02 3.34782312e-03 9.98430074e-01 -5.13184654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.120714057 meters 0.038040301972590146 Centerline is valid? [True, True] Translation: X:778.86, Y:-123.74, Z:-51.32 [[ 9.83806656e-01 1.70131083e-01 5.63904086e-02 7.78859812e+02] [-1.69652223e-01 9.85415479e-01 -1.32082233e-02 -1.23743124e+02] [-5.78151108e-02 3.42757985e-03 9.98321424e-01 -5.13203413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.180714057 meters 0.03455314704215281 Centerline is valid? [True, True] Translation: X:778.92, Y:-123.75, Z:-51.32 [[ 9.83944493e-01 1.69404985e-01 5.61710395e-02 7.78918084e+02] [-1.68928891e-01 9.85540475e-01 -1.31529995e-02 -1.23749762e+02] [-5.75870167e-02 3.45290996e-03 9.98334520e-01 -5.13227976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.240714057 meters 0.0404742346987582 Centerline is valid? [True, True] Translation: X:778.97, Y:-123.77, Z:-51.33 [[ 9.84096425e-01 1.68749532e-01 5.54781283e-02 7.78971812e+02] [-1.68284989e-01 9.85652989e-01 -1.29749224e-02 -1.23772388e+02] [-5.68716951e-02 3.43243854e-03 9.98375595e-01 -5.13287051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.300714057 meters 0.034981305537767536 Centerline is valid? [True, True] Translation: X:779.03, Y:-123.78, Z:-51.33 [[ 9.84190911e-01 1.68474412e-01 5.46317033e-02 7.79030808e+02] [-1.68023729e-01 9.85700191e-01 -1.27734005e-02 -1.23778960e+02] [-5.60024715e-02 3.39204212e-03 9.98424868e-01 -5.13324759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.360714057 meters 0.03473211484044608 Centerline is valid? [True, True] Translation: X:779.09, Y:-123.79, Z:-51.34 [[ 9.84034229e-01 1.69423704e-01 5.45182900e-02 7.79087344e+02] [-1.68977155e-01 9.85537725e-01 -1.27323860e-02 -1.23793113e+02] [-5.58869995e-02 3.31675810e-03 9.98431591e-01 -5.13375000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.420714057 meters 0.03434607482940442 Centerline is valid? [True, True] Translation: X:779.15, Y:-123.81, Z:-51.34 [[ 9.83279885e-01 1.73744462e-01 5.45300745e-02 7.79145260e+02] [-1.73305252e-01 9.84786030e-01 -1.27186930e-02 -1.23807452e+02] [-5.59102581e-02 3.05568667e-03 9.98431122e-01 -5.13408254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.480714057 meters 0.033542482831975196 Centerline is valid? [True, True] Translation: X:779.20, Y:-123.82, Z:-51.34 [[ 9.82931766e-01 1.75645213e-01 5.47165708e-02 7.79202432e+02] [-1.75205993e-01 9.84449094e-01 -1.27609401e-02 -1.23820120e+02] [-5.61070766e-02 2.95646226e-03 9.98420380e-01 -5.13440177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5407140570001 meters 0.030253248911642463 Centerline is valid? [True, True] Translation: X:779.26, Y:-123.83, Z:-51.35 [[ 9.81618901e-01 1.82731512e-01 5.50774777e-02 7.79261261e+02] [-1.82297828e-01 9.83159509e-01 -1.28406338e-02 -1.23830295e+02] [-5.64963343e-02 2.56410427e-03 9.98399514e-01 -5.13476011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.600714057 meters 0.031219690483569377 Centerline is valid? [True, True] Translation: X:779.32, Y:-123.85, Z:-51.35 [[ 9.80716339e-01 1.87811688e-01 5.40576793e-02 7.79318181e+02] [-1.87401700e-01 9.82202528e-01 -1.26014583e-02 -1.23846726e+02] [-5.54622904e-02 2.22795503e-03 9.98458297e-01 -5.13519881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6607140570001 meters 0.02789528455663625 Centerline is valid? [True, True] Translation: X:779.38, Y:-123.86, Z:-51.36 [[ 9.79252361e-01 1.95489156e-01 5.33741789e-02 7.79377184e+02] [-1.95100962e-01 9.80704269e-01 -1.24399458e-02 -1.23857214e+02] [-5.47761596e-02 1.76849268e-03 9.98497093e-01 -5.13561647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.720714057 meters 0.026084677448712484 Centerline is valid? [True, True] Translation: X:779.44, Y:-123.87, Z:-51.36 [[ 9.78187027e-01 2.00976439e-01 5.25224831e-02 7.79435211e+02] [-2.00608457e-01 9.79595021e-01 -1.22410318e-02 -1.23870354e+02] [-5.39109219e-02 1.43756426e-03 9.98544714e-01 -5.13601592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7807140570001 meters 0.025608784715786623 Centerline is valid? [True, True] Translation: X:779.49, Y:-123.89, Z:-51.36 [[ 9.77826924e-01 2.02819928e-01 5.21400471e-02 7.79491327e+02] [-2.02459878e-01 9.79215153e-01 -1.21524094e-02 -1.23886256e+02] [-5.35210750e-02 1.32668547e-03 9.98565839e-01 -5.13640175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.840714057 meters 0.026615965582738495 Centerline is valid? [True, True] Translation: X:779.55, Y:-123.91, Z:-51.37 [[ 9.78105136e-01 2.01240963e-01 5.30322323e-02 7.79546951e+02] [-2.00866937e-01 9.79540734e-01 -1.23460366e-02 -1.23907888e+02] [-5.44317600e-02 1.42329974e-03 9.98516478e-01 -5.13672089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9007140570001 meters 0.027797464306448385 Centerline is valid? [True, True] Translation: X:779.60, Y:-123.93, Z:-51.37 [[ 9.79004052e-01 1.96775626e-01 5.32016882e-02 7.79602467e+02] [-1.96393488e-01 9.80447139e-01 -1.23695112e-02 -1.23930207e+02] [-5.45954614e-02 1.66133644e-03 9.98507174e-01 -5.13716363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.960714057 meters 0.02950793988101083 Centerline is valid? [True, True] Translation: X:779.66, Y:-123.96, Z:-51.38 [[ 9.80666822e-01 1.88664479e-01 5.19451501e-02 7.79657198e+02] [-1.88288997e-01 9.82039445e-01 -1.20740505e-02 -1.23958651e+02] [-5.32901308e-02 2.05992057e-03 9.98576947e-01 -5.13772333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0207140570001 meters 0.031193501291135954 Centerline is valid? [True, True] Translation: X:779.71, Y:-123.98, Z:-51.38 [[ 9.81894068e-01 1.82353718e-01 5.12948480e-02 7.79713028e+02] [-1.81979004e-01 9.83230133e-01 -1.19225524e-02 -1.23982056e+02] [-5.26087620e-02 2.37209809e-03 9.98612383e-01 -5.13812712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.080714057 meters 0.035849409308648085 Centerline is valid? [True, True] Translation: X:779.77, Y:-124.01, Z:-51.39 [[ 9.83490968e-01 1.73805134e-01 5.03715265e-02 7.79767031e+02] [-1.73432625e-01 9.84776145e-01 -1.17075984e-02 -1.24012524e+02] [-5.16395184e-02 2.77825120e-03 9.98661926e-01 -5.13855258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1407140570001 meters 0.03490366523471892 Centerline is valid? [True, True] Translation: X:779.82, Y:-124.03, Z:-51.39 [[ 9.84127582e-01 1.70010841e-01 5.08843510e-02 7.79824724e+02] [-1.69625691e-01 9.85437605e-01 -1.18259233e-02 -1.24029889e+02] [-5.21538881e-02 3.00692412e-03 9.98634533e-01 -5.13874046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.200714057 meters 0.04076889939148517 Centerline is valid? [True, True] Translation: X:779.88, Y:-124.06, Z:-51.39 [[ 9.84680254e-01 1.66410379e-01 5.20805525e-02 7.79878756e+02] [-1.66001916e-01 9.86051154e-01 -1.21031210e-02 -1.24058944e+02] [-5.33681738e-02 3.27223272e-03 9.98569542e-01 -5.13913487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.260714057 meters 0.038288301737851874 Centerline is valid? [True, True] Translation: X:779.94, Y:-124.07, Z:-51.39 [[ 9.84912206e-01 1.64913146e-01 5.24556955e-02 7.79936904e+02] [-1.64496764e-01 9.86302316e-01 -1.21883331e-02 -1.24072008e+02] [-5.37471903e-02 3.37564587e-03 9.98548869e-01 -5.13943640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.320714057 meters 0.03800218330699587 Centerline is valid? [True, True] Translation: X:779.99, Y:-124.09, Z:-51.40 [[ 9.85149359e-01 1.63940056e-01 5.10333105e-02 7.79993067e+02] [-1.63544626e-01 9.86464661e-01 -1.18586936e-02 -1.24088320e+02] [-5.22866723e-02 3.33636076e-03 9.98626543e-01 -5.13994805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.380714057 meters 0.03822152982009475 Centerline is valid? [True, True] Translation: X:780.05, Y:-124.10, Z:-51.40 [[ 9.85059273e-01 1.64909415e-01 4.96297748e-02 7.80049129e+02] [-1.64537316e-01 9.86303584e-01 -1.15200622e-02 -1.24104309e+02] [-5.08497915e-02 3.18199415e-03 9.98701243e-01 -5.14047009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.440714057 meters 0.03820661072470806 Centerline is valid? [True, True] Translation: X:780.11, Y:-124.12, Z:-51.41 [[ 9.84834098e-01 1.66080720e-01 5.01895820e-02 7.80106402e+02] [-1.65702481e-01 9.86107157e-01 -1.16345518e-02 -1.24117767e+02] [-5.14245808e-02 3.14156509e-03 9.98671940e-01 -5.14084772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.500714057 meters 0.03678594185867684 Centerline is valid? [True, True] Translation: X:780.17, Y:-124.13, Z:-51.41 [[ 9.84402578e-01 1.68136178e-01 5.17859968e-02 7.80165528e+02] [-1.67736541e-01 9.85758820e-01 -1.20000868e-02 -1.24129101e+02] [-5.30661518e-02 3.12651237e-03 9.98586105e-01 -5.14109549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.560714057 meters 0.038762099445055445 Centerline is valid? [True, True] Translation: X:780.22, Y:-124.15, Z:-51.41 [[ 9.84284032e-01 1.68464321e-01 5.29595883e-02 7.80221091e+02] [-1.68046834e-01 9.85702625e-01 -1.22717623e-02 -1.24145123e+02] [-5.42697593e-02 3.17920853e-03 9.98521250e-01 -5.14147419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.620714057 meters 0.033520332000279617 Centerline is valid? [True, True] Translation: X:780.28, Y:-124.15, Z:-51.42 [[ 9.84203223e-01 1.68372886e-01 5.47228258e-02 7.80279785e+02] [-1.67927171e-01 9.85717894e-01 -1.26766863e-02 -1.24151242e+02] [-5.60756789e-02 3.28698621e-03 9.98421111e-01 -5.14166919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.680714057 meters 0.033388655566578565 Centerline is valid? [True, True] Translation: X:780.34, Y:-124.16, Z:-51.42 [[ 9.83919517e-01 1.69699368e-01 5.57181193e-02 7.80336857e+02] [-1.69240346e-01 9.85490507e-01 -1.28905402e-02 -1.24164138e+02] [-5.70971941e-02 3.25350037e-03 9.98363323e-01 -5.14199562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.740714057 meters 0.03359331518331508 Centerline is valid? [True, True] Translation: X:780.39, Y:-124.18, Z:-51.42 [[ 9.83737293e-01 1.70492861e-01 5.65077329e-02 7.80393963e+02] [-1.70022208e-01 9.85353552e-01 -1.30700564e-02 -1.24178113e+02] [-5.79084466e-02 3.24993243e-03 9.98316608e-01 -5.14239727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.800714057 meters 0.03332114394728088 Centerline is valid? [True, True] Translation: X:780.45, Y:-124.19, Z:-51.43 [[ 9.83332532e-01 1.72115953e-01 5.85937822e-02 7.80451257e+02] [-1.71613714e-01 9.85071319e-01 -1.35362638e-02 -1.24192935e+02] [-6.00488612e-02 3.25515200e-03 9.98190131e-01 -5.14277202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.860714057 meters 0.033292413787776115 Centerline is valid? [True, True] Translation: X:780.51, Y:-124.21, Z:-51.43 [[ 9.83015603e-01 1.73651813e-01 5.93748440e-02 7.80508606e+02] [-1.73139805e-01 9.84801950e-01 -1.37013292e-02 -1.24206679e+02] [-6.08517229e-02 3.18847144e-03 9.98141724e-01 -5.14316236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.920714057 meters 0.03368863476354717 Centerline is valid? [True, True] Translation: X:780.57, Y:-124.22, Z:-51.43 [[ 9.82621445e-01 1.75223121e-01 6.12531932e-02 7.80565176e+02] [-1.74681497e-01 9.84523598e-01 -1.41300733e-02 -1.24221089e+02] [-6.27811298e-02 3.18471357e-03 9.98022238e-01 -5.14347231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.980714057 meters 0.031895571483780714 Centerline is valid? [True, True] Translation: X:780.62, Y:-124.23, Z:-51.44 [[ 9.82532412e-01 1.75413372e-01 6.21305679e-02 7.80623064e+02] [-1.74856762e-01 9.84489624e-01 -1.43280384e-02 -1.24232369e+02] [-6.36802290e-02 3.21381221e-03 9.97965180e-01 -5.14385442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0407140570001 meters 0.033238233062322625 Centerline is valid? [True, True] Translation: X:780.68, Y:-124.25, Z:-51.44 [[ 9.82760291e-01 1.73829441e-01 6.29724996e-02 7.80678880e+02] [-1.73255462e-01 9.84770093e-01 -1.45054820e-02 -1.24249156e+02] [-6.45349141e-02 3.34508213e-03 9.97909843e-01 -5.14435994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.100714057 meters 0.034439681090013004 Centerline is valid? [True, True] Translation: X:780.74, Y:-124.27, Z:-51.45 [[ 9.83077843e-01 1.71928133e-01 6.32350530e-02 7.80735755e+02] [-1.71346004e-01 9.85103363e-01 -1.45571557e-02 -1.24265868e+02] [-6.47958480e-02 3.47574357e-03 9.97892488e-01 -5.14487760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1607140570001 meters 0.03190893581091415 Centerline is valid? [True, True] Translation: X:780.79, Y:-124.28, Z:-51.45 [[ 9.83387606e-01 1.69839055e-01 6.40586671e-02 7.80794358e+02] [-1.69237380e-01 9.85465023e-01 -1.47443853e-02 -1.24276947e+02] [-6.56317483e-02 3.65832475e-03 9.97837206e-01 -5.14546020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.220714057 meters 0.032876067470748116 Centerline is valid? [True, True] Translation: X:780.85, Y:-124.29, Z:-51.46 [[ 9.83552413e-01 1.68808548e-01 6.42520521e-02 7.80850698e+02] [-1.68201222e-01 9.85641780e-01 -1.47861356e-02 -1.24292655e+02] [-6.58255331e-02 3.73566570e-03 9.97824155e-01 -5.14590117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2807140570001 meters 0.0329433195060285 Centerline is valid? [True, True] Translation: X:780.91, Y:-124.31, Z:-51.46 [[ 9.83672968e-01 1.67437381e-01 6.59713219e-02 7.80908084e+02] [-1.66795216e-01 9.85874949e-01 -1.51637749e-02 -1.24306228e+02] [-6.75784564e-02 3.91249454e-03 9.97706292e-01 -5.14631478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.340714057 meters 0.035399051408094975 Centerline is valid? [True, True] Translation: X:780.96, Y:-124.32, Z:-51.47 [[ 9.83815859e-01 1.66196898e-01 6.69697371e-02 7.80963205e+02] [-1.65533463e-01 9.86084307e-01 -1.53757090e-02 -1.24323130e+02] [-6.85932020e-02 4.04113384e-03 9.97636528e-01 -5.14677808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4007140570001 meters 0.034526217158021816 Centerline is valid? [True, True] Translation: X:781.02, Y:-124.33, Z:-51.47 [[ 9.83989654e-01 1.64918583e-01 6.75738254e-02 7.81020391e+02] [-1.64240565e-01 9.86298406e-01 -1.55077562e-02 -1.24334255e+02] [-6.92054735e-02 4.16110841e-03 9.97593749e-01 -5.14725176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.460714057 meters 0.03501251408568804 Centerline is valid? [True, True] Translation: X:781.08, Y:-124.35, Z:-51.48 [[ 9.84234820e-01 1.63345604e-01 6.78235486e-02 7.81077981e+02] [-1.62659565e-01 9.86559638e-01 -1.55546654e-02 -1.24346824e+02] [-6.94527618e-02 4.27729444e-03 9.97576072e-01 -5.14771172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5207140570001 meters 0.03563554064289942 Centerline is valid? [True, True] Translation: X:781.13, Y:-124.36, Z:-51.48 [[ 9.84337472e-01 1.62812964e-01 6.76141946e-02 7.81134626e+02] [-1.62131166e-01 9.86647652e-01 -1.54885573e-02 -1.24360259e+02] [-6.92331243e-02 4.28359914e-03 9.97591312e-01 -5.14820640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.580714057 meters 0.03712771354212181 Centerline is valid? [True, True] Translation: X:781.19, Y:-124.37, Z:-51.49 [[ 9.84483772e-01 1.62189978e-01 6.69784584e-02 7.81190354e+02] [-1.61520710e-01 9.86750314e-01 -1.53257437e-02 -1.24374423e+02] [-6.85766969e-02 4.26953782e-03 9.97636711e-01 -5.14872346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6407140570001 meters 0.036987820533762324 Centerline is valid? [True, True] Translation: X:781.25, Y:-124.39, Z:-51.49 [[ 9.84531069e-01 1.62114868e-01 6.64631049e-02 7.81247709e+02] [-1.61456361e-01 9.86762818e-01 -1.51982018e-02 -1.24386174e+02] [-6.80471751e-02 4.23221083e-03 9.97673128e-01 -5.14907021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.700714057 meters 0.03830484179276919 Centerline is valid? [True, True] Translation: X:781.30, Y:-124.40, Z:-51.49 [[ 9.84471642e-01 1.62439630e-01 6.65503779e-02 7.81303558e+02] [-1.61781278e-01 9.86709551e-01 -1.52013268e-02 -1.24400403e+02] [-6.81351914e-02 4.19866993e-03 9.97667263e-01 -5.14933660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.760714057 meters 0.03740796365139883 Centerline is valid? [True, True] Translation: X:781.36, Y:-124.41, Z:-51.50 [[ 9.84653665e-01 1.61621352e-01 6.58460282e-02 7.81360958e+02] [-1.60975499e-01 9.86843892e-01 -1.50339879e-02 -1.24411737e+02] [-6.74095642e-02 4.20367406e-03 9.97716533e-01 -5.14983238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.820714057 meters 0.03695726767701332 Centerline is valid? [True, True] Translation: X:781.42, Y:-124.42, Z:-51.50 [[ 9.84725476e-01 1.61370643e-01 6.53854230e-02 7.81417848e+02] [-1.60734404e-01 9.86885044e-01 -1.49117681e-02 -1.24423765e+02] [-6.69342177e-02 4.17431093e-03 9.97748659e-01 -5.15029010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.880714057 meters 0.0352309937260551 Centerline is valid? [True, True] Translation: X:781.47, Y:-124.44, Z:-51.51 [[ 9.84683705e-01 1.61248043e-01 6.63103996e-02 7.81474661e+02] [-1.60594748e-01 9.86904880e-01 -1.51024430e-02 -1.24435371e+02] [-6.78772964e-02 4.22202762e-03 9.97684743e-01 -5.15059456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.940714057 meters 0.03634188411329764 Centerline is valid? [True, True] Translation: X:781.53, Y:-124.45, Z:-51.51 [[ 9.84849903e-01 1.60427416e-01 6.58309379e-02 7.81531354e+02] [-1.59783078e-01 9.87038586e-01 -1.49732191e-02 -1.24449716e+02] [-6.73797908e-02 4.22770347e-03 9.97718442e-01 -5.15089305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.000714057 meters 0.03930561176902512 Centerline is valid? [True, True] Translation: X:781.59, Y:-124.47, Z:-51.51 [[ 9.84937777e-01 1.59954819e-01 6.56660539e-02 7.81586688e+02] [-1.59313811e-01 9.87115263e-01 -1.49187082e-02 -1.24467996e+02] [-6.72062833e-02 4.23248999e-03 9.97730125e-01 -5.15126322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.060714057 meters 0.041020750027471777 Centerline is valid? [True, True] Translation: X:781.64, Y:-124.48, Z:-51.52 [[ 9.85015791e-01 1.59553666e-01 6.54715154e-02 7.81641897e+02] [-1.58915984e-01 9.87180146e-01 -1.48684087e-02 -1.24483838e+02] [-6.70044893e-02 4.24114702e-03 9.97743660e-01 -5.15162508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.120714057 meters 0.03669551865420715 Centerline is valid? [True, True] Translation: X:781.70, Y:-124.49, Z:-51.52 [[ 9.85162187e-01 1.59045086e-01 6.44990439e-02 7.81701047e+02] [-1.58425546e-01 9.87262361e-01 -1.46416141e-02 -1.24489475e+02] [-6.60061551e-02 4.20606831e-03 9.97810351e-01 -5.15200180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.180714057 meters 0.03829385489840007 Centerline is valid? [True, True] Translation: X:781.76, Y:-124.50, Z:-51.53 [[ 9.85398953e-01 1.58219692e-01 6.28922293e-02 7.81757934e+02] [-1.57630056e-01 9.87395260e-01 -1.42606148e-02 -1.24502571e+02] [-6.43557992e-02 4.13868928e-03 9.97918435e-01 -5.15253676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.240714057 meters 0.037867753216911576 Centerline is valid? [True, True] Translation: X:781.82, Y:-124.52, Z:-51.53 [[ 9.85660109e-01 1.56747817e-01 6.24841652e-02 7.81815786e+02] [-1.56163922e-01 9.87629767e-01 -1.41517722e-02 -1.24515109e+02] [-6.39294810e-02 4.19106500e-03 9.97945618e-01 -5.15293717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.300714057 meters 0.038761440971747274 Centerline is valid? [True, True] Translation: X:781.87, Y:-124.53, Z:-51.53 [[ 9.85938065e-01 1.55235828e-01 6.18705920e-02 7.81873694e+02] [-1.54660699e-01 9.87868332e-01 -1.40080806e-02 -1.24527865e+02] [-6.32945546e-02 4.24215089e-03 9.97985873e-01 -5.15325072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.360714057 meters 0.03967714757346837 Centerline is valid? [True, True] Translation: X:781.93, Y:-124.54, Z:-51.54 [[ 9.86448012e-01 1.52482948e-01 6.05745015e-02 7.81931904e+02] [-1.51926674e-01 9.88296644e-01 -1.37123651e-02 -1.24540125e+02] [-6.19564784e-02 4.32365270e-03 9.98069487e-01 -5.15379772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.420714057 meters 0.04308733071380445 Centerline is valid? [True, True] Translation: X:781.99, Y:-124.56, Z:-51.54 [[ 9.86739611e-01 1.50683932e-01 6.03265591e-02 7.81987627e+02] [-1.50128925e-01 9.88572121e-01 -1.36552912e-02 -1.24556586e+02] [-6.16947875e-02 4.41745524e-03 9.98085287e-01 -5.15413413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.480714057 meters 0.0415630166567671 Centerline is valid? [True, True] Translation: X:782.05, Y:-124.57, Z:-51.54 [[ 9.86925042e-01 1.49594399e-01 6.00039808e-02 7.82045298e+02] [-1.49043636e-01 9.88737405e-01 -1.35771201e-02 -1.24565745e+02] [-6.13592414e-02 4.45638836e-03 9.98105798e-01 -5.15442611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5407140570001 meters 0.04566953714968492 Centerline is valid? [True, True] Translation: X:782.10, Y:-124.58, Z:-51.55 [[ 9.87351156e-01 1.47226055e-01 5.88403213e-02 7.82101682e+02] [-1.46692633e-01 9.89092596e-01 -1.33082085e-02 -1.24582581e+02] [-6.01578411e-02 4.50843340e-03 9.98178696e-01 -5.15479898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.600714057 meters 0.04460866640483348 Centerline is valid? [True, True] Translation: X:782.16, Y:-124.59, Z:-51.55 [[ 9.87654062e-01 1.45614656e-01 5.77566056e-02 7.82160068e+02] [-1.45098114e-01 9.89331060e-01 -1.30610235e-02 -1.24593123e+02] [-5.90422803e-02 4.51939843e-03 9.98245253e-01 -5.15523539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6607140570001 meters 0.04743202679234177 Centerline is valid? [True, True] Translation: X:782.22, Y:-124.61, Z:-51.56 [[ 9.87940946e-01 1.44141943e-01 5.65312970e-02 7.82216295e+02] [-1.43644817e-01 9.89546756e-01 -1.27822168e-02 -1.24607955e+02] [-5.77828151e-02 4.50764753e-03 9.98319001e-01 -5.15566391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.720714057 meters 0.04938996177714744 Centerline is valid? [True, True] Translation: X:782.27, Y:-124.62, Z:-51.56 [[ 9.87980544e-01 1.43947886e-01 5.63333945e-02 7.82272432e+02] [-1.43454197e-01 9.89575045e-01 -1.27327658e-02 -1.24621630e+02] [-5.75789761e-02 4.49846301e-03 9.98330820e-01 -5.15599245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7807140570001 meters 0.04482027187648064 Centerline is valid? [True, True] Translation: X:782.33, Y:-124.63, Z:-51.56 [[ 9.88128622e-01 1.43228970e-01 5.55633838e-02 7.82331209e+02] [-1.42747775e-01 9.89679464e-01 -1.25551603e-02 -1.24626968e+02] [-5.67882025e-02 4.47456376e-03 9.98376221e-01 -5.15635737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.840714057 meters 0.04346581735624542 Centerline is valid? [True, True] Translation: X:782.39, Y:-124.64, Z:-51.57 [[ 9.88022758e-01 1.44247611e-01 5.48056283e-02 7.82389160e+02] [-1.43781895e-01 9.89532106e-01 -1.23684050e-02 -1.24635958e+02] [-5.60160417e-02 4.34020858e-03 9.98420435e-01 -5.15672878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9007140570001 meters 0.04139038680393882 Centerline is valid? [True, True] Translation: X:782.45, Y:-124.64, Z:-51.57 [[ 9.87730478e-01 1.46088194e-01 5.51972987e-02 7.82448418e+02] [-1.45618894e-01 9.89262390e-01 -1.24523358e-02 -1.24644589e+02] [-5.64237509e-02 4.26178199e-03 9.98397815e-01 -5.15705242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.960714057 meters 0.03993400787463698 Centerline is valid? [True, True] Translation: X:782.51, Y:-124.65, Z:-51.57 [[ 9.87234511e-01 1.49535876e-01 5.48365074e-02 7.82508164e+02] [-1.49078111e-01 9.88748064e-01 -1.23686322e-02 -1.24653461e+02] [-5.60690448e-02 4.03581763e-03 9.98418737e-01 -5.15737322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0207140570001 meters 0.039712656945833584 Centerline is valid? [True, True] Translation: X:782.57, Y:-124.66, Z:-51.58 [[ 9.86653571e-01 1.53348905e-01 5.47617092e-02 7.82567951e+02] [-1.52898246e-01 9.88164749e-01 -1.23513530e-02 -1.24663118e+02] [-5.60076571e-02 3.81353727e-03 9.98423056e-01 -5.15774664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.080714057 meters 0.037861141886958924 Centerline is valid? [True, True] Translation: X:782.63, Y:-124.67, Z:-51.58 [[ 9.86290527e-01 1.55567537e-01 5.50430562e-02 7.82627181e+02] [-1.55115683e-01 9.87818306e-01 -1.24144923e-02 -1.24670849e+02] [-5.63038305e-02 3.70625490e-03 9.98406802e-01 -5.15812183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1407140570001 meters 0.03706730942354096 Centerline is valid? [True, True] Translation: X:782.69, Y:-124.68, Z:-51.59 [[ 9.85691741e-01 1.59474702e-01 5.45858092e-02 7.82686505e+02] [-1.59036415e-01 9.87195981e-01 -1.23091395e-02 -1.24679229e+02] [-5.58498878e-02 3.45188578e-03 9.98433210e-01 -5.15852437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.200714057 meters 0.03592724578167859 Centerline is valid? [True, True] Translation: X:782.75, Y:-124.69, Z:-51.59 [[ 9.85057683e-01 1.63291230e-01 5.47479202e-02 7.82746055e+02] [-1.62856248e-01 9.86572577e-01 -1.23447892e-02 -1.24687684e+02] [-5.60285925e-02 3.24428860e-03 9.98423894e-01 -5.15888374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.260714057 meters 0.033964642296918354 Centerline is valid? [True, True] Translation: X:782.81, Y:-124.70, Z:-51.59 [[ 9.84586308e-01 1.65897724e-01 5.53872403e-02 7.82805627e+02] [-1.65456651e-01 9.86137991e-01 -1.24883576e-02 -1.24695821e+02] [-5.66912520e-02 3.13167862e-03 9.98386846e-01 -5.15918735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.320714057 meters 0.034923119058453786 Centerline is valid? [True, True] Translation: X:782.86, Y:-124.71, Z:-51.60 [[ 9.84151827e-01 1.68268576e-01 5.59541586e-02 7.82863136e+02] [-1.67822285e-01 9.85736545e-01 -1.26152505e-02 -1.24708629e+02] [-5.72788092e-02 3.02496703e-03 9.98353639e-01 -5.15960163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.380714057 meters 0.03243655866091471 Centerline is valid? [True, True] Translation: X:782.92, Y:-124.72, Z:-51.60 [[ 9.83896483e-01 1.69799368e-01 5.58201152e-02 7.82921595e+02] [-1.69357771e-01 9.85474306e-01 -1.25832533e-02 -1.24716290e+02] [-5.71459177e-02 2.92704838e-03 9.98361546e-01 -5.15999768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.440714057 meters 0.03218456375345285 Centerline is valid? [True, True] Translation: X:782.98, Y:-124.73, Z:-51.60 [[ 9.83705535e-01 1.71132706e-01 5.51091506e-02 7.82979077e+02] [-1.70704530e-01 9.85243979e-01 -1.24203762e-02 -1.24726779e+02] [-5.64214914e-02 2.81061113e-03 9.98403083e-01 -5.16045460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.500714057 meters 0.03139471964383866 Centerline is valid? [True, True] Translation: X:783.04, Y:-124.74, Z:-51.61 [[ 9.83526436e-01 1.72170011e-01 5.50748375e-02 7.83037341e+02] [-1.71744799e-01 9.85063453e-01 -1.23983155e-02 -1.24736268e+02] [-5.63868277e-02 2.73525417e-03 9.98405250e-01 -5.16078205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.560714057 meters 0.03268417371783279 Centerline is valid? [True, True] Translation: X:783.09, Y:-124.75, Z:-51.61 [[ 9.83307418e-01 1.73511275e-01 5.47755388e-02 7.83093164e+02] [-1.73093650e-01 9.84828376e-01 -1.23149359e-02 -1.24750437e+02] [-5.60812851e-02 2.62806986e-03 9.98422748e-01 -5.16114284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.620714057 meters 0.03208839077597993 Centerline is valid? [True, True] Translation: X:783.15, Y:-124.76, Z:-51.62 [[ 9.83007135e-01 1.75263863e-01 5.45852706e-02 7.83151145e+02] [-1.74852126e-01 9.84518287e-01 -1.22668794e-02 -1.24760213e+02] [-5.58901378e-02 2.51407934e-03 9.98433759e-01 -5.16158075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.680714057 meters 0.0307400976253463 Centerline is valid? [True, True] Translation: X:783.21, Y:-124.77, Z:-51.62 [[ 9.82307822e-01 1.78616483e-01 5.62804974e-02 7.83210449e+02] [-1.78184499e-01 9.83915867e-01 -1.26431919e-02 -1.24771755e+02] [-5.76335569e-02 2.39119413e-03 9.98334941e-01 -5.16180691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.740714057 meters 0.02845500095344525 Centerline is valid? [True, True] Translation: X:783.27, Y:-124.78, Z:-51.62 [[ 9.81925917e-01 1.80571157e-01 5.67058360e-02 7.83268874e+02] [-1.80135900e-01 9.83559250e-01 -1.27380682e-02 -1.24779556e+02] [-5.80736772e-02 2.29308251e-03 9.98309666e-01 -5.16199478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.800714057 meters 0.031093575081155834 Centerline is valid? [True, True] Translation: X:783.32, Y:-124.80, Z:-51.63 [[ 9.81650048e-01 1.81945488e-01 5.70878444e-02 7.83323551e+02] [-1.81506911e-01 9.83306107e-01 -1.28195741e-02 -1.24798387e+02] [-5.84672897e-02 2.22249727e-03 9.98286851e-01 -5.16252825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.860714057 meters 0.0318275621681417 Centerline is valid? [True, True] Translation: X:783.38, Y:-124.82, Z:-51.63 [[ 9.81719202e-01 1.81753556e-01 5.65071184e-02 7.83377719e+02] [-1.81323839e-01 9.83341638e-01 -1.26841515e-02 -1.24818095e+02] [-5.78711921e-02 2.20618743e-03 9.98321621e-01 -5.16315701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.920714057 meters 0.02810725107826514 Centerline is valid? [True, True] Translation: X:783.44, Y:-124.83, Z:-51.63 [[ 9.81563127e-01 1.82682078e-01 5.62235324e-02 7.83435753e+02] [-1.82258564e-01 9.83169723e-01 -1.26139818e-02 -1.24827758e+02] [-5.75816232e-02 2.13419913e-03 9.98338521e-01 -5.16343618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.980714057 meters 0.027734935945217535 Centerline is valid? [True, True] Translation: X:783.49, Y:-124.84, Z:-51.64 [[ 9.81314710e-01 1.83872033e-01 5.66790503e-02 7.83492954e+02] [-1.83444485e-01 9.82948018e-01 -1.27009580e-02 -1.24842440e+02] [-5.80479112e-02 2.06617769e-03 9.98311660e-01 -5.16383483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0407140570001 meters 0.028943670967725644 Centerline is valid? [True, True] Translation: X:783.55, Y:-124.86, Z:-51.64 [[ 9.81086526e-01 1.85217427e-01 5.62470733e-02 7.83547785e+02] [-1.84799366e-01 9.82695615e-01 -1.25906083e-02 -1.24863197e+02] [-5.76057524e-02 1.95805265e-03 9.98337490e-01 -5.16437097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.100714057 meters 0.028648891945349565 Centerline is valid? [True, True] Translation: X:783.60, Y:-124.88, Z:-51.65 [[ 9.81180931e-01 1.84743068e-01 5.61602967e-02 7.83604069e+02] [-1.84326361e-01 9.82784882e-01 -1.25566187e-02 -1.24878222e+02] [-5.75132388e-02 1.96849165e-03 9.98342803e-01 -5.16473449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1607140570001 meters 0.02958912173931864 Centerline is valid? [True, True] Translation: X:783.66, Y:-124.90, Z:-51.65 [[ 9.81488789e-01 1.82635827e-01 5.76533719e-02 7.83660061e+02] [-1.82193901e-01 9.83178318e-01 -1.28754730e-02 -1.24897516e+02] [-5.90350679e-02 2.13303966e-03 9.98253631e-01 -5.16499226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.220714057 meters 0.02906154683795705 Centerline is valid? [True, True] Translation: X:783.72, Y:-124.92, Z:-51.65 [[ 9.82089794e-01 1.78891319e-01 5.91399385e-02 7.83717290e+02] [-1.78420478e-01 9.83865905e-01 -1.31914097e-02 -1.24915845e+02] [-6.05455978e-02 2.40337274e-03 9.98162539e-01 -5.16531776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2807140570001 meters 0.03351807015254631 Centerline is valid? [True, True] Translation: X:783.77, Y:-124.94, Z:-51.66 [[ 9.82595321e-01 1.75863641e-01 5.98198564e-02 7.83771891e+02] [-1.75376435e-01 9.84411056e-01 -1.33408614e-02 -1.24940419e+02] [-6.12335005e-02 2.61767482e-03 9.98120036e-01 -5.16572254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.340714057 meters 0.0317308165597337 Centerline is valid? [True, True] Translation: X:783.83, Y:-124.96, Z:-51.66 [[ 9.83623104e-01 1.70139341e-01 5.94827247e-02 7.83829516e+02] [-1.69647382e-01 9.85415587e-01 -1.32622349e-02 -1.24956516e+02] [-6.08716320e-02 2.95395217e-03 9.98141232e-01 -5.16611397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4007140570001 meters 0.03363708631105248 Centerline is valid? [True, True] Translation: X:783.89, Y:-124.98, Z:-51.67 [[ 9.84526025e-01 1.65023036e-01 5.89567916e-02 7.83886625e+02] [-1.64530631e-01 9.86284388e-01 -1.31444725e-02 -1.24979116e+02] [-6.03173038e-02 3.24087711e-03 9.98173993e-01 -5.16655863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.460714057 meters 0.034045416829248144 Centerline is valid? [True, True] Translation: X:783.94, Y:-125.00, Z:-51.67 [[ 9.84880362e-01 1.62687860e-01 5.95259071e-02 7.83943591e+02] [-1.62181656e-01 9.86671672e-01 -1.32711091e-02 -1.24995283e+02] [-6.08915746e-02 3.41644453e-03 9.98138540e-01 -5.16684195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5207140570001 meters 0.03731367287165298 Centerline is valid? [True, True] Translation: X:784.00, Y:-125.02, Z:-51.67 [[ 9.85167573e-01 1.60999588e-01 5.93631762e-02 7.83998943e+02] [-1.60493301e-01 9.86948240e-01 -1.32314947e-02 -1.25016792e+02] [-6.07186475e-02 3.50784738e-03 9.98148757e-01 -5.16729759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.580714057 meters 0.0348668479817687 Centerline is valid? [True, True] Translation: X:784.06, Y:-125.03, Z:-51.68 [[ 9.85068806e-01 1.61651838e-01 5.92294796e-02 7.84056094e+02] [-1.61149156e-01 9.86841796e-01 -1.31992209e-02 -1.25028223e+02] [-6.05838043e-02 3.45736010e-03 9.98157127e-01 -5.16773125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6407140570001 meters 0.03283990949315538 Centerline is valid? [True, True] Translation: X:784.11, Y:-125.04, Z:-51.68 [[ 9.84910474e-01 1.62421878e-01 5.97535860e-02 7.84113458e+02] [-1.61912619e-01 9.86715463e-01 -1.33003676e-02 -1.25039432e+02] [-6.11200580e-02 3.42481182e-03 9.98124546e-01 -5.16808262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.700714057 meters 0.0334764777720301 Centerline is valid? [True, True] Translation: X:784.17, Y:-125.05, Z:-51.68 [[ 9.84915789e-01 1.62690338e-01 5.89299847e-02 7.84170370e+02] [-1.62196452e-01 9.86671506e-01 -1.31015636e-02 -1.25054529e+02] [-6.02760345e-02 3.34570239e-03 9.98176140e-01 -5.16846637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.760714057 meters 0.03285868253609816 Centerline is valid? [True, True] Translation: X:784.23, Y:-125.07, Z:-51.69 [[ 9.85037241e-01 1.62104101e-01 5.85140524e-02 7.84227386e+02] [-1.61617052e-01 9.86768001e-01 -1.29938856e-02 -1.25067064e+02] [-5.98461566e-02 3.34259253e-03 9.98202016e-01 -5.16880026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.820714057 meters 0.03745633845798063 Centerline is valid? [True, True] Translation: X:784.28, Y:-125.09, Z:-51.69 [[ 9.85142643e-01 1.61550728e-01 5.82694993e-02 7.84281502e+02] [-1.61067752e-01 9.86858737e-01 -1.29233313e-02 -1.25087988e+02] [-5.95915380e-02 3.34598751e-03 9.98217237e-01 -5.16914543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.880714057 meters 0.03299795644836937 Centerline is valid? [True, True] Translation: X:784.34, Y:-125.09, Z:-51.69 [[ 9.85237968e-01 1.61435703e-01 5.69619210e-02 7.84339688e+02] [-1.60974221e-01 9.86877803e-01 -1.26294444e-02 -1.25094064e+02] [-5.82532987e-02 3.27360729e-03 9.98296467e-01 -5.16949193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.940714057 meters 0.03243247623809837 Centerline is valid? [True, True] Translation: X:784.40, Y:-125.11, Z:-51.70 [[ 9.85179476e-01 1.62192125e-01 5.58132163e-02 7.84397102e+02] [-1.61751256e-01 9.86754180e-01 -1.23580054e-02 -1.25105220e+02] [-5.70782956e-02 3.14699545e-03 9.98364745e-01 -5.16988833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.000714057 meters 0.03311301954127761 Centerline is valid? [True, True] Translation: X:784.45, Y:-125.12, Z:-51.70 [[ 9.85012437e-01 1.62862394e-01 5.68008792e-02 7.84454246e+02] [-1.62407774e-01 9.86643771e-01 -1.25612506e-02 -1.25118255e+02] [-5.80879890e-02 3.14808376e-03 9.98306504e-01 -5.17010093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.060714057 meters 0.03091712924334094 Centerline is valid? [True, True] Translation: X:784.51, Y:-125.13, Z:-51.70 [[ 9.84999569e-01 1.62578834e-01 5.78270927e-02 7.84511523e+02] [-1.62108030e-01 9.86690345e-01 -1.27730030e-02 -1.25128246e+02] [-5.91340540e-02 3.20716636e-03 9.98244899e-01 -5.17035337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.120714057 meters 0.03709402087529432 Centerline is valid? [True, True] Translation: X:784.57, Y:-125.15, Z:-51.71 [[ 9.85275554e-01 1.61119909e-01 5.72053992e-02 7.84565750e+02] [-1.60657844e-01 9.86929518e-01 -1.26167859e-02 -1.25151009e+02] [-5.84905125e-02 3.24051462e-03 9.98282705e-01 -5.17083628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.180714057 meters 0.035710499528787125 Centerline is valid? [True, True] Translation: X:784.62, Y:-125.16, Z:-51.71 [[ 9.85445215e-01 1.60110303e-01 5.71175884e-02 7.84623505e+02] [-1.59648230e-01 9.87093643e-01 -1.25929382e-02 -1.25163323e+02] [-5.83966676e-02 3.29092882e-03 9.98288034e-01 -5.17119183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.240714057 meters 0.03359074725543381 Centerline is valid? [True, True] Translation: X:784.68, Y:-125.17, Z:-51.72 [[ 9.85480214e-01 1.59832771e-01 5.72907817e-02 7.84680732e+02] [-1.59368262e-01 9.87138579e-01 -1.26167806e-02 -1.25173353e+02] [-5.85705159e-02 3.30325537e-03 9.98277809e-01 -5.17151620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.300714057 meters 0.03321395093697204 Centerline is valid? [True, True] Translation: X:784.74, Y:-125.19, Z:-51.72 [[ 9.85552774e-01 1.59483866e-01 5.70142638e-02 7.84737609e+02] [-1.59024246e-01 9.87195049e-01 -1.25389051e-02 -1.25185714e+02] [-5.82839520e-02 3.29110235e-03 9.98294621e-01 -5.17195967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.360714057 meters 0.035021488107991626 Centerline is valid? [True, True] Translation: X:784.79, Y:-125.20, Z:-51.72 [[ 9.85703928e-01 1.58649403e-01 5.67285903e-02 7.84793357e+02] [-1.58194072e-01 9.87329449e-01 -1.24577251e-02 -1.25200455e+02] [-5.79862185e-02 3.30550186e-03 9.98311911e-01 -5.17232222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.420714057 meters 0.03671958532048697 Centerline is valid? [True, True] Translation: X:784.85, Y:-125.22, Z:-51.73 [[ 9.85739948e-01 1.58119030e-01 5.75771445e-02 7.84848655e+02] [-1.57649378e-01 9.87414269e-01 -1.26386478e-02 -1.25216261e+02] [-5.88509048e-02 3.38141903e-03 9.98261057e-01 -5.17273250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.480714057 meters 0.034748835521834 Centerline is valid? [True, True] Translation: X:784.91, Y:-125.23, Z:-51.73 [[ 9.85951985e-01 1.56502686e-01 5.83574532e-02 7.84907104e+02] [-1.56017712e-01 9.87671262e-01 -1.28043966e-02 -1.25225125e+02] [-5.96419019e-02 3.51972395e-03 9.98213632e-01 -5.17304703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5407140570001 meters 0.035074399169126046 Centerline is valid? [True, True] Translation: X:784.96, Y:-125.24, Z:-51.73 [[ 9.86190138e-01 1.54965684e-01 5.84349914e-02 7.84964468e+02] [-1.54476872e-01 9.87913239e-01 -1.28190905e-02 -1.25238696e+02] [-5.97152207e-02 3.61520598e-03 9.98208907e-01 -5.17347396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.600714057 meters 0.0349989646532354 Centerline is valid? [True, True] Translation: X:785.02, Y:-125.25, Z:-51.74 [[ 9.86247836e-01 1.54529276e-01 5.86166273e-02 7.85022420e+02] [-1.54037629e-01 9.87981516e-01 -1.28426129e-02 -1.25250564e+02] [-5.98967040e-02 3.63683287e-03 9.98197956e-01 -5.17377585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6607140570001 meters 0.035281769848775436 Centerline is valid? [True, True] Translation: X:785.08, Y:-125.26, Z:-51.74 [[ 9.86154379e-01 1.54957600e-01 5.90566142e-02 7.85079724e+02] [-1.54459571e-01 9.87914439e-01 -1.29344999e-02 -1.25263294e+02] [-6.03471810e-02 3.63355441e-03 9.98170835e-01 -5.17410579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.720714057 meters 0.03662622159663378 Centerline is valid? [True, True] Translation: X:785.14, Y:-125.28, Z:-51.74 [[ 9.86018349e-01 1.55404520e-01 6.01435889e-02 7.85135068e+02] [-1.54889073e-01 9.87844106e-01 -1.31680035e-02 -1.25278229e+02] [-6.14588571e-02 3.66830835e-03 9.98102877e-01 -5.17449345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7807140570001 meters 0.03770963108778444 Centerline is valid? [True, True] Translation: X:785.19, Y:-125.29, Z:-51.75 [[ 9.85983182e-01 1.55452666e-01 6.05940002e-02 7.85191300e+02] [-1.54929905e-01 9.87836461e-01 -1.32609057e-02 -1.25293877e+02] [-6.19184058e-02 3.68720738e-03 9.98074404e-01 -5.17493168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.840714057 meters 0.03775754271216917 Centerline is valid? [True, True] Translation: X:785.25, Y:-125.31, Z:-51.75 [[ 9.86017908e-01 1.55398069e-01 6.01674750e-02 7.85247985e+02] [-1.54882811e-01 9.87845151e-01 -1.31633185e-02 -1.25306176e+02] [-6.14817027e-02 3.66036010e-03 9.98101499e-01 -5.17537556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9007140570001 meters 0.03550950924961798 Centerline is valid? [True, True] Translation: X:785.31, Y:-125.32, Z:-51.76 [[ 9.86044350e-01 1.55062594e-01 6.05981200e-02 7.85306288e+02] [-1.54539713e-01 9.87897715e-01 -1.32507527e-02 -1.25316264e+02] [-6.19194403e-02 3.70101375e-03 9.98074289e-01 -5.17583817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.960714057 meters 0.037273785343339895 Centerline is valid? [True, True] Translation: X:785.36, Y:-125.33, Z:-51.76 [[ 9.86323102e-01 1.53099941e-01 6.10503646e-02 7.85363127e+02] [-1.52565770e-01 9.88203218e-01 -1.33448967e-02 -1.25334418e+02] [-6.23732696e-02 3.84818402e-03 9.98045473e-01 -5.17629299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0207140570001 meters 0.03878109413067527 Centerline is valid? [True, True] Translation: X:785.42, Y:-125.35, Z:-51.77 [[ 9.86593605e-01 1.50815627e-01 6.23514687e-02 7.85420756e+02] [-1.50254023e-01 9.88553507e-01 -1.36269275e-02 -1.25351016e+02] [-6.36929167e-02 4.07568052e-03 9.97961222e-01 -5.17658661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.080714057 meters 0.03843191762038012 Centerline is valid? [True, True] Translation: X:785.48, Y:-125.36, Z:-51.77 [[ 9.86598542e-01 1.50385117e-01 6.33058787e-02 7.85478431e+02] [-1.49805435e-01 9.88618721e-01 -1.38331378e-02 -1.25364156e+02] [-6.46656750e-02 4.16418894e-03 9.97898296e-01 -5.17692762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1407140570001 meters 0.037678346568995345 Centerline is valid? [True, True] Translation: X:785.54, Y:-125.38, Z:-51.77 [[ 9.86863357e-01 1.48767394e-01 6.29998243e-02 7.85536325e+02] [-1.48190332e-01 9.88863107e-01 -1.37616028e-02 -1.25376088e+02] [-6.43454798e-02 4.24485666e-03 9.97918654e-01 -5.17737053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.200714057 meters 0.04553191047745993 Centerline is valid? [True, True] Translation: X:785.59, Y:-125.40, Z:-51.78 [[ 9.87297739e-01 1.46101520e-01 6.24301257e-02 7.85591321e+02] [-1.45529786e-01 9.89259928e-01 -1.36336377e-02 -1.25400179e+02] [-6.37515168e-02 4.37501686e-03 9.97956213e-01 -5.17786109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.260714057 meters 0.039874977747152276 Centerline is valid? [True, True] Translation: X:785.65, Y:-125.40, Z:-51.78 [[ 9.87823293e-01 1.43082911e-01 6.10935529e-02 7.85651589e+02] [-1.42529832e-01 9.89700614e-01 -1.33394957e-02 -1.25404544e+02] [-6.23729807e-02 4.46941075e-03 9.98042903e-01 -5.17832704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.320714057 meters 0.040451916029952815 Centerline is valid? [True, True] Translation: X:785.71, Y:-125.42, Z:-51.79 [[ 9.87992785e-01 1.41867224e-01 6.11878023e-02 7.85708482e+02] [-1.41310180e-01 9.89875229e-01 -1.33590710e-02 -1.25416958e+02] [-6.24635041e-02 4.55220639e-03 9.98036867e-01 -5.17874045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.380714057 meters 0.04030133288058191 Centerline is valid? [True, True] Translation: X:785.77, Y:-125.43, Z:-51.79 [[ 9.87859048e-01 1.42705916e-01 6.13964435e-02 7.85767109e+02] [-1.42147038e-01 9.89754865e-01 -1.33987780e-02 -1.25426335e+02] [-6.26795136e-02 4.50878152e-03 9.98023522e-01 -5.17902110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.440714057 meters 0.03935405456122299 Centerline is valid? [True, True] Translation: X:785.83, Y:-125.43, Z:-51.79 [[ 9.87201145e-01 1.47012283e-01 6.18165651e-02 7.85826998e+02] [-1.46454332e-01 9.89125489e-01 -1.34868783e-02 -1.25433973e+02] [-6.31270770e-02 4.26095792e-03 9.97996401e-01 -5.17935019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.500714057 meters 0.03962123361939281 Centerline is valid? [True, True] Translation: X:785.89, Y:-125.44, Z:-51.80 [[ 9.86371219e-01 1.52122918e-01 6.26931928e-02 7.85885372e+02] [-1.51559272e-01 9.88353529e-01 -1.36780213e-02 -1.25442213e+02] [-6.40437788e-02 3.98987187e-03 9.97939114e-01 -5.17954925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.560714057 meters 0.03398327257899 Centerline is valid? [True, True] Translation: X:785.95, Y:-125.44, Z:-51.80 [[ 9.85987382e-01 1.54588772e-01 6.26992334e-02 7.85946071e+02] [-1.54030155e-01 9.87971489e-01 -1.36765585e-02 -1.25443535e+02] [-6.40592974e-02 3.82734147e-03 9.97938755e-01 -5.17986898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.620714057 meters 0.03359399849541457 Centerline is valid? [True, True] Translation: X:786.00, Y:-125.45, Z:-51.80 [[ 9.85792167e-01 1.55912035e-01 6.24919346e-02 7.86003668e+02] [-1.55359908e-01 9.87763914e-01 -1.36289780e-02 -1.25454584e+02] [-6.38521996e-02 3.72659852e-03 9.97952408e-01 -5.18034867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.680714057 meters 0.03323348058049408 Centerline is valid? [True, True] Translation: X:786.06, Y:-125.46, Z:-51.81 [[ 9.85849653e-01 1.55944508e-01 6.14961165e-02 7.86061593e+02] [-1.55410215e-01 9.87759035e-01 -1.34071973e-02 -1.25464045e+02] [-6.28341235e-02 3.66035607e-03 9.98017272e-01 -5.18074700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.740714057 meters 0.03338311696113097 Centerline is valid? [True, True] Translation: X:786.12, Y:-125.48, Z:-51.81 [[ 9.85682706e-01 1.57267210e-01 6.07998992e-02 7.86118257e+02] [-1.56747751e-01 9.87549775e-01 -1.32508540e-02 -1.25475490e+02] [-6.21268516e-02 3.53089016e-03 9.98062016e-01 -5.18107736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.800714057 meters 0.032253816426186334 Centerline is valid? [True, True] Translation: X:786.18, Y:-125.49, Z:-51.81 [[ 9.85212917e-01 1.59743428e-01 6.19479242e-02 7.86177255e+02] [-1.59209392e-01 9.87152599e-01 -1.34950450e-02 -1.25485189e+02] [-6.33077991e-02 3.43280130e-03 9.97988145e-01 -5.18136870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.860714057 meters 0.032219618149144445 Centerline is valid? [True, True] Translation: X:786.24, Y:-125.50, Z:-51.82 [[ 9.84832998e-01 1.61927632e-01 6.23170012e-02 7.86235333e+02] [-1.61391710e-01 9.86797085e-01 -1.35730844e-02 -1.25497185e+02] [-6.36920926e-02 3.30977397e-03 9.97964109e-01 -5.18168789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.920714057 meters 0.03291892794001008 Centerline is valid? [True, True] Translation: X:786.29, Y:-125.51, Z:-51.82 [[ 9.84402559e-01 1.64358876e-01 6.27515870e-02 7.86292922e+02] [-1.63820513e-01 9.86395507e-01 -1.36653916e-02 -1.25509685e+02] [-6.41439119e-02 3.17224931e-03 9.97935617e-01 -5.18208053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.980714057 meters 0.03247705638098528 Centerline is valid? [True, True] Translation: X:786.35, Y:-125.52, Z:-51.82 [[ 9.84278481e-01 1.65056688e-01 6.28662251e-02 7.86350156e+02] [-1.64517915e-01 9.86279114e-01 -1.36881278e-02 -1.25522445e+02] [-6.42629619e-02 3.13030939e-03 9.97928090e-01 -5.18249443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0407140570001 meters 0.032764838697232394 Centerline is valid? [True, True] Translation: X:786.41, Y:-125.54, Z:-51.83 [[ 9.84674321e-01 1.63198031e-01 6.15051579e-02 7.86407343e+02] [-1.62679715e-01 9.86588253e-01 -1.33764918e-02 -1.25535593e+02] [-6.28632834e-02 3.16584646e-03 9.98017127e-01 -5.18293999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.100714057 meters 0.03299523894417115 Centerline is valid? [True, True] Translation: X:786.46, Y:-125.55, Z:-51.83 [[ 9.84871830e-01 1.62048269e-01 6.13827110e-02 7.86464960e+02] [-1.61530774e-01 9.86777588e-01 -1.33342206e-02 -1.25548343e+02] [-6.27318709e-02 3.21730141e-03 9.98025231e-01 -5.18331883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1607140570001 meters 0.03127687432106521 Centerline is valid? [True, True] Translation: X:786.52, Y:-125.56, Z:-51.84 [[ 9.85207895e-01 1.59898832e-01 6.16260233e-02 7.86523621e+02] [-1.59374053e-01 9.87127718e-01 -1.33708670e-02 -1.25558168e+02] [-6.29707418e-02 3.35149466e-03 9.98009746e-01 -5.18363485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.220714057 meters 0.035604896681071974 Centerline is valid? [True, True] Translation: X:786.58, Y:-125.58, Z:-51.84 [[ 9.85729168e-01 1.56047247e-01 6.31447890e-02 7.86579923e+02] [-1.55488532e-01 9.87742721e-01 -1.36979108e-02 -1.25578060e+02] [-6.45083270e-02 3.68413968e-03 9.97910368e-01 -5.18393973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2807140570001 meters 0.0365918912923941 Centerline is valid? [True, True] Translation: X:786.64, Y:-125.59, Z:-51.84 [[ 9.86481350e-01 1.51345564e-01 6.28415963e-02 7.86638258e+02] [-1.50782777e-01 9.88472938e-01 -1.36310509e-02 -1.25591203e+02] [-6.41802164e-02 3.97134712e-03 9.97930423e-01 -5.18434968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.340714057 meters 0.03624098996675625 Centerline is valid? [True, True] Translation: X:786.70, Y:-125.60, Z:-51.85 [[ 9.86996261e-01 1.48119437e-01 6.24420729e-02 7.86697066e+02] [-1.47557360e-01 9.88960753e-01 -1.35445099e-02 -1.25604099e+02] [-6.37589646e-02 4.15459321e-03 9.97956679e-01 -5.18484237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4007140570001 meters 0.03794705835695587 Centerline is valid? [True, True] Translation: X:786.75, Y:-125.62, Z:-51.85 [[ 9.87284017e-01 1.46380246e-01 6.19926829e-02 7.86754677e+02] [-1.45822904e-01 9.89219333e-01 -1.34458882e-02 -1.25619213e+02] [-6.32925729e-02 4.23495753e-03 9.97986030e-01 -5.18524154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.460714057 meters 0.03847365847540381 Centerline is valid? [True, True] Translation: X:786.81, Y:-125.63, Z:-51.86 [[ 9.87361385e-01 1.46258766e-01 6.10398918e-02 7.86811600e+02] [-1.45718348e-01 9.89237555e-01 -1.32371445e-02 -1.25631333e+02] [-6.23190017e-02 4.17521320e-03 9.98047549e-01 -5.18568546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5207140570001 meters 0.0388142684546565 Centerline is valid? [True, True] Translation: X:786.87, Y:-125.64, Z:-51.86 [[ 9.87026878e-01 1.48759162e-01 6.04040964e-02 7.86870310e+02] [-1.48235043e-01 9.88865493e-01 -1.30923329e-02 -1.25642740e+02] [-6.16791310e-02 3.96848064e-03 9.98088140e-01 -5.18611242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.580714057 meters 0.03785921987232372 Centerline is valid? [True, True] Translation: X:786.93, Y:-125.65, Z:-51.86 [[ 9.86398269e-01 1.52639034e-01 6.09899990e-02 7.86930231e+02] [-1.52112131e-01 9.88274850e-01 -1.32181690e-02 -1.25651102e+02] [-6.22924907e-02 3.76106036e-03 9.98050850e-01 -5.18639614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6407140570001 meters 0.03676226376821215 Centerline is valid? [True, True] Translation: X:786.99, Y:-125.66, Z:-51.87 [[ 9.85678053e-01 1.56816466e-01 6.20271943e-02 7.86990443e+02] [-1.56279715e-01 9.87621358e-01 -1.34425886e-02 -1.25658659e+02] [-6.33674012e-02 3.55647224e-03 9.97983930e-01 -5.18659694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.700714057 meters 0.03383189163211155 Centerline is valid? [True, True] Translation: X:787.05, Y:-125.66, Z:-51.87 [[ 9.85491559e-01 1.57921092e-01 6.21877469e-02 7.87049128e+02] [-1.57383753e-01 9.87445552e-01 -1.34772540e-02 -1.25663650e+02] [-6.35353568e-02 3.49437911e-03 9.97973471e-01 -5.18690071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.760714057 meters 0.03416409357203895 Centerline is valid? [True, True] Translation: X:787.11, Y:-125.67, Z:-51.87 [[ 9.86046067e-01 1.55283187e-01 6.00023851e-02 7.87107639e+02] [-1.54779102e-01 9.87863728e-01 -1.29878602e-02 -1.25674698e+02] [-6.12909761e-02 3.51951314e-03 9.98113736e-01 -5.18749363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.820714057 meters 0.03666506259496321 Centerline is valid? [True, True] Translation: X:787.16, Y:-125.69, Z:-51.88 [[ 9.86620222e-01 1.51771021e-01 5.95491011e-02 7.87164708e+02] [-1.51268297e-01 9.88408728e-01 -1.28875265e-02 -1.25690793e+02] [-6.08148044e-02 3.70720311e-03 9.98142182e-01 -5.18796774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.880714057 meters 0.03710535185263492 Centerline is valid? [True, True] Translation: X:787.22, Y:-125.70, Z:-51.88 [[ 9.87358516e-01 1.46713713e-01 5.99853892e-02 7.87223758e+02] [-1.46194438e-01 9.89170722e-01 -1.29795921e-02 -1.25703415e+02] [-6.12400748e-02 4.04598055e-03 9.98114865e-01 -5.18826056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.940714057 meters 0.037765719478725354 Centerline is valid? [True, True] Translation: X:787.28, Y:-125.71, Z:-51.89 [[ 9.87366414e-01 1.46863171e-01 5.94875850e-02 7.87281708e+02] [-1.46352744e-01 9.89148716e-01 -1.28721477e-02 -1.25714261e+02] [-6.07325128e-02 4.00335503e-03 9.98146049e-01 -5.18858859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.000714057 meters 0.03775709580953142 Centerline is valid? [True, True] Translation: X:787.34, Y:-125.72, Z:-51.89 [[ 9.86995995e-01 1.49220045e-01 5.97685960e-02 7.87340858e+02] [-1.48709362e-01 9.88796433e-01 -1.29282633e-02 -1.25724880e+02] [-6.10281305e-02 3.87199431e-03 9.98128536e-01 -5.18901858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.060714057 meters 0.03655205911300316 Centerline is valid? [True, True] Translation: X:787.40, Y:-125.73, Z:-51.89 [[ 9.86604258e-01 1.51631930e-01 6.01647362e-02 7.87400008e+02] [-1.51118971e-01 9.88429927e-01 -1.30128871e-02 -1.25732842e+02] [-6.14417951e-02 3.74653675e-03 9.98103637e-01 -5.18930986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.120714057 meters 0.03671028519102732 Centerline is valid? [True, True] Translation: X:787.46, Y:-125.74, Z:-51.90 [[ 9.86445422e-01 1.52190437e-01 6.13473756e-02 7.87457517e+02] [-1.51658280e-01 9.88343948e-01 -1.32667722e-02 -1.25743745e+02] [-6.26513833e-02 3.78310921e-03 9.98028302e-01 -5.18967871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.180714057 meters 0.03761338469361974 Centerline is valid? [True, True] Translation: X:787.51, Y:-125.76, Z:-51.90 [[ 9.86416073e-01 1.52454287e-01 6.11638952e-02 7.87514951e+02] [-1.51926799e-01 9.88303449e-01 -1.32114041e-02 -1.25756771e+02] [-6.24626238e-02 3.73950657e-03 9.98040298e-01 -5.19008249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.240714057 meters 0.03976794094098995 Centerline is valid? [True, True] Translation: X:787.57, Y:-125.77, Z:-51.91 [[ 9.86665129e-01 1.52017766e-01 5.81594587e-02 7.87570467e+02] [-1.51541014e-01 9.88371325e-01 -1.25476877e-02 -1.25770391e+02] [-5.93906127e-02 3.56682253e-03 9.98228447e-01 -5.19070138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.300714057 meters 0.037099038615665964 Centerline is valid? [True, True] Translation: X:787.63, Y:-125.78, Z:-51.91 [[ 9.86849717e-01 1.50948659e-01 5.78112290e-02 7.87628486e+02] [-1.50476028e-01 9.88535030e-01 -1.24683585e-02 -1.25777925e+02] [-5.90305070e-02 3.60519198e-03 9.98249669e-01 -5.19117199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.360714057 meters 0.03529445057559142 Centerline is valid? [True, True] Translation: X:787.69, Y:-125.79, Z:-51.91 [[ 9.86909276e-01 1.50140270e-01 5.88895534e-02 7.87686373e+02] [-1.49649316e-01 9.88657757e-01 -1.26855171e-02 -1.25787258e+02] [-6.01262207e-02 3.70667316e-03 9.98183900e-01 -5.19131508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.420714057 meters 0.03505987654246806 Centerline is valid? [True, True] Translation: X:787.74, Y:-125.80, Z:-51.92 [[ 9.86881094e-01 1.49958602e-01 5.98174243e-02 7.87743196e+02] [-1.49452671e-01 9.88685124e-01 -1.28695405e-02 -1.25797792e+02] [-6.10704959e-02 3.76083231e-03 9.98126370e-01 -5.19161458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.480714057 meters 0.03613384965410255 Centerline is valid? [True, True] Translation: X:787.80, Y:-125.81, Z:-51.92 [[ 9.87014732e-01 1.49217434e-01 5.94649235e-02 7.87800320e+02] [-1.48717215e-01 9.88797235e-01 -1.27756764e-02 -1.25810174e+02] [-6.07051056e-02 3.76632307e-03 9.98148639e-01 -5.19211127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5407140570001 meters 0.0378118326479241 Centerline is valid? [True, True] Translation: X:787.86, Y:-125.82, Z:-51.93 [[ 9.87339185e-01 1.47341643e-01 5.87518056e-02 7.87858316e+02] [-1.46851032e-01 9.89078286e-01 -1.26062668e-02 -1.25824770e+02] [-5.99675632e-02 3.81889785e-03 9.98193021e-01 -5.19251510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.600714057 meters 0.04052392181941229 Centerline is valid? [True, True] Translation: X:787.92, Y:-125.84, Z:-51.93 [[ 9.87601527e-01 1.44710253e-01 6.08454362e-02 7.87915293e+02] [-1.44179180e-01 9.89465502e-01 -1.30531652e-02 -1.25840933e+02] [-6.20933869e-02 4.11868081e-03 9.98061846e-01 -5.19274350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6607140570001 meters 0.03664457605143413 Centerline is valid? [True, True] Translation: X:787.97, Y:-125.85, Z:-51.93 [[ 9.87736186e-01 1.43375679e-01 6.18113382e-02 7.87973761e+02] [-1.42825110e-01 9.89659134e-01 -1.32584311e-02 -1.25847250e+02] [-6.30730920e-02 4.26762101e-03 9.97999786e-01 -5.19310112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.720714057 meters 0.03650454319670443 Centerline is valid? [True, True] Translation: X:788.03, Y:-125.86, Z:-51.94 [[ 9.87436047e-01 1.45704486e-01 6.11576290e-02 7.88032047e+02] [-1.45171003e-01 9.89319832e-01 -1.31014976e-02 -1.25859617e+02] [-6.24134022e-02 4.05857664e-03 9.98042131e-01 -5.19361035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7807140570001 meters 0.03562708333993067 Centerline is valid? [True, True] Translation: X:788.09, Y:-125.87, Z:-51.94 [[ 9.86997790e-01 1.48677623e-01 6.10764073e-02 7.88090350e+02] [-1.48151363e-01 9.88878173e-01 -1.30817845e-02 -1.25870878e+02] [-6.23420947e-02 3.86313936e-03 9.98047363e-01 -5.19416099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.840714057 meters 0.0354888023738146 Centerline is valid? [True, True] Translation: X:788.15, Y:-125.88, Z:-51.95 [[ 9.86653395e-01 1.50934773e-01 6.11046060e-02 7.88149169e+02] [-1.50412480e-01 9.88536725e-01 -1.30854744e-02 -1.25883120e+02] [-6.23792002e-02 3.71993243e-03 9.98045589e-01 -5.19454656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9007140570001 meters 0.03497140582739285 Centerline is valid? [True, True] Translation: X:788.21, Y:-125.89, Z:-51.95 [[ 9.86162303e-01 1.53867875e-01 6.17137706e-02 7.88208426e+02] [-1.53340889e-01 9.88084987e-01 -1.32147649e-02 -1.25893940e+02] [-6.30117780e-02 3.56865856e-03 9.98006403e-01 -5.19489650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.960714057 meters 0.03570551700213731 Centerline is valid? [True, True] Translation: X:788.26, Y:-125.91, Z:-51.95 [[ 9.86186078e-01 1.53938038e-01 6.11563556e-02 7.88263756e+02] [-1.53420736e-01 9.88074194e-01 -1.30944412e-02 -1.25908145e+02] [-6.24427494e-02 3.53090251e-03 9.98042302e-01 -5.19546986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0207140570001 meters 0.03624939137401957 Centerline is valid? [True, True] Translation: X:788.32, Y:-125.92, Z:-51.96 [[ 9.86332548e-01 1.53065649e-01 6.09837049e-02 7.88321274e+02] [-1.52549928e-01 9.88209571e-01 -1.30523356e-02 -1.25920865e+02] [-6.22625451e-02 3.57088368e-03 9.98053418e-01 -5.19587775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.080714057 meters 0.03773460233137028 Centerline is valid? [True, True] Translation: X:788.38, Y:-125.94, Z:-51.96 [[ 9.86649246e-01 1.50616669e-01 6.19506632e-02 7.88378735e+02] [-1.50080658e-01 9.88585057e-01 -1.32431254e-02 -1.25935742e+02] [-6.32381353e-02 3.76872341e-03 9.97991350e-01 -5.19604967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1407140570001 meters 0.035704691883544415 Centerline is valid? [True, True] Translation: X:788.44, Y:-125.95, Z:-51.96 [[ 9.86719244e-01 1.49571847e-01 6.33513696e-02 7.88436341e+02] [-1.49009369e-01 9.88743092e-01 -1.35390695e-02 -1.25945076e+02] [-6.46632927e-02 3.91931276e-03 9.97899443e-01 -5.19624560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.200714057 meters 0.03511579888340904 Centerline is valid? [True, True] Translation: X:788.49, Y:-125.96, Z:-51.97 [[ 9.86831850e-01 1.49594800e-01 6.15166315e-02 7.88493156e+02] [-1.49064850e-01 9.88740090e-01 -1.31417157e-02 -1.25957541e+02] [-6.27898921e-02 3.79869621e-03 9.98019539e-01 -5.19675661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.260714057 meters 0.03712398506807331 Centerline is valid? [True, True] Translation: X:788.55, Y:-125.97, Z:-51.97 [[ 9.86613537e-01 1.51483745e-01 6.03854587e-02 7.88549146e+02] [-1.50977643e-01 9.88453212e-01 -1.28840283e-02 -1.25973263e+02] [-6.16399215e-02 3.59470253e-03 9.98091979e-01 -5.19719563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.320714057 meters 0.037055886582296846 Centerline is valid? [True, True] Translation: X:788.61, Y:-125.99, Z:-51.98 [[ 9.86169299e-01 1.54209578e-01 6.07414191e-02 7.88607793e+02] [-1.53702910e-01 9.88032171e-01 -1.29554637e-02 -1.25985490e+02] [-6.20123328e-02 3.44014765e-03 9.98069455e-01 -5.19750675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.380714057 meters 0.03374941617106708 Centerline is valid? [True, True] Translation: X:788.67, Y:-125.99, Z:-51.98 [[ 9.85373976e-01 1.58921558e-01 6.14985047e-02 7.88668243e+02] [-1.58411475e-01 9.87286090e-01 -1.31141226e-02 -1.25993204e+02] [-6.28007350e-02 3.18024630e-03 9.98021019e-01 -5.19779127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.440714057 meters 0.03082578004533899 Centerline is valid? [True, True] Translation: X:788.73, Y:-126.00, Z:-51.98 [[ 9.85194205e-01 1.60467701e-01 6.03530974e-02 7.88726066e+02] [-1.59979368e-01 9.87036460e-01 -1.28696848e-02 -1.26001563e+02] [-6.16358764e-02 3.02388845e-03 9.98094121e-01 -5.19829756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.500714057 meters 0.03384158785763032 Centerline is valid? [True, True] Translation: X:788.78, Y:-126.02, Z:-51.99 [[ 9.86022435e-01 1.55897593e-01 5.87851916e-02 7.88781707e+02] [-1.55426506e-01 9.87767978e-01 -1.25308522e-02 -1.26020846e+02] [-6.00196596e-02 3.21892444e-03 9.98192005e-01 -5.19886164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.560714057 meters 0.033702294638659036 Centerline is valid? [True, True] Translation: X:788.84, Y:-126.04, Z:-51.99 [[ 9.86783520e-01 1.50285187e-01 6.06023798e-02 7.88839871e+02] [-1.49774077e-01 9.88635881e-01 -1.29159485e-02 -1.26036623e+02] [-6.18547628e-02 3.66857963e-03 9.98078419e-01 -5.19914591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.620714057 meters 0.03458151229933934 Centerline is valid? [True, True] Translation: X:788.90, Y:-126.05, Z:-51.99 [[ 9.87208406e-01 1.47183169e-01 6.12917534e-02 7.88898302e+02] [-1.46654402e-01 9.89101537e-01 -1.30627725e-02 -1.26052264e+02] [-6.25463877e-02 3.90697337e-03 9.98034411e-01 -5.19944685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.680714057 meters 0.036817078524783456 Centerline is valid? [True, True] Translation: X:788.96, Y:-126.07, Z:-52.00 [[ 9.87736012e-01 1.43928061e-01 6.05168045e-02 7.88955127e+02] [-1.43406515e-01 9.89579821e-01 -1.28976634e-02 -1.26070585e+02] [-6.17425442e-02 4.06098262e-03 9.98083848e-01 -5.19984310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.740714057 meters 0.038204584202596543 Centerline is valid? [True, True] Translation: X:789.01, Y:-126.09, Z:-52.00 [[ 9.88186553e-01 1.41182740e-01 5.96218961e-02 7.89012969e+02] [-1.40671622e-01 9.89974776e-01 -1.27058345e-02 -1.26086025e+02] [-6.08180178e-02 4.16862596e-03 9.98140166e-01 -5.20027544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.800714057 meters 0.039920985845558955 Centerline is valid? [True, True] Translation: X:789.07, Y:-126.10, Z:-52.01 [[ 9.88509433e-01 1.38785660e-01 5.98969201e-02 7.89071338e+02] [-1.38265507e-01 9.90312955e-01 -1.27632520e-02 -1.26101970e+02] [-6.10880523e-02 4.33491694e-03 9.98122968e-01 -5.20072763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.860714057 meters 0.039654587740222375 Centerline is valid? [True, True] Translation: X:789.13, Y:-126.11, Z:-52.01 [[ 9.88817170e-01 1.37052235e-01 5.87987217e-02 7.89129195e+02] [-1.36547945e-01 9.90554224e-01 -1.25294919e-02 -1.26114516e+02] [-5.99605170e-02 4.36053210e-03 9.98191225e-01 -5.20122892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.920714057 meters 0.03956682285918152 Centerline is valid? [True, True] Translation: X:789.19, Y:-126.13, Z:-52.02 [[ 9.88976909e-01 1.35882075e-01 5.88280163e-02 7.89187103e+02] [-1.35375418e-01 9.90715112e-01 -1.25325025e-02 -1.26125226e+02] [-5.99847472e-02 4.43048827e-03 9.98189461e-01 -5.20161986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.980714057 meters 0.04925478194197469 Centerline is valid? [True, True] Translation: X:789.24, Y:-126.15, Z:-52.02 [[ 9.89380650e-01 1.32927281e-01 5.87900329e-02 7.89242505e+02] [-1.32416377e-01 9.91115109e-01 -1.25197322e-02 -1.26149636e+02] [-5.99319038e-02 4.60201764e-03 9.98191860e-01 -5.20214824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0407140570001 meters 0.044534054671822275 Centerline is valid? [True, True] Translation: X:789.30, Y:-126.15, Z:-52.02 [[ 9.89626397e-01 1.30719327e-01 5.95990970e-02 7.89303262e+02] [-1.30190363e-01 9.91407798e-01 -1.26904668e-02 -1.26152458e+02] [-6.07458988e-02 4.79959287e-03 9.98141723e-01 -5.20247025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.100714057 meters 0.044026591019216556 Centerline is valid? [True, True] Translation: X:789.36, Y:-126.16, Z:-52.03 [[ 9.89707542e-01 1.29622441e-01 6.06383044e-02 7.89362075e+02] [-1.29072867e-01 9.91551063e-01 -1.29106521e-02 -1.26160097e+02] [-6.17994855e-02 4.95101002e-03 9.98076305e-01 -5.20274566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1607140570001 meters 0.04257623165209033 Centerline is valid? [True, True] Translation: X:789.42, Y:-126.17, Z:-52.03 [[ 9.89657195e-01 1.29940075e-01 6.07800343e-02 7.89420736e+02] [-1.29388800e-01 9.91509551e-01 -1.29362978e-02 -1.26166456e+02] [-6.19449281e-02 4.93824451e-03 9.98067352e-01 -5.20314912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.220714057 meters 0.04234065487722367 Centerline is valid? [True, True] Translation: X:789.48, Y:-126.18, Z:-52.04 [[ 9.89556937e-01 1.30646561e-01 6.08978256e-02 7.89479163e+02] [-1.30094749e-01 9.91416903e-01 -1.29569043e-02 -1.26175938e+02] [-6.20679086e-02 4.89910714e-03 9.98059905e-01 -5.20352536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2807140570001 meters 0.04310578817815067 Centerline is valid? [True, True] Translation: X:789.54, Y:-126.18, Z:-52.04 [[ 9.89385630e-01 1.31894538e-01 6.09910280e-02 7.89536763e+02] [-1.31343905e-01 9.91252036e-01 -1.29684154e-02 -1.26184672e+02] [-6.21679438e-02 4.81996409e-03 9.98054064e-01 -5.20393065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.340714057 meters 0.036970530710073564 Centerline is valid? [True, True] Translation: X:789.60, Y:-126.18, Z:-52.04 [[ 9.88755830e-01 1.36720192e-01 6.05763818e-02 7.89598049e+02] [-1.36186304e-01 9.90599570e-01 -1.28756710e-02 -1.26183101e+02] [-6.17673019e-02 4.48122124e-03 9.98080517e-01 -5.20435880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4007140570001 meters 0.035190759185938475 Centerline is valid? [True, True] Translation: X:789.66, Y:-126.18, Z:-52.05 [[ 9.87704306e-01 1.44410064e-01 5.98826913e-02 7.89658944e+02] [-1.43902494e-01 9.89510035e-01 -1.27264563e-02 -1.26184437e+02] [-6.10923523e-02 3.95270704e-03 9.98124291e-01 -5.20476226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.460714057 meters 0.03343035126196061 Centerline is valid? [True, True] Translation: X:789.72, Y:-126.19, Z:-52.05 [[ 9.86432659e-01 1.52764416e-01 6.01135776e-02 7.89718525e+02] [-1.52268353e-01 9.88256617e-01 -1.27752809e-02 -1.26187907e+02] [-6.13592492e-02 3.44855886e-03 9.98109789e-01 -5.20515717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5207140570001 meters 0.03255740896985172 Centerline is valid? [True, True] Translation: X:789.78, Y:-126.19, Z:-52.06 [[ 9.85540269e-01 1.58240613e-01 6.05828942e-02 7.89779057e+02] [-1.57747158e-01 9.87395619e-01 -1.28734671e-02 -1.26194211e+02] [-6.18563896e-02 3.13054088e-03 9.98080151e-01 -5.20557175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.580714057 meters 0.03150212932133847 Centerline is valid? [True, True] Translation: X:789.84, Y:-126.20, Z:-52.06 [[ 9.85162602e-01 1.60196486e-01 6.15770499e-02 7.89837058e+02] [-1.59690516e-01 9.87080413e-01 -1.30842411e-02 -1.26202269e+02] [-6.28775493e-02 3.05683409e-03 9.98016568e-01 -5.20590430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6407140570001 meters 0.03366273022071757 Centerline is valid? [True, True] Translation: X:789.89, Y:-126.22, Z:-52.06 [[ 9.85115873e-01 1.59757703e-01 6.34365355e-02 7.89892532e+02] [-1.59220079e-01 9.87151156e-01 -1.34744847e-02 -1.26217185e+02] [-6.47741020e-02 3.17355854e-03 9.97894906e-01 -5.20624792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.700714057 meters 0.03455600912594845 Centerline is valid? [True, True] Translation: X:789.95, Y:-126.23, Z:-52.07 [[ 9.85905631e-01 1.54825372e-01 6.33970921e-02 7.89950557e+02] [-1.54278626e-01 9.87935689e-01 -1.34603060e-02 -1.26233620e+02] [-6.47162468e-02 3.48977523e-03 9.97897604e-01 -5.20676492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.760714057 meters 0.036973609041463594 Centerline is valid? [True, True] Translation: X:790.01, Y:-126.25, Z:-52.07 [[ 9.87003342e-01 1.47993679e-01 6.26280650e-02 7.90008181e+02] [-1.47446480e-01 9.88980660e-01 -1.32962342e-02 -1.26251901e+02] [-6.39057037e-02 3.88913980e-03 9.97948363e-01 -5.20726657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.820714057 meters 0.03970763727758729 Centerline is valid? [True, True] Translation: X:790.07, Y:-126.27, Z:-52.08 [[ 9.87667375e-01 1.43895016e-01 6.17039762e-02 7.90065457e+02] [-1.43355900e-01 9.89584495e-01 -1.31001541e-02 -1.26271957e+02] [-6.29463450e-02 4.09296579e-03 9.98008520e-01 -5.20775972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.880714057 meters 0.03706725079051702 Centerline is valid? [True, True] Translation: X:790.12, Y:-126.28, Z:-52.08 [[ 9.87888284e-01 1.42587065e-01 6.12018582e-02 7.90123541e+02] [-1.42054192e-01 9.89773595e-01 -1.29937221e-02 -1.26281448e+02] [-6.24287199e-02 4.14236535e-03 9.98040829e-01 -5.20817211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.940714057 meters 0.03744340997244249 Centerline is valid? [True, True] Translation: X:790.18, Y:-126.30, Z:-52.09 [[ 9.87828763e-01 1.43288086e-01 6.05215658e-02 7.90180540e+02] [-1.42769298e-01 9.89672789e-01 -1.28334554e-02 -1.26295845e+02] [-6.17354281e-02 4.03663491e-03 9.98084387e-01 -5.20858260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.000714057 meters 0.03714666874457302 Centerline is valid? [True, True] Translation: X:790.24, Y:-126.31, Z:-52.09 [[ 9.87240021e-01 1.47378073e-01 6.03062575e-02 7.90238388e+02] [-1.46871571e-01 9.89073118e-01 -1.27714271e-02 -1.26309505e+02] [-6.15295264e-02 3.75118918e-03 9.98098215e-01 -5.20903879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.060714057 meters 0.03646457351925496 Centerline is valid? [True, True] Translation: X:790.30, Y:-126.32, Z:-52.09 [[ 9.86647761e-01 1.51578212e-01 5.95838971e-02 7.90297997e+02] [-1.51091498e-01 9.88439260e-01 -1.26169650e-02 -1.26321010e+02] [-6.08075202e-02 3.44587999e-03 9.98143563e-01 -5.20940936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.120714057 meters 0.032796949199729704 Centerline is valid? [True, True] Translation: X:790.36, Y:-126.33, Z:-52.10 [[ 9.85247571e-01 1.60259040e-01 6.00355276e-02 7.90357346e+02] [-1.59780963e-01 9.87070637e-01 -1.27122543e-02 -1.26329121e+02] [-6.12965602e-02 2.93218320e-03 9.98115291e-01 -5.20974252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.180714057 meters 0.029566954642308997 Centerline is valid? [True, True] Translation: X:790.42, Y:-126.34, Z:-52.10 [[ 9.84754557e-01 1.63394514e-01 5.96715572e-02 7.90416905e+02] [-1.62928044e-01 9.86557064e-01 -1.26337817e-02 -1.26337222e+02] [-6.09336869e-02 2.71900394e-03 9.98138113e-01 -5.21016154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.240714057 meters 0.03224946594629482 Centerline is valid? [True, True] Translation: X:790.47, Y:-126.36, Z:-52.11 [[ 9.84650202e-01 1.64368785e-01 5.87101520e-02 7.90472071e+02] [-1.63919130e-01 9.86395496e-01 -1.24275671e-02 -1.26356200e+02] [-5.99541336e-02 2.61308934e-03 9.98197713e-01 -5.21070326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.300714057 meters 0.030112865144185704 Centerline is valid? [True, True] Translation: X:790.53, Y:-126.37, Z:-52.11 [[ 9.85016874e-01 1.62608116e-01 5.74487532e-02 7.90529403e+02] [-1.62174858e-01 9.86687153e-01 -1.21563537e-02 -1.26367143e+02] [-5.86606686e-02 2.65747011e-03 9.98274443e-01 -5.21114897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.360714057 meters 0.030407228771482078 Centerline is valid? [True, True] Translation: X:790.59, Y:-126.38, Z:-52.12 [[ 9.85357056e-01 1.60715067e-01 5.69397936e-02 7.90586467e+02] [-1.60287228e-01 9.86997069e-01 -1.20328758e-02 -1.26382316e+02] [-5.81332739e-02 2.72995739e-03 9.98305099e-01 -5.21153955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.420714057 meters 0.03138331726578349 Centerline is valid? [True, True] Translation: X:790.64, Y:-126.40, Z:-52.12 [[ 9.86147440e-01 1.55759269e-01 5.70287317e-02 7.90643792e+02] [-1.55322103e-01 9.87790421e-01 -1.20469025e-02 -1.26400698e+02] [-5.82088516e-02 3.02219949e-03 9.98299853e-01 -5.21183983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.480714057 meters 0.034697908577087634 Centerline is valid? [True, True] Translation: X:790.70, Y:-126.42, Z:-52.12 [[ 9.86338561e-01 1.54249345e-01 5.78219948e-02 7.90698288e+02] [-1.53797351e-01 9.88026917e-01 -1.22141544e-02 -1.26419113e+02] [-5.90137126e-02 3.15442181e-03 9.98252188e-01 -5.21216248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5407140570001 meters 0.034594218715832195 Centerline is valid? [True, True] Translation: X:790.76, Y:-126.43, Z:-52.12 [[ 9.86523188e-01 1.52309306e-01 5.97818987e-02 7.90755567e+02] [-1.51822952e-01 9.88327113e-01 -1.26217827e-02 -1.26433827e+02] [-6.10064863e-02 3.37541694e-03 9.98131662e-01 -5.21232537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.600714057 meters 0.03625416876915735 Centerline is valid? [True, True] Translation: X:790.81, Y:-126.45, Z:-52.13 [[ 9.86904987e-01 1.49960356e-01 5.94174844e-02 7.90811952e+02] [-1.49476644e-01 9.88685874e-01 -1.25289797e-02 -1.26451965e+02] [-6.06240778e-02 3.48338639e-03 9.98154591e-01 -5.21268868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6607140570001 meters 0.03863706671473755 Centerline is valid? [True, True] Translation: X:790.87, Y:-126.47, Z:-52.13 [[ 9.87655458e-01 1.45776668e-01 5.73224129e-02 7.90869030e+02] [-1.45319678e-01 9.89310957e-01 -1.20839473e-02 -1.26471803e+02] [-5.84712488e-02 3.60470193e-03 9.98282585e-01 -5.21327524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.720714057 meters 0.03798786945825034 Centerline is valid? [True, True] Translation: X:790.93, Y:-126.49, Z:-52.14 [[ 9.88401679e-01 1.40990451e-01 5.64252922e-02 7.90926986e+02] [-1.40539928e-01 9.90003561e-01 -1.18944574e-02 -1.26487060e+02] [-5.75382451e-02 3.82649514e-03 9.98335970e-01 -5.21366858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7807140570001 meters 0.039867214171760645 Centerline is valid? [True, True] Translation: X:790.98, Y:-126.50, Z:-52.14 [[ 9.88748316e-01 1.38615337e-01 5.62366157e-02 7.90984466e+02] [-1.38164063e-01 9.90338418e-01 -1.18536511e-02 -1.26503624e+02] [-5.73363788e-02 3.95039822e-03 9.98347101e-01 -5.21403024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.840714057 meters 0.03961816443169349 Centerline is valid? [True, True] Translation: X:791.04, Y:-126.52, Z:-52.14 [[ 9.88754573e-01 1.38704766e-01 5.59051221e-02 7.91041226e+02] [-1.38258980e-01 9.90326013e-01 -1.17831674e-02 -1.26516959e+02] [-5.69986781e-02 3.92127550e-03 9.98366553e-01 -5.21440813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9007140570001 meters 0.04019323953280136 Centerline is valid? [True, True] Translation: X:791.10, Y:-126.53, Z:-52.15 [[ 9.88327979e-01 1.41969497e-01 5.52491365e-02 7.91097959e+02] [-1.41539448e-01 9.89864175e-01 -1.16404012e-02 -1.26530788e+02] [-5.63417228e-02 3.68460194e-03 9.98404745e-01 -5.21486781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.960714057 meters 0.03705457956708628 Centerline is valid? [True, True] Translation: X:791.16, Y:-126.54, Z:-52.15 [[ 9.88050188e-01 1.43566877e-01 5.60836768e-02 7.91156430e+02] [-1.43126299e-01 9.89633895e-01 -1.18159449e-02 -1.26539042e+02] [-5.71986858e-02 3.64769751e-03 9.98356151e-01 -5.21507186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0207140570001 meters 0.034953478436564295 Centerline is valid? [True, True] Translation: X:791.21, Y:-126.55, Z:-52.15 [[ 9.88023236e-01 1.43785902e-01 5.59973260e-02 7.91213950e+02] [-1.43347266e-01 9.89602178e-01 -1.17936385e-02 -1.26548786e+02] [-5.71108347e-02 3.62532527e-03 9.98361262e-01 -5.21541226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.080714057 meters 0.03728650492743918 Centerline is valid? [True, True] Translation: X:791.27, Y:-126.57, Z:-52.16 [[ 9.88122355e-01 1.42959831e-01 5.63622018e-02 7.91269100e+02] [-1.42514359e-01 9.89721602e-01 -1.18662631e-02 -1.26565957e+02] [-5.74792876e-02 3.69289679e-03 9.98339869e-01 -5.21581292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1407140570001 meters 0.036372287145641474 Centerline is valid? [True, True] Translation: X:791.33, Y:-126.58, Z:-52.16 [[ 9.88264002e-01 1.42075736e-01 5.61136995e-02 7.91326540e+02] [-1.41633079e-01 9.89848791e-01 -1.18085589e-02 -1.26579203e+02] [-5.72217873e-02 3.72241768e-03 9.98354552e-01 -5.21624658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.200714057 meters 0.0373400856857488 Centerline is valid? [True, True] Translation: X:791.38, Y:-126.60, Z:-52.17 [[ 9.88452937e-01 1.41090273e-01 5.52659526e-02 7.91382800e+02] [-1.40659605e-01 9.89989753e-01 -1.16260521e-02 -1.26595819e+02] [-5.63530496e-02 3.71811831e-03 9.98403981e-01 -5.21671827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.260714057 meters 0.03826178050396348 Centerline is valid? [True, True] Translation: X:791.44, Y:-126.61, Z:-52.17 [[ 9.88633143e-01 1.39768172e-01 5.54018688e-02 7.91439072e+02] [-1.39333542e-01 9.90176967e-01 -1.16506397e-02 -1.26611085e+02] [-5.64860430e-02 3.79886995e-03 9.98396162e-01 -5.21710538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.320714057 meters 0.03936966200052872 Centerline is valid? [True, True] Translation: X:791.50, Y:-126.63, Z:-52.17 [[ 9.88713093e-01 1.38985950e-01 5.59403786e-02 7.91495779e+02] [-1.38541881e-01 9.90286769e-01 -1.17585228e-02 -1.26626243e+02] [-5.70312863e-02 3.87572017e-03 9.98364869e-01 -5.21745238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.380714057 meters 0.03876141087499564 Centerline is valid? [True, True] Translation: X:791.55, Y:-126.64, Z:-52.18 [[ 9.88683188e-01 1.39028399e-01 5.63618539e-02 7.91553122e+02] [-1.38577914e-01 9.90280721e-01 -1.18429355e-02 -1.26638332e+02] [-5.74605617e-02 3.89840311e-03 9.98340166e-01 -5.21785323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.440714057 meters 0.039450211054327465 Centerline is valid? [True, True] Translation: X:791.61, Y:-126.65, Z:-52.18 [[ 9.88390448e-01 1.40802931e-01 5.70863959e-02 7.91610472e+02] [-1.40343982e-01 9.90030197e-01 -1.19906472e-02 -1.26651810e+02] [-5.82055740e-02 3.83970908e-03 9.98297234e-01 -5.21818924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.500714057 meters 0.03690211464111797 Centerline is valid? [True, True] Translation: X:791.67, Y:-126.66, Z:-52.19 [[ 9.87919573e-01 1.44260577e-01 5.66021491e-02 7.91670315e+02] [-1.43815159e-01 9.89533175e-01 -1.18867637e-02 -1.26660401e+02] [-5.77244957e-02 3.60291945e-03 9.98326050e-01 -5.21861362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.560714057 meters 0.0343522209889755 Centerline is valid? [True, True] Translation: X:791.73, Y:-126.67, Z:-52.19 [[ 9.87474602e-01 1.47085567e-01 5.70941860e-02 7.91729781e+02] [-1.46637120e-01 9.89117697e-01 -1.19890559e-02 -1.26668384e+02] [-5.82362868e-02 3.46676117e-03 9.98296808e-01 -5.21898456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.620714057 meters 0.03420868355226201 Centerline is valid? [True, True] Translation: X:791.79, Y:-126.68, Z:-52.19 [[ 9.87262425e-01 1.48274658e-01 5.76847393e-02 7.91787850e+02] [-1.47818885e-01 9.88940265e-01 -1.21132339e-02 -1.26679395e+02] [-5.88428469e-02 3.43204689e-03 9.98261359e-01 -5.21935325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.680714057 meters 0.036155780412909 Centerline is valid? [True, True] Translation: X:791.84, Y:-126.69, Z:-52.20 [[ 9.87304240e-01 1.47961389e-01 5.77733941e-02 7.91843899e+02] [-1.47504548e-01 9.88987151e-01 -1.21171111e-02 -1.26694127e+02] [-5.89300090e-02 3.44143674e-03 9.98256185e-01 -5.21982267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.740714057 meters 0.03539558528442502 Centerline is valid? [True, True] Translation: X:791.90, Y:-126.71, Z:-52.20 [[ 9.87572589e-01 1.46411143e-01 5.71328113e-02 7.91901722e+02] [-1.45962220e-01 9.89217678e-01 -1.19756726e-02 -1.26705060e+02] [-5.82701589e-02 3.48761406e-03 9.98294759e-01 -5.22024080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.800714057 meters 0.03515030911372683 Centerline is valid? [True, True] Translation: X:791.96, Y:-126.72, Z:-52.21 [[ 9.87699830e-01 1.45378109e-01 5.75695441e-02 7.91959389e+02] [-1.44921493e-01 9.89369766e-01 -1.20510069e-02 -1.26717433e+02] [-5.87095189e-02 3.55971318e-03 9.98268762e-01 -5.22055668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.860714057 meters 0.03299638343732303 Centerline is valid? [True, True] Translation: X:792.02, Y:-126.73, Z:-52.21 [[ 9.87691608e-01 1.45277824e-01 5.79624102e-02 7.92016960e+02] [-1.44815021e-01 9.89384402e-01 -1.21290945e-02 -1.26725297e+02] [-5.91091930e-02 3.58597721e-03 9.98245082e-01 -5.22089504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.920714057 meters 0.03244729981164982 Centerline is valid? [True, True] Translation: X:792.08, Y:-126.74, Z:-52.21 [[ 9.87360105e-01 1.47550400e-01 5.78697101e-02 7.92075932e+02] [-1.47093391e-01 9.89048566e-01 -1.21024503e-02 -1.26736370e+02] [-5.90216752e-02 3.43722467e-03 9.98250784e-01 -5.22125995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.980714057 meters 0.03527949051948321 Centerline is valid? [True, True] Translation: X:792.13, Y:-126.75, Z:-52.22 [[ 9.86911465e-01 1.50056097e-01 5.90671432e-02 7.92132538e+02] [-1.49584488e-01 9.88671793e-01 -1.23517860e-02 -1.26752506e+02] [-6.02514791e-02 3.35459084e-03 9.98177592e-01 -5.22165077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0407140570001 meters 0.03460072445279304 Centerline is valid? [True, True] Translation: X:792.19, Y:-126.76, Z:-52.22 [[ 9.86480064e-01 1.52472628e-01 6.00764652e-02 7.92191048e+02] [-1.51989349e-01 9.88302318e-01 -1.25604652e-02 -1.26764466e+02] [-6.12888370e-02 3.25966570e-03 9.98114749e-01 -5.22205740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.100714057 meters 0.03252236763366106 Centerline is valid? [True, True] Translation: X:792.25, Y:-126.77, Z:-52.22 [[ 9.86181092e-01 1.54101210e-01 6.08249245e-02 7.92249324e+02] [-1.53608944e-01 9.88049896e-01 -1.27159785e-02 -1.26773389e+02] [-6.20576080e-02 3.19700511e-03 9.98067449e-01 -5.22241198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1607140570001 meters 0.03239988365119797 Centerline is valid? [True, True] Translation: X:792.31, Y:-126.79, Z:-52.23 [[ 9.85955991e-01 1.55297462e-01 6.14286792e-02 7.92307269e+02] [-1.54797943e-01 9.87862736e-01 -1.28379063e-02 -1.26785691e+02] [-6.26767973e-02 3.14857745e-03 9.98028910e-01 -5.22280728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.220714057 meters 0.03157868585571813 Centerline is valid? [True, True] Translation: X:792.36, Y:-126.80, Z:-52.23 [[ 9.85889873e-01 1.55494700e-01 6.19883582e-02 7.92364502e+02] [-1.54987373e-01 9.87831705e-01 -1.29397436e-02 -1.26798085e+02] [-6.32461272e-02 3.14974943e-03 9.97992989e-01 -5.22324476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2807140570001 meters 0.03157720180504082 Centerline is valid? [True, True] Translation: X:792.42, Y:-126.81, Z:-52.24 [[ 9.86079189e-01 1.54301543e-01 6.19585950e-02 7.92421064e+02] [-1.53792632e-01 9.88018554e-01 -1.29291868e-02 -1.26812848e+02] [-6.32112349e-02 3.22042662e-03 9.97994974e-01 -5.22365529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.340714057 meters 0.03217852629818114 Centerline is valid? [True, True] Translation: X:792.48, Y:-126.83, Z:-52.24 [[ 9.86094711e-01 1.53986800e-01 6.24922975e-02 7.92477714e+02] [-1.53469500e-01 9.88067553e-01 -1.30239688e-02 -1.26826866e+02] [-6.37521307e-02 3.25220508e-03 9.97960465e-01 -5.22400045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4007140570001 meters 0.03171368132950718 Centerline is valid? [True, True] Translation: X:792.53, Y:-126.84, Z:-52.24 [[ 9.86043228e-01 1.53689870e-01 6.40170054e-02 7.92534619e+02] [-1.53146675e-01 9.88113467e-01 -1.33369166e-02 -1.26839571e+02] [-6.53058141e-02 3.34678480e-03 9.97859684e-01 -5.22439143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.460714057 meters 0.03446924503419217 Centerline is valid? [True, True] Translation: X:792.59, Y:-126.86, Z:-52.25 [[ 9.86031526e-01 1.53534855e-01 6.45668573e-02 7.92588738e+02] [-1.52982267e-01 9.88137448e-01 -1.34465629e-02 -1.26856365e+02] [-6.58654456e-02 3.38115076e-03 9.97822785e-01 -5.22467325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5207140570001 meters 0.032510333104349434 Centerline is valid? [True, True] Translation: X:792.65, Y:-126.87, Z:-52.25 [[ 9.85976259e-01 1.53423561e-01 6.56660298e-02 7.92646221e+02] [-1.52852288e-01 9.88154537e-01 -1.36670597e-02 -1.26867132e+02] [-6.69850342e-02 3.43819357e-03 9.97748056e-01 -5.22500204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.580714057 meters 0.03329651849004055 Centerline is valid? [True, True] Translation: X:792.70, Y:-126.88, Z:-52.25 [[ 9.85852302e-01 1.54087488e-01 6.59718471e-02 7.92702808e+02] [-1.53512679e-01 9.88051344e-01 -1.37258848e-02 -1.26881943e+02] [-6.72985592e-02 3.40418021e-03 9.97727075e-01 -5.22542064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6407140570001 meters 0.03367149982344231 Centerline is valid? [True, True] Translation: X:792.76, Y:-126.90, Z:-52.26 [[ 9.85778021e-01 1.54966532e-01 6.50158984e-02 7.92760255e+02] [-1.54410495e-01 9.87914239e-01 -1.35223971e-02 -1.26895354e+02] [-6.63256508e-02 3.29094475e-03 9.97792603e-01 -5.22590132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.700714057 meters 0.030816888274229542 Centerline is valid? [True, True] Translation: X:792.82, Y:-126.90, Z:-52.26 [[ 9.85581973e-01 1.56373874e-01 6.46172351e-02 7.92818740e+02] [-1.55827974e-01 9.87692842e-01 -1.34347228e-02 -1.26904412e+02] [-6.59228202e-02 3.17184776e-03 9.97819684e-01 -5.22636675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.760714057 meters 0.02767071209426236 Centerline is valid? [True, True] Translation: X:792.88, Y:-126.91, Z:-52.27 [[ 9.85164875e-01 1.58771027e-01 6.51301069e-02 7.92877229e+02] [-1.58222650e-01 9.87310812e-01 -1.35260700e-02 -1.26911026e+02] [-6.64512067e-02 3.02035092e-03 9.97785104e-01 -5.22682439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.820714057 meters 0.02705167853170986 Centerline is valid? [True, True] Translation: X:792.94, Y:-126.92, Z:-52.27 [[ 9.84561393e-01 1.62142349e-01 6.59448450e-02 7.92936093e+02] [-1.61588023e-01 9.86763340e-01 -1.36901848e-02 -1.26922303e+02] [-6.72917142e-02 2.82293033e-03 9.97729350e-01 -5.22720746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.880714057 meters 0.02771089017623497 Centerline is valid? [True, True] Translation: X:792.99, Y:-126.94, Z:-52.28 [[ 9.84302590e-01 1.63627484e-01 6.61396825e-02 7.92991452e+02] [-1.63073455e-01 9.86518432e-01 -1.37270809e-02 -1.26937866e+02] [-6.74941435e-02 2.72597483e-03 9.97715946e-01 -5.22757894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.940714057 meters 0.02726727434779916 Centerline is valid? [True, True] Translation: X:793.05, Y:-126.95, Z:-52.28 [[ 9.84480785e-01 1.62742203e-01 6.56700868e-02 7.93048947e+02] [-1.62194473e-01 9.86664763e-01 -1.36234742e-02 -1.26949975e+02] [-6.70114748e-02 2.76072348e-03 9.97748385e-01 -5.22806008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.000714057 meters 0.02918743768878532 Centerline is valid? [True, True] Translation: X:793.11, Y:-126.97, Z:-52.28 [[ 9.85284692e-01 1.58192059e-01 6.47251715e-02 7.93105811e+02] [-1.57650523e-01 9.87403740e-01 -1.34226650e-02 -1.26969511e+02] [-6.60332354e-02 3.02118926e-03 9.97812850e-01 -5.22847643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.060714057 meters 0.032554537921737986 Centerline is valid? [True, True] Translation: X:793.16, Y:-126.99, Z:-52.29 [[ 9.86520073e-01 1.50420502e-01 6.44346036e-02 7.93162651e+02] [-1.49867365e-01 9.88615826e-01 -1.33612127e-02 -1.26990891e+02] [-6.57108691e-02 3.52446021e-03 9.97832481e-01 -5.22883151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.120714057 meters 0.03484150844746542 Centerline is valid? [True, True] Translation: X:793.22, Y:-127.01, Z:-52.29 [[ 9.87254946e-01 1.45910360e-01 6.35439838e-02 7.93220335e+02] [-1.45363163e-01 9.89290628e-01 -1.31759128e-02 -1.27010857e+02] [-6.47859698e-02 3.77103059e-03 9.97892057e-01 -5.22923568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.180714057 meters 0.03573121556522998 Centerline is valid? [True, True] Translation: X:793.28, Y:-127.03, Z:-52.30 [[ 9.87461899e-01 1.44684896e-01 6.31290634e-02 7.93277019e+02] [-1.44142378e-01 9.89470386e-01 -1.30892723e-02 -1.27025786e+02] [-6.43581587e-02 3.82558433e-03 9.97919532e-01 -5.22958398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.240714057 meters 0.03425875586213752 Centerline is valid? [True, True] Translation: X:793.33, Y:-127.04, Z:-52.30 [[ 9.87309529e-01 1.45459535e-01 6.37292615e-02 7.93334382e+02] [-1.44908549e-01 9.89356879e-01 -1.32089992e-02 -1.27036830e+02] [-6.49723582e-02 3.80645593e-03 9.97879804e-01 -5.22990375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.300714057 meters 0.03476946092653796 Centerline is valid? [True, True] Translation: X:793.39, Y:-127.05, Z:-52.30 [[ 9.86942942e-01 1.48107391e-01 6.33074201e-02 7.93391597e+02] [-1.47569413e-01 9.88964720e-01 -1.31168525e-02 -1.27050754e+02] [-6.45515077e-02 3.60334615e-03 9.97907871e-01 -5.23027015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.360714057 meters 0.03306309645485218 Centerline is valid? [True, True] Translation: X:793.45, Y:-127.06, Z:-52.31 [[ 9.86612438e-01 1.50731585e-01 6.22566168e-02 7.93450787e+02] [-1.50216687e-01 9.88568974e-01 -1.28968899e-02 -1.27061331e+02] [-6.34889285e-02 3.37224932e-03 9.97976845e-01 -5.23071934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.420714057 meters 0.03213856831226219 Centerline is valid? [True, True] Translation: X:793.51, Y:-127.07, Z:-52.31 [[ 9.86423154e-01 1.52253770e-01 6.15479577e-02 7.93508487e+02] [-1.51753677e-01 9.88336143e-01 -1.27471719e-02 -1.27072217e+02] [-6.27708761e-02 3.23397661e-03 9.98022724e-01 -5.23118589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.480714057 meters 0.03185236958342438 Centerline is valid? [True, True] Translation: X:793.57, Y:-127.08, Z:-52.32 [[ 9.86024320e-01 1.55241815e-01 6.04650304e-02 7.93566793e+02] [-1.54765067e-01 9.87871988e-01 -1.25183224e-02 -1.27084973e+02] [-6.16750769e-02 2.98549585e-03 9.98091815e-01 -5.23169272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5407140570001 meters 0.029958784852636117 Centerline is valid? [True, True] Translation: X:793.63, Y:-127.09, Z:-52.32 [[ 9.85072722e-01 1.60869233e-01 6.12602865e-02 7.93626576e+02] [-1.60390756e-01 9.86972126e-01 -1.26818035e-02 -1.27092982e+02] [-6.25023072e-02 2.66691500e-03 9.98041256e-01 -5.23196779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.600714057 meters 0.028222002473976816 Centerline is valid? [True, True] Translation: X:793.69, Y:-127.10, Z:-52.32 [[ 9.84111841e-01 1.66587218e-01 6.14213672e-02 7.93685681e+02] [-1.66117327e-01 9.86024018e-01 -1.27149465e-02 -1.27101720e+02] [-6.26810908e-02 2.30977612e-03 9.98030934e-01 -5.23234382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6607140570001 meters 0.02726196762959499 Centerline is valid? [True, True] Translation: X:793.74, Y:-127.11, Z:-52.33 [[ 9.83769360e-01 1.68681671e-01 6.11910223e-02 7.93743377e+02] [-1.68219444e-01 9.85668200e-01 -1.26656450e-02 -1.27112613e+02] [-6.24505069e-02 2.16655372e-03 9.98045711e-01 -5.23268643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.720714057 meters 0.026223957774401712 Centerline is valid? [True, True] Translation: X:793.80, Y:-127.12, Z:-52.33 [[ 9.83722827e-01 1.68790413e-01 6.16376267e-02 7.93800953e+02] [-1.68321906e-01 9.85649574e-01 -1.27535265e-02 -1.27123966e+02] [-6.29057735e-02 2.17097230e-03 9.98017109e-01 -5.23303223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7807140570001 meters 0.028943045331979673 Centerline is valid? [True, True] Translation: X:793.86, Y:-127.14, Z:-52.33 [[ 9.84182426e-01 1.65636492e-01 6.28450849e-02 7.93855801e+02] [-1.65143321e-01 9.86183920e-01 -1.29984688e-02 -1.27144781e+02] [-6.41298329e-02 2.41441851e-03 9.97938643e-01 -5.23338329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.840714057 meters 0.02872158490822554 Centerline is valid? [True, True] Translation: X:793.91, Y:-127.16, Z:-52.34 [[ 9.84826871e-01 1.61750855e-01 6.28704620e-02 7.93913073e+02] [-1.61249688e-01 9.86828032e-01 -1.29989946e-02 -1.27158228e+02] [-6.41449328e-02 2.66391681e-03 9.97937038e-01 -5.23373976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9007140570001 meters 0.03265375299356373 Centerline is valid? [True, True] Translation: X:793.97, Y:-127.18, Z:-52.34 [[ 9.85744176e-01 1.55948842e-01 6.31536099e-02 7.93968557e+02] [-1.55431598e-01 9.87760424e-01 -1.30523354e-02 -1.27180905e+02] [-6.44161331e-02 3.05019712e-03 9.97918463e-01 -5.23413055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.960714057 meters 0.03387119585158616 Centerline is valid? [True, True] Translation: X:794.03, Y:-127.20, Z:-52.35 [[ 9.86599397e-01 1.50463332e-01 6.31063802e-02 7.94026899e+02] [-1.49935670e-01 9.88609724e-01 -1.30426035e-02 -1.27197554e+02] [-6.43500146e-02 3.40592733e-03 9.97921578e-01 -5.23452001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0207140570001 meters 0.03407181106448737 Centerline is valid? [True, True] Translation: X:794.08, Y:-127.21, Z:-52.35 [[ 9.87069876e-01 1.47524065e-01 6.26873949e-02 7.94084804e+02] [-1.46997511e-01 9.89052012e-01 -1.29556839e-02 -1.27211768e+02] [-6.39123692e-02 3.57327434e-03 9.97949117e-01 -5.23488844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.080714057 meters 0.033208303983901545 Centerline is valid? [True, True] Translation: X:794.14, Y:-127.22, Z:-52.35 [[ 9.87289680e-01 1.45762107e-01 6.33442657e-02 7.94143431e+02] [-1.45220985e-01 9.89312661e-01 -1.30890784e-02 -1.27222770e+02] [-6.45751757e-02 3.72379534e-03 9.97905897e-01 -5.23529975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1407140570001 meters 0.03453481247095395 Centerline is valid? [True, True] Translation: X:794.20, Y:-127.24, Z:-52.36 [[ 9.87787790e-01 1.42718515e-01 6.25036631e-02 7.94202147e+02] [-1.42185765e-01 9.89755759e-01 -1.29130067e-02 -1.27236394e+02] [-6.37062856e-02 3.86817920e-03 9.97961195e-01 -5.23565608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.200714057 meters 0.03832718877535946 Centerline is valid? [True, True] Translation: X:794.26, Y:-127.25, Z:-52.36 [[ 9.88650570e-01 1.36992084e-01 6.16702560e-02 7.94259380e+02] [-1.36462447e-01 9.90563325e-01 -1.27396679e-02 -1.27252116e+02] [-6.28335275e-02 4.17940587e-03 9.98015271e-01 -5.23610494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.260714057 meters 0.04181237277484404 Centerline is valid? [True, True] Translation: X:794.32, Y:-127.27, Z:-52.37 [[ 9.89526063e-01 1.31344085e-01 5.98907478e-02 7.94317497e+02] [-1.30834386e-01 9.91327051e-01 -1.23710182e-02 -1.27267205e+02] [-6.09961784e-02 4.40567570e-03 9.98128276e-01 -5.23661166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.320714057 meters 0.04362373153845822 Centerline is valid? [True, True] Translation: X:794.38, Y:-127.28, Z:-52.37 [[ 9.89861850e-01 1.29217081e-01 5.89615405e-02 7.94375908e+02] [-1.28719382e-01 9.91606275e-01 -1.21784816e-02 -1.27280054e+02] [-6.00403014e-02 4.46552123e-03 9.98185965e-01 -5.23696071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.380714057 meters 0.04038414012720947 Centerline is valid? [True, True] Translation: X:794.44, Y:-127.28, Z:-52.37 [[ 9.89985185e-01 1.28426534e-01 5.86170508e-02 7.94435432e+02] [-1.27933379e-01 9.91708883e-01 -1.21054376e-02 -1.27281938e+02] [-5.96857094e-02 4.48512650e-03 9.98207143e-01 -5.23723086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.440714057 meters 0.03995903673552619 Centerline is valid? [True, True] Translation: X:794.49, Y:-127.29, Z:-52.38 [[ 9.89828391e-01 1.29455950e-01 5.89992741e-02 7.94494330e+02] [-1.28958420e-01 9.91575200e-01 -1.21798870e-02 -1.27286740e+02] [-6.00789759e-02 4.44754477e-03 9.98183719e-01 -5.23754843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.500714057 meters 0.041887098162151186 Centerline is valid? [True, True] Translation: X:794.55, Y:-127.29, Z:-52.38 [[ 9.90046775e-01 1.27736401e-01 5.90829574e-02 7.94553052e+02] [-1.27234688e-01 9.91797698e-01 -1.21926134e-02 -1.27294513e+02] [-6.01557817e-02 4.55385588e-03 9.98178613e-01 -5.23791331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.560714057 meters 0.041470638282767 Centerline is valid? [True, True] Translation: X:794.61, Y:-127.30, Z:-52.38 [[ 9.90458881e-01 1.24955129e-01 5.81155822e-02 7.94612940e+02] [-1.24465176e-01 9.92151535e-01 -1.19896260e-02 -1.27302553e+02] [-5.91576293e-02 4.64186540e-03 9.98237861e-01 -5.23832485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.620714057 meters 0.04408502342034417 Centerline is valid? [True, True] Translation: X:794.67, Y:-127.31, Z:-52.39 [[ 9.91218647e-01 1.19747622e-01 5.60901211e-02 7.94671739e+02] [-1.19283071e-01 9.92792867e-01 -1.15703258e-02 -1.27312792e+02] [-5.70713911e-02 4.77812076e-03 9.98358666e-01 -5.23887765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.680714057 meters 0.05154876333548348 Centerline is valid? [True, True] Translation: X:794.73, Y:-127.33, Z:-52.39 [[ 9.91746386e-01 1.16251089e-01 5.40813346e-02 7.94728951e+02] [-1.15814137e-01 9.93208259e-01 -1.11552427e-02 -1.27327631e+02] [-5.50108374e-02 4.79978858e-03 9.98474221e-01 -5.23939049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.740714057 meters 0.04482842771655143 Centerline is valid? [True, True] Translation: X:794.79, Y:-127.33, Z:-52.40 [[ 9.91872481e-01 1.15569428e-01 5.32230096e-02 7.94789310e+02] [-1.15145299e-01 9.93287998e-01 -1.09778201e-02 -1.27325365e+02] [-5.41344771e-02 4.76021826e-03 9.98522308e-01 -5.23959674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.800714057 meters 0.04523873665669312 Centerline is valid? [True, True] Translation: X:794.85, Y:-127.33, Z:-52.40 [[ 9.91669848e-01 1.16807876e-01 5.42847367e-02 7.94850239e+02] [-1.16368721e-01 9.93143017e-01 -1.11923673e-02 -1.27327811e+02] [-5.52198638e-02 4.78208785e-03 9.98462768e-01 -5.23984235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.860714057 meters 0.045937338081160475 Centerline is valid? [True, True] Translation: X:794.91, Y:-127.34, Z:-52.40 [[ 9.91477454e-01 1.18209131e-01 5.47636752e-02 7.94910025e+02] [-1.17764492e-01 9.92977397e-01 -1.12877225e-02 -1.27335505e+02] [-5.57134035e-02 4.74230602e-03 9.98435540e-01 -5.24017305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.920714057 meters 0.046977889054857405 Centerline is valid? [True, True] Translation: X:794.97, Y:-127.34, Z:-52.40 [[ 9.91130979e-01 1.20839237e-01 5.52925116e-02 7.94969607e+02] [-1.20390069e-01 9.92661255e-01 -1.13957873e-02 -1.27340815e+02] [-5.62637922e-02 4.63804852e-03 9.98405165e-01 -5.24044782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.980714057 meters 0.04346264109779003 Centerline is valid? [True, True] Translation: X:795.03, Y:-127.34, Z:-52.41 [[ 9.90941340e-01 1.22673286e-01 5.46491103e-02 7.95030202e+02] [-1.22237383e-01 9.92437001e-01 -1.12615036e-02 -1.27340256e+02] [-5.56172847e-02 4.47932526e-03 9.98442113e-01 -5.24088950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0407140570001 meters 0.04080834604112399 Centerline is valid? [True, True] Translation: X:795.09, Y:-127.34, Z:-52.41 [[ 9.90990534e-01 1.23090738e-01 5.27866565e-02 7.95089183e+02] [-1.22684741e-01 9.92386095e-01 -1.08762301e-02 -1.27343339e+02] [-5.37235071e-02 4.30212376e-03 9.98546582e-01 -5.24133361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.100714057 meters 0.040549840424521304 Centerline is valid? [True, True] Translation: X:795.15, Y:-127.35, Z:-52.42 [[ 9.90880736e-01 1.24197974e-01 5.22516095e-02 7.95148278e+02] [-1.23801884e-01 9.92248588e-01 -1.07625895e-02 -1.27349236e+02] [-5.31832776e-02 4.19559489e-03 9.98575954e-01 -5.24187970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1607140570001 meters 0.044292912966972034 Centerline is valid? [True, True] Translation: X:795.21, Y:-127.36, Z:-52.42 [[ 9.90589191e-01 1.26377296e-01 5.25531558e-02 7.95205406e+02] [-1.25980065e-01 9.91973796e-01 -1.08171480e-02 -1.27360768e+02] [-5.34983954e-02 4.09469984e-03 9.98559540e-01 -5.24235377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.220714057 meters 0.04209408317803505 Centerline is valid? [True, True] Translation: X:795.27, Y:-127.36, Z:-52.43 [[ 9.90278115e-01 1.29001246e-01 5.20378035e-02 7.95266199e+02] [-1.28615550e-01 9.91636720e-01 -1.07077374e-02 -1.27363831e+02] [-5.29839083e-02 3.91076727e-03 9.98587708e-01 -5.24276573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2807140570001 meters 0.03874892239661555 Centerline is valid? [True, True] Translation: X:795.33, Y:-127.37, Z:-52.43 [[ 9.90225562e-01 1.28971995e-01 5.30995317e-02 7.95325617e+02] [-1.28570363e-01 9.91640201e-01 -1.09258007e-02 -1.27366149e+02] [-5.40647526e-02 3.99198110e-03 9.98529452e-01 -5.24298208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.340714057 meters 0.0411072125755795 Centerline is valid? [True, True] Translation: X:795.38, Y:-127.38, Z:-52.43 [[ 9.90398304e-01 1.27567477e-01 5.32704233e-02 7.95383248e+02] [-1.27161466e-01 9.91821512e-01 -1.09566932e-02 -1.27377771e+02] [-5.42324695e-02 4.07754525e-03 9.98520011e-01 -5.24335840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4007140570001 meters 0.04226565986373037 Centerline is valid? [True, True] Translation: X:795.44, Y:-127.39, Z:-52.44 [[ 9.90547702e-01 1.26160432e-01 5.38404700e-02 7.95441575e+02] [-1.25743787e-01 9.92000978e-01 -1.10707024e-02 -1.27389252e+02] [-5.48064835e-02 4.19595424e-03 9.98488179e-01 -5.24375388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.460714057 meters 0.0441828775133743 Centerline is valid? [True, True] Translation: X:795.50, Y:-127.40, Z:-52.44 [[ 9.90639986e-01 1.25778885e-01 5.30291544e-02 7.95497554e+02] [-1.25374248e-01 9.92049612e-01 -1.09025109e-02 -1.27401380e+02] [-5.39788578e-02 4.15197286e-03 9.98533447e-01 -5.24428299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5207140570001 meters 0.04000977803387299 Centerline is valid? [True, True] Translation: X:795.56, Y:-127.40, Z:-52.45 [[ 9.90192918e-01 1.28881413e-01 5.39218572e-02 7.95558853e+02] [-1.28467904e-01 9.91651766e-01 -1.10803168e-02 -1.27404086e+02] [-5.48997518e-02 4.04442327e-03 9.98483680e-01 -5.24454810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.580714057 meters 0.03904862535701621 Centerline is valid? [True, True] Translation: X:795.62, Y:-127.41, Z:-52.45 [[ 9.89331460e-01 1.34591427e-01 5.57531209e-02 7.95618627e+02] [-1.34158373e-01 9.90893685e-01 -1.14557935e-02 -1.27410147e+02] [-5.67872671e-02 3.85382888e-03 9.98378863e-01 -5.24474578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6407140570001 meters 0.03880791283853252 Centerline is valid? [True, True] Translation: X:795.68, Y:-127.42, Z:-52.45 [[ 9.89100537e-01 1.36007663e-01 5.64095963e-02 7.95676930e+02] [-1.35566627e-01 9.90700432e-01 -1.15906920e-02 -1.27420227e+02] [-5.74614344e-02 3.81710097e-03 9.98340430e-01 -5.24511588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.700714057 meters 0.03969550886038654 Centerline is valid? [True, True] Translation: X:795.74, Y:-127.43, Z:-52.46 [[ 9.88736264e-01 1.38685567e-01 5.62753395e-02 7.95735153e+02] [-1.38251794e-01 9.90329782e-01 -1.15483184e-02 -1.27429417e+02] [-5.73327298e-02 3.63807452e-03 9.98348498e-01 -5.24571269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.760714057 meters 0.0401659517758356 Centerline is valid? [True, True] Translation: X:795.79, Y:-127.44, Z:-52.46 [[ 9.88972694e-01 1.37418512e-01 5.52192278e-02 7.95792873e+02] [-1.36998931e-01 9.90506382e-01 -1.13313858e-02 -1.27440107e+02] [-5.62521397e-02 3.64145596e-03 9.98409954e-01 -5.24622457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.820714057 meters 0.0423396613921263 Centerline is valid? [True, True] Translation: X:795.85, Y:-127.45, Z:-52.47 [[ 9.89337318e-01 1.35261027e-01 5.40011582e-02 7.95851898e+02] [-1.34857428e-01 9.90803219e-01 -1.10659642e-02 -1.27453269e+02] [-5.50013150e-02 3.66551406e-03 9.98479554e-01 -5.24682830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.880714057 meters 0.03639532721474019 Centerline is valid? [True, True] Translation: X:795.91, Y:-127.45, Z:-52.47 [[ 9.89449517e-01 1.34501464e-01 5.38424530e-02 7.95911129e+02] [-1.34099068e-01 9.90906496e-01 -1.10343401e-02 -1.27454575e+02] [-5.48369713e-02 3.69769971e-03 9.98488474e-01 -5.24708378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.940714057 meters 0.038345448719753567 Centerline is valid? [True, True] Translation: X:795.97, Y:-127.47, Z:-52.47 [[ 9.89233397e-01 1.35249961e-01 5.58993167e-02 7.95968008e+02] [-1.34817699e-01 9.90804258e-01 -1.14503581e-02 -1.27465240e+02] [-5.69339415e-02 3.79085940e-03 9.98370751e-01 -5.24727514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.000714057 meters 0.037645715672276335 Centerline is valid? [True, True] Translation: X:796.03, Y:-127.47, Z:-52.48 [[ 9.89102301e-01 1.35315594e-01 5.80200723e-02 7.96025981e+02] [-1.34850258e-01 9.90794768e-01 -1.18800583e-02 -1.27473215e+02] [-5.90935412e-02 3.92657125e-03 9.98244727e-01 -5.24750773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.060714057 meters 0.04067196841484071 Centerline is valid? [True, True] Translation: X:796.08, Y:-127.49, Z:-52.48 [[ 9.89234459e-01 1.33904936e-01 5.90309480e-02 7.96082749e+02] [-1.33421717e-01 9.90985846e-01 -1.20705558e-02 -1.27486601e+02] [-6.01151409e-02 4.06459933e-03 9.98183174e-01 -5.24777181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.120714057 meters 0.042423668795098644 Centerline is valid? [True, True] Translation: X:796.14, Y:-127.50, Z:-52.48 [[ 9.89714444e-01 1.30570237e-01 5.84528227e-02 7.96141891e+02] [-1.30090865e-01 9.91430073e-01 -1.19489843e-02 -1.27498684e+02] [-5.95120679e-02 4.22190410e-03 9.98218658e-01 -5.24818123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.180714057 meters 0.04195314959187123 Centerline is valid? [True, True] Translation: X:796.20, Y:-127.51, Z:-52.49 [[ 9.90043393e-01 1.28161746e-01 5.82120803e-02 7.96200604e+02] [-1.27682230e-01 9.91743749e-01 -1.18989402e-02 -1.27510023e+02] [-5.92564557e-02 4.34781889e-03 9.98233324e-01 -5.24867541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.240714057 meters 0.03959513173623235 Centerline is valid? [True, True] Translation: X:796.26, Y:-127.52, Z:-52.49 [[ 9.90523976e-01 1.24931999e-01 5.70460144e-02 7.96260562e+02] [-1.24466264e-01 9.92155333e-01 -1.16595483e-02 -1.27517369e+02] [-5.80551581e-02 4.44875790e-03 9.98303465e-01 -5.24913680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.300714057 meters 0.04810957016043734 Centerline is valid? [True, True] Translation: X:796.32, Y:-127.54, Z:-52.50 [[ 9.90821215e-01 1.22521482e-01 5.71122212e-02 7.96316007e+02] [-1.22050726e-01 9.92455226e-01 -1.16723998e-02 -1.27540212e+02] [-5.81114421e-02 4.59467328e-03 9.98299529e-01 -5.24964565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.360714057 meters 0.050620826834697236 Centerline is valid? [True, True] Translation: X:796.37, Y:-127.55, Z:-52.50 [[ 9.90784620e-01 1.22162256e-01 5.84997419e-02 7.96371592e+02] [-1.21667814e-01 9.92498889e-01 -1.19539779e-02 -1.27554624e+02] [-5.95212538e-02 4.72628172e-03 9.98215850e-01 -5.24984485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.420714057 meters 0.04120923192619411 Centerline is valid? [True, True] Translation: X:796.43, Y:-127.55, Z:-52.50 [[ 9.90711592e-01 1.22525048e-01 5.89758820e-02 7.96431665e+02] [-1.22023467e-01 9.92454113e-01 -1.20460233e-02 -1.27552250e+02] [-6.00067962e-02 4.73769329e-03 9.98186725e-01 -5.25005473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.480714057 meters 0.07159557824466917 Centerline is valid? [True, True] Translation: X:796.48, Y:-127.60, Z:-52.51 [[ 9.90236301e-01 1.26786966e-01 5.79407780e-02 7.96481342e+02] [-1.26310371e-01 9.91920229e-01 -1.18300432e-02 -1.27603886e+02] [-5.89725251e-02 4.39601706e-03 9.98249927e-01 -5.25077576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5407140570001 meters 0.04111915260684924 Centerline is valid? [True, True] Translation: X:796.55, Y:-127.57, Z:-52.51 [[ 9.90196287e-01 1.27137841e-01 5.78557020e-02 7.96547253e+02] [-1.26663245e-01 9.91875438e-01 -1.18126106e-02 -1.27573939e+02] [-5.88874796e-02 4.36861222e-03 9.98255068e-01 -5.25092459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.600714057 meters 0.040249629388570754 Centerline is valid? [True, True] Translation: X:796.61, Y:-127.58, Z:-52.51 [[ 9.89869593e-01 1.29891436e-01 5.73271647e-02 7.96606472e+02] [-1.29431005e-01 9.91519535e-01 -1.16887082e-02 -1.27583905e+02] [-5.83592669e-02 4.15038435e-03 9.98287018e-01 -5.25134215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6607140570001 meters 0.05978957375067848 Centerline is valid? [True, True] Translation: X:796.66, Y:-127.62, Z:-52.52 [[ 9.88938143e-01 1.36984538e-01 5.68910054e-02 7.96659332e+02] [-1.36542886e-01 9.90566271e-01 -1.15975270e-02 -1.27622078e+02] [-5.79429930e-02 3.70117472e-03 9.98313033e-01 -5.25203306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.720714057 meters 0.03392152672711213 Centerline is valid? [True, True] Translation: X:796.73, Y:-127.60, Z:-52.52 [[ 9.88572221e-01 1.39027232e-01 5.82785815e-02 7.96725752e+02] [-1.38567353e-01 9.90281766e-01 -1.18790931e-02 -1.27596007e+02] [-5.93637341e-02 3.66783268e-03 9.98229680e-01 -5.25196795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7807140570001 meters 0.03672197538812382 Centerline is valid? [True, True] Translation: X:796.78, Y:-127.61, Z:-52.52 [[ 9.87481544e-01 1.46486726e-01 5.84964850e-02 7.96783373e+02] [-1.46036550e-01 9.89207365e-01 -1.19212388e-02 -1.27609562e+02] [-5.96114570e-02 3.22937845e-03 9.98216432e-01 -5.25230478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.840714057 meters 0.03018449690791298 Centerline is valid? [True, True] Translation: X:796.84, Y:-127.61, Z:-52.53 [[ 9.86815783e-01 1.50746204e-01 5.89083330e-02 7.96844239e+02] [-1.50297315e-01 9.88567971e-01 -1.20035057e-02 -1.27611810e+02] [-6.00443741e-02 2.99148456e-03 9.98191226e-01 -5.25263289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9007140570001 meters 0.030362581927292413 Centerline is valid? [True, True] Translation: X:796.90, Y:-127.62, Z:-52.53 [[ 9.86714149e-01 1.51574889e-01 5.84828363e-02 7.96901016e+02] [-1.51133912e-01 9.88441464e-01 -1.19169315e-02 -1.27624561e+02] [-5.96131679e-02 2.91986506e-03 9.98217283e-01 -5.25305799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.960714057 meters 0.0299319246925313 Centerline is valid? [True, True] Translation: X:796.96, Y:-127.64, Z:-52.54 [[ 9.86984442e-01 1.50237135e-01 5.73630004e-02 7.96958165e+02] [-1.49811504e-01 9.88645653e-01 -1.16741911e-02 -1.27637018e+02] [-5.84655780e-02 2.92860767e-03 9.98285129e-01 -5.25351847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0207140570001 meters 0.03160579349335703 Centerline is valid? [True, True] Translation: X:797.02, Y:-127.65, Z:-52.54 [[ 9.87422676e-01 1.47523274e-01 5.68624866e-02 7.97015496e+02] [-1.47101509e-01 9.89053894e-01 -1.15559966e-02 -1.27653233e+02] [-5.79448422e-02 3.04609550e-03 9.98315139e-01 -5.25391842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.080714057 meters 0.03360099966613967 Centerline is valid? [True, True] Translation: X:797.07, Y:-127.67, Z:-52.54 [[ 9.87955675e-01 1.43536532e-01 5.78000650e-02 7.97072811e+02] [-1.43094062e-01 9.89639410e-01 -1.17442476e-02 -1.27671562e+02] [-5.88869508e-02 3.33195000e-03 9.98259097e-01 -5.25425156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1407140570001 meters 0.05236237488147382 Centerline is valid? [True, True] Translation: X:797.12, Y:-127.71, Z:-52.55 [[ 9.87829636e-01 1.44038101e-01 5.86995408e-02 7.97122928e+02] [-1.43582650e-01 9.89566462e-01 -1.19264530e-02 -1.27712194e+02] [-5.98049606e-02 3.35306805e-03 9.98204450e-01 -5.25483979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.200714057 meters 0.03144695497989143 Centerline is valid? [True, True] Translation: X:797.19, Y:-127.69, Z:-52.55 [[ 9.88110676e-01 1.42751527e-01 5.70902276e-02 7.97186604e+02] [-1.42318980e-01 9.89752955e-01 -1.15929250e-02 -1.27694518e+02] [-5.81601292e-02 3.33007002e-03 9.98301713e-01 -5.25497759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.260714057 meters 0.03149622361579385 Centerline is valid? [True, True] Translation: X:797.24, Y:-127.71, Z:-52.55 [[ 9.87858069e-01 1.44543426e-01 5.69529008e-02 7.97243496e+02] [-1.44116887e-01 9.89493282e-01 -1.15484717e-02 -1.27708000e+02] [-5.80237684e-02 3.20037618e-03 9.98310072e-01 -5.25537771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.320714057 meters 0.03229577892212039 Centerline is valid? [True, True] Translation: X:797.30, Y:-127.72, Z:-52.56 [[ 9.87525396e-01 1.46859508e-01 5.67968099e-02 7.97300302e+02] [-1.46439378e-01 9.89152654e-01 -1.15123947e-02 -1.27722923e+02] [-5.78714199e-02 3.05149267e-03 9.98319381e-01 -5.25576841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.380714057 meters 0.030915617035584448 Centerline is valid? [True, True] Translation: X:797.36, Y:-127.74, Z:-52.56 [[ 9.87190625e-01 1.48957561e-01 5.71516859e-02 7.97357607e+02] [-1.48535842e-01 9.88839208e-01 -1.15812167e-02 -1.27735263e+02] [-5.82389376e-02 2.94379480e-03 9.98298332e-01 -5.25620026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.440714057 meters 0.030459892792848504 Centerline is valid? [True, True] Translation: X:797.41, Y:-127.75, Z:-52.57 [[ 9.87104206e-01 1.49636465e-01 5.68701643e-02 7.97414900e+02] [-1.49220199e-01 9.88736870e-01 -1.15210602e-02 -1.27749343e+02] [-5.79535989e-02 2.88630978e-03 9.98315105e-01 -5.25671282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.500714057 meters 0.03220439375224053 Centerline is valid? [True, True] Translation: X:797.47, Y:-127.77, Z:-52.57 [[ 9.87409023e-01 1.47752657e-01 5.65028656e-02 7.97471177e+02] [-1.47339544e-01 9.89019906e-01 -1.14316914e-02 -1.27766158e+02] [-5.75715216e-02 2.96264880e-03 9.98336989e-01 -5.25711876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.560714057 meters 0.03374125864799594 Centerline is valid? [True, True] Translation: X:797.53, Y:-127.78, Z:-52.58 [[ 9.87637887e-01 1.46134198e-01 5.67115470e-02 7.97526374e+02] [-1.45715508e-01 9.89260025e-01 -1.14714598e-02 -1.27781795e+02] [-5.77788390e-02 3.06589644e-03 9.98324700e-01 -5.25755282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.620714057 meters 0.0358971970933143 Centerline is valid? [True, True] Translation: X:797.58, Y:-127.80, Z:-52.58 [[ 9.88558253e-01 1.39747627e-01 5.67730670e-02 7.97583810e+02] [-1.39318114e-01 9.90181203e-01 -1.14737911e-02 -1.27802477e+02] [-5.78190589e-02 3.43299425e-03 9.98321176e-01 -5.25797109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.680714057 meters 0.03728484372253964 Centerline is valid? [True, True] Translation: X:797.64, Y:-127.82, Z:-52.58 [[ 9.89699548e-01 1.31633305e-01 5.62803535e-02 7.97642188e+02] [-1.31198146e-01 9.91290911e-01 -1.13743744e-02 -1.27819338e+02] [-5.72874494e-02 3.87333522e-03 9.98350212e-01 -5.25828685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.740714057 meters 0.036668639510536116 Centerline is valid? [True, True] Translation: X:797.70, Y:-127.83, Z:-52.59 [[ 9.90197810e-01 1.27843466e-01 5.62525183e-02 7.97700939e+02] [-1.27402694e-01 9.91785925e-01 -1.13680534e-02 -1.27832919e+02] [-5.72437872e-02 4.08989925e-03 9.98351853e-01 -5.25864110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.800714057 meters 0.042740737791038555 Centerline is valid? [True, True] Translation: X:797.76, Y:-127.86, Z:-52.59 [[ 9.90711991e-01 1.23542382e-01 5.68069621e-02 7.97756857e+02] [-1.23085863e-01 9.92329626e-01 -1.14796765e-02 -1.27856258e+02] [-5.77894580e-02 4.38091918e-03 9.98319181e-01 -5.25903452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.860714057 meters 0.04290871498749388 Centerline is valid? [True, True] Translation: X:797.81, Y:-127.87, Z:-52.59 [[ 9.91131610e-01 1.20435465e-01 5.61554121e-02 7.97814915e+02] [-1.19984481e-01 9.92710921e-01 -1.13468962e-02 -1.27870532e+02] [-5.71126596e-02 4.50848947e-03 9.98357560e-01 -5.25942610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.920714057 meters 0.04453805841912988 Centerline is valid? [True, True] Translation: X:797.87, Y:-127.89, Z:-52.60 [[ 9.91508814e-01 1.17944501e-01 5.47664802e-02 7.97873250e+02] [-1.17511836e-01 9.93009828e-01 -1.10656710e-02 -1.27885384e+02] [-5.56887881e-02 4.53600067e-03 9.98437872e-01 -5.25986491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.980714057 meters 0.046071278729440265 Centerline is valid? [True, True] Translation: X:797.93, Y:-127.90, Z:-52.60 [[ 9.91613101e-01 1.17261046e-01 5.43443183e-02 7.97930541e+02] [-1.16834042e-01 9.93090756e-01 -1.09798729e-02 -1.27898028e+02] [-5.52563515e-02 4.53851946e-03 9.98461886e-01 -5.26021038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0407140570001 meters 0.04043922364175249 Centerline is valid? [True, True] Translation: X:797.99, Y:-127.90, Z:-52.60 [[ 9.91596224e-01 1.17216970e-01 5.47458694e-02 7.97990439e+02] [-1.16783697e-01 9.93095805e-01 -1.10585117e-02 -1.27900580e+02] [-5.56641384e-02 4.57215341e-03 9.98439081e-01 -5.26043089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.100714057 meters 0.043717071834429966 Centerline is valid? [True, True] Translation: X:798.05, Y:-127.91, Z:-52.61 [[ 9.91531124e-01 1.18010308e-01 5.42180630e-02 7.98047025e+02] [-1.17587367e-01 9.93002314e-01 -1.09368502e-02 -1.27914022e+02] [-5.51293231e-02 4.46886810e-03 9.98469222e-01 -5.26082031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1607140570001 meters 0.04109252764892149 Centerline is valid? [True, True] Translation: X:798.10, Y:-127.92, Z:-52.61 [[ 9.91601783e-01 1.18111484e-01 5.26837927e-02 7.98104675e+02] [-1.17712495e-01 9.92990887e-01 -1.06239021e-02 -1.27919204e+02] [-5.35693309e-02 4.33313962e-03 9.98554731e-01 -5.26125706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.220714057 meters 0.0479931290993641 Centerline is valid? [True, True] Translation: X:798.16, Y:-127.94, Z:-52.62 [[ 9.91873463e-01 1.16580678e-01 5.09507503e-02 7.98160187e+02] [-1.16205842e-01 9.93172071e-01 -1.02683872e-02 -1.27936935e+02] [-5.17999578e-02 4.26416596e-03 9.98648377e-01 -5.26174968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2807140570001 meters 0.043623805487002336 Centerline is valid? [True, True] Translation: X:798.22, Y:-127.94, Z:-52.62 [[ 9.92034053e-01 1.15558779e-01 5.01458549e-02 7.98220960e+02] [-1.15194621e-01 9.93291573e-01 -1.01020173e-02 -1.27939069e+02] [-5.09768318e-02 4.24501238e-03 9.98690814e-01 -5.26187319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.340714057 meters 0.043653801766413244 Centerline is valid? [True, True] Translation: X:798.28, Y:-127.95, Z:-52.62 [[ 9.92036348e-01 1.15450822e-01 5.03487062e-02 7.98278167e+02] [-1.15083618e-01 9.93304033e-01 -1.01419741e-02 -1.27946801e+02] [-5.11824721e-02 4.26689567e-03 9.98680203e-01 -5.26203900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4007140570001 meters 0.04430927954724569 Centerline is valid? [True, True] Translation: X:798.34, Y:-127.96, Z:-52.62 [[ 9.91889066e-01 1.16793590e-01 5.01531521e-02 7.98336710e+02] [-1.16431221e-01 9.93147431e-01 -1.00970466e-02 -1.27956058e+02] [-5.09887445e-02 4.17575742e-03 9.98690498e-01 -5.26230836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.460714057 meters 0.044643695495068476 Centerline is valid? [True, True] Translation: X:798.40, Y:-127.96, Z:-52.63 [[ 9.91492682e-01 1.20382955e-01 4.94995536e-02 7.98395878e+02] [-1.20034776e-01 9.92719741e-01 -9.95836945e-03 -1.27963516e+02] [-5.03380020e-02 3.93198262e-03 9.98724499e-01 -5.26262738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5207140570001 meters 0.04014133760630146 Centerline is valid? [True, True] Translation: X:798.46, Y:-127.96, Z:-52.63 [[ 9.91143314e-01 1.23859684e-01 4.78926997e-02 7.98457413e+02] [-1.23537853e-01 9.92293096e-01 -9.63386954e-03 -1.27964062e+02] [-4.87168433e-02 3.63198406e-03 9.98806026e-01 -5.26296637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.580714057 meters 0.038424100960643075 Centerline is valid? [True, True] Translation: X:798.52, Y:-127.97, Z:-52.63 [[ 9.90926433e-01 1.26081723e-01 4.65639799e-02 7.98517277e+02] [-1.25779967e-01 9.92013947e-01 -9.36632036e-03 -1.27969480e+02] [-4.73730393e-02 3.42451856e-03 9.98871397e-01 -5.26343326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6407140570001 meters 0.0385797298672277 Centerline is valid? [True, True] Translation: X:798.58, Y:-127.98, Z:-52.64 [[ 9.90862905e-01 1.27199563e-01 4.48438996e-02 7.98575379e+02] [-1.26920675e-01 9.91871821e-01 -9.02403670e-03 -1.27978061e+02] [-4.56272538e-02 3.24996521e-03 9.98953248e-01 -5.26385452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.700714057 meters 0.037442272021818664 Centerline is valid? [True, True] Translation: X:798.64, Y:-127.98, Z:-52.64 [[ 9.90490928e-01 1.30780772e-01 4.27096274e-02 7.98635763e+02] [-1.30531798e-01 9.91407004e-01 -8.57912720e-03 -1.27983734e+02] [-4.34646086e-02 2.92258320e-03 9.99050693e-01 -5.26424051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.760714057 meters 0.035920770447110305 Centerline is valid? [True, True] Translation: X:798.70, Y:-127.99, Z:-52.64 [[ 9.89846280e-01 1.35518958e-01 4.28830176e-02 7.98695872e+02] [-1.35272420e-01 9.90771007e-01 -8.61302240e-03 -1.27988393e+02] [-4.36544783e-02 2.72467860e-03 9.99042973e-01 -5.26443878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.820714057 meters 0.03399194716699343 Centerline is valid? [True, True] Translation: X:798.76, Y:-127.99, Z:-52.65 [[ 9.88922199e-01 1.41408492e-01 4.51278593e-02 7.98756203e+02] [-1.41141560e-01 9.89947933e-01 -9.06364246e-03 -1.27992743e+02] [-4.59559070e-02 2.59382077e-03 9.98940102e-01 -5.26454651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.880714057 meters 0.03430658142239337 Centerline is valid? [True, True] Translation: X:798.82, Y:-128.00, Z:-52.65 [[ 9.88405387e-01 1.44854320e-01 4.55194095e-02 7.98815240e+02] [-1.44586432e-01 9.89449951e-01 -9.14098007e-03 -1.28000038e+02] [-4.63632880e-02 2.45350494e-03 9.98921632e-01 -5.26494108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.940714057 meters 0.03426681217210658 Centerline is valid? [True, True] Translation: X:798.87, Y:-128.01, Z:-52.65 [[ 9.88256007e-01 1.46010995e-01 4.50649886e-02 7.98872798e+02] [-1.45749525e-01 9.89280110e-01 -9.05203469e-03 -1.28009135e+02] [-4.59035935e-02 2.37752697e-03 9.98943045e-01 -5.26536067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.000714057 meters 0.03596418384926511 Centerline is valid? [True, True] Translation: X:798.93, Y:-128.02, Z:-52.66 [[ 9.88352983e-01 1.45788498e-01 4.36359419e-02 7.98929137e+02] [-1.45543748e-01 9.89313110e-01 -8.75139612e-03 -1.28020484e+02] [-4.44454623e-02 2.29852993e-03 9.99009168e-01 -5.26588794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.060714057 meters 0.03790379894087937 Centerline is valid? [True, True] Translation: X:798.99, Y:-128.03, Z:-52.66 [[ 9.88862271e-01 1.42387309e-01 4.33273911e-02 7.98988230e+02] [-1.42142983e-01 9.89808039e-01 -8.68434671e-03 -1.28032201e+02] [-4.41223408e-02 2.42893821e-03 9.99023183e-01 -5.26624378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.120714057 meters 0.04125576454145321 Centerline is valid? [True, True] Translation: X:799.05, Y:-128.05, Z:-52.67 [[ 9.89609739e-01 1.37126911e-01 4.32293377e-02 7.99046516e+02] [-1.36878727e-01 9.90549924e-01 -8.66380869e-03 -1.28047085e+02] [-4.40088585e-02 2.65661276e-03 9.99027609e-01 -5.26660924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.180714057 meters 0.03759949853169631 Centerline is valid? [True, True] Translation: X:799.11, Y:-128.05, Z:-52.67 [[ 9.90071347e-01 1.33416058e-01 4.42592852e-02 7.99106826e+02] [-1.33152219e-01 9.91055907e-01 -8.86990210e-03 -1.28050642e+02] [-4.50468134e-02 2.88861386e-03 9.98980701e-01 -5.26657700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.240714057 meters 0.04013684577370217 Centerline is valid? [True, True] Translation: X:799.16, Y:-128.06, Z:-52.67 [[ 9.90356962e-01 1.30932675e-01 4.52738669e-02 7.99164068e+02] [-1.30654017e-01 9.91386508e-01 -9.07303498e-03 -1.28063012e+02] [-4.60718576e-02 3.07033076e-03 9.98933410e-01 -5.26672910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.300714057 meters 0.040096613976525 Centerline is valid? [True, True] Translation: X:799.22, Y:-128.07, Z:-52.67 [[ 9.90570529e-01 1.29105110e-01 4.58464654e-02 7.99222169e+02] [-1.28817527e-01 9.91625775e-01 -9.18520783e-03 -1.28074038e+02] [-4.66483940e-02 3.19276789e-03 9.98906269e-01 -5.26698791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.360714057 meters 0.042776448414485614 Centerline is valid? [True, True] Translation: X:799.28, Y:-128.09, Z:-52.67 [[ 9.90855574e-01 1.27282949e-01 4.47692232e-02 7.99278346e+02] [-1.27006975e-01 9.91861288e-01 -8.96732628e-03 -1.28087917e+02] [-4.55462471e-02 3.19932161e-03 9.98957108e-01 -5.26747837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.420714057 meters 0.03970306762702134 Centerline is valid? [True, True] Translation: X:799.34, Y:-128.09, Z:-52.68 [[ 9.91006990e-01 1.26594402e-01 4.33474773e-02 7.99336862e+02] [-1.26335151e-01 9.91949640e-01 -8.67994404e-03 -1.28092706e+02] [-4.40973468e-02 3.12557513e-03 9.99022350e-01 -5.26772956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.480714057 meters 0.03946641442967206 Centerline is valid? [True, True] Translation: X:799.39, Y:-128.10, Z:-52.68 [[ 9.90971007e-01 1.26928074e-01 4.31940726e-02 7.99394658e+02] [-1.26670998e-01 9.91907082e-01 -8.64862492e-03 -1.28103506e+02] [-4.39422598e-02 3.09910028e-03 9.99029266e-01 -5.26813097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5407140570001 meters 0.04116320963025991 Centerline is valid? [True, True] Translation: X:799.45, Y:-128.12, Z:-52.69 [[ 9.90720896e-01 1.28902948e-01 4.30829055e-02 7.99452271e+02] [-1.28649741e-01 9.91652712e-01 -8.61064745e-03 -1.28116203e+02] [-4.38332179e-02 2.98814373e-03 9.99034394e-01 -5.26860780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.600714057 meters 0.04000305981811338 Centerline is valid? [True, True] Translation: X:799.51, Y:-128.12, Z:-52.69 [[ 9.90099697e-01 1.33175448e-01 4.43496319e-02 7.99512225e+02] [-1.32911479e-01 9.91088295e-01 -8.86167672e-03 -1.28123779e+02] [-4.51345589e-02 2.87936827e-03 9.98976767e-01 -5.26884172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6607140570001 meters 0.033231166392247415 Centerline is valid? [True, True] Translation: X:799.57, Y:-128.12, Z:-52.69 [[ 9.89059798e-01 1.40300199e-01 4.55693998e-02 7.99574139e+02] [-1.40029052e-01 9.90105534e-01 -9.10473778e-03 -1.28122761e+02] [-4.63959114e-02 2.62409027e-03 9.98919683e-01 -5.26898015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.720714057 meters 0.03224605845215975 Centerline is valid? [True, True] Translation: X:799.63, Y:-128.13, Z:-52.69 [[ 9.88066900e-01 1.46869026e-01 4.64035618e-02 7.99632920e+02] [-1.46595074e-01 9.89153137e-01 -9.27122622e-03 -1.28131329e+02] [-4.72618847e-02 2.35805819e-03 9.98879749e-01 -5.26933045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7807140570001 meters 0.03024116895057378 Centerline is valid? [True, True] Translation: X:799.69, Y:-128.14, Z:-52.70 [[ 9.87261705e-01 1.52192334e-01 4.63877013e-02 7.99692291e+02] [-1.51924486e-01 9.88348662e-01 -9.26675471e-03 -1.28138524e+02] [-4.72575516e-02 2.10128440e-03 9.98880528e-01 -5.26971477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.840714057 meters 0.030609399562981632 Centerline is valid? [True, True] Translation: X:799.75, Y:-128.15, Z:-52.70 [[ 9.86906441e-01 1.54692119e-01 4.56730183e-02 7.99748754e+02] [-1.54435162e-01 9.87960801e-01 -9.12341448e-03 -1.28151872e+02] [-4.65344720e-02 1.95043656e-03 9.98914781e-01 -5.27029417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9007140570001 meters 0.02928019804816223 Centerline is valid? [True, True] Translation: X:799.81, Y:-128.16, Z:-52.71 [[ 9.86738975e-01 1.56284327e-01 4.38338309e-02 7.99806566e+02] [-1.56049201e-01 9.87710468e-01 -8.75665571e-03 -1.28162195e+02] [-4.46636617e-02 1.80029921e-03 9.99000459e-01 -5.27079093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.960714057 meters 0.029044411194754628 Centerline is valid? [True, True] Translation: X:799.86, Y:-128.18, Z:-52.71 [[ 9.86530508e-01 1.57601764e-01 4.38091517e-02 7.99864167e+02] [-1.57368817e-01 9.87501243e-01 -8.73788857e-03 -1.28175771e+02] [-4.46386984e-02 1.72599928e-03 9.99001706e-01 -5.27123447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0207140570001 meters 0.028358002263137186 Centerline is valid? [True, True] Translation: X:799.92, Y:-128.19, Z:-52.72 [[ 9.86292134e-01 1.58740811e-01 4.50464362e-02 7.99921511e+02] [-1.58495880e-01 9.87318795e-01 -8.98067598e-03 -1.28188423e+02] [-4.59007930e-02 1.71789554e-03 9.98944526e-01 -5.27160330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.080714057 meters 0.029120925510099326 Centerline is valid? [True, True] Translation: X:799.98, Y:-128.21, Z:-52.72 [[ 9.86274713e-01 1.58693006e-01 4.55929847e-02 7.99977245e+02] [-1.58442678e-01 9.87326464e-01 -9.07589818e-03 -1.28205446e+02] [-4.64554419e-02 1.72745426e-03 9.98918870e-01 -5.27211872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1407140570001 meters 0.027760638756495957 Centerline is valid? [True, True] Translation: X:800.03, Y:-128.22, Z:-52.72 [[ 9.86291898e-01 1.58493284e-01 4.59148289e-02 8.00033427e+02] [-1.58239354e-01 9.87358512e-01 -9.13648698e-03 -1.28216743e+02] [-4.67824689e-02 1.74571024e-03 9.98903576e-01 -5.27246923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.200714057 meters 0.02921772490198131 Centerline is valid? [True, True] Translation: X:800.09, Y:-128.24, Z:-52.73 [[ 9.86394465e-01 1.57678109e-01 4.65142390e-02 8.00087907e+02] [-1.57417440e-01 9.87488941e-01 -9.23796193e-03 -1.28236239e+02] [-4.73889210e-02 1.79012206e-03 9.98874910e-01 -5.27309508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.260714057 meters 0.028983861526303268 Centerline is valid? [True, True] Translation: X:800.14, Y:-128.25, Z:-52.73 [[ 9.86639841e-01 1.55776359e-01 4.77027287e-02 8.00144348e+02] [-1.55500065e-01 9.87790469e-01 -9.47205951e-03 -1.28252444e+02] [-4.85958237e-02 1.92773386e-03 9.98816665e-01 -5.27344893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.320714057 meters 0.030202605724315674 Centerline is valid? [True, True] Translation: X:800.20, Y:-128.27, Z:-52.74 [[ 9.86986769e-01 1.53367830e-01 4.83262530e-02 8.00200855e+02] [-1.53082170e-01 9.88167029e-01 -9.57980320e-03 -1.28271446e+02] [-4.92236434e-02 2.05725132e-03 9.98785663e-01 -5.27399744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.380714057 meters 0.03138290428415234 Centerline is valid? [True, True] Translation: X:800.26, Y:-128.29, Z:-52.75 [[ 9.87497164e-01 1.50010555e-01 4.84374403e-02 8.00257267e+02] [-1.49719604e-01 9.88681884e-01 -9.60070257e-03 -1.28290980e+02] [-4.93294264e-02 2.22863219e-03 9.98780076e-01 -5.27455975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.440714057 meters 0.03325618994329147 Centerline is valid? [True, True] Translation: X:800.31, Y:-128.31, Z:-52.75 [[ 9.87891724e-01 1.47331679e-01 4.86139813e-02 8.00312548e+02] [-1.47035554e-01 9.89084310e-01 -9.63190031e-03 -1.28309766e+02] [-4.95024102e-02 2.36729093e-03 9.98771199e-01 -5.27499043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.500714057 meters 0.03143470296484559 Centerline is valid? [True, True] Translation: X:800.37, Y:-128.32, Z:-52.75 [[ 9.87962365e-01 1.46913015e-01 4.84451479e-02 8.00370142e+02] [-1.46618637e-01 9.89146562e-01 -9.59453985e-03 -1.28318894e+02] [-4.93289143e-02 2.37608273e-03 9.98779762e-01 -5.27519923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.560714057 meters 0.034924276605942765 Centerline is valid? [True, True] Translation: X:800.43, Y:-128.34, Z:-52.76 [[ 9.87596537e-01 1.48787313e-01 5.01539129e-02 8.00426307e+02] [-1.48474478e-01 9.88866410e-01 -9.92734628e-03 -1.28338208e+02] [-5.10725830e-02 2.35763678e-03 9.98692161e-01 -5.27561838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.620714057 meters 0.02986038152570669 Centerline is valid? [True, True] Translation: X:800.49, Y:-128.34, Z:-52.76 [[ 9.86988108e-01 1.52371823e-01 5.13546803e-02 8.00486418e+02] [-1.52048753e-01 9.88320742e-01 -1.01630987e-02 -1.28342242e+02] [-5.23034656e-02 2.22244243e-03 9.98628764e-01 -5.27566878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.680714057 meters 0.02867913151596695 Centerline is valid? [True, True] Translation: X:800.55, Y:-128.35, Z:-52.76 [[ 9.86195812e-01 1.57083082e-01 5.23710416e-02 8.00545456e+02] [-1.56753824e-01 9.87583347e-01 -1.03620540e-02 -1.28353029e+02] [-5.33484719e-02 2.00965325e-03 9.98573934e-01 -5.27594577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.740714057 meters 0.026778013518335315 Centerline is valid? [True, True] Translation: X:800.60, Y:-128.36, Z:-52.76 [[ 9.85287043e-01 1.62334909e-01 5.34492365e-02 8.00604676e+02] [-1.61999700e-01 9.86734148e-01 -1.05743908e-02 -1.28361565e+02] [-5.44567796e-02 1.76004995e-03 9.98514578e-01 -5.27621950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.800714057 meters 0.026528223927920973 Centerline is valid? [True, True] Translation: X:800.66, Y:-128.37, Z:-52.77 [[ 9.84868090e-01 1.65065612e-01 5.28033154e-02 8.00661628e+02] [-1.64742400e-01 9.86281308e-01 -1.04462169e-02 -1.28373510e+02] [-5.38032341e-02 1.58920072e-03 9.98550292e-01 -5.27672048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.860714057 meters 0.025422862881202515 Centerline is valid? [True, True] Translation: X:800.72, Y:-128.38, Z:-52.77 [[ 9.84290640e-01 1.68688700e-01 5.21158135e-02 8.00719721e+02] [-1.68379023e-01 9.85668424e-01 -1.03083639e-02 -1.28383339e+02] [-5.31078163e-02 1.37121628e-03 9.98587843e-01 -5.27719772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.920714057 meters 0.02598574805591607 Centerline is valid? [True, True] Translation: X:800.78, Y:-128.40, Z:-52.78 [[ 9.84026631e-01 1.70386609e-01 5.15751212e-02 8.00775687e+02] [-1.70086395e-01 9.85376494e-01 -1.01874213e-02 -1.28396988e+02] [-5.25567123e-02 1.25246747e-03 9.98617156e-01 -5.27760842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.980714057 meters 0.02436407903936949 Centerline is valid? [True, True] Translation: X:800.83, Y:-128.41, Z:-52.78 [[ 9.83781375e-01 1.71406348e-01 5.28589628e-02 8.00833505e+02] [-1.71092630e-01 9.85199657e-01 -1.04378267e-02 -1.28409155e+02] [-5.38657417e-02 1.22476054e-03 9.98547436e-01 -5.27777864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0407140570001 meters 0.024680525665251096 Centerline is valid? [True, True] Translation: X:800.89, Y:-128.42, Z:-52.78 [[ 9.83833543e-01 1.71163194e-01 5.26756277e-02 8.00890245e+02] [-1.70852001e-01 9.85241935e-01 -1.03886096e-02 -1.28421583e+02] [-5.36763849e-02 1.22092622e-03 9.98557637e-01 -5.27798977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.100714057 meters 0.024702744710018463 Centerline is valid? [True, True] Translation: X:800.95, Y:-128.44, Z:-52.78 [[ 9.83973674e-01 1.70654763e-01 5.16987490e-02 8.00947428e+02] [-1.70355124e-01 9.85330141e-01 -1.01805897e-02 -1.28435496e+02] [-5.26777018e-02 1.21028539e-03 9.98610833e-01 -5.27839723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1607140570001 meters 0.02529017833292332 Centerline is valid? [True, True] Translation: X:801.00, Y:-128.45, Z:-52.79 [[ 9.84482507e-01 1.68008810e-01 5.06678671e-02 8.01003969e+02] [-1.67718161e-01 9.85784620e-01 -9.96500256e-03 -1.28452656e+02] [-5.16218124e-02 1.31244920e-03 9.98665843e-01 -5.27887323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.220714057 meters 0.026556004529381304 Centerline is valid? [True, True] Translation: X:801.06, Y:-128.47, Z:-52.79 [[ 9.85056521e-01 1.64433605e-01 5.12371035e-02 8.01059559e+02] [-1.64132355e-01 9.86387011e-01 -1.00615628e-02 -1.28471391e+02] [-5.21940724e-02 1.50154158e-03 9.98635832e-01 -5.27915014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2807140570001 meters 0.026892131900919852 Centerline is valid? [True, True] Translation: X:801.12, Y:-128.49, Z:-52.80 [[ 9.85655975e-01 1.60859937e-01 5.10527112e-02 8.01116384e+02] [-1.60556249e-01 9.86975812e-01 -1.00217999e-02 -1.28487478e+02] [-5.19998972e-02 1.68121515e-03 9.98645675e-01 -5.27956243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.340714057 meters 0.0269852587209661 Centerline is valid? [True, True] Translation: X:801.17, Y:-128.50, Z:-52.80 [[ 9.85781711e-01 1.60053952e-01 5.11580947e-02 8.01173860e+02] [-1.59748017e-01 9.87106760e-01 -1.00407171e-02 -1.28500317e+02] [-5.21055576e-02 1.72555112e-03 9.98640092e-01 -5.27994837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4007140570001 meters 0.027056791877188804 Centerline is valid? [True, True] Translation: X:801.23, Y:-128.51, Z:-52.80 [[ 9.85986775e-01 1.58757840e-01 5.12447767e-02 8.01230597e+02] [-1.58449795e-01 9.87315940e-01 -1.00447933e-02 -1.28513886e+02] [-5.21894746e-02 1.78430899e-03 9.98635607e-01 -5.28030087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.460714057 meters 0.02903059247209543 Centerline is valid? [True, True] Translation: X:801.29, Y:-128.53, Z:-52.81 [[ 9.86309799e-01 1.56729036e-01 5.12736744e-02 8.01286232e+02] [-1.56418700e-01 9.87639855e-01 -1.00352943e-02 -1.28531183e+02] [-5.22127463e-02 1.87774758e-03 9.98634219e-01 -5.28076155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5207140570001 meters 0.027610658020150974 Centerline is valid? [True, True] Translation: X:801.34, Y:-128.54, Z:-52.81 [[ 9.86692427e-01 1.54278936e-01 5.13426235e-02 8.01344518e+02] [-1.53964715e-01 9.88025298e-01 -1.00437514e-02 -1.28540654e+02] [-5.22773501e-02 2.00514099e-03 9.98630591e-01 -5.28104861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.580714057 meters 0.029063873693314972 Centerline is valid? [True, True] Translation: X:801.40, Y:-128.56, Z:-52.82 [[ 9.87248165e-01 1.50778798e-01 5.10569844e-02 8.01401338e+02] [-1.50463543e-01 9.88565133e-01 -9.98503796e-03 -1.28556360e+02] [-5.19786866e-02 2.17549561e-03 9.98645825e-01 -5.28158911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6407140570001 meters 0.030128891124308256 Centerline is valid? [True, True] Translation: X:801.46, Y:-128.57, Z:-52.82 [[ 9.87709519e-01 1.47963911e-01 5.03645482e-02 8.01459367e+02] [-1.47653657e-01 9.88990112e-01 -9.84664742e-03 -1.28570673e+02] [-5.12669886e-02 2.28911765e-03 9.98682360e-01 -5.28205804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.700714057 meters 0.02950821398132484 Centerline is valid? [True, True] Translation: X:801.52, Y:-128.58, Z:-52.82 [[ 9.87879153e-01 1.46752059e-01 5.05827344e-02 8.01516832e+02] [-1.46437471e-01 9.89170485e-01 -9.89033757e-03 -1.28582032e+02] [-5.14863753e-02 2.36325058e-03 9.98670901e-01 -5.28238614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.760714057 meters 0.03284996044374169 Centerline is valid? [True, True] Translation: X:801.57, Y:-128.60, Z:-52.83 [[ 9.87879003e-01 1.46089322e-01 5.24689022e-02 8.01570764e+02] [-1.45750724e-01 9.89268316e-01 -1.02433493e-02 -1.28599873e+02] [-5.34022664e-02 2.47180926e-03 9.98570022e-01 -5.28279631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.820714057 meters 0.033177556629512175 Centerline is valid? [True, True] Translation: X:801.63, Y:-128.61, Z:-52.83 [[ 9.87923881e-01 1.45762363e-01 5.25332259e-02 8.01627762e+02] [-1.45422747e-01 9.89316505e-01 -1.02507772e-02 -1.28611332e+02] [-5.34661650e-02 2.48746155e-03 9.98566564e-01 -5.28310512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.880714057 meters 0.034789416471071234 Centerline is valid? [True, True] Translation: X:801.68, Y:-128.62, Z:-52.84 [[ 9.88023352e-01 1.45230834e-01 5.21331075e-02 8.01684162e+02] [-1.44896517e-01 9.89394689e-01 -1.01561896e-02 -1.28624736e+02] [-5.30552115e-02 2.48064682e-03 9.98588499e-01 -5.28357711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.940714057 meters 0.0329370419145731 Centerline is valid? [True, True] Translation: X:801.74, Y:-128.63, Z:-52.84 [[ 9.88310083e-01 1.43298412e-01 5.20456060e-02 8.01742188e+02] [-1.42962682e-01 9.89676170e-01 -1.01365704e-02 -1.28633654e+02] [-5.29608505e-02 2.57749532e-03 9.98593263e-01 -5.28392405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.000714057 meters 0.030437340433422323 Centerline is valid? [True, True] Translation: X:801.80, Y:-128.64, Z:-52.84 [[ 9.88397200e-01 1.42576041e-01 5.23741204e-02 8.01800765e+02] [-1.42235731e-01 9.89780384e-01 -1.01876670e-02 -1.28641564e+02] [-5.32913942e-02 2.61999021e-03 9.98575567e-01 -5.28421361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.060714057 meters 0.0299024955792786 Centerline is valid? [True, True] Translation: X:801.86, Y:-128.65, Z:-52.85 [[ 9.88203046e-01 1.43872907e-01 5.24912038e-02 8.01858676e+02] [-1.43533630e-01 9.89592908e-01 -1.01967249e-02 -1.28651559e+02] [-5.34119555e-02 2.54218152e-03 9.98569327e-01 -5.28459802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.120714057 meters 0.028979441653149727 Centerline is valid? [True, True] Translation: X:801.92, Y:-128.66, Z:-52.85 [[ 9.87445396e-01 1.48727009e-01 5.32152799e-02 8.01917636e+02] [-1.48386208e-01 9.88875629e-01 -1.03210271e-02 -1.28660801e+02] [-5.41583089e-02 2.29503716e-03 9.98529724e-01 -5.28496067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.180714057 meters 0.0276968909021791 Centerline is valid? [True, True] Translation: X:801.98, Y:-128.67, Z:-52.85 [[ 9.86560380e-01 1.54114219e-01 5.42901854e-02 8.01977098e+02] [-1.53767734e-01 9.88050937e-01 -1.05275881e-02 -1.28669773e+02] [-5.52639195e-02 2.03802257e-03 9.98469702e-01 -5.28520217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.240714057 meters 0.026962184443888863 Centerline is valid? [True, True] Translation: X:802.04, Y:-128.68, Z:-52.86 [[ 9.85803659e-01 1.58501819e-01 5.53924181e-02 8.02036082e+02] [-1.58148129e-01 9.87356996e-01 -1.07393026e-02 -1.28681285e+02] [-5.63942905e-02 1.82663657e-03 9.98406905e-01 -5.28556511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.300714057 meters 0.026329020845717453 Centerline is valid? [True, True] Translation: X:802.09, Y:-128.69, Z:-52.86 [[ 9.85681335e-01 1.59573590e-01 5.44846414e-02 8.02093534e+02] [-1.59232977e-01 9.87184507e-01 -1.05644906e-02 -1.28692757e+02] [-5.54722075e-02 1.73746954e-03 9.98458720e-01 -5.28598133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.360714057 meters 0.026580474318923332 Centerline is valid? [True, True] Translation: X:802.15, Y:-128.71, Z:-52.86 [[ 9.85848509e-01 1.58700563e-01 5.40078584e-02 8.02149850e+02] [-1.58365340e-01 9.87325196e-01 -1.04582994e-02 -1.28707677e+02] [-5.49830574e-02 1.75732600e-03 9.98485741e-01 -5.28646019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.420714057 meters 0.028478373859790837 Centerline is valid? [True, True] Translation: X:802.21, Y:-128.73, Z:-52.87 [[ 9.86315554e-01 1.55950434e-01 5.34891645e-02 8.02205860e+02] [-1.55618429e-01 9.87763099e-01 -1.03424022e-02 -1.28726827e+02] [-5.44475250e-02 1.87697235e-03 9.98514869e-01 -5.28697672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.480714057 meters 0.02737441539658788 Centerline is valid? [True, True] Translation: X:802.26, Y:-128.74, Z:-52.87 [[ 9.86523701e-01 1.54417753e-01 5.40938543e-02 8.02263701e+02] [-1.54076014e-01 9.88003659e-01 -1.04571133e-02 -1.28738120e+02] [-5.50596899e-02 1.98162467e-03 9.98481098e-01 -5.28727256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5407140570001 meters 0.030693171264576866 Centerline is valid? [True, True] Translation: X:802.32, Y:-128.76, Z:-52.88 [[ 9.86569242e-01 1.52938383e-01 5.73670878e-02 8.02318071e+02] [-1.52552486e-01 9.88233338e-01 -1.10728661e-02 -1.28759485e+02] [-5.83855349e-02 2.17265726e-03 9.98291745e-01 -5.28756339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.600714057 meters 0.031895871394534134 Centerline is valid? [True, True] Translation: X:802.37, Y:-128.78, Z:-52.88 [[ 9.86923157e-01 1.50514687e-01 5.76889152e-02 8.02374950e+02] [-1.50120643e-01 9.88605043e-01 -1.11293335e-02 -1.28778403e+02] [-5.87066806e-02 2.32349989e-03 9.98272572e-01 -5.28804881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6607140570001 meters 0.02976263511183501 Centerline is valid? [True, True] Translation: X:802.43, Y:-128.79, Z:-52.88 [[ 9.87383097e-01 1.47247262e-01 5.82482944e-02 8.02433147e+02] [-1.46839976e-01 9.89096452e-01 -1.12352546e-02 -1.28790773e+02] [-5.92675417e-02 2.54032239e-03 9.98238902e-01 -5.28844289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.720714057 meters 0.03003352548078265 Centerline is valid? [True, True] Translation: X:802.49, Y:-128.81, Z:-52.89 [[ 9.87692724e-01 1.45099947e-01 5.83873983e-02 8.02490027e+02] [-1.44687029e-01 9.89413388e-01 -1.12610681e-02 -1.28806808e+02] [-5.94032540e-02 2.67457582e-03 9.98230484e-01 -5.28892110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7807140570001 meters 0.029037174505340622 Centerline is valid? [True, True] Translation: X:802.55, Y:-128.82, Z:-52.89 [[ 9.87767719e-01 1.44463251e-01 5.86967015e-02 8.02547181e+02] [-1.44045733e-01 9.89506449e-01 -1.13054590e-02 -1.28820694e+02] [-5.97139881e-02 2.71215805e-03 9.98211843e-01 -5.28939947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.840714057 meters 0.031134306343478482 Centerline is valid? [True, True] Translation: X:802.60, Y:-128.84, Z:-52.90 [[ 9.87421390e-01 1.46559917e-01 5.93227496e-02 8.02602037e+02] [-1.46138222e-01 9.89198387e-01 -1.14092391e-02 -1.28839070e+02] [-6.03541054e-02 2.59640558e-03 9.98173653e-01 -5.28981783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9007140570001 meters 0.028378401308858672 Centerline is valid? [True, True] Translation: X:802.66, Y:-128.85, Z:-52.90 [[ 9.87123192e-01 1.48509836e-01 5.94359578e-02 8.02660362e+02] [-1.48090396e-01 9.88907830e-01 -1.14253311e-02 -1.28848044e+02] [-6.04734582e-02 2.47631483e-03 9.98166734e-01 -5.29018383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.960714057 meters 0.030354776006255902 Centerline is valid? [True, True] Translation: X:802.72, Y:-128.87, Z:-52.91 [[ 9.87022600e-01 1.49139769e-01 5.95291204e-02 8.02715951e+02] [-1.48720420e-01 9.88813122e-01 -1.14388484e-02 -1.28865338e+02] [-6.05691625e-02 2.43720607e-03 9.98161027e-01 -5.29068676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0207140570001 meters 0.031153444313264125 Centerline is valid? [True, True] Translation: X:802.77, Y:-128.88, Z:-52.91 [[ 9.87170185e-01 1.47993733e-01 5.99406493e-02 8.02771660e+02] [-1.47566792e-01 9.88985090e-01 -1.15123545e-02 -1.28881272e+02] [-6.09841648e-02 2.51940378e-03 9.98135554e-01 -5.29105933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.080714057 meters 0.02898924800103689 Centerline is valid? [True, True] Translation: X:802.83, Y:-128.89, Z:-52.91 [[ 9.87661862e-01 1.44794101e-01 5.96549624e-02 8.02830672e+02] [-1.44365727e-01 9.89458127e-01 -1.14521375e-02 -1.28890138e+02] [-6.06842893e-02 2.69870746e-03 9.98153362e-01 -5.29140862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1407140570001 meters 0.02878469509006417 Centerline is valid? [True, True] Translation: X:802.89, Y:-128.90, Z:-52.92 [[ 9.87961357e-01 1.42546741e-01 6.01064449e-02 8.02888433e+02] [-1.42107838e-01 9.89783951e-01 -1.15366012e-02 -1.28902540e+02] [-6.11368994e-02 2.85611925e-03 9.98125304e-01 -5.29178918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.200714057 meters 0.03050885415130105 Centerline is valid? [True, True] Translation: X:802.95, Y:-128.92, Z:-52.92 [[ 9.88564054e-01 1.38475193e-01 5.97137511e-02 8.02946433e+02] [-1.38034823e-01 9.90361101e-01 -1.14576718e-02 -1.28918266e+02] [-6.07247796e-02 3.08406544e-03 9.98149783e-01 -5.29219937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.260714057 meters 0.03178314009359256 Centerline is valid? [True, True] Translation: X:803.01, Y:-128.93, Z:-52.93 [[ 9.88999376e-01 1.35282258e-01 5.98242790e-02 8.03005396e+02] [-1.34834505e-01 9.90801655e-01 -1.14776736e-02 -1.28932580e+02] [-6.08267202e-02 3.28503499e-03 9.98142935e-01 -5.29261392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.320714057 meters 0.039995352651935843 Centerline is valid? [True, True] Translation: X:803.06, Y:-128.96, Z:-52.93 [[ 9.89464052e-01 1.31889790e-01 5.97157646e-02 8.03060707e+02] [-1.31437498e-01 9.91258252e-01 -1.14569956e-02 -1.28956984e+02] [-6.07048051e-02 3.48739458e-03 9.98149671e-01 -5.29309084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.380714057 meters 0.036350275934060323 Centerline is valid? [True, True] Translation: X:803.12, Y:-128.96, Z:-52.94 [[ 9.90270089e-01 1.26707391e-01 5.75359696e-02 8.03121161e+02] [-1.26278976e-01 9.91933373e-01 -1.10365138e-02 -1.28962582e+02] [-5.84702563e-02 3.66354622e-03 9.98282429e-01 -5.29354855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.440714057 meters 0.039094301022033956 Centerline is valid? [True, True] Translation: X:803.18, Y:-128.98, Z:-52.94 [[ 9.90721600e-01 1.23957667e-01 5.57244008e-02 8.03178759e+02] [-1.23551501e-01 9.92280590e-01 -1.06891452e-02 -1.28975912e+02] [-5.66192428e-02 3.70513371e-03 9.98388969e-01 -5.29410884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.500714057 meters 0.0371904967328315 Centerline is valid? [True, True] Translation: X:803.24, Y:-128.98, Z:-52.94 [[ 9.90966740e-01 1.21894545e-01 5.59163702e-02 8.03237946e+02] [-1.21482333e-01 9.92535645e-01 -1.07254697e-02 -1.28982437e+02] [-5.68063668e-02 3.83573265e-03 9.98377846e-01 -5.29440413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.560714057 meters 0.037693441180753975 Centerline is valid? [True, True] Translation: X:803.30, Y:-128.99, Z:-52.95 [[ 9.91064132e-01 1.21207352e-01 5.56836110e-02 8.03296160e+02] [-1.20797658e-01 9.92619720e-01 -1.06778507e-02 -1.28992767e+02] [-5.65668844e-02 3.85598504e-03 9.98391366e-01 -5.29471856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.620714057 meters 0.044173766644438145 Centerline is valid? [True, True] Translation: X:803.35, Y:-129.01, Z:-52.95 [[ 9.90845543e-01 1.22939507e-01 5.57762311e-02 8.03352251e+02] [-1.22531423e-01 9.92407047e-01 -1.06912808e-02 -1.29011271e+02] [-5.66671056e-02 3.75906695e-03 9.98386052e-01 -5.29515393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.680714057 meters 0.037242959404746055 Centerline is valid? [True, True] Translation: X:803.41, Y:-129.01, Z:-52.95 [[ 9.90741274e-01 1.23936764e-01 5.54202728e-02 8.03412235e+02] [-1.23535593e-01 9.92283311e-01 -1.06201675e-02 -1.29010432e+02] [-5.63088410e-02 3.67546204e-03 9.98406633e-01 -5.29537710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.740714057 meters 0.04486589219364511 Centerline is valid? [True, True] Translation: X:803.47, Y:-129.03, Z:-52.96 [[ 9.90459385e-01 1.26462404e-01 5.47491219e-02 8.03468115e+02] [-1.26074981e-01 9.91965280e-01 -1.04872170e-02 -1.29030655e+02] [-5.56354667e-02 3.48466805e-03 9.98445067e-01 -5.29589704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.800714057 meters 0.034977724981652185 Centerline is valid? [True, True] Translation: X:803.53, Y:-129.03, Z:-52.96 [[ 9.90273789e-01 1.28651785e-01 5.29767959e-02 8.03530221e+02] [-1.28292272e-01 9.91684501e-01 -1.01460723e-02 -1.29025093e+02] [-5.38415777e-02 3.25087589e-03 9.98544199e-01 -5.29606846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.860714057 meters 0.03521000744187532 Centerline is valid? [True, True] Translation: X:803.59, Y:-129.04, Z:-52.96 [[ 9.90169678e-01 1.29828025e-01 5.20451031e-02 8.03587716e+02] [-1.29482817e-01 9.91531592e-01 -9.96500229e-03 -1.29035076e+02] [-5.28981005e-02 3.12809656e-03 9.98595016e-01 -5.29646895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.920714057 meters 0.03505158660895203 Centerline is valid? [True, True] Translation: X:803.65, Y:-129.04, Z:-52.97 [[ 9.90013803e-01 1.30988300e-01 5.21031244e-02 8.03645683e+02] [-1.30644126e-01 9.91379174e-01 -9.97224760e-03 -1.29043725e+02] [-5.29602002e-02 3.06569564e-03 9.98591918e-01 -5.29673326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.980714057 meters 0.036070214980340146 Centerline is valid? [True, True] Translation: X:803.70, Y:-129.06, Z:-52.97 [[ 9.89979887e-01 1.31003262e-01 5.27064350e-02 8.03702351e+02] [-1.30651285e-01 9.91377101e-01 -1.00839638e-02 -1.29055927e+02] [-5.35729848e-02 3.09675790e-03 9.98559135e-01 -5.29700668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0407140570001 meters 0.03628743265327602 Centerline is valid? [True, True] Translation: X:803.76, Y:-129.07, Z:-52.97 [[ 9.90091617e-01 1.30114786e-01 5.28084584e-02 8.03759692e+02] [-1.29760443e-01 9.91493946e-01 -1.00986855e-02 -1.29066204e+02] [-5.36732550e-02 3.14617490e-03 9.98553596e-01 -5.29731029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.100714057 meters 0.03797386774553561 Centerline is valid? [True, True] Translation: X:803.82, Y:-129.08, Z:-52.98 [[ 9.90243094e-01 1.28526543e-01 5.38474077e-02 8.03817841e+02] [-1.28156069e-01 9.91700610e-01 -1.02918411e-02 -1.29078394e+02] [-5.47232818e-02 3.29055245e-03 9.98496137e-01 -5.29762037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1607140570001 meters 0.03993234505645376 Centerline is valid? [True, True] Translation: X:803.87, Y:-129.09, Z:-52.98 [[ 9.90399072e-01 1.27050546e-01 5.44778606e-02 8.03873829e+02] [-1.26669188e-01 9.91890381e-01 -1.04109930e-02 -1.29090421e+02] [-5.53587883e-02 3.41037145e-03 9.98460702e-01 -5.29796343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.220714057 meters 0.03508104152867661 Centerline is valid? [True, True] Translation: X:803.93, Y:-129.09, Z:-52.98 [[ 9.90441719e-01 1.26996944e-01 5.38235856e-02 8.03932686e+02] [-1.26624944e-01 9.91897396e-01 -1.02800834e-02 -1.29092806e+02] [-5.46930136e-02 3.36641492e-03 9.98497542e-01 -5.29829230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2807140570001 meters 0.03498431394844307 Centerline is valid? [True, True] Translation: X:803.99, Y:-129.10, Z:-52.99 [[ 9.90363503e-01 1.27567186e-01 5.39142388e-02 8.03990814e+02] [-1.27194996e-01 9.91824319e-01 -1.02933202e-02 -1.29101431e+02] [-5.47865431e-02 3.33650725e-03 9.98492515e-01 -5.29870209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.340714057 meters 0.03603065536458349 Centerline is valid? [True, True] Translation: X:804.05, Y:-129.11, Z:-52.99 [[ 9.90269142e-01 1.28029314e-01 5.45483308e-02 8.04047694e+02] [-1.27649205e-01 9.91764738e-01 -1.04107822e-02 -1.29111950e+02] [-5.54319963e-02 3.34642530e-03 9.98456857e-01 -5.29905682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4007140570001 meters 0.03722098245479489 Centerline is valid? [True, True] Translation: X:804.10, Y:-129.12, Z:-52.99 [[ 9.90227328e-01 1.28522805e-01 5.41454387e-02 8.04103920e+02] [-1.28149456e-01 9.91701108e-01 -1.03261643e-02 -1.29122553e+02] [-5.50232391e-02 3.28654156e-03 9.98479665e-01 -5.29949996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.460714057 meters 0.038583496944204994 Centerline is valid? [True, True] Translation: X:804.16, Y:-129.13, Z:-53.00 [[ 9.90070136e-01 1.29530756e-01 5.46160090e-02 8.04160864e+02] [-1.29152686e-01 9.91570066e-01 -1.04109129e-02 -1.29133397e+02] [-5.55041331e-02 3.25372973e-03 9.98453156e-01 -5.29988460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5207140570001 meters 0.033502309184229306 Centerline is valid? [True, True] Translation: X:804.22, Y:-129.14, Z:-53.00 [[ 9.90056728e-01 1.30042266e-01 5.36347250e-02 8.04220357e+02] [-1.29678682e-01 9.91503409e-01 -1.02190885e-02 -1.29135235e+02] [-5.45079261e-02 3.16219684e-03 9.98508331e-01 -5.30023454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.580714057 meters 0.03284973328657806 Centerline is valid? [True, True] Translation: X:804.28, Y:-129.14, Z:-53.01 [[ 9.90068527e-01 1.30581453e-01 5.20845157e-02 8.04278174e+02] [-1.30239549e-01 9.91432930e-01 -9.91992098e-03 -1.29144849e+02] [-5.29336617e-02 3.03793773e-03 9.98593410e-01 -5.30072586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6407140570001 meters 0.035680082446919115 Centerline is valid? [True, True] Translation: X:804.33, Y:-129.16, Z:-53.01 [[ 9.89952249e-01 1.31520170e-01 5.19325395e-02 8.04334326e+02] [-1.31181717e-01 9.91309028e-01 -9.88776582e-03 -1.29158161e+02] [-5.27816359e-02 2.97581634e-03 9.98601644e-01 -5.30111939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.700714057 meters 0.03230380332498486 Centerline is valid? [True, True] Translation: X:804.39, Y:-129.16, Z:-53.01 [[ 9.89569260e-01 1.34413058e-01 5.18247910e-02 8.04394064e+02] [-1.34080393e-01 9.90921414e-01 -9.85902133e-03 -1.29162154e+02] [-5.26794764e-02 2.80749608e-03 9.98607526e-01 -5.30136423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.760714057 meters 0.03114657475080128 Centerline is valid? [True, True] Translation: X:804.45, Y:-129.17, Z:-53.02 [[ 9.89060188e-01 1.37777672e-01 5.26996965e-02 8.04453786e+02] [-1.37438545e-01 9.90459581e-01 -1.00232420e-02 -1.29169778e+02] [-5.35778982e-02 2.67061997e-03 9.98560102e-01 -5.30169037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.820714057 meters 0.03175691505891818 Centerline is valid? [True, True] Translation: X:804.51, Y:-129.18, Z:-53.02 [[ 9.88765446e-01 1.39894180e-01 5.26546367e-02 8.04510460e+02] [-1.39558612e-01 9.90163166e-01 -1.00148961e-02 -1.29180896e+02] [-5.35377074e-02 2.55397517e-03 9.98562562e-01 -5.30211914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.880714057 meters 0.031851135312981234 Centerline is valid? [True, True] Translation: X:804.57, Y:-129.19, Z:-53.03 [[ 9.88591362e-01 1.41256520e-01 5.22849346e-02 8.04568306e+02] [-1.40927911e-01 9.89969981e-01 -9.93782595e-03 -1.29192162e+02] [-5.31642984e-02 2.45604229e-03 9.98582758e-01 -5.30265342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.940714057 meters 0.029486427400904913 Centerline is valid? [True, True] Translation: X:804.63, Y:-129.20, Z:-53.03 [[ 9.88798714e-01 1.39997131e-01 5.17484899e-02 8.04626137e+02] [-1.39673775e-01 9.90148771e-01 -9.83098320e-03 -1.29199978e+02] [-5.26150131e-02 2.49295662e-03 9.98611759e-01 -5.30298055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.000714057 meters 0.035514809331161974 Centerline is valid? [True, True] Translation: X:804.68, Y:-129.22, Z:-53.04 [[ 9.89334593e-01 1.36665401e-01 5.03947610e-02 8.04681405e+02] [-1.36355283e-01 9.90613896e-01 -9.55748166e-03 -1.29223167e+02] [-5.12279277e-02 2.58395530e-03 9.98683645e-01 -5.30370864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.060714057 meters 0.0319511959427501 Centerline is valid? [True, True] Translation: X:804.74, Y:-129.23, Z:-53.04 [[ 9.89662158e-01 1.34331096e-01 5.02391196e-02 8.04740832e+02] [-1.34019902e-01 9.90932837e-01 -9.52779300e-03 -1.29229204e+02] [-5.10634722e-02 2.69625428e-03 9.98691770e-01 -5.30396115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.120714057 meters 0.03219312342740323 Centerline is valid? [True, True] Translation: X:804.80, Y:-129.24, Z:-53.04 [[ 9.89692155e-01 1.33754583e-01 5.11776369e-02 8.04797871e+02] [-1.33430808e-01 9.91010591e-01 -9.70706245e-03 -1.29240300e+02] [-5.20159443e-02 2.77833010e-03 9.98642390e-01 -5.30425252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.180714057 meters 0.03117808669304391 Centerline is valid? [True, True] Translation: X:804.86, Y:-129.25, Z:-53.05 [[ 9.89433631e-01 1.35343981e-01 5.19913092e-02 8.04856496e+02] [-1.35012952e-01 9.90794938e-01 -9.84347841e-03 -1.29249583e+02] [-5.28449816e-02 2.71996843e-03 9.98599024e-01 -5.30457192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.240714057 meters 0.032617380722241365 Centerline is valid? [True, True] Translation: X:804.91, Y:-129.26, Z:-53.05 [[ 9.89126558e-01 1.37144573e-01 5.31038376e-02 8.04912578e+02] [-1.36802184e-01 9.90547435e-01 -1.00469506e-02 -1.29262366e+02] [-5.39797549e-02 2.67298469e-03 9.98538453e-01 -5.30496426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.300714057 meters 0.030567313968376652 Centerline is valid? [True, True] Translation: X:804.97, Y:-129.27, Z:-53.05 [[ 9.88850825e-01 1.38808926e-01 5.39085220e-02 8.04971159e+02] [-1.38458735e-01 9.90315722e-01 -1.01955486e-02 -1.29270126e+02] [-5.48016901e-02 2.61777082e-03 9.98493827e-01 -5.30531905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.360714057 meters 0.029574625607080844 Centerline is valid? [True, True] Translation: X:805.03, Y:-129.28, Z:-53.06 [[ 9.88768142e-01 1.39185247e-01 5.44520782e-02 8.05029349e+02] [-1.38829249e-01 9.90262922e-01 -1.02852092e-02 -1.29279868e+02] [-5.53534235e-02 2.61014610e-03 9.98463412e-01 -5.30561551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.420714057 meters 0.02959369885556955 Centerline is valid? [True, True] Translation: X:805.09, Y:-129.29, Z:-53.06 [[ 9.88745161e-01 1.39349456e-01 5.44493920e-02 8.05086544e+02] [-1.38994543e-01 9.90239890e-01 -1.02702301e-02 -1.29291648e+02] [-5.53491109e-02 2.58647194e-03 9.98463713e-01 -5.30602871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.480714057 meters 0.028936736169927663 Centerline is valid? [True, True] Translation: X:805.14, Y:-129.30, Z:-53.06 [[ 9.88510616e-01 1.40535395e-01 5.56467900e-02 8.05144515e+02] [-1.40167411e-01 9.90072344e-01 -1.04809955e-02 -1.29302819e+02] [-5.65672987e-02 2.56070883e-03 9.98395505e-01 -5.30641242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5407140570001 meters 0.028888886842700696 Centerline is valid? [True, True] Translation: X:805.20, Y:-129.31, Z:-53.07 [[ 9.88280507e-01 1.41677142e-01 5.68262845e-02 8.05202406e+02] [-1.41296073e-01 9.89909675e-01 -1.06890412e-02 -1.29313432e+02] [-5.77672816e-02 2.53444023e-03 9.98326859e-01 -5.30675229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.600714057 meters 0.02931148842368162 Centerline is valid? [True, True] Translation: X:805.26, Y:-129.33, Z:-53.07 [[ 9.88289000e-01 1.41393851e-01 5.73814545e-02 8.05259068e+02] [-1.41005693e-01 9.89950110e-01 -1.07784505e-02 -1.29325733e+02] [-5.83287838e-02 2.56111233e-03 9.98294142e-01 -5.30716564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6607140570001 meters 0.030053741076760565 Centerline is valid? [True, True] Translation: X:805.31, Y:-129.34, Z:-53.08 [[ 9.88309278e-01 1.41191374e-01 5.75305670e-02 8.05314378e+02] [-1.40801916e-01 9.89979007e-01 -1.07882834e-02 -1.29338176e+02] [-5.84772661e-02 2.56174655e-03 9.98285454e-01 -5.30758965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.720714057 meters 0.02903152223685116 Centerline is valid? [True, True] Translation: X:805.37, Y:-129.35, Z:-53.08 [[ 9.88289944e-01 1.41036212e-01 5.82389304e-02 8.05371673e+02] [-1.40637218e-01 9.90001034e-01 -1.09144815e-02 -1.29347912e+02] [-5.91959384e-02 2.59611118e-03 9.98243007e-01 -5.30787582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7807140570001 meters 0.02961825462201957 Centerline is valid? [True, True] Translation: X:805.43, Y:-129.36, Z:-53.08 [[ 9.88239134e-01 1.40815834e-01 5.96180717e-02 8.05428587e+02] [-1.40398403e-01 9.90032253e-01 -1.11546924e-02 -1.29360317e+02] [-6.05945712e-02 2.65322152e-03 9.98158934e-01 -5.30822994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.840714057 meters 0.0304097611826278 Centerline is valid? [True, True] Translation: X:805.48, Y:-129.37, Z:-53.09 [[ 9.88351552e-01 1.40583327e-01 5.82884061e-02 8.05484711e+02] [-1.40184983e-01 9.90065462e-01 -1.08881273e-02 -1.29373288e+02] [-5.92400269e-02 2.59013832e-03 9.98240407e-01 -5.30870544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9007140570001 meters 0.030344956508837652 Centerline is valid? [True, True] Translation: X:805.54, Y:-129.38, Z:-53.09 [[ 9.88452423e-01 1.39996644e-01 5.79892027e-02 8.05542645e+02] [-1.39601630e-01 9.90148545e-01 -1.08279557e-02 -1.29384064e+02] [-5.89338022e-02 2.60753189e-03 9.98258487e-01 -5.30915045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.960714057 meters 0.02868212636360336 Centerline is valid? [True, True] Translation: X:805.60, Y:-129.39, Z:-53.09 [[ 9.88635956e-01 1.38650581e-01 5.80944363e-02 8.05600613e+02] [-1.38252677e-01 9.90337742e-01 -1.08329704e-02 -1.29391966e+02] [-5.90351105e-02 2.67815266e-03 9.98252314e-01 -5.30940497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0207140570001 meters 0.030914966313724687 Centerline is valid? [True, True] Translation: X:805.66, Y:-129.41, Z:-53.10 [[ 9.88975005e-01 1.36032547e-01 5.85114097e-02 8.05656650e+02] [-1.35625319e-01 9.90700302e-01 -1.08941961e-02 -1.29407407e+02] [-5.94492366e-02 2.83845902e-03 9.98227295e-01 -5.30982284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.080714057 meters 0.031165383744031112 Centerline is valid? [True, True] Translation: X:805.72, Y:-129.42, Z:-53.10 [[ 9.89371143e-01 1.32765790e-01 5.93126141e-02 8.05715037e+02] [-1.32341745e-01 9.91142678e-01 -1.10387591e-02 -1.29419222e+02] [-6.02528328e-02 3.07189487e-03 9.98178421e-01 -5.31013885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1407140570001 meters 0.03208111495749873 Centerline is valid? [True, True] Translation: X:805.77, Y:-129.43, Z:-53.11 [[ 9.89747062e-01 1.30319459e-01 5.84601773e-02 8.05773263e+02] [-1.29903404e-01 9.91466981e-01 -1.08779751e-02 -1.29432757e+02] [-5.93789474e-02 3.17226786e-03 9.98230473e-01 -5.31050809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.200714057 meters 0.03135792686215225 Centerline is valid? [True, True] Translation: X:805.83, Y:-129.44, Z:-53.11 [[ 9.89909259e-01 1.29171423e-01 5.82614937e-02 8.05830907e+02] [-1.28756328e-01 9.91617024e-01 -1.08390722e-02 -1.29441883e+02] [-5.91731874e-02 3.22816196e-03 9.98242512e-01 -5.31083726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.260714057 meters 0.029884150465679032 Centerline is valid? [True, True] Translation: X:805.89, Y:-129.45, Z:-53.11 [[ 9.89580276e-01 1.31427785e-01 5.88014935e-02 8.05890169e+02] [-1.31009196e-01 9.91320846e-01 -1.09348796e-02 -1.29449711e+02] [-5.97282933e-02 3.11740476e-03 9.98209804e-01 -5.31121683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.320714057 meters 0.02968519262969158 Centerline is valid? [True, True] Translation: X:805.95, Y:-129.46, Z:-53.12 [[ 9.88975047e-01 1.36159596e-01 5.82144343e-02 8.05948199e+02] [-1.35757624e-01 9.90682955e-01 -1.08235738e-02 -1.29458017e+02] [-5.91457812e-02 2.80119116e-03 9.98245426e-01 -5.31167129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.380714057 meters 0.028459048326442634 Centerline is valid? [True, True] Translation: X:806.01, Y:-129.47, Z:-53.12 [[ 9.88352462e-01 1.40878558e-01 5.75555573e-02 8.06007390e+02] [-1.40493785e-01 9.90023760e-01 -1.06981996e-02 -1.29465005e+02] [-5.84885162e-02 2.48739382e-03 9.98284983e-01 -5.31210621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.440714057 meters 0.028297946149538337 Centerline is valid? [True, True] Translation: X:806.07, Y:-129.47, Z:-53.12 [[ 9.88019502e-01 1.43195751e-01 5.75538035e-02 8.06065705e+02] [-1.42815033e-01 9.89691600e-01 -1.06959795e-02 -1.29473839e+02] [-5.84921346e-02 2.34828807e-03 9.98285107e-01 -5.31247883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.500714057 meters 0.027880060383503512 Centerline is valid? [True, True] Translation: X:806.12, Y:-129.48, Z:-53.13 [[ 9.87801919e-01 1.44859065e-01 5.71246105e-02 8.06124259e+02] [-1.44486961e-01 9.89449786e-01 -1.06131635e-02 -1.29482528e+02] [-5.80593466e-02 2.22994186e-03 9.98310643e-01 -5.31281221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.560714057 meters 0.02666358337179708 Centerline is valid? [True, True] Translation: X:806.18, Y:-129.49, Z:-53.13 [[ 9.87694932e-01 1.45897638e-01 5.63258515e-02 8.06182064e+02] [-1.45538300e-01 9.89297408e-01 -1.04519260e-02 -1.29490938e+02] [-5.72479302e-02 2.12574572e-03 9.98357729e-01 -5.31319050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.620714057 meters 0.026633506446900716 Centerline is valid? [True, True] Translation: X:806.24, Y:-129.50, Z:-53.14 [[ 9.87542974e-01 1.46865253e-01 5.64754055e-02 8.06239667e+02] [-1.46506430e-01 9.89154362e-01 -1.04649077e-02 -1.29502757e+02] [-5.73998250e-02 2.06053607e-03 9.98349145e-01 -5.31352656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.680714057 meters 0.027047952913623285 Centerline is valid? [True, True] Translation: X:806.30, Y:-129.51, Z:-53.14 [[ 9.87366182e-01 1.48084365e-01 5.63830171e-02 8.06297364e+02] [-1.47729530e-01 9.88972766e-01 -1.04333155e-02 -1.29514683e+02] [-5.73062793e-02 1.97206625e-03 9.98354697e-01 -5.31389086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.740714057 meters 0.027156255119970732 Centerline is valid? [True, True] Translation: X:806.35, Y:-129.53, Z:-53.14 [[ 9.86748316e-01 1.52104357e-01 5.64980217e-02 8.06354431e+02] [-1.51755548e-01 9.88362931e-01 -1.04388803e-02 -1.29527913e+02] [-5.74283495e-02 1.72665927e-03 9.98348137e-01 -5.31435251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.800714057 meters 0.024802930296464288 Centerline is valid? [True, True] Translation: X:806.41, Y:-129.53, Z:-53.15 [[ 9.86218551e-01 1.55691172e-01 5.59752474e-02 8.06412652e+02] [-1.55354719e-01 9.87804640e-01 -1.03395028e-02 -1.29534874e+02] [-5.69023784e-02 1.50099061e-03 9.98378619e-01 -5.31459009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.860714057 meters 0.024478390648205985 Centerline is valid? [True, True] Translation: X:806.47, Y:-129.55, Z:-53.15 [[ 9.85656974e-01 1.59159570e-01 5.61120414e-02 8.06469714e+02] [-1.58827316e-01 9.87252015e-01 -1.03606005e-02 -1.29547058e+02] [-5.70457147e-02 1.29987320e-03 9.98370721e-01 -5.31497219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.920714057 meters 0.024389453200280055 Centerline is valid? [True, True] Translation: X:806.53, Y:-129.56, Z:-53.15 [[ 9.85496693e-01 1.60146548e-01 5.61190816e-02 8.06527164e+02] [-1.59815963e-01 9.87092470e-01 -1.03591942e-02 -1.29560750e+02] [-5.70537121e-02 1.24022651e-03 9.98370340e-01 -5.31528187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.980714057 meters 0.024491098044292555 Centerline is valid? [True, True] Translation: X:806.58, Y:-129.57, Z:-53.16 [[ 9.85680268e-01 1.59167695e-01 5.56781364e-02 8.06583857e+02] [-1.58841619e-01 9.87250743e-01 -1.02621202e-02 -1.29574284e+02] [-5.66016795e-02 1.27116410e-03 9.98396031e-01 -5.31566686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0407140570001 meters 0.02480024019012577 Centerline is valid? [True, True] Translation: X:806.64, Y:-129.59, Z:-53.16 [[ 9.86041623e-01 1.56884114e-01 5.57610354e-02 8.06640375e+02] [-1.56553638e-01 9.87616025e-01 -1.02735145e-02 -1.29591003e+02] [-5.66822434e-02 1.40051994e-03 9.98391287e-01 -5.31593045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.100714057 meters 0.025339804544541746 Centerline is valid? [True, True] Translation: X:806.70, Y:-129.60, Z:-53.16 [[ 9.86197270e-01 1.55988998e-01 5.55191685e-02 8.06696617e+02] [-1.55660875e-01 9.87757758e-01 -1.02129122e-02 -1.29604344e+02] [-5.64325913e-02 1.42978379e-03 9.98405388e-01 -5.31630052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1607140570001 meters 0.026498301099906023 Centerline is valid? [True, True] Translation: X:806.75, Y:-129.62, Z:-53.17 [[ 9.86716401e-01 1.52732056e-01 5.53503768e-02 8.06753237e+02] [-1.52401021e-01 9.88266328e-01 -1.01780914e-02 -1.29622106e+02] [-5.62554345e-02 1.60743575e-03 9.98415115e-01 -5.31667014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.220714057 meters 0.028098144174396062 Centerline is valid? [True, True] Translation: X:806.81, Y:-129.64, Z:-53.17 [[ 9.87543888e-01 1.47903229e-01 5.36815139e-02 8.06811302e+02] [-1.47585614e-01 9.89000181e-01 -9.85533307e-03 -1.29640982e+02] [-5.45486626e-02 1.80995474e-03 9.98509473e-01 -5.31703844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2807140570001 meters 0.02936647606602356 Centerline is valid? [True, True] Translation: X:806.87, Y:-129.66, Z:-53.17 [[ 9.88507582e-01 1.41546552e-01 5.30785693e-02 8.06869531e+02] [-1.41226885e-01 9.89929295e-01 -9.74463231e-03 -1.29658788e+02] [-5.39233498e-02 2.13652189e-03 9.98542792e-01 -5.31741127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.340714057 meters 0.033632844570785365 Centerline is valid? [True, True] Translation: X:806.93, Y:-129.68, Z:-53.18 [[ 9.89521865e-01 1.34195733e-01 5.32727327e-02 8.06925407e+02] [-1.33863083e-01 9.90951573e-01 -9.78033590e-03 -1.29682396e+02] [-5.41031776e-02 2.54660399e-03 9.98532103e-01 -5.31780830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4007140570001 meters 0.03388349112811848 Centerline is valid? [True, True] Translation: X:806.98, Y:-129.70, Z:-53.18 [[ 9.90053067e-01 1.30115296e-01 5.35250728e-02 8.06983468e+02] [-1.29773532e-01 9.91494965e-01 -9.82674527e-03 -1.29696274e+02] [-5.43484500e-02 2.78286153e-03 9.98518153e-01 -5.31817607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.460714057 meters 0.036548506218777255 Centerline is valid? [True, True] Translation: X:807.04, Y:-129.72, Z:-53.19 [[ 9.90577443e-01 1.25844892e-01 5.40314000e-02 8.07039695e+02] [-1.25490337e-01 9.92045257e-01 -9.91888089e-03 -1.29715650e+02] [-5.48498345e-02 3.04500106e-03 9.98489972e-01 -5.31864958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5207140570001 meters 0.03840141393348932 Centerline is valid? [True, True] Translation: X:807.10, Y:-129.73, Z:-53.19 [[ 9.90952875e-01 1.23087454e-01 5.34965262e-02 8.07098392e+02] [-1.22736010e-01 9.92390785e-01 -9.81844161e-03 -1.29730279e+02] [-5.42979866e-02 3.16366275e-03 9.98519764e-01 -5.31911650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.580714057 meters 0.035770808713896395 Centerline is valid? [True, True] Translation: X:807.16, Y:-129.74, Z:-53.20 [[ 9.91061161e-01 1.22669199e-01 5.24408585e-02 8.07156735e+02] [-1.22330876e-01 9.92442697e-01 -9.62551612e-03 -1.29738150e+02] [-5.32253013e-02 3.12433901e-03 9.98577641e-01 -5.31950988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6407140570001 meters 0.040054149821440725 Centerline is valid? [True, True] Translation: X:807.21, Y:-129.76, Z:-53.20 [[ 9.90919212e-01 1.24076698e-01 5.18081816e-02 8.07212433e+02] [-1.23748613e-01 9.92268071e-01 -9.50560375e-03 -1.29755846e+02] [-5.25870283e-02 3.00809477e-03 9.98611814e-01 -5.32014548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.700714057 meters 0.03959748060388017 Centerline is valid? [True, True] Translation: X:807.27, Y:-129.77, Z:-53.21 [[ 9.90465913e-01 1.27639520e-01 5.18211108e-02 8.07270323e+02] [-1.27316349e-01 9.91816629e-01 -9.50375013e-03 -1.29765249e+02] [-5.26100935e-02 2.81546592e-03 9.98611161e-01 -5.32062250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.760714057 meters 0.03243642051053719 Centerline is valid? [True, True] Translation: X:807.33, Y:-129.76, Z:-53.21 [[ 9.90000801e-01 1.31307897e-01 5.15427034e-02 8.07331478e+02] [-1.30993245e-01 9.91338213e-01 -9.45077422e-03 -1.29763418e+02] [-5.23372128e-02 2.60452806e-03 9.98626073e-01 -5.32074978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.820714057 meters 0.03239658611188187 Centerline is valid? [True, True] Translation: X:807.39, Y:-129.77, Z:-53.21 [[ 9.89614788e-01 1.33954515e-01 5.21417183e-02 8.07390501e+02] [-1.33636213e-01 9.90984347e-01 -9.55962300e-03 -1.29772964e+02] [-5.29521813e-02 2.49232255e-03 9.98593939e-01 -5.32110154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.880714057 meters 0.03046883583615857 Centerline is valid? [True, True] Translation: X:807.45, Y:-129.78, Z:-53.21 [[ 9.89107521e-01 1.37087028e-01 5.36046468e-02 8.07449801e+02] [-1.36755225e-01 9.90556126e-01 -9.82701299e-03 -1.29779286e+02] [-5.44455672e-02 2.38925691e-03 9.98513882e-01 -5.32134353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.940714057 meters 0.02897923532116479 Centerline is valid? [True, True] Translation: X:807.51, Y:-129.79, Z:-53.22 [[ 9.88923176e-01 1.38032921e-01 5.45698182e-02 8.07508266e+02] [-1.37690582e-01 9.90424787e-01 -1.00022254e-02 -1.29787625e+02] [-5.54279370e-02 2.37768246e-03 9.98459859e-01 -5.32167010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.000714057 meters 0.029598541540710278 Centerline is valid? [True, True] Translation: X:807.57, Y:-129.80, Z:-53.22 [[ 9.89152308e-01 1.36106139e-01 5.52524320e-02 8.07566324e+02] [-1.35752413e-01 9.90691075e-01 -1.01230835e-02 -1.29798007e+02] [-5.61159050e-02 2.51262044e-03 9.98421100e-01 -5.32201299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.060714057 meters 0.030459391230423398 Centerline is valid? [True, True] Translation: X:807.62, Y:-129.81, Z:-53.22 [[ 9.89401054e-01 1.34124662e-01 5.56428790e-02 8.07623927e+02] [-1.33763039e-01 9.90960953e-01 -1.01901769e-02 -1.29810141e+02] [-5.65066744e-02 2.63921121e-03 9.98398733e-01 -5.32247186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.120714057 meters 0.03171759947367831 Centerline is valid? [True, True] Translation: X:807.68, Y:-129.82, Z:-53.23 [[ 9.90026533e-01 1.29470438e-01 5.55416077e-02 8.07682397e+02] [-1.29103021e-01 9.91579053e-01 -1.01681954e-02 -1.29823509e+02] [-5.63903754e-02 2.89619385e-03 9.98404596e-01 -5.32294589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.180714057 meters 0.03414529157043619 Centerline is valid? [True, True] Translation: X:807.74, Y:-129.84, Z:-53.23 [[ 9.90798272e-01 1.23361811e-01 5.56834588e-02 8.07741017e+02] [-1.22982963e-01 9.92356435e-01 -1.01929627e-02 -1.29837669e+02] [-5.65152610e-02 3.25105304e-03 9.98396442e-01 -5.32338787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.240714057 meters 0.03647090625783407 Centerline is valid? [True, True] Translation: X:807.80, Y:-129.85, Z:-53.24 [[ 9.91362807e-01 1.17946226e-01 5.73452083e-02 8.07799781e+02] [-1.17535374e-01 9.93013215e-01 -1.04971779e-02 -1.29852453e+02] [-5.81826522e-02 3.66642120e-03 9.98299222e-01 -5.32373698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.300714057 meters 0.037953751221709096 Centerline is valid? [True, True] Translation: X:807.86, Y:-129.86, Z:-53.24 [[ 9.91577898e-01 1.14947765e-01 5.96681153e-02 8.07858709e+02] [-1.14497501e-01 9.93363490e-01 -1.09224442e-02 -1.29864758e+02] [-6.05276378e-02 3.99860410e-03 9.98158513e-01 -5.32408990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.360714057 meters 0.03860292503046428 Centerline is valid? [True, True] Translation: X:807.92, Y:-129.88, Z:-53.25 [[ 9.91854930e-01 1.11970081e-01 6.07165528e-02 8.07917129e+02] [-1.11498353e-01 9.93702477e-01 -1.11132199e-02 -1.29876353e+02] [-6.15785371e-02 4.25290635e-03 9.98093180e-01 -5.32454592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.420714057 meters 0.04132101085373556 Centerline is valid? [True, True] Translation: X:807.97, Y:-129.89, Z:-53.25 [[ 9.92160386e-01 1.09112562e-01 6.09279729e-02 8.07974717e+02] [-1.08632251e-01 9.94019464e-01 -1.11507777e-02 -1.29890633e+02] [-6.17802809e-02 4.44461706e-03 9.98079878e-01 -5.32511803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.480714057 meters 0.04132532716929248 Centerline is valid? [True, True] Translation: X:808.03, Y:-129.90, Z:-53.26 [[ 9.92108865e-01 1.08820490e-01 6.22744084e-02 8.08032757e+02] [-1.08318179e-01 9.94050955e-01 -1.13961039e-02 -1.29900956e+02] [-6.31440648e-02 4.56072520e-03 9.97994001e-01 -5.32555044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5407140570001 meters 0.041542690525756 Centerline is valid? [True, True] Translation: X:808.09, Y:-129.91, Z:-53.26 [[ 9.91713286e-01 1.11243904e-01 6.42615890e-02 8.08092216e+02] [-1.10714341e-01 9.93782751e-01 -1.17549157e-02 -1.29910663e+02] [-6.51697214e-02 4.54282658e-03 9.97863854e-01 -5.32590337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.600714057 meters 0.03636156770189391 Centerline is valid? [True, True] Translation: X:808.15, Y:-129.91, Z:-53.26 [[ 9.91356052e-01 1.13963681e-01 6.50035234e-02 8.08153232e+02] [-1.13427786e-01 9.93475120e-01 -1.18879574e-02 -1.29911902e+02] [-6.59341786e-02 4.41199280e-03 9.97814220e-01 -5.32634750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6607140570001 meters 0.038401408196156596 Centerline is valid? [True, True] Translation: X:808.21, Y:-129.92, Z:-53.27 [[ 9.90763434e-01 1.18030075e-01 6.67586666e-02 8.08211400e+02] [-1.17474064e-01 9.93000915e-01 -1.22076312e-02 -1.29923196e+02] [-6.77322847e-02 4.25246272e-03 9.97694469e-01 -5.32668778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.720714057 meters 0.03535016222341389 Centerline is valid? [True, True] Translation: X:808.27, Y:-129.93, Z:-53.27 [[ 9.90430469e-01 1.19985411e-01 6.81981503e-02 8.08270464e+02] [-1.19409852e-01 9.92766744e-01 -1.24691076e-02 -1.29928612e+02] [-6.92009666e-02 4.20625308e-03 9.97593872e-01 -5.32716174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7807140570001 meters 0.03402089873005754 Centerline is valid? [True, True] Translation: X:808.33, Y:-129.94, Z:-53.28 [[ 9.90370205e-01 1.20218607e-01 6.86610782e-02 8.08328219e+02] [-1.19636025e-01 9.92738497e-01 -1.25498351e-02 -1.29935927e+02] [-6.96712193e-02 4.21464428e-03 9.97561105e-01 -5.32767494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.840714057 meters 0.03508820385024741 Centerline is valid? [True, True] Translation: X:808.39, Y:-129.95, Z:-53.28 [[ 9.90408551e-01 1.19770016e-01 6.88915548e-02 8.08385483e+02] [-1.19182797e-01 9.92792544e-01 -1.25867045e-02 -1.29947640e+02] [-6.99025318e-02 4.25529157e-03 9.97544750e-01 -5.32813376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9007140570001 meters 0.03666803269803887 Centerline is valid? [True, True] Translation: X:808.44, Y:-129.96, Z:-53.29 [[ 9.90448891e-01 1.19270579e-01 6.91774835e-02 8.08441425e+02] [-1.18677628e-01 9.92852462e-01 -1.26336252e-02 -1.29960309e+02] [-7.01898546e-02 4.30314039e-03 9.97524369e-01 -5.32856388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.960714057 meters 0.03750983395171871 Centerline is valid? [True, True] Translation: X:808.50, Y:-129.97, Z:-53.29 [[ 9.90425293e-01 1.19203455e-01 6.96295560e-02 8.08498760e+02] [-1.18603001e-01 9.92860407e-01 -1.27098244e-02 -1.29970753e+02] [-7.06474843e-02 4.32985731e-03 9.97491948e-01 -5.32891857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0207140570001 meters 0.03685211681650966 Centerline is valid? [True, True] Translation: X:808.56, Y:-129.98, Z:-53.29 [[ 9.90441358e-01 1.18898334e-01 6.99221133e-02 8.08556899e+02] [-1.18292421e-01 9.92896839e-01 -1.27581047e-02 -1.29978290e+02] [-7.09423627e-02 4.36489846e-03 9.97470866e-01 -5.32931273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.080714057 meters 0.03676248973468744 Centerline is valid? [True, True] Translation: X:808.61, Y:-129.99, Z:-53.30 [[ 9.90307208e-01 1.19463158e-01 7.08532879e-02 8.08614757e+02] [-1.18842787e-01 9.92828986e-01 -1.29227248e-02 -1.29986307e+02] [-7.18889875e-02 4.37706535e-03 9.97403035e-01 -5.32962567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1407140570001 meters 0.03369332543475552 Centerline is valid? [True, True] Translation: X:808.67, Y:-129.99, Z:-53.30 [[ 9.89960359e-01 1.21436359e-01 7.23304750e-02 8.08673625e+02] [-1.20795435e-01 9.92589831e-01 -1.31867355e-02 -1.29988803e+02] [-7.33958431e-02 4.31715428e-03 9.97293544e-01 -5.32999741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.200714057 meters 0.03582848127205944 Centerline is valid? [True, True] Translation: X:808.73, Y:-130.00, Z:-53.30 [[ 9.90023657e-01 1.21916331e-01 7.06368675e-02 8.08730058e+02] [-1.21306732e-01 9.92531599e-01 -1.28725458e-02 -1.29999261e+02] [-7.16786966e-02 4.17539735e-03 9.97419035e-01 -5.33039663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.260714057 meters 0.034942411962690136 Centerline is valid? [True, True] Translation: X:808.79, Y:-130.01, Z:-53.31 [[ 9.90030373e-01 1.22534290e-01 6.94637150e-02 8.08788325e+02] [-1.21946805e-01 9.92455997e-01 -1.26519368e-02 -1.30007330e+02] [-7.04899766e-02 4.05492362e-03 9.97504246e-01 -5.33090613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.320714057 meters 0.03274565495485673 Centerline is valid? [True, True] Translation: X:808.85, Y:-130.01, Z:-53.32 [[ 9.90079632e-01 1.23724866e-01 6.65918883e-02 8.08846932e+02] [-1.23188033e-01 9.92309283e-01 -1.21241620e-02 -1.30012240e+02] [-6.75798092e-02 3.80056211e-03 9.97706633e-01 -5.33152742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.380714057 meters 0.030904492230402432 Centerline is valid? [True, True] Translation: X:808.91, Y:-130.02, Z:-53.32 [[ 9.89720481e-01 1.27431949e-01 6.49189279e-02 8.08906948e+02] [-1.26930043e-01 9.91841305e-01 -1.18148490e-02 -1.30017027e+02] [-6.58948634e-02 3.45323570e-03 9.97820596e-01 -5.33194321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.440714057 meters 0.030711958123417638 Centerline is valid? [True, True] Translation: X:808.97, Y:-130.03, Z:-53.32 [[ 9.89145176e-01 1.31610553e-01 6.53489323e-02 8.08965279e+02] [-1.31111131e-01 9.91296351e-01 -1.18918215e-02 -1.30025148e+02] [-6.63452473e-02 3.19476548e-03 9.97791612e-01 -5.33217427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.500714057 meters 0.02921651662352059 Centerline is valid? [True, True] Translation: X:809.03, Y:-130.03, Z:-53.32 [[ 9.88546382e-01 1.35920136e-01 6.55878558e-02 8.09025080e+02] [-1.35426663e-01 9.90715512e-01 -1.19328330e-02 -1.30029437e+02] [-6.66008185e-02 2.91381442e-03 9.97775446e-01 -5.33243157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.560714057 meters 0.028705292557232313 Centerline is valid? [True, True] Translation: X:809.08, Y:-130.04, Z:-53.33 [[ 9.88645715e-01 1.35445588e-01 6.50702946e-02 8.09083629e+02] [-1.34959024e-01 9.90780483e-01 -1.18362025e-02 -1.30037906e+02] [-6.60735393e-02 2.91998744e-03 9.97810484e-01 -5.33274976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.620714057 meters 0.029234256011212538 Centerline is valid? [True, True] Translation: X:809.14, Y:-130.05, Z:-53.33 [[ 9.88922043e-01 1.33424622e-01 6.50466273e-02 8.09142241e+02] [-1.32934375e-01 9.91054274e-01 -1.18270268e-02 -1.30048712e+02] [-6.60427546e-02 3.04907470e-03 9.97812136e-01 -5.33308414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.680714057 meters 0.030051530554003014 Centerline is valid? [True, True] Translation: X:809.20, Y:-130.06, Z:-53.33 [[ 9.89274075e-01 1.30937090e-01 6.47478433e-02 8.09200051e+02] [-1.30446194e-01 9.91385521e-01 -1.17702431e-02 -1.30060154e+02] [-6.57312357e-02 3.19788661e-03 9.97832240e-01 -5.33339819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.740714057 meters 0.033785911908576625 Centerline is valid? [True, True] Translation: X:809.26, Y:-130.08, Z:-53.34 [[ 9.90444973e-01 1.23449971e-01 6.14724302e-02 8.09256794e+02] [-1.22993381e-01 9.92344611e-01 -1.11714814e-02 -1.30076779e+02] [-6.23809539e-02 3.50403556e-03 9.98046261e-01 -5.33393327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.800714057 meters 0.03476385873022639 Centerline is valid? [True, True] Translation: X:809.32, Y:-130.09, Z:-53.34 [[ 9.90909322e-01 1.20270711e-01 6.02799505e-02 8.09315598e+02] [-1.19825960e-01 9.92734496e-01 -1.09526068e-02 -1.30089028e+02] [-6.11592641e-02 3.62993723e-03 9.98121420e-01 -5.33442152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.860714057 meters 0.03651349104471013 Centerline is valid? [True, True] Translation: X:809.37, Y:-130.10, Z:-53.35 [[ 9.91230161e-01 1.17819411e-01 5.98444155e-02 8.09373654e+02] [-1.17376694e-01 9.93027947e-01 -1.08723379e-02 -1.30100772e+02] [-6.07081496e-02 3.75264961e-03 9.98148505e-01 -5.33466671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.920714057 meters 0.0376134883608209 Centerline is valid? [True, True] Translation: X:809.43, Y:-130.11, Z:-53.35 [[ 9.91146846e-01 1.18124517e-01 6.06178846e-02 8.09430565e+02] [-1.17671035e-01 9.92991599e-01 -1.10095967e-02 -1.30111652e+02] [-6.14935535e-02 3.77915785e-03 9.98100326e-01 -5.33495100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.980714057 meters 0.03483420668704832 Centerline is valid? [True, True] Translation: X:809.49, Y:-130.12, Z:-53.35 [[ 9.91220160e-01 1.18203703e-01 5.92493028e-02 8.09488853e+02] [-1.17770951e-01 9.92982536e-01 -1.07557679e-02 -1.30116950e+02] [-6.01048945e-02 3.68348724e-03 9.98185270e-01 -5.33535275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0407140570001 meters 0.03543885443281447 Centerline is valid? [True, True] Translation: X:809.55, Y:-130.13, Z:-53.36 [[ 9.91305772e-01 1.18526135e-01 5.71351270e-02 8.09546591e+02] [-1.18124523e-01 9.92944663e-01 -1.03678969e-02 -1.30126353e+02] [-5.79608861e-02 3.52869637e-03 9.98312618e-01 -5.33587852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.100714057 meters 0.03488835724866558 Centerline is valid? [True, True] Translation: X:809.61, Y:-130.13, Z:-53.36 [[ 9.90900119e-01 1.22097603e-01 5.66491792e-02 8.09606256e+02] [-1.21708862e-01 9.92512655e-01 -1.02753402e-02 -1.30133997e+02] [-5.74796216e-02 3.28712867e-03 9.98341268e-01 -5.33614676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1607140570001 meters 0.030872265292952183 Centerline is valid? [True, True] Translation: X:809.67, Y:-130.14, Z:-53.36 [[ 9.90143603e-01 1.27993808e-01 5.68615119e-02 8.09667088e+02] [-1.27611955e-01 9.91770569e-01 -1.03115669e-02 -1.30136052e+02] [-5.77133907e-02 2.95372333e-03 9.98328824e-01 -5.33621974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.220714057 meters 0.029811655733596582 Centerline is valid? [True, True] Translation: X:809.73, Y:-130.14, Z:-53.37 [[ 9.89729276e-01 1.31442388e-01 5.62037306e-02 8.09726574e+02] [-1.31074876e-01 9.91320078e-01 -1.01921388e-02 -1.30143787e+02] [-5.70555657e-02 2.72056109e-03 9.98367298e-01 -5.33656936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2807140570001 meters 0.02908626259196624 Centerline is valid? [True, True] Translation: X:809.79, Y:-130.15, Z:-53.37 [[ 9.89286490e-01 1.35609145e-01 5.40592282e-02 8.09785862e+02] [-1.35275425e-01 9.90759544e-01 -9.80228701e-03 -1.30152041e+02] [-5.48889760e-02 2.38438506e-03 9.98489617e-01 -5.33703377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.340714057 meters 0.02897416862389867 Centerline is valid? [True, True] Translation: X:809.84, Y:-130.16, Z:-53.37 [[ 9.88991292e-01 1.38137671e-01 5.30491031e-02 8.09843056e+02] [-1.37819966e-01 9.90410590e-01 -9.61874474e-03 -1.30162283e+02] [-5.38691045e-02 2.20162919e-03 9.98545579e-01 -5.33740685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4007140570001 meters 0.02905858925838777 Centerline is valid? [True, True] Translation: X:809.90, Y:-130.18, Z:-53.38 [[ 9.88770588e-01 1.39901125e-01 5.25394963e-02 8.09899732e+02] [-1.39592084e-01 9.90163287e-01 -9.52446893e-03 -1.30175074e+02] [-5.33551643e-02 2.08341696e-03 9.98573425e-01 -5.33787165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.460714057 meters 0.029437368309337835 Centerline is valid? [True, True] Translation: X:809.96, Y:-130.19, Z:-53.38 [[ 9.88705819e-01 1.40586709e-01 5.19247599e-02 8.09955929e+02] [-1.40286554e-01 9.90066333e-01 -9.39889806e-03 -1.30189333e+02] [-5.27303167e-02 2.00839958e-03 9.98606770e-01 -5.33825202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5207140570001 meters 0.030345591012849636 Centerline is valid? [True, True] Translation: X:810.01, Y:-130.20, Z:-53.39 [[ 9.88860426e-01 1.39791039e-01 5.11226253e-02 8.10013379e+02] [-1.39499160e-01 9.90178973e-01 -9.25125042e-03 -1.30203036e+02] [-5.19137905e-02 2.01663214e-03 9.98649534e-01 -5.33864014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.580714057 meters 0.028318580473854143 Centerline is valid? [True, True] Translation: X:810.07, Y:-130.21, Z:-53.39 [[ 9.88950438e-01 1.38911879e-01 5.17737507e-02 8.10071272e+02] [-1.38611962e-01 9.90302568e-01 -9.35666455e-03 -1.30212721e+02] [-5.25714301e-02 2.07681634e-03 9.98615007e-01 -5.33862045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6407140570001 meters 0.029723155857610838 Centerline is valid? [True, True] Translation: X:810.13, Y:-130.23, Z:-53.39 [[ 9.89256863e-01 1.36168043e-01 5.31894991e-02 8.10128711e+02] [-1.35848412e-01 9.90683160e-01 -9.59612139e-03 -1.30230047e+02] [-5.40006261e-02 2.26731994e-03 9.98538328e-01 -5.33890733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.700714057 meters 0.032080847569939494 Centerline is valid? [True, True] Translation: X:810.18, Y:-130.25, Z:-53.39 [[ 9.89430281e-01 1.34450885e-01 5.43201408e-02 8.10183409e+02] [-1.34115000e-01 9.90917328e-01 -9.79875718e-03 -1.30248755e+02] [-5.51442204e-02 2.41004138e-03 9.98475491e-01 -5.33926523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.760714057 meters 0.02985579941927898 Centerline is valid? [True, True] Translation: X:810.24, Y:-130.26, Z:-53.40 [[ 9.89776376e-01 1.32630675e-01 5.24578878e-02 8.10241919e+02] [-1.32315224e-01 9.91162576e-01 -9.45669808e-03 -1.30257956e+02] [-5.32485434e-02 2.41903919e-03 9.98578360e-01 -5.33970592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.820714057 meters 0.03175710281188837 Centerline is valid? [True, True] Translation: X:810.30, Y:-130.27, Z:-53.40 [[ 9.90098795e-01 1.30538853e-01 5.16137970e-02 8.10298528e+02] [-1.30230735e-01 9.91440070e-01 -9.30287089e-03 -1.30273356e+02] [-5.23863727e-02 2.48905855e-03 9.98623789e-01 -5.34029482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.880714057 meters 0.033106875347312485 Centerline is valid? [True, True] Translation: X:810.36, Y:-130.29, Z:-53.41 [[ 9.90458966e-01 1.27932564e-01 5.12278743e-02 8.10356011e+02] [-1.27625709e-01 9.91779449e-01 -9.23052751e-03 -1.30287790e+02] [-5.19876380e-02 2.60446498e-03 9.98644332e-01 -5.34068991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.940714057 meters 0.032312549854052366 Centerline is valid? [True, True] Translation: X:810.41, Y:-130.30, Z:-53.41 [[ 9.90853643e-01 1.24781250e-01 5.13682567e-02 8.10413915e+02] [-1.24468630e-01 9.92180397e-01 -9.25306973e-03 -1.30298395e+02] [-5.21211870e-02 2.77470130e-03 9.98636912e-01 -5.34096776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.000714057 meters 0.034210876236868575 Centerline is valid? [True, True] Translation: X:810.47, Y:-130.31, Z:-53.41 [[ 9.91174485e-01 1.22186200e-01 5.14166622e-02 8.10472030e+02] [-1.21869672e-01 9.92502927e-01 -9.25871627e-03 -1.30311862e+02] [-5.21624751e-02 2.91087158e-03 9.98634369e-01 -5.34135967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.060714057 meters 0.03513363851115838 Centerline is valid? [True, True] Translation: X:810.53, Y:-130.32, Z:-53.42 [[ 9.91346543e-01 1.20388363e-01 5.23323503e-02 8.10530341e+02] [-1.20058056e-01 9.92722164e-01 -9.42165231e-03 -1.30324302e+02] [-5.30857413e-02 3.05720219e-03 9.98585278e-01 -5.34172385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.120714057 meters 0.03746909304576218 Centerline is valid? [True, True] Translation: X:810.59, Y:-130.34, Z:-53.42 [[ 9.91601595e-01 1.18093873e-01 5.27267811e-02 8.10588048e+02] [-1.17755426e-01 9.92997272e-01 -9.49092557e-03 -1.30337008e+02] [-5.34783699e-02 3.20235237e-03 9.98563873e-01 -5.34205744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.180714057 meters 0.03589381678594532 Centerline is valid? [True, True] Translation: X:810.65, Y:-130.34, Z:-53.42 [[ 9.91596051e-01 1.17806061e-01 5.34696464e-02 8.10646770e+02] [-1.17457730e-01 9.93031268e-01 -9.62192792e-03 -1.30343828e+02] [-5.42305522e-02 3.26064243e-03 9.98523117e-01 -5.34232880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.240714057 meters 0.037057425616287894 Centerline is valid? [True, True] Translation: X:810.70, Y:-130.36, Z:-53.43 [[ 9.91527693e-01 1.18719744e-01 5.27110686e-02 8.10702981e+02] [-1.18382715e-01 9.92922770e-01 -9.48181843e-03 -1.30355008e+02] [-5.34636994e-02 3.16140615e-03 9.98564789e-01 -5.34279788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.300714057 meters 0.037143686356054806 Centerline is valid? [True, True] Translation: X:810.76, Y:-130.36, Z:-53.43 [[ 9.91237188e-01 1.21309589e-01 5.22763839e-02 8.10762493e+02] [-1.20981978e-01 9.92610213e-01 -9.39815010e-03 -1.30364042e+02] [-5.30301583e-02 2.99129556e-03 9.98588431e-01 -5.34328227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.360714057 meters 0.03721775780925643 Centerline is valid? [True, True] Translation: X:810.82, Y:-130.37, Z:-53.44 [[ 9.90971050e-01 1.23368807e-01 5.25025233e-02 8.10821641e+02] [-1.23041281e-01 9.92356675e-01 -9.43787292e-03 -1.30373587e+02] [-5.32655686e-02 2.89268114e-03 9.98576192e-01 -5.34362742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.420714057 meters 0.04660871804342591 Centerline is valid? [True, True] Translation: X:810.88, Y:-130.40, Z:-53.44 [[ 9.90363760e-01 1.28056824e-01 5.27358872e-02 8.10877333e+02] [-1.27733043e-01 9.91763288e-01 -9.47893538e-03 -1.30396875e+02] [-5.35153592e-02 2.65147874e-03 9.98563506e-01 -5.34445499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.480714057 meters 0.036480978245459005 Centerline is valid? [True, True] Translation: X:810.94, Y:-130.39, Z:-53.45 [[ 9.90500533e-01 1.27257043e-01 5.20993234e-02 8.10938463e+02] [-1.26939962e-01 9.91866201e-01 -9.36402651e-03 -1.30390921e+02] [-5.28671963e-02 2.66158712e-03 9.98598005e-01 -5.34458110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5407140570001 meters 0.03751047980632809 Centerline is valid? [True, True] Translation: X:811.00, Y:-130.40, Z:-53.45 [[ 9.90424104e-01 1.27492406e-01 5.29696226e-02 8.10995253e+02] [-1.27165158e-01 9.91835899e-01 -9.51691317e-03 -1.30402357e+02] [-5.37505074e-02 2.68988979e-03 9.98550774e-01 -5.34484897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.600714057 meters 0.0370724973355336 Centerline is valid? [True, True] Translation: X:811.05, Y:-130.41, Z:-53.45 [[ 9.90175619e-01 1.28447950e-01 5.52572928e-02 8.11053796e+02] [-1.28093537e-01 9.91712445e-01 -9.92326698e-03 -1.30411836e+02] [-5.60739683e-02 2.74767492e-03 9.98422837e-01 -5.34494808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6607140570001 meters 0.03232424121507317 Centerline is valid? [True, True] Translation: X:811.11, Y:-130.41, Z:-53.45 [[ 9.90159734e-01 1.28254041e-01 5.59875256e-02 8.11112660e+02] [-1.27890243e-01 9.91737427e-01 -1.00480199e-02 -1.30414214e+02] [-5.68136237e-02 2.78888646e-03 9.98380906e-01 -5.34518544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.720714057 meters 0.032771986758984836 Centerline is valid? [True, True] Translation: X:811.17, Y:-130.43, Z:-53.46 [[ 9.90587226e-01 1.25110158e-01 5.55373445e-02 8.11171526e+02] [-1.24747659e-01 9.92138506e-01 -9.96027824e-03 -1.30427793e+02] [-5.63468700e-02 2.93837065e-03 9.98406929e-01 -5.34572688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7807140570001 meters 0.03362168962245296 Centerline is valid? [True, True] Translation: X:811.23, Y:-130.44, Z:-53.46 [[ 9.91076057e-01 1.21944398e-01 5.38313456e-02 8.11229756e+02] [-1.21599187e-01 9.92532331e-01 -9.65450068e-03 -1.30440438e+02] [-5.46066632e-02 3.02249662e-03 9.98503369e-01 -5.34626034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.840714057 meters 0.03638618059154491 Centerline is valid? [True, True] Translation: X:811.29, Y:-130.46, Z:-53.47 [[ 9.91539290e-01 1.18606394e-01 5.27480752e-02 8.11287062e+02] [-1.18270297e-01 9.92936382e-01 -9.45925956e-03 -1.30456336e+02] [-5.34974116e-02 3.14069700e-03 9.98563049e-01 -5.34678792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9007140570001 meters 0.037269651015548924 Centerline is valid? [True, True] Translation: X:811.34, Y:-130.47, Z:-53.47 [[ 9.91510306e-01 1.18159108e-01 5.42746614e-02 8.11344584e+02] [-1.17802615e-01 9.92989337e-01 -9.73249747e-03 -1.30467065e+02] [-5.50441432e-02 3.25617452e-03 9.98478613e-01 -5.34705420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.960714057 meters 0.037943224652619956 Centerline is valid? [True, True] Translation: X:811.40, Y:-130.48, Z:-53.47 [[ 9.91362252e-01 1.18932609e-01 5.52803701e-02 8.11401804e+02] [-1.18564192e-01 9.92896948e-01 -9.90876451e-03 -1.30477045e+02] [-5.60661859e-02 3.26890269e-03 9.98421703e-01 -5.34742802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0207140570001 meters 0.03773540310046509 Centerline is valid? [True, True] Translation: X:811.46, Y:-130.48, Z:-53.48 [[ 9.91111915e-01 1.20671147e-01 5.59968414e-02 8.11460361e+02] [-1.20296098e-01 9.92687355e-01 -1.00331617e-02 -1.30484680e+02] [-5.67980695e-02 3.20778456e-03 9.98380533e-01 -5.34773857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.080714057 meters 0.03455294118728382 Centerline is valid? [True, True] Translation: X:811.52, Y:-130.49, Z:-53.48 [[ 9.90622830e-01 1.23509851e-01 5.84099743e-02 8.11520494e+02] [-1.23106911e-01 9.92338275e-01 -1.04611597e-02 -1.30489315e+02] [-5.92545094e-02 3.17239217e-03 9.98237867e-01 -5.34790025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1407140570001 meters 0.033683547264281674 Centerline is valid? [True, True] Translation: X:811.58, Y:-130.50, Z:-53.49 [[ 9.90398348e-01 1.25848942e-01 5.72115126e-02 8.11579641e+02] [-1.25466424e-01 9.92044978e-01 -1.02439420e-02 -1.30497854e+02] [-5.80455830e-02 2.96745929e-03 9.98309523e-01 -5.34853758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.200714057 meters 0.030995304751764114 Centerline is valid? [True, True] Translation: X:811.64, Y:-130.50, Z:-53.49 [[ 9.90183086e-01 1.28780369e-01 5.43421798e-02 8.11639435e+02] [-1.28439748e-01 9.91669588e-01 -9.72926501e-03 -1.30502645e+02] [-5.51424255e-02 2.65405779e-03 9.98474972e-01 -5.34912975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.260714057 meters 0.030192847918805055 Centerline is valid? [True, True] Translation: X:811.70, Y:-130.51, Z:-53.50 [[ 9.89824155e-01 1.31452871e-01 5.44819776e-02 8.11698487e+02] [-1.31114575e-01 9.91319241e-01 -9.75345565e-03 -1.30511327e+02] [-5.52911524e-02 2.51082468e-03 9.98467117e-01 -5.34956577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.320714057 meters 0.03082505028968345 Centerline is valid? [True, True] Translation: X:811.76, Y:-130.52, Z:-53.50 [[ 9.89272596e-01 1.34885542e-01 5.60858405e-02 8.11756926e+02] [-1.34532632e-01 9.90858315e-01 -1.00384551e-02 -1.30520760e+02] [-5.69271639e-02 2.38539285e-03 9.98375484e-01 -5.34986622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.380714057 meters 0.028158213208465475 Centerline is valid? [True, True] Translation: X:811.82, Y:-130.52, Z:-53.50 [[ 9.89185228e-01 1.34935005e-01 5.74902562e-02 8.11816405e+02] [-1.34564311e-01 9.90851444e-01 -1.02889712e-02 -1.30524773e+02] [-5.83526457e-02 2.44156160e-03 9.98293047e-01 -5.35009672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.440714057 meters 0.030378912205795743 Centerline is valid? [True, True] Translation: X:811.87, Y:-130.54, Z:-53.51 [[ 9.89865099e-01 1.29568077e-01 5.81308851e-02 8.11874904e+02] [-1.29180747e-01 9.91566650e-01 -1.03881328e-02 -1.30539477e+02] [-5.89866174e-02 2.77345894e-03 9.98254921e-01 -5.35052563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.500714057 meters 0.03440424369993579 Centerline is valid? [True, True] Translation: X:811.93, Y:-130.56, Z:-53.51 [[ 9.91085588e-01 1.20209634e-01 5.74369327e-02 8.11932428e+02] [-1.19815890e-01 9.92743079e-01 -1.02630867e-02 -1.30558195e+02] [-5.82538394e-02 3.28974013e-03 9.98296383e-01 -5.35101007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.560714057 meters 0.03734552444895058 Centerline is valid? [True, True] Translation: X:811.99, Y:-130.57, Z:-53.51 [[ 9.91973262e-01 1.12115989e-01 5.84726623e-02 8.11991077e+02] [-1.11693944e-01 9.93687737e-01 -1.04472323e-02 -1.30573374e+02] [-5.92748692e-02 3.83233291e-03 9.98234343e-01 -5.35132262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.620714057 meters 0.03841202840559527 Centerline is valid? [True, True] Translation: X:812.05, Y:-130.59, Z:-53.52 [[ 9.92157076e-01 1.09728375e-01 5.98666842e-02 8.12049009e+02] [-1.09281663e-01 9.93953281e-01 -1.06954809e-02 -1.30585450e+02] [-6.06782849e-02 4.06926631e-03 9.98149081e-01 -5.35162974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.680714057 meters 0.0361068911895863 Centerline is valid? [True, True] Translation: X:812.11, Y:-130.59, Z:-53.52 [[ 9.92163326e-01 1.10202679e-01 5.88838165e-02 8.12107663e+02] [-1.09771549e-01 9.93901204e-01 -1.05168236e-02 -1.30590270e+02] [-5.96836783e-02 3.97063895e-03 9.98209443e-01 -5.35209706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.740714057 meters 0.034983187090293494 Centerline is valid? [True, True] Translation: X:812.17, Y:-130.59, Z:-53.53 [[ 9.91763589e-01 1.14390228e-01 5.76182277e-02 8.12168361e+02] [-1.13984755e-01 9.93429248e-01 -1.02861380e-02 -1.30594134e+02] [-5.84162663e-02 3.63381753e-03 9.98285698e-01 -5.35256766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.800714057 meters 0.03455607540776639 Centerline is valid? [True, True] Translation: X:812.23, Y:-130.60, Z:-53.53 [[ 9.91677717e-01 1.15033516e-01 5.78151828e-02 8.12226578e+02] [-1.14626338e-01 9.93355057e-01 -1.03215023e-02 -1.30602449e+02] [-5.86183229e-02 3.60846113e-03 9.98273946e-01 -5.35293720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.860714057 meters 0.03379155787022131 Centerline is valid? [True, True] Translation: X:812.28, Y:-130.61, Z:-53.53 [[ 9.91615046e-01 1.16036845e-01 5.68775164e-02 8.12284785e+02] [-1.15644666e-01 9.93238788e-01 -1.01499565e-02 -1.30608201e+02] [-5.76707243e-02 3.48726821e-03 9.98329568e-01 -5.35331350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.920714057 meters 0.033562467067136496 Centerline is valid? [True, True] Translation: X:812.34, Y:-130.61, Z:-53.54 [[ 9.91695364e-01 1.16151136e-01 5.52197236e-02 8.12342164e+02] [-1.15781893e-01 9.93225816e-01 -9.85046848e-03 -1.30613352e+02] [-5.59897982e-02 3.37521978e-03 9.98425636e-01 -5.35376419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.980714057 meters 0.03189399838421898 Centerline is valid? [True, True] Translation: X:812.40, Y:-130.62, Z:-53.54 [[ 9.91671557e-01 1.16803076e-01 5.42638497e-02 8.12400738e+02] [-1.16447839e-01 9.93149697e-01 -9.67366766e-03 -1.30618344e+02] [-5.50220400e-02 3.27419304e-03 9.98479772e-01 -5.35415235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0407140570001 meters 0.031831060989495646 Centerline is valid? [True, True] Translation: X:812.46, Y:-130.62, Z:-53.54 [[ 9.91147968e-01 1.20630988e-01 5.54424981e-02 8.12459547e+02] [-1.20266356e-01 9.92692504e-01 -9.87912011e-03 -1.30624574e+02] [-5.62290803e-02 3.12380263e-03 9.98413007e-01 -5.35427840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.100714057 meters 0.031132531160281373 Centerline is valid? [True, True] Translation: X:812.52, Y:-130.63, Z:-53.54 [[ 9.90428063e-01 1.25718857e-01 5.69826415e-02 8.12519307e+02] [-1.25342175e-01 9.92061636e-01 -1.01512966e-02 -1.30629917e+02] [-5.78065020e-02 2.91180079e-03 9.98323560e-01 -5.35440352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1607140570001 meters 0.029421428023490865 Centerline is valid? [True, True] Translation: X:812.58, Y:-130.64, Z:-53.55 [[ 9.90140222e-01 1.29005092e-01 5.45896258e-02 8.12579097e+02] [-1.28664460e-01 9.91640512e-01 -9.72379133e-03 -1.30635051e+02] [-5.53877030e-02 2.60417218e-03 9.98461527e-01 -5.35498369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.220714057 meters 0.02763803882184875 Centerline is valid? [True, True] Translation: X:812.64, Y:-130.64, Z:-53.55 [[ 9.90137991e-01 1.29546907e-01 5.33325308e-02 8.12637481e+02] [-1.29222495e-01 9.91570103e-01 -9.50149280e-03 -1.30640870e+02] [-5.41138320e-02 2.51602632e-03 9.98531603e-01 -5.35534819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2807140570001 meters 0.030686336051168682 Centerline is valid? [True, True] Translation: X:812.69, Y:-130.66, Z:-53.56 [[ 9.90174069e-01 1.29424337e-01 5.29589799e-02 8.12692121e+02] [-1.29105076e-01 9.91586173e-01 -9.42020387e-03 -1.30656170e+02] [-5.37325958e-02 2.49036846e-03 9.98552255e-01 -5.35585430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.340714057 meters 0.027979823140688132 Centerline is valid? [True, True] Translation: X:812.75, Y:-130.66, Z:-53.56 [[ 9.90005663e-01 1.31050965e-01 5.21002126e-02 8.12751190e+02] [-1.30744768e-01 9.91372840e-01 -9.25729133e-03 -1.30661835e+02] [-5.28639127e-02 2.35294063e-03 9.98598954e-01 -5.35620280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4007140570001 meters 0.026725026652330335 Centerline is valid? [True, True] Translation: X:812.81, Y:-130.67, Z:-53.57 [[ 9.89348108e-01 1.36296117e-01 5.11242502e-02 8.12811025e+02] [-1.36009046e-01 9.90666085e-01 -9.06905265e-03 -1.30668371e+02] [-5.18831375e-02 2.01908960e-03 9.98651122e-01 -5.35657107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.460714057 meters 0.02508329339435845 Centerline is valid? [True, True] Translation: X:812.87, Y:-130.67, Z:-53.57 [[ 9.88536112e-01 1.41642439e-01 5.22855182e-02 8.12870467e+02] [-1.41349664e-01 9.89916290e-01 -9.27427932e-03 -1.30674270e+02] [-5.30719177e-02 1.77741960e-03 9.98589111e-01 -5.35667166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5207140570001 meters 0.02438757797876941 Centerline is valid? [True, True] Translation: X:812.93, Y:-130.68, Z:-53.57 [[ 9.88053536e-01 1.44498848e-01 5.35751257e-02 8.12928759e+02] [-1.44195692e-01 9.89503571e-01 -9.50184278e-03 -1.30684547e+02] [-5.43857836e-02 1.66302702e-03 9.98518613e-01 -5.35690749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.580714057 meters 0.024802069150878132 Centerline is valid? [True, True] Translation: X:812.99, Y:-130.70, Z:-53.57 [[ 9.88084512e-01 1.44012641e-01 5.43079752e-02 8.12985109e+02] [-1.43700673e-01 9.89574374e-01 -9.62677220e-03 -1.30699064e+02] [-5.51281575e-02 1.70797194e-03 9.98477826e-01 -5.35735526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6407140570001 meters 0.02533868427385468 Centerline is valid? [True, True] Translation: X:813.04, Y:-130.71, Z:-53.58 [[ 9.88434254e-01 1.41704162e-01 5.40153240e-02 8.13041600e+02] [-1.41393072e-01 9.89907398e-01 -9.55733101e-03 -1.30713617e+02] [-5.48244824e-02 1.80940075e-03 9.98494368e-01 -5.35777118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.700714057 meters 0.027745539642095134 Centerline is valid? [True, True] Translation: X:813.10, Y:-130.73, Z:-53.58 [[ 9.89060727e-01 1.37194004e-01 5.41911692e-02 8.13097338e+02] [-1.36874414e-01 9.90542053e-01 -9.58316233e-03 -1.30734456e+02] [-5.49933844e-02 2.06094497e-03 9.98484592e-01 -5.35836109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.760714057 meters 0.027127534947531427 Centerline is valid? [True, True] Translation: X:813.16, Y:-130.75, Z:-53.59 [[ 9.89565142e-01 1.33156966e-01 5.50459131e-02 8.13155321e+02] [-1.32821144e-01 9.91092250e-01 -9.73121402e-03 -1.30748832e+02] [-5.58513568e-02 2.31840905e-03 9.98436403e-01 -5.35860824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.820714057 meters 0.028266773345360933 Centerline is valid? [True, True] Translation: X:813.21, Y:-130.76, Z:-53.59 [[ 9.89807766e-01 1.31252096e-01 5.52582459e-02 8.13211589e+02] [-1.30910804e-01 9.91346037e-01 -9.76714975e-03 -1.30764196e+02] [-5.60620019e-02 2.43369930e-03 9.98424323e-01 -5.35904850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.880714057 meters 0.02873627915822517 Centerline is valid? [True, True] Translation: X:813.27, Y:-130.78, Z:-53.59 [[ 9.90160510e-01 1.28762608e-01 5.47937433e-02 8.13269124e+02] [-1.28423538e-01 9.91672174e-01 -9.67956978e-03 -1.30779543e+02] [-5.55837972e-02 2.54752138e-03 9.98450776e-01 -5.35945654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.940714057 meters 0.03140971649247516 Centerline is valid? [True, True] Translation: X:813.33, Y:-130.80, Z:-53.60 [[ 9.90424662e-01 1.26574847e-01 5.51162182e-02 8.13325578e+02] [-1.26228498e-01 9.91953428e-01 -9.73463675e-03 -1.30796819e+02] [-5.59048818e-02 2.68418687e-03 9.98432491e-01 -5.35986668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.000714057 meters 0.031726418276141755 Centerline is valid? [True, True] Translation: X:813.38, Y:-130.81, Z:-53.60 [[ 9.90338007e-01 1.26615900e-01 5.65601064e-02 8.13383242e+02] [-1.26251387e-01 9.91948010e-01 -9.98659331e-03 -1.30809297e+02] [-5.73691465e-02 2.74931104e-03 9.98349249e-01 -5.36008287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.060714057 meters 0.030771125347194107 Centerline is valid? [True, True] Translation: X:813.44, Y:-130.82, Z:-53.60 [[ 9.90261372e-01 1.27129565e-01 5.67493574e-02 8.13441487e+02] [-1.26763615e-01 9.91882374e-01 -1.00170889e-02 -1.30819850e+02] [-5.75621555e-02 2.72578247e-03 9.98338203e-01 -5.36043454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.120714057 meters 0.02926488574159685 Centerline is valid? [True, True] Translation: X:813.50, Y:-130.83, Z:-53.61 [[ 9.90488796e-01 1.26306340e-01 5.45770525e-02 8.13498780e+02] [-1.25967379e-01 9.91987734e-01 -9.62057487e-03 -1.30829535e+02] [-5.53549062e-02 2.65414338e-03 9.98463214e-01 -5.36100982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.180714057 meters 0.029737915213045214 Centerline is valid? [True, True] Translation: X:813.55, Y:-130.84, Z:-53.61 [[ 9.90304207e-01 1.27642752e-01 5.48170118e-02 8.13554906e+02] [-1.27303295e-01 9.91816847e-01 -9.65472522e-03 -1.30841493e+02] [-5.56007914e-02 2.58272877e-03 9.98449739e-01 -5.36144934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.240714057 meters 0.028612698714936855 Centerline is valid? [True, True] Translation: X:813.61, Y:-130.85, Z:-53.62 [[ 9.90013213e-01 1.29722775e-01 5.51891302e-02 8.13613090e+02] [-1.29382205e-01 9.91547207e-01 -9.71501137e-03 -1.30850131e+02] [-5.59828861e-02 2.47749828e-03 9.98428655e-01 -5.36173623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.300714057 meters 0.028852771110069612 Centerline is valid? [True, True] Translation: X:813.67, Y:-130.86, Z:-53.62 [[ 9.89548414e-01 1.33213128e-01 5.52104973e-02 8.13670782e+02] [-1.32877948e-01 9.91084799e-01 -9.71452295e-03 -1.30859575e+02] [-5.60123866e-02 2.27673318e-03 9.98427478e-01 -5.36210426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.360714057 meters 0.025794569075884035 Centerline is valid? [True, True] Translation: X:813.73, Y:-130.86, Z:-53.62 [[ 9.89200430e-01 1.35471769e-01 5.59455880e-02 8.13729226e+02] [-1.35131363e-01 9.90778820e-01 -9.84094034e-03 -1.30864308e+02] [-5.67628733e-02 2.17465884e-03 9.98385320e-01 -5.36242333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.420714057 meters 0.026349739501096734 Centerline is valid? [True, True] Translation: X:813.79, Y:-130.88, Z:-53.63 [[ 9.88914457e-01 1.36791260e-01 5.77611282e-02 8.13785945e+02] [-1.36430890e-01 9.90597534e-01 -1.01557068e-02 -1.30877159e+02] [-5.86072431e-02 2.16272314e-03 9.98278776e-01 -5.36284137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.480714057 meters 0.026114120751826522 Centerline is valid? [True, True] Translation: X:813.84, Y:-130.89, Z:-53.63 [[ 9.88751594e-01 1.37531272e-01 5.87829452e-02 8.13843301e+02] [-1.37159598e-01 9.90495087e-01 -1.03308541e-02 -1.30888140e+02] [-5.96450340e-02 2.15200332e-03 9.98217331e-01 -5.36320145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5407140570001 meters 0.025473557629631154 Centerline is valid? [True, True] Translation: X:813.90, Y:-130.90, Z:-53.64 [[ 9.88289577e-01 1.39815116e-01 6.11182931e-02 8.13901004e+02] [-1.39417936e-01 9.90175422e-01 -1.07365309e-02 -1.30898719e+02] [-6.20189610e-02 2.08981531e-03 9.98072784e-01 -5.36350229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.600714057 meters 0.024960188462420003 Centerline is valid? [True, True] Translation: X:813.96, Y:-130.91, Z:-53.64 [[ 9.87806504e-01 1.42991450e-01 6.15772350e-02 8.13958322e+02] [-1.42594723e-01 9.89722100e-01 -1.08124779e-02 -1.30909942e+02] [-6.24904423e-02 1.90004718e-03 9.98043754e-01 -5.36389814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6607140570001 meters 0.025535631232237788 Centerline is valid? [True, True] Translation: X:814.01, Y:-130.92, Z:-53.64 [[ 9.87762965e-01 1.43739993e-01 6.05238722e-02 8.14014774e+02] [-1.43358413e-01 9.89613821e-01 -1.06231211e-02 -1.30923128e+02] [-6.14222278e-02 1.81651939e-03 9.98110220e-01 -5.36446858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.720714057 meters 0.025888356598098787 Centerline is valid? [True, True] Translation: X:814.07, Y:-130.94, Z:-53.65 [[ 9.87916754e-01 1.42815548e-01 6.02013889e-02 8.14071889e+02] [-1.42436618e-01 9.89747575e-01 -1.05615811e-02 -1.30935254e+02] [-6.10925367e-02 1.85908076e-03 9.98130375e-01 -5.36492688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7807140570001 meters 0.028869801210052587 Centerline is valid? [True, True] Translation: X:814.13, Y:-130.95, Z:-53.65 [[ 9.88598885e-01 1.37799352e-01 6.06925394e-02 8.14128015e+02] [-1.37405769e-01 9.90457786e-01 -1.06314648e-02 -1.30954897e+02] [-6.15784072e-02 2.17074915e-03 9.98099889e-01 -5.36535121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.840714057 meters 0.028963757728078767 Centerline is valid? [True, True] Translation: X:814.19, Y:-130.97, Z:-53.66 [[ 9.89498523e-01 1.31157790e-01 6.07479064e-02 8.14187220e+02] [-1.30751132e-01 9.91358137e-01 -1.06388983e-02 -1.30966779e+02] [-6.16183057e-02 2.58431667e-03 9.98096441e-01 -5.36566991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9007140570001 meters 0.029835650990297977 Centerline is valid? [True, True] Translation: X:814.25, Y:-130.98, Z:-53.66 [[ 9.90362358e-01 1.24429482e-01 6.08252007e-02 8.14245912e+02] [-1.24009150e-01 9.92223899e-01 -1.06520165e-02 -1.30979917e+02] [-6.16776427e-02 3.00647475e-03 9.98091594e-01 -5.36602244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.960714057 meters 0.033610175043527264 Centerline is valid? [True, True] Translation: X:814.30, Y:-131.00, Z:-53.66 [[ 9.91294183e-01 1.16204290e-01 6.19064327e-02 8.14303442e+02] [-1.15752870e-01 9.93218878e-01 -1.08413277e-02 -1.30996417e+02] [-6.27464464e-02 3.58109786e-03 9.98023076e-01 -5.36638070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0207140570001 meters 0.0370345577404929 Centerline is valid? [True, True] Translation: X:814.36, Y:-131.01, Z:-53.67 [[ 9.91898206e-01 1.10183957e-01 6.32253531e-02 8.14360795e+02] [-1.09700957e-01 9.93902977e-01 -1.10711980e-02 -1.31012050e+02] [-6.40597351e-02 4.04561971e-03 9.97937866e-01 -5.36659893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.080714057 meters 0.037467074624778426 Centerline is valid? [True, True] Translation: X:814.42, Y:-131.02, Z:-53.67 [[ 9.92084756e-01 1.08284099e-01 6.35797969e-02 8.14419519e+02] [-1.07791671e-01 9.94111145e-01 -1.11349146e-02 -1.31022496e+02] [-6.44111190e-02 4.19340645e-03 9.97914637e-01 -5.36691382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1407140570001 meters 0.037423306497027346 Centerline is valid? [True, True] Translation: X:814.48, Y:-131.03, Z:-53.68 [[ 9.92305259e-01 1.07012883e-01 6.22777282e-02 8.14477510e+02] [-1.06538097e-01 9.94248823e-01 -1.09046960e-02 -1.31031467e+02] [-6.30865009e-02 4.18583662e-03 9.97999285e-01 -5.36756784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.200714057 meters 0.035143937102257446 Centerline is valid? [True, True] Translation: X:814.54, Y:-131.04, Z:-53.68 [[ 9.92625555e-01 1.06207738e-01 5.84330785e-02 8.14536534e+02] [-1.05788690e-01 9.94336035e-01 -1.02275062e-02 -1.31035448e+02] [-5.91883559e-02 3.97052519e-03 9.98238936e-01 -5.36822411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.260714057 meters 0.03597217485204676 Centerline is valid? [True, True] Translation: X:814.59, Y:-131.04, Z:-53.69 [[ 9.92686413e-01 1.06634049e-01 5.65938636e-02 8.14594462e+02] [-1.06241926e-01 9.94291011e-01 -9.90141589e-03 -1.31044208e+02] [-5.73265979e-02 3.81635994e-03 9.98348184e-01 -5.36863406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.320714057 meters 0.03574433906398866 Centerline is valid? [True, True] Translation: X:814.65, Y:-131.05, Z:-53.69 [[ 9.92544026e-01 1.07587306e-01 5.72828798e-02 8.14653563e+02] [-1.07187405e-01 9.94188368e-01 -1.00174642e-02 -1.31049828e+02] [-5.80277248e-02 3.80277100e-03 9.98307729e-01 -5.36886029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.380714057 meters 0.03443102548558437 Centerline is valid? [True, True] Translation: X:814.71, Y:-131.06, Z:-53.69 [[ 9.92144432e-01 1.10708618e-01 5.82497028e-02 8.14713850e+02] [-1.10300647e-01 9.93846102e-01 -1.01829810e-02 -1.31055033e+02] [-5.90185839e-02 3.67800800e-03 9.98250109e-01 -5.36906801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.440714057 meters 0.03520983092133518 Centerline is valid? [True, True] Translation: X:814.77, Y:-131.06, Z:-53.70 [[ 9.91633330e-01 1.15304852e-01 5.80355902e-02 8.14772642e+02] [-1.14907773e-01 9.93324365e-01 -1.01444762e-02 -1.31062285e+02] [-5.88178731e-02 3.39086031e-03 9.98262971e-01 -5.36952355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.500714057 meters 0.03332788108615213 Centerline is valid? [True, True] Translation: X:814.83, Y:-131.07, Z:-53.70 [[ 9.91345372e-01 1.17747001e-01 5.80516716e-02 8.14832395e+02] [-1.17353942e-01 9.93038322e-01 -1.01460870e-02 -1.31067219e+02] [-5.88422059e-02 3.24568386e-03 9.98262020e-01 -5.36980828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.560714057 meters 0.03364738139570983 Centerline is valid? [True, True] Translation: X:814.89, Y:-131.08, Z:-53.70 [[ 9.91112473e-01 1.19002568e-01 5.94512839e-02 8.14890527e+02] [-1.18592678e-01 9.92888641e-01 -1.03885969e-02 -1.31077405e+02] [-6.02647742e-02 3.24578103e-03 9.98177150e-01 -5.37007401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.620714057 meters 0.03414665408968294 Centerline is valid? [True, True] Translation: X:814.95, Y:-131.09, Z:-53.70 [[ 9.91082108e-01 1.19589012e-01 5.87768937e-02 8.14948896e+02] [-1.19189667e-01 9.92818425e-01 -1.02664029e-02 -1.31087740e+02] [-5.95825320e-02 3.16924977e-03 9.98218352e-01 -5.37035302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.680714057 meters 0.03472041762596514 Centerline is valid? [True, True] Translation: X:815.01, Y:-131.10, Z:-53.71 [[ 9.90929667e-01 1.21534426e-01 5.73391556e-02 8.15006045e+02] [-1.21157818e-01 9.92582760e-01 -1.00123556e-02 -1.31097076e+02] [-5.81307033e-02 2.97445321e-03 9.98304550e-01 -5.37084341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.740714057 meters 0.03492124231660147 Centerline is valid? [True, True] Translation: X:815.06, Y:-131.11, Z:-53.71 [[ 9.90953589e-01 1.22096057e-01 5.57093979e-02 8.15063587e+02] [-1.21741680e-01 9.92514186e-01 -9.72392042e-03 -1.31107073e+02] [-5.64796200e-02 2.85379813e-03 9.98399674e-01 -5.37136303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.800714057 meters 0.03316255360540645 Centerline is valid? [True, True] Translation: X:815.12, Y:-131.11, Z:-53.72 [[ 9.91169470e-01 1.21291580e-01 5.35857730e-02 8.15122092e+02] [-1.20962756e-01 9.92613014e-01 -9.34968352e-03 -1.31112625e+02] [-5.43239735e-02 2.78523808e-03 9.98519478e-01 -5.37182616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.860714057 meters 0.03324258221956554 Centerline is valid? [True, True] Translation: X:815.18, Y:-131.12, Z:-53.72 [[ 9.91654943e-01 1.17621864e-01 5.27785142e-02 8.15181709e+02] [-1.17297946e-01 9.93054114e-01 -9.20426634e-03 -1.31122252e+02] [-5.34945436e-02 2.93664489e-03 9.98563824e-01 -5.37222295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.920714057 meters 0.035668826472915 Centerline is valid? [True, True] Translation: X:815.24, Y:-131.14, Z:-53.73 [[ 9.92222285e-01 1.12623273e-01 5.30182513e-02 8.15240280e+02] [-1.12289291e-01 9.93632540e-01 -9.24609456e-03 -1.31136348e+02] [-5.37219851e-02 3.22079923e-03 9.98550737e-01 -5.37251068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.980714057 meters 0.03649664921016965 Centerline is valid? [True, True] Translation: X:815.30, Y:-131.15, Z:-53.73 [[ 9.92612511e-01 1.08641046e-01 5.40141323e-02 8.15299328e+02] [-1.08288511e-01 9.94074879e-01 -9.41983060e-03 -1.31147205e+02] [-5.47174723e-02 3.50113173e-03 9.98495739e-01 -5.37261702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0407140570001 meters 0.038651408511132176 Centerline is valid? [True, True] Translation: X:815.36, Y:-131.16, Z:-53.73 [[ 9.92810424e-01 1.06577663e-01 5.44854489e-02 8.15356425e+02] [-1.06215875e-01 9.94297696e-01 -9.50156395e-03 -1.31159900e+02] [-5.51874107e-02 3.64603210e-03 9.98469357e-01 -5.37290530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.100714057 meters 0.040086550416729386 Centerline is valid? [True, True] Translation: X:815.41, Y:-131.17, Z:-53.73 [[ 9.92887679e-01 1.06261067e-01 5.36902398e-02 8.15414065e+02] [-1.05909539e-01 9.94331727e-01 -9.35874155e-03 -1.31170249e+02] [-5.43803787e-02 3.60587062e-03 9.98513782e-01 -5.37329665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1607140570001 meters 0.037153205498854903 Centerline is valid? [True, True] Translation: X:815.47, Y:-131.17, Z:-53.74 [[ 9.92691356e-01 1.08755345e-01 5.23081839e-02 8.15474007e+02] [-1.08425360e-01 9.94062815e-01 -9.11379438e-03 -1.31173216e+02] [-5.29887944e-02 3.37565121e-03 9.98589401e-01 -5.37366006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.220714057 meters 0.03657761151634987 Centerline is valid? [True, True] Translation: X:815.53, Y:-131.18, Z:-53.74 [[ 9.92582335e-01 1.10963541e-01 4.96729473e-02 8.15532557e+02] [-1.10668811e-01 9.93819668e-01 -8.65345121e-03 -1.31179406e+02] [-5.03261696e-02 3.09201679e-03 9.98728049e-01 -5.37410404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2807140570001 meters 0.03530653247912439 Centerline is valid? [True, True] Translation: X:815.59, Y:-131.19, Z:-53.75 [[ 9.92615716e-01 1.11592892e-01 4.75506811e-02 8.15591161e+02] [-1.11323706e-01 9.93749700e-01 -8.28048283e-03 -1.31185866e+02] [-4.81775181e-02 2.92581935e-03 9.98834504e-01 -5.37457890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.340714057 meters 0.03592628030266496 Centerline is valid? [True, True] Translation: X:815.65, Y:-131.19, Z:-53.75 [[ 9.92431886e-01 1.13814378e-01 4.61003116e-02 8.15648344e+02] [-1.13563900e-01 9.93498284e-01 -8.02495477e-03 -1.31194361e+02] [-4.67139357e-02 2.72888980e-03 9.98904581e-01 -5.37497812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4007140570001 meters 0.03282713849509518 Centerline is valid? [True, True] Translation: X:815.71, Y:-131.20, Z:-53.75 [[ 9.91835250e-01 1.18906048e-01 4.60889151e-02 8.15709249e+02] [-1.18661435e-01 9.92902406e-01 -8.01727998e-03 -1.31196923e+02] [-4.67150977e-02 2.48284411e-03 9.98905168e-01 -5.37512999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.460714057 meters 0.032369647727273854 Centerline is valid? [True, True] Translation: X:815.77, Y:-131.20, Z:-53.75 [[ 9.91331321e-01 1.22582124e-01 4.72846106e-02 8.15767620e+02] [-1.22328792e-01 9.92455543e-01 -8.22561874e-03 -1.31204555e+02] [-4.79361878e-02 2.37004417e-03 9.98847588e-01 -5.37538073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5207140570001 meters 0.030883448988441396 Centerline is valid? [True, True] Translation: X:815.83, Y:-131.21, Z:-53.75 [[ 9.91389625e-01 1.21332465e-01 4.92447451e-02 8.15825468e+02] [-1.21056191e-01 9.92608699e-01 -8.56554959e-03 -1.31212648e+02] [-4.99200417e-02 2.53041572e-03 9.98750012e-01 -5.37540633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.580714057 meters 0.03158526895664364 Centerline is valid? [True, True] Translation: X:815.88, Y:-131.22, Z:-53.76 [[ 9.91512876e-01 1.20091845e-01 4.98012632e-02 8.15882553e+02] [-1.19807963e-01 9.92759335e-01 -8.65765783e-03 -1.31223636e+02] [-5.04803830e-02 2.61759133e-03 9.98721623e-01 -5.37575030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6407140570001 meters 0.033055218990414185 Centerline is valid? [True, True] Translation: X:815.94, Y:-131.24, Z:-53.76 [[ 9.91723821e-01 1.17648467e-01 5.14072174e-02 8.15940487e+02] [-1.17342984e-01 9.93051286e-01 -8.93121625e-03 -1.31237791e+02] [-5.21007473e-02 2.82502361e-03 9.98637838e-01 -5.37609890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.700714057 meters 0.03378481010810543 Centerline is valid? [True, True] Translation: X:816.00, Y:-131.25, Z:-53.77 [[ 9.91823738e-01 1.17100622e-01 5.07259059e-02 8.15998037e+02] [-1.16802547e-01 9.93116067e-01 -8.81149430e-03 -1.31249859e+02] [-5.14085437e-02 2.81453421e-03 9.98673741e-01 -5.37662350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.760714057 meters 0.034177329782870906 Centerline is valid? [True, True] Translation: X:816.06, Y:-131.26, Z:-53.77 [[ 9.91763122e-01 1.18086359e-01 4.96137180e-02 8.16055564e+02] [-1.17802627e-01 9.92999661e-01 -8.61480721e-03 -1.31260576e+02] [-5.02836964e-02 2.69922176e-03 9.98731327e-01 -5.37715963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.820714057 meters 0.03283746210628064 Centerline is valid? [True, True] Translation: X:816.11, Y:-131.27, Z:-53.78 [[ 9.91693877e-01 1.18804473e-01 4.92823727e-02 8.16114235e+02] [-1.18525579e-01 9.92914155e-01 -8.55381790e-03 -1.31268014e+02] [-4.99493972e-02 2.64154708e-03 9.98748257e-01 -5.37754220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.880714057 meters 0.0344823365913769 Centerline is valid? [True, True] Translation: X:816.17, Y:-131.28, Z:-53.78 [[ 9.91278158e-01 1.21547795e-01 5.09288405e-02 8.16171093e+02] [-1.21253755e-01 9.92582219e-01 -8.83549198e-03 -1.31280904e+02] [-5.16249960e-02 2.58311708e-03 9.98663200e-01 -5.37805558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.940714057 meters 0.033327196951608386 Centerline is valid? [True, True] Translation: X:816.23, Y:-131.29, Z:-53.78 [[ 9.90653731e-01 1.25747131e-01 5.28473608e-02 8.16230246e+02] [-1.25436627e-01 9.92059300e-01 -9.16504870e-03 -1.31289356e+02] [-5.35801943e-02 2.45039501e-03 9.98560543e-01 -5.37844586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.000714057 meters 0.031276912681844626 Centerline is valid? [True, True] Translation: X:816.29, Y:-131.30, Z:-53.79 [[ 9.90357173e-01 1.27309392e-01 5.46350441e-02 8.16289057e+02] [-1.26979846e-01 9.91860037e-01 -9.47555240e-03 -1.31296816e+02] [-5.53966437e-02 2.44663181e-03 9.98461429e-01 -5.37880537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.060714057 meters 0.02879038066278973 Centerline is valid? [True, True] Translation: X:816.35, Y:-131.30, Z:-53.79 [[ 9.90270759e-01 1.26943662e-01 5.70011514e-02 8.16347418e+02] [-1.26585163e-01 9.91906626e-01 -9.87126987e-03 -1.31304641e+02] [-5.77929149e-02 2.55972987e-03 9.98325311e-01 -5.37906151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.120714057 meters 0.02920003232582804 Centerline is valid? [True, True] Translation: X:816.41, Y:-131.32, Z:-53.79 [[ 9.90462999e-01 1.25257492e-01 5.73899731e-02 8.16405075e+02] [-1.24891438e-01 9.92120665e-01 -9.93549721e-03 -1.31316186e+02] [-5.81822738e-02 2.67322607e-03 9.98302398e-01 -5.37945086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.180714057 meters 0.030427725986046473 Centerline is valid? [True, True] Translation: X:816.46, Y:-131.33, Z:-53.80 [[ 9.90976412e-01 1.21259475e-01 5.71129720e-02 8.16462719e+02] [-1.20891279e-01 9.92616673e-01 -9.87114206e-03 -1.31332236e+02] [-5.78882577e-02 2.87760868e-03 9.98318922e-01 -5.38005347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.240714057 meters 0.03316400038781811 Centerline is valid? [True, True] Translation: X:816.52, Y:-131.35, Z:-53.81 [[ 9.91384070e-01 1.18689676e-01 5.54110703e-02 8.16518635e+02] [-1.18339151e-01 9.92927055e-01 -9.57645836e-03 -1.31349056e+02] [-5.61557776e-02 2.93664927e-03 9.98417701e-01 -5.38070442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.300714057 meters 0.03109814811091674 Centerline is valid? [True, True] Translation: X:816.58, Y:-131.36, Z:-53.81 [[ 9.91417881e-01 1.18647720e-01 5.48935611e-02 8.16577331e+02] [-1.18303873e-01 9.92932155e-01 -9.48309080e-03 -1.31356411e+02] [-5.56307290e-02 2.90758490e-03 9.98447178e-01 -5.38105044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.360714057 meters 0.031123116468550985 Centerline is valid? [True, True] Translation: X:816.63, Y:-131.37, Z:-53.81 [[ 9.90886406e-01 1.22324088e-01 5.63998941e-02 8.16634768e+02] [-1.21967278e-01 9.92486342e-01 -9.73882729e-03 -1.31367412e+02] [-5.71674178e-02 2.77113000e-03 9.98360760e-01 -5.38132485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.420714057 meters 0.028367305269654752 Centerline is valid? [True, True] Translation: X:816.70, Y:-131.37, Z:-53.82 [[ 9.90337867e-01 1.25884402e-01 5.81723873e-02 8.16695070e+02] [-1.25511112e-01 9.92041396e-01 -1.00413762e-02 -1.31373258e+02] [-5.89734689e-02 2.64307405e-03 9.98256051e-01 -5.38151417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.480714057 meters 0.027696780994533866 Centerline is valid? [True, True] Translation: X:816.75, Y:-131.38, Z:-53.82 [[ 9.89801605e-01 1.29863180e-01 5.85520071e-02 8.16753748e+02] [-1.29491996e-01 9.91528968e-01 -1.01058836e-02 -1.31382129e+02] [-5.93683934e-02 2.42080356e-03 9.98233206e-01 -5.38186767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5407140570001 meters 0.02710614162879639 Centerline is valid? [True, True] Translation: X:816.81, Y:-131.39, Z:-53.82 [[ 9.89669845e-01 1.31072944e-01 5.80816779e-02 8.16811255e+02] [-1.30709898e-01 9.91369995e-01 -1.00227647e-02 -1.31392070e+02] [-5.88941460e-02 2.32737782e-03 9.98261520e-01 -5.38227763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.600714057 meters 0.026633614427480246 Centerline is valid? [True, True] Translation: X:816.87, Y:-131.40, Z:-53.83 [[ 9.89570854e-01 1.32029552e-01 5.75996723e-02 8.16869307e+02] [-1.31674380e-01 9.91243233e-01 -9.93531900e-03 -1.31402448e+02] [-5.84070412e-02 2.24730094e-03 9.98290322e-01 -5.38275864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6607140570001 meters 0.02682168589085198 Centerline is valid? [True, True] Translation: X:816.93, Y:-131.41, Z:-53.83 [[ 9.89163934e-01 1.34675928e-01 5.84560269e-02 8.16926355e+02] [-1.34314978e-01 9.90887435e-01 -1.00785506e-02 -1.31413512e+02] [-5.92806807e-02 2.11781874e-03 9.98239108e-01 -5.38309903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.720714057 meters 0.026196146246428558 Centerline is valid? [True, True] Translation: X:816.98, Y:-131.42, Z:-53.84 [[ 9.89049086e-01 1.35859219e-01 5.76556886e-02 8.16984364e+02] [-1.35510289e-01 9.90726102e-01 -9.93738643e-03 -1.31424416e+02] [-5.84710812e-02 2.01562394e-03 9.98287068e-01 -5.38361081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7807140570001 meters 0.02626879207671851 Centerline is valid? [True, True] Translation: X:817.04, Y:-131.44, Z:-53.84 [[ 9.89054136e-01 1.35955092e-01 5.73422091e-02 8.17041692e+02] [-1.35610982e-01 9.90713014e-01 -9.86840954e-03 -1.31437706e+02] [-5.81513333e-02 1.98415798e-03 9.98305808e-01 -5.38405954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.840714057 meters 0.02675775593501483 Centerline is valid? [True, True] Translation: X:817.10, Y:-131.45, Z:-53.84 [[ 9.88901847e-01 1.36509683e-01 5.86365454e-02 8.17097915e+02] [-1.36151080e-01 9.90636735e-01 -1.00867662e-02 -1.31450619e+02] [-5.94644571e-02 1.99139273e-03 9.98228437e-01 -5.38441827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9007140570001 meters 0.026027857398074724 Centerline is valid? [True, True] Translation: X:817.15, Y:-131.46, Z:-53.85 [[ 9.88860806e-01 1.36307046e-01 5.97887602e-02 8.17154327e+02] [-1.35934158e-01 9.90664543e-01 -1.02794650e-02 -1.31462364e+02] [-6.06317683e-02 2.03762527e-03 9.98158122e-01 -5.38472469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.960714057 meters 0.026732932482033626 Centerline is valid? [True, True] Translation: X:817.21, Y:-131.48, Z:-53.85 [[ 9.89240262e-01 1.33963989e-01 5.87992718e-02 8.17211724e+02] [-1.33599637e-01 9.90983894e-01 -1.01024369e-02 -1.31477960e+02] [-5.96224941e-02 2.13817601e-03 9.98218707e-01 -5.38528238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0207140570001 meters 0.0281956613793657 Centerline is valid? [True, True] Translation: X:817.27, Y:-131.49, Z:-53.86 [[ 9.89801926e-01 1.29879111e-01 5.85112250e-02 8.17267700e+02] [-1.29511318e-01 9.91527003e-01 -1.00509636e-02 -1.31494681e+02] [-5.93208697e-02 2.37059732e-03 9.98236152e-01 -5.38565598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.080714057 meters 0.029205478730733998 Centerline is valid? [True, True] Translation: X:817.33, Y:-131.51, Z:-53.86 [[ 9.89943791e-01 1.28412806e-01 5.93417344e-02 8.17325151e+02] [-1.28032124e-01 9.91717680e-01 -1.01891855e-02 -1.31507867e+02] [-6.01586690e-02 2.48907269e-03 9.98185724e-01 -5.38597516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1407140570001 meters 0.02750686357012998 Centerline is valid? [True, True] Translation: X:817.38, Y:-131.52, Z:-53.86 [[ 9.89617332e-01 1.30124139e-01 6.10347794e-02 8.17383907e+02] [-1.29724927e-01 9.91494686e-01 -1.04752782e-02 -1.31515561e+02] [-6.18787460e-02 2.44878452e-03 9.98080670e-01 -5.38614669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.200714057 meters 0.027718931709531217 Centerline is valid? [True, True] Translation: X:817.44, Y:-131.53, Z:-53.87 [[ 9.89408390e-01 1.31506979e-01 6.14569187e-02 8.17440257e+02] [-1.31105091e-01 9.91312399e-01 -1.05443361e-02 -1.31526410e+02] [-6.23096593e-02 2.37533973e-03 9.98054039e-01 -5.38655534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.260714057 meters 0.028835864756401597 Centerline is valid? [True, True] Translation: X:817.50, Y:-131.54, Z:-53.87 [[ 9.89523817e-01 1.31068294e-01 6.05286608e-02 8.17496263e+02] [-1.30677988e-01 9.91370530e-01 -1.03795819e-02 -1.31538765e+02] [-6.13667647e-02 2.36107989e-03 9.98112491e-01 -5.38718467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.320714057 meters 0.028635986868708586 Centerline is valid? [True, True] Translation: X:817.56, Y:-131.55, Z:-53.88 [[ 9.90209509e-01 1.25682175e-01 6.07381274e-02 8.17555202e+02] [-1.25279399e-01 9.92066887e-01 -1.04098106e-02 -1.31551417e+02] [-6.15646126e-02 2.69865737e-03 9.98099452e-01 -5.38773130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.380714057 meters 0.030766534716554685 Centerline is valid? [True, True] Translation: X:817.61, Y:-131.57, Z:-53.88 [[ 9.90715190e-01 1.21311265e-01 6.13758034e-02 8.17612286e+02] [-1.20891682e-01 9.92609981e-01 -1.05179230e-02 -1.31566729e+02] [-6.21981776e-02 3.00044196e-03 9.98059309e-01 -5.38812476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.440714057 meters 0.03301336204874762 Centerline is valid? [True, True] Translation: X:817.67, Y:-131.58, Z:-53.89 [[ 9.91294486e-01 1.15991109e-01 6.23001262e-02 8.17670243e+02] [-1.15548363e-01 9.93244488e-01 -1.06753311e-02 -1.31583444e+02] [-6.31175004e-02 3.38371926e-03 9.98000367e-01 -5.38864561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.500714057 meters 0.033890691316489 Centerline is valid? [True, True] Translation: X:817.73, Y:-131.60, Z:-53.89 [[ 9.91577012e-01 1.13560984e-01 6.22810830e-02 8.17728572e+02] [-1.13113754e-01 9.93524732e-01 -1.06717516e-02 -1.31595954e+02] [-6.30896909e-02 3.53701647e-03 9.98001593e-01 -5.38910706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.560714057 meters 0.033819011108721715 Centerline is valid? [True, True] Translation: X:817.79, Y:-131.61, Z:-53.89 [[ 9.91549344e-01 1.12924036e-01 6.38597014e-02 8.17786486e+02] [-1.12452652e-01 9.93596861e-01 -1.09398329e-02 -1.31605559e+02] [-6.46861689e-02 3.66619136e-03 9.97898922e-01 -5.38942058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.620714057 meters 0.03310502329686425 Centerline is valid? [True, True] Translation: X:817.84, Y:-131.61, Z:-53.90 [[ 9.91120490e-01 1.14510200e-01 6.75839409e-02 8.17844866e+02] [-1.13986165e-01 9.93414933e-01 -1.15725602e-02 -1.31612962e+02] [-6.84640724e-02 3.76616723e-03 9.97646474e-01 -5.38962081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.680714057 meters 0.034043062508464283 Centerline is valid? [True, True] Translation: X:817.90, Y:-131.62, Z:-53.90 [[ 9.90676448e-01 1.17265885e-01 6.93461474e-02 8.17902519e+02] [-1.16721200e-01 9.93093795e-01 -1.18691367e-02 -1.31622965e+02] [-7.02590735e-02 3.66430857e-03 9.97522048e-01 -5.39000787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.740714057 meters 0.033456463491344346 Centerline is valid? [True, True] Translation: X:817.96, Y:-131.63, Z:-53.91 [[ 9.90584025e-01 1.18892765e-01 6.78807794e-02 8.17960745e+02] [-1.18374951e-01 9.92901037e-01 -1.16146810e-02 -1.31631625e+02] [-6.87797978e-02 3.46993354e-03 9.97625831e-01 -5.39061925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.800714057 meters 0.033554652724852384 Centerline is valid? [True, True] Translation: X:818.02, Y:-131.64, Z:-53.91 [[ 9.90615585e-01 1.19386900e-01 6.65397005e-02 8.18018898e+02] [-1.18890731e-01 9.92842109e-01 -1.13816340e-02 -1.31640678e+02] [-6.74222345e-02 3.36387047e-03 9.97718862e-01 -5.39133897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.860714057 meters 0.034266536897981204 Centerline is valid? [True, True] Translation: X:818.08, Y:-131.65, Z:-53.92 [[ 9.90818946e-01 1.18332678e-01 6.53849706e-02 8.18076764e+02] [-1.17851627e-01 9.92968284e-01 -1.11795070e-02 -1.31651410e+02] [-6.62481030e-02 3.37114220e-03 9.97797487e-01 -5.39187805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.920714057 meters 0.03618128710932418 Centerline is valid? [True, True] Translation: X:818.13, Y:-131.66, Z:-53.92 [[ 9.90898085e-01 1.17402892e-01 6.58600441e-02 8.18133647e+02] [-1.16913085e-01 9.93078362e-01 -1.12559829e-02 -1.31663583e+02] [-6.67256696e-02 3.45363101e-03 9.97765382e-01 -5.39220265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.980714057 meters 0.03271165723814245 Centerline is valid? [True, True] Translation: X:818.19, Y:-131.67, Z:-53.93 [[ 9.90961410e-01 1.16810503e-01 6.59605273e-02 8.18192855e+02] [-1.16318276e-01 9.93148078e-01 -1.12674103e-02 -1.31666379e+02] [-6.68247227e-02 3.49315395e-03 9.97758615e-01 -5.39266104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0407140570001 meters 0.0341425376427715 Centerline is valid? [True, True] Translation: X:818.25, Y:-131.68, Z:-53.93 [[ 9.91117948e-01 1.15271242e-01 6.63155709e-02 8.18250870e+02] [-1.14770587e-01 9.93327488e-01 -1.13231945e-02 -1.31676820e+02] [-6.71783181e-02 3.61154426e-03 9.97734449e-01 -5.39299146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.100714057 meters 0.032684902739185194 Centerline is valid? [True, True] Translation: X:818.31, Y:-131.68, Z:-53.93 [[ 9.91143917e-01 1.13967363e-01 6.81555234e-02 8.18308809e+02] [-1.13435775e-01 9.93477235e-01 -1.16322586e-02 -1.31683622e+02] [-6.90366588e-02 3.79796776e-03 9.97606894e-01 -5.39326636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1607140570001 meters 0.03704814379659156 Centerline is valid? [True, True] Translation: X:818.37, Y:-131.70, Z:-53.94 [[ 9.91238715e-01 1.12267281e-01 6.95835260e-02 8.18365777e+02] [-1.11709421e-01 9.93670025e-01 -1.18695996e-02 -1.31699482e+02] [-7.04756316e-02 3.99247122e-03 9.97505512e-01 -5.39351950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.220714057 meters 0.03438756570423883 Centerline is valid? [True, True] Translation: X:818.42, Y:-131.70, Z:-53.94 [[ 9.91455086e-01 1.11084845e-01 6.83883733e-02 8.18423856e+02] [-1.10543480e-01 9.93802867e-01 -1.16619442e-02 -1.31704681e+02] [-6.92600267e-02 4.00240509e-03 9.97590612e-01 -5.39420782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2807140570001 meters 0.032878575618954006 Centerline is valid? [True, True] Translation: X:818.48, Y:-131.71, Z:-53.95 [[ 9.91630680e-01 1.10899570e-01 6.61050690e-02 8.18482123e+02] [-1.10393719e-01 9.93824060e-01 -1.12678632e-02 -1.31711745e+02] [-6.69464092e-02 3.87597450e-03 9.97749044e-01 -5.39484292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.340714057 meters 0.0329241358286632 Centerline is valid? [True, True] Translation: X:818.54, Y:-131.72, Z:-53.95 [[ 9.91641425e-01 1.11407351e-01 6.50821457e-02 8.18540575e+02] [-1.10918465e-01 9.93767646e-01 -1.10887041e-02 -1.31720932e+02] [-6.59118939e-02 3.77720666e-03 9.97818298e-01 -5.39530565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4007140570001 meters 0.03186195896381588 Centerline is valid? [True, True] Translation: X:818.60, Y:-131.73, Z:-53.96 [[ 9.91370852e-01 1.13842885e-01 6.49894667e-02 8.18600515e+02] [-1.13360838e-01 9.93492220e-01 -1.10693286e-02 -1.31727473e+02] [-6.58266938e-02 3.60654932e-03 9.97824553e-01 -5.39566556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.460714057 meters 0.03071417961565273 Centerline is valid? [True, True] Translation: X:818.66, Y:-131.73, Z:-53.96 [[ 9.90922879e-01 1.17654566e-01 6.50326942e-02 8.18660377e+02] [-1.17180130e-01 9.93048917e-01 -1.10754709e-02 -1.31732747e+02] [-6.58837262e-02 3.35439801e-03 9.97821669e-01 -5.39598070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5207140570001 meters 0.028994723654438514 Centerline is valid? [True, True] Translation: X:818.72, Y:-131.74, Z:-53.96 [[ 9.90491374e-01 1.20492385e-01 6.63959554e-02 8.18719886e+02] [-1.20004255e-01 9.92708993e-01 -1.13063251e-02 -1.31737263e+02] [-6.72741882e-02 3.23102028e-03 9.97729294e-01 -5.39628550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.580714057 meters 0.029729708705766595 Centerline is valid? [True, True] Translation: X:818.78, Y:-131.75, Z:-53.97 [[ 9.90323673e-01 1.21259838e-01 6.74912966e-02 8.18777078e+02] [-1.20757421e-01 9.92615549e-01 -1.14899039e-02 -1.31747088e+02] [-6.83861743e-02 3.22864894e-03 9.97653701e-01 -5.39658375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6407140570001 meters 0.028930848230536776 Centerline is valid? [True, True] Translation: X:818.84, Y:-131.75, Z:-53.97 [[ 9.90375631e-01 1.20645596e-01 6.78288294e-02 8.18835095e+02] [-1.20137281e-01 9.92690228e-01 -1.15388777e-02 -1.31754098e+02] [-6.87251309e-02 3.27905207e-03 9.97630244e-01 -5.39693560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.700714057 meters 0.028377620462599593 Centerline is valid? [True, True] Translation: X:818.89, Y:-131.76, Z:-53.97 [[ 9.90618856e-01 1.18920399e-01 6.73217716e-02 8.18893107e+02] [-1.18416044e-01 9.92898078e-01 -1.14475589e-02 -1.31762143e+02] [-6.82050060e-02 3.36818985e-03 9.97665642e-01 -5.39738586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.760714057 meters 0.031033083123615586 Centerline is valid? [True, True] Translation: X:818.95, Y:-131.78, Z:-53.98 [[ 9.91003956e-01 1.16972265e-01 6.50280578e-02 8.18949710e+02] [-1.16497886e-01 9.93129438e-01 -1.10526780e-02 -1.31775402e+02] [-6.58741353e-02 3.37761633e-03 9.97822224e-01 -5.39792090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.820714057 meters 0.0313805952907743 Centerline is valid? [True, True] Translation: X:819.01, Y:-131.79, Z:-53.98 [[ 9.91023940e-01 1.17475505e-01 6.38048246e-02 8.19007632e+02] [-1.17020180e-01 9.93070376e-01 -1.08400084e-02 -1.31785801e+02] [-6.46361167e-02 3.27625583e-03 9.97903522e-01 -5.39835017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.880714057 meters 0.02921575242657037 Centerline is valid? [True, True] Translation: X:819.07, Y:-131.79, Z:-53.99 [[ 9.90840483e-01 1.18704283e-01 6.43772449e-02 8.19066592e+02] [-1.18243633e-01 9.92924430e-01 -1.09325010e-02 -1.31791342e+02] [-6.52194739e-02 3.22016530e-03 9.97865748e-01 -5.39869466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.940714057 meters 0.028413738493027613 Centerline is valid? [True, True] Translation: X:819.13, Y:-131.80, Z:-53.99 [[ 9.90315619e-01 1.23120369e-01 6.41587836e-02 8.19125519e+02] [-1.22672391e-01 9.92387465e-01 -1.08905718e-02 -1.31799229e+02] [-6.50112238e-02 2.91459197e-03 9.97880276e-01 -5.39911653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.000714057 meters 0.025990096348548732 Centerline is valid? [True, True] Translation: X:819.19, Y:-131.80, Z:-53.99 [[ 9.89769898e-01 1.27737327e-01 6.35509534e-02 8.19185567e+02] [-1.27307446e-01 9.91804667e-01 -1.07850310e-02 -1.31804525e+02] [-6.44077832e-02 2.58418944e-03 9.97920317e-01 -5.39949932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.060714057 meters 0.026184744078717907 Centerline is valid? [True, True] Translation: X:819.24, Y:-131.82, Z:-54.00 [[ 9.89268350e-01 1.31371128e-01 6.39512255e-02 8.19242936e+02] [-1.30943457e-01 9.91330445e-01 -1.08517138e-02 -1.31816203e+02] [-6.48223987e-02 2.36126243e-03 9.97894023e-01 -5.39990692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.120714057 meters 0.026563475660315607 Centerline is valid? [True, True] Translation: X:819.30, Y:-131.83, Z:-54.00 [[ 9.88987420e-01 1.33420120e-01 6.40543092e-02 8.19299546e+02] [-1.32995593e-01 9.91057068e-01 -1.08655411e-02 -1.31828085e+02] [-6.49311577e-02 2.22694266e-03 9.97887261e-01 -5.40023605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.180714057 meters 0.02498750157999501 Centerline is valid? [True, True] Translation: X:819.36, Y:-131.84, Z:-54.01 [[ 9.88726687e-01 1.35836676e-01 6.29915511e-02 8.19357397e+02] [-1.35431571e-01 9.90729173e-01 -1.06768252e-02 -1.31836867e+02] [-6.38578718e-02 2.02541728e-03 9.97956948e-01 -5.40067126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.240714057 meters 0.025661862534793252 Centerline is valid? [True, True] Translation: X:819.41, Y:-131.85, Z:-54.01 [[ 9.88728515e-01 1.35661478e-01 6.33394537e-02 8.19413744e+02] [-1.35251824e-01 9.90753142e-01 -1.07310700e-02 -1.31851118e+02] [-6.42095556e-02 2.04333825e-03 9.97934345e-01 -5.40112089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.300714057 meters 0.02575897502564844 Centerline is valid? [True, True] Translation: X:819.47, Y:-131.86, Z:-54.01 [[ 9.89079480e-01 1.33375283e-01 6.27121745e-02 8.19470957e+02] [-1.32969567e-01 9.91063245e-01 -1.06178911e-02 -1.31864707e+02] [-6.35678954e-02 2.16312755e-03 9.97975172e-01 -5.40149944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.360714057 meters 0.026569701598686782 Centerline is valid? [True, True] Translation: X:819.53, Y:-131.88, Z:-54.02 [[ 9.89696390e-01 1.29212790e-01 6.16855880e-02 8.19527961e+02] [-1.28812478e-01 9.91614018e-01 -1.04395401e-02 -1.31881123e+02] [-6.25172159e-02 2.38610165e-03 9.98041033e-01 -5.40199509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.420714057 meters 0.027438371970145207 Centerline is valid? [True, True] Translation: X:819.58, Y:-131.89, Z:-54.02 [[ 9.89830199e-01 1.28198153e-01 6.16555762e-02 8.19584141e+02] [-1.27796480e-01 9.91745558e-01 -1.04310623e-02 -1.31894566e+02] [-6.24838868e-02 2.44561489e-03 9.98042977e-01 -5.40236186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.480714057 meters 0.028200758517174483 Centerline is valid? [True, True] Translation: X:819.64, Y:-131.91, Z:-54.03 [[ 9.89934380e-01 1.27041197e-01 6.23735269e-02 8.19640411e+02] [-1.26628181e-01 9.91894183e-01 -1.05466843e-02 -1.31910657e+02] [-6.32078020e-02 2.54227909e-03 9.97997150e-01 -5.40280931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5407140570001 meters 0.026950520043117442 Centerline is valid? [True, True] Translation: X:819.70, Y:-131.92, Z:-54.03 [[ 9.89584687e-01 1.29765075e-01 6.23151055e-02 8.19698201e+02] [-1.29358587e-01 9.91541958e-01 -1.05309919e-02 -1.31923387e+02] [-6.31545966e-02 2.36031437e-03 9.98000965e-01 -5.40318686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.600714057 meters 0.02594330940486116 Centerline is valid? [True, True] Translation: X:819.76, Y:-131.93, Z:-54.04 [[ 9.88802133e-01 1.35691405e-01 6.21142832e-02 8.19756495e+02] [-1.35299413e-01 9.90749188e-01 -1.04935730e-02 -1.31934937e+02] [-6.29635633e-02 1.97204129e-03 9.98013878e-01 -5.40361996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6607140570001 meters 0.02545974107865958 Centerline is valid? [True, True] Translation: X:819.81, Y:-131.95, Z:-54.04 [[ 9.88387486e-01 1.38801993e-01 6.18399982e-02 8.19814050e+02] [-1.38419671e-01 9.90318583e-01 -1.04450509e-02 -1.31945522e+02] [-6.26910932e-02 1.76388538e-03 9.98031420e-01 -5.40405910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.720714057 meters 0.02485107462215994 Centerline is valid? [True, True] Translation: X:819.87, Y:-131.96, Z:-54.04 [[ 9.88060793e-01 1.40844775e-01 6.24389226e-02 8.19871700e+02] [-1.40459367e-01 9.90030324e-01 -1.05415689e-02 -1.31958669e+02] [-6.33011516e-02 1.64557940e-03 9.97993114e-01 -5.40439507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7807140570001 meters 0.02487624092255727 Centerline is valid? [True, True] Translation: X:819.93, Y:-131.97, Z:-54.05 [[ 9.87949833e-01 1.41027893e-01 6.37672407e-02 8.19928460e+02] [-1.40626584e-01 9.90004225e-01 -1.07610002e-02 -1.31973974e+02] [-6.46474389e-02 1.66395916e-03 9.97906779e-01 -5.40473433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.840714057 meters 0.025372321744025036 Centerline is valid? [True, True] Translation: X:819.98, Y:-131.99, Z:-54.05 [[ 9.88285655e-01 1.39793117e-01 6.12319179e-02 8.19984934e+02] [-1.39421027e-01 9.90179324e-01 -1.03288203e-02 -1.31991248e+02] [-6.20744770e-02 1.67080811e-03 9.98070122e-01 -5.40537024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9007140570001 meters 0.026438492272490455 Centerline is valid? [True, True] Translation: X:820.04, Y:-132.01, Z:-54.06 [[ 9.88656691e-01 1.37093911e-01 6.13449800e-02 8.20040840e+02] [-1.36715530e-01 9.90556347e-01 -1.03434738e-02 -1.32009388e+02] [-6.21836865e-02 1.83933306e-03 9.98063027e-01 -5.40584841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.960714057 meters 0.027276716593748997 Centerline is valid? [True, True] Translation: X:820.10, Y:-132.03, Z:-54.06 [[ 9.89007484e-01 1.34342365e-01 6.17764186e-02 8.20098575e+02] [-1.33953635e-01 9.90932917e-01 -1.04105077e-02 -1.32025457e+02] [-6.26148589e-02 2.02089421e-03 9.98035719e-01 -5.40615033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0207140570001 meters 0.02875702301817072 Centerline is valid? [True, True] Translation: X:820.16, Y:-132.04, Z:-54.07 [[ 9.89867367e-01 1.28026079e-01 6.14159539e-02 8.20156598e+02] [-1.27629880e-01 9.91767888e-01 -1.03474941e-02 -1.32044315e+02] [-6.22351200e-02 2.40413597e-03 9.98058621e-01 -5.40658997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.080714057 meters 0.03200296779190255 Centerline is valid? [True, True] Translation: X:820.21, Y:-132.07, Z:-54.07 [[ 9.90416254e-01 1.23098850e-01 6.26284004e-02 8.20212955e+02] [-1.22677000e-01 9.92390555e-01 -1.05517866e-02 -1.32066233e+02] [-6.34507458e-02 2.76759669e-03 9.97981134e-01 -5.40682523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1407140570001 meters 0.03296125000175349 Centerline is valid? [True, True] Translation: X:820.27, Y:-132.08, Z:-54.07 [[ 9.90569514e-01 1.20921337e-01 6.44210227e-02 8.20270691e+02] [-1.20470427e-01 9.92657591e-01 -1.08528351e-02 -1.32081365e+02] [-6.52603565e-02 2.98965945e-03 9.97863792e-01 -5.40701137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.200714057 meters 0.03469529069892684 Centerline is valid? [True, True] Translation: X:820.33, Y:-132.10, Z:-54.07 [[ 9.90759730e-01 1.19447361e-01 6.42455025e-02 8.20327097e+02] [-1.18995967e-01 9.92835770e-01 -1.08210008e-02 -1.32097078e+02] [-6.50777730e-02 3.07605611e-03 9.97875454e-01 -5.40747178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.260714057 meters 0.031513308508190715 Centerline is valid? [True, True] Translation: X:820.39, Y:-132.10, Z:-54.08 [[ 9.90863779e-01 1.18467912e-01 6.44540529e-02 8.20385910e+02] [-1.18011733e-01 9.92952893e-01 -1.08527578e-02 -1.32103776e+02] [-6.52855419e-02 3.14727010e-03 9.97861660e-01 -5.40785055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.320714057 meters 0.03207279250912662 Centerline is valid? [True, True] Translation: X:820.44, Y:-132.12, Z:-54.08 [[ 9.91025017e-01 1.17024714e-01 6.46113887e-02 8.20444168e+02] [-1.16563478e-01 9.93123696e-01 -1.08756805e-02 -1.32116046e+02] [-6.54398245e-02 3.24674321e-03 9.97851235e-01 -5.40828710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.380714057 meters 0.03219193554940547 Centerline is valid? [True, True] Translation: X:820.50, Y:-132.13, Z:-54.09 [[ 9.91193124e-01 1.16129457e-01 6.36407210e-02 8.20502153e+02] [-1.15680307e-01 9.93228757e-01 -1.07099834e-02 -1.32126780e+02] [-6.44535387e-02 3.25368373e-03 9.97915405e-01 -5.40874843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.440714057 meters 0.031249068912839684 Centerline is valid? [True, True] Translation: X:820.56, Y:-132.14, Z:-54.09 [[ 9.91164443e-01 1.16652118e-01 6.31294756e-02 8.20561149e+02] [-1.16211446e-01 9.93167713e-01 -1.06204596e-02 -1.32135092e+02] [-6.39370559e-02 3.19025422e-03 9.97948834e-01 -5.40921034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.500714057 meters 0.03182194253949392 Centerline is valid? [True, True] Translation: X:820.62, Y:-132.15, Z:-54.10 [[ 9.90869129e-01 1.19658217e-01 6.21311618e-02 8.20618534e+02] [-1.19237429e-01 9.92810773e-01 -1.04501464e-02 -1.32145446e+02] [-6.29349327e-02 2.94636747e-03 9.98013283e-01 -5.40959384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.560714057 meters 0.030623499926321827 Centerline is valid? [True, True] Translation: X:820.68, Y:-132.15, Z:-54.10 [[ 9.90320814e-01 1.23672721e-01 6.30059057e-02 8.20677472e+02] [-1.23248072e-01 9.92319307e-01 -1.05974004e-02 -1.32153359e+02] [-6.38325861e-02 2.72946985e-03 9.97956888e-01 -5.40988173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.620714057 meters 0.029740023095307454 Centerline is valid? [True, True] Translation: X:820.74, Y:-132.16, Z:-54.10 [[ 9.89947258e-01 1.26583603e-01 6.30953123e-02 8.20736208e+02] [-1.26163787e-01 9.91952682e-01 -1.06101295e-02 -1.32162139e+02] [-6.39306327e-02 2.54312503e-03 9.97951104e-01 -5.41027471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.680714057 meters 0.02798558867371915 Centerline is valid? [True, True] Translation: X:820.79, Y:-132.17, Z:-54.11 [[ 9.89631371e-01 1.28758809e-01 6.36468308e-02 8.20794377e+02] [-1.28336249e-01 9.91672983e-01 -1.07005184e-02 -1.32169691e+02] [-6.44946285e-02 2.42137320e-03 9.97915117e-01 -5.41061672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.740714057 meters 0.030015621659190837 Centerline is valid? [True, True] Translation: X:820.85, Y:-132.19, Z:-54.11 [[ 9.89343763e-01 1.30441928e-01 6.46824775e-02 8.20850432e+02] [-1.30009403e-01 9.91453179e-01 -1.08695912e-02 -1.32185335e+02] [-6.55474984e-02 2.34443192e-03 9.97846696e-01 -5.41093853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.800714057 meters 0.029657070076877626 Centerline is valid? [True, True] Translation: X:820.91, Y:-132.20, Z:-54.11 [[ 9.89041449e-01 1.32068624e-01 6.59915904e-02 8.20908196e+02] [-1.31622416e-01 9.91237963e-01 -1.10833533e-02 -1.32198236e+02] [-6.68771329e-02 2.27592318e-03 9.97758623e-01 -5.41127687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.860714057 meters 0.028145876150632052 Centerline is valid? [True, True] Translation: X:820.97, Y:-132.21, Z:-54.12 [[ 9.88948878e-01 1.32861197e-01 6.57876791e-02 8.20965832e+02] [-1.32419730e-01 9.91132186e-01 -1.10456076e-02 -1.32208051e+02] [-6.66718188e-02 2.21195450e-03 9.97772507e-01 -5.41177222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.920714057 meters 0.028461513163689518 Centerline is valid? [True, True] Translation: X:821.02, Y:-132.22, Z:-54.12 [[ 9.89001530e-01 1.32404494e-01 6.59167952e-02 8.21021513e+02] [-1.31960608e-01 9.91193231e-01 -1.10623632e-02 -1.32223299e+02] [-6.68009878e-02 2.24227375e-03 9.97763800e-01 -5.41214992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.980714057 meters 0.027959534322395414 Centerline is valid? [True, True] Translation: X:821.08, Y:-132.24, Z:-54.13 [[ 9.89212965e-01 1.30944284e-01 6.56605311e-02 8.21080214e+02] [-1.30501028e-01 9.91387000e-01 -1.10135038e-02 -1.32235213e+02] [-6.65371524e-02 2.32593393e-03 9.97781237e-01 -5.41261948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0407140570001 meters 0.030315115627143552 Centerline is valid? [True, True] Translation: X:821.14, Y:-132.25, Z:-54.13 [[ 9.89408105e-01 1.29284477e-01 6.60085285e-02 8.21136430e+02] [-1.28832986e-01 9.91604524e-01 -1.10693471e-02 -1.32254540e+02] [-6.68854502e-02 2.44802585e-03 9.97757658e-01 -5.41292759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.100714057 meters 0.030149082871990956 Centerline is valid? [True, True] Translation: X:821.19, Y:-132.27, Z:-54.13 [[ 9.89426471e-01 1.28393259e-01 6.74568735e-02 8.21194790e+02] [-1.27919891e-01 9.91720030e-01 -1.13085544e-02 -1.32268956e+02] [-6.83502747e-02 2.55990717e-03 9.97658101e-01 -5.41321835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1607140570001 meters 0.03087676359734815 Centerline is valid? [True, True] Translation: X:821.25, Y:-132.28, Z:-54.14 [[ 9.89523928e-01 1.27872263e-01 6.70155193e-02 8.21252492e+02] [-1.27403963e-01 9.91787296e-01 -1.12334629e-02 -1.32284399e+02] [-6.79015890e-02 2.57773762e-03 9.97688694e-01 -5.41361096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.220714057 meters 0.03068190966819763 Centerline is valid? [True, True] Translation: X:821.31, Y:-132.30, Z:-54.14 [[ 9.89381324e-01 1.29193537e-01 6.65854736e-02 8.21311244e+02] [-1.28734168e-01 9.91616317e-01 -1.11621649e-02 -1.32299046e+02] [-6.74693216e-02 2.47181197e-03 9.97718287e-01 -5.41412129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2807140570001 meters 0.026884561792798762 Centerline is valid? [True, True] Translation: X:821.37, Y:-132.31, Z:-54.14 [[ 9.88507513e-01 1.35656533e-01 6.67098395e-02 8.21371495e+02] [-1.35210111e-01 9.90753837e-01 -1.11830682e-02 -1.32306163e+02] [-6.76100857e-02 2.03470210e-03 9.97709746e-01 -5.41443712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.340714057 meters 0.0267484866835282 Centerline is valid? [True, True] Translation: X:821.43, Y:-132.32, Z:-54.15 [[ 9.88179075e-01 1.37768864e-01 6.72447398e-02 8.21431266e+02] [-1.37320039e-01 9.90462571e-01 -1.12739491e-02 -1.32316768e+02] [-6.81565970e-02 1.90663027e-03 9.97672814e-01 -5.41483778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4007140570001 meters 0.025304914480949646 Centerline is valid? [True, True] Translation: X:821.49, Y:-132.33, Z:-54.15 [[ 9.87247864e-01 1.44588305e-01 6.66023776e-02 8.21489941e+02] [-1.44163506e-01 9.89490879e-01 -1.11662013e-02 -1.32328686e+02] [-6.75169472e-02 1.42217609e-03 9.97717114e-01 -5.41521110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.460714057 meters 0.02488934354244654 Centerline is valid? [True, True] Translation: X:821.55, Y:-132.34, Z:-54.16 [[ 9.86782061e-01 1.47416967e-01 6.73008255e-02 8.21547720e+02] [-1.46989856e-01 9.89073657e-01 -1.12819717e-02 -1.32343248e+02] [-6.82286277e-02 1.24030866e-03 9.97668941e-01 -5.41558334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5207140570001 meters 0.024489005617933435 Centerline is valid? [True, True] Translation: X:821.60, Y:-132.36, Z:-54.16 [[ 9.86812407e-01 1.47074142e-01 6.76052578e-02 8.21604880e+02] [-1.46642520e-01 9.89124659e-01 -1.13305157e-02 -1.32360210e+02] [-6.85364535e-02 1.26728809e-03 9.97647808e-01 -5.41588845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.580714057 meters 0.02489526789781116 Centerline is valid? [True, True] Translation: X:821.66, Y:-132.38, Z:-54.16 [[ 9.87588046e-01 1.41856565e-01 6.74282288e-02 8.21662885e+02] [-1.41415209e-01 9.89885893e-01 -1.12985819e-02 -1.32381082e+02] [-6.83490305e-02 1.62296736e-03 9.97660151e-01 -5.41625907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6407140570001 meters 0.026017484625415838 Centerline is valid? [True, True] Translation: X:821.72, Y:-132.40, Z:-54.17 [[ 9.88399305e-01 1.36006305e-01 6.75951060e-02 8.21721445e+02] [-1.35549007e-01 9.90705884e-01 -1.13277749e-02 -1.32400078e+02] [-6.85075181e-02 2.03391539e-03 9.97648527e-01 -5.41654173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.700714057 meters 0.030500492481980605 Centerline is valid? [True, True] Translation: X:821.78, Y:-132.43, Z:-54.17 [[ 9.89961836e-01 1.24149169e-01 6.75466321e-02 8.21777802e+02] [-1.23664873e-01 9.92259461e-01 -1.13208101e-02 -1.32426808e+02] [-6.84292539e-02 2.85402425e-03 9.97651889e-01 -5.41688760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.760714057 meters 0.031810967482716085 Centerline is valid? [True, True] Translation: X:821.84, Y:-132.45, Z:-54.17 [[ 9.91251337e-01 1.13668786e-01 6.70834802e-02 8.21836356e+02] [-1.13167175e-01 9.93512346e-01 -1.12431285e-02 -1.32446000e+02] [-6.79262586e-02 3.55311821e-03 9.97684018e-01 -5.41732379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.820714057 meters 0.03483104090781826 Centerline is valid? [True, True] Translation: X:821.89, Y:-132.46, Z:-54.18 [[ 9.91928868e-01 1.07857695e-01 6.66621257e-02 8.21894790e+02] [-1.07349256e-01 9.94158588e-01 -1.11731832e-02 -1.32463325e+02] [-6.74778385e-02 3.92687338e-03 9.97713045e-01 -5.41775839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.880714057 meters 0.03702261403718293 Centerline is valid? [True, True] Translation: X:821.95, Y:-132.48, Z:-54.18 [[ 9.93019880e-01 9.86992604e-02 6.45753315e-02 8.21953789e+02] [-9.82029085e-02 9.95107551e-01 -1.08236190e-02 -1.32477368e+02] [-6.53276831e-02 4.40658351e-03 9.97854136e-01 -5.41827272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.940714057 meters 0.037565204789383154 Centerline is valid? [True, True] Translation: X:822.01, Y:-132.49, Z:-54.19 [[ 9.93424709e-01 9.42912259e-02 6.49346762e-02 8.22013926e+02] [-9.37799452e-02 9.95533454e-01 -1.08840930e-02 -1.32487190e+02] [-6.56709170e-02 4.72295654e-03 9.97830158e-01 -5.41855966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.000714057 meters 0.04176216612220646 Centerline is valid? [True, True] Translation: X:822.07, Y:-132.50, Z:-54.19 [[ 9.93832048e-01 8.78498585e-02 6.76776382e-02 8.22073229e+02] [-8.72795299e-02 9.96119267e-01 -1.13441122e-02 -1.32500199e+02] [-6.84115780e-02 5.36726985e-03 9.97642746e-01 -5.41866640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.060714057 meters 0.04069278778967066 Centerline is valid? [True, True] Translation: X:822.13, Y:-132.50, Z:-54.19 [[ 9.94263449e-01 8.16770368e-02 6.90583492e-02 8.22133828e+02] [-8.10683203e-02 9.96641318e-01 -1.15763244e-02 -1.32502219e+02] [-6.97719241e-02 5.91147189e-03 9.97545454e-01 -5.41901031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.120714057 meters 0.045377023155082165 Centerline is valid? [True, True] Translation: X:822.19, Y:-132.51, Z:-54.20 [[ 9.94573004e-01 7.83933136e-02 6.84034254e-02 8.22192055e+02] [-7.77884003e-02 9.96903947e-01 -1.14666896e-02 -1.32512172e+02] [-6.90905566e-02 6.08346691e-03 9.97591844e-01 -5.41953934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.180714057 meters 0.05311061967133731 Centerline is valid? [True, True] Translation: X:822.25, Y:-132.52, Z:-54.20 [[ 9.95115230e-01 7.24845221e-02 6.70199518e-02 8.22250223e+02] [-7.18906578e-02 9.97349253e-01 -1.12339022e-02 -1.32523190e+02] [-6.76565829e-02 6.36091872e-03 9.97688391e-01 -5.42008066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.240714057 meters 0.05133887894714552 Centerline is valid? [True, True] Translation: X:822.31, Y:-132.52, Z:-54.20 [[ 9.95546433e-01 6.70888150e-02 6.62298317e-02 8.22312339e+02] [-6.64969851e-02 9.97724850e-01 -1.11028769e-02 -1.32518266e+02] [-6.68240278e-02 6.64934538e-03 9.97742620e-01 -5.42048978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.300714057 meters 0.052151989890643985 Centerline is valid? [True, True] Translation: X:822.37, Y:-132.52, Z:-54.21 [[ 9.95802068e-01 6.33537444e-02 6.60647060e-02 8.22374901e+02] [-6.27567201e-02 9.97967398e-01 -1.10755030e-02 -1.32516128e+02] [-6.66320973e-02 6.88300453e-03 9.97753871e-01 -5.42080578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.360714057 meters 0.0535149874013475 Centerline is valid? [True, True] Translation: X:822.44, Y:-132.51, Z:-54.21 [[ 9.96024407e-01 6.06584535e-02 6.52375098e-02 8.22436669e+02] [-6.00704799e-02 9.98134201e-01 -1.09386906e-02 -1.32513733e+02] [-6.57793137e-02 6.97635432e-03 9.97809808e-01 -5.42131455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.420714057 meters 0.05342851740979777 Centerline is valid? [True, True] Translation: X:822.50, Y:-132.51, Z:-54.22 [[ 9.96184047e-01 5.96776673e-02 6.36861161e-02 8.22499541e+02] [-5.91153827e-02 9.98194037e-01 -1.06787866e-02 -1.32513014e+02] [-6.42083864e-02 6.87320775e-03 9.97912843e-01 -5.42178690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.480714057 meters 0.05370979065150133 Centerline is valid? [True, True] Translation: X:822.56, Y:-132.51, Z:-54.22 [[ 9.96137472e-01 6.04126381e-02 6.37216674e-02 8.22563482e+02] [-5.98508956e-02 9.98150090e-01 -1.06896183e-02 -1.32508290e+02] [-6.42495761e-02 6.83453047e-03 9.97910458e-01 -5.42203519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5407140570001 meters 0.05447576045115511 Centerline is valid? [True, True] Translation: X:822.63, Y:-132.51, Z:-54.22 [[ 9.95963346e-01 6.16164279e-02 6.52719665e-02 8.22626306e+02] [-6.10283690e-02 9.98075779e-01 -1.09671229e-02 -1.32505592e+02] [-6.58221237e-02 6.93941074e-03 9.97807242e-01 -5.42208936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.600714057 meters 0.05539089261510295 Centerline is valid? [True, True] Translation: X:822.69, Y:-132.50, Z:-54.22 [[ 9.95998426e-01 6.29125509e-02 6.34755570e-02 8.22688735e+02] [-6.23589235e-02 9.97996777e-01 -1.06676242e-02 -1.32504703e+02] [-6.40195288e-02 6.66666948e-03 9.97926378e-01 -5.42242799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6607140570001 meters 0.054170644397641576 Centerline is valid? [True, True] Translation: X:822.75, Y:-132.50, Z:-54.23 [[ 9.96097416e-01 6.43786476e-02 6.03765490e-02 8.22750890e+02] [-6.38803759e-02 9.97905956e-01 -1.01489486e-02 -1.32502638e+02] [-6.09034935e-02 6.25246485e-03 9.98124076e-01 -5.42307830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.720714057 meters 0.05149127593401696 Centerline is valid? [True, True] Translation: X:822.81, Y:-132.50, Z:-54.24 [[ 9.96158318e-01 6.53947280e-02 5.82420349e-02 8.22814317e+02] [-6.49327845e-02 9.97841606e-01 -9.79098707e-03 -1.32501957e+02] [-5.87566046e-02 5.97155571e-03 9.98254478e-01 -5.42353389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7807140570001 meters 0.05589622804570061 Centerline is valid? [True, True] Translation: X:822.87, Y:-132.51, Z:-54.24 [[ 9.96206235e-01 6.66735106e-02 5.59265687e-02 8.22874754e+02] [-6.62487082e-02 9.97758696e-01 -9.41768562e-03 -1.32505901e+02] [-5.64291305e-02 5.67689419e-03 9.98390468e-01 -5.42389512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.840714057 meters 0.04727100914634388 Centerline is valid? [True, True] Translation: X:822.94, Y:-132.49, Z:-54.24 [[ 9.96237000e-01 6.75602731e-02 5.42904199e-02 8.22939871e+02] [-6.71613737e-02 9.97700254e-01 -9.14076879e-03 -1.32494745e+02] [-5.47831185e-02 5.46015289e-03 9.98483348e-01 -5.42413724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9007140570001 meters 0.05211546595337154 Centerline is valid? [True, True] Translation: X:823.00, Y:-132.51, Z:-54.24 [[ 9.96194304e-01 6.78552246e-02 5.47044463e-02 8.23001217e+02] [-6.74498347e-02 9.97680016e-01 -9.22521783e-03 -1.32505507e+02] [-5.52035121e-02 5.50030360e-03 9.98459974e-01 -5.42449120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.960714057 meters 0.05321651414630127 Centerline is valid? [True, True] Translation: X:823.06, Y:-132.51, Z:-54.25 [[ 9.96070173e-01 6.85151618e-02 5.61238277e-02 8.23064548e+02] [-6.80885266e-02 9.97634231e-01 -9.48118523e-03 -1.32506487e+02] [-5.66406567e-02 5.62253707e-03 9.98378797e-01 -5.42457783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0207140570001 meters 0.05072707848638048 Centerline is valid? [True, True] Translation: X:823.13, Y:-132.51, Z:-54.25 [[ 9.96019628e-01 6.89047385e-02 5.65423468e-02 8.23127485e+02] [-6.84714957e-02 9.97607206e-01 -9.56645835e-03 -1.32508912e+02] [-5.70662269e-02 5.65684124e-03 9.98354369e-01 -5.42485657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.080714057 meters 0.05466019050172489 Centerline is valid? [True, True] Translation: X:823.19, Y:-132.52, Z:-54.25 [[ 9.96226405e-01 6.73686106e-02 5.47213014e-02 8.23187009e+02] [-6.69596882e-02 9.97712578e-01 -9.27428161e-03 -1.32517590e+02] [-5.52209261e-02 5.57516294e-03 9.98458596e-01 -5.42531598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1407140570001 meters 0.052047742375045905 Centerline is valid? [True, True] Translation: X:823.25, Y:-132.52, Z:-54.26 [[ 9.96438811e-01 6.63989713e-02 5.19699149e-02 8.23248547e+02] [-6.60288334e-02 9.97778832e-01 -8.80886203e-03 -1.32517382e+02] [-5.24393803e-02 5.34597916e-03 9.98609800e-01 -5.42581791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.200714057 meters 0.053556872560093595 Centerline is valid? [True, True] Translation: X:823.31, Y:-132.53, Z:-54.26 [[ 9.96461503e-01 6.65573361e-02 5.13282917e-02 8.23308380e+02] [-6.61964387e-02 9.97768670e-01 -8.70128083e-03 -1.32527054e+02] [-5.17928954e-02 5.27274126e-03 9.98643928e-01 -5.42631889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.260714057 meters 0.05219409803878628 Centerline is valid? [True, True] Translation: X:823.37, Y:-132.53, Z:-54.27 [[ 9.96322486e-01 6.86696525e-02 5.12443425e-02 8.23370100e+02] [-6.83127184e-02 9.97626140e-01 -8.68667322e-03 -1.32527908e+02] [-5.17192065e-02 5.15408751e-03 9.98648366e-01 -5.42672794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.320714057 meters 0.05025950076717065 Centerline is valid? [True, True] Translation: X:823.43, Y:-132.53, Z:-54.27 [[ 9.96091382e-01 7.17181751e-02 5.15602870e-02 8.23431081e+02] [-7.13607588e-02 9.97412260e-01 -8.74219803e-03 -1.32530267e+02] [-5.20538369e-02 5.02864690e-03 9.98631619e-01 -5.42708087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.380714057 meters 0.052990876488194456 Centerline is valid? [True, True] Translation: X:823.49, Y:-132.54, Z:-54.27 [[ 9.95869674e-01 7.46842670e-02 5.16318962e-02 8.23490374e+02] [-7.43297993e-02 9.97195288e-01 -8.75439687e-03 -1.32535303e+02] [-5.21408992e-02 4.88044988e-03 9.98627813e-01 -5.42745551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.440714057 meters 0.0462467607378202 Centerline is valid? [True, True] Translation: X:823.55, Y:-132.53, Z:-54.28 [[ 9.95847543e-01 7.48848638e-02 5.17680242e-02 8.23551450e+02] [-7.45287926e-02 9.97180232e-01 -8.77744263e-03 -1.32529790e+02] [-5.22793480e-02 4.88278633e-03 9.98620563e-01 -5.42766055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.500714057 meters 0.048664107035309316 Centerline is valid? [True, True] Translation: X:823.61, Y:-132.54, Z:-54.28 [[ 9.96026581e-01 7.27644189e-02 5.13457916e-02 8.23610747e+02] [-7.24117067e-02 9.97336890e-01 -8.69895435e-03 -1.32537675e+02] [-5.18420265e-02 4.94635335e-03 9.98643048e-01 -5.42813675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.560714057 meters 0.04860377906824219 Centerline is valid? [True, True] Translation: X:823.67, Y:-132.54, Z:-54.29 [[ 9.96253812e-01 7.01190739e-02 5.06128206e-02 8.23671408e+02] [-6.97730468e-02 9.97526047e-01 -8.57369233e-03 -1.32542576e+02] [-5.10887862e-02 5.01016297e-03 9.98681548e-01 -5.42863445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.620714057 meters 0.05211305285001004 Centerline is valid? [True, True] Translation: X:823.73, Y:-132.55, Z:-54.29 [[ 9.96370313e-01 6.91545339e-02 4.96371864e-02 8.23728750e+02] [-6.88205299e-02 9.97593618e-01 -8.40879163e-03 -1.32553970e+02] [-5.00992465e-02 4.96221287e-03 9.98731917e-01 -5.42914239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.680714057 meters 0.04951253238525763 Centerline is valid? [True, True] Translation: X:823.79, Y:-132.55, Z:-54.29 [[ 9.96319658e-01 6.97396309e-02 4.98349572e-02 8.23788381e+02] [-6.94038036e-02 9.97552946e-01 -8.43986537e-03 -1.32554716e+02] [-5.03016015e-02 4.95006820e-03 9.98721806e-01 -5.42931736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.740714057 meters 0.0831306612689674 Centerline is valid? [True, True] Translation: X:823.84, Y:-132.60, Z:-54.30 [[ 9.95969613e-01 7.23230331e-02 5.30462906e-02 8.23840115e+02] [-7.19463592e-02 9.97368087e-01 -8.97890577e-03 -1.32604142e+02] [-5.35560590e-02 5.12622983e-03 9.98551686e-01 -5.43007272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.800714057 meters 0.05085077022030273 Centerline is valid? [True, True] Translation: X:823.91, Y:-132.57, Z:-54.30 [[ 9.96056509e-01 7.26288928e-02 5.09556151e-02 8.23905787e+02] [-7.22817741e-02 9.97346961e-01 -8.62464194e-03 -1.32566947e+02] [-5.14468260e-02 4.90746849e-03 9.98663678e-01 -5.42997204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.860714057 meters 0.04912667592554152 Centerline is valid? [True, True] Translation: X:823.97, Y:-132.57, Z:-54.30 [[ 9.95957415e-01 7.48256923e-02 4.96985345e-02 8.23966493e+02] [-7.44984303e-02 9.97185688e-01 -8.40760177e-03 -1.32569366e+02] [-5.01877719e-02 4.67115052e-03 9.98728876e-01 -5.43047137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.920714057 meters 0.054211527895257024 Centerline is valid? [True, True] Translation: X:824.02, Y:-132.58, Z:-54.31 [[ 9.95868578e-01 7.72662500e-02 4.77043245e-02 8.24024094e+02] [-7.69675500e-02 9.97000941e-01 -8.06969658e-03 -1.32580573e+02] [-4.81847716e-02 4.36467227e-03 9.98828903e-01 -5.43108059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.980714057 meters 0.053482073890877925 Centerline is valid? [True, True] Translation: X:824.08, Y:-132.59, Z:-54.31 [[ 9.95735831e-01 7.90240115e-02 4.75957983e-02 8.24084003e+02] [-7.87287582e-02 9.96863577e-01 -8.04930870e-03 -1.32586366e+02] [-4.80826064e-02 4.26782700e-03 9.98834245e-01 -5.43144334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0407140570001 meters 0.043936166220077434 Centerline is valid? [True, True] Translation: X:824.15, Y:-132.58, Z:-54.32 [[ 9.95503743e-01 8.15164203e-02 4.82428358e-02 8.24146551e+02] [-8.12160197e-02 9.96663136e-01 -8.15788655e-03 -1.32579209e+02] [-4.87468577e-02 4.20311550e-03 9.98802322e-01 -5.43151794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.100714057 meters 0.043891992109497485 Centerline is valid? [True, True] Translation: X:824.21, Y:-132.58, Z:-54.32 [[ 9.95254232e-01 8.43474235e-02 4.85234662e-02 8.24206628e+02] [-8.40469044e-02 9.96428024e-01 -8.20426441e-03 -1.32583828e+02] [-4.90421501e-02 4.08708174e-03 9.98788348e-01 -5.43182230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1607140570001 meters 0.044338853440474814 Centerline is valid? [True, True] Translation: X:824.27, Y:-132.59, Z:-54.32 [[ 9.95039990e-01 8.63567087e-02 4.93754690e-02 8.24265713e+02] [-8.60479764e-02 9.96256015e-01 -8.34853546e-03 -1.32591277e+02] [-4.99115600e-02 4.05846745e-03 9.98745396e-01 -5.43200833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.220714057 meters 0.04612144884597774 Centerline is valid? [True, True] Translation: X:824.32, Y:-132.60, Z:-54.32 [[ 9.94846581e-01 8.84108864e-02 4.96366418e-02 8.24324096e+02] [-8.81015063e-02 9.96076161e-01 -8.39085778e-03 -1.32600576e+02] [-5.01837188e-02 3.97455326e-03 9.98732095e-01 -5.43235376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2807140570001 meters 0.045878886209814236 Centerline is valid? [True, True] Translation: X:824.38, Y:-132.61, Z:-54.33 [[ 9.94862680e-01 8.89311771e-02 4.83683095e-02 8.24381888e+02] [-8.86380882e-02 9.96030348e-01 -8.17529595e-03 -1.32608367e+02] [-4.89033428e-02 3.84602235e-03 9.98796111e-01 -5.43290308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.340714057 meters 0.042828188121789436 Centerline is valid? [True, True] Translation: X:824.44, Y:-132.61, Z:-54.33 [[ 9.94908844e-01 8.92914963e-02 4.67270889e-02 8.24440737e+02] [-8.90185189e-02 9.95998682e-01 -7.89479677e-03 -1.32611424e+02] [-4.72450572e-02 3.69502688e-03 9.98876495e-01 -5.43328533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4007140570001 meters 0.043418863841864545 Centerline is valid? [True, True] Translation: X:824.50, Y:-132.62, Z:-54.34 [[ 9.94823825e-01 9.04061844e-02 4.63926669e-02 8.24497785e+02] [-9.01384503e-02 9.95898423e-01 -7.83525935e-03 -1.32620031e+02] [-4.69107397e-02 3.61293957e-03 9.98892551e-01 -5.43361298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.460714057 meters 0.04243745904459709 Centerline is valid? [True, True] Translation: X:824.56, Y:-132.63, Z:-54.34 [[ 9.94672706e-01 9.12077046e-02 4.80350195e-02 8.24556384e+02] [-9.09218216e-02 9.95825027e-01 -8.10784654e-03 -1.32627151e+02] [-4.85739726e-02 3.69722218e-03 9.98812745e-01 -5.43380086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5207140570001 meters 0.04393586540395797 Centerline is valid? [True, True] Translation: X:824.62, Y:-132.64, Z:-54.34 [[ 9.94451161e-01 9.26605482e-02 4.98087538e-02 8.24615414e+02] [-9.23551784e-02 9.95690672e-01 -8.40272488e-03 -1.32638112e+02] [-5.03727126e-02 3.75600317e-03 9.98723426e-01 -5.43403836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.580714057 meters 0.04169559066374621 Centerline is valid? [True, True] Translation: X:824.68, Y:-132.64, Z:-54.34 [[ 9.94269402e-01 9.46338734e-02 4.97271229e-02 8.24675075e+02] [-9.43319810e-02 9.95505455e-01 -8.38847666e-03 -1.32644228e+02] [-5.02974562e-02 3.64954766e-03 9.98727614e-01 -5.43446470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6407140570001 meters 0.04283602205051257 Centerline is valid? [True, True] Translation: X:824.73, Y:-132.66, Z:-54.35 [[ 9.94244964e-01 9.51455858e-02 4.92368748e-02 8.24731736e+02] [-9.48503297e-02 9.95456909e-01 -8.30410396e-03 -1.32655686e+02] [-4.98032860e-02 3.58617973e-03 9.98752608e-01 -5.43493667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.700714057 meters 0.03864043065117154 Centerline is valid? [True, True] Translation: X:824.79, Y:-132.66, Z:-54.35 [[ 9.94223697e-01 9.59176795e-02 4.81564061e-02 8.24789987e+02] [-9.56363630e-02 9.95383238e-01 -8.11755214e-03 -1.32660830e+02] [-4.87126962e-02 3.46515916e-03 9.98806821e-01 -5.43535297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7607140570001 meters 0.03843303560047575 Centerline is valid? [True, True] Translation: X:824.85, Y:-132.67, Z:-54.36 [[ 9.93944786e-01 9.90182169e-02 4.76356616e-02 8.24849095e+02] [-9.87466913e-02 9.95080237e-01 -8.02574940e-03 -1.32671967e+02] [-4.81960009e-02 3.27328779e-03 9.98832534e-01 -5.43584654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.820714057 meters 0.04489899410660468 Centerline is valid? [True, True] Translation: X:824.91, Y:-132.69, Z:-54.36 [[ 9.93459286e-01 1.03227991e-01 4.88121749e-02 8.24905661e+02] [-1.02948030e-01 9.94652755e-01 -8.22191065e-03 -1.32691365e+02] [-4.93998955e-02 3.14301626e-03 9.98774135e-01 -5.43637133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.880714057 meters 0.03021443906681375 Centerline is valid? [True, True] Translation: X:824.97, Y:-132.68, Z:-54.36 [[ 9.92354835e-01 1.12586214e-01 5.05591264e-02 8.24969115e+02] [-1.12297985e-01 9.93638093e-01 -8.51483206e-03 -1.32679829e+02] [-5.11961266e-02 2.77204673e-03 9.98684771e-01 -5.43611249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.940714057 meters 0.028034705201854165 Centerline is valid? [True, True] Translation: X:825.03, Y:-132.69, Z:-54.37 [[ 9.91003243e-01 1.23539626e-01 5.14833310e-02 8.25028163e+02] [-1.23255478e-01 9.92337097e-01 -8.67027619e-03 -1.32687682e+02] [-5.21599419e-02 2.24666923e-03 9.98636217e-01 -5.43652509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.000714057 meters 0.027003791384979905 Centerline is valid? [True, True] Translation: X:825.09, Y:-132.70, Z:-54.37 [[ 9.89759116e-01 1.33332598e-01 5.09834321e-02 8.25086292e+02] [-1.33066953e-01 9.91069869e-01 -8.58494669e-03 -1.32698288e+02] [-5.16727966e-02 1.71281926e-03 9.98662600e-01 -5.43707272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.060714057 meters 0.02465986057203755 Centerline is valid? [True, True] Translation: X:825.15, Y:-132.71, Z:-54.37 [[ 9.88773695e-01 1.40572007e-01 5.06565990e-02 8.25145929e+02] [-1.40319320e-01 9.90069572e-01 -8.52829595e-03 -1.32706759e+02] [-5.13523969e-02 1.32445519e-03 9.98679717e-01 -5.43737661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.120714057 meters 0.024229415071426338 Centerline is valid? [True, True] Translation: X:825.20, Y:-132.72, Z:-54.38 [[ 9.88632600e-01 1.41599585e-01 5.05483851e-02 8.25203459e+02] [-1.41349259e-01 9.89923202e-01 -8.51123136e-03 -1.32715887e+02] [-5.12442061e-02 1.26950401e-03 9.98685346e-01 -5.43768685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.180714057 meters 0.023609212786034707 Centerline is valid? [True, True] Translation: X:825.26, Y:-132.73, Z:-54.38 [[ 9.88356921e-01 1.43239392e-01 5.13134812e-02 8.25260378e+02] [-1.42984332e-01 9.89687356e-01 -8.62658884e-03 -1.32731556e+02] [-5.20199709e-02 1.18912493e-03 9.98645337e-01 -5.43806926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.240714057 meters 0.023315565910732694 Centerline is valid? [True, True] Translation: X:825.32, Y:-132.75, Z:-54.38 [[ 9.88430157e-01 1.42509609e-01 5.19310632e-02 8.25315792e+02] [-1.42248055e-01 9.89792655e-01 -8.71726242e-03 -1.32749399e+02] [-5.26432786e-02 1.22931232e-03 9.98612625e-01 -5.43845795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.300714057 meters 0.023502860181713176 Centerline is valid? [True, True] Translation: X:825.37, Y:-132.77, Z:-54.39 [[ 9.88529927e-01 1.41756534e-01 5.20928850e-02 8.25371946e+02] [-1.41493142e-01 9.89900754e-01 -8.72854930e-03 -1.32767774e+02] [-5.28041151e-02 1.25764623e-03 9.98604098e-01 -5.43887278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.360714057 meters 0.024086308154384055 Centerline is valid? [True, True] Translation: X:825.43, Y:-132.79, Z:-54.39 [[ 9.88744187e-01 1.39979005e-01 5.28281278e-02 8.25428268e+02] [-1.39706335e-01 9.90153541e-01 -8.83773479e-03 -1.32788193e+02] [-5.35450551e-02 1.35783478e-03 9.98564511e-01 -5.43925172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.420714057 meters 0.023999862830450726 Centerline is valid? [True, True] Translation: X:825.48, Y:-132.81, Z:-54.40 [[ 9.88784807e-01 1.39032646e-01 5.45392484e-02 8.25483607e+02] [-1.38741355e-01 9.90286750e-01 -9.10982940e-03 -1.32805397e+02] [-5.52760587e-02 1.44081167e-03 9.98470070e-01 -5.43956612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.480714057 meters 0.0238002172276363 Centerline is valid? [True, True] Translation: X:825.54, Y:-132.83, Z:-54.40 [[ 9.88830485e-01 1.38508616e-01 5.50421303e-02 8.25539095e+02] [-1.38212025e-01 9.90360141e-01 -9.17750421e-03 -1.32826239e+02] [-5.57826953e-02 1.46751167e-03 9.98441855e-01 -5.44003005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5407140570001 meters 0.02381060324527165 Centerline is valid? [True, True] Translation: X:825.60, Y:-132.85, Z:-54.41 [[ 9.88784438e-01 1.39405659e-01 5.35854258e-02 8.25595170e+02] [-1.39126735e-01 9.90234418e-01 -8.91904405e-03 -1.32845104e+02] [-5.43054981e-02 1.36384661e-03 9.98523436e-01 -5.44050688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.600714057 meters 0.024116049676634936 Centerline is valid? [True, True] Translation: X:825.65, Y:-132.87, Z:-54.41 [[ 9.88572708e-01 1.40599194e-01 5.43678897e-02 8.25650565e+02] [-1.40314643e-01 9.90065739e-01 -9.03509020e-03 -1.32866103e+02] [-5.50981113e-02 1.30323258e-03 9.98480095e-01 -5.44102878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6607140570001 meters 0.023540389787408928 Centerline is valid? [True, True] Translation: X:825.71, Y:-132.88, Z:-54.41 [[ 9.88496407e-01 1.40506008e-01 5.59724560e-02 8.25706698e+02] [-1.40205071e-01 9.90078929e-01 -9.28724038e-03 -1.32884212e+02] [-5.67220624e-02 1.33278158e-03 9.98389118e-01 -5.44128037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.720714057 meters 0.024154416665511432 Centerline is valid? [True, True] Translation: X:825.76, Y:-132.90, Z:-54.42 [[ 9.88675897e-01 1.38885345e-01 5.68404102e-02 8.25762065e+02] [-1.38573248e-01 9.90307432e-01 -9.41510843e-03 -1.32901929e+02] [-5.75971013e-02 1.43193050e-03 9.98338882e-01 -5.44162099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7807140570001 meters 0.02533971613459451 Centerline is valid? [True, True] Translation: X:825.82, Y:-132.92, Z:-54.42 [[ 9.89208279e-01 1.34089616e-01 5.90504462e-02 8.25818851e+02] [-1.33744565e-01 9.90967625e-01 -9.77532575e-03 -1.32924311e+02] [-5.98278501e-02 1.77215692e-03 9.98207137e-01 -5.44206211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.840714057 meters 0.025981530233828085 Centerline is valid? [True, True] Translation: X:825.88, Y:-132.95, Z:-54.42 [[ 9.89714362e-01 1.29428521e-01 6.09404580e-02 8.25875634e+02] [-1.29052320e-01 9.91586493e-01 -1.00858867e-02 -1.32945335e+02] [-6.17331365e-02 2.11763948e-03 9.98090445e-01 -5.44247587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9007140570001 meters 0.02739478494089157 Centerline is valid? [True, True] Translation: X:825.93, Y:-132.97, Z:-54.43 [[ 9.89969245e-01 1.26948505e-01 6.20078323e-02 8.25930367e+02] [-1.26554278e-01 9.91906619e-01 -1.02603023e-02 -1.32965107e+02] [-6.28085093e-02 2.31002727e-03 9.98022923e-01 -5.44292973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.960714057 meters 0.027648583875584262 Centerline is valid? [True, True] Translation: X:825.99, Y:-132.98, Z:-54.44 [[ 9.90255241e-01 1.24904460e-01 6.15908564e-02 8.25986586e+02] [-1.24512008e-01 9.92165831e-01 -1.01844501e-02 -1.32982907e+02] [-6.23804265e-02 2.41640387e-03 9.98049520e-01 -5.44352179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0207140570001 meters 0.02867097835588165 Centerline is valid? [True, True] Translation: X:826.04, Y:-133.00, Z:-54.44 [[ 9.90649077e-01 1.21673177e-01 6.17255599e-02 8.26042492e+02] [-1.21273038e-01 9.92566758e-01 -1.02020609e-02 -1.33002286e+02] [-6.25080560e-02 2.62101608e-03 9.98041018e-01 -5.44393287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.080714057 meters 0.031016831689176315 Centerline is valid? [True, True] Translation: X:826.10, Y:-133.02, Z:-54.44 [[ 9.90936767e-01 1.18585793e-01 6.31009838e-02 8.26098643e+02] [-1.18161581e-01 9.92939647e-01 -1.04258289e-02 -1.33020279e+02] [-6.38918238e-02 2.87522511e-03 9.97952688e-01 -5.44432022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1407140570001 meters 0.03238468757617967 Centerline is valid? [True, True] Translation: X:826.15, Y:-133.04, Z:-54.45 [[ 9.91114803e-01 1.16983237e-01 6.32958922e-02 8.26154978e+02] [-1.16553359e-01 9.93129405e-01 -1.04545997e-02 -1.33037285e+02] [-6.40840247e-02 2.98435973e-03 9.97940044e-01 -5.44476988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.200714057 meters 0.029994255459098403 Centerline is valid? [True, True] Translation: X:826.21, Y:-133.05, Z:-54.45 [[ 9.91212773e-01 1.16576811e-01 6.25066882e-02 8.26212997e+02] [-1.16157075e-01 9.93177242e-01 -1.03198471e-02 -1.33045371e+02] [-6.32832751e-02 2.96857022e-03 9.97991190e-01 -5.44521500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2607140570001 meters 0.030917369988433294 Centerline is valid? [True, True] Translation: X:826.27, Y:-133.06, Z:-54.46 [[ 9.91338035e-01 1.15662230e-01 6.22185548e-02 8.26268623e+02] [-1.15244856e-01 9.93284047e-01 -1.02676515e-02 -1.33060540e+02] [-6.29882774e-02 3.00834506e-03 9.98009733e-01 -5.44566602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.320714057 meters 0.032592353330075284 Centerline is valid? [True, True] Translation: X:826.33, Y:-133.08, Z:-54.46 [[ 9.91638142e-01 1.13168838e-01 6.20210362e-02 8.26326347e+02] [-1.12749617e-01 9.93570776e-01 -1.02292506e-02 -1.33076783e+02] [-6.27799214e-02 3.15086692e-03 9.98022421e-01 -5.44600170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.380714057 meters 0.03353398456321668 Centerline is valid? [True, True] Translation: X:826.39, Y:-133.09, Z:-54.46 [[ 9.91989333e-01 1.09684194e-01 6.26621134e-02 8.26385000e+02] [-1.09249469e-01 9.93960658e-01 -1.03326541e-02 -1.33091138e+02] [-6.34170043e-02 3.40408002e-03 9.97981310e-01 -5.44634300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.440714057 meters 0.03496010050370017 Centerline is valid? [True, True] Translation: X:826.44, Y:-133.10, Z:-54.47 [[ 9.92054436e-01 1.08878358e-01 6.30357064e-02 8.26443432e+02] [-1.08436879e-01 9.94049006e-01 -1.03931051e-02 -1.33103954e+02] [-6.37921655e-02 3.47513079e-03 9.97957155e-01 -5.44670738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.500714057 meters 0.03490064360683738 Centerline is valid? [True, True] Translation: X:826.50, Y:-133.11, Z:-54.47 [[ 9.91856363e-01 1.10832644e-01 6.27461667e-02 8.26502387e+02] [-1.10399257e-01 9.93833500e-01 -1.03430783e-02 -1.33114393e+02] [-6.35055932e-02 3.33171785e-03 9.97975921e-01 -5.44719237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.560714057 meters 0.03206592953488547 Centerline is valid? [True, True] Translation: X:826.56, Y:-133.12, Z:-54.48 [[ 9.91797191e-01 1.11795946e-01 6.19677270e-02 8.26561251e+02] [-1.11375197e-01 9.93725940e-01 -1.02137729e-02 -1.33118764e+02] [-6.27207962e-02 3.22832348e-03 9.98025891e-01 -5.44762343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.620714057 meters 0.03228734384758827 Centerline is valid? [True, True] Translation: X:826.62, Y:-133.13, Z:-54.48 [[ 9.92056945e-01 1.09493446e-01 6.19209458e-02 8.26620097e+02] [-1.09069159e-01 9.93981816e-01 -1.02013590e-02 -1.33127632e+02] [-6.26652761e-02 3.36666354e-03 9.98028922e-01 -5.44794766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.680714057 meters 0.03349278733803705 Centerline is valid? [True, True] Translation: X:826.68, Y:-133.14, Z:-54.48 [[ 9.92297298e-01 1.06812539e-01 6.27467475e-02 8.26678379e+02] [-1.06371654e-01 9.94272728e-01 -1.03350276e-02 -1.33137442e+02] [-6.34912904e-02 3.58094464e-03 9.97975968e-01 -5.44832094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.740714057 meters 0.03333082642275033 Centerline is valid? [True, True] Translation: X:826.74, Y:-133.15, Z:-54.49 [[ 9.92298614e-01 1.06572572e-01 6.31327729e-02 8.26737038e+02] [-1.06125983e-01 9.94298355e-01 -1.03950374e-02 -1.33145215e+02] [-6.38806381e-02 3.61495361e-03 9.97950999e-01 -5.44873408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.800714057 meters 0.033157640537000085 Centerline is valid? [True, True] Translation: X:826.80, Y:-133.15, Z:-54.49 [[ 9.91790054e-01 1.11537492e-01 6.25450056e-02 8.26795931e+02] [-1.11109320e-01 9.93754881e-01 -1.02935122e-02 -1.33150179e+02] [-6.33025171e-02 3.25966990e-03 9.97989061e-01 -5.44914600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.860714057 meters 0.032283069216159505 Centerline is valid? [True, True] Translation: X:826.86, Y:-133.16, Z:-54.50 [[ 9.91325248e-01 1.15621011e-01 6.24982704e-02 8.26855677e+02] [-1.15201655e-01 9.93288886e-01 -1.02843894e-02 -1.33155765e+02] [-6.32679288e-02 2.99527072e-03 9.97992083e-01 -5.44951962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.920714057 meters 0.02934522602424483 Centerline is valid? [True, True] Translation: X:826.92, Y:-133.16, Z:-54.50 [[ 9.90558638e-01 1.21718819e-01 6.30722881e-02 8.26916431e+02] [-1.21304101e-01 9.92561141e-01 -1.03776879e-02 -1.33156327e+02] [-6.38662621e-02 2.62878123e-03 9.97955004e-01 -5.44983965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.980714057 meters 0.02846098447426378 Centerline is valid? [True, True] Translation: X:826.98, Y:-133.16, Z:-54.50 [[ 9.90062070e-01 1.25445693e-01 6.35647302e-02 8.26976869e+02] [-1.25032138e-01 9.92097568e-01 -1.04584738e-02 -1.33160223e+02] [-6.43743847e-02 2.40690413e-03 9.97922916e-01 -5.45021797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0407140570001 meters 0.027382536794729673 Centerline is valid? [True, True] Translation: X:827.04, Y:-133.17, Z:-54.51 [[ 9.90031486e-01 1.25812669e-01 6.33153226e-02 8.27035479e+02] [-1.25403179e-01 9.92051180e-01 -1.04163063e-02 -1.33166681e+02] [-6.41225438e-02 2.37252854e-03 9.97939212e-01 -5.45059120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.100714057 meters 0.028567963117859325 Centerline is valid? [True, True] Translation: X:827.09, Y:-133.18, Z:-54.51 [[ 9.90275872e-01 1.23842517e-01 6.33776733e-02 8.27091935e+02] [-1.23428501e-01 9.92298741e-01 -1.04217637e-02 -1.33176248e+02] [-6.41802429e-02 2.49780987e-03 9.97935197e-01 -5.45098921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1607140570001 meters 0.03102713528306013 Centerline is valid? [True, True] Translation: X:827.15, Y:-133.19, Z:-54.51 [[ 9.91047466e-01 1.17242417e-01 6.38681158e-02 8.27149349e+02] [-1.16808748e-01 9.93098971e-01 -1.04952106e-02 -1.33190125e+02] [-6.46578440e-02 2.94089718e-03 9.97903159e-01 -5.45127113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.220714057 meters 0.03344291642804432 Centerline is valid? [True, True] Translation: X:827.21, Y:-133.20, Z:-54.52 [[ 9.91707518e-01 1.11577723e-01 6.37699884e-02 8.27208298e+02] [-1.11133794e-01 9.93750218e-01 -1.04777806e-02 -1.33203613e+02] [-6.45405268e-02 3.30389303e-03 9.97909618e-01 -5.45156994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2807140570001 meters 0.03562376200918326 Centerline is valid? [True, True] Translation: X:827.27, Y:-133.22, Z:-54.52 [[ 9.92451420e-01 1.04169781e-01 6.47212176e-02 8.27267193e+02] [-1.03696800e-01 9.94552107e-01 -1.06338951e-02 -1.33216669e+02] [-6.54763539e-02 3.84224110e-03 9.97846724e-01 -5.45188542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.340714057 meters 0.03633520873989633 Centerline is valid? [True, True] Translation: X:827.33, Y:-133.23, Z:-54.52 [[ 9.92880986e-01 1.00066366e-01 6.46070510e-02 8.27326287e+02] [-9.95864596e-02 9.94972298e-01 -1.06143195e-02 -1.33227641e+02] [-6.53443624e-02 4.10476849e-03 9.97854331e-01 -5.45230441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4007140570001 meters 0.035462054343772545 Centerline is valid? [True, True] Translation: X:827.39, Y:-133.23, Z:-54.53 [[ 9.92905291e-01 9.98592447e-02 6.45539614e-02 8.27385362e+02] [-9.93797382e-02 9.94993067e-01 -1.06048989e-02 -1.33233862e+02] [-6.52897413e-02 4.11430445e-03 9.97857867e-01 -5.45259478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.460714057 meters 0.0371034736574767 Centerline is valid? [True, True] Translation: X:827.44, Y:-133.24, Z:-54.53 [[ 9.92704677e-01 1.01663146e-01 6.48230606e-02 8.27442707e+02] [-1.01183614e-01 9.94810799e-01 -1.06466537e-02 -1.33243953e+02] [-6.55690530e-02 4.00995144e-03 9.97839977e-01 -5.45294986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5207140570001 meters 0.03429528248307161 Centerline is valid? [True, True] Translation: X:827.50, Y:-133.25, Z:-54.53 [[ 9.92267462e-01 1.06302230e-01 6.40712087e-02 8.27503836e+02] [-1.05843623e-01 9.94327141e-01 -1.05196818e-02 -1.33246166e+02] [-6.48260074e-02 3.65680904e-03 9.97889882e-01 -5.45343276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.580714057 meters 0.03315745751444612 Centerline is valid? [True, True] Translation: X:827.56, Y:-133.25, Z:-54.54 [[ 9.91648892e-01 1.11824729e-01 6.42472265e-02 8.27563557e+02] [-1.11375147e-01 9.93722451e-01 -1.05483541e-02 -1.33250760e+02] [-6.50234782e-02 3.30471939e-03 9.97878262e-01 -5.45379207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6407140570001 meters 0.02992690524769654 Centerline is valid? [True, True] Translation: X:827.62, Y:-133.25, Z:-54.54 [[ 9.91313627e-01 1.14623046e-01 6.44891455e-02 8.27623349e+02] [-1.14176056e-01 9.93404122e-01 -1.05866816e-02 -1.33252674e+02] [-6.52772607e-02 3.13160538e-03 9.97862251e-01 -5.45420272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.700714057 meters 0.03026207766344875 Centerline is valid? [True, True] Translation: X:827.68, Y:-133.26, Z:-54.55 [[ 9.90966698e-01 1.17356166e-01 6.49040424e-02 8.27681494e+02] [-1.16909402e-01 9.93085455e-01 -1.06523042e-02 -1.33262229e+02] [-6.57053741e-02 2.96818590e-03 9.97834653e-01 -5.45459260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7607140570001 meters 0.03051649291698096 Centerline is valid? [True, True] Translation: X:827.74, Y:-133.27, Z:-54.55 [[ 9.90860584e-01 1.18307696e-01 6.47965416e-02 8.27739794e+02] [-1.17864601e-01 9.92972755e-01 -1.06322208e-02 -1.33271860e+02] [-6.55990740e-02 2.89782996e-03 9.97841853e-01 -5.45502689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.820714057 meters 0.030203480781514552 Centerline is valid? [True, True] Translation: X:827.80, Y:-133.28, Z:-54.55 [[ 9.90872053e-01 1.18022501e-01 6.51403422e-02 8.27797777e+02] [-1.17574308e-01 9.93006602e-01 -1.06850271e-02 -1.33282656e+02] [-6.59458635e-02 2.92866401e-03 9.97818904e-01 -5.45546693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.880714057 meters 0.03084863789877591 Centerline is valid? [True, True] Translation: X:827.86, Y:-133.30, Z:-54.56 [[ 9.90817061e-01 1.18412043e-01 6.52697401e-02 8.27855503e+02] [-1.17963223e-01 9.92960299e-01 -1.07015014e-02 -1.33295567e+02] [-6.60774473e-02 2.90380131e-03 9.97810272e-01 -5.45604210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.940714057 meters 0.029768194395563524 Centerline is valid? [True, True] Translation: X:827.91, Y:-133.30, Z:-54.57 [[ 9.90653953e-01 1.20007518e-01 6.48300892e-02 8.27913111e+02] [-1.19568369e-01 9.92769105e-01 -1.06259201e-02 -1.33304376e+02] [-6.56364999e-02 2.77498176e-03 9.97839741e-01 -5.45657719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.000714057 meters 0.0287747669313876 Centerline is valid? [True, True] Translation: X:827.97, Y:-133.31, Z:-54.57 [[ 9.90414653e-01 1.21476442e-01 6.57441240e-02 8.27971318e+02] [-1.21028353e-01 9.92590614e-01 -1.07708760e-02 -1.33312567e+02] [-6.65654080e-02 2.71073034e-03 9.97778381e-01 -5.45692235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.060714057 meters 0.029501020788401597 Centerline is valid? [True, True] Translation: X:828.03, Y:-133.33, Z:-54.57 [[ 9.89921277e-01 1.24751964e-01 6.70284495e-02 8.28029090e+02] [-1.24293989e-01 9.92184723e-01 -1.09763554e-02 -1.33325476e+02] [-6.78739255e-02 2.53449439e-03 9.97690687e-01 -5.45724688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.120714057 meters 0.029698105594000795 Centerline is valid? [True, True] Translation: X:828.09, Y:-133.34, Z:-54.58 [[ 9.89803682e-01 1.25652923e-01 6.70821383e-02 8.28086689e+02] [-1.25196451e-01 9.92071183e-01 -1.09825965e-02 -1.33335813e+02] [-6.79302517e-02 2.47216887e-03 9.97687010e-01 -5.45758844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.180714057 meters 0.029278508015062245 Centerline is valid? [True, True] Translation: X:828.15, Y:-133.35, Z:-54.58 [[ 9.90200794e-01 1.22835202e-01 6.64371963e-02 8.28145041e+02] [-1.22381453e-01 9.92423583e-01 -1.08725045e-02 -1.33349151e+02] [-6.72693667e-02 2.63528191e-03 9.97731371e-01 -5.45813891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.240714057 meters 0.03076107091916937 Centerline is valid? [True, True] Translation: X:828.20, Y:-133.36, Z:-54.59 [[ 9.90807323e-01 1.18111243e-01 6.59589491e-02 8.28203685e+02] [-1.17653726e-01 9.92996040e-01 -1.07919131e-02 -1.33363757e+02] [-6.67716215e-02 2.93239043e-03 9.97763976e-01 -5.45856920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.300714057 meters 0.035027892103195034 Centerline is valid? [True, True] Translation: X:828.26, Y:-133.38, Z:-54.59 [[ 9.91935683e-01 1.09021381e-01 6.46369775e-02 8.28260682e+02] [-1.08562891e-01 9.94033342e-01 -1.05741611e-02 -1.33383457e+02] [-6.54041204e-02 3.47171055e-03 9.97852819e-01 -5.45894014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.360714057 meters 0.03573028444164358 Centerline is valid? [True, True] Translation: X:828.32, Y:-133.40, Z:-54.59 [[ 9.93063125e-01 9.91813266e-02 6.31561140e-02 8.28319665e+02] [-9.87238686e-02 9.95061239e-01 -1.03309130e-02 -1.33395526e+02] [-6.38688348e-02 4.02423287e-03 9.97950188e-01 -5.45932989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.420714057 meters 0.039196949555117856 Centerline is valid? [True, True] Translation: X:828.38, Y:-133.41, Z:-54.60 [[ 9.93770979e-01 9.10820075e-02 6.42130051e-02 8.28379109e+02] [-9.05922649e-02 9.95832673e-01 -1.05037186e-02 -1.33409068e+02] [-6.49021083e-02 4.62108914e-03 9.97880936e-01 -5.45957404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.480714057 meters 0.03897650592691201 Centerline is valid? [True, True] Translation: X:828.44, Y:-133.42, Z:-54.60 [[ 9.94025461e-01 8.83636260e-02 6.40722518e-02 8.28440142e+02] [-8.78704120e-02 9.96076776e-01 -1.04808084e-02 -1.33416771e+02] [-6.47470042e-02 4.78813526e-03 9.97890224e-01 -5.45985773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5407140570001 meters 0.0400931042720599 Centerline is valid? [True, True] Translation: X:828.50, Y:-133.42, Z:-54.60 [[ 9.94325109e-01 8.61378071e-02 6.24328095e-02 8.28501214e+02] [-8.56650469e-02 9.96271627e-01 -1.02149200e-02 -1.33422763e+02] [-6.30799275e-02 4.80864189e-03 9.97996894e-01 -5.46026971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.600714057 meters 0.0435011996090665 Centerline is valid? [True, True] Translation: X:828.56, Y:-133.43, Z:-54.61 [[ 9.94611940e-01 8.35403254e-02 6.13848700e-02 8.28560468e+02] [-8.30782787e-02 9.96492391e-01 -1.00456447e-02 -1.33432235e+02] [-6.20087723e-02 4.89176885e-03 9.98063617e-01 -5.46061749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6607140570001 meters 0.045543274389427166 Centerline is valid? [True, True] Translation: X:828.62, Y:-133.44, Z:-54.61 [[ 9.95004027e-01 8.03028857e-02 5.93163725e-02 8.28620955e+02] [-7.98655267e-02 9.96758338e-01 -9.71148818e-03 -1.33438660e+02] [-5.99039494e-02 4.92563652e-03 9.98191993e-01 -5.46102956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.720714057 meters 0.042196980163216796 Centerline is valid? [True, True] Translation: X:828.68, Y:-133.44, Z:-54.61 [[ 9.95081256e-01 8.00608472e-02 5.83399978e-02 8.28683033e+02] [-7.96373631e-02 9.96778136e-01 -9.55184782e-03 -1.33435777e+02] [-5.89167633e-02 4.85882113e-03 9.98251074e-01 -5.46135528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7807140570001 meters 0.04257927210337305 Centerline is valid? [True, True] Translation: X:828.74, Y:-133.44, Z:-54.62 [[ 9.94893593e-01 8.22216270e-02 5.85349657e-02 8.28743903e+02] [-8.17990230e-02 9.96602766e-01 -9.58362291e-03 -1.33439794e+02] [-5.91240898e-02 4.74658204e-03 9.98239356e-01 -5.46172066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.840714057 meters 0.04009557384233907 Centerline is valid? [True, True] Translation: X:828.81, Y:-133.44, Z:-54.62 [[ 9.94390335e-01 8.88964564e-02 5.73173821e-02 8.28806021e+02] [-8.85021776e-02 9.96031760e-01 -9.38605135e-03 -1.33435829e+02] [-5.79243197e-02 4.26068561e-03 9.98311885e-01 -5.46202893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9007140570001 meters 0.0389657560886501 Centerline is valid? [True, True] Translation: X:828.87, Y:-133.43, Z:-54.62 [[ 9.93690048e-01 9.64935915e-02 5.71758318e-02 8.28866845e+02] [-9.61137739e-02 9.95326321e-01 -9.36253678e-03 -1.33434315e+02] [-5.78120351e-02 3.80807465e-03 9.98320223e-01 -5.46235933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.960714057 meters 0.03649370027337439 Centerline is valid? [True, True] Translation: X:828.93, Y:-133.44, Z:-54.63 [[ 9.93374361e-01 9.94616215e-02 5.75739945e-02 8.28927367e+02] [-9.90815224e-02 9.95034670e-01 -9.42643796e-03 -1.33437944e+02] [-5.82256894e-02 3.65946276e-03 9.98296738e-01 -5.46270995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0207140570001 meters 0.032908615925244494 Centerline is valid? [True, True] Translation: X:828.99, Y:-133.43, Z:-54.63 [[ 9.92625068e-01 1.06864611e-01 5.72313650e-02 8.28988777e+02] [-1.06501329e-01 9.94268416e-01 -9.36931516e-03 -1.33433051e+02] [-5.79045868e-02 3.20500068e-03 9.98316977e-01 -5.46296947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.080714057 meters 0.03232900805153161 Centerline is valid? [True, True] Translation: X:829.05, Y:-133.44, Z:-54.63 [[ 9.91572782e-01 1.16167606e-01 5.73454927e-02 8.29048413e+02] [-1.15818425e-01 9.93226046e-01 -9.38686383e-03 -1.33435172e+02] [-5.80474865e-02 2.66609404e-03 9.98310263e-01 -5.46347159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1407140570001 meters 0.028654143007859442 Centerline is valid? [True, True] Translation: X:829.11, Y:-133.43, Z:-54.64 [[ 9.90312749e-01 1.26274337e-01 5.77533656e-02 8.29109717e+02] [-1.25937362e-01 9.91993162e-01 -9.45232969e-03 -1.33433139e+02] [-5.84845305e-02 2.08745606e-03 9.98286132e-01 -5.46387317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.200714057 meters 0.02728473638893925 Centerline is valid? [True, True] Translation: X:829.17, Y:-133.44, Z:-54.64 [[ 9.89452304e-01 1.32310575e-01 5.89750015e-02 8.29168592e+02] [-1.31969877e-01 9.91206733e-01 -9.65211878e-03 -1.33437653e+02] [-5.97334960e-02 1.76738746e-03 9.98212796e-01 -5.46427368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2607140570001 meters 0.023607000916110787 Centerline is valid? [True, True] Translation: X:829.23, Y:-133.44, Z:-54.65 [[ 9.88621167e-01 1.38527692e-01 5.86367367e-02 8.29229271e+02] [-1.38201917e-01 9.90357596e-01 -9.59487670e-03 -1.33437601e+02] [-5.94004937e-02 1.38198880e-03 9.98233275e-01 -5.46468036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.320714057 meters 0.02266420816952447 Centerline is valid? [True, True] Translation: X:829.29, Y:-133.45, Z:-54.65 [[ 9.88114124e-01 1.42141620e-01 5.85340723e-02 8.29287640e+02] [-1.41823413e-01 9.89845650e-01 -9.57642207e-03 -1.33446464e+02] [-5.93009051e-02 1.16109598e-03 9.98239478e-01 -5.46514492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.380714057 meters 0.022796996103175107 Centerline is valid? [True, True] Translation: X:829.35, Y:-133.46, Z:-54.66 [[ 9.87995189e-01 1.42935284e-01 5.86089625e-02 8.29345276e+02] [-1.42618498e-01 9.89731424e-01 -9.57452485e-03 -1.33460123e+02] [-5.93756694e-02 1.10086231e-03 9.98235102e-01 -5.46561960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.440714057 meters 0.02280403514976507 Centerline is valid? [True, True] Translation: X:829.40, Y:-133.47, Z:-54.66 [[ 9.88174200e-01 1.41578049e-01 5.88846840e-02 8.29402168e+02] [-1.41256698e-01 9.89926400e-01 -9.60561180e-03 -1.33473852e+02] [-5.96514470e-02 1.17416174e-03 9.98218576e-01 -5.46603468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.500714057 meters 0.023536806529183326 Centerline is valid? [True, True] Translation: X:829.46, Y:-133.49, Z:-54.67 [[ 9.88736617e-01 1.37325648e-01 5.95110869e-02 8.29457953e+02] [-1.36990672e-01 9.90524922e-01 -9.69202623e-03 -1.33493430e+02] [-6.02781785e-02 1.43039745e-03 9.98180593e-01 -5.46654642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.560714057 meters 0.02450415367791344 Centerline is valid? [True, True] Translation: X:829.51, Y:-133.51, Z:-54.67 [[ 9.89488433e-01 1.31958768e-01 5.91567884e-02 8.29514255e+02] [-1.31619156e-01 9.91253695e-01 -9.61824124e-03 -1.33514071e+02] [-5.99085963e-02 1.73097191e-03 9.98202366e-01 -5.46702465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.620714057 meters 0.02631626303668653 Centerline is valid? [True, True] Translation: X:829.57, Y:-133.53, Z:-54.67 [[ 9.89982616e-01 1.27870381e-01 5.98630663e-02 8.29570375e+02] [-1.27515436e-01 9.91788877e-01 -9.72814483e-03 -1.33532542e+02] [-6.06154649e-02 1.99722926e-03 9.98159194e-01 -5.46741677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.680714057 meters 0.029013312181544952 Centerline is valid? [True, True] Translation: X:829.63, Y:-133.56, Z:-54.68 [[ 9.90802815e-01 1.20728012e-01 6.11107938e-02 8.29627586e+02] [-1.20344752e-01 9.92682521e-01 -9.92735913e-03 -1.33555562e+02] [-6.18621272e-02 2.48169207e-03 9.98081619e-01 -5.46775008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.740714057 meters 0.029715142015233943 Centerline is valid? [True, True] Translation: X:829.69, Y:-133.57, Z:-54.68 [[ 9.91653825e-01 1.13286304e-01 6.15540891e-02 8.29685275e+02] [-1.12883163e-01 9.93557954e-01 -9.99913463e-03 -1.33573365e+02] [-6.22903199e-02 2.96725982e-03 9.98053662e-01 -5.46822832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.800714057 meters 0.030603904390654767 Centerline is valid? [True, True] Translation: X:829.74, Y:-133.59, Z:-54.69 [[ 9.92186152e-01 1.08504097e-01 6.15913986e-02 8.29743146e+02] [-1.08091352e-01 9.94090629e-01 -1.00040438e-02 -1.33588890e+02] [-6.23129119e-02 3.26837617e-03 9.98051311e-01 -5.46866647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.860714057 meters 0.03902910268642884 Centerline is valid? [True, True] Translation: X:829.80, Y:-133.62, Z:-54.69 [[ 9.93059142e-01 1.00595627e-01 6.09430932e-02 8.29798889e+02] [-1.00176766e-01 9.94920426e-01 -9.89760075e-03 -1.33616211e+02] [-6.16291836e-02 3.72382093e-03 9.98092169e-01 -5.46916657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.920714057 meters 0.036028210842407246 Centerline is valid? [True, True] Translation: X:829.86, Y:-133.62, Z:-54.70 [[ 9.93646642e-01 9.53345249e-02 5.98136989e-02 8.29859233e+02] [-9.49216407e-02 9.95437360e-01 -9.71312947e-03 -1.33623740e+02] [-6.04667871e-02 3.97380404e-03 9.98162300e-01 -5.46957479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.980714057 meters 0.039589097071413816 Centerline is valid? [True, True] Translation: X:829.92, Y:-133.64, Z:-54.70 [[ 9.94276993e-01 8.87962863e-02 5.94010186e-02 8.29917884e+02] [-8.83774756e-02 9.96040347e-01 -9.64618428e-03 -1.33639668e+02] [-6.00223565e-02 4.34126703e-03 9.98187593e-01 -5.47012786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0407140570001 meters 0.04247131176681303 Centerline is valid? [True, True] Translation: X:829.98, Y:-133.65, Z:-54.71 [[ 9.94576482e-01 8.59406132e-02 5.85818519e-02 8.29975304e+02] [-8.55284025e-02 9.96290321e-01 -9.51256251e-03 -1.33653035e+02] [-5.91820475e-02 4.45055874e-03 9.98237285e-01 -5.47053037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.100714057 meters 0.044691430821444104 Centerline is valid? [True, True] Translation: X:830.04, Y:-133.66, Z:-54.71 [[ 9.94710650e-01 8.37952201e-02 5.94060942e-02 8.30035044e+02] [-8.33676514e-02 9.96472191e-01 -9.64405960e-03 -1.33662128e+02] [-6.00046469e-02 4.64050224e-03 9.98187311e-01 -5.47090255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1607140570001 meters 0.04047069831174834 Centerline is valid? [True, True] Translation: X:830.10, Y:-133.66, Z:-54.71 [[ 9.94744278e-01 8.20819275e-02 6.12076678e-02 8.30096935e+02] [-8.16247704e-02 9.96613597e-01 -9.93652931e-03 -1.33660408e+02] [-6.18160035e-02 4.88824385e-03 9.98075592e-01 -5.47102590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.220714057 meters 0.04172369305984604 Centerline is valid? [True, True] Translation: X:830.16, Y:-133.67, Z:-54.71 [[ 9.94813381e-01 8.00818592e-02 6.27154883e-02 8.30156913e+02] [-7.95979192e-02 9.96775056e-01 -1.01812896e-02 -1.33668867e+02] [-6.33285709e-02 5.13646072e-03 9.97979513e-01 -5.47137175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2807140570001 meters 0.04942263233198126 Centerline is valid? [True, True] Translation: X:830.22, Y:-133.69, Z:-54.72 [[ 9.94965548e-01 7.82426733e-02 6.26230178e-02 8.30215407e+02] [-7.77564726e-02 9.96920535e-01 -1.01674496e-02 -1.33685451e+02] [-6.32257008e-02 5.24691715e-03 9.97985461e-01 -5.47175854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.340714057 meters 0.04468363425459075 Centerline is valid? [True, True] Translation: X:830.28, Y:-133.68, Z:-54.72 [[ 9.95316661e-01 7.49781100e-02 6.10166176e-02 8.30277700e+02] [-7.45104170e-02 9.97171015e-01 -9.90776906e-03 -1.33681721e+02] [-6.15868684e-02 5.31499399e-03 9.98087576e-01 -5.47223132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4007140570001 meters 0.04849584988762376 Centerline is valid? [True, True] Translation: X:830.34, Y:-133.69, Z:-54.73 [[ 9.95646390e-01 7.19474035e-02 5.92607656e-02 8.30336100e+02] [-7.15009334e-02 9.97394111e-01 -9.62306830e-03 -1.33690771e+02] [-5.97986934e-02 5.34397315e-03 9.98196152e-01 -5.47277473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.460714057 meters 0.04679577405684048 Centerline is valid? [True, True] Translation: X:830.40, Y:-133.69, Z:-54.73 [[ 9.95847309e-01 7.02924049e-02 5.78542560e-02 8.30397503e+02] [-6.98642006e-02 9.97512282e-01 -9.39362279e-03 -1.33691686e+02] [-5.83706313e-02 5.31267263e-03 9.98280845e-01 -5.47333856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5207140570001 meters 0.0483195139493841 Centerline is valid? [True, True] Translation: X:830.46, Y:-133.70, Z:-54.74 [[ 9.95897571e-01 7.11280205e-02 5.59359664e-02 8.30457681e+02] [-7.07290292e-02 9.97454210e-01 -9.08315505e-03 -1.33696281e+02] [-5.64396320e-02 5.08959545e-03 9.98393041e-01 -5.47394002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.580714057 meters 0.045639252776586425 Centerline is valid? [True, True] Translation: X:830.52, Y:-133.70, Z:-54.74 [[ 9.95804563e-01 7.23054588e-02 5.60820215e-02 8.30518829e+02] [-7.19061626e-02 9.97369815e-01 -9.10803856e-03 -1.33697712e+02] [-5.65930763e-02 5.03718340e-03 9.98384621e-01 -5.47425726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6407140570001 meters 0.044086300557540065 Centerline is valid? [True, True] Translation: X:830.58, Y:-133.70, Z:-54.74 [[ 9.95372842e-01 7.53628903e-02 5.96098957e-02 8.30579594e+02] [-7.49171308e-02 9.97142769e-01 -9.68100401e-03 -1.33698275e+02] [-6.01691649e-02 5.17040612e-03 9.98174804e-01 -5.47430361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.700714057 meters 0.04148472569627877 Centerline is valid? [True, True] Translation: X:830.64, Y:-133.70, Z:-54.75 [[ 9.95089872e-01 7.79432201e-02 6.10000113e-02 8.30639766e+02] [-7.74812131e-02 9.96944593e-01 -9.90657760e-03 -1.33699909e+02] [-6.15857820e-02 5.13158016e-03 9.98088603e-01 -5.47456062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7607140570001 meters 0.039473074923217624 Centerline is valid? [True, True] Translation: X:830.70, Y:-133.70, Z:-54.75 [[ 9.94819886e-01 8.16642591e-02 6.05338141e-02 8.30701066e+02] [-8.12162690e-02 9.96648040e-01 -9.82862622e-03 -1.33701264e+02] [-6.11335547e-02 4.86138228e-03 9.98117756e-01 -5.47508843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.820714057 meters 0.03964539603985832 Centerline is valid? [True, True] Translation: X:830.76, Y:-133.71, Z:-54.76 [[ 9.94767387e-01 8.28171249e-02 5.98261656e-02 8.30759340e+02] [-8.23815548e-02 9.96553510e-01 -9.71502108e-03 -1.33709002e+02] [-6.04245454e-02 4.73561359e-03 9.98161534e-01 -5.47555874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.880714057 meters 0.03994756300971888 Centerline is valid? [True, True] Translation: X:830.82, Y:-133.71, Z:-54.76 [[ 9.94522299e-01 8.68846691e-02 5.81072327e-02 8.30818753e+02] [-8.64809633e-02 9.96208860e-01 -9.43136793e-03 -1.33713980e+02] [-5.87063813e-02 4.35453627e-03 9.98265796e-01 -5.47611429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.940714057 meters 0.038908375152763776 Centerline is valid? [True, True] Translation: X:830.88, Y:-133.72, Z:-54.77 [[ 9.94296939e-01 8.95654495e-02 5.78932346e-02 8.30878909e+02] [-8.91692977e-02 9.95972169e-01 -9.39548758e-03 -1.33719382e+02] [-5.85015615e-02 4.17960548e-03 9.98278567e-01 -5.47651942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.000714057 meters 0.040169451392314766 Centerline is valid? [True, True] Translation: X:830.94, Y:-133.73, Z:-54.77 [[ 9.93919472e-01 9.31050836e-02 5.87837275e-02 8.30938154e+02] [-9.27029280e-02 9.95648131e-01 -9.53762742e-03 -1.33726894e+02] [-5.94159101e-02 4.03020995e-03 9.98225179e-01 -5.47686995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.060714057 meters 0.03671344250494252 Centerline is valid? [True, True] Translation: X:831.00, Y:-133.73, Z:-54.77 [[ 9.93753899e-01 9.46241550e-02 5.91562168e-02 8.30997387e+02] [-9.42196082e-02 9.95505178e-01 -9.59718606e-03 -1.33729734e+02] [-5.97984458e-02 3.96356549e-03 9.98202603e-01 -5.47725799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.120714057 meters 0.036603481901609426 Centerline is valid? [True, True] Translation: X:831.06, Y:-133.74, Z:-54.78 [[ 9.93771394e-01 9.51516746e-02 5.80049649e-02 8.31056133e+02] [-9.47640413e-02 9.95455348e-01 -9.40350543e-03 -1.33735921e+02] [-5.86361118e-02 3.84814981e-03 9.98272006e-01 -5.47780065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.180714057 meters 0.03760773019991897 Centerline is valid? [True, True] Translation: X:831.11, Y:-133.75, Z:-54.78 [[ 9.93951086e-01 9.36452819e-02 5.73742111e-02 8.31114798e+02] [-9.32638012e-02 9.95598027e-01 -9.29688344e-03 -1.33745633e+02] [-5.79922607e-02 3.88971037e-03 9.98309455e-01 -5.47822310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.240714057 meters 0.04134010824820445 Centerline is valid? [True, True] Translation: X:831.17, Y:-133.76, Z:-54.79 [[ 9.94289488e-01 9.03117904e-02 5.68523948e-02 8.31172076e+02] [-8.99319234e-02 9.95905327e-01 -9.21028995e-03 -1.33758849e+02] [-5.74514006e-02 4.04484927e-03 9.98340110e-01 -5.47870742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.300714057 meters 0.037745337697997025 Centerline is valid? [True, True] Translation: X:831.23, Y:-133.76, Z:-54.79 [[ 9.94512461e-01 8.80154080e-02 5.65531079e-02 8.31232744e+02] [-8.76359734e-02 9.96110455e-01 -9.15954182e-03 -1.33762739e+02] [-5.71393228e-02 4.15319181e-03 9.98357576e-01 -5.47914389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.360714057 meters 0.04595255528930778 Centerline is valid? [True, True] Translation: X:831.29, Y:-133.78, Z:-54.80 [[ 9.94674245e-01 8.65388378e-02 5.59837177e-02 8.31288682e+02] [-8.61646622e-02 9.96239643e-01 -9.06782456e-03 -1.33780768e+02] [-5.65579179e-02 4.19571342e-03 9.98390504e-01 -5.47962993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.420714057 meters 0.039182453146332286 Centerline is valid? [True, True] Translation: X:831.35, Y:-133.78, Z:-54.80 [[ 9.94513916e-01 8.78235915e-02 5.68250580e-02 8.31349427e+02] [-8.74403699e-02 9.96127269e-01 -9.20033626e-03 -1.33777105e+02] [-5.74129964e-02 4.18105835e-03 9.98341758e-01 -5.47978274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.480714057 meters 0.03687696143455837 Centerline is valid? [True, True] Translation: X:831.41, Y:-133.78, Z:-54.80 [[ 9.94284916e-01 8.98599088e-02 5.76428954e-02 8.31409830e+02] [-8.94691618e-02 9.95945899e-01 -9.32932900e-03 -1.33780617e+02] [-5.82475379e-02 4.11874957e-03 9.98293674e-01 -5.48008165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5407140570001 meters 0.035353298129246244 Centerline is valid? [True, True] Translation: X:831.47, Y:-133.78, Z:-54.80 [[ 9.94009239e-01 9.29068692e-02 5.75668856e-02 8.31469936e+02] [-9.25222946e-02 9.95667032e-01 -9.31596435e-03 -1.33782937e+02] [-5.81829672e-02 3.93393429e-03 9.98298185e-01 -5.48039676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.600714057 meters 0.0346405348608768 Centerline is valid? [True, True] Translation: X:831.53, Y:-133.79, Z:-54.81 [[ 9.93927929e-01 9.45647023e-02 5.62564558e-02 8.31528909e+02] [-9.42001420e-02 9.95511660e-01 -9.10316303e-03 -1.33788736e+02] [-5.68647957e-02 3.74852185e-03 9.98374851e-01 -5.48090928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6607140570001 meters 0.03515818284831742 Centerline is valid? [True, True] Translation: X:831.59, Y:-133.80, Z:-54.82 [[ 9.93843986e-01 9.71575419e-02 5.32404272e-02 8.31587523e+02] [-9.68349288e-02 9.95263195e-01 -8.61214002e-03 -1.33795218e+02] [-5.38249720e-02 3.40359059e-03 9.98544585e-01 -5.48164372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.720714057 meters 0.03506795519144758 Centerline is valid? [True, True] Translation: X:831.65, Y:-133.80, Z:-54.82 [[ 9.93546336e-01 1.01000728e-01 5.16190948e-02 8.31646476e+02] [-1.00702742e-01 9.94881535e-01 -8.34804204e-03 -1.33799441e+02] [-5.21980426e-02 3.09598219e-03 9.98631954e-01 -5.48207203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7807140570001 meters 0.03617650720989296 Centerline is valid? [True, True] Translation: X:831.71, Y:-133.81, Z:-54.82 [[ 9.93212469e-01 1.04116957e-01 5.18521926e-02 8.31705269e+02] [-1.03820596e-01 9.94560704e-01 -8.38389763e-03 -1.33806919e+02] [-5.24430591e-02 2.94366612e-03 9.98619577e-01 -5.48243663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.840714057 meters 0.03490691452800446 Centerline is valid? [True, True] Translation: X:831.77, Y:-133.81, Z:-54.83 [[ 9.92742799e-01 1.08681713e-01 5.14783438e-02 8.31766265e+02] [-1.08395839e-01 9.94072984e-01 -8.32128479e-03 -1.33810045e+02] [-5.20776023e-02 2.68085730e-03 9.98639443e-01 -5.48282471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9007140570001 meters 0.03371429493578341 Centerline is valid? [True, True] Translation: X:831.83, Y:-133.81, Z:-54.83 [[ 9.92566888e-01 1.10377326e-01 5.12622591e-02 8.31825098e+02] [-1.10096074e-01 9.93886403e-01 -8.28691656e-03 -1.33813903e+02] [-5.18635500e-02 2.58154552e-03 9.98650844e-01 -5.48310769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.960714057 meters 0.030950340551865466 Centerline is valid? [True, True] Translation: X:831.88, Y:-133.81, Z:-54.83 [[ 9.92637824e-01 1.08860963e-01 5.30984020e-02 8.31884469e+02] [-1.08557115e-01 9.94053169e-01 -8.58193992e-03 -1.33814949e+02] [-5.37168730e-02 2.75454885e-03 9.98552407e-01 -5.48315783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0207140570001 meters 0.03470491325598029 Centerline is valid? [True, True] Translation: X:831.94, Y:-133.83, Z:-54.83 [[ 9.93272456e-01 1.02360451e-01 5.41494820e-02 8.31943051e+02] [-1.02035706e-01 9.94742382e-01 -8.73549394e-03 -1.33828287e+02] [-5.47589538e-02 3.15154488e-03 9.98494629e-01 -5.48345770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.080714057 meters 0.035013998665023686 Centerline is valid? [True, True] Translation: X:832.00, Y:-133.84, Z:-54.84 [[ 9.93826753e-01 9.65715910e-02 5.46105575e-02 8.32002549e+02] [-9.62326411e-02 9.95319890e-01 -8.80877666e-03 -1.33838706e+02] [-5.52056517e-02 3.49907972e-03 9.98468874e-01 -5.48382748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1407140570001 meters 0.043462729899176884 Centerline is valid? [True, True] Translation: X:832.06, Y:-133.86, Z:-54.84 [[ 9.94517675e-01 8.95093263e-02 5.40617754e-02 8.32058927e+02] [-8.91667559e-02 9.95978534e-01 -8.72063232e-03 -1.33860429e+02] [-5.46249458e-02 3.85230984e-03 9.98499512e-01 -5.48444947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.200714057 meters 0.04380821724459332 Centerline is valid? [True, True] Translation: X:832.12, Y:-133.87, Z:-54.85 [[ 9.94802221e-01 8.63802518e-02 5.39165382e-02 8.32118412e+02] [-8.60350626e-02 9.96254165e-01 -8.69518559e-03 -1.33870139e+02] [-5.44656680e-02 4.01127720e-03 9.98507587e-01 -5.48494331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2607140570001 meters 0.04451375769909151 Centerline is valid? [True, True] Translation: X:832.18, Y:-133.88, Z:-54.85 [[ 9.94627370e-01 8.73718916e-02 5.55206888e-02 8.32176681e+02] [-8.70074037e-02 9.96167432e-01 -8.95319694e-03 -1.33880282e+02] [-5.60901597e-02 4.07438374e-03 9.98417394e-01 -5.48525644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.320714057 meters 0.04011997867697583 Centerline is valid? [True, True] Translation: X:832.24, Y:-133.88, Z:-54.85 [[ 9.94016206e-01 9.16773514e-02 5.93889314e-02 8.32237668e+02] [-9.12680750e-02 9.95780341e-01 -9.57347692e-03 -1.33884688e+02] [-6.00160013e-02 4.09587776e-03 9.98189012e-01 -5.48541257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.380714057 meters 0.035286667724142136 Centerline is valid? [True, True] Translation: X:832.30, Y:-133.89, Z:-54.86 [[ 9.93479281e-01 9.68559068e-02 6.01485866e-02 8.32297983e+02] [-9.64455390e-02 9.95291040e-01 -9.69551423e-03 -1.33887454e+02] [-6.08044172e-02 3.83122964e-03 9.98142347e-01 -5.48581430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.440714057 meters 0.030983511183126238 Centerline is valid? [True, True] Translation: X:832.36, Y:-133.89, Z:-54.86 [[ 9.92672381e-01 1.04942556e-01 5.99049602e-02 8.32357959e+02] [-1.04550278e-01 9.94472742e-01 -9.65426389e-03 -1.33890365e+02] [-6.05869932e-02 3.32044086e-03 9.98157398e-01 -5.48629798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.500714057 meters 0.03152666740163404 Centerline is valid? [True, True] Translation: X:832.42, Y:-133.90, Z:-54.87 [[ 9.92013044e-01 1.11403182e-01 5.91561654e-02 8.32416185e+02] [-1.11032175e-01 9.93771096e-01 -9.53232380e-03 -1.33901982e+02] [-5.98496185e-02 2.88795181e-03 9.98203227e-01 -5.48691129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.560714057 meters 0.028759133299535174 Centerline is valid? [True, True] Translation: X:832.47, Y:-133.91, Z:-54.87 [[ 9.91744505e-01 1.13729659e-01 5.92317656e-02 8.32474572e+02] [-1.13361914e-01 9.93507928e-01 -9.54322985e-03 -1.33907633e+02] [-5.99325770e-02 2.74981944e-03 9.98198640e-01 -5.48739908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.620714057 meters 0.028701506117381585 Centerline is valid? [True, True] Translation: X:832.53, Y:-133.92, Z:-54.88 [[ 9.91602578e-01 1.14640218e-01 5.98493820e-02 8.32532461e+02] [-1.14266677e-01 9.93403357e-01 -9.63829228e-03 -1.33918385e+02] [-6.05595129e-02 2.71856549e-03 9.98160886e-01 -5.48780641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.680714057 meters 0.02956063977443826 Centerline is valid? [True, True] Translation: X:832.59, Y:-133.93, Z:-54.88 [[ 9.91867095e-01 1.11799474e-01 6.08320928e-02 8.32590615e+02] [-1.11408507e-01 9.93726453e-01 -9.79190490e-03 -1.33931712e+02] [-6.15451896e-02 2.93505563e-03 9.98099983e-01 -5.48819559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.740714057 meters 0.030174930747667784 Centerline is valid? [True, True] Translation: X:832.65, Y:-133.94, Z:-54.89 [[ 9.92022773e-01 1.10078277e-01 6.14295656e-02 8.32648172e+02] [-1.09676429e-01 9.93918181e-01 -9.88588168e-03 -1.33943383e+02] [-6.21441829e-02 3.06964435e-03 9.98062462e-01 -5.48856567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.800714057 meters 0.03149821702126347 Centerline is valid? [True, True] Translation: X:832.71, Y:-133.96, Z:-54.89 [[ 9.92605314e-01 1.04496160e-01 6.17676559e-02 8.32706445e+02] [-1.04079389e-01 9.94519364e-01 -9.93561206e-03 -1.33957930e+02] [-6.24673631e-02 3.43340143e-03 9.98041102e-01 -5.48895880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.860714057 meters 0.03586818210202883 Centerline is valid? [True, True] Translation: X:832.76, Y:-133.98, Z:-54.89 [[ 9.93046482e-01 1.00407570e-01 6.14573329e-02 8.32763185e+02] [-9.99872611e-02 9.94939619e-01 -9.88444962e-03 -1.33976608e+02] [-6.21388089e-02 3.67076753e-03 9.98060767e-01 -5.48947450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.920714057 meters 0.03648148965698744 Centerline is valid? [True, True] Translation: X:832.82, Y:-133.99, Z:-54.90 [[ 9.93652873e-01 9.52461344e-02 5.98509995e-02 8.32821979e+02] [-9.48382940e-02 9.95446162e-01 -9.62482979e-03 -1.33989751e+02] [-6.04951756e-02 3.88757309e-03 9.98160919e-01 -5.49000592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.980714057 meters 0.037028153079085656 Centerline is valid? [True, True] Translation: X:832.88, Y:-134.00, Z:-54.90 [[ 9.93829396e-01 9.38768703e-02 5.90784728e-02 8.32880114e+02] [-9.34770755e-02 9.95576099e-01 -9.50097167e-03 -1.34000000e+02] [-5.97090369e-02 3.91986207e-03 9.98208127e-01 -5.49036966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0407140570001 meters 0.035621961759719385 Centerline is valid? [True, True] Translation: X:832.94, Y:-134.01, Z:-54.91 [[ 9.93752543e-01 9.49842807e-02 5.85992259e-02 8.32938565e+02] [-9.45931251e-02 9.95471452e-01 -9.41959792e-03 -1.34006319e+02] [-5.92285702e-02 3.81766548e-03 9.98237147e-01 -5.49077204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.100714057 meters 0.037880329756597504 Centerline is valid? [True, True] Translation: X:833.00, Y:-134.02, Z:-54.91 [[ 9.93528845e-01 9.77280845e-02 5.78762065e-02 8.32996159e+02] [-9.73514250e-02 9.95206627e-01 -9.29895874e-03 -1.34018070e+02] [-5.85075536e-02 3.60445257e-03 9.98280459e-01 -5.49129745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1607140570001 meters 0.04142885547248666 Centerline is valid? [True, True] Translation: X:833.05, Y:-134.03, Z:-54.92 [[ 9.93374112e-01 9.95862909e-02 5.73623905e-02 8.33053060e+02] [-9.92194947e-02 9.95022907e-01 -9.21445471e-03 -1.34031089e+02] [-5.79945259e-02 3.46193337e-03 9.98310899e-01 -5.49172552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.220714057 meters 0.03483551197957022 Centerline is valid? [True, True] Translation: X:833.11, Y:-134.03, Z:-54.92 [[ 9.93346409e-01 1.00911920e-01 5.54950082e-02 8.33113285e+02] [-1.00570851e-01 9.94889985e-01 -8.91187687e-03 -1.34028536e+02] [-5.61107425e-02 3.27140067e-03 9.98419192e-01 -5.49202214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2807140570001 meters 0.034365669219725885 Centerline is valid? [True, True] Translation: X:833.17, Y:-134.04, Z:-54.92 [[ 9.93532918e-01 9.97929702e-02 5.41636708e-02 8.33171485e+02] [-9.94666389e-02 9.95002913e-01 -8.69431480e-03 -1.34036474e+02] [-5.47606417e-02 3.25060967e-03 9.98494219e-01 -5.49247230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.340714057 meters 0.03641727223688971 Centerline is valid? [True, True] Translation: X:833.23, Y:-134.05, Z:-54.93 [[ 9.93855994e-01 9.65527434e-02 5.41094314e-02 8.33230742e+02] [-9.62225378e-02 9.95321990e-01 -8.68097699e-03 -1.34048359e+02] [-5.46944791e-02 3.42109421e-03 9.98497276e-01 -5.49282841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4007140570001 meters 0.03848489590962408 Centerline is valid? [True, True] Translation: X:833.29, Y:-134.06, Z:-54.93 [[ 9.94150323e-01 9.38252811e-02 5.34972119e-02 8.33290097e+02] [-9.34985832e-02 9.95582418e-01 -8.58275636e-03 -1.34059948e+02] [-5.40661631e-02 3.53063648e-03 9.98531114e-01 -5.49322703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.460714057 meters 0.03776827995432185 Centerline is valid? [True, True] Translation: X:833.35, Y:-134.07, Z:-54.93 [[ 9.94553907e-01 8.97070728e-02 5.30581575e-02 8.33350275e+02] [-8.93798891e-02 9.95961232e-01 -8.51233613e-03 -1.34067058e+02] [-5.36074846e-02 3.72364492e-03 9.98555142e-01 -5.49336341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5207140570001 meters 0.039788026142235415 Centerline is valid? [True, True] Translation: X:833.41, Y:-134.08, Z:-54.94 [[ 9.94757424e-01 8.73855549e-02 5.31171572e-02 8.33408659e+02] [-8.70543264e-02 9.96167112e-01 -8.52226383e-03 -1.34078198e+02] [-5.36582878e-02 3.85350687e-03 9.98551921e-01 -5.49365949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.580714057 meters 0.04023160058443658 Centerline is valid? [True, True] Translation: X:833.47, Y:-134.09, Z:-54.94 [[ 9.95074633e-01 8.47569484e-02 5.14075348e-02 8.33468575e+02] [-8.44434059e-02 9.96394167e-01 -8.24466560e-03 -1.34086883e+02] [-5.19209606e-02 3.86303027e-03 9.98643726e-01 -5.49406464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6407140570001 meters 0.04240291304474157 Centerline is valid? [True, True] Translation: X:833.53, Y:-134.10, Z:-54.94 [[ 9.95203298e-01 8.40352537e-02 5.00846429e-02 8.33525322e+02] [-8.37366579e-02 9.96455529e-01 -8.03429930e-03 -1.34097686e+02] [-5.05822837e-02 3.80184055e-03 9.98712661e-01 -5.49445901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.700714057 meters 0.043078852544229745 Centerline is valid? [True, True] Translation: X:833.58, Y:-134.11, Z:-54.95 [[ 9.95063789e-01 8.57690185e-02 4.99172362e-02 8.33583102e+02] [-8.54749760e-02 9.96308202e-01 -7.99970457e-03 -1.34105918e+02] [-5.04190787e-02 3.69354177e-03 9.98721320e-01 -5.49472329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7607140570001 meters 0.03583973235896463 Centerline is valid? [True, True] Translation: X:833.64, Y:-134.10, Z:-54.95 [[ 9.94544047e-01 9.10478712e-02 5.09158457e-02 8.33644674e+02] [-9.07489361e-02 9.95840394e-01 -8.15725885e-03 -1.34102364e+02] [-5.14467569e-02 3.49219440e-03 9.98669633e-01 -5.49482552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.820714057 meters 0.03399714963260252 Centerline is valid? [True, True] Translation: X:833.71, Y:-134.11, Z:-54.95 [[ 9.93938866e-01 9.75387488e-02 5.07121533e-02 8.33705115e+02] [-9.72506328e-02 9.95226765e-01 -8.12408235e-03 -1.34106382e+02] [-5.12625051e-02 3.14305221e-03 9.98680268e-01 -5.49514420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.880714057 meters 0.03358037065127048 Centerline is valid? [True, True] Translation: X:833.76, Y:-134.11, Z:-54.96 [[ 9.93587898e-01 1.01345594e-01 5.01214519e-02 8.33764057e+02] [-1.01068996e-01 9.94847019e-01 -8.02912389e-03 -1.34114512e+02] [-5.06768934e-02 2.91191551e-03 9.98710856e-01 -5.49556305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.940714057 meters 0.033985289965769494 Centerline is valid? [True, True] Translation: X:833.82, Y:-134.12, Z:-54.96 [[ 9.93164592e-01 1.06078957e-01 4.86964917e-02 8.33822207e+02] [-1.05823635e-01 9.94354330e-01 -7.79899019e-03 -1.34123598e+02] [-4.92488762e-02 2.59244115e-03 9.98783173e-01 -5.49620304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.000714057 meters 0.02989351722046538 Centerline is valid? [True, True] Translation: X:833.88, Y:-134.13, Z:-54.96 [[ 9.92886732e-01 1.09024180e-01 4.78504595e-02 8.33882481e+02] [-1.08781128e-01 9.94036195e-01 -7.66225866e-03 -1.34125589e+02] [-4.84004601e-02 2.40252800e-03 9.98825122e-01 -5.49646498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.060714057 meters 0.02841516441436931 Centerline is valid? [True, True] Translation: X:833.94, Y:-134.13, Z:-54.97 [[ 9.92393948e-01 1.13743997e-01 4.70803006e-02 8.33942333e+02] [-1.13514046e-01 9.93507795e-01 -7.53808696e-03 -1.34132094e+02] [-4.76320578e-02 2.13647648e-03 9.98862665e-01 -5.49683830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.120714057 meters 0.027559401920017518 Centerline is valid? [True, True] Translation: X:834.00, Y:-134.14, Z:-54.97 [[ 9.91906036e-01 1.17890526e-01 4.71618439e-02 8.34001888e+02] [-1.17664492e-01 9.93024703e-01 -7.55026954e-03 -1.34140600e+02] [-4.77229813e-02 1.93988352e-03 9.98858726e-01 -5.49723948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.180714057 meters 0.030102286207184772 Centerline is valid? [True, True] Translation: X:834.06, Y:-134.15, Z:-54.98 [[ 9.91712032e-01 1.19179146e-01 4.79955978e-02 8.34058246e+02] [-1.18946537e-01 9.92870927e-01 -7.68398412e-03 -1.34153803e+02] [-4.85692044e-02 1.91138936e-03 9.98817991e-01 -5.49774809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.240714057 meters 0.02889219002411288 Centerline is valid? [True, True] Translation: X:834.12, Y:-134.16, Z:-54.98 [[ 9.91818891e-01 1.17783822e-01 4.92164568e-02 8.34116632e+02] [-1.17537615e-01 9.93037189e-01 -7.87720949e-03 -1.34162102e+02] [-4.98015797e-02 2.02798021e-03 9.98757073e-01 -5.49783475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.300714057 meters 0.029257554869938675 Centerline is valid? [True, True] Translation: X:834.18, Y:-134.17, Z:-54.98 [[ 9.92457563e-01 1.11889540e-01 5.00870863e-02 8.34175677e+02] [-1.11627850e-01 9.93717873e-01 -8.00070130e-03 -1.34174361e+02] [-5.06676277e-02 2.34924275e-03 9.98712808e-01 -5.49801740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.360714057 meters 0.03342018005164004 Centerline is valid? [True, True] Translation: X:834.23, Y:-134.19, Z:-54.99 [[ 9.93071879e-01 1.06544802e-01 4.95625775e-02 8.34232780e+02] [-1.06281952e-01 9.94304519e-01 -7.91647135e-03 -1.34192822e+02] [-5.01237537e-02 2.59401759e-03 9.98739646e-01 -5.49857723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.420714057 meters 0.035592560600751236 Centerline is valid? [True, True] Translation: X:834.29, Y:-134.21, Z:-54.99 [[ 9.94011263e-01 9.81085505e-02 4.81281800e-02 8.34290666e+02] [-9.78509053e-02 9.95171404e-01 -7.68618282e-03 -1.34208936e+02] [-4.86498687e-02 2.93076630e-03 9.98811594e-01 -5.49901093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.480714057 meters 0.03746405496970279 Centerline is valid? [True, True] Translation: X:834.35, Y:-134.22, Z:-54.99 [[ 9.94513247e-01 9.32757529e-02 4.73607069e-02 8.34349691e+02] [-9.30208435e-02 9.95635438e-01 -7.56289526e-03 -1.34223090e+02] [-4.78594329e-02 3.11586662e-03 9.98849221e-01 -5.49947029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5407140570001 meters 0.03663205161484858 Centerline is valid? [True, True] Translation: X:834.41, Y:-134.23, Z:-55.00 [[ 9.94938862e-01 8.88590848e-02 4.69118746e-02 8.34408880e+02] [-8.86041007e-02 9.96038752e-01 -7.49125352e-03 -1.34232953e+02] [-4.73917110e-02 3.29675479e-03 9.98870941e-01 -5.49975879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.600714057 meters 0.04026283749632521 Centerline is valid? [True, True] Translation: X:834.47, Y:-134.25, Z:-55.00 [[ 9.95324541e-01 8.37263085e-02 4.81556243e-02 8.34467650e+02] [-8.34516396e-02 9.96482158e-01 -7.68981222e-03 -1.34249118e+02] [-4.86300600e-02 3.63519302e-03 9.98810244e-01 -5.50012025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6607140570001 meters 0.04138847742248971 Centerline is valid? [True, True] Translation: X:834.53, Y:-134.26, Z:-55.00 [[ 9.95460919e-01 8.18587151e-02 4.85459546e-02 8.34526196e+02] [-8.15773347e-02 9.96636861e-01 -7.75274348e-03 -1.34260860e+02] [-4.90173175e-02 3.75730356e-03 9.98790862e-01 -5.50049850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.720714057 meters 0.03976499947292155 Centerline is valid? [True, True] Translation: X:834.58, Y:-134.27, Z:-55.01 [[ 9.95524637e-01 8.09407141e-02 4.87780593e-02 8.34584152e+02] [-8.06555994e-02 9.96711599e-01 -7.78859042e-03 -1.34267963e+02] [-4.92480715e-02 3.81951004e-03 9.98779274e-01 -5.50086721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7807140570001 meters 0.04133267244266291 Centerline is valid? [True, True] Translation: X:834.64, Y:-134.28, Z:-55.01 [[ 9.95669402e-01 7.94944545e-02 4.81982758e-02 8.34641950e+02] [-7.92145860e-02 9.96827909e-01 -7.69221249e-03 -1.34279049e+02] [-4.86568747e-02 3.84089415e-03 9.98808168e-01 -5.50135639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.840714057 meters 0.042947252932487065 Centerline is valid? [True, True] Translation: X:834.70, Y:-134.29, Z:-55.02 [[ 9.95771684e-01 7.86094815e-02 4.75321340e-02 8.34699093e+02] [-7.83363969e-02 9.96898136e-01 -7.58391665e-03 -1.34290132e+02] [-4.79808635e-02 3.82835334e-03 9.98840919e-01 -5.50187287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9007140570001 meters 0.042885814934086594 Centerline is valid? [True, True] Translation: X:834.76, Y:-134.30, Z:-55.02 [[ 9.95780844e-01 7.82520251e-02 4.79284035e-02 8.34757281e+02] [-7.79741781e-02 9.96926086e-01 -7.64248614e-03 -1.34298029e+02] [-4.83791157e-02 3.87306342e-03 9.98821536e-01 -5.50217278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.960714057 meters 0.04401983358478343 Centerline is valid? [True, True] Translation: X:834.82, Y:-134.31, Z:-55.02 [[ 9.95711255e-01 7.86300928e-02 4.87483978e-02 8.34816067e+02] [-7.83432896e-02 9.96896166e-01 -7.76934054e-03 -1.34305915e+02] [-4.92079948e-02 3.91690997e-03 9.98780872e-01 -5.50249035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0207140570001 meters 0.04508699324910661 Centerline is valid? [True, True] Translation: X:834.87, Y:-134.32, Z:-55.03 [[ 9.95598773e-01 7.91660595e-02 5.01579268e-02 8.34874181e+02] [-7.88632188e-02 9.96853415e-01 -7.99141629e-03 -1.34315447e+02] [-5.06327496e-02 4.00062870e-03 9.98709327e-01 -5.50284817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.080714057 meters 0.04673598570536503 Centerline is valid? [True, True] Translation: X:834.93, Y:-134.32, Z:-55.03 [[ 9.95495654e-01 7.95596363e-02 5.15622594e-02 8.34931659e+02] [-7.92403027e-02 9.96821723e-01 -8.21136978e-03 -1.34324948e+02] [-5.20516738e-02 4.08857390e-03 9.98636023e-01 -5.50308048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1407140570001 meters 0.04782623823785539 Centerline is valid? [True, True] Translation: X:834.99, Y:-134.33, Z:-55.03 [[ 9.95329316e-01 8.09485725e-02 5.26011611e-02 8.34990761e+02] [-8.06183830e-02 9.96709877e-01 -8.37247091e-03 -1.34334489e+02] [-5.31058364e-02 4.09274518e-03 9.98580502e-01 -5.50338076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.200714057 meters 0.03773767428621115 Centerline is valid? [True, True] Translation: X:835.05, Y:-134.33, Z:-55.04 [[ 9.95193822e-01 8.27287036e-02 5.23948235e-02 8.35052620e+02] [-8.24035991e-02 9.96564153e-01 -8.33875729e-03 -1.34328960e+02] [-5.29046575e-02 3.98115771e-03 9.98591632e-01 -5.50351581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2607140570001 meters 0.0371368401930839 Centerline is valid? [True, True] Translation: X:835.11, Y:-134.34, Z:-55.04 [[ 9.94914313e-01 8.67877003e-02 5.11214699e-02 8.35112652e+02] [-8.64836046e-02 9.96220060e-01 -8.13497640e-03 -1.34336758e+02] [-5.16342497e-02 3.67243547e-03 9.98659310e-01 -5.50407099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.320714057 meters 0.036990990837429585 Centerline is valid? [True, True] Translation: X:835.17, Y:-134.35, Z:-55.05 [[ 9.94643907e-01 9.06386138e-02 4.96803759e-02 8.35171278e+02] [-9.03562085e-02 9.95878132e-01 -7.90576017e-03 -1.34345274e+02] [-5.01921671e-02 3.37448578e-03 9.98733878e-01 -5.50458606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.380714057 meters 0.03264626558104254 Centerline is valid? [True, True] Translation: X:835.23, Y:-134.35, Z:-55.05 [[ 9.93902752e-01 9.83010443e-02 4.99422144e-02 8.35231749e+02] [-9.80253357e-02 9.95152195e-01 -7.94616697e-03 -1.34346547e+02] [-5.04812209e-02 3.00211488e-03 9.98720498e-01 -5.50482547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.440714057 meters 0.030945507249147065 Centerline is valid? [True, True] Translation: X:835.29, Y:-134.35, Z:-55.05 [[ 9.92799366e-01 1.07785660e-01 5.22653895e-02 8.35291145e+02] [-1.07496795e-01 9.94170659e-01 -8.31508896e-03 -1.34352008e+02] [-5.28569640e-02 2.63685321e-03 9.98598612e-01 -5.50500723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.500714057 meters 0.029412906009347296 Centerline is valid? [True, True] Translation: X:835.35, Y:-134.36, Z:-55.05 [[ 9.92147719e-01 1.12899643e-01 5.38198384e-02 8.35351113e+02] [-1.12600897e-01 9.93603416e-01 -8.56092951e-03 -1.34358987e+02] [-5.44421012e-02 2.43354459e-03 9.98513964e-01 -5.50527829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.560714057 meters 0.02776738695539058 Centerline is valid? [True, True] Translation: X:835.41, Y:-134.37, Z:-55.06 [[ 9.91650311e-01 1.16903320e-01 5.44359713e-02 8.35410228e+02] [-1.16603711e-01 9.93140776e-01 -8.65874298e-03 -1.34367325e+02] [-5.50748185e-02 2.23900888e-03 9.98479720e-01 -5.50570940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.620714057 meters 0.02810475158380818 Centerline is valid? [True, True] Translation: X:835.47, Y:-134.38, Z:-55.06 [[ 9.91994666e-01 1.14257029e-01 5.37765184e-02 8.35467940e+02] [-1.13960795e-01 9.93448428e-01 -8.55326952e-03 -1.34379437e+02] [-5.44014688e-02 2.35638293e-03 9.98516363e-01 -5.50617671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.680714057 meters 0.029780895227965863 Centerline is valid? [True, True] Translation: X:835.53, Y:-134.40, Z:-55.07 [[ 9.92611827e-01 1.08961067e-01 5.33783331e-02 8.35526443e+02] [-1.08661750e-01 9.94042555e-01 -8.48657727e-03 -1.34395029e+02] [-5.39850412e-02 2.62369387e-03 9.98538298e-01 -5.50669684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.740714057 meters 0.03315946317189912 Centerline is valid? [True, True] Translation: X:835.58, Y:-134.41, Z:-55.07 [[ 9.93728904e-01 9.81917203e-02 5.34906697e-02 8.35583891e+02] [-9.78756173e-02 9.95162323e-01 -8.50373690e-03 -1.34414838e+02] [-5.40668957e-02 3.21497683e-03 9.98532140e-01 -5.50720035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.800714057 meters 0.04288348817330982 Centerline is valid? [True, True] Translation: X:835.64, Y:-134.44, Z:-55.08 [[ 9.94448262e-01 9.05722853e-02 5.35659841e-02 8.35639149e+02] [-9.02442767e-02 9.95883252e-01 -8.51581144e-03 -1.34441620e+02] [-5.41167630e-02 3.63451039e-03 9.98528000e-01 -5.50779089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.860714057 meters 0.04021850737881397 Centerline is valid? [True, True] Translation: X:835.70, Y:-134.45, Z:-55.08 [[ 9.95136303e-01 8.12490957e-02 5.56985103e-02 8.35698404e+02] [-8.08799258e-02 9.96684524e-01 -8.85420443e-03 -1.34451647e+02] [-5.62332393e-02 4.30624888e-03 9.98408373e-01 -5.50798661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.920714057 meters 0.04702242485085216 Centerline is valid? [True, True] Translation: X:835.76, Y:-134.47, Z:-55.08 [[ 9.95391428e-01 7.65066122e-02 5.78155941e-02 8.35755343e+02] [-7.61008860e-02 9.97057768e-01 -9.19029636e-03 -1.34472822e+02] [-5.83486057e-02 4.74812428e-03 9.98284977e-01 -5.50831944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.980714057 meters 0.046242179467950756 Centerline is valid? [True, True] Translation: X:835.81, Y:-134.48, Z:-55.09 [[ 9.95484923e-01 7.52331322e-02 5.78769662e-02 8.35813665e+02] [-7.48244120e-02 9.97154285e-01 -9.19996523e-03 -1.34482318e+02] [-5.84044070e-02 4.82781672e-03 9.98281332e-01 -5.50871797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0407140570001 meters 0.04046153345221797 Centerline is valid? [True, True] Translation: X:835.87, Y:-134.49, Z:-55.09 [[ 9.95678899e-01 7.46200164e-02 5.52755199e-02 8.35872124e+02] [-7.42464688e-02 9.97201237e-01 -8.78382352e-03 -1.34485206e+02] [-5.57762659e-02 4.64185556e-03 9.98432502e-01 -5.50938913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.100714057 meters 0.04909669347642447 Centerline is valid? [True, True] Translation: X:835.93, Y:-134.51, Z:-55.10 [[ 9.95712256e-01 7.57153999e-02 5.31439764e-02 8.35927552e+02] [-7.53718949e-02 9.97119763e-01 -8.44126129e-03 -1.34506002e+02] [-5.36300426e-02 4.39950512e-03 9.98551182e-01 -5.51010168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1607140570001 meters 0.04069207078324876 Centerline is valid? [True, True] Translation: X:835.99, Y:-134.50, Z:-55.10 [[ 9.95554567e-01 7.86835261e-02 5.17687905e-02 8.35988955e+02] [-7.83618021e-02 9.96891110e-01 -8.21842325e-03 -1.34500822e+02] [-5.22545015e-02 4.12519309e-03 9.98625280e-01 -5.51035176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.220714057 meters 0.0392838646023759 Centerline is valid? [True, True] Translation: X:836.05, Y:-134.51, Z:-55.11 [[ 9.95270701e-01 8.15304465e-02 5.28111565e-02 8.36049256e+02] [-8.11996559e-02 9.96662603e-01 -8.38286079e-03 -1.34506897e+02] [-5.33183631e-02 4.05496799e-03 9.98569331e-01 -5.51070386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2807140570001 meters 0.041374322591403855 Centerline is valid? [True, True] Translation: X:836.11, Y:-134.52, Z:-55.11 [[ 9.95202313e-01 8.17958219e-02 5.36824050e-02 8.36106200e+02] [-8.14543953e-02 9.96640643e-01 -8.52119006e-03 -1.34518065e+02] [-5.41990643e-02 4.10764022e-03 9.98521702e-01 -5.51106611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.340714057 meters 0.042368304956907535 Centerline is valid? [True, True] Translation: X:836.16, Y:-134.53, Z:-55.11 [[ 9.95270855e-01 8.09163697e-02 5.37444625e-02 8.36164432e+02] [-8.05731555e-02 9.96712233e-01 -8.52594137e-03 -1.34527774e+02] [-5.42576515e-02 4.15526001e-03 9.98518323e-01 -5.51145833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4007140570001 meters 0.04377996674354366 Centerline is valid? [True, True] Translation: X:836.22, Y:-134.54, Z:-55.12 [[ 9.95375299e-01 8.00369608e-02 5.31234385e-02 8.36221935e+02] [-7.97006023e-02 9.96783255e-01 -8.42361587e-03 -1.34538271e+02] [-5.36267546e-02 4.15068912e-03 9.98552424e-01 -5.51184765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.460714057 meters 0.04549552656619215 Centerline is valid? [True, True] Translation: X:836.28, Y:-134.55, Z:-55.12 [[ 9.95431917e-01 7.90051717e-02 5.36048614e-02 8.36278937e+02] [-7.86613961e-02 9.96865186e-01 -8.49625989e-03 -1.34549582e+02] [-5.41080686e-02 4.24081504e-03 9.98526080e-01 -5.51221344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5207140570001 meters 0.04757369061447217 Centerline is valid? [True, True] Translation: X:836.34, Y:-134.56, Z:-55.13 [[ 9.95460108e-01 7.79474410e-02 5.46202349e-02 8.36336464e+02] [-7.75892022e-02 9.96947871e-01 -8.65210068e-03 -1.34562962e+02] [-5.51279360e-02 4.37488063e-03 9.98469715e-01 -5.51256017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.580714057 meters 0.044297792038253486 Centerline is valid? [True, True] Translation: X:836.39, Y:-134.57, Z:-55.13 [[ 9.95484490e-01 7.75514076e-02 5.47394616e-02 8.36394555e+02] [-7.71912167e-02 9.96978634e-01 -8.66719205e-03 -1.34568789e+02] [-5.52462266e-02 4.40264963e-03 9.98463055e-01 -5.51289484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6407140570001 meters 0.04575781021437126 Centerline is valid? [True, True] Translation: X:836.45, Y:-134.58, Z:-55.13 [[ 9.95447823e-01 7.77920615e-02 5.50638454e-02 8.36452040e+02] [-7.74281704e-02 9.96959846e-01 -8.71457418e-03 -1.34580892e+02] [-5.55743675e-02 4.41141108e-03 9.98444805e-01 -5.51334459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.700714057 meters 0.041892931827222556 Centerline is valid? [True, True] Translation: X:836.51, Y:-134.59, Z:-55.13 [[ 9.95247286e-01 7.93531049e-02 5.64439919e-02 8.36511580e+02] [-7.89734610e-02 9.96836733e-01 -8.92862157e-03 -1.34585314e+02] [-5.69739584e-02 4.42860899e-03 9.98365843e-01 -5.51349694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7607140570001 meters 0.04012738458800136 Centerline is valid? [True, True] Translation: X:836.57, Y:-134.59, Z:-55.14 [[ 9.95025217e-01 8.07993747e-02 5.82775997e-02 8.36571010e+02] [-8.03972281e-02 9.96720294e-01 -9.21635774e-03 -1.34594105e+02] [-5.88311423e-02 4.48515088e-03 9.98257873e-01 -5.51377354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.820714057 meters 0.03876606607780421 Centerline is valid? [True, True] Translation: X:836.63, Y:-134.60, Z:-55.14 [[ 9.95020355e-01 8.12930418e-02 5.76709243e-02 8.36628481e+02] [-8.09001005e-02 9.96680493e-01 -9.11971329e-03 -1.34603892e+02] [-5.82208544e-02 4.40871678e-03 9.98293992e-01 -5.51422899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.880714057 meters 0.044384067444194375 Centerline is valid? [True, True] Translation: X:836.68, Y:-134.62, Z:-55.15 [[ 9.95165580e-01 8.08165921e-02 5.58045359e-02 8.36683736e+02] [-8.04481784e-02 9.96719763e-01 -8.82072365e-03 -1.34623647e+02] [-5.63343446e-02 4.28870732e-03 9.98402749e-01 -5.51485313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.940714057 meters 0.0422535013393426 Centerline is valid? [True, True] Translation: X:836.74, Y:-134.63, Z:-55.15 [[ 9.95166426e-01 8.04148522e-02 5.63669832e-02 8.36741572e+02] [-8.00386296e-02 9.96751991e-01 -8.90427355e-03 -1.34632344e+02] [-5.68999385e-02 4.34969800e-03 9.98370411e-01 -5.51513434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.000714057 meters 0.045216533396966546 Centerline is valid? [True, True] Translation: X:836.80, Y:-134.65, Z:-55.15 [[ 9.95164469e-01 8.02556661e-02 5.66277984e-02 8.36797481e+02] [-7.98759206e-02 9.96764710e-01 -8.94150238e-03 -1.34646628e+02] [-5.71621972e-02 4.37506794e-03 9.98355319e-01 -5.51544483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.060714057 meters 0.04013512799760301 Centerline is valid? [True, True] Translation: X:836.86, Y:-134.65, Z:-55.16 [[ 9.95164212e-01 8.05219209e-02 5.62531010e-02 8.36856582e+02] [-8.01479005e-02 9.96743451e-01 -8.87729169e-03 -1.34650482e+02] [-5.67847266e-02 4.32579505e-03 9.98377074e-01 -5.51573083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.120714057 meters 0.039163317690574004 Centerline is valid? [True, True] Translation: X:836.91, Y:-134.66, Z:-55.16 [[ 9.95269554e-01 8.02584477e-02 5.47457368e-02 8.36914312e+02] [-7.99040469e-02 9.96765153e-01 -8.63553566e-03 -1.34660093e+02] [-5.52617174e-02 4.22027981e-03 9.98462985e-01 -5.51610868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.180714057 meters 0.04026429275343296 Centerline is valid? [True, True] Translation: X:836.97, Y:-134.67, Z:-55.16 [[ 9.95375488e-01 7.94844305e-02 5.39431457e-02 8.36971538e+02] [-7.91394326e-02 9.96827273e-01 -8.50519070e-03 -1.34671166e+02] [-5.44480290e-02 4.19682840e-03 9.98507786e-01 -5.51646918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.240714057 meters 0.04081759792283982 Centerline is valid? [True, True] Translation: X:837.03, Y:-134.68, Z:-55.17 [[ 9.95625171e-01 7.77504306e-02 5.18207537e-02 8.37029331e+02] [-7.74300055e-02 9.96964351e-01 -8.16555306e-03 -1.34682286e+02] [-5.22983193e-02 4.11734891e-03 9.98623019e-01 -5.51695458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.300714057 meters 0.04463807009536672 Centerline is valid? [True, True] Translation: X:837.09, Y:-134.70, Z:-55.18 [[ 9.95793311e-01 7.66972731e-02 5.01319333e-02 8.37085774e+02] [-7.63962253e-02 9.97046267e-01 -7.89675710e-03 -1.34697947e+02] [-5.05895167e-02 4.03364742e-03 9.98711385e-01 -5.51754748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.360714057 meters 0.044078333857588865 Centerline is valid? [True, True] Translation: X:837.14, Y:-134.71, Z:-55.18 [[ 9.95857581e-01 7.63191926e-02 4.94273073e-02 8.37144121e+02] [-7.60262137e-02 9.97075440e-01 -7.78337529e-03 -1.34705316e+02] [-4.98767751e-02 3.99336226e-03 9.98747396e-01 -5.51786945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.420714057 meters 0.04478138791386063 Centerline is valid? [True, True] Translation: X:837.20, Y:-134.71, Z:-55.18 [[ 9.95899867e-01 7.58529951e-02 4.92927773e-02 8.37202472e+02] [-7.55612198e-02 9.97110980e-01 -7.75865089e-03 -1.34714330e+02] [-4.97388864e-02 4.00221701e-03 9.98754237e-01 -5.51808345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.480714057 meters 0.04134812251748439 Centerline is valid? [True, True] Translation: X:837.26, Y:-134.72, Z:-55.18 [[ 9.96028140e-01 7.37123320e-02 4.99443322e-02 8.37261514e+02] [-7.34102923e-02 9.97270869e-01 -7.85763723e-03 -1.34718032e+02] [-5.03872324e-02 4.15999977e-03 9.98721093e-01 -5.51836148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5407140570001 meters 0.047156345467432914 Centerline is valid? [True, True] Translation: X:837.32, Y:-134.74, Z:-55.19 [[ 9.96137131e-01 7.18485595e-02 5.04836732e-02 8.37318035e+02] [-7.15377853e-02 9.97406300e-01 -7.93844173e-03 -1.34735008e+02] [-5.09230993e-02 4.29628639e-03 9.98693336e-01 -5.51887544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.600714057 meters 0.05030827082492549 Centerline is valid? [True, True] Translation: X:837.38, Y:-134.75, Z:-55.19 [[ 9.96449793e-01 6.84413934e-02 4.90263885e-02 8.37377275e+02] [-6.81444417e-02 9.97645713e-01 -7.70499306e-03 -1.34747266e+02] [-4.94383068e-02 4.33676286e-03 9.98767764e-01 -5.51939982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6607140570001 meters 0.0464498212224447 Centerline is valid? [True, True] Translation: X:837.44, Y:-134.75, Z:-55.20 [[ 9.96690215e-01 6.58546106e-02 4.76632554e-02 8.37437736e+02] [-6.55710336e-02 9.97819789e-01 -7.49059378e-03 -1.34750796e+02] [-4.80526296e-02 4.34047260e-03 9.98835374e-01 -5.51971984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.720714057 meters 0.04883254217623617 Centerline is valid? [True, True] Translation: X:837.50, Y:-134.76, Z:-55.20 [[ 9.96764419e-01 6.46397368e-02 4.77744380e-02 8.37496157e+02] [-6.43534531e-02 9.97898924e-01 -7.50802013e-03 -1.34762510e+02] [-4.81593767e-02 4.40927727e-03 9.98829932e-01 -5.52013250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7807140570001 meters 0.04719822513115831 Centerline is valid? [True, True] Translation: X:837.55, Y:-134.77, Z:-55.20 [[ 9.96761989e-01 6.45102653e-02 4.79996217e-02 8.37554553e+02] [-6.42211810e-02 9.97907187e-01 -7.54225251e-03 -1.34767661e+02] [-4.83857202e-02 4.43523822e-03 9.98818878e-01 -5.52041526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.840714057 meters 0.04698623533416712 Centerline is valid? [True, True] Translation: X:837.61, Y:-134.77, Z:-55.21 [[ 9.96651786e-01 6.57097638e-02 4.86563831e-02 8.37613958e+02] [-6.54143288e-02 9.97828932e-01 -7.64125251e-03 -1.34774716e+02] [-4.90528517e-02 4.43284332e-03 9.98786347e-01 -5.52072035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9007140570001 meters 0.0442241216603959 Centerline is valid? [True, True] Translation: X:837.67, Y:-134.78, Z:-55.21 [[ 9.96667406e-01 6.60979060e-02 4.78032269e-02 8.37672367e+02] [-6.58132462e-02 9.97803725e-01 -7.50617476e-03 -1.34778647e+02] [-4.81943803e-02 4.33507418e-03 9.98828568e-01 -5.52108623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.960714057 meters 0.0466705741054369 Centerline is valid? [True, True] Translation: X:837.73, Y:-134.79, Z:-55.22 [[ 9.96745364e-01 6.58002544e-02 4.65725976e-02 8.37729314e+02] [-6.55298974e-02 9.97823831e-01 -7.30988956e-03 -1.34788996e+02] [-4.69522404e-02 4.23420098e-03 9.98888161e-01 -5.52158985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0207140570001 meters 0.049410711141330686 Centerline is valid? [True, True] Translation: X:837.79, Y:-134.80, Z:-55.22 [[ 9.96799377e-01 6.53364975e-02 4.60667402e-02 8.37786683e+02] [-6.50717055e-02 9.97854427e-01 -7.22598887e-03 -1.34801267e+02] [-4.64400214e-02 4.20521985e-03 9.98912229e-01 -5.52208643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.080714057 meters 0.04972729745863549 Centerline is valid? [True, True] Translation: X:837.84, Y:-134.81, Z:-55.22 [[ 9.96816234e-01 6.56756158e-02 4.52118321e-02 8.37844923e+02] [-6.54210608e-02 9.97832569e-01 -7.08869812e-03 -1.34808428e+02] [-4.55793932e-02 4.10832335e-03 9.98952271e-01 -5.52248801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1407140570001 meters 0.04584114135692687 Centerline is valid? [True, True] Translation: X:837.90, Y:-134.81, Z:-55.23 [[ 9.96768115e-01 6.58959527e-02 4.59461557e-02 8.37904148e+02] [-6.56334418e-02 9.97817821e-01 -7.20047090e-03 -1.34811407e+02] [-4.63203749e-02 4.16159547e-03 9.98917967e-01 -5.52270954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.200714057 meters 0.04489510165874277 Centerline is valid? [True, True] Translation: X:837.96, Y:-134.82, Z:-55.23 [[ 9.96746684e-01 6.46889353e-02 4.80769227e-02 8.37962304e+02] [-6.44002770e-02 9.97895733e-01 -7.53063902e-03 -1.34818352e+02] [-4.84629050e-02 4.40997233e-03 9.98815248e-01 -5.52294711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2607140570001 meters 0.05497930581067813 Centerline is valid? [True, True] Translation: X:838.02, Y:-134.84, Z:-55.23 [[ 9.96775309e-01 6.35985317e-02 4.89306732e-02 8.38018052e+02] [-6.32984158e-02 9.97965245e-01 -7.66035560e-03 -1.34840548e+02] [-4.93182986e-02 4.53841922e-03 9.98772801e-01 -5.52349359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.320714057 meters 0.051183783105434706 Centerline is valid? [True, True] Translation: X:838.08, Y:-134.84, Z:-55.24 [[ 9.96896242e-01 6.13524151e-02 4.93331885e-02 8.38078443e+02] [-6.10447737e-02 9.98105173e-01 -7.72010465e-03 -1.34844914e+02] [-4.97133577e-02 4.68460998e-03 9.98752540e-01 -5.52372113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.380714057 meters 0.04784775399837618 Centerline is valid? [True, True] Translation: X:838.14, Y:-134.85, Z:-55.24 [[ 9.97033767e-01 5.92423351e-02 4.91326069e-02 8.38138748e+02] [-5.89347123e-02 9.98232238e-01 -7.68757211e-03 -1.34850484e+02] [-4.95011819e-02 4.76915292e-03 9.98762679e-01 -5.52403765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.440714057 meters 0.04728313400297395 Centerline is valid? [True, True] Translation: X:838.20, Y:-134.86, Z:-55.24 [[ 9.97100138e-01 5.81170558e-02 4.91296465e-02 8.38197622e+02] [-5.78080904e-02 9.98298114e-01 -7.68766531e-03 -1.34859406e+02] [-4.94928179e-02 4.82528109e-03 9.98762824e-01 -5.52437954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.500714057 meters 0.05084704605746639 Centerline is valid? [True, True] Translation: X:838.25, Y:-134.88, Z:-55.25 [[ 9.97167089e-01 5.62308309e-02 4.99588776e-02 8.38254777e+02] [-5.59090907e-02 9.98405274e-01 -7.81548612e-03 -1.34875249e+02] [-5.03186782e-02 5.00019012e-03 9.98720696e-01 -5.52482644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.560714057 meters 0.05004387669415088 Centerline is valid? [True, True] Translation: X:838.31, Y:-134.88, Z:-55.25 [[ 9.97084598e-01 5.79984509e-02 4.95831041e-02 8.38314208e+02] [-5.76838040e-02 9.98304785e-01 -7.75462934e-03 -1.34884500e+02] [-4.99488066e-02 4.87187943e-03 9.98739897e-01 -5.52525665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.620714057 meters 0.05041188433179533 Centerline is valid? [True, True] Translation: X:838.37, Y:-134.89, Z:-55.26 [[ 9.96882475e-01 6.11936744e-02 4.98062738e-02 8.38373557e+02] [-6.08801900e-02 9.98114694e-01 -7.78839783e-03 -1.34893936e+02] [-5.01889745e-02 4.73190190e-03 9.98728530e-01 -5.52556935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.680714057 meters 0.05051857655836098 Centerline is valid? [True, True] Translation: X:838.43, Y:-134.90, Z:-55.26 [[ 9.96378676e-01 6.75727850e-02 5.16086530e-02 8.38431955e+02] [-6.72446455e-02 9.97703878e-01 -8.07032979e-03 -1.34902714e+02] [-5.20354878e-02 4.57069894e-03 9.98634776e-01 -5.52578770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.740714057 meters 0.04356695478102842 Centerline is valid? [True, True] Translation: X:838.49, Y:-134.90, Z:-55.26 [[ 9.96028487e-01 7.17668374e-02 5.26951084e-02 8.38492999e+02] [-7.14306118e-02 9.97411544e-01 -8.23886636e-03 -1.34902481e+02] [-5.31499868e-02 4.44210176e-03 9.98576660e-01 -5.52600091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.800714057 meters 0.03804919987663779 Centerline is valid? [True, True] Translation: X:838.55, Y:-134.90, Z:-55.26 [[ 9.95562876e-01 7.75217137e-02 5.33380112e-02 8.38553422e+02] [-7.71854456e-02 9.96981880e-01 -8.33888883e-03 -1.34904547e+02] [-5.38234757e-02 4.18496998e-03 9.98541696e-01 -5.52633895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.860714057 meters 0.03906538577409478 Centerline is valid? [True, True] Translation: X:838.61, Y:-134.92, Z:-55.27 [[ 9.95240375e-01 8.22953627e-02 5.21926184e-02 8.38611445e+02] [-8.19799588e-02 9.96600580e-01 -8.15903391e-03 -1.34915660e+02] [-5.26866444e-02 3.84145126e-03 9.98603706e-01 -5.52693428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.920714057 meters 0.03604179195238537 Centerline is valid? [True, True] Translation: X:838.67, Y:-134.92, Z:-55.27 [[ 9.94963068e-01 8.56630722e-02 5.20608478e-02 8.38671239e+02] [-8.53539120e-02 9.96317468e-01 -8.13711276e-03 -1.34920451e+02] [-5.25661822e-02 3.65252965e-03 9.98610763e-01 -5.52731414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.980714057 meters 0.034216333572878295 Centerline is valid? [True, True] Translation: X:838.73, Y:-134.93, Z:-55.28 [[ 9.94348414e-01 9.18378072e-02 5.32639570e-02 8.38731060e+02] [-9.15230023e-02 9.95768165e-01 -8.32481419e-03 -1.34926747e+02] [-5.38030854e-02 3.40288853e-03 9.98545767e-01 -5.52762875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0407140570001 meters 0.032226427749202514 Centerline is valid? [True, True] Translation: X:838.79, Y:-134.93, Z:-55.28 [[ 9.93827482e-01 9.67968475e-02 5.41969197e-02 8.38791515e+02] [-9.64782972e-02 9.95299052e-01 -8.46962203e-03 -1.34933786e+02] [-5.47619756e-02 3.18851661e-03 9.98494346e-01 -5.52796718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.100714057 meters 0.03211362000647517 Centerline is valid? [True, True] Translation: X:838.85, Y:-134.94, Z:-55.28 [[ 9.93675828e-01 9.81183848e-02 5.45997476e-02 8.38849484e+02] [-9.77969698e-02 9.95169794e-01 -8.53425046e-03 -1.34943162e+02] [-5.51733864e-02 3.14058852e-03 9.98471850e-01 -5.52828616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1607140570001 meters 0.03185401087305914 Centerline is valid? [True, True] Translation: X:838.91, Y:-134.95, Z:-55.29 [[ 9.93645665e-01 9.82237483e-02 5.49580634e-02 8.38907119e+02] [-9.78984828e-02 9.95159366e-01 -8.58618388e-03 -1.34953831e+02] [-5.55353987e-02 3.15131335e-03 9.98451746e-01 -5.52864148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.220714057 meters 0.031921610385124664 Centerline is valid? [True, True] Translation: X:838.96, Y:-134.96, Z:-55.29 [[ 9.93725413e-01 9.73466874e-02 5.50765544e-02 8.38964841e+02] [-9.70189020e-02 9.95245378e-01 -8.60061561e-03 -1.34964338e+02] [-5.56519276e-02 3.20318346e-03 9.98445092e-01 -5.52903393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2807140570001 meters 0.03257325651250473 Centerline is valid? [True, True] Translation: X:839.02, Y:-134.98, Z:-55.30 [[ 9.93962363e-01 9.53392081e-02 5.43070532e-02 8.39022637e+02] [-9.50177597e-02 9.95439488e-01 -8.47653243e-03 -1.34975514e+02] [-5.48675311e-02 3.26521967e-03 9.98488304e-01 -5.52950639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.340714057 meters 0.033277286248696275 Centerline is valid? [True, True] Translation: X:839.08, Y:-134.99, Z:-55.30 [[ 9.94152182e-01 9.33393435e-02 5.43065851e-02 8.39081402e+02] [-9.30151885e-02 9.95628648e-01 -8.47174655e-03 -1.34986508e+02] [-5.48599392e-02 3.37086807e-03 9.98488370e-01 -5.52993173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4007140570001 meters 0.03613607654501186 Centerline is valid? [True, True] Translation: X:839.14, Y:-135.00, Z:-55.30 [[ 9.94544770e-01 8.87069609e-02 5.48796558e-02 8.39140342e+02] [-8.83690319e-02 9.96051034e-01 -8.55875760e-03 -1.35001108e+02] [-5.54221592e-02 3.66240555e-03 9.98456294e-01 -5.53027115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.460714057 meters 0.03744729865234563 Centerline is valid? [True, True] Translation: X:839.20, Y:-135.01, Z:-55.31 [[ 9.94810615e-01 8.55982272e-02 5.49980397e-02 8.39199085e+02] [-8.52541061e-02 9.96322321e-01 -8.57730141e-03 -1.35012268e+02] [-5.55299764e-02 3.84398178e-03 9.98449621e-01 -5.53061928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5207140570001 meters 0.0385403431824884 Centerline is valid? [True, True] Translation: X:839.26, Y:-135.02, Z:-55.31 [[ 9.95109971e-01 8.16678761e-02 5.55563198e-02 8.39257966e+02] [-8.13106985e-02 9.96651152e-01 -8.66320866e-03 -1.35024194e+02] [-5.60777760e-02 4.10352214e-03 9.98417971e-01 -5.53104351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.580714057 meters 0.042805357708142804 Centerline is valid? [True, True] Translation: X:839.32, Y:-135.04, Z:-55.32 [[ 9.95388543e-01 7.84297530e-02 5.52306220e-02 8.39315410e+02] [-7.80718091e-02 9.96910538e-01 -8.61230362e-03 -1.35039717e+02] [-5.57354500e-02 4.26063378e-03 9.98436481e-01 -5.53152151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6407140570001 meters 0.04301635290682881 Centerline is valid? [True, True] Translation: X:839.38, Y:-135.05, Z:-55.32 [[ 9.95805799e-01 7.39603499e-02 5.38579409e-02 8.39375328e+02] [-7.36135354e-02 9.97251486e-01 -8.39771012e-03 -1.35049062e+02] [-5.43310092e-02 4.39781499e-03 9.98513295e-01 -5.53199837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.700714057 meters 0.046262094331555294 Centerline is valid? [True, True] Translation: X:839.43, Y:-135.06, Z:-55.32 [[ 9.96020907e-01 7.14172359e-02 5.33097754e-02 8.39433356e+02] [-7.10738261e-02 9.97436421e-01 -8.31246251e-03 -1.35061874e+02] [-5.37667647e-02 4.49045674e-03 9.98543425e-01 -5.53240591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7607140570001 meters 0.04911601550989368 Centerline is valid? [True, True] Translation: X:839.49, Y:-135.07, Z:-55.33 [[ 9.96137721e-01 6.90313593e-02 5.42615276e-02 8.39491957e+02] [-6.86720957e-02 9.97603414e-01 -8.46004232e-03 -1.35074745e+02] [-5.47154934e-02 4.70111445e-03 9.98490919e-01 -5.53274514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.820714057 meters 0.05128081781691451 Centerline is valid? [True, True] Translation: X:839.55, Y:-135.08, Z:-55.33 [[ 9.96059917e-01 6.93345852e-02 5.52933678e-02 8.39548581e+02] [-6.89619956e-02 9.97582042e-01 -8.62051748e-03 -1.35084628e+02] [-5.57573707e-02 4.77341095e-03 9.98432937e-01 -5.53304988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.880714057 meters 0.04245232362971705 Centerline is valid? [True, True] Translation: X:839.61, Y:-135.08, Z:-55.33 [[ 9.95952082e-01 7.04854561e-02 5.57785825e-02 8.39608761e+02] [-7.01083621e-02 9.97501520e-01 -8.69115467e-03 -1.35079503e+02] [-5.62518208e-02 4.74542854e-03 9.98405335e-01 -5.53329266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.940714057 meters 0.05207623751043549 Centerline is valid? [True, True] Translation: X:839.67, Y:-135.10, Z:-55.34 [[ 9.95745442e-01 7.33593551e-02 5.57621808e-02 8.39665075e+02] [-7.29872022e-02 9.97295068e-01 -8.68418700e-03 -1.35098921e+02] [-5.62484143e-02 4.57731405e-03 9.98406312e-01 -5.53377084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.000714057 meters 0.0723706665675107 Centerline is valid? [True, True] Translation: X:839.72, Y:-135.13, Z:-55.34 [[ 9.95422608e-01 7.74121624e-02 5.60463178e-02 8.39718728e+02] [-7.70427185e-02 9.96989607e-01 -8.72595535e-03 -1.35133066e+02] [-5.65530914e-02 4.36805255e-03 9.98390038e-01 -5.53437390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.060714057 meters 0.041095648549202515 Centerline is valid? [True, True] Translation: X:839.79, Y:-135.10, Z:-55.34 [[ 9.95328154e-01 7.90088839e-02 5.54929070e-02 8.39785075e+02] [-7.86493129e-02 9.96864927e-01 -8.63731823e-03 -1.35098651e+02] [-5.60013575e-02 4.23248700e-03 9.98421722e-01 -5.53448716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.120714057 meters 0.04012775939339575 Centerline is valid? [True, True] Translation: X:839.84, Y:-135.11, Z:-55.35 [[ 9.95200827e-01 8.09554690e-02 5.49684040e-02 8.39844786e+02] [-8.06056763e-02 9.96709357e-01 -8.55469123e-03 -1.35105864e+02] [-5.54800716e-02 4.08287041e-03 9.98451447e-01 -5.53504904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.180714057 meters 0.03584898740157801 Centerline is valid? [True, True] Translation: X:839.91, Y:-135.11, Z:-55.35 [[ 9.94922611e-01 8.43945839e-02 5.48320461e-02 8.39905239e+02] [-8.40517783e-02 9.96424858e-01 -8.53235633e-03 -1.35108054e+02] [-5.53560984e-02 3.88030326e-03 9.98459136e-01 -5.53540557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.240714057 meters 0.03599612960942189 Centerline is valid? [True, True] Translation: X:839.96, Y:-135.12, Z:-55.36 [[ 9.94642934e-01 8.76572176e-02 5.47872830e-02 8.39964854e+02] [-8.73199011e-02 9.96143843e-01 -8.52524449e-03 -1.35115301e+02] [-5.53233138e-02 3.69555406e-03 9.98461654e-01 -5.53571783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.300714057 meters 0.038082972796236715 Centerline is valid? [True, True] Translation: X:840.02, Y:-135.13, Z:-55.36 [[ 9.94473994e-01 8.91838508e-02 5.53869685e-02 8.40021543e+02] [-8.88414776e-02 9.96008494e-01 -8.61816153e-03 -1.35126374e+02] [-5.59344919e-02 3.64987739e-03 9.98427770e-01 -5.53605049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.360714057 meters 0.038133823254643553 Centerline is valid? [True, True] Translation: X:840.08, Y:-135.13, Z:-55.36 [[ 9.94454562e-01 8.92134111e-02 5.56874536e-02 8.40079974e+02] [-8.88676492e-02 9.96005799e-01 -8.65968156e-03 -1.35134763e+02] [-5.62375864e-02 3.66284674e-03 9.98410696e-01 -5.53640323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.420714057 meters 0.039577360421479205 Centerline is valid? [True, True] Translation: X:840.14, Y:-135.15, Z:-55.37 [[ 9.94559555e-01 8.81630982e-02 5.54847641e-02 8.40137544e+02] [-8.78184474e-02 9.96099163e-01 -8.62421299e-03 -1.35145760e+02] [-5.60286645e-02 3.70470760e-03 9.98422287e-01 -5.53679133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.480714057 meters 0.04328406148040749 Centerline is valid? [True, True] Translation: X:840.19, Y:-135.16, Z:-55.37 [[ 9.94769438e-01 8.58908173e-02 5.52859112e-02 8.40193864e+02] [-8.55453621e-02 9.96297251e-01 -8.58941048e-03 -1.35159615e+02] [-5.58189528e-02 3.81502975e-03 9.98433618e-01 -5.53718111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5407140570001 meters 0.039480143403279405 Centerline is valid? [True, True] Translation: X:840.25, Y:-135.16, Z:-55.37 [[ 9.95009173e-01 8.20792383e-02 5.67427887e-02 8.40254253e+02] [-8.17094055e-02 9.96617246e-01 -8.81127722e-03 -1.35162600e+02] [-5.72740647e-02 4.13088213e-03 9.98349947e-01 -5.53733045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.600714057 meters 0.03995332595418319 Centerline is valid? [True, True] Translation: X:840.31, Y:-135.17, Z:-55.38 [[ 9.95268551e-01 7.82186405e-02 5.76398776e-02 8.40313760e+02] [-7.78306048e-02 9.96926424e-01 -8.94998957e-03 -1.35172057e+02] [-5.81627731e-02 4.42149662e-03 9.98297322e-01 -5.53761425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6607140570001 meters 0.04273426285095645 Centerline is valid? [True, True] Translation: X:840.37, Y:-135.18, Z:-55.38 [[ 9.95557945e-01 7.48272680e-02 5.71424301e-02 8.40372271e+02] [-7.44403835e-02 9.97185996e-01 -8.87236615e-03 -1.35184491e+02] [-5.76455260e-02 4.57925020e-03 9.98326612e-01 -5.53807306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.720714057 meters 0.04599133374621673 Centerline is valid? [True, True] Translation: X:840.43, Y:-135.20, Z:-55.39 [[ 9.95737078e-01 7.30259756e-02 5.63460523e-02 8.40428698e+02] [-7.26469196e-02 9.97319345e-01 -8.74926663e-03 -1.35197314e+02] [-5.68339317e-02 4.61860206e-03 9.98372963e-01 -5.53863622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7807140570001 meters 0.04860511710483137 Centerline is valid? [True, True] Translation: X:840.49, Y:-135.21, Z:-55.39 [[ 9.95956414e-01 7.06685410e-02 5.54687274e-02 8.40487443e+02] [-7.02977581e-02 9.97488894e-01 -8.60992819e-03 -1.35210389e+02] [-5.59378906e-02 4.67578602e-03 9.98423302e-01 -5.53924664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.840714057 meters 0.049930660863336286 Centerline is valid? [True, True] Translation: X:840.55, Y:-135.22, Z:-55.40 [[ 9.96168072e-01 6.84531505e-02 5.44365547e-02 8.40546121e+02] [-6.80928257e-02 9.97643215e-01 -8.44877768e-03 -1.35221338e+02] [-5.48866049e-02 4.70966375e-03 9.98481487e-01 -5.53979105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9007140570001 meters 0.05215574834541297 Centerline is valid? [True, True] Translation: X:840.60, Y:-135.23, Z:-55.40 [[ 9.96274351e-01 6.75366683e-02 5.36303654e-02 8.40604748e+02] [-6.71856738e-02 9.97705776e-01 -8.32290644e-03 -1.35232638e+02] [-5.40694267e-02 4.68870598e-03 9.98526171e-01 -5.54034675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.960714057 meters 0.05631931295940826 Centerline is valid? [True, True] Translation: X:840.66, Y:-135.25, Z:-55.41 [[ 9.96392503e-01 6.73604219e-02 5.16193197e-02 8.40660820e+02] [-6.70351090e-02 9.97718467e-01 -8.00972989e-03 -1.35245602e+02] [-5.20410873e-02 4.52052808e-03 9.98634713e-01 -5.54099168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0207140570001 meters 0.05684482591746686 Centerline is valid? [True, True] Translation: X:840.72, Y:-135.25, Z:-55.41 [[ 9.96301866e-01 6.83893673e-02 5.20142920e-02 8.40719579e+02] [-6.80607088e-02 9.97648576e-01 -8.06593133e-03 -1.35254325e+02] [-5.24436083e-02 4.49597285e-03 9.98613766e-01 -5.54137136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.080714057 meters 0.04762486358694495 Centerline is valid? [True, True] Translation: X:840.78, Y:-135.25, Z:-55.42 [[ 9.96048869e-01 7.10436479e-02 5.32864906e-02 8.40781960e+02] [-7.07025776e-02 9.97463232e-01 -8.26108625e-03 -1.35248926e+02] [-5.37382129e-02 4.46095338e-03 9.98545094e-01 -5.54152202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1407140570001 meters 0.04280749269456767 Centerline is valid? [True, True] Translation: X:840.84, Y:-135.25, Z:-55.42 [[ 9.95766948e-01 7.47220954e-02 5.35237748e-02 8.40842537e+02] [-7.43832643e-02 9.97195206e-01 -8.29760924e-03 -1.35249733e+02] [-5.39936664e-02 4.28121194e-03 9.98532100e-01 -5.54177863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.200714057 meters 0.04180909153411756 Centerline is valid? [True, True] Translation: X:840.90, Y:-135.26, Z:-55.42 [[ 9.95447509e-01 7.90530493e-02 5.32435106e-02 8.40902425e+02] [-7.87239214e-02 9.96862285e-01 -8.25399938e-03 -1.35255202e+02] [-5.37289514e-02 4.02488518e-03 9.98547445e-01 -5.54218855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2607140570001 meters 0.041883705731560104 Centerline is valid? [True, True] Translation: X:840.96, Y:-135.26, Z:-55.43 [[ 9.95289665e-01 8.14945067e-02 5.25083563e-02 8.40960559e+02] [-8.11777850e-02 9.96666396e-01 -8.14014960e-03 -1.35262630e+02] [-5.29966917e-02 3.83929472e-03 9.98587307e-01 -5.54259050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.320714057 meters 0.04206681230724701 Centerline is valid? [True, True] Translation: X:841.02, Y:-135.27, Z:-55.43 [[ 9.94862912e-01 8.64492734e-02 5.26717167e-02 8.41018562e+02] [-8.61375478e-02 9.96249803e-01 -8.16415271e-03 -1.35269332e+02] [-5.31799725e-02 3.58520023e-03 9.98578508e-01 -5.54305608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.380714057 meters 0.03927708310766964 Centerline is valid? [True, True] Translation: X:841.08, Y:-135.27, Z:-55.43 [[ 9.94542803e-01 9.01554744e-02 5.25033624e-02 8.41078973e+02] [-8.98510250e-02 9.95921990e-01 -8.13527296e-03 -1.35273134e+02] [-5.30226926e-02 3.37339624e-03 9.98587610e-01 -5.54345051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.440714057 meters 0.03620809541840775 Centerline is valid? [True, True] Translation: X:841.14, Y:-135.28, Z:-55.44 [[ 9.94051001e-01 9.51553641e-02 5.29911707e-02 8.41139175e+02] [-9.48523049e-02 9.95457496e-01 -8.21064780e-03 -1.35276259e+02] [-5.35317453e-02 3.13546798e-03 9.98561226e-01 -5.54379048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.500714057 meters 0.03182498315365889 Centerline is valid? [True, True] Translation: X:841.20, Y:-135.28, Z:-55.44 [[ 9.93835304e-01 9.76979671e-02 5.24070144e-02 8.41199620e+02] [-9.74050814e-02 9.95211693e-01 -8.12010572e-03 -1.35277640e+02] [-5.29493914e-02 2.96533823e-03 9.98592794e-01 -5.54406658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.560714057 meters 0.03253817761592782 Centerline is valid? [True, True] Translation: X:841.26, Y:-135.29, Z:-55.44 [[ 9.93563896e-01 1.00213266e-01 5.28023352e-02 8.41257527e+02] [-9.99195093e-02 9.94961892e-01 -8.18077622e-03 -1.35286686e+02] [-5.33561336e-02 2.85214047e-03 9.98571474e-01 -5.54430961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.620714057 meters 0.03194112987865016 Centerline is valid? [True, True] Translation: X:841.32, Y:-135.29, Z:-55.44 [[ 9.93400702e-01 1.01581378e-01 5.32566331e-02 8.41316019e+02] [-1.01284646e-01 9.94823293e-01 -8.24841814e-03 -1.35294870e+02] [-5.38188248e-02 2.79990516e-03 9.98546791e-01 -5.54447933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.680714057 meters 0.030203983216931282 Centerline is valid? [True, True] Translation: X:841.37, Y:-135.30, Z:-55.45 [[ 9.93192340e-01 1.02972418e-01 5.44578409e-02 8.41373849e+02] [-1.02664440e-01 9.94680321e-01 -8.43042958e-03 -1.35303994e+02] [-5.50362444e-02 2.78215436e-03 9.98480481e-01 -5.54477108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.740714057 meters 0.030122493877644763 Centerline is valid? [True, True] Translation: X:841.43, Y:-135.31, Z:-55.45 [[ 9.93002982e-01 1.04586316e-01 5.48341204e-02 8.41431325e+02] [-1.04276739e-01 9.94512128e-01 -8.48461679e-03 -1.35314207e+02] [-5.54205725e-02 2.70732651e-03 9.98459429e-01 -5.54511611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.800714057 meters 0.029365416726735403 Centerline is valid? [True, True] Translation: X:841.49, Y:-135.32, Z:-55.46 [[ 9.92822743e-01 1.06339956e-01 5.47248994e-02 8.41489394e+02] [-1.06034490e-01 9.94326432e-01 -8.46371835e-03 -1.35324283e+02] [-5.53144454e-02 2.60024530e-03 9.98465598e-01 -5.54551587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.860714057 meters 0.029072077018967326 Centerline is valid? [True, True] Translation: X:841.55, Y:-135.34, Z:-55.46 [[ 9.92488654e-01 1.09169832e-01 5.52106812e-02 8.41548234e+02] [-1.08863533e-01 9.94020069e-01 -8.53426197e-03 -1.35336103e+02] [-5.58122091e-02 2.45972836e-03 9.98438254e-01 -5.54584451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.920714057 meters 0.028305947695329476 Centerline is valid? [True, True] Translation: X:841.61, Y:-135.35, Z:-55.46 [[ 9.92029801e-01 1.12687316e-01 5.63776814e-02 8.41606918e+02] [-1.12373628e-01 9.93627816e-01 -8.71381336e-03 -1.35347668e+02] [-5.70003687e-02 2.30899795e-03 9.98371487e-01 -5.54623318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.980714057 meters 0.028424721191018246 Centerline is valid? [True, True] Translation: X:841.66, Y:-135.36, Z:-55.47 [[ 9.91783243e-01 1.15240295e-01 5.55488457e-02 8.41663150e+02] [-1.14939885e-01 9.93335364e-01 -8.58358869e-03 -1.35359945e+02] [-5.61678081e-02 2.12828149e-03 9.98419074e-01 -5.54678089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0407140570001 meters 0.025550265181765352 Centerline is valid? [True, True] Translation: X:841.72, Y:-135.37, Z:-55.47 [[ 9.91552502e-01 1.17976579e-01 5.38995625e-02 8.41721076e+02] [-1.17698054e-01 9.93014542e-01 -8.32397431e-03 -1.35367585e+02] [-5.45050833e-02 1.90978396e-03 9.98511667e-01 -5.54724711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.100714057 meters 0.025664917341788697 Centerline is valid? [True, True] Translation: X:841.78, Y:-135.38, Z:-55.48 [[ 9.91474177e-01 1.18714027e-01 5.37209164e-02 8.41778571e+02] [-1.18438541e-01 9.92926743e-01 -8.29430333e-03 -1.35380882e+02] [-5.43255847e-02 1.86096060e-03 9.98521541e-01 -5.54760485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1607140570001 meters 0.02567249331995808 Centerline is valid? [True, True] Translation: X:841.84, Y:-135.39, Z:-55.48 [[ 9.91517907e-01 1.18404923e-01 5.35958443e-02 8.41835126e+02] [-1.18130992e-01 9.92963652e-01 -8.26165839e-03 -1.35393672e+02] [-5.41969463e-02 1.86025196e-03 9.98528533e-01 -5.54797197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.220714057 meters 0.025954349501256364 Centerline is valid? [True, True] Translation: X:841.89, Y:-135.41, Z:-55.48 [[ 9.91572970e-01 1.17354486e-01 5.48723072e-02 8.41891515e+02] [-1.17066754e-01 9.93088184e-01 -8.44003917e-03 -1.35409567e+02] [-5.54835164e-02 1.94519183e-03 9.98457709e-01 -5.54838024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2807140570001 meters 0.026283764194713757 Centerline is valid? [True, True] Translation: X:841.95, Y:-135.42, Z:-55.49 [[ 9.91686057e-01 1.16150083e-01 5.53888364e-02 8.41948840e+02] [-1.15855237e-01 9.93229604e-01 -8.51575965e-03 -1.35420884e+02] [-5.60029382e-02 2.02787333e-03 9.98428545e-01 -5.54873540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.340714057 meters 0.02661555218884148 Centerline is valid? [True, True] Translation: X:842.01, Y:-135.44, Z:-55.49 [[ 9.91765249e-01 1.14944025e-01 5.64762130e-02 8.42006152e+02] [-1.14636376e-01 9.93369703e-01 -8.66803257e-03 -1.35435468e+02] [-5.70980975e-02 2.12242509e-03 9.98366317e-01 -5.54906195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4007140570001 meters 0.02766413152353664 Centerline is valid? [True, True] Translation: X:842.06, Y:-135.45, Z:-55.49 [[ 9.91939803e-01 1.12973351e-01 5.73798623e-02 8.42061774e+02] [-1.12653408e-01 9.93595458e-01 -8.79069423e-03 -1.35453778e+02] [-5.80054847e-02 2.25580249e-03 9.98313716e-01 -5.54941130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.460714057 meters 0.028490036307644698 Centerline is valid? [True, True] Translation: X:842.12, Y:-135.47, Z:-55.50 [[ 9.92357899e-01 1.09650812e-01 5.65906374e-02 8.42118689e+02] [-1.09334521e-01 9.93967246e-01 -8.66469043e-03 -1.35472234e+02] [-5.71993304e-02 2.41116376e-03 9.98359866e-01 -5.54996001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5207140570001 meters 0.02987908233326693 Centerline is valid? [True, True] Translation: X:842.18, Y:-135.49, Z:-55.50 [[ 9.92760096e-01 1.06487019e-01 5.55689345e-02 8.42176298e+02] [-1.06177372e-01 9.94310843e-01 -8.50366049e-03 -1.35488183e+02] [-5.61583236e-02 2.54193136e-03 9.98418640e-01 -5.55044340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.580714057 meters 0.03329015762012043 Centerline is valid? [True, True] Translation: X:842.23, Y:-135.51, Z:-55.51 [[ 9.93226289e-01 1.02656777e-01 5.44345994e-02 8.42232587e+02] [-1.02354035e-01 9.94713173e-01 -8.32797297e-03 -1.35509791e+02] [-5.50017360e-02 2.69996080e-03 9.98482608e-01 -5.55103703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6407140570001 meters 0.030710737109200928 Centerline is valid? [True, True] Translation: X:842.29, Y:-135.52, Z:-55.51 [[ 9.93373223e-01 1.00823232e-01 5.51753111e-02 8.42291922e+02] [-1.00509401e-01 9.94900304e-01 -8.44066320e-03 -1.35518081e+02] [-5.57449487e-02 2.83909133e-03 9.98441005e-01 -5.55127129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.700714057 meters 0.03140837925612731 Centerline is valid? [True, True] Translation: X:842.35, Y:-135.53, Z:-55.52 [[ 9.93634984e-01 9.85782192e-02 5.45147152e-02 8.42349418e+02] [-9.82685861e-02 9.95124998e-01 -8.33803086e-03 -1.35531647e+02] [-5.50709041e-02 2.92787517e-03 9.98478154e-01 -5.55161997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7607140570001 meters 0.03418094242845638 Centerline is valid? [True, True] Translation: X:842.41, Y:-135.55, Z:-55.52 [[ 9.94063828e-01 9.46187881e-02 5.37065350e-02 8.42406019e+02] [-9.43127643e-02 9.95508764e-01 -8.20990077e-03 -1.35548523e+02] [-5.42421371e-02 3.09595361e-03 9.98523012e-01 -5.55209269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.820714057 meters 0.03659709492230439 Centerline is valid? [True, True] Translation: X:842.46, Y:-135.56, Z:-55.53 [[ 9.94471353e-01 9.06833350e-02 5.29458335e-02 8.42464331e+02] [-9.03804876e-02 9.95874438e-01 -8.09146751e-03 -1.35563700e+02] [-5.34611634e-02 3.26146240e-03 9.98564603e-01 -5.55251905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.880714057 meters 0.04009088214934644 Centerline is valid? [True, True] Translation: X:842.52, Y:-135.58, Z:-55.53 [[ 9.95010464e-01 8.43827866e-02 5.32327118e-02 8.42522729e+02] [-8.40677068e-02 9.96426841e-01 -8.13457501e-03 -1.35580984e+02] [-5.37289210e-02 3.61883525e-03 9.98549001e-01 -5.55285396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.940714057 meters 0.042410145188686986 Centerline is valid? [True, True] Translation: X:842.58, Y:-135.59, Z:-55.53 [[ 9.95323875e-01 8.10223656e-02 5.25904977e-02 8.42581255e+02] [-8.07101745e-02 9.96705212e-01 -8.03663279e-03 -1.35594881e+02] [-5.30683702e-02 3.75446424e-03 9.98583823e-01 -5.55330886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.000714057 meters 0.03989774005780225 Centerline is valid? [True, True] Translation: X:842.64, Y:-135.60, Z:-55.54 [[ 9.95600749e-01 7.77256790e-02 5.23246308e-02 8.42640545e+02] [-7.74121349e-02 9.96967117e-01 -7.99559500e-03 -1.35601376e+02] [-5.27873994e-02 3.90985899e-03 9.98598119e-01 -5.55365676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.060714057 meters 0.03914456918801489 Centerline is valid? [True, True] Translation: X:842.70, Y:-135.61, Z:-55.54 [[ 9.95728874e-01 7.61468327e-02 5.22079525e-02 8.42699654e+02] [-7.58325667e-02 9.97088656e-01 -7.97707796e-03 -1.35608985e+02] [-5.26633864e-02 3.98394382e-03 9.98604374e-01 -5.55401400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.120714057 meters 0.041862706147797586 Centerline is valid? [True, True] Translation: X:842.76, Y:-135.62, Z:-55.54 [[ 9.96003118e-01 7.28437017e-02 5.16873749e-02 8.42758233e+02] [-7.25313788e-02 9.97334881e-01 -7.89525725e-03 -1.35621317e+02] [-5.21247416e-02 4.11474427e-03 9.98632105e-01 -5.55447785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.180714057 meters 0.04387350619409541 Centerline is valid? [True, True] Translation: X:842.82, Y:-135.63, Z:-55.55 [[ 9.96239352e-01 6.98452184e-02 5.12718227e-02 8.42816921e+02] [-6.95339713e-02 9.97548843e-01 -7.83155933e-03 -1.35632502e+02] [-5.16931444e-02 4.23697414e-03 9.98654028e-01 -5.55492105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.240714057 meters 0.04635431746928848 Centerline is valid? [True, True] Translation: X:842.88, Y:-135.64, Z:-55.55 [[ 9.96387919e-01 6.77820710e-02 5.11537539e-02 8.42875884e+02] [-6.74695857e-02 9.97690740e-01 -7.81300550e-03 -1.35644797e+02] [-5.15652082e-02 4.33346171e-03 9.98660228e-01 -5.55532417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.300714057 meters 0.04315680571306193 Centerline is valid? [True, True] Translation: X:842.94, Y:-135.65, Z:-55.56 [[ 9.96436558e-01 6.67026910e-02 5.16230239e-02 8.42936188e+02] [-6.63830507e-02 9.97763067e-01 -7.88374898e-03 -1.35648243e+02] [-5.20334139e-02 4.42876189e-03 9.98635524e-01 -5.55552185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.360714057 meters 0.045898517952788424 Centerline is valid? [True, True] Translation: X:842.99, Y:-135.66, Z:-55.56 [[ 9.96340088e-01 6.80205057e-02 5.17652432e-02 8.42994833e+02] [-6.77009265e-02 9.97674349e-01 -7.90427600e-03 -1.35660155e+02] [-5.21825082e-02 4.37079213e-03 9.98628000e-01 -5.55597074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.420714057 meters 0.046080320720560154 Centerline is valid? [True, True] Translation: X:843.05, Y:-135.67, Z:-55.56 [[ 9.96276379e-01 6.93249242e-02 5.12584830e-02 8.43054232e+02] [-6.90132641e-02 9.97585034e-01 -7.82742602e-03 -1.35668911e+02] [-5.16773312e-02 4.26076443e-03 9.98654745e-01 -5.55637594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.480714057 meters 0.04637131813365791 Centerline is valid? [True, True] Translation: X:843.11, Y:-135.68, Z:-55.57 [[ 9.96057057e-01 7.20076883e-02 5.18192299e-02 8.43114163e+02] [-7.16929041e-02 9.97395384e-01 -7.91044082e-03 -1.35677458e+02] [-5.22538733e-02 4.16417932e-03 9.98625151e-01 -5.55673740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5407140570001 meters 0.044829074601179034 Centerline is valid? [True, True] Translation: X:843.17, Y:-135.68, Z:-55.57 [[ 9.95937950e-01 7.42316525e-02 5.09633449e-02 8.43174031e+02] [-7.39300945e-02 9.97233082e-01 -7.77956900e-03 -1.35683387e+02] [-5.13998237e-02 3.98024309e-03 9.98670224e-01 -5.55714342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.600714057 meters 0.03780489638374252 Centerline is valid? [True, True] Translation: X:843.24, Y:-135.68, Z:-55.57 [[ 9.95677075e-01 7.79285496e-02 5.05401182e-02 8.43235717e+02] [-7.76367699e-02 9.96951868e-01 -7.71389582e-03 -1.35680799e+02] [-5.09871979e-02 3.75677770e-03 9.98692241e-01 -5.55742736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6607140570001 meters 0.03895281964784018 Centerline is valid? [True, True] Translation: X:843.30, Y:-135.69, Z:-55.58 [[ 9.95350008e-01 8.18299731e-02 5.08155281e-02 8.43295112e+02] [-8.15400622e-02 9.96639888e-01 -7.75577245e-03 -1.35687813e+02] [-5.12794369e-02 3.57620685e-03 9.98677941e-01 -5.55779903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.720714057 meters 0.038591368867072054 Centerline is valid? [True, True] Translation: X:843.35, Y:-135.69, Z:-55.58 [[ 9.95138196e-01 8.38712689e-02 5.16292596e-02 8.43354204e+02] [-8.35747144e-02 9.96470357e-01 -7.88007973e-03 -1.35694411e+02] [-5.21079390e-02 3.52686770e-03 9.98635231e-01 -5.55813028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7807140570001 meters 0.040377946752557375 Centerline is valid? [True, True] Translation: X:843.41, Y:-135.70, Z:-55.59 [[ 9.95065003e-01 8.44834568e-02 5.20402293e-02 8.43411665e+02] [-8.41830671e-02 9.96418660e-01 -7.94133474e-03 -1.35703457e+02] [-5.25247670e-02 3.52123816e-03 9.98613414e-01 -5.55859603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.840714057 meters 0.04248744411678783 Centerline is valid? [True, True] Translation: X:843.47, Y:-135.71, Z:-55.59 [[ 9.95162966e-01 8.31204303e-02 5.23609166e-02 8.43469657e+02] [-8.28146546e-02 9.96532966e-01 -7.98633205e-03 -1.35713716e+02] [-5.28432069e-02 3.61145066e-03 9.98596291e-01 -5.55904321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9007140570001 meters 0.04120915235049433 Centerline is valid? [True, True] Translation: X:843.53, Y:-135.72, Z:-55.59 [[ 9.95498493e-01 7.90062895e-02 5.23522425e-02 8.43530076e+02] [-7.86951306e-02 9.96866776e-01 -7.98172597e-03 -1.35719237e+02] [-5.28188178e-02 3.82592962e-03 9.98596783e-01 -5.55936258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.960714057 meters 0.04241897451282314 Centerline is valid? [True, True] Translation: X:843.59, Y:-135.73, Z:-55.60 [[ 9.95626021e-01 7.70256188e-02 5.28760834e-02 8.43588608e+02] [-7.67053893e-02 9.97021206e-01 -8.06212864e-03 -1.35728291e+02] [-5.33395668e-02 3.97098450e-03 9.98568536e-01 -5.55962104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0207140570001 meters 0.04147192985711226 Centerline is valid? [True, True] Translation: X:843.65, Y:-135.73, Z:-55.60 [[ 9.95614835e-01 7.68696700e-02 5.33118590e-02 8.43646983e+02] [-7.65440564e-02 9.97033087e-01 -8.12588972e-03 -1.35734013e+02] [-5.37783218e-02 4.00955041e-03 9.98544849e-01 -5.55991259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.080714057 meters 0.03893939133665081 Centerline is valid? [True, True] Translation: X:843.71, Y:-135.74, Z:-55.60 [[ 9.95511434e-01 7.82249781e-02 5.32713670e-02 8.43706041e+02] [-7.79019927e-02 9.96927987e-01 -8.11590880e-03 -1.35735779e+02] [-5.37425835e-02 3.92953436e-03 9.98547091e-01 -5.56025510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1407140570001 meters 0.038651627563929446 Centerline is valid? [True, True] Translation: X:843.77, Y:-135.74, Z:-55.61 [[ 9.95369009e-01 8.00103223e-02 5.32811810e-02 8.43766155e+02] [-7.96900025e-02 9.96786680e-01 -8.11289766e-03 -1.35740289e+02] [-5.37590870e-02 3.82934946e-03 9.98546592e-01 -5.56058549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.200714057 meters 0.04268921780738814 Centerline is valid? [True, True] Translation: X:843.82, Y:-135.75, Z:-55.61 [[ 9.95377869e-01 8.01320692e-02 5.29315531e-02 8.43822748e+02] [-7.98161245e-02 9.96777022e-01 -8.05948990e-03 -1.35752924e+02] [-5.34067794e-02 3.79744645e-03 9.98565619e-01 -5.56102764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2607140570001 meters 0.04058252517085631 Centerline is valid? [True, True] Translation: X:843.88, Y:-135.76, Z:-55.61 [[ 9.95246303e-01 8.12480014e-02 5.36987740e-02 8.43882134e+02] [-8.09247202e-02 9.96686723e-01 -8.17105487e-03 -1.35755399e+02] [-5.41847369e-02 3.78665389e-03 9.98523748e-01 -5.56137366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.320714057 meters 0.03982692112164208 Centerline is valid? [True, True] Translation: X:843.94, Y:-135.76, Z:-55.62 [[ 9.95192334e-01 8.14589206e-02 5.43751958e-02 8.43940382e+02] [-8.11278984e-02 9.96669379e-01 -8.27122034e-03 -1.35761385e+02] [-5.48678573e-02 3.82010971e-03 9.98486317e-01 -5.56174858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.380714057 meters 0.03745470141036298 Centerline is valid? [True, True] Translation: X:844.00, Y:-135.76, Z:-55.62 [[ 9.95156909e-01 8.22259101e-02 5.38667546e-02 8.43999507e+02] [-8.19023790e-02 9.96606704e-01 -8.19011565e-03 -1.35762359e+02] [-5.43574085e-02 3.73863482e-03 9.98514544e-01 -5.56204335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.440714057 meters 0.04180559056305178 Centerline is valid? [True, True] Translation: X:844.05, Y:-135.77, Z:-55.62 [[ 9.95165613e-01 8.21479816e-02 5.38248348e-02 8.44054616e+02] [-8.18250247e-02 9.96613138e-01 -8.18036774e-03 -1.35774744e+02] [-5.43145382e-02 3.73660224e-03 9.98516885e-01 -5.56248709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.500714057 meters 0.036038461833999426 Centerline is valid? [True, True] Translation: X:844.11, Y:-135.77, Z:-55.63 [[ 9.95139826e-01 8.18423401e-02 5.47590866e-02 8.44114311e+02] [-8.15080133e-02 9.96638002e-01 -8.31489562e-03 -1.35773110e+02] [-5.52554972e-02 3.81117942e-03 9.98464974e-01 -5.56263865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.560714057 meters 0.038377747918710875 Centerline is valid? [True, True] Translation: X:844.17, Y:-135.78, Z:-55.63 [[ 9.95272832e-01 8.04623839e-02 5.43856132e-02 8.44172090e+02] [-8.01307883e-02 9.96750183e-01 -8.25400742e-03 -1.35782308e+02] [-5.48730071e-02 3.85702728e-03 9.98485892e-01 -5.56306166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.620714057 meters 0.03996421529250351 Centerline is valid? [True, True] Translation: X:844.23, Y:-135.79, Z:-55.64 [[ 9.95398987e-01 7.91243799e-02 5.40387810e-02 8.44230785e+02] [-7.87952146e-02 9.96857112e-01 -8.19826239e-03 -1.35792087e+02] [-5.45176256e-02 3.90254472e-03 9.98505182e-01 -5.56352604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.680714057 meters 0.04055481998668759 Centerline is valid? [True, True] Translation: X:844.29, Y:-135.80, Z:-55.64 [[ 9.95518899e-01 7.77568419e-02 5.38144471e-02 8.44290244e+02] [-7.74285255e-02 9.96964493e-01 -8.16230707e-03 -1.35798753e+02] [-5.42857682e-02 3.95895766e-03 9.98517592e-01 -5.56386042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.740714057 meters 0.03992953806307782 Centerline is valid? [True, True] Translation: X:844.35, Y:-135.80, Z:-55.64 [[ 9.95461815e-01 7.78679103e-02 5.47024927e-02 8.44348958e+02] [-7.75289137e-02 9.96955593e-01 -8.29533550e-03 -1.35804814e+02] [-5.51818965e-02 4.01666490e-03 9.98468239e-01 -5.56413874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.800714057 meters 0.042184403966414874 Centerline is valid? [True, True] Translation: X:844.41, Y:-135.81, Z:-55.64 [[ 9.95383298e-01 7.78765558e-02 5.61010984e-02 8.44405822e+02] [-7.75202229e-02 9.96954516e-01 -8.50338022e-03 -1.35812922e+02] [-5.65924574e-02 4.11515299e-03 9.98388882e-01 -5.56440942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.860714057 meters 0.039220697218926646 Centerline is valid? [True, True] Translation: X:844.46, Y:-135.82, Z:-55.65 [[ 9.95376072e-01 7.77639001e-02 5.63848522e-02 8.44463846e+02] [-7.74040480e-02 9.96963217e-01 -8.54149324e-03 -1.35815376e+02] [-5.68778434e-02 4.13758219e-03 9.98372571e-01 -5.56470733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.920714057 meters 0.0390569291369208 Centerline is valid? [True, True] Translation: X:844.52, Y:-135.82, Z:-55.65 [[ 9.95513461e-01 7.63240090e-02 5.59248960e-02 8.44522844e+02] [-7.59681299e-02 9.97074312e-01 -8.46515303e-03 -1.35821573e+02] [-5.64073717e-02 4.17866403e-03 9.98399092e-01 -5.56513920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.980714057 meters 0.03829694832819458 Centerline is valid? [True, True] Translation: X:844.58, Y:-135.83, Z:-55.66 [[ 9.95807963e-01 7.27054228e-02 5.55015484e-02 8.44583137e+02] [-7.23494631e-02 9.97343981e-01 -8.39876220e-03 -1.35827604e+02] [-5.59647708e-02 4.34804705e-03 9.98423276e-01 -5.56556069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0407140570001 meters 0.04151540818038103 Centerline is valid? [True, True] Translation: X:844.64, Y:-135.84, Z:-55.66 [[ 9.96083049e-01 6.94386223e-02 5.47433741e-02 8.44642144e+02] [-6.90874443e-02 9.97576214e-01 -8.28384914e-03 -1.35840461e+02] [-5.51859069e-02 4.46932190e-03 9.98466094e-01 -5.56603914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.100714057 meters 0.04235729578100905 Centerline is valid? [True, True] Translation: X:844.70, Y:-135.85, Z:-55.67 [[ 9.96471223e-01 6.48438874e-02 5.32951507e-02 8.44701108e+02] [-6.45045569e-02 9.97884826e-01 -8.06446153e-03 -1.35849390e+02] [-5.37053532e-02 4.59822376e-03 9.98546239e-01 -5.56659041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1607140570001 meters 0.05499126991151355 Centerline is valid? [True, True] Translation: X:844.76, Y:-135.87, Z:-55.67 [[ 9.96667409e-01 6.27522763e-02 5.21174363e-02 8.44756775e+02] [-6.24249663e-02 9.98018503e-01 -7.88610284e-03 -1.35873431e+02] [-5.25090366e-02 4.60639248e-03 9.98609825e-01 -5.56724349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.220714057 meters 0.04489400446478259 Centerline is valid? [True, True] Translation: X:844.82, Y:-135.87, Z:-55.67 [[ 9.96713019e-01 6.22408198e-02 5.18578747e-02 8.44817047e+02] [-6.19161360e-02 9.98050518e-01 -7.84574475e-03 -1.35865390e+02] [-5.22451043e-02 4.60911671e-03 9.98623655e-01 -5.56736775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2807140570001 meters 0.04501769732219013 Centerline is valid? [True, True] Translation: X:844.88, Y:-135.87, Z:-55.68 [[ 9.96587573e-01 6.33313525e-02 5.29372218e-02 8.44876203e+02] [-6.29948642e-02 9.97981766e-01 -8.00261455e-03 -1.35872124e+02] [-5.33371985e-02 4.64053312e-03 9.98565776e-01 -5.56762515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.340714057 meters 0.04606617828214239 Centerline is valid? [True, True] Translation: X:844.94, Y:-135.88, Z:-55.68 [[ 9.96399419e-01 6.51104740e-02 5.43030710e-02 8.44935766e+02] [-6.47591056e-02 9.97867177e-01 -8.20707822e-03 -1.35878777e+02] [-5.47216188e-02 4.66090966e-03 9.98490771e-01 -5.56792630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4007140570001 meters 0.04564134048404471 Centerline is valid? [True, True] Translation: X:845.00, Y:-135.88, Z:-55.68 [[ 9.96199530e-01 6.73804154e-02 5.51939873e-02 8.44995122e+02] [-6.70209923e-02 9.97716714e-01 -8.33941430e-03 -1.35884496e+02] [-5.56298768e-02 4.60856481e-03 9.98440824e-01 -5.56827244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.460714057 meters 0.04938722896363413 Centerline is valid? [True, True] Translation: X:845.05, Y:-135.90, Z:-55.69 [[ 9.96195486e-01 6.75827578e-02 5.50193041e-02 8.45051798e+02] [-6.72259970e-02 9.97703154e-01 -8.31155374e-03 -1.35897161e+02] [-5.54546510e-02 4.58120475e-03 9.98450697e-01 -5.56870512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5207140570001 meters 0.050002989092295023 Centerline is valid? [True, True] Translation: X:845.11, Y:-135.91, Z:-55.69 [[ 9.96274124e-01 6.70679889e-02 5.42195042e-02 8.45109629e+02] [-6.67210622e-02 9.97738090e-01 -8.18560418e-03 -1.35905396e+02] [-5.46458566e-02 4.53752273e-03 9.98495489e-01 -5.56912124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.580714057 meters 0.04271359517793959 Centerline is valid? [True, True] Translation: X:845.17, Y:-135.90, Z:-55.69 [[ 9.96337224e-01 6.66054893e-02 5.36269005e-02 8.45169108e+02] [-6.62656451e-02 9.97769199e-01 -8.09252070e-03 -1.35904433e+02] [-5.40462759e-02 4.50925846e-03 9.98528250e-01 -5.56948192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6407140570001 meters 0.04430639624031769 Centerline is valid? [True, True] Translation: X:845.23, Y:-135.91, Z:-55.70 [[ 9.96374088e-01 6.69002594e-02 5.25645479e-02 8.45226415e+02] [-6.65743711e-02 9.97749965e-01 -7.92840814e-03 -1.35914342e+02] [-5.29766884e-02 4.40020871e-03 9.98586055e-01 -5.56999879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.700714057 meters 0.044883144902375716 Centerline is valid? [True, True] Translation: X:845.28, Y:-135.92, Z:-55.70 [[ 9.96412525e-01 6.70213743e-02 5.16741300e-02 8.45284877e+02] [-6.67067991e-02 9.97742207e-01 -7.79043287e-03 -1.35922600e+02] [-5.20795861e-02 4.31546908e-03 9.98633613e-01 -5.57040287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7607140570001 meters 0.041589880585415615 Centerline is valid? [True, True] Translation: X:845.34, Y:-135.93, Z:-55.71 [[ 9.96489177e-01 6.63755923e-02 5.10254973e-02 8.45344017e+02] [-6.60682183e-02 9.97785482e-01 -7.68905704e-03 -1.35925147e+02] [-5.14228661e-02 4.29089843e-03 9.98667751e-01 -5.57066320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.820714057 meters 0.043726332871190904 Centerline is valid? [True, True] Translation: X:845.40, Y:-135.94, Z:-55.71 [[ 9.96595252e-01 6.51146486e-02 5.05765495e-02 8.45402044e+02] [-6.48112576e-02 9.97868466e-01 -7.61742297e-03 -1.35936728e+02] [-5.09647497e-02 4.31355778e-03 9.98691137e-01 -5.57105807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.880714057 meters 0.04254263511208413 Centerline is valid? [True, True] Translation: X:845.46, Y:-135.94, Z:-55.71 [[ 9.96720397e-01 6.29263449e-02 5.08795186e-02 8.45462250e+02] [-6.26166577e-02 9.98008260e-01 -7.65950739e-03 -1.35944094e+02] [-5.12601647e-02 4.44848184e-03 9.98675426e-01 -5.57135959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.940714057 meters 0.04351099000440136 Centerline is valid? [True, True] Translation: X:845.52, Y:-135.95, Z:-55.72 [[ 9.96762809e-01 6.17834427e-02 5.14461840e-02 8.45520390e+02] [-6.14652583e-02 9.98079169e-01 -7.74564066e-03 -1.35954123e+02] [-5.18259169e-02 4.55841355e-03 9.98645731e-01 -5.57179120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.000714057 meters 0.04883027836375923 Centerline is valid? [True, True] Translation: X:845.58, Y:-135.97, Z:-55.72 [[ 9.96788946e-01 6.06914363e-02 5.22335754e-02 8.45576922e+02] [-6.03621313e-02 9.98145593e-01 -7.86054569e-03 -1.35971401e+02] [-5.26137809e-02 4.68237512e-03 9.98603958e-01 -5.57229916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.060714057 meters 0.04700547264190533 Centerline is valid? [True, True] Translation: X:845.64, Y:-135.98, Z:-55.73 [[ 9.96842988e-01 5.93110255e-02 5.27850423e-02 8.45635951e+02] [-5.89729712e-02 9.98228000e-01 -7.94038461e-03 -1.35979773e+02] [-5.31624595e-02 4.80242594e-03 9.98574329e-01 -5.57270331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.120714057 meters 0.050974581563572874 Centerline is valid? [True, True] Translation: X:845.69, Y:-135.99, Z:-55.73 [[ 9.96858650e-01 5.88524662e-02 5.30020704e-02 8.45692724e+02] [-5.85110741e-02 9.98254934e-01 -7.97128201e-03 -1.35994470e+02] [-5.33787079e-02 4.84503335e-03 9.98562587e-01 -5.57317049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.180714057 meters 0.046380662620405376 Centerline is valid? [True, True] Translation: X:845.75, Y:-136.00, Z:-55.74 [[ 9.96915861e-01 5.82998129e-02 5.25347238e-02 8.45752558e+02] [-5.79638201e-02 9.98287442e-01 -7.89800391e-03 -1.35998735e+02] [-5.29052072e-02 4.82853209e-03 9.98587865e-01 -5.57365927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.240714057 meters 0.04565185977657 Centerline is valid? [True, True] Translation: X:845.81, Y:-136.01, Z:-55.74 [[ 9.96890492e-01 5.92559350e-02 5.19430535e-02 8.45811592e+02] [-5.89288617e-02 9.98231655e-01 -7.80716827e-03 -1.36007740e+02] [-5.23138214e-02 4.72194681e-03 9.98619531e-01 -5.57419769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.300714057 meters 0.046951321904871106 Centerline is valid? [True, True] Translation: X:845.87, Y:-136.02, Z:-55.75 [[ 9.96824297e-01 5.99963518e-02 5.23618107e-02 8.45869972e+02] [-5.96650929e-02 9.98187442e-01 -7.86815234e-03 -1.36019276e+02] [-5.27389623e-02 4.71899312e-03 9.98597183e-01 -5.57459172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.360714057 meters 0.048323583807862634 Centerline is valid? [True, True] Translation: X:845.93, Y:-136.03, Z:-55.75 [[ 9.96725010e-01 6.04485938e-02 5.37142696e-02 8.45928108e+02] [-6.01007396e-02 9.98159700e-01 -8.06936352e-03 -1.36031854e+02] [-5.41032009e-02 4.81466910e-03 9.98523742e-01 -5.57502862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.420714057 meters 0.04730977369196017 Centerline is valid? [True, True] Translation: X:845.99, Y:-136.04, Z:-55.75 [[ 9.96646282e-01 6.07192728e-02 5.48576170e-02 8.45987420e+02] [-6.03569503e-02 9.98142853e-01 -8.23911253e-03 -1.36040392e+02] [-5.52560112e-02 4.90044242e-03 9.98460194e-01 -5.57540796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.480714057 meters 0.048452179958944526 Centerline is valid? [True, True] Translation: X:846.05, Y:-136.05, Z:-55.76 [[ 9.96648642e-01 5.99046890e-02 5.57037915e-02 8.46046093e+02] [-5.95299413e-02 9.98191478e-01 -8.36414913e-03 -1.36052808e+02] [-5.61041017e-02 5.02007444e-03 9.98412304e-01 -5.57583871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5407140570001 meters 0.055297067057251764 Centerline is valid? [True, True] Translation: X:846.10, Y:-136.07, Z:-55.76 [[ 9.96750095e-01 5.72462493e-02 5.66755315e-02 8.46103112e+02] [-5.68541632e-02 9.98346243e-01 -8.50782128e-03 -1.36074800e+02] [-5.70688448e-02 5.25793175e-03 9.98356400e-01 -5.57645229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.600714057 meters 0.054167840153162644 Centerline is valid? [True, True] Translation: X:846.16, Y:-136.08, Z:-55.77 [[ 9.96812966e-01 5.52560772e-02 5.75384827e-02 8.46163178e+02] [-5.48487154e-02 9.98457326e-01 -8.63638413e-03 -1.36084357e+02] [-5.79269323e-02 5.45294782e-03 9.98305933e-01 -5.57689375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6607140570001 meters 0.053785784393785584 Centerline is valid? [True, True] Translation: X:846.22, Y:-136.10, Z:-55.77 [[ 9.96854452e-01 5.36028401e-02 5.83775346e-02 8.46222992e+02] [-5.31806248e-02 9.98546456e-01 -8.76336094e-03 -1.36095325e+02] [-5.87624213e-02 5.63124160e-03 9.98256113e-01 -5.57724001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.720714057 meters 0.04797230008926569 Centerline is valid? [True, True] Translation: X:846.29, Y:-136.10, Z:-55.78 [[ 9.96653472e-01 5.44215646e-02 6.09930296e-02 8.46285657e+02] [-5.39620958e-02 9.98501003e-01 -9.15640104e-03 -1.36099108e+02] [-6.13999069e-02 5.83444718e-03 9.98096193e-01 -5.57756743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7807140570001 meters 0.04957176987183909 Centerline is valid? [True, True] Translation: X:846.35, Y:-136.11, Z:-55.78 [[ 9.96515162e-01 5.58320623e-02 6.19702594e-02 8.46345562e+02] [-5.53593813e-02 9.98422996e-01 -9.31982742e-03 -1.36111393e+02] [-6.23928773e-02 5.85671411e-03 9.98034482e-01 -5.57787542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.840714057 meters 0.04828033533232326 Centerline is valid? [True, True] Translation: X:846.41, Y:-136.12, Z:-55.78 [[ 9.96405847e-01 5.80006222e-02 6.17358550e-02 8.46405209e+02] [-5.75354924e-02 9.98300266e-01 -9.28691377e-03 -1.36120331e+02] [-6.21695672e-02 5.70153237e-03 9.98049316e-01 -5.57839698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9007140570001 meters 0.04978277282518461 Centerline is valid? [True, True] Translation: X:846.46, Y:-136.13, Z:-55.79 [[ 9.96341325e-01 5.95198827e-02 6.13298328e-02 8.46464522e+02] [-5.90637181e-02 9.98211582e-01 -9.22574097e-03 -1.36133163e+02] [-6.17692645e-02 5.56961903e-03 9.98074916e-01 -5.57894081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.960714057 meters 0.04656532625708112 Centerline is valid? [True, True] Translation: X:846.53, Y:-136.14, Z:-55.80 [[ 9.96205997e-01 6.18679336e-02 6.12043302e-02 8.46525080e+02] [-6.14178892e-02 9.98069654e-01 -9.20911239e-03 -1.36141062e+02] [-6.16559335e-02 5.41513221e-03 9.98082773e-01 -5.57951129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0207140570001 meters 0.0493201093634543 Centerline is valid? [True, True] Translation: X:846.58, Y:-136.16, Z:-55.80 [[ 9.96111673e-01 6.38182008e-02 6.07352624e-02 8.46583363e+02] [-6.33785621e-02 9.97947706e-01 -9.13969070e-03 -1.36155083e+02] [-6.11938944e-02 5.25483900e-03 9.98112065e-01 -5.57995954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.080714057 meters 0.0445952294233879 Centerline is valid? [True, True] Translation: X:846.64, Y:-136.16, Z:-55.80 [[ 9.95869950e-01 6.69225364e-02 6.13548376e-02 8.46644184e+02] [-6.64797104e-02 9.97745058e-01 -9.23291551e-03 -1.36160481e+02] [-6.18343762e-02 5.11593127e-03 9.98073313e-01 -5.58027779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1407140570001 meters 0.04155222284120209 Centerline is valid? [True, True] Translation: X:846.70, Y:-136.17, Z:-55.81 [[ 9.95735590e-01 6.82425682e-02 6.20772610e-02 8.46704550e+02] [-6.77917646e-02 9.97655755e-01 -9.34187663e-03 -1.36169043e+02] [-6.25692504e-02 5.09371197e-03 9.98027626e-01 -5.58065629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.200714057 meters 0.04782748478764497 Centerline is valid? [True, True] Translation: X:846.76, Y:-136.19, Z:-55.81 [[ 9.95741617e-01 6.83588851e-02 6.18522098e-02 8.46761941e+02] [-6.79115100e-02 9.97647918e-01 -9.30900768e-03 -1.36189351e+02] [-6.23430818e-02 5.06888939e-03 9.98041906e-01 -5.58115597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2607140570001 meters 0.040078675627661174 Centerline is valid? [True, True] Translation: X:846.82, Y:-136.19, Z:-55.82 [[ 9.95779879e-01 6.86866901e-02 6.08651972e-02 8.46823186e+02] [-6.82537823e-02 9.97625887e-01 -9.16577985e-03 -1.36191119e+02] [-6.13502634e-02 4.97281923e-03 9.98103911e-01 -5.58165568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.320714057 meters 0.04095035738293325 Centerline is valid? [True, True] Translation: X:846.88, Y:-136.20, Z:-55.82 [[ 9.95798556e-01 6.97613412e-02 5.93177121e-02 8.46882693e+02] [-6.93520221e-02 9.97552245e-01 -8.93390834e-03 -1.36202478e+02] [-5.97957583e-02 4.78256975e-03 9.98199176e-01 -5.58207467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.380714057 meters 0.04232076845366487 Centerline is valid? [True, True] Translation: X:846.94, Y:-136.22, Z:-55.82 [[ 9.95591904e-01 7.26785240e-02 5.92840010e-02 8.46940450e+02] [-7.22747989e-02 9.97344789e-01 -8.92892697e-03 -1.36215561e+02] [-5.97755307e-02 4.60482815e-03 9.98201223e-01 -5.58247405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.440714057 meters 0.04029588159223785 Centerline is valid? [True, True] Translation: X:847.00, Y:-136.22, Z:-55.83 [[ 9.95359551e-01 7.64629283e-02 5.84190466e-02 8.47000414e+02] [-7.60774634e-02 9.97063100e-01 -8.79737941e-03 -1.36222424e+02] [-5.89201491e-02 4.31218274e-03 9.98253385e-01 -5.58283157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.500714057 meters 0.04197115003815266 Centerline is valid? [True, True] Translation: X:847.06, Y:-136.23, Z:-55.83 [[ 9.95207460e-01 7.87662397e-02 5.79481721e-02 8.47057621e+02] [-7.83908455e-02 9.96884508e-01 -8.72658852e-03 -1.36234548e+02] [-5.84549956e-02 4.14215979e-03 9.98281451e-01 -5.58323571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.560714057 meters 0.04257220911274584 Centerline is valid? [True, True] Translation: X:847.12, Y:-136.25, Z:-55.84 [[ 9.95055393e-01 8.09213683e-02 5.75890417e-02 8.47115733e+02] [-8.05543917e-02 9.96712513e-01 -8.66933148e-03 -1.36245834e+02] [-5.81012526e-02 3.98741482e-03 9.98302732e-01 -5.58361532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.620714057 meters 0.03717302848702139 Centerline is valid? [True, True] Translation: X:847.18, Y:-136.25, Z:-55.84 [[ 9.94994618e-01 8.22398135e-02 5.67655169e-02 8.47175150e+02] [-8.18854902e-02 9.96605122e-01 -8.54387118e-03 -1.36247896e+02] [-5.72754512e-02 3.85283366e-03 9.98350980e-01 -5.58395418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.680714057 meters 0.03465795316312147 Centerline is valid? [True, True] Translation: X:847.23, Y:-136.25, Z:-55.84 [[ 9.94850149e-01 8.50975648e-02 5.50598456e-02 8.47234730e+02] [-8.47689180e-02 9.96366223e-01 -8.28132585e-03 -1.36254323e+02] [-5.55644910e-02 3.57131472e-03 9.98448713e-01 -5.58443976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.740714057 meters 0.03423961663159259 Centerline is valid? [True, True] Translation: X:847.29, Y:-136.26, Z:-55.85 [[ 9.94699658e-01 8.76855962e-02 5.37012783e-02 8.47294395e+02] [-8.73767918e-02 9.96142597e-01 -8.07602210e-03 -1.36262581e+02] [-5.42022817e-02 3.34097101e-03 9.98524387e-01 -5.58484369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.800714057 meters 0.03358755102656129 Centerline is valid? [True, True] Translation: X:847.35, Y:-136.27, Z:-55.85 [[ 9.94220630e-01 9.31031527e-02 5.34522335e-02 8.47352907e+02] [-9.28050524e-02 9.95651856e-01 -8.03762631e-03 -1.36269941e+02] [-5.39681439e-02 3.03053656e-03 9.98538059e-01 -5.58518813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.860714057 meters 0.028960712014388917 Centerline is valid? [True, True] Translation: X:847.41, Y:-136.27, Z:-55.85 [[ 9.93462462e-01 9.98068772e-02 5.54159107e-02 8.47413173e+02] [-9.94968952e-02 9.95002990e-01 -8.33173524e-03 -1.36271078e+02] [-5.59705613e-02 2.76355515e-03 9.98428595e-01 -5.58534744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.920714057 meters 0.02882147464011605 Centerline is valid? [True, True] Translation: X:847.47, Y:-136.28, Z:-55.86 [[ 9.92967922e-01 1.03897543e-01 5.67451069e-02 8.47471452e+02] [-1.03579244e-01 9.94584627e-01 -8.52994257e-03 -1.36278938e+02] [-5.73240511e-02 2.59234409e-03 9.98352259e-01 -5.58560262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.980714057 meters 0.02802596385749544 Centerline is valid? [True, True] Translation: X:847.53, Y:-136.29, Z:-55.86 [[ 9.92773065e-01 1.05332043e-01 5.75048063e-02 8.47529490e+02] [-1.05007662e-01 9.94433860e-01 -8.64224859e-03 -1.36286125e+02] [-5.80950322e-02 2.54134633e-03 9.98307823e-01 -5.58593717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0407140570001 meters 0.027215358206262443 Centerline is valid? [True, True] Translation: X:847.59, Y:-136.30, Z:-55.86 [[ 9.92729985e-01 1.06221011e-01 5.66062989e-02 8.47587200e+02] [-1.05908371e-01 9.94339536e-01 -8.50319934e-03 -1.36295007e+02] [-5.71890994e-02 2.44630004e-03 9.98360367e-01 -5.58638746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.100714057 meters 0.02985168618494644 Centerline is valid? [True, True] Translation: X:847.65, Y:-136.31, Z:-55.87 [[ 9.93385695e-01 1.00735707e-01 5.51106092e-02 8.47645907e+02] [-1.00431217e-01 9.94909599e-01 -8.27403126e-03 -1.36311014e+02] [-5.56635645e-02 2.68447872e-03 9.98445973e-01 -5.58692448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1607140570001 meters 0.031968838270991305 Centerline is valid? [True, True] Translation: X:847.70, Y:-136.33, Z:-55.87 [[ 9.93960292e-01 9.52391953e-02 5.45200334e-02 8.47704610e+02] [-9.49329751e-02 9.95450016e-01 -8.18508044e-03 -1.36325406e+02] [-5.50515086e-02 2.95989597e-03 9.98479129e-01 -5.58734157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.220714057 meters 0.034256259212093666 Centerline is valid? [True, True] Translation: X:847.76, Y:-136.34, Z:-55.88 [[ 9.94711776e-01 8.71210227e-02 5.43912673e-02 8.47763233e+02] [-8.68041502e-02 9.96191929e-01 -8.16582012e-03 -1.36340846e+02] [-5.48955561e-02 3.40124970e-03 9.98486309e-01 -5.58773694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2807140570001 meters 0.03524837161988124 Centerline is valid? [True, True] Translation: X:847.82, Y:-136.35, Z:-55.88 [[ 9.95090180e-01 8.21327082e-02 5.52245524e-02 8.47822451e+02] [-8.17984525e-02 9.96614415e-01 -8.28986444e-03 -1.36353870e+02] [-5.57184540e-02 3.73187977e-03 9.98439546e-01 -5.58808910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.340714057 meters 0.037925854852779294 Centerline is valid? [True, True] Translation: X:847.88, Y:-136.37, Z:-55.88 [[ 9.95526680e-01 7.60796971e-02 5.60223981e-02 8.47880834e+02] [-7.57261610e-02 9.97093188e-01 -8.40974466e-03 -1.36368501e+02] [-5.64993623e-02 4.12976405e-03 9.98394094e-01 -5.58839159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4007140570001 meters 0.0409915355350397 Centerline is valid? [True, True] Translation: X:847.94, Y:-136.38, Z:-55.89 [[ 9.95768570e-01 7.26027502e-02 5.63364578e-02 8.47939849e+02] [-7.22397614e-02 9.97351450e-01 -8.45588083e-03 -1.36382238e+02] [-5.68011680e-02 4.35036809e-03 9.98376032e-01 -5.58878091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.460714057 meters 0.04392419399137285 Centerline is valid? [True, True] Translation: X:848.00, Y:-136.40, Z:-55.89 [[ 9.96048234e-01 6.89746153e-02 5.59501425e-02 8.47998354e+02] [-6.86109402e-02 9.97608151e-01 -8.39734488e-03 -1.36396824e+02] [-5.63955219e-02 4.52536865e-03 9.98398250e-01 -5.58926249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5207140570001 meters 0.045109265640052784 Centerline is valid? [True, True] Translation: X:848.06, Y:-136.41, Z:-55.90 [[ 9.96198317e-01 6.73122060e-02 5.52990011e-02 8.48057408e+02] [-6.69544109e-02 9.97721515e-01 -8.29969208e-03 -1.36407137e+02] [-5.57316737e-02 4.56562725e-03 9.98435344e-01 -5.58973923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.580714057 meters 0.045839606347698104 Centerline is valid? [True, True] Translation: X:848.12, Y:-136.41, Z:-55.90 [[ 9.96317241e-01 6.64193835e-02 5.42256436e-02 8.48117513e+02] [-6.60741098e-02 9.97781536e-01 -8.13747286e-03 -1.36414924e+02] [-5.46458319e-02 4.52459338e-03 9.98495549e-01 -5.59023450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6407140570001 meters 0.040593347783014676 Centerline is valid? [True, True] Translation: X:848.18, Y:-136.42, Z:-55.91 [[ 9.96245385e-01 6.71180560e-02 5.46836264e-02 8.48178620e+02] [-6.67679622e-02 9.97734783e-01 -8.20620091e-03 -1.36415208e+02] [-5.51105404e-02 4.52427549e-03 9.98470009e-01 -5.59050788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.700714057 meters 0.04221883599147953 Centerline is valid? [True, True] Translation: X:848.24, Y:-136.42, Z:-55.91 [[ 9.96121369e-01 6.78081101e-02 5.60738645e-02 8.48237882e+02] [-6.74410329e-02 9.97687773e-01 -8.41511982e-03 -1.36422431e+02] [-5.65148224e-02 4.60080133e-03 9.98391160e-01 -5.59079338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7607140570001 meters 0.041411351489857764 Centerline is valid? [True, True] Translation: X:848.30, Y:-136.43, Z:-55.91 [[ 9.96069964e-01 6.80816843e-02 5.66525527e-02 8.48297364e+02] [-6.77075406e-02 9.97669004e-01 -8.49985826e-03 -1.36425600e+02] [-5.70991804e-02 4.63064851e-03 9.98357772e-01 -5.59105773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.820714057 meters 0.045272691072863726 Centerline is valid? [True, True] Translation: X:848.36, Y:-136.44, Z:-55.92 [[ 9.96171490e-01 6.70727607e-02 5.60678905e-02 8.48355179e+02] [-6.67048770e-02 9.97737311e-01 -8.40943418e-03 -1.36437323e+02] [-5.65050702e-02 4.63723684e-03 9.98391543e-01 -5.59156644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.880714057 meters 0.045493742042695 Centerline is valid? [True, True] Translation: X:848.42, Y:-136.44, Z:-55.92 [[ 9.96477926e-01 6.36302590e-02 5.46162409e-02 8.48415510e+02] [-6.32759136e-02 9.97962428e-01 -8.19457081e-03 -1.36444361e+02] [-5.50263791e-02 4.70981638e-03 9.98473793e-01 -5.59205509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.940714057 meters 0.045645443067514134 Centerline is valid? [True, True] Translation: X:848.48, Y:-136.45, Z:-55.92 [[ 9.96726595e-01 5.97206276e-02 5.44935026e-02 8.48475214e+02] [-5.93620738e-02 9.98203032e-01 -8.17627527e-03 -1.36452418e+02] [-5.48838718e-02 4.91466369e-03 9.98480649e-01 -5.59244940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.000714057 meters 0.047627952882778365 Centerline is valid? [True, True] Translation: X:848.53, Y:-136.46, Z:-55.93 [[ 9.96770655e-01 5.89598226e-02 5.45160514e-02 8.48534832e+02] [-5.85998417e-02 9.98248041e-01 -8.17969686e-03 -1.36463531e+02] [-5.49028150e-02 4.95864982e-03 9.98479390e-01 -5.59285476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.060714057 meters 0.04951934531959168 Centerline is valid? [True, True] Translation: X:848.59, Y:-136.47, Z:-55.93 [[ 9.96658066e-01 6.04877163e-02 5.48993213e-02 8.48594929e+02] [-6.01248997e-02 9.98156867e-01 -8.23804537e-03 -1.36472382e+02] [-5.52964351e-02 4.90969818e-03 9.98457911e-01 -5.59320034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.120714057 meters 0.04342217753269121 Centerline is valid? [True, True] Translation: X:848.66, Y:-136.47, Z:-55.93 [[ 9.96269780e-01 6.56457508e-02 5.60103733e-02 8.48656463e+02] [-6.52760355e-02 9.97831830e-01 -8.40698117e-03 -1.36470991e+02] [-5.64408159e-02 4.71948616e-03 9.98394792e-01 -5.59336798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.180714057 meters 0.04049877518411396 Centerline is valid? [True, True] Translation: X:848.72, Y:-136.47, Z:-55.94 [[ 9.95904486e-01 7.03904440e-02 5.67401047e-02 8.48716161e+02] [-7.00185874e-02 9.97509321e-01 -8.51776114e-03 -1.36473786e+02] [-5.71983522e-02 4.51001455e-03 9.98352647e-01 -5.59366113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.240714057 meters 0.0366574797334348 Centerline is valid? [True, True] Translation: X:848.78, Y:-136.47, Z:-55.94 [[ 9.95342631e-01 7.82924636e-02 5.62435480e-02 8.48777487e+02] [-7.79397266e-02 9.96922335e-01 -8.44137925e-03 -1.36474146e+02] [-5.67313456e-02 4.01845789e-03 9.98381393e-01 -5.59401217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.300714057 meters 0.03506906724830379 Centerline is valid? [True, True] Translation: X:848.84, Y:-136.48, Z:-55.94 [[ 9.94791488e-01 8.52225811e-02 5.59196463e-02 8.48838218e+02] [-8.48847978e-02 9.96355427e-01 -8.39252021e-03 -1.36478041e+02] [-5.64310753e-02 3.60207980e-03 9.98399999e-01 -5.59443098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.360714057 meters 0.03417094961497776 Centerline is valid? [True, True] Translation: X:848.90, Y:-136.48, Z:-55.95 [[ 9.94460432e-01 8.88166680e-02 5.62143039e-02 8.48898193e+02] [-8.84810110e-02 9.96042132e-01 -8.43697800e-03 -1.36484217e+02] [-5.67411593e-02 3.41634235e-03 9.98383078e-01 -5.59483707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.420714057 meters 0.03389595720915469 Centerline is valid? [True, True] Translation: X:848.96, Y:-136.49, Z:-55.95 [[ 9.94039796e-01 9.22185472e-02 5.81431295e-02 8.48957585e+02] [-9.18652772e-02 9.95733215e-01 -8.72552131e-03 -1.36490787e+02] [-5.86997002e-02 3.33218071e-03 9.98270125e-01 -5.59519509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.480714057 meters 0.0345588816359434 Centerline is valid? [True, True] Translation: X:849.02, Y:-136.50, Z:-55.96 [[ 9.93954067e-01 9.26834299e-02 5.88650613e-02 8.49015639e+02] [-9.23222461e-02 9.95690012e-01 -8.83195315e-03 -1.36499778e+02] [-5.94299292e-02 3.34400108e-03 9.98226879e-01 -5.59553087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5407140570001 meters 0.03556922088035256 Centerline is valid? [True, True] Translation: X:849.07, Y:-136.51, Z:-55.96 [[ 9.94017162e-01 9.19758396e-02 5.89094720e-02 8.49073295e+02] [-9.16131194e-02 9.95755486e-01 -8.83446989e-03 -1.36509046e+02] [-5.94719877e-02 3.38473420e-03 9.98224237e-01 -5.59588653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.600714057 meters 0.038886705118804474 Centerline is valid? [True, True] Translation: X:849.13, Y:-136.52, Z:-55.96 [[ 9.94385172e-01 8.83916925e-02 5.81810917e-02 8.49130951e+02] [-8.80320409e-02 9.96079467e-01 -8.72094096e-03 -1.36521733e+02] [-5.87238496e-02 3.55017412e-03 9.98267953e-01 -5.59639338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6607140570001 meters 0.04444591065664074 Centerline is valid? [True, True] Translation: X:849.19, Y:-136.54, Z:-55.97 [[ 9.95027703e-01 8.12988076e-02 5.75358596e-02 8.49188319e+02] [-8.09353575e-02 9.96682050e-01 -8.62313391e-03 -1.36537728e+02] [-5.80460090e-02 3.92357176e-03 9.98306199e-01 -5.59687039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.720714057 meters 0.03719174229857861 Centerline is valid? [True, True] Translation: X:849.25, Y:-136.54, Z:-55.97 [[ 9.95452959e-01 7.61528082e-02 5.72202490e-02 8.49249293e+02] [-7.57849046e-02 9.97087313e-01 -8.57548551e-03 -1.36535742e+02] [-5.77066317e-02 4.20006131e-03 9.98324749e-01 -5.59716726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7807140570001 meters 0.041734910813152115 Centerline is valid? [True, True] Translation: X:849.31, Y:-136.55, Z:-55.98 [[ 9.95853320e-01 7.01576147e-02 5.79143653e-02 8.49307267e+02] [-6.97706599e-02 9.97525301e-01 -8.67923474e-03 -1.36549418e+02] [-5.83799591e-02 4.60252125e-03 9.98283826e-01 -5.59756068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.840714057 meters 0.04332346622324505 Centerline is valid? [True, True] Translation: X:849.37, Y:-136.56, Z:-55.98 [[ 9.95973613e-01 6.77564827e-02 5.86994241e-02 8.49367022e+02] [-6.73548731e-02 9.97690310e-01 -8.79582629e-03 -1.36558975e+02] [-5.91598209e-02 4.80671862e-03 9.98236951e-01 -5.59787478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9007140570001 meters 0.0411178507159329 Centerline is valid? [True, True] Translation: X:849.43, Y:-136.56, Z:-55.98 [[ 9.96023962e-01 6.63735478e-02 5.94207064e-02 8.49426327e+02] [-6.59595352e-02 9.97782569e-01 -8.90416144e-03 -1.36562031e+02] [-5.98799458e-02 4.94939598e-03 9.98193316e-01 -5.59810506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.960714057 meters 0.04275039572234611 Centerline is valid? [True, True] Translation: X:849.48, Y:-136.57, Z:-55.98 [[ 9.95993769e-01 6.60844721e-02 6.02432921e-02 8.49484864e+02] [-6.56585869e-02 9.97801342e-01 -9.02393389e-03 -1.36571045e+02] [-6.07071796e-02 5.03229250e-03 9.98142933e-01 -5.59843277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0207140570001 meters 0.041557555271032234 Centerline is valid? [True, True] Translation: X:849.54, Y:-136.58, Z:-55.99 [[ 9.96065221e-01 6.61334637e-02 5.89952518e-02 8.49544191e+02] [-6.57252794e-02 9.97798643e-01 -8.83487053e-03 -1.36575171e+02] [-5.94496628e-02 4.92262787e-03 9.98219167e-01 -5.59898010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.080714057 meters 0.045534203298791924 Centerline is valid? [True, True] Translation: X:849.60, Y:-136.59, Z:-56.00 [[ 9.96171889e-01 6.58838144e-02 5.74533767e-02 8.49601584e+02] [-6.54964193e-02 9.97815727e-01 -8.60200854e-03 -1.36587340e+02] [-5.78946160e-02 4.80608864e-03 9.98311131e-01 -5.59958798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1407140570001 meters 0.042662435860180384 Centerline is valid? [True, True] Translation: X:849.66, Y:-136.59, Z:-56.00 [[ 9.96248127e-01 6.65488531e-02 5.53255828e-02 8.49661597e+02] [-6.61908471e-02 9.97772623e-01 -8.28037021e-03 -1.36588207e+02] [-5.57534010e-02 4.58725612e-03 9.98434032e-01 -5.60016133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.200714057 meters 0.04343369375877324 Centerline is valid? [True, True] Translation: X:849.72, Y:-136.59, Z:-56.01 [[ 9.96204016e-01 6.83447901e-02 5.39124159e-02 8.49720450e+02] [-6.80075769e-02 9.97652191e-01 -8.06694249e-03 -1.36593562e+02] [-5.43371733e-02 4.36986773e-03 9.98513083e-01 -5.60064280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2607140570001 meters 0.03996858144728671 Centerline is valid? [True, True] Translation: X:849.78, Y:-136.59, Z:-56.01 [[ 9.96041490e-01 7.00969735e-02 5.46604456e-02 8.49780786e+02] [-6.97530650e-02 9.97530777e-01 -8.17669152e-03 -1.36594466e+02] [-5.50986382e-02 4.33159039e-03 9.98471521e-01 -5.60099055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.320714057 meters 0.04154856642522639 Centerline is valid? [True, True] Translation: X:849.84, Y:-136.60, Z:-56.01 [[ 9.95787330e-01 7.28131442e-02 5.57300681e-02 8.49839055e+02] [-7.24598930e-02 9.97336491e-01 -8.33593728e-03 -1.36600433e+02] [-5.61885964e-02 4.26262595e-03 9.98411074e-01 -5.60126203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.380714057 meters 0.04002077276036848 Centerline is valid? [True, True] Translation: X:849.90, Y:-136.60, Z:-56.01 [[ 9.95553010e-01 7.43006990e-02 5.79103730e-02 8.49899272e+02] [-7.39219312e-02 9.97226442e-01 -8.65856291e-03 -1.36603409e+02] [-5.83930926e-02 4.33921175e-03 9.98284237e-01 -5.60147645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.440714057 meters 0.04027800196166763 Centerline is valid? [True, True] Translation: X:849.96, Y:-136.61, Z:-56.02 [[ 9.95536024e-01 7.36082421e-02 5.90749600e-02 8.49957601e+02] [-7.32129026e-02 9.97277228e-01 -8.83185733e-03 -1.36611464e+02] [-5.95642098e-02 4.46738284e-03 9.98214480e-01 -5.60180048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.500714057 meters 0.041210601358391726 Centerline is valid? [True, True] Translation: X:850.02, Y:-136.62, Z:-56.02 [[ 9.95863351e-01 7.04969784e-02 5.73268065e-02 8.50016939e+02] [-7.01198593e-02 9.97501794e-01 -8.56604992e-03 -1.36620841e+02] [-5.77874730e-02 4.51086756e-03 9.98318717e-01 -5.60233230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.560714057 meters 0.04128195444966495 Centerline is valid? [True, True] Translation: X:850.08, Y:-136.63, Z:-56.03 [[ 9.96181280e-01 6.73534660e-02 5.55550982e-02 8.50076743e+02] [-6.69945101e-02 9.97718816e-01 -8.30065214e-03 -1.36629511e+02] [-5.59874445e-02 4.54706769e-03 9.98421119e-01 -5.60291070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.620714057 meters 0.043980357333374354 Centerline is valid? [True, True] Translation: X:850.13, Y:-136.64, Z:-56.03 [[ 9.96310699e-01 6.58525030e-02 5.50312632e-02 8.50134394e+02] [-6.54980139e-02 9.97818822e-01 -8.22250743e-03 -1.36641030e+02] [-5.54527029e-02 4.58773367e-03 9.98450775e-01 -5.60339648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.680714057 meters 0.04645686583760132 Centerline is valid? [True, True] Translation: X:850.19, Y:-136.65, Z:-56.04 [[ 9.96332687e-01 6.50059647e-02 5.56363278e-02 8.50192418e+02] [-6.46424904e-02 9.97873887e-01 -8.30983153e-03 -1.36651853e+02] [-5.60582273e-02 4.68288599e-03 9.98416519e-01 -5.60375734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.740714057 meters 0.04722263838125633 Centerline is valid? [True, True] Translation: X:850.25, Y:-136.66, Z:-56.04 [[ 9.96303447e-01 6.54310505e-02 5.56616486e-02 8.50250837e+02] [-6.50680708e-02 9.97846220e-01 -8.31062859e-03 -1.36660700e+02] [-5.60855388e-02 4.65811182e-03 9.98415101e-01 -5.60416935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.800714057 meters 0.04541758719906486 Centerline is valid? [True, True] Translation: X:850.31, Y:-136.67, Z:-56.04 [[ 9.96098242e-01 6.77638346e-02 5.65363187e-02 8.50310635e+02] [-6.73932517e-02 9.97690808e-01 -8.43803385e-03 -1.36665553e+02] [-5.69775590e-02 4.59494433e-03 9.98364885e-01 -5.60449157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.860714057 meters 0.04538860009832767 Centerline is valid? [True, True] Translation: X:850.37, Y:-136.67, Z:-56.05 [[ 9.95949311e-01 6.95461855e-02 5.69938400e-02 8.50369959e+02] [-6.91725987e-02 9.97568460e-01 -8.50406249e-03 -1.36673213e+02] [-5.74466823e-02 4.52720315e-03 9.98338311e-01 -5.60491016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.920714057 meters 0.04595416205611092 Centerline is valid? [True, True] Translation: X:850.43, Y:-136.68, Z:-56.05 [[ 9.95776976e-01 7.14743463e-02 5.76162553e-02 8.50429208e+02] [-7.10958078e-02 9.97432452e-01 -8.59590773e-03 -1.36681860e+02] [-5.80827097e-02 4.46333279e-03 9.98301797e-01 -5.60527007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.980714057 meters 0.041880081086022626 Centerline is valid? [True, True] Translation: X:850.49, Y:-136.69, Z:-56.06 [[ 9.95743190e-01 7.21629978e-02 5.73410905e-02 8.50487973e+02] [-7.17892419e-02 9.97383141e-01 -8.55422534e-03 -1.36685297e+02] [-5.78083355e-02 4.40133822e-03 9.98317998e-01 -5.60558194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0407140570001 meters 0.044243473930173624 Centerline is valid? [True, True] Translation: X:850.54, Y:-136.70, Z:-56.06 [[ 9.95780250e-01 7.24061454e-02 5.63830065e-02 8.50544529e+02] [-7.20453968e-02 9.97365918e-01 -8.40747026e-03 -1.36698081e+02] [-5.68432415e-02 4.30985677e-03 9.98373813e-01 -5.60606557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.100714057 meters 0.03781912363808539 Centerline is valid? [True, True] Translation: X:850.60, Y:-136.70, Z:-56.06 [[ 9.95758161e-01 7.31917980e-02 5.57552288e-02 8.50603949e+02] [-7.28405686e-02 9.97308989e-01 -8.30859197e-03 -1.36697945e+02] [-5.62133116e-02 4.21210569e-03 9.98409897e-01 -5.60644430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1607140570001 meters 0.04174794530848532 Centerline is valid? [True, True] Translation: X:850.66, Y:-136.71, Z:-56.07 [[ 9.95668885e-01 7.47087553e-02 5.53360018e-02 8.50660077e+02] [-7.43653447e-02 9.97197003e-01 -8.24213908e-03 -1.36712386e+02] [-5.57966551e-02 4.09136058e-03 9.98433771e-01 -5.60686817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.220714057 meters 0.03632361885884898 Centerline is valid? [True, True] Translation: X:850.72, Y:-136.71, Z:-56.07 [[ 9.95563957e-01 7.59381927e-02 5.55499613e-02 8.50719346e+02] [-7.55942989e-02 9.97104370e-01 -8.26903295e-03 -1.36713945e+02] [-5.60170446e-02 4.03309078e-03 9.98421667e-01 -5.60715617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2807140570001 meters 0.03892353849813108 Centerline is valid? [True, True] Translation: X:850.78, Y:-136.73, Z:-56.08 [[ 9.95539472e-01 7.62038084e-02 5.56249909e-02 8.50775269e+02] [-7.58596208e-02 9.97084160e-01 -8.27619874e-03 -1.36727413e+02] [-5.60934752e-02 4.01959181e-03 9.98417430e-01 -5.60756547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.340714057 meters 0.037675381804394885 Centerline is valid? [True, True] Translation: X:850.83, Y:-136.74, Z:-56.08 [[ 9.95653397e-01 7.49670179e-02 5.52653562e-02 8.50833765e+02] [-7.46256759e-02 9.97177759e-01 -8.21735853e-03 -1.36736165e+02] [-5.57254149e-02 4.05742637e-03 9.98437888e-01 -5.60788718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4007140570001 meters 0.04066303882480666 Centerline is valid? [True, True] Translation: X:850.89, Y:-136.75, Z:-56.08 [[ 9.95794897e-01 7.33400642e-02 5.48977110e-02 8.50890666e+02] [-7.30009550e-02 9.97298490e-01 -8.15984433e-03 -1.36750611e+02] [-5.53478477e-02 4.11794601e-03 9.98458641e-01 -5.60837289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.460714057 meters 0.04306684800016424 Centerline is valid? [True, True] Translation: X:850.95, Y:-136.76, Z:-56.09 [[ 9.95934069e-01 7.11580049e-02 5.52437278e-02 8.50949224e+02] [-7.08115175e-02 9.97455953e-01 -8.20677588e-03 -1.36764924e+02] [-5.56871630e-02 4.26151550e-03 9.98439172e-01 -5.60873056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5207140570001 meters 0.040155582140685174 Centerline is valid? [True, True] Translation: X:851.01, Y:-136.77, Z:-56.09 [[ 9.95917267e-01 7.02227365e-02 5.67235876e-02 8.51007599e+02] [-6.98559406e-02 9.97521504e-01 -8.42598937e-03 -1.36771128e+02] [-5.71746944e-02 4.42910874e-03 9.98354365e-01 -5.60899558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.580714057 meters 0.03785964099992521 Centerline is valid? [True, True] Translation: X:851.07, Y:-136.78, Z:-56.09 [[ 9.95870312e-01 7.06074208e-02 5.70693774e-02 8.51066473e+02] [-7.02370100e-02 9.97494346e-01 -8.47302007e-03 -1.36777904e+02] [-5.75246393e-02 4.42964671e-03 9.98334260e-01 -5.60933358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6407140570001 meters 0.04079280738530831 Centerline is valid? [True, True] Translation: X:851.12, Y:-136.79, Z:-56.10 [[ 9.95778205e-01 7.22616141e-02 5.66041222e-02 8.51123261e+02] [-7.19000616e-02 9.97376463e-01 -8.40078057e-03 -1.36792107e+02] [-5.70626732e-02 4.29547431e-03 9.98361358e-01 -5.60977955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.700714057 meters 0.039294540921224794 Centerline is valid? [True, True] Translation: X:851.18, Y:-136.80, Z:-56.10 [[ 9.95661215e-01 7.38874762e-02 5.65631090e-02 8.51182443e+02] [-7.35292411e-02 9.97257757e-01 -8.39142860e-03 -1.36800088e+02] [-5.70280207e-02 4.19597752e-03 9.98363761e-01 -5.61021030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7607140570001 meters 0.037144068790514476 Centerline is valid? [True, True] Translation: X:851.24, Y:-136.81, Z:-56.11 [[ 9.95554975e-01 7.53714076e-02 5.64751569e-02 8.51240864e+02] [-7.50167614e-02 9.97147090e-01 -8.37659890e-03 -1.36806974e+02] [-5.69453944e-02 4.10278133e-03 9.98368864e-01 -5.61059650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.820714057 meters 0.039132187207954715 Centerline is valid? [True, True] Translation: X:851.30, Y:-136.82, Z:-56.11 [[ 9.95513587e-01 7.61280436e-02 5.61891417e-02 8.51296992e+02] [-7.57784108e-02 9.97089886e-01 -8.33016571e-03 -1.36818897e+02] [-5.66597841e-02 4.03486928e-03 9.98385391e-01 -5.61095652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.880714057 meters 0.03711579594617655 Centerline is valid? [True, True] Translation: X:851.36, Y:-136.83, Z:-56.11 [[ 9.95452248e-01 7.70367884e-02 5.60370878e-02 8.51355542e+02] [-7.66907752e-02 9.97020359e-01 -8.30239216e-03 -1.36825187e+02] [-5.65097070e-02 3.96710723e-03 9.98394168e-01 -5.61136468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.940714057 meters 0.03497825986743108 Centerline is valid? [True, True] Translation: X:851.41, Y:-136.83, Z:-56.12 [[ 9.95348953e-01 7.92495255e-02 5.47720315e-02 8.51414967e+02] [-7.89225538e-02 9.96847757e-01 -8.11053525e-03 -1.36832844e+02] [-5.52421328e-02 3.75006416e-03 9.98465945e-01 -5.61184897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.000714057 meters 0.03548547422346513 Centerline is valid? [True, True] Translation: X:851.47, Y:-136.84, Z:-56.12 [[ 9.95166429e-01 8.19336489e-02 5.41355360e-02 8.51473132e+02] [-8.16182360e-02 9.96631434e-01 -8.01546680e-03 -1.36843274e+02] [-5.46099134e-02 3.55827651e-03 9.98501425e-01 -5.61230161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.060714057 meters 0.03621499101396822 Centerline is valid? [True, True] Translation: X:851.53, Y:-136.85, Z:-56.13 [[ 9.95074786e-01 8.29051945e-02 5.43405923e-02 8.51531094e+02] [-8.25889174e-02 9.96551234e-01 -8.04416477e-03 -1.36853294e+02] [-5.48200873e-02 3.51661485e-03 9.98490056e-01 -5.61266493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.120714057 meters 0.036497875097150564 Centerline is valid? [True, True] Translation: X:851.59, Y:-136.86, Z:-56.13 [[ 9.94925483e-01 8.43501590e-02 5.48482768e-02 8.51589413e+02] [-8.40303529e-02 9.96430150e-01 -8.11515226e-03 -1.36863692e+02] [-5.53369911e-02 3.46505172e-03 9.98461722e-01 -5.61302510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.180714057 meters 0.03512355857165875 Centerline is valid? [True, True] Translation: X:851.65, Y:-136.87, Z:-56.13 [[ 9.94821913e-01 8.53718762e-02 5.51452936e-02 8.51647807e+02] [-8.50503104e-02 9.96343274e-01 -8.15630900e-03 -1.36871016e+02] [-5.56399617e-02 3.42395059e-03 9.98445027e-01 -5.61333042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.240714057 meters 0.03393224103296389 Centerline is valid? [True, True] Translation: X:851.71, Y:-136.88, Z:-56.14 [[ 9.94723224e-01 8.58296056e-02 5.62048610e-02 8.51705785e+02] [-8.54965106e-02 9.96303824e-01 -8.30888297e-03 -1.36880092e+02] [-5.67102661e-02 3.45971936e-03 9.98384683e-01 -5.61373063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.300714057 meters 0.03359303240005311 Centerline is valid? [True, True] Translation: X:851.76, Y:-136.89, Z:-56.14 [[ 9.94740234e-01 8.54988370e-02 5.64075864e-02 8.51763915e+02] [-8.51630411e-02 9.96332168e-01 -8.33466261e-03 -1.36890127e+02] [-5.69132968e-02 3.48698264e-03 9.98373035e-01 -5.61412637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.360714057 meters 0.036110135437019714 Centerline is valid? [True, True] Translation: X:851.82, Y:-136.90, Z:-56.15 [[ 9.94849531e-01 8.46750776e-02 5.57184131e-02 8.51820035e+02] [-8.43463832e-02 9.96402516e-01 -8.22888763e-03 -1.36904315e+02] [-5.62147487e-02 3.48685837e-03 9.98412612e-01 -5.61463840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.420714057 meters 0.03485342846761307 Centerline is valid? [True, True] Translation: X:851.88, Y:-136.91, Z:-56.15 [[ 9.94967429e-01 8.43872124e-02 5.40242009e-02 8.51877883e+02] [-8.40780710e-02 9.96427266e-01 -7.97378376e-03 -1.36912801e+02] [-5.45040722e-02 3.39140452e-03 9.98507789e-01 -5.61513242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.480714057 meters 0.03349219421203846 Centerline is valid? [True, True] Translation: X:851.94, Y:-136.92, Z:-56.16 [[ 9.95006295e-01 8.49819845e-02 5.23501270e-02 8.51936143e+02] [-8.46927380e-02 9.96377185e-01 -7.72305850e-03 -1.36919555e+02] [-5.28167930e-02 3.25081623e-03 9.98598928e-01 -5.61564299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5407140570001 meters 0.03319438247724675 Centerline is valid? [True, True] Translation: X:851.99, Y:-136.93, Z:-56.16 [[ 9.94959318e-01 8.57695438e-02 5.19571161e-02 8.51994166e+02] [-8.54858969e-02 9.96309925e-01 -7.66128172e-03 -1.36927641e+02] [-5.24224950e-02 3.18106296e-03 9.98619929e-01 -5.61603289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.600714057 meters 0.035733396015220686 Centerline is valid? [True, True] Translation: X:852.05, Y:-136.94, Z:-56.16 [[ 9.94931480e-01 8.58979981e-02 5.22770041e-02 8.52050401e+02] [-8.56112147e-02 9.96298829e-01 -7.70477363e-03 -1.36938994e+02] [-5.27453426e-02 3.19022401e-03 9.98602900e-01 -5.61643228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6607140570001 meters 0.03673051827536731 Centerline is valid? [True, True] Translation: X:852.11, Y:-136.95, Z:-56.17 [[ 9.95021263e-01 8.38380498e-02 5.38875452e-02 8.52108995e+02] [-8.35306005e-02 9.96473607e-01 -7.93653412e-03 -1.36948992e+02] [-5.43629001e-02 3.39576120e-03 9.98515470e-01 -5.61676899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.720714057 meters 0.03808496357507584 Centerline is valid? [True, True] Translation: X:852.17, Y:-136.96, Z:-56.17 [[ 9.95131415e-01 8.16171957e-02 5.52458234e-02 8.52167454e+02] [-8.12907387e-02 9.96657235e-01 -8.13456691e-03 -1.36960085e+02] [-5.57250702e-02 3.60398928e-03 9.98439647e-01 -5.61702295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7807140570001 meters 0.0382825704610015 Centerline is valid? [True, True] Translation: X:852.23, Y:-136.97, Z:-56.17 [[ 9.95399336e-01 7.78270799e-02 5.58847703e-02 8.52226910e+02] [-7.74871997e-02 9.96959407e-01 -8.22643350e-03 -1.36969492e+02] [-5.63550868e-02 3.85823209e-03 9.98403335e-01 -5.61724918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.840714057 meters 0.03855483962749615 Centerline is valid? [True, True] Translation: X:852.29, Y:-136.98, Z:-56.18 [[ 9.95655711e-01 7.42203510e-02 5.62231719e-02 8.52286183e+02] [-7.38706447e-02 9.97233493e-01 -8.27577959e-03 -1.36979978e+02] [-5.66818614e-02 4.08658526e-03 9.98383927e-01 -5.61770846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9007140570001 meters 0.039019776069931775 Centerline is valid? [True, True] Translation: X:852.35, Y:-136.99, Z:-56.18 [[ 9.95893317e-01 7.18936817e-02 5.50254502e-02 8.52345052e+02] [-7.15552303e-02 9.97403757e-01 -8.09902712e-03 -1.36990380e+02] [-5.54648597e-02 4.12840822e-03 9.98452105e-01 -5.61831638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.960714057 meters 0.04115700941293042 Centerline is valid? [True, True] Translation: X:852.40, Y:-137.00, Z:-56.19 [[ 9.95978296e-01 7.19666429e-02 5.33669888e-02 8.52401615e+02] [-7.16484243e-02 9.97399021e-01 -7.85473647e-03 -1.37001365e+02] [-5.37934614e-02 3.99948639e-03 9.98544074e-01 -5.61889272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0207140570001 meters 0.03997586390777207 Centerline is valid? [True, True] Translation: X:852.46, Y:-137.01, Z:-56.19 [[ 9.95941207e-01 7.29509213e-02 5.27188415e-02 8.52459615e+02] [-7.26420240e-02 9.97327932e-01 -7.75446646e-03 -1.37007133e+02] [-5.31436687e-02 3.89338933e-03 9.98579287e-01 -5.61937518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.080714057 meters 0.04075526105072153 Centerline is valid? [True, True] Translation: X:852.52, Y:-137.02, Z:-56.20 [[ 9.95699930e-01 7.48652697e-02 5.45604253e-02 8.52518413e+02] [-7.45374875e-02 9.97185955e-01 -8.02091099e-03 -1.37015208e+02] [-5.50073774e-02 3.91962350e-03 9.98478255e-01 -5.61966396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1407140570001 meters 0.04180210066406166 Centerline is valid? [True, True] Translation: X:852.58, Y:-137.02, Z:-56.20 [[ 9.95539933e-01 7.58249452e-02 5.61321538e-02 8.52576261e+02] [-7.54795977e-02 9.97113216e-01 -8.25019553e-03 -1.37023944e+02] [-5.65956830e-02 3.97656672e-03 9.98389261e-01 -5.61998565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.200714057 meters 0.04228769839266445 Centerline is valid? [True, True] Translation: X:852.63, Y:-137.03, Z:-56.20 [[ 9.95390027e-01 7.68132830e-02 5.74318113e-02 8.52634542e+02] [-7.64536106e-02 9.97037442e-01 -8.43709452e-03 -1.37032029e+02] [-5.79097471e-02 4.00733041e-03 9.98313780e-01 -5.62034811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2607140570001 meters 0.03554423859838284 Centerline is valid? [True, True] Translation: X:852.69, Y:-137.03, Z:-56.21 [[ 9.95450924e-01 7.62157113e-02 5.71718745e-02 8.52693676e+02] [-7.58585374e-02 9.97083249e-01 -8.39500145e-03 -1.37031247e+02] [-5.76449494e-02 4.01983717e-03 9.98329054e-01 -5.62073982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.320714057 meters 0.03661549936124912 Centerline is valid? [True, True] Translation: X:852.75, Y:-137.04, Z:-56.21 [[ 9.95592644e-01 7.53569885e-02 5.58266196e-02 8.52751074e+02] [-7.50153333e-02 9.97148719e-01 -8.19341240e-03 -1.37042492e+02] [-5.62848731e-02 3.96944863e-03 9.98406859e-01 -5.62128988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.380714057 meters 0.03851258151168117 Centerline is valid? [True, True] Translation: X:852.81, Y:-137.05, Z:-56.22 [[ 9.95759945e-01 7.48196446e-02 5.35177854e-02 8.52807247e+02] [-7.45051112e-02 9.97189725e-01 -7.85113679e-03 -1.37054146e+02] [-5.39548050e-02 3.83049898e-03 9.98536032e-01 -5.62186426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.440714057 meters 0.03721963784716876 Centerline is valid? [True, True] Translation: X:852.87, Y:-137.06, Z:-56.22 [[ 9.95771913e-01 7.48257108e-02 5.32861195e-02 8.52865707e+02] [-7.45142218e-02 9.97189357e-01 -7.81128953e-03 -1.37060892e+02] [-5.37208366e-02 3.80768898e-03 9.98548734e-01 -5.62227406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.500714057 meters 0.03835271832030476 Centerline is valid? [True, True] Translation: X:852.92, Y:-137.07, Z:-56.23 [[ 9.95617607e-01 7.62254173e-02 5.41781013e-02 8.52922822e+02] [-7.59056730e-02 9.97083404e-01 -7.93815261e-03 -1.37070132e+02] [-5.46251747e-02 3.79093926e-03 9.98499734e-01 -5.62254469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.560714057 meters 0.03961714418246171 Centerline is valid? [True, True] Translation: X:852.98, Y:-137.08, Z:-56.23 [[ 9.95419376e-01 7.72759849e-02 5.62911094e-02 8.52980746e+02] [-7.69327589e-02 9.97002214e-01 -8.24231884e-03 -1.37079347e+02] [-5.67592940e-02 3.87393353e-03 9.98380376e-01 -5.62287606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.620714057 meters 0.03603500010316528 Centerline is valid? [True, True] Translation: X:853.04, Y:-137.08, Z:-56.23 [[ 9.95319565e-01 7.80360777e-02 5.70029359e-02 8.53039832e+02] [-7.76855790e-02 9.96943004e-01 -8.34246656e-03 -1.37081235e+02] [-5.74796915e-02 3.87511411e-03 9.98339155e-01 -5.62317036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.680714057 meters 0.037694904603877824 Centerline is valid? [True, True] Translation: X:853.10, Y:-137.09, Z:-56.24 [[ 9.95351996e-01 7.78605613e-02 5.66757119e-02 8.53097004e+02] [-7.75140243e-02 9.96956790e-01 -8.29061379e-03 -1.37091735e+02] [-5.71487477e-02 3.85891648e-03 9.98358217e-01 -5.62363117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.740714057 meters 0.03618441996496238 Centerline is valid? [True, True] Translation: X:853.16, Y:-137.10, Z:-56.24 [[ 9.95398201e-01 7.71043129e-02 5.68976787e-02 8.53155696e+02] [-7.67541592e-02 9.97015357e-01 -8.31724847e-03 -1.37098018e+02] [-5.73691552e-02 3.91184068e-03 9.98345370e-01 -5.62401560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.800714057 meters 0.04145859314575818 Centerline is valid? [True, True] Translation: X:853.21, Y:-137.11, Z:-56.25 [[ 9.95645282e-01 7.44196382e-02 5.61443735e-02 8.53212858e+02] [-7.40747190e-02 9.97218960e-01 -8.20259784e-03 -1.37114456e+02] [-5.65986681e-02 4.00799915e-03 9.98388966e-01 -5.62462992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.860714057 meters 0.04031738725013135 Centerline is valid? [True, True] Translation: X:853.27, Y:-137.12, Z:-56.25 [[ 9.95786671e-01 7.25269810e-02 5.61136588e-02 8.53272109e+02] [-7.21794834e-02 9.97357971e-01 -8.19755927e-03 -1.37121992e+02] [-5.65599492e-02 4.11276535e-03 9.98390734e-01 -5.62497336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.920714057 meters 0.0394938143508648 Centerline is valid? [True, True] Translation: X:853.33, Y:-137.13, Z:-56.25 [[ 9.95989372e-01 6.94680123e-02 5.63858722e-02 8.53331494e+02] [-6.91123818e-02 9.97574890e-01 -8.23516405e-03 -1.37130133e+02] [-5.68212107e-02 4.30517394e-03 9.98375088e-01 -5.62529634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.980714057 meters 0.03951646778989358 Centerline is valid? [True, True] Translation: X:853.39, Y:-137.14, Z:-56.26 [[ 9.96035875e-01 6.78717291e-02 5.74975160e-02 8.53389775e+02] [-6.74993247e-02 9.97683987e-01 -8.39668209e-03 -1.37140080e+02] [-5.79342483e-02 4.48235309e-03 9.98310338e-01 -5.62554723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0407140570001 meters 0.04158599597564926 Centerline is valid? [True, True] Translation: X:853.45, Y:-137.15, Z:-56.26 [[ 9.96033356e-01 6.76101707e-02 5.78482327e-02 8.53447338e+02] [-6.72329541e-02 9.97701567e-01 -8.44465599e-03 -1.37151929e+02] [-5.82862171e-02 4.52185147e-03 9.98289672e-01 -5.62591061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.100714057 meters 0.04177685068216609 Centerline is valid? [True, True] Translation: X:853.51, Y:-137.16, Z:-56.26 [[ 9.96093586e-01 6.78375088e-02 5.65299997e-02 8.53506299e+02] [-6.74778620e-02 9.97686671e-01 -8.24894544e-03 -1.37162914e+02] [-5.69588151e-02 4.40219812e-03 9.98366823e-01 -5.62645611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1607140570001 meters 0.04431645926120171 Centerline is valid? [True, True] Translation: X:853.56, Y:-137.18, Z:-56.27 [[ 9.96163346e-01 6.74373157e-02 5.57745179e-02 8.53563703e+02] [-6.70866466e-02 9.97713964e-01 -8.13800427e-03 -1.37175399e+02] [-5.61958205e-02 4.36505619e-03 9.98410224e-01 -5.62694516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.220714057 meters 0.03979904203881693 Centerline is valid? [True, True] Translation: X:853.62, Y:-137.18, Z:-56.27 [[ 9.96264306e-01 6.68261193e-02 5.46964593e-02 8.53623508e+02] [-6.64881438e-02 9.97755322e-01 -7.97769759e-03 -1.37179546e+02] [-5.51068019e-02 4.31122930e-03 9.98471158e-01 -5.62738140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2807140570001 meters 0.03884081767855588 Centerline is valid? [True, True] Translation: X:853.68, Y:-137.19, Z:-56.28 [[ 9.96295111e-01 6.62085076e-02 5.48861151e-02 8.53682505e+02] [-6.58673631e-02 9.97796290e-01 -8.00332580e-03 -1.37188164e+02] [-5.52950503e-02 4.35847069e-03 9.98460546e-01 -5.62773749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.340714057 meters 0.04269765989051881 Centerline is valid? [True, True] Translation: X:853.74, Y:-137.20, Z:-56.28 [[ 9.96322893e-01 6.50311703e-02 5.57820750e-02 8.53739693e+02] [-6.46770615e-02 9.97873112e-01 -8.13199040e-03 -1.37203204e+02] [-5.61922656e-02 4.49426751e-03 9.98409851e-01 -5.62803712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4007140570001 meters 0.041118783150226615 Centerline is valid? [True, True] Translation: X:853.80, Y:-137.21, Z:-56.28 [[ 9.96259010e-01 6.44063969e-02 5.76177240e-02 8.53798570e+02] [-6.40277263e-02 9.97912799e-01 -8.39617633e-03 -1.37211377e+02] [-5.80382317e-02 4.67563444e-03 9.98303412e-01 -5.62826839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.460714057 meters 0.040894459742394695 Centerline is valid? [True, True] Translation: X:853.86, Y:-137.22, Z:-56.29 [[ 9.96228307e-01 6.40481095e-02 5.85405893e-02 8.53858042e+02] [-6.36567214e-02 9.97935414e-01 -8.52825341e-03 -1.37221717e+02] [-5.89659458e-02 4.76958547e-03 9.98248601e-01 -5.62858985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5207140570001 meters 0.04268224518934584 Centerline is valid? [True, True] Translation: X:853.92, Y:-137.23, Z:-56.29 [[ 9.96347400e-01 6.31645540e-02 5.74638798e-02 8.53917497e+02] [-6.27859995e-02 9.97991904e-01 -8.37127788e-03 -1.37234306e+02] [-5.78772548e-02 4.73277382e-03 9.98312488e-01 -5.62911392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.580714057 meters 0.044574719593255326 Centerline is valid? [True, True] Translation: X:853.98, Y:-137.25, Z:-56.30 [[ 9.96519678e-01 6.16639157e-02 5.60900443e-02 8.53977050e+02] [-6.13008548e-02 9.98085879e-01 -8.17213581e-03 -1.37246983e+02] [-5.64866070e-02 4.70532649e-03 9.98392269e-01 -5.62966592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6407140570001 meters 0.04388688617987136 Centerline is valid? [True, True] Translation: X:854.04, Y:-137.26, Z:-56.30 [[ 9.96735025e-01 5.99480941e-02 5.40880455e-02 8.54037254e+02] [-5.96079727e-02 9.98190751e-01 -7.88120377e-03 -1.37256510e+02] [-5.44626499e-02 4.63139310e-03 9.98505068e-01 -5.63026219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.700714057 meters 0.04767520138765822 Centerline is valid? [True, True] Translation: X:854.10, Y:-137.27, Z:-56.31 [[ 9.96686947e-01 6.07247969e-02 5.41075719e-02 8.54095797e+02] [-6.03854469e-02 9.98143980e-01 -7.88621283e-03 -1.37269795e+02] [-5.44860358e-02 4.59277548e-03 9.98503970e-01 -5.63066192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7607140570001 meters 0.0455303498246169 Centerline is valid? [True, True] Translation: X:854.16, Y:-137.28, Z:-56.31 [[ 9.96316961e-01 6.43928078e-02 5.66222479e-02 8.54156150e+02] [-6.40269438e-02 9.97914036e-01 -8.25393943e-03 -1.37275022e+02] [-5.70356303e-02 4.59819036e-03 9.98361555e-01 -5.63087774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.820714057 meters 0.045706791831967485 Centerline is valid? [True, True] Translation: X:854.21, Y:-137.28, Z:-56.31 [[ 9.95898085e-01 6.88420122e-02 5.87178113e-02 8.54214753e+02] [-6.84561970e-02 9.97617404e-01 -8.55948040e-03 -1.37283039e+02] [-5.91671623e-02 4.50477208e-03 9.98237925e-01 -5.63104237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.880714057 meters 0.03970305943940964 Centerline is valid? [True, True] Translation: X:854.28, Y:-137.28, Z:-56.31 [[ 9.95671323e-01 7.19750166e-02 5.88065751e-02 8.54275032e+02] [-7.15935249e-02 9.97397062e-01 -8.57132845e-03 -1.37283725e+02] [-5.92704267e-02 4.32405594e-03 9.98232598e-01 -5.63147405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.940714057 meters 0.037354387831622184 Centerline is valid? [True, True] Translation: X:854.33, Y:-137.29, Z:-56.32 [[ 9.95635287e-01 7.38208097e-02 5.71039754e-02 8.54334859e+02] [-7.34642173e-02 9.97263133e-01 -8.32174892e-03 -1.37289843e+02] [-5.75620077e-02 4.09032802e-03 9.98333554e-01 -5.63203772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.000714057 meters 0.0382256654552491 Centerline is valid? [True, True] Translation: X:854.39, Y:-137.30, Z:-56.33 [[ 9.95611297e-01 7.49694976e-02 5.60153608e-02 8.54393630e+02] [-7.46282456e-02 9.97178020e-01 -8.16223935e-03 -1.37300242e+02] [-5.64692055e-02 3.94608960e-03 9.98396543e-01 -5.63251075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.060714057 meters 0.035630640032567086 Centerline is valid? [True, True] Translation: X:854.45, Y:-137.31, Z:-56.33 [[ 9.95359456e-01 7.83587990e-02 5.58520478e-02 8.54453608e+02] [-7.80249654e-02 9.96918204e-01 -8.13624558e-03 -1.37305709e+02] [-5.63174697e-02 3.74063488e-03 9.98405905e-01 -5.63290324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.120714057 meters 0.034400718999984765 Centerline is valid? [True, True] Translation: X:854.51, Y:-137.31, Z:-56.33 [[ 9.95267430e-01 7.95707011e-02 5.57785573e-02 8.54512230e+02] [-7.92396574e-02 9.96822480e-01 -8.12522730e-03 -1.37311735e+02] [-5.62478499e-02 3.66690031e-03 9.98410103e-01 -5.63326270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.180714057 meters 0.034801172940604884 Centerline is valid? [True, True] Translation: X:854.57, Y:-137.32, Z:-56.34 [[ 9.95203701e-01 8.06409014e-02 5.53772334e-02 8.54569754e+02] [-8.03164863e-02 9.96736803e-01 -8.06269741e-03 -1.37321203e+02] [-5.58467098e-02 3.57632150e-03 9.98432950e-01 -5.63366909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.240714057 meters 0.035324049857876454 Centerline is valid? [True, True] Translation: X:854.63, Y:-137.33, Z:-56.34 [[ 9.95294179e-01 7.90893668e-02 5.59854436e-02 8.54628657e+02] [-7.87555856e-02 9.96860666e-01 -8.14681235e-03 -1.37330679e+02] [-5.64540129e-02 3.69930851e-03 9.98398347e-01 -5.63390042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.300714057 meters 0.03632326810890757 Centerline is valid? [True, True] Translation: X:854.69, Y:-137.34, Z:-56.34 [[ 9.95329652e-01 7.76245087e-02 5.73874441e-02 8.54686819e+02] [-7.72714673e-02 9.96975133e-01 -8.34890234e-03 -1.37340520e+02] [-5.78619342e-02 3.87549806e-03 9.98317072e-01 -5.63415548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.360714057 meters 0.03816366833543422 Centerline is valid? [True, True] Translation: X:854.75, Y:-137.35, Z:-56.34 [[ 9.95399114e-01 7.56549173e-02 5.87957290e-02 8.54745143e+02] [-7.52811626e-02 9.97125698e-01 -8.54925493e-03 -1.37353064e+02] [-5.92735254e-02 4.08370995e-03 9.98233426e-01 -5.63448238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.420714057 meters 0.04025384392702132 Centerline is valid? [True, True] Translation: X:854.80, Y:-137.36, Z:-56.35 [[ 9.95535823e-01 7.48184731e-02 5.75379999e-02 8.54802643e+02] [-7.44592812e-02 9.97188975e-01 -8.36446624e-03 -1.37364465e+02] [-5.80020758e-02 4.04288766e-03 9.98308276e-01 -5.63501283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.480714057 meters 0.037579287360693034 Centerline is valid? [True, True] Translation: X:854.86, Y:-137.37, Z:-56.36 [[ 9.95911275e-01 7.15390088e-02 5.51625072e-02 8.54862921e+02] [-7.12040742e-02 9.97429558e-01 -8.01598119e-03 -1.37369223e+02] [-5.55941705e-02 4.05541079e-03 9.98445212e-01 -5.63561796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5407140570001 meters 0.04097102537879907 Centerline is valid? [True, True] Translation: X:854.92, Y:-137.38, Z:-56.36 [[ 9.96379449e-01 6.70224530e-02 5.23066406e-02 8.54920949e+02] [-6.67151823e-02 9.97743112e-01 -7.60045537e-03 -1.37381879e+02] [-5.26979916e-02 4.08329047e-03 9.98602147e-01 -5.63625607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.600714057 meters 0.04342698296159744 Centerline is valid? [True, True] Translation: X:854.98, Y:-137.39, Z:-56.37 [[ 9.96522309e-01 6.53759377e-02 5.16650295e-02 8.54979254e+02] [-6.50740035e-02 9.97852206e-01 -7.50657685e-03 -1.37392863e+02] [-5.20448132e-02 4.11842098e-03 9.98636258e-01 -5.63670383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6607140570001 meters 0.047775547024371715 Centerline is valid? [True, True] Translation: X:855.04, Y:-137.40, Z:-56.37 [[ 9.97013440e-01 5.85468442e-02 5.03633561e-02 8.55037654e+02] [-5.82514204e-02 9.98275144e-01 -7.31504656e-03 -1.37404730e+02] [-5.07047594e-02 4.35946270e-03 9.98704172e-01 -5.63715874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.720714057 meters 0.04757856930255916 Centerline is valid? [True, True] Translation: X:855.10, Y:-137.41, Z:-56.38 [[ 9.97188327e-01 5.53849466e-02 5.04772109e-02 8.55098114e+02] [-5.50841315e-02 9.98454794e-01 -7.33227033e-03 -1.37412632e+02] [-5.08053106e-02 4.53116106e-03 9.98698297e-01 -5.63750109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7807140570001 meters 0.049289046854803564 Centerline is valid? [True, True] Translation: X:855.16, Y:-137.42, Z:-56.38 [[ 9.97428314e-01 5.10810678e-02 5.02740712e-02 8.55158746e+02] [-5.07772551e-02 9.98683303e-01 -7.30272273e-03 -1.37421678e+02] [-5.05809064e-02 4.73116309e-03 9.98708760e-01 -5.63783070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.840714057 meters 0.05185343406430262 Centerline is valid? [True, True] Translation: X:855.22, Y:-137.43, Z:-56.38 [[ 9.97535461e-01 4.84807060e-02 5.07210494e-02 8.55218948e+02] [-4.81680356e-02 9.98812060e-01 -7.36953003e-03 -1.37431035e+02] [-5.10180759e-02 4.90823423e-03 9.98685669e-01 -5.63805014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9007140570001 meters 0.05175406381646902 Centerline is valid? [True, True] Translation: X:855.28, Y:-137.44, Z:-56.38 [[ 9.97589513e-01 4.75023759e-02 5.05834765e-02 8.55280004e+02] [-4.71903030e-02 9.98858900e-01 -7.34665996e-03 -1.37438782e+02] [-5.08747395e-02 4.94190135e-03 9.98692815e-01 -5.63846777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.960714057 meters 0.052118092463775544 Centerline is valid? [True, True] Translation: X:855.34, Y:-137.45, Z:-56.39 [[ 9.97627508e-01 4.82269022e-02 4.91275999e-02 8.55341935e+02] [-4.79328860e-02 9.98824996e-01 -7.14607859e-03 -1.37446085e+02] [-4.94145080e-02 4.77429693e-03 9.98766946e-01 -5.63896649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0207140570001 meters 0.048973286239422195 Centerline is valid? [True, True] Translation: X:855.40, Y:-137.45, Z:-56.39 [[ 9.97635909e-01 4.94880066e-02 4.76815485e-02 8.55404061e+02] [-4.92117799e-02 9.98764182e-01 -6.95048106e-03 -1.37447704e+02] [-4.79665883e-02 4.58755562e-03 9.98838406e-01 -5.63944619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.080714057 meters 0.05399786551578023 Centerline is valid? [True, True] Translation: X:855.46, Y:-137.46, Z:-56.40 [[ 9.97570944e-01 5.10122200e-02 4.74337890e-02 8.55462799e+02] [-5.07404129e-02 9.98687918e-01 -6.91756192e-03 -1.37461211e+02] [-4.77244322e-02 4.49394873e-03 9.98850431e-01 -5.64001309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1407140570001 meters 0.049945007859190774 Centerline is valid? [True, True] Translation: X:855.52, Y:-137.46, Z:-56.40 [[ 9.97387667e-01 5.41557866e-02 4.78015919e-02 8.55524482e+02] [-5.38832677e-02 9.98522899e-01 -6.97228558e-03 -1.37460708e+02] [-4.81085737e-02 4.37836567e-03 9.98832516e-01 -5.64023197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.200714057 meters 0.04426591290877048 Centerline is valid? [True, True] Translation: X:855.59, Y:-137.46, Z:-56.40 [[ 9.97084911e-01 5.83203834e-02 4.91976960e-02 8.55586290e+02] [-5.80366949e-02 9.98288656e-01 -7.17644303e-03 -1.37456057e+02] [-4.95320347e-02 4.30025139e-03 9.98763278e-01 -5.64035816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2607140570001 meters 0.04440086777521376 Centerline is valid? [True, True] Translation: X:855.65, Y:-137.46, Z:-56.41 [[ 9.96846157e-01 6.20173536e-02 4.95135040e-02 8.55646756e+02] [-6.17345643e-02 9.98066475e-01 -7.22183537e-03 -1.37459523e+02] [-4.98656476e-02 4.14236424e-03 9.98747344e-01 -5.64069898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.320714057 meters 0.04298207784784192 Centerline is valid? [True, True] Translation: X:855.71, Y:-137.46, Z:-56.41 [[ 9.96814858e-01 6.24817470e-02 4.95597632e-02 8.55706017e+02] [-6.21989548e-02 9.98037587e-01 -7.22944749e-03 -1.37460752e+02] [-4.99142150e-02 4.12385520e-03 9.98744995e-01 -5.64096084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.380714057 meters 0.04393268271213143 Centerline is valid? [True, True] Translation: X:855.76, Y:-137.47, Z:-56.41 [[ 9.96911973e-01 6.14379654e-02 4.89070048e-02 8.55764634e+02] [-6.11615229e-02 9.98102412e-01 -7.13041070e-03 -1.37468187e+02] [-4.92522774e-02 4.11716490e-03 9.98777884e-01 -5.64143130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.440714057 meters 0.04890559984766158 Centerline is valid? [True, True] Translation: X:855.82, Y:-137.48, Z:-56.42 [[ 9.97077398e-01 5.99421074e-02 4.73667183e-02 8.55821534e+02] [-5.96812440e-02 9.98193612e-01 -6.90377673e-03 -1.37480142e+02] [-4.76949826e-02 4.05669506e-03 9.98853709e-01 -5.64211080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.500714057 meters 0.048766618009996085 Centerline is valid? [True, True] Translation: X:855.88, Y:-137.49, Z:-56.42 [[ 9.97033054e-01 6.05594624e-02 4.75146441e-02 8.55879799e+02] [-6.02978256e-02 9.98156430e-01 -6.92189989e-03 -1.37487211e+02] [-4.78462340e-02 4.03633327e-03 9.98846558e-01 -5.64248251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.560714057 meters 0.04936722763103396 Centerline is valid? [True, True] Translation: X:855.94, Y:-137.50, Z:-56.43 [[ 9.96853620e-01 6.25333233e-02 4.87077483e-02 8.55939526e+02] [-6.22609182e-02 9.98034714e-01 -7.09139280e-03 -1.37495148e+02] [-4.90554720e-02 4.03649145e-03 9.98787899e-01 -5.64280420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.620714057 meters 0.0399840269226944 Centerline is valid? [True, True] Translation: X:856.00, Y:-137.49, Z:-56.43 [[ 9.96680992e-01 6.44091556e-02 4.97841540e-02 8.56001220e+02] [-6.41269303e-02 9.97915434e-01 -7.24724680e-03 -1.37488967e+02] [-5.01471647e-02 4.03068815e-03 9.98733706e-01 -5.64290756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.680714057 meters 0.04193180652103539 Centerline is valid? [True, True] Translation: X:856.06, Y:-137.50, Z:-56.43 [[ 9.96554907e-01 6.62390558e-02 4.99069701e-02 8.56059472e+02] [-6.59577471e-02 9.97795973e-01 -7.26444772e-03 -1.37500195e+02] [-5.02781640e-02 3.94766971e-03 9.98727451e-01 -5.64341601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.740714057 meters 0.04151471506573041 Centerline is valid? [True, True] Translation: X:856.12, Y:-137.51, Z:-56.44 [[ 9.96634162e-01 6.50765686e-02 4.98536638e-02 8.56118404e+02] [-6.47945083e-02 9.97872256e-01 -7.25486998e-03 -1.37509625e+02] [-5.02197100e-02 4.00020763e-03 9.98730183e-01 -5.64382535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.800714057 meters 0.041031660464175425 Centerline is valid? [True, True] Translation: X:856.18, Y:-137.52, Z:-56.44 [[ 9.96749511e-01 6.30327074e-02 5.01726056e-02 8.56176871e+02] [-6.27445335e-02 9.98002925e-01 -7.29966682e-03 -1.37519490e+02] [-5.05325249e-02 4.12788260e-03 9.98713885e-01 -5.64415657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.860714057 meters 0.047676667734989776 Centerline is valid? [True, True] Translation: X:856.23, Y:-137.54, Z:-56.44 [[ 9.96955838e-01 5.83082207e-02 5.17610668e-02 8.56233383e+02] [-5.79953557e-02 9.98288475e-01 -7.52720906e-03 -1.37543324e+02] [-5.21113746e-02 4.50239353e-03 9.98631130e-01 -5.64449586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.920714057 meters 0.04636399946218119 Centerline is valid? [True, True] Translation: X:856.29, Y:-137.55, Z:-56.45 [[ 9.97032021e-01 5.67092616e-02 5.20692664e-02 8.56292191e+02] [-5.63905103e-02 9.98380078e-01 -7.57169444e-03 -1.37554306e+02] [-5.24143034e-02 4.61300931e-03 9.98614771e-01 -5.64485511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.980714057 meters 0.047052144452160403 Centerline is valid? [True, True] Translation: X:856.35, Y:-137.57, Z:-56.45 [[ 9.97092366e-01 5.51148114e-02 5.26229211e-02 8.56350477e+02] [-5.47870873e-02 9.98468745e-01 -7.65123021e-03 -1.37569439e+02] [-5.29640381e-02 4.74592666e-03 9.98585143e-01 -5.64522094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0407140570001 meters 0.04818832926608169 Centerline is valid? [True, True] Translation: X:856.41, Y:-137.59, Z:-56.46 [[ 9.97152607e-01 5.40721792e-02 5.25630924e-02 8.56410136e+02] [-5.37438485e-02 9.98525520e-01 -7.64095603e-03 -1.37585278e+02] [-5.28987523e-02 4.79425635e-03 9.98588372e-01 -5.64569412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.100714057 meters 0.04712699816790123 Centerline is valid? [True, True] Translation: X:856.47, Y:-137.60, Z:-56.46 [[ 9.97243700e-01 5.30066706e-02 5.19162424e-02 8.56470236e+02] [-5.26848539e-02 9.98582657e-01 -7.54876100e-03 -1.37596942e+02] [-5.22427939e-02 4.79275470e-03 9.98622912e-01 -5.64616676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1607140570001 meters 0.04978786964670734 Centerline is valid? [True, True] Translation: X:856.53, Y:-137.62, Z:-56.47 [[ 9.97273011e-01 5.24206593e-02 5.19481988e-02 8.56529120e+02] [-5.20976847e-02 9.98613431e-01 -7.55290001e-03 -1.37617650e+02] [-5.22720971e-02 4.82592245e-03 9.98621219e-01 -5.64663611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.220714057 meters 0.049382770644980735 Centerline is valid? [True, True] Translation: X:856.59, Y:-137.63, Z:-56.47 [[ 9.97187653e-01 5.33613196e-02 5.26246542e-02 8.56589758e+02] [-5.30303814e-02 9.98563473e-01 -7.66604736e-03 -1.37630256e+02] [-5.29581279e-02 4.85378230e-03 9.98584938e-01 -5.64701466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2807140570001 meters 0.0494308414671712 Centerline is valid? [True, True] Translation: X:856.65, Y:-137.65, Z:-56.47 [[ 9.96991496e-01 5.50149665e-02 5.46013704e-02 8.56648845e+02] [-5.46609340e-02 9.98473265e-01 -7.95743440e-03 -1.37646789e+02] [-5.49557866e-02 4.94893252e-03 9.98476524e-01 -5.64741293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.340714057 meters 0.05310478262056177 Centerline is valid? [True, True] Translation: X:856.71, Y:-137.67, Z:-56.48 [[ 9.96940850e-01 5.60615671e-02 5.44613804e-02 8.56707628e+02] [-5.57109556e-02 9.98415399e-01 -7.93598113e-03 -1.37667550e+02] [-5.48199844e-02 4.87760823e-03 9.98484341e-01 -5.64793946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4007140570001 meters 0.04836261888031281 Centerline is valid? [True, True] Translation: X:856.77, Y:-137.68, Z:-56.49 [[ 9.97078204e-01 5.51873240e-02 5.28148991e-02 8.56768384e+02] [-5.48557811e-02 9.98464538e-01 -7.70771525e-03 -1.37677603e+02] [-5.31591720e-02 4.78799233e-03 9.98574573e-01 -5.64850981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.460714057 meters 0.04757820274162351 Centerline is valid? [True, True] Translation: X:856.83, Y:-137.69, Z:-56.49 [[ 9.97203200e-01 5.36148341e-02 5.20694494e-02 8.56827400e+02] [-5.32897035e-02 9.98550070e-01 -7.61355165e-03 -1.37693116e+02] [-5.24021517e-02 4.81749255e-03 9.98614443e-01 -5.64896135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5207140570001 meters 0.043960703506250504 Centerline is valid? [True, True] Translation: X:856.89, Y:-137.70, Z:-56.49 [[ 9.97211628e-01 5.33269371e-02 5.22035099e-02 8.56888991e+02] [-5.29998394e-02 9.98565362e-01 -7.63121271e-03 -1.37699462e+02] [-5.25355659e-02 4.84315642e-03 9.98607309e-01 -5.64931299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.580714057 meters 0.04576201248501319 Centerline is valid? [True, True] Translation: X:856.95, Y:-137.72, Z:-56.50 [[ 9.97223656e-01 5.25098011e-02 5.27986867e-02 8.56948500e+02] [-5.21732281e-02 9.98608102e-01 -7.73382239e-03 -1.37717327e+02] [-5.31312978e-02 4.95767272e-03 9.98575228e-01 -5.64972186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6407140570001 meters 0.04884945538025816 Centerline is valid? [True, True] Translation: X:857.01, Y:-137.74, Z:-56.50 [[ 9.97087952e-01 5.34980992e-02 5.43467609e-02 8.57006646e+02] [-5.31424514e-02 9.98555142e-01 -7.96926946e-03 -1.37735521e+02] [-5.46945783e-02 5.05794246e-03 9.98490321e-01 -5.65011438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.700714057 meters 0.046414832828420724 Centerline is valid? [True, True] Translation: X:857.07, Y:-137.74, Z:-56.50 [[ 9.96842566e-01 5.63256566e-02 5.59671205e-02 8.57066370e+02] [-5.59528037e-02 9.98399675e-01 -8.20804829e-03 -1.37744782e+02] [-5.63398786e-02 5.05061462e-03 9.98398873e-01 -5.65036172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7607140570001 meters 0.04666452034029122 Centerline is valid? [True, True] Translation: X:857.12, Y:-137.76, Z:-56.51 [[ 9.96549021e-01 6.18531136e-02 5.53555839e-02 8.57124608e+02] [-6.14967952e-02 9.98074259e-01 -8.11895430e-03 -1.37756414e+02] [-5.57511660e-02 4.68674495e-03 9.98433694e-01 -5.65081754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.820714057 meters 0.04251625842579176 Centerline is valid? [True, True] Translation: X:857.19, Y:-137.76, Z:-56.51 [[ 9.96217554e-01 6.82133395e-02 5.38286625e-02 8.57185156e+02] [-6.78857193e-02 9.97661877e-01 -7.89362206e-03 -1.37761520e+02] [-5.42412548e-02 4.20956739e-03 9.98518986e-01 -5.65129915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.880714057 meters 0.03653665055629348 Centerline is valid? [True, True] Translation: X:857.25, Y:-137.76, Z:-56.52 [[ 9.95870975e-01 7.29868348e-02 5.39807761e-02 8.57246284e+02] [-7.26642861e-02 9.97325037e-01 -7.91660155e-03 -1.37761108e+02] [-5.44141872e-02 3.96143914e-03 9.98510593e-01 -5.65151356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.940714057 meters 0.03482818688799734 Centerline is valid? [True, True] Translation: X:857.31, Y:-137.77, Z:-56.52 [[ 9.95129431e-01 8.16801596e-02 5.51884788e-02 8.57306056e+02] [-8.13562390e-02 9.96652217e-01 -8.09452238e-03 -1.37766566e+02] [-5.56648816e-02 3.56517037e-03 9.98443143e-01 -5.65180019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.000714057 meters 0.033047371026261166 Centerline is valid? [True, True] Translation: X:857.37, Y:-137.77, Z:-56.52 [[ 9.94408136e-01 8.96937906e-02 5.57447969e-02 8.57365795e+02] [-8.93758318e-02 9.95964414e-01 -8.17599634e-03 -1.37771252e+02] [-5.62531700e-02 3.14803970e-03 9.98411574e-01 -5.65214648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.060714057 meters 0.03088121219562958 Centerline is valid? [True, True] Translation: X:857.43, Y:-137.77, Z:-56.52 [[ 9.93870144e-01 9.53823229e-02 5.58958765e-02 8.57426978e+02] [-9.50716715e-02 9.95436683e-01 -8.19679929e-03 -1.37773924e+02] [-5.64226356e-02 2.83243969e-03 9.98402957e-01 -5.65244257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.120714057 meters 0.029316490295115284 Centerline is valid? [True, True] Translation: X:857.49, Y:-137.78, Z:-56.53 [[ 9.93652458e-01 9.72938717e-02 5.64685325e-02 8.57485499e+02] [-9.69798041e-02 9.95251888e-01 -8.28229045e-03 -1.37778989e+02] [-5.70062297e-02 2.75341105e-03 9.98370026e-01 -5.65264641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.180714057 meters 0.03233505264924516 Centerline is valid? [True, True] Translation: X:857.54, Y:-137.79, Z:-56.53 [[ 9.93581111e-01 9.77167561e-02 5.69913344e-02 8.57541476e+02] [-9.73977675e-02 9.95210466e-01 -8.35489072e-03 -1.37792186e+02] [-5.75347853e-02 2.75043286e-03 9.98339714e-01 -5.65307415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.240714057 meters 0.0305804860854756 Centerline is valid? [True, True] Translation: X:857.60, Y:-137.80, Z:-56.53 [[ 9.93704243e-01 9.70532624e-02 5.59691074e-02 8.57600432e+02] [-9.67448649e-02 9.95275435e-01 -8.19997237e-03 -1.37797412e+02] [-5.65005117e-02 2.73362361e-03 9.98398828e-01 -5.65348149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.300714057 meters 0.030640744499344466 Centerline is valid? [True, True] Translation: X:857.66, Y:-137.81, Z:-56.54 [[ 9.93909332e-01 9.52520453e-02 5.54192063e-02 8.57658799e+02] [-9.49471202e-02 9.95449238e-01 -8.11536603e-03 -1.37805726e+02] [-5.59400119e-02 2.80404399e-03 9.98430194e-01 -5.65381682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.360714057 meters 0.03215438102737766 Centerline is valid? [True, True] Translation: X:857.72, Y:-137.82, Z:-56.54 [[ 9.94114413e-01 9.35412568e-02 5.46494945e-02 8.57716370e+02] [-9.32423280e-02 9.95611305e-01 -7.99990142e-03 -1.37816463e+02] [-5.51579754e-02 2.85717121e-03 9.98473552e-01 -5.65420621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.420714057 meters 0.03380622258533326 Centerline is valid? [True, True] Translation: X:857.77, Y:-137.83, Z:-56.54 [[ 9.94177133e-01 9.21798218e-02 5.58095702e-02 8.57773562e+02] [-9.18661313e-02 9.95737883e-01 -8.16586679e-03 -1.37826921e+02] [-5.63244314e-02 2.99130873e-03 9.98408038e-01 -5.65442685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.480714057 meters 0.031860544460839475 Centerline is valid? [True, True] Translation: X:857.83, Y:-137.83, Z:-56.55 [[ 9.94281144e-01 9.04616795e-02 5.67599374e-02 8.57831597e+02] [-9.01346993e-02 9.95894998e-01 -8.29990672e-03 -1.37833274e+02] [-5.72777612e-02 3.13640087e-03 9.98353355e-01 -5.65467035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5407140570001 meters 0.03356024105350823 Centerline is valid? [True, True] Translation: X:857.89, Y:-137.84, Z:-56.55 [[ 9.94557319e-01 8.78148370e-02 5.60740054e-02 8.57890133e+02] [-8.74918387e-02 9.96131534e-01 -8.19416740e-03 -1.37844547e+02] [-5.65766545e-02 3.24355132e-03 9.98392990e-01 -5.65520148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.600714057 meters 0.03586868750997694 Centerline is valid? [True, True] Translation: X:857.95, Y:-137.86, Z:-56.56 [[ 9.94672491e-01 8.71856094e-02 5.50027675e-02 8.57946722e+02] [-8.68739720e-02 9.96186897e-01 -8.03616870e-03 -1.37855962e+02] [-5.54936745e-02 3.21504707e-03 9.98453863e-01 -5.65573353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6607140570001 meters 0.035576541551025825 Centerline is valid? [True, True] Translation: X:858.00, Y:-137.86, Z:-56.56 [[ 9.94692023e-01 8.77065114e-02 5.38084244e-02 8.58004865e+02] [-8.74092979e-02 9.96141498e-01 -7.85684206e-03 -1.37862377e+02] [-5.42899007e-02 3.11178153e-03 9.98520367e-01 -5.65611728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.720714057 meters 0.03342158405189275 Centerline is valid? [True, True] Translation: X:858.06, Y:-137.87, Z:-56.56 [[ 9.94631046e-01 8.81627462e-02 5.41886774e-02 8.58064014e+02] [-8.78621947e-02 9.96101245e-01 -7.90856489e-03 -1.37865540e+02] [-5.46746498e-02 3.10496804e-03 9.98499395e-01 -5.65640615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7807140570001 meters 0.03419656624909367 Centerline is valid? [True, True] Translation: X:858.12, Y:-137.87, Z:-56.57 [[ 9.94557136e-01 8.88720729e-02 5.43861897e-02 8.58121255e+02] [-8.85705875e-02 9.96038307e-01 -7.93361683e-03 -1.37874012e+02] [-5.48758052e-02 3.07341847e-03 9.98488458e-01 -5.65680228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.840714057 meters 0.03478978008191016 Centerline is valid? [True, True] Translation: X:858.18, Y:-137.88, Z:-56.57 [[ 9.94487145e-01 8.99949525e-02 5.38166153e-02 8.58179896e+02] [-8.97016699e-02 9.95937779e-01 -7.84545075e-03 -1.37881967e+02] [-5.43040513e-02 2.97475965e-03 9.98520015e-01 -5.65726237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9007140570001 meters 0.030348211972490838 Centerline is valid? [True, True] Translation: X:858.24, Y:-137.88, Z:-56.57 [[ 9.94347829e-01 9.17515077e-02 5.34233620e-02 8.58239454e+02] [-9.14651624e-02 9.95777841e-01 -7.78559228e-03 -1.37880843e+02] [-5.39121399e-02 2.85521029e-03 9.98541601e-01 -5.65748256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.960714057 meters 0.030515002747076598 Centerline is valid? [True, True] Translation: X:858.30, Y:-137.89, Z:-56.58 [[ 9.94284068e-01 9.22048694e-02 5.38279987e-02 8.58297998e+02] [-9.19150465e-02 9.95735984e-01 -7.84052867e-03 -1.37888204e+02] [-5.43214101e-02 2.84810974e-03 9.98519440e-01 -5.65774243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0207140570001 meters 0.03161325329081287 Centerline is valid? [True, True] Translation: X:858.36, Y:-137.90, Z:-56.58 [[ 9.94262438e-01 9.14975949e-02 5.54111466e-02 8.58356326e+02] [-9.11895936e-02 9.95800875e-01 -8.06692143e-03 -1.37897072e+02] [-5.59165722e-02 2.96771702e-03 9.98431034e-01 -5.65800264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.080714057 meters 0.02975027035249979 Centerline is valid? [True, True] Translation: X:858.41, Y:-137.90, Z:-56.58 [[ 9.94335734e-01 9.03196410e-02 5.60250967e-02 8.58414721e+02] [-9.00031365e-02 9.95908117e-01 -8.15221992e-03 -1.37901461e+02] [-5.65321541e-02 3.06360915e-03 9.98396079e-01 -5.65824857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1407140570001 meters 0.03018907691346071 Centerline is valid? [True, True] Translation: X:858.47, Y:-137.91, Z:-56.59 [[ 9.94135794e-01 9.24392038e-02 5.61160955e-02 8.58472335e+02] [-9.21252734e-02 9.95713979e-01 -8.16121624e-03 -1.37909805e+02] [-5.66299971e-02 2.94364655e-03 9.98390895e-01 -5.65871954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.200714057 meters 0.0296836985844412 Centerline is valid? [True, True] Translation: X:858.53, Y:-137.92, Z:-56.59 [[ 9.93723923e-01 9.73621279e-02 5.50761366e-02 8.58531502e+02] [-9.70675159e-02 9.95245602e-01 -8.00558702e-03 -1.37916439e+02] [-5.55937237e-02 2.60923958e-03 9.98450064e-01 -5.65921748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2607140570001 meters 0.02758944452165793 Centerline is valid? [True, True] Translation: X:858.59, Y:-137.92, Z:-56.60 [[ 9.93197795e-01 1.02916626e-01 5.44638201e-02 8.58592213e+02] [-1.02636940e-01 9.94687393e-01 -7.91513261e-03 -1.37920313e+02] [-5.49890740e-02 2.27129244e-03 9.98484373e-01 -5.65954116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.320714057 meters 0.026532397200733516 Centerline is valid? [True, True] Translation: X:858.65, Y:-137.93, Z:-56.60 [[ 9.92982501e-01 1.05283450e-01 5.38623026e-02 8.58650604e+02] [-1.05013388e-01 9.94440001e-01 -7.82769767e-03 -1.37926738e+02] [-5.43869552e-02 2.11650393e-03 9.98517691e-01 -5.65998891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.380714057 meters 0.028216108412668802 Centerline is valid? [True, True] Translation: X:858.71, Y:-137.94, Z:-56.61 [[ 9.92873807e-01 1.06783040e-01 5.29054506e-02 8.58707348e+02] [-1.06524825e-01 9.94280345e-01 -7.68482884e-03 -1.37939499e+02] [-5.34234591e-02 1.99432141e-03 9.98569956e-01 -5.66053592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.440714057 meters 0.026326660935139082 Centerline is valid? [True, True] Translation: X:858.77, Y:-137.95, Z:-56.61 [[ 9.92981613e-01 1.05989505e-01 5.24761074e-02 8.58765156e+02] [-1.05734549e-01 9.94365203e-01 -7.61894653e-03 -1.37946650e+02] [-5.29879436e-02 2.01693626e-03 9.98593115e-01 -5.66080664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.500714057 meters 0.030039292748433633 Centerline is valid? [True, True] Translation: X:858.82, Y:-137.96, Z:-56.61 [[ 9.93024292e-01 1.05153949e-01 5.33423143e-02 8.58821078e+02] [-1.04889564e-01 9.94453758e-01 -7.73971634e-03 -1.37962452e+02] [-5.38603267e-02 2.09067424e-03 9.98546291e-01 -5.66124629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.560714057 meters 0.02764557809836124 Centerline is valid? [True, True] Translation: X:858.88, Y:-137.97, Z:-56.61 [[ 9.93311199e-01 1.02331376e-01 5.34897302e-02 8.58879856e+02] [-1.02061724e-01 9.94747833e-01 -7.75590126e-03 -1.37968776e+02] [-5.40024652e-02 2.24476952e-03 9.98538279e-01 -5.66136912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.620714057 meters 0.02914152975370204 Centerline is valid? [True, True] Translation: X:858.94, Y:-137.98, Z:-56.62 [[ 9.93960082e-01 9.58402173e-02 5.34603432e-02 8.58938981e+02] [-9.55616817e-02 9.95393355e-01 -7.74814360e-03 -1.37983843e+02] [-5.39566542e-02 2.59258514e-03 9.98539913e-01 -5.66171242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.680714057 meters 0.031994106238738926 Centerline is valid? [True, True] Translation: X:859.00, Y:-138.00, Z:-56.62 [[ 9.94602746e-01 8.88345567e-02 5.36078342e-02 8.58997211e+02] [-8.85443278e-02 9.96041934e-01 -7.76961344e-03 -1.38000113e+02] [-5.40858610e-02 2.98100921e-03 9.98531839e-01 -5.66212371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.740714057 meters 0.031660221927911694 Centerline is valid? [True, True] Translation: X:859.06, Y:-138.01, Z:-56.62 [[ 9.94943902e-01 8.51042923e-02 5.33281520e-02 8.59056866e+02] [-8.48118083e-02 9.96367019e-01 -7.72797320e-03 -1.38009516e+02] [-5.37920955e-02 3.16604280e-03 9.98547138e-01 -5.66242487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.800714057 meters 0.03385567890808408 Centerline is valid? [True, True] Translation: X:859.11, Y:-138.02, Z:-56.63 [[ 9.95021419e-01 8.40569041e-02 5.35426187e-02 8.59112857e+02] [-8.37604896e-02 9.96455699e-01 -7.76017182e-03 -1.38022518e+02] [-5.40051436e-02 3.23678122e-03 9.98535411e-01 -5.66293496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.860714057 meters 0.035796689689610896 Centerline is valid? [True, True] Translation: X:859.17, Y:-138.03, Z:-56.63 [[ 9.95099091e-01 8.31019302e-02 5.35898153e-02 8.59169613e+02] [-8.28039337e-02 9.96535636e-01 -7.76109710e-03 -1.38033852e+02] [-5.40491229e-02 3.28561316e-03 9.98532872e-01 -5.66330773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.920714057 meters 0.03613078973882722 Centerline is valid? [True, True] Translation: X:859.23, Y:-138.04, Z:-56.64 [[ 9.94919566e-01 8.43889538e-02 5.48959270e-02 8.59227709e+02] [-8.40784775e-02 9.96427462e-01 -7.94500970e-03 -1.38042963e+02] [-5.53702803e-02 3.28907963e-03 9.98460472e-01 -5.66359151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.980714057 meters 0.03234837453907357 Centerline is valid? [True, True] Translation: X:859.29, Y:-138.05, Z:-56.64 [[ 9.94754338e-01 8.65437620e-02 5.45342474e-02 8.59288127e+02] [-8.62408300e-02 9.96243089e-01 -7.88834668e-03 -1.38045486e+02] [-5.50120543e-02 3.14388832e-03 9.98480741e-01 -5.66398367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0407140570001 meters 0.031988244238356625 Centerline is valid? [True, True] Translation: X:859.35, Y:-138.05, Z:-56.64 [[ 9.94649787e-01 8.83415335e-02 5.35497443e-02 8.59346712e+02] [-8.80520790e-02 9.96085760e-01 -7.74535790e-03 -1.38053059e+02] [-5.40243746e-02 2.98875227e-03 9.98535144e-01 -5.66445948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.100714057 meters 0.03073605564506299 Centerline is valid? [True, True] Translation: X:859.41, Y:-138.06, Z:-56.65 [[ 9.94416186e-01 9.18660706e-02 5.19333597e-02 8.59405850e+02] [-9.15987877e-02 9.95767685e-01 -7.50860995e-03 -1.38058846e+02] [-5.24033479e-02 2.70965047e-03 9.98622325e-01 -5.66488790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1607140570001 meters 0.029408341028450604 Centerline is valid? [True, True] Translation: X:859.47, Y:-138.06, Z:-56.65 [[ 9.93840885e-01 9.69726201e-02 5.36339963e-02 8.59466116e+02] [-9.66950616e-02 9.95283864e-01 -7.75214124e-03 -1.38063847e+02] [-5.41327965e-02 2.51825233e-03 9.98530570e-01 -5.66509259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.220714057 meters 0.02848521256867002 Centerline is valid? [True, True] Translation: X:859.52, Y:-138.07, Z:-56.65 [[ 9.93256824e-01 1.02318479e-01 5.45143137e-02 8.59524917e+02] [-1.02039759e-01 9.94749117e-01 -7.87920376e-03 -1.38069821e+02] [-5.50342536e-02 2.26344547e-03 9.98481902e-01 -5.66539536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2807140570001 meters 0.026829713817004507 Centerline is valid? [True, True] Translation: X:859.58, Y:-138.08, Z:-56.66 [[ 9.93148516e-01 1.02918093e-01 5.53524296e-02 8.59582959e+02] [-1.02631702e-01 9.94687258e-01 -7.99951997e-03 -1.38075982e+02] [-5.58816517e-02 2.26379733e-03 9.98434833e-01 -5.66572131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.340714057 meters 0.026240461236346248 Centerline is valid? [True, True] Translation: X:859.64, Y:-138.08, Z:-56.66 [[ 9.93329691e-01 1.01093284e-01 5.54641546e-02 8.59641543e+02] [-1.00803123e-01 9.94874135e-01 -8.01162430e-03 -1.38083460e+02] [-5.59897742e-02 2.36722428e-03 9.98428536e-01 -5.66607593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4007140570001 meters 0.028182284384318794 Centerline is valid? [True, True] Translation: X:859.70, Y:-138.10, Z:-56.66 [[ 9.93645682e-01 9.80459419e-02 5.52743401e-02 8.59698179e+02] [-9.77532945e-02 9.95178684e-01 -7.98005759e-03 -1.38096273e+02] [-5.57902572e-02 2.52610093e-03 9.98439315e-01 -5.66647945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.460714057 meters 0.02874002945736906 Centerline is valid? [True, True] Translation: X:859.76, Y:-138.11, Z:-56.67 [[ 9.93999567e-01 9.51702784e-02 5.39210479e-02 8.59756896e+02] [-9.48878124e-02 9.95457567e-01 -7.78043988e-03 -1.38107342e+02] [-5.44165817e-02 2.61730360e-03 9.98514890e-01 -5.66698692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5207140570001 meters 0.03119064171461812 Centerline is valid? [True, True] Translation: X:859.81, Y:-138.12, Z:-56.68 [[ 9.94272279e-01 9.30047030e-02 5.26570172e-02 8.59814059e+02] [-9.27324001e-02 9.95662090e-01 -7.59636958e-03 -1.38120970e+02] [-5.31350939e-02 2.66984810e-03 9.98583764e-01 -5.66754306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.580714057 meters 0.03173991933942388 Centerline is valid? [True, True] Translation: X:859.87, Y:-138.13, Z:-56.68 [[ 9.94244087e-01 9.29701539e-02 5.32470296e-02 8.59871642e+02] [-9.26918064e-02 9.95665238e-01 -7.67873785e-03 -1.38130336e+02] [-5.37301099e-02 2.69897634e-03 9.98551847e-01 -5.66783609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6407140570001 meters 0.03038759713863379 Centerline is valid? [True, True] Translation: X:859.93, Y:-138.14, Z:-56.68 [[ 9.94060666e-01 9.43226139e-02 5.42829285e-02 8.59930632e+02] [-9.40355185e-02 9.95538094e-01 -7.82465276e-03 -1.38135635e+02] [-5.47787648e-02 2.67365622e-03 9.98494937e-01 -5.66811366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.700714057 meters 0.03158116802344727 Centerline is valid? [True, True] Translation: X:859.99, Y:-138.15, Z:-56.69 [[ 9.94126269e-01 9.37848636e-02 5.40125936e-02 8.59987901e+02] [-9.35001911e-02 9.95588871e-01 -7.77911740e-03 -1.38145420e+02] [-5.45039005e-02 2.68323714e-03 9.98509952e-01 -5.66855972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7607140570001 meters 0.03329112522584481 Centerline is valid? [True, True] Translation: X:860.05, Y:-138.16, Z:-56.69 [[ 9.94476733e-01 9.01454083e-02 5.37571698e-02 8.60047563e+02] [-8.98584298e-02 9.95924498e-01 -7.73669620e-03 -1.38155163e+02] [-5.42355100e-02 2.86342949e-03 9.98524066e-01 -5.66888495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.820714057 meters 0.03297761178905094 Centerline is valid? [True, True] Translation: X:860.11, Y:-138.16, Z:-56.69 [[ 9.94956317e-01 8.47951979e-02 5.35882701e-02 8.60107818e+02] [-8.45022854e-02 9.96393437e-01 -7.71243596e-03 -1.38162348e+02] [-5.40489782e-02 3.14520558e-03 9.98533332e-01 -5.66925758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.880714057 meters 0.04146210623394672 Centerline is valid? [True, True] Translation: X:860.16, Y:-138.18, Z:-56.70 [[ 9.95336648e-01 8.02024946e-02 5.35958627e-02 8.60164581e+02] [-7.99028849e-02 9.96772810e-01 -7.71321288e-03 -1.38181807e+02] [-5.40415176e-02 3.39477940e-03 9.98532919e-01 -5.66987546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.940714057 meters 0.03696411435299996 Centerline is valid? [True, True] Translation: X:860.22, Y:-138.18, Z:-56.70 [[ 9.95489825e-01 7.83369068e-02 5.35101601e-02 8.60224937e+02] [-7.80355451e-02 9.96920830e-01 -7.70139651e-03 -1.38181224e+02] [-5.39486968e-02 3.49096735e-03 9.98537606e-01 -5.67010731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.000714057 meters 0.03584625340131704 Centerline is valid? [True, True] Translation: X:860.28, Y:-138.18, Z:-56.70 [[ 9.95396660e-01 7.91332223e-02 5.40686843e-02 8.60283355e+02] [-7.88267851e-02 9.96857967e-01 -7.78018811e-03 -1.38184937e+02] [-5.45144701e-02 3.48231270e-03 9.98506908e-01 -5.67037308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.060714057 meters 0.034296687674146 Centerline is valid? [True, True] Translation: X:860.34, Y:-138.19, Z:-56.71 [[ 9.95112567e-01 8.14292132e-02 5.58593072e-02 8.60343987e+02] [-8.11059774e-02 9.96673110e-01 -8.03321395e-03 -1.38187021e+02] [-5.63276077e-02 3.46342845e-03 9.98406333e-01 -5.67052936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.120714057 meters 0.0343227411132995 Centerline is valid? [True, True] Translation: X:860.40, Y:-138.19, Z:-56.71 [[ 9.94922188e-01 8.35453124e-02 5.61250492e-02 8.60403260e+02] [-8.32223914e-02 9.96498319e-01 -8.07054368e-03 -1.38191906e+02] [-5.66027733e-02 3.35870216e-03 9.98391128e-01 -5.67090268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.180714057 meters 0.03225320301393886 Centerline is valid? [True, True] Translation: X:860.46, Y:-138.19, Z:-56.71 [[ 9.94770932e-01 8.58459657e-02 5.53286920e-02 8.60463043e+02] [-8.55358068e-02 9.96303347e-01 -7.95407675e-03 -1.38193525e+02] [-5.58069864e-02 3.17990003e-03 9.98436512e-01 -5.67130473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.240714057 meters 0.029891199269345657 Centerline is valid? [True, True] Translation: X:860.52, Y:-138.19, Z:-56.72 [[ 9.94327552e-01 9.07485082e-02 5.54745663e-02 8.60524418e+02] [-9.04444369e-02 9.95869590e-01 -7.97273616e-03 -1.38193984e+02] [-5.59689475e-02 2.91014532e-03 9.98428269e-01 -5.67156835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.300714057 meters 0.029247998354340974 Centerline is valid? [True, True] Translation: X:860.58, Y:-138.20, Z:-56.72 [[ 9.93926455e-01 9.48001532e-02 5.58849911e-02 8.60583810e+02] [-9.44979368e-02 9.95492657e-01 -8.03180019e-03 -1.38199166e+02] [-5.63945141e-02 2.70200234e-03 9.98404907e-01 -5.67190920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.360714057 meters 0.027481865590014913 Centerline is valid? [True, True] Translation: X:860.64, Y:-138.20, Z:-56.72 [[ 9.93499335e-01 9.86955428e-02 5.67297251e-02 8.60644171e+02] [-9.83905666e-02 9.95114495e-01 -8.15097938e-03 -1.38201882e+02] [-5.72570371e-02 2.51632280e-03 9.98356299e-01 -5.67223746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.420714057 meters 0.026110841136128955 Centerline is valid? [True, True] Translation: X:860.70, Y:-138.21, Z:-56.73 [[ 9.92957979e-01 1.03446578e-01 5.77343692e-02 8.60703944e+02] [-1.03138753e-01 9.94632395e-01 -8.29435874e-03 -1.38205158e+02] [-5.82824970e-02 2.28129885e-03 9.98297524e-01 -5.67250549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.480714057 meters 0.02634510864453224 Centerline is valid? [True, True] Translation: X:860.76, Y:-138.21, Z:-56.73 [[ 9.92903820e-01 1.04174381e-01 5.73559233e-02 8.60762518e+02] [-1.03871910e-01 9.94556565e-01 -8.23800679e-03 -1.38213216e+02] [-5.79018993e-02 2.22187912e-03 9.98319805e-01 -5.67292357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5407140570001 meters 0.026749097657189892 Centerline is valid? [True, True] Translation: X:860.82, Y:-138.22, Z:-56.73 [[ 9.93039795e-01 1.02808402e-01 5.74664981e-02 8.60820276e+02] [-1.02502656e-01 9.94698512e-01 -8.25085616e-03 -1.38222731e+02] [-5.80100974e-02 2.30295984e-03 9.98313340e-01 -5.67331052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.600714057 meters 0.027017713709185983 Centerline is valid? [True, True] Translation: X:860.88, Y:-138.23, Z:-56.74 [[ 9.93357569e-01 9.96062459e-02 5.76136856e-02 8.60879059e+02] [-9.92938143e-02 9.95023812e-01 -8.26755857e-03 -1.38232472e+02] [-5.81504895e-02 2.49195928e-03 9.98304718e-01 -5.67360323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6607140570001 meters 0.029573725043706502 Centerline is valid? [True, True] Translation: X:860.94, Y:-138.25, Z:-56.74 [[ 9.93906095e-01 9.46676241e-02 5.64687148e-02 8.60937222e+02] [-9.43596737e-02 9.95505211e-01 -8.10109163e-03 -1.38246678e+02] [-5.69818109e-02 2.72335485e-03 9.98371502e-01 -5.67406722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.720714057 meters 0.03216371896238671 Centerline is valid? [True, True] Translation: X:860.99, Y:-138.26, Z:-56.74 [[ 9.94382888e-01 8.97285364e-02 5.61378836e-02 8.60994755e+02] [-8.94164052e-02 9.95961778e-01 -8.05248461e-03 -1.38261186e+02] [-5.66337241e-02 2.98760516e-03 9.98390553e-01 -5.67446413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7807140570001 meters 0.0329933753473455 Centerline is valid? [True, True] Translation: X:861.05, Y:-138.27, Z:-56.75 [[ 9.94435111e-01 8.84066389e-02 5.72981334e-02 8.61052706e+02] [-8.80792428e-02 9.96079560e-01 -8.21936663e-03 -1.38270852e+02] [-5.78001460e-02 3.12685057e-03 9.98323277e-01 -5.67468592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.840714057 meters 0.0300600828229955 Centerline is valid? [True, True] Translation: X:861.11, Y:-138.28, Z:-56.75 [[ 9.94370800e-01 8.90718561e-02 5.73839499e-02 8.61111757e+02] [-8.87448230e-02 9.96020414e-01 -8.22749872e-03 -1.38276022e+02] [-5.78884241e-02 3.08865600e-03 9.98318281e-01 -5.67501254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9007140570001 meters 0.030052507886912275 Centerline is valid? [True, True] Translation: X:861.17, Y:-138.28, Z:-56.76 [[ 9.94234841e-01 9.16729784e-02 5.56160515e-02 8.61170680e+02] [-9.13700394e-02 9.95785108e-01 -7.97090143e-03 -1.38283751e+02] [-5.61123521e-02 2.84330710e-03 9.98420412e-01 -5.67553597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.960714057 meters 0.02925793747676308 Centerline is valid? [True, True] Translation: X:861.23, Y:-138.29, Z:-56.76 [[ 9.94146208e-01 9.37373872e-02 5.37272742e-02 8.61228760e+02] [-9.34577838e-02 9.95593478e-01 -7.69869669e-03 -1.38289627e+02] [-5.42121795e-02 2.63239814e-03 9.98525969e-01 -5.67605908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0207140570001 meters 0.030122585636134503 Centerline is valid? [True, True] Translation: X:861.29, Y:-138.30, Z:-56.76 [[ 9.94207143e-01 9.37009562e-02 5.26525198e-02 8.61285984e+02] [-9.34325785e-02 9.95597049e-01 -7.54111341e-03 -1.38298577e+02] [-5.31273029e-02 2.57796813e-03 9.98584420e-01 -5.67649346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.080714057 meters 0.029582745237533004 Centerline is valid? [True, True] Translation: X:861.34, Y:-138.30, Z:-56.77 [[ 9.94225033e-01 9.34235513e-02 5.28074270e-02 8.61344122e+02] [-9.31534662e-02 9.95623073e-01 -7.55831692e-03 -1.38304564e+02] [-5.32824175e-02 2.59547303e-03 9.98576110e-01 -5.67673489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1407140570001 meters 0.031046814153125175 Centerline is valid? [True, True] Translation: X:861.40, Y:-138.31, Z:-56.77 [[ 9.94277820e-01 9.29170420e-02 5.27071140e-02 8.61400962e+02] [-9.26474667e-02 9.95670423e-01 -7.54033429e-03 -1.38311627e+02] [-5.31795400e-02 2.61400655e-03 9.98581546e-01 -5.67704621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.200714057 meters 0.03002252160968949 Centerline is valid? [True, True] Translation: X:861.46, Y:-138.32, Z:-56.77 [[ 9.94392813e-01 9.14450993e-02 5.31105216e-02 8.61459379e+02] [-9.11695508e-02 9.95806436e-01 -7.59307825e-03 -1.38317330e+02] [-5.35821490e-02 2.70844004e-03 9.98559772e-01 -5.67733357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2607140570001 meters 0.03222326060220522 Centerline is valid? [True, True] Translation: X:861.52, Y:-138.33, Z:-56.78 [[ 9.94836884e-01 8.70027975e-02 5.22502431e-02 8.61519126e+02] [-8.67302385e-02 9.96203860e-01 -7.46565665e-03 -1.38326782e+02] [-5.27014268e-02 2.89543455e-03 9.98606117e-01 -5.67772992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.320714057 meters 0.032764750201383745 Centerline is valid? [True, True] Translation: X:861.58, Y:-138.33, Z:-56.78 [[ 9.95139778e-01 8.35684215e-02 5.20878295e-02 8.61578786e+02] [-8.32929001e-02 9.96497321e-01 -7.44185539e-03 -1.38334885e+02] [-5.25272867e-02 3.06713993e-03 9.98614779e-01 -5.67809478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.380714057 meters 0.037706783404545065 Centerline is valid? [True, True] Translation: X:861.64, Y:-138.35, Z:-56.79 [[ 9.95519079e-01 7.89162199e-02 5.20960081e-02 8.61637062e+02] [-7.86343169e-02 9.96875749e-01 -7.44208895e-03 -1.38348215e+02] [-5.25205487e-02 3.31220752e-03 9.98614351e-01 -5.67861581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.440714057 meters 0.03729782716104257 Centerline is valid? [True, True] Translation: X:861.70, Y:-138.35, Z:-56.79 [[ 9.95791096e-01 7.52479784e-02 5.23243210e-02 8.61696927e+02] [-7.49586121e-02 9.97158639e-01 -7.47364067e-03 -1.38352685e+02] [-5.27380251e-02 3.52002635e-03 9.98602178e-01 -5.67889901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.500714057 meters 0.03880913301472341 Centerline is valid? [True, True] Translation: X:861.76, Y:-138.36, Z:-56.79 [[ 9.95893611e-01 7.35055152e-02 5.28474666e-02 8.61755831e+02] [-7.32079157e-02 9.97288139e-01 -7.54781388e-03 -1.38357887e+02] [-5.32589575e-02 3.64796674e-03 9.98574071e-01 -5.67916812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.560714057 meters 0.041482581936230334 Centerline is valid? [True, True] Translation: X:861.81, Y:-138.37, Z:-56.80 [[ 9.95958508e-01 7.23733018e-02 5.31860531e-02 8.61813417e+02] [-7.20703922e-02 9.97370639e-01 -7.59383393e-03 -1.38365279e+02] [-5.35957986e-02 3.73000381e-03 9.98555746e-01 -5.67955140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.620714057 meters 0.04326316338591921 Centerline is valid? [True, True] Translation: X:861.87, Y:-138.37, Z:-56.80 [[ 9.96081401e-01 7.08884966e-02 5.28834863e-02 8.61872297e+02] [-7.05872772e-02 9.97477076e-01 -7.54444180e-03 -1.38373603e+02] [-5.32848794e-02 3.78197686e-03 9.98572190e-01 -5.68006977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.680714057 meters 0.04619215605521661 Centerline is valid? [True, True] Translation: X:861.93, Y:-138.38, Z:-56.81 [[ 9.96372389e-01 6.87289846e-02 5.01835529e-02 8.61930864e+02] [-6.84551437e-02 9.97628521e-01 -7.15732816e-03 -1.38381183e+02] [-5.05564596e-02 3.69604183e-03 9.98714365e-01 -5.68072807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.740714057 meters 0.0391767029336983 Centerline is valid? [True, True] Translation: X:861.99, Y:-138.37, Z:-56.81 [[ 9.96447847e-01 6.83699255e-02 4.91654534e-02 8.61991472e+02] [-6.81066462e-02 9.97653402e-01 -7.01239820e-03 -1.38374713e+02] [-4.95295190e-02 3.63899495e-03 9.98766031e-01 -5.68099898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.800714057 meters 0.039463351395508384 Centerline is valid? [True, True] Translation: X:862.05, Y:-138.38, Z:-56.81 [[ 9.96353969e-01 6.93481120e-02 4.96951595e-02 8.62050308e+02] [-6.90805308e-02 9.97585935e-01 -7.08399199e-03 -1.38380428e+02] [-5.00664536e-02 3.62519554e-03 9.98739309e-01 -5.68134317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.860714057 meters 0.0355158349241256 Centerline is valid? [True, True] Translation: X:862.11, Y:-138.38, Z:-56.81 [[ 9.95895360e-01 7.40717219e-02 5.20174265e-02 8.62111287e+02] [-7.37850974e-02 9.97246622e-01 -7.41171593e-03 -1.38375410e+02] [-5.24232014e-02 3.54318262e-03 9.98618673e-01 -5.68136686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.920714057 meters 0.03588102213042556 Centerline is valid? [True, True] Translation: X:862.17, Y:-138.38, Z:-56.82 [[ 9.95590684e-01 7.71919451e-02 5.32972188e-02 8.62170400e+02] [-7.68955503e-02 9.97010244e-01 -7.59263851e-03 -1.38380935e+02] [-5.37239637e-02 3.46084120e-03 9.98549828e-01 -5.68163844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.980714057 meters 0.033832965750468735 Centerline is valid? [True, True] Translation: X:862.23, Y:-138.38, Z:-56.82 [[ 9.95283604e-01 8.01568852e-02 5.46390133e-02 8.62230598e+02] [-7.98499267e-02 9.96776523e-01 -7.78159277e-03 -1.38382356e+02] [-5.50866339e-02 3.38197049e-03 9.98475851e-01 -5.68188054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0407140570001 meters 0.033601516658762334 Centerline is valid? [True, True] Translation: X:862.29, Y:-138.39, Z:-56.82 [[ 9.95101019e-01 8.31115173e-02 5.35391267e-02 8.62289628e+02] [-8.28211053e-02 9.96535266e-01 -7.62417487e-03 -1.38387982e+02] [-5.39872847e-02 3.15265452e-03 9.98536646e-01 -5.68241030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.100714057 meters 0.03243334479895752 Centerline is valid? [True, True] Translation: X:862.35, Y:-138.39, Z:-56.83 [[ 9.94892371e-01 8.68679074e-02 5.14114432e-02 8.62348963e+02] [-8.66052296e-02 9.96215820e-01 -7.31940931e-03 -1.38392868e+02] [-5.18527148e-02 2.82952464e-03 9.98650735e-01 -5.68290976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1607140570001 meters 0.028699402172747333 Centerline is valid? [True, True] Translation: X:862.41, Y:-138.39, Z:-56.83 [[ 9.94343309e-01 9.41533041e-02 4.91583116e-02 8.62410280e+02] [-9.39221543e-02 9.95554962e-01 -6.99624166e-03 -1.38391845e+02] [-4.95985202e-02 2.33961156e-03 9.98766496e-01 -5.68339193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.220714057 meters 0.027756292100441338 Centerline is valid? [True, True] Translation: X:862.47, Y:-138.40, Z:-56.84 [[ 9.93770955e-01 1.00073801e-01 4.90359350e-02 8.62469887e+02] [-9.98509296e-02 9.94977925e-01 -6.97997432e-03 -1.38396445e+02] [-4.94881854e-02 2.04021206e-03 9.98772625e-01 -5.68377638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2807140570001 meters 0.02620066341002738 Centerline is valid? [True, True] Translation: X:862.53, Y:-138.40, Z:-56.84 [[ 9.93100367e-01 1.05771731e-01 5.06359772e-02 8.62529616e+02] [-1.05541511e-01 9.94388785e-01 -7.20653704e-03 -1.38400812e+02] [-5.11140957e-02 1.81261706e-03 9.98691175e-01 -5.68403853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.340714057 meters 0.024373767149627766 Centerline is valid? [True, True] Translation: X:862.59, Y:-138.40, Z:-56.84 [[ 9.92276107e-01 1.11789863e-01 5.37694462e-02 8.62589991e+02] [-1.11539140e-01 9.93730589e-01 -7.65087772e-03 -1.38403604e+02] [-5.42876341e-02 1.59438537e-03 9.98524066e-01 -5.68413138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4007140570001 meters 0.024751635787586785 Centerline is valid? [True, True] Translation: X:862.65, Y:-138.41, Z:-56.84 [[ 9.92169184e-01 1.12273820e-01 5.47256825e-02 8.62647281e+02] [-1.12014735e-01 9.93676022e-01 -7.78855604e-03 -1.38413540e+02] [-5.52540494e-02 1.59748244e-03 9.98471050e-01 -5.68448055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.460714057 meters 0.025469583045340142 Centerline is valid? [True, True] Translation: X:862.71, Y:-138.43, Z:-56.85 [[ 9.92836178e-01 1.06328143e-01 5.45036604e-02 8.62706405e+02] [-1.06063090e-01 9.94329270e-01 -7.74097833e-03 -1.38426819e+02] [-5.50176688e-02 1.90469668e-03 9.98483564e-01 -5.68496432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5207140570001 meters 0.028063654610162563 Centerline is valid? [True, True] Translation: X:862.76, Y:-138.44, Z:-56.86 [[ 9.93957331e-01 9.64635595e-02 5.23794485e-02 8.62764570e+02] [-9.62050984e-02 9.95333730e-01 -7.43940085e-03 -1.38444674e+02] [-5.28526629e-02 2.35527702e-03 9.98599544e-01 -5.68561891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.580714057 meters 0.034258073709023326 Centerline is valid? [True, True] Translation: X:862.82, Y:-138.47, Z:-56.86 [[ 9.94836114e-01 8.74668186e-02 5.14845858e-02 8.62821380e+02] [-8.72051243e-02 9.96163542e-01 -7.31187609e-03 -1.38466391e+02] [-5.19266139e-02 2.78439869e-03 9.98647022e-01 -5.68621111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6407140570001 meters 0.03260060659040057 Centerline is valid? [True, True] Translation: X:862.88, Y:-138.47, Z:-56.86 [[ 9.95415194e-01 8.06454095e-02 5.14286947e-02 8.62880896e+02] [-8.03752534e-02 9.96737921e-01 -7.30310936e-03 -1.38474532e+02] [-5.18498925e-02 3.13603165e-03 9.98649966e-01 -5.68637381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.700714057 meters 0.03632436550719658 Centerline is valid? [True, True] Translation: X:862.94, Y:-138.49, Z:-56.87 [[ 9.95703598e-01 7.68294725e-02 5.16873040e-02 8.62937839e+02] [-7.65515056e-02 9.97038617e-01 -7.33916208e-03 -1.38489810e+02] [-5.20981021e-02 3.35088915e-03 9.98636350e-01 -5.68674902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7607140570001 meters 0.036196529593443216 Centerline is valid? [True, True] Translation: X:863.00, Y:-138.50, Z:-56.87 [[ 9.96029419e-01 7.22341519e-02 5.20348346e-02 8.62997348e+02] [-7.19463135e-02 9.97381157e-01 -7.38615108e-03 -1.38500548e+02] [-5.24320959e-02 3.61310925e-03 9.98617955e-01 -5.68703477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.820714057 meters 0.03951251206718663 Centerline is valid? [True, True] Translation: X:863.05, Y:-138.52, Z:-56.87 [[ 9.96270902e-01 6.87521369e-02 5.21290042e-02 8.63054431e+02] [-6.84584964e-02 9.97626522e-01 -7.39985741e-03 -1.38515362e+02] [-5.25140331e-02 3.80358937e-03 9.98612943e-01 -5.68743906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.880714057 meters 0.03906125316519618 Centerline is valid? [True, True] Translation: X:863.11, Y:-138.52, Z:-56.88 [[ 9.96523356e-01 6.60748922e-02 5.07475021e-02 8.63113390e+02] [-6.57932684e-02 9.97807285e-01 -7.20193434e-03 -1.38524367e+02] [-5.11120943e-02 3.83805175e-03 9.98685548e-01 -5.68782803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.940714057 meters 0.03860248841569141 Centerline is valid? [True, True] Translation: X:863.17, Y:-138.53, Z:-56.88 [[ 9.96729913e-01 6.39589773e-02 4.93834998e-02 8.63173134e+02] [-6.36897812e-02 9.97945144e-01 -7.00721447e-03 -1.38533263e+02] [-4.97301981e-02 3.83907597e-03 9.98755310e-01 -5.68826366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.000714057 meters 0.04166847902661094 Centerline is valid? [True, True] Translation: X:863.23, Y:-138.55, Z:-56.89 [[ 9.96822338e-01 6.33349474e-02 4.83105587e-02 8.63229595e+02] [-6.30765355e-02 9.97985140e-01 -6.85640586e-03 -1.38545933e+02] [-4.86474698e-02 3.78735586e-03 9.98808830e-01 -5.68880880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.060714057 meters 0.040484769662925385 Centerline is valid? [True, True] Translation: X:863.29, Y:-138.55, Z:-56.89 [[ 9.96737366e-01 6.40079303e-02 4.91691740e-02 8.63288587e+02] [-6.37413095e-02 9.97942093e-01 -6.97312950e-03 -1.38551635e+02] [-4.95143240e-02 3.81627120e-03 9.98766123e-01 -5.68908208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.120714057 meters 0.03980003711113429 Centerline is valid? [True, True] Translation: X:863.35, Y:-138.56, Z:-56.89 [[ 9.96512809e-01 6.59871330e-02 5.10677928e-02 8.63348757e+02] [-6.57022575e-02 9.97813014e-01 -7.23898427e-03 -1.38556716e+02] [-5.14337881e-02 3.85847128e-03 9.98668953e-01 -5.68924966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.180714057 meters 0.037163533043206104 Centerline is valid? [True, True] Translation: X:863.41, Y:-138.56, Z:-56.89 [[ 9.96244892e-01 6.79650778e-02 5.36364021e-02 8.63409115e+02] [-6.76536776e-02 9.97679901e-01 -7.60232442e-03 -1.38559726e+02] [-5.40286529e-02 3.94507702e-03 9.98531592e-01 -5.68937483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.240714057 meters 0.037518399229380994 Centerline is valid? [True, True] Translation: X:863.47, Y:-138.57, Z:-56.90 [[ 9.96259180e-01 6.71594529e-02 5.43806400e-02 8.63466848e+02] [-6.68382664e-02 9.97734067e-01 -7.70563962e-03 -1.38568836e+02] [-5.47749237e-02 4.04210651e-03 9.98490545e-01 -5.68986696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.300714057 meters 0.03890585091980278 Centerline is valid? [True, True] Translation: X:863.53, Y:-138.58, Z:-56.91 [[ 9.96512425e-01 6.50097204e-02 5.23136964e-02 8.63526254e+02] [-6.47098128e-02 9.97876625e-01 -7.40815528e-03 -1.38579319e+02] [-5.26842170e-02 3.99710929e-03 9.98603223e-01 -5.69051704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.360714057 meters 0.040577847660121125 Centerline is valid? [True, True] Translation: X:863.58, Y:-138.59, Z:-56.91 [[ 9.96692781e-01 6.30565362e-02 5.12579171e-02 8.63584215e+02] [-6.27660229e-02 9.98001868e-01 -7.25934809e-03 -1.38589217e+02] [-5.16132464e-02 4.01808423e-03 9.98659065e-01 -5.69101272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.420714057 meters 0.03920971134911113 Centerline is valid? [True, True] Translation: X:863.64, Y:-138.60, Z:-56.91 [[ 9.96767474e-01 6.19208105e-02 5.11899949e-02 8.63642768e+02] [-6.16297242e-02 9.98072772e-01 -7.24693356e-03 -1.38596347e+02] [-5.15400762e-02 4.06868239e-03 9.98662639e-01 -5.69142725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.480714057 meters 0.042205315780489736 Centerline is valid? [True, True] Translation: X:863.70, Y:-138.61, Z:-56.92 [[ 9.96735022e-01 6.12245018e-02 5.26389164e-02 8.63699462e+02] [-6.09158596e-02 9.98115106e-01 -7.44941993e-03 -1.38608274e+02] [-5.29957846e-02 4.21855290e-03 9.98585825e-01 -5.69181587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5407140570001 meters 0.04310991171830052 Centerline is valid? [True, True] Translation: X:863.76, Y:-138.62, Z:-56.92 [[ 9.96664159e-01 6.11043002e-02 5.41000896e-02 8.63757101e+02] [-6.07783757e-02 9.98121963e-01 -7.65091936e-03 -1.38617791e+02] [-5.44659917e-02 4.33728154e-03 9.98506206e-01 -5.69217793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.600714057 meters 0.04031759672511546 Centerline is valid? [True, True] Translation: X:863.82, Y:-138.62, Z:-56.92 [[ 9.96615538e-01 6.11825710e-02 5.49013976e-02 8.63815554e+02] [-6.08472461e-02 9.98116923e-01 -7.76025078e-03 -1.38621533e+02] [-5.52728061e-02 4.39338765e-03 9.98461624e-01 -5.69240361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6607140570001 meters 0.041592188351603054 Centerline is valid? [True, True] Translation: X:863.87, Y:-138.63, Z:-56.93 [[ 9.96577077e-01 6.08508745e-02 5.59580256e-02 8.63874019e+02] [-6.05022367e-02 9.98136759e-01 -7.90507678e-03 -1.38632495e+02] [-5.63347932e-02 4.49243260e-03 9.98401828e-01 -5.69281733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.720714057 meters 0.04789378817392956 Centerline is valid? [True, True] Translation: X:863.93, Y:-138.65, Z:-56.93 [[ 9.96631240e-01 6.00896728e-02 5.58157976e-02 8.63930147e+02] [-5.97417284e-02 9.98182740e-01 -7.88309921e-03 -1.38650726e+02] [-5.61880586e-02 4.52201072e-03 9.98409963e-01 -5.69339234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7807140570001 meters 0.043798841102602 Centerline is valid? [True, True] Translation: X:863.99, Y:-138.66, Z:-56.94 [[ 9.96740415e-01 5.95960713e-02 5.43769504e-02 8.63989876e+02] [-5.92653029e-02 9.98212749e-01 -7.67669892e-03 -1.38655166e+02] [-5.47372662e-02 4.42900964e-03 9.98490969e-01 -5.69401010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.840714057 meters 0.04162631486168127 Centerline is valid? [True, True] Translation: X:864.05, Y:-138.66, Z:-56.94 [[ 9.96746061e-01 6.05667424e-02 5.31879702e-02 8.64049806e+02] [-6.02517201e-02 9.98154979e-01 -7.50791730e-03 -1.38660635e+02] [-5.35445673e-02 4.27882031e-03 9.98556293e-01 -5.69439341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9007140570001 meters 0.040258552419910054 Centerline is valid? [True, True] Translation: X:864.11, Y:-138.67, Z:-56.95 [[ 9.96602566e-01 6.22570284e-02 5.39201940e-02 8.64109692e+02] [-6.19357722e-02 9.98051123e-01 -7.61027724e-03 -1.38667494e+02] [-5.42889034e-02 4.24483298e-03 9.98516247e-01 -5.69474983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.960714057 meters 0.03979642575240289 Centerline is valid? [True, True] Translation: X:864.17, Y:-138.68, Z:-56.95 [[ 9.96444321e-01 6.41847860e-02 5.45804867e-02 8.64169402e+02] [-6.38585314e-02 9.97929236e-01 -7.70245181e-03 -1.38675686e+02] [-5.49618436e-02 4.18963464e-03 9.98479666e-01 -5.69514546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0207140570001 meters 0.04029945186611305 Centerline is valid? [True, True] Translation: X:864.23, Y:-138.68, Z:-56.96 [[ 9.96402393e-01 6.47883233e-02 5.46328092e-02 8.64227174e+02] [-6.44623702e-02 9.97890359e-01 -7.70934680e-03 -1.38683932e+02] [-5.50170293e-02 4.15985123e-03 9.98476751e-01 -5.69555125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.080714057 meters 0.04387872983879743 Centerline is valid? [True, True] Translation: X:864.28, Y:-138.70, Z:-56.96 [[ 9.96507325e-01 6.29111630e-02 5.49120777e-02 8.64284355e+02] [-6.25792651e-02 9.98009948e-01 -7.74457042e-03 -1.38698285e+02] [-5.52900198e-02 4.28116368e-03 9.98461159e-01 -5.69604748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1407140570001 meters 0.040065056352185706 Centerline is valid? [True, True] Translation: X:864.34, Y:-138.70, Z:-56.96 [[ 9.96567509e-01 6.19054641e-02 5.49628409e-02 8.64343914e+02] [-6.15716038e-02 9.98072591e-01 -7.74863812e-03 -1.38701850e+02] [-5.53365881e-02 4.33789073e-03 9.98458334e-01 -5.69636615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.200714057 meters 0.04759015325153791 Centerline is valid? [True, True] Translation: X:864.40, Y:-138.72, Z:-56.97 [[ 9.96776018e-01 5.84260503e-02 5.49906066e-02 8.64400594e+02] [-5.80867314e-02 9.98281457e-01 -7.75008404e-03 -1.38722435e+02] [-5.53489097e-02 4.53087331e-03 9.98456794e-01 -5.69689461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2607140570001 meters 0.050696290944805766 Centerline is valid? [True, True] Translation: X:864.46, Y:-138.74, Z:-56.97 [[ 9.96898605e-01 5.61937977e-02 5.50947260e-02 8.64459437e+02] [-5.58497883e-02 9.98408986e-01 -7.76510871e-03 -1.38737412e+02] [-5.54434205e-02 4.66399726e-03 9.98450937e-01 -5.69734011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.320714057 meters 0.05272229461639566 Centerline is valid? [True, True] Translation: X:864.52, Y:-138.75, Z:-56.98 [[ 9.96977977e-01 5.48179500e-02 5.50445825e-02 8.64519020e+02] [-5.44724345e-02 9.98485129e-01 -7.75898973e-03 -1.38751143e+02] [-5.53865290e-02 4.73712947e-03 9.98453751e-01 -5.69775668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.380714057 meters 0.04693805517928832 Centerline is valid? [True, True] Translation: X:864.58, Y:-138.75, Z:-56.98 [[ 9.96974948e-01 5.40525471e-02 5.58504741e-02 8.64581013e+02] [-5.36955896e-02 9.98526311e-01 -7.87339572e-03 -1.38753386e+02] [-5.61937449e-02 4.85065416e-03 9.98408100e-01 -5.69795330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.440714057 meters 0.04936304716713604 Centerline is valid? [True, True] Translation: X:864.64, Y:-138.77, Z:-56.98 [[ 9.97027784e-01 5.41304719e-02 5.48223535e-02 8.64640218e+02] [-5.37866622e-02 9.98522540e-01 -7.72859309e-03 -1.38768022e+02] [-5.51597081e-02 4.75691063e-03 9.98466213e-01 -5.69842930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.500714057 meters 0.05052020914685771 Centerline is valid? [True, True] Translation: X:864.70, Y:-138.78, Z:-56.99 [[ 9.97146064e-01 5.49464079e-02 5.17747087e-02 8.64700879e+02] [-5.46403304e-02 9.98479344e-01 -7.30980368e-03 -1.38780106e+02] [-5.20976247e-02 4.45995477e-03 9.98632038e-01 -5.69916839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.560714057 meters 0.03964803653070389 Centerline is valid? [True, True] Translation: X:864.76, Y:-138.77, Z:-56.99 [[ 9.96995254e-01 5.83757073e-02 5.09189656e-02 8.64763192e+02] [-5.80833265e-02 9.98285743e-01 -7.20430016e-03 -1.38773877e+02] [-5.12522335e-02 4.22511016e-03 9.98676803e-01 -5.69932801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.620714057 meters 0.039555396523769666 Centerline is valid? [True, True] Translation: X:864.82, Y:-138.78, Z:-57.00 [[ 9.96586664e-01 6.39194577e-02 5.22429339e-02 8.64822754e+02] [-6.36192109e-02 9.97946872e-01 -7.39173093e-03 -1.38781076e+02] [-5.26081479e-02 4.04284624e-03 9.98607049e-01 -5.69957924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.680714057 meters 0.03781441228778397 Centerline is valid? [True, True] Translation: X:864.88, Y:-138.79, Z:-57.00 [[ 9.96103702e-01 6.95535943e-02 5.42191220e-02 8.64883573e+02] [-6.92384952e-02 9.97570644e-01 -7.67077064e-03 -1.38786312e+02] [-5.46209341e-02 3.88683261e-03 9.98499597e-01 -5.69985322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.740714057 meters 0.03799300991776731 Centerline is valid? [True, True] Translation: X:864.94, Y:-138.79, Z:-57.00 [[ 9.95922894e-01 7.18197535e-02 5.45849072e-02 8.64942608e+02] [-7.15037287e-02 9.97410431e-01 -7.72321383e-03 -1.38794933e+02] [-5.49982352e-02 3.78870107e-03 9.98479264e-01 -5.70028153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.800714057 meters 0.03580461299082201 Centerline is valid? [True, True] Translation: X:865.00, Y:-138.80, Z:-57.01 [[ 9.96035212e-01 7.09519520e-02 5.36626255e-02 8.65000885e+02] [-7.06452964e-02 9.97472605e-01 -7.59235444e-03 -1.38801498e+02] [-5.40656912e-02 3.77124027e-03 9.98530259e-01 -5.70072665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.860714057 meters 0.040326293589195074 Centerline is valid? [True, True] Translation: X:865.06, Y:-138.82, Z:-57.01 [[ 9.96516660e-01 6.51809922e-02 5.20190718e-02 8.65057643e+02] [-6.48852804e-02 9.97865623e-01 -7.35515659e-03 -1.38820637e+02] [-5.23874599e-02 3.95426402e-03 9.98619005e-01 -5.70135336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.920714057 meters 0.04306082243749526 Centerline is valid? [True, True] Translation: X:865.12, Y:-138.83, Z:-57.02 [[ 9.96670358e-01 6.26092740e-02 5.22329108e-02 8.65116412e+02] [-6.23075914e-02 9.98029666e-01 -7.38582999e-03 -1.38834872e+02] [-5.25924159e-02 4.10673096e-03 9.98607617e-01 -5.70178929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.980714057 meters 0.04445707954999735 Centerline is valid? [True, True] Translation: X:865.18, Y:-138.85, Z:-57.02 [[ 9.96757553e-01 6.10438208e-02 5.24216821e-02 8.65175011e+02] [-6.07378508e-02 9.98126236e-01 -7.41157989e-03 -1.38847382e+02] [-5.27758874e-02 4.20356792e-03 9.98597534e-01 -5.70212088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0407140570001 meters 0.046766848941449085 Centerline is valid? [True, True] Translation: X:865.23, Y:-138.86, Z:-57.02 [[ 9.96660620e-01 6.20555716e-02 5.30727349e-02 8.65233341e+02] [-6.17434575e-02 9.98063859e-01 -7.50198130e-03 -1.38860225e+02] [-5.34355183e-02 4.20003519e-03 9.98562469e-01 -5.70248025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.100714057 meters 0.04630206165368408 Centerline is valid? [True, True] Translation: X:865.29, Y:-138.87, Z:-57.03 [[ 9.96553072e-01 6.34880501e-02 5.33970225e-02 8.65292425e+02] [-6.31739716e-02 9.97973963e-01 -7.55108543e-03 -1.38869289e+02] [-5.37682418e-02 4.15175540e-03 9.98544811e-01 -5.70279746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1607140570001 meters 0.039451919102790486 Centerline is valid? [True, True] Translation: X:865.35, Y:-138.87, Z:-57.03 [[ 9.96454924e-01 6.42038181e-02 5.43640820e-02 8.65352825e+02] [-6.38794072e-02 9.97928027e-01 -7.68595112e-03 -1.38869274e+02] [-5.47449085e-02 4.18595851e-03 9.98491599e-01 -5.70300375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.220714057 meters 0.038648945703840594 Centerline is valid? [True, True] Translation: X:865.41, Y:-138.88, Z:-57.03 [[ 9.96482660e-01 6.48438887e-02 5.30808664e-02 8.65411625e+02] [-6.45356340e-02 9.97887199e-01 -7.50263234e-03 -1.38876645e+02] [-5.34552169e-02 4.05063566e-03 9.98562032e-01 -5.70345013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2807140570001 meters 0.04091935466976432 Centerline is valid? [True, True] Translation: X:865.47, Y:-138.89, Z:-57.04 [[ 9.96446020e-01 6.53040971e-02 5.32043680e-02 8.65469224e+02] [-6.49951523e-02 9.97857257e-01 -7.51829936e-03 -1.38888298e+02] [-5.35813405e-02 4.03355347e-03 9.98555342e-01 -5.70386142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.340714057 meters 0.04082422242448605 Centerline is valid? [True, True] Translation: X:865.53, Y:-138.90, Z:-57.04 [[ 9.96381454e-01 6.53471313e-02 5.43484174e-02 8.65528173e+02] [-6.50249804e-02 9.97854107e-01 -7.67674396e-03 -1.38897126e+02] [-5.47334447e-02 4.11496053e-03 9.98492522e-01 -5.70420443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4007140570001 meters 0.04373225742197021 Centerline is valid? [True, True] Translation: X:865.59, Y:-138.91, Z:-57.05 [[ 9.96429681e-01 6.46165050e-02 5.43378102e-02 8.65585628e+02] [-6.42934993e-02 9.97901530e-01 -7.67344565e-03 -1.38910403e+02] [-5.47196151e-02 4.15248105e-03 9.98493125e-01 -5.70466370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.460714057 meters 0.039588025778373004 Centerline is valid? [True, True] Translation: X:865.65, Y:-138.91, Z:-57.05 [[ 9.96437302e-01 6.43719747e-02 5.44881005e-02 8.65645713e+02] [-6.40469833e-02 9.97917243e-01 -7.69159338e-03 -1.38913218e+02] [-5.48697380e-02 4.17439209e-03 9.98484795e-01 -5.70503822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5207140570001 meters 0.03880023913732121 Centerline is valid? [True, True] Translation: X:865.70, Y:-138.92, Z:-57.05 [[ 9.96329048e-01 6.55461514e-02 5.50647800e-02 8.65704607e+02] [-6.52161306e-02 9.97840904e-01 -7.77094911e-03 -1.38919521e+02] [-5.54552456e-02 4.15131045e-03 9.98452544e-01 -5.70542428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.580714057 meters 0.04079962890708558 Centerline is valid? [True, True] Translation: X:865.76, Y:-138.93, Z:-57.06 [[ 9.96270347e-01 6.68693337e-02 5.45333683e-02 8.65762813e+02] [-6.65477395e-02 9.97753578e-01 -7.69395842e-03 -1.38929729e+02] [-5.49253532e-02 4.03619024e-03 9.98482306e-01 -5.70592307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6407140570001 meters 0.04129403568527855 Centerline is valid? [True, True] Translation: X:865.82, Y:-138.94, Z:-57.06 [[ 9.96329975e-01 6.65741919e-02 5.38001729e-02 8.65821593e+02] [-6.62608747e-02 9.97773476e-01 -7.58858526e-03 -1.38938744e+02] [-5.41855895e-02 3.99588844e-03 9.98522887e-01 -5.70640542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.700714057 meters 0.04221635300850834 Centerline is valid? [True, True] Translation: X:865.88, Y:-138.95, Z:-57.07 [[ 9.96459170e-01 6.51153714e-02 5.31893937e-02 8.65880042e+02] [-6.48071720e-02 9.97869617e-01 -7.50055431e-03 -1.38948734e+02] [-5.35644813e-02 4.02694193e-03 9.98556273e-01 -5.70695503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7607140570001 meters 0.04602117701822448 Centerline is valid? [True, True] Translation: X:865.94, Y:-138.96, Z:-57.07 [[ 9.96502553e-01 6.41291298e-02 5.35734667e-02 8.65937430e+02] [-6.38151362e-02 9.97933155e-01 -7.55296721e-03 -1.38961777e+02] [-5.39471038e-02 4.10775304e-03 9.98535346e-01 -5.70734334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.820714057 meters 0.04011037193947287 Centerline is valid? [True, True] Translation: X:866.00, Y:-138.96, Z:-57.08 [[ 9.96413493e-01 6.46976568e-02 5.45377375e-02 8.65997800e+02] [-6.43732589e-02 9.97896293e-01 -7.68583526e-03 -1.38961068e+02] [-5.49202616e-02 4.14749806e-03 9.98482130e-01 -5.70751475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.880714057 meters 0.041186653148658284 Centerline is valid? [True, True] Translation: X:866.06, Y:-138.97, Z:-57.08 [[ 9.96301478e-01 6.62769544e-02 5.46875741e-02 8.66055777e+02] [-6.59532344e-02 9.97792966e-01 -7.70511369e-03 -1.38970242e+02] [-5.50775482e-02 4.06979377e-03 9.98473786e-01 -5.70790528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.940714057 meters 0.03795385859465033 Centerline is valid? [True, True] Translation: X:866.12, Y:-138.97, Z:-57.08 [[ 9.96154624e-01 6.93081479e-02 5.35942628e-02 8.66115642e+02] [-6.90017794e-02 9.97587982e-01 -7.54807993e-03 -1.38971837e+02] [-5.39881359e-02 3.82095523e-03 9.98534267e-01 -5.70826981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.000714057 meters 0.035880027687033675 Centerline is valid? [True, True] Translation: X:866.18, Y:-138.98, Z:-57.09 [[ 9.95948900e-01 7.21316215e-02 5.36918707e-02 8.66176010e+02] [-7.18283182e-02 9.97388360e-01 -7.55989982e-03 -1.38975468e+02] [-5.40969547e-02 3.67267714e-03 9.98528934e-01 -5.70858437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.060714057 meters 0.03544488045600549 Centerline is valid? [True, True] Translation: X:866.24, Y:-138.98, Z:-57.09 [[ 9.95712980e-01 7.51355078e-02 5.39473499e-02 8.66235635e+02] [-7.48338193e-02 9.97167106e-01 -7.59354438e-03 -1.38981034e+02] [-5.43650676e-02 3.52390447e-03 9.98514908e-01 -5.70894601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.120714057 meters 0.032510776693852834 Centerline is valid? [True, True] Translation: X:866.30, Y:-138.98, Z:-57.09 [[ 9.95312652e-01 8.06643302e-02 5.33478318e-02 8.66296158e+02] [-8.03772816e-02 9.96736235e-01 -7.50799964e-03 -1.38980818e+02] [-5.37793448e-02 3.18485333e-03 9.98547765e-01 -5.70934679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.180714057 meters 0.03169479411652522 Centerline is valid? [True, True] Translation: X:866.36, Y:-138.98, Z:-57.10 [[ 9.94869087e-01 8.59872029e-02 5.33076132e-02 8.66355309e+02] [-8.57081811e-02 9.96292035e-01 -7.50259665e-03 -1.38983748e+02] [-5.37550777e-02 2.89520291e-03 9.98549953e-01 -5.70965729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.240714057 meters 0.02986954197352712 Centerline is valid? [True, True] Translation: X:866.42, Y:-138.99, Z:-57.10 [[ 9.94593964e-01 8.83641588e-02 5.45400979e-02 8.66415327e+02] [-8.80756991e-02 9.96084218e-01 -7.67481643e-03 -1.38987029e+02] [-5.50047094e-02 2.82966884e-03 9.98482085e-01 -5.70988153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.300714057 meters 0.03325667136833313 Centerline is valid? [True, True] Translation: X:866.47, Y:-139.00, Z:-57.10 [[ 9.94539252e-01 8.82917714e-02 5.56438708e-02 8.66472066e+02] [-8.79913975e-02 9.96090460e-01 -7.83001914e-03 -1.38999048e+02] [-5.61176551e-02 2.89107941e-03 9.98419977e-01 -5.71020170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.360714057 meters 0.030892257096653504 Centerline is valid? [True, True] Translation: X:866.53, Y:-139.00, Z:-57.11 [[ 9.94554372e-01 8.80716911e-02 5.57223272e-02 8.66531096e+02] [-8.77705551e-02 9.96109917e-01 -7.83340467e-03 -1.39003679e+02] [-5.61954639e-02 2.89996728e-03 9.98415575e-01 -5.71058997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.420714057 meters 0.03004482156828894 Centerline is valid? [True, True] Translation: X:866.59, Y:-139.01, Z:-57.11 [[ 9.94778651e-01 8.71214269e-02 5.31534861e-02 8.66589756e+02] [-8.68462884e-02 9.96193727e-01 -7.46866122e-03 -1.39009968e+02] [-5.36018498e-02 2.81348176e-03 9.98558424e-01 -5.71112604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.480714057 meters 0.06248855050218149 Centerline is valid? [True, True] Translation: X:866.64, Y:-139.06, Z:-57.12 [[ 9.94483540e-01 8.95846644e-02 5.45625876e-02 8.66641113e+02] [-8.92986707e-02 9.95975421e-01 -7.66213056e-03 -1.39064808e+02] [-5.50294055e-02 2.74749618e-03 9.98480954e-01 -5.71242788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5407140570001 meters 0.031165368248288444 Centerline is valid? [True, True] Translation: X:866.71, Y:-139.03, Z:-57.12 [[ 9.95023143e-01 8.56201486e-02 5.09719000e-02 8.66706913e+02] [-8.53655122e-02 9.96324005e-01 -7.15588666e-03 -1.39029050e+02] [-5.13972156e-02 2.76903049e-03 9.98674451e-01 -5.71209514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.600714057 meters 0.034470792285382586 Centerline is valid? [True, True] Translation: X:866.76, Y:-139.04, Z:-57.12 [[ 9.94812063e-01 8.75505853e-02 5.18059221e-02 8.66763921e+02] [-8.72901459e-02 9.96156380e-01 -7.27299210e-03 -1.39041399e+02] [-5.22435545e-02 2.71311378e-03 9.98630688e-01 -5.71245714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6607140570001 meters 0.029561315148539 Centerline is valid? [True, True] Translation: X:866.82, Y:-139.04, Z:-57.13 [[ 9.94386154e-01 9.12988084e-02 5.34855569e-02 8.66824539e+02] [-9.10268346e-02 9.95820165e-01 -7.50427728e-03 -1.39041826e+02] [-5.39471276e-02 2.59352849e-03 9.98540425e-01 -5.71252155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.720714057 meters 0.028212659022317368 Centerline is valid? [True, True] Translation: X:866.88, Y:-139.05, Z:-57.13 [[ 9.94079865e-01 9.50260517e-02 5.26808428e-02 8.66883540e+02] [-9.47674651e-02 9.95472002e-01 -7.39063635e-03 -1.39048369e+02] [-5.31446071e-02 2.35445285e-03 9.98584051e-01 -5.71288387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7807140570001 meters 0.030888590603288177 Centerline is valid? [True, True] Translation: X:866.94, Y:-139.06, Z:-57.13 [[ 9.93821130e-01 9.72997978e-02 5.34070411e-02 8.66940289e+02] [-9.70373856e-02 9.95252547e-01 -7.49091171e-03 -1.39061633e+02] [-5.38823579e-02 2.26214669e-03 9.98544728e-01 -5.71342833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.840714057 meters 0.027061715364620608 Centerline is valid? [True, True] Translation: X:867.00, Y:-139.06, Z:-57.14 [[ 9.93821649e-01 9.74201979e-02 5.31773935e-02 8.66999331e+02] [-9.71604141e-02 9.95240814e-01 -7.45493730e-03 -1.39064315e+02] [-5.36505739e-02 2.24214051e-03 9.98557254e-01 -5.71359085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9007140570001 meters 0.027994354322976873 Centerline is valid? [True, True] Translation: X:867.06, Y:-139.08, Z:-57.14 [[ 9.93988382e-01 9.63930402e-02 5.19180044e-02 8.67055120e+02] [-9.61441731e-02 9.95340828e-01 -7.27565213e-03 -1.39077227e+02] [-5.23774317e-02 2.24030008e-03 9.98624847e-01 -5.71415126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.960714057 meters 0.02855735796194608 Centerline is valid? [True, True] Translation: X:867.11, Y:-139.09, Z:-57.15 [[ 9.94216399e-01 9.47664089e-02 5.05280085e-02 8.67114189e+02] [-9.45290781e-02 9.95496984e-01 -7.07161675e-03 -1.39086976e+02] [-5.09706318e-02 2.25435128e-03 9.98697608e-01 -5.71459455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0207140570001 meters 0.028314698909237664 Centerline is valid? [True, True] Translation: X:867.17, Y:-139.10, Z:-57.15 [[ 9.94558056e-01 9.10087011e-02 5.07118299e-02 8.67173457e+02] [-9.07648721e-02 9.95847074e-01 -7.09526730e-03 -1.39096766e+02] [-5.11469585e-02 2.45380250e-03 9.98688123e-01 -5.71490993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.080714057 meters 0.03050283895783895 Centerline is valid? [True, True] Translation: X:867.23, Y:-139.11, Z:-57.15 [[ 9.95111374e-01 8.46773565e-02 5.08241939e-02 8.67232742e+02] [-8.44242673e-02 9.96404533e-01 -7.10986588e-03 -1.39110643e+02] [-5.12435018e-02 2.78431308e-03 9.98682307e-01 -5.71525749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1407140570001 meters 0.0315134316509601 Centerline is valid? [True, True] Translation: X:867.29, Y:-139.12, Z:-57.16 [[ 9.95577296e-01 7.88439595e-02 5.10830503e-02 8.67291950e+02] [-7.85806503e-02 9.96882150e-01 -7.14570725e-03 -1.39122218e+02] [-5.14871768e-02 3.09996459e-03 9.98668844e-01 -5.71558802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.200714057 meters 0.037584691763028935 Centerline is valid? [True, True] Translation: X:867.35, Y:-139.14, Z:-57.16 [[ 9.96460206e-01 6.67541338e-02 5.10973928e-02 8.67348746e+02] [-6.64748319e-02 9.97762498e-01 -7.14804838e-03 -1.39144372e+02] [-5.14602241e-02 3.72605516e-03 9.98668094e-01 -5.71602061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2607140570001 meters 0.04087400660166402 Centerline is valid? [True, True] Translation: X:867.41, Y:-139.16, Z:-57.16 [[ 9.96696616e-01 6.28422983e-02 5.14461063e-02 8.67406386e+02] [-6.25540760e-02 9.98015640e-01 -7.19511647e-03 -1.39158766e+02] [-5.17961763e-02 3.95318459e-03 9.98649853e-01 -5.71642121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.320714057 meters 0.04235680944241002 Centerline is valid? [True, True] Translation: X:867.47, Y:-139.17, Z:-57.17 [[ 9.96815881e-01 6.04116990e-02 5.20434940e-02 8.67465319e+02] [-6.01134288e-02 9.98165012e-01 -7.27898525e-03 -1.39168623e+02] [-5.23877307e-02 4.12729523e-03 9.98618291e-01 -5.71669375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.380714057 meters 0.04112863993837417 Centerline is valid? [True, True] Translation: X:867.52, Y:-139.17, Z:-57.17 [[ 9.96712714e-01 6.17343142e-02 5.24656042e-02 8.67524426e+02] [-6.14330392e-02 9.98084238e-01 -7.33727691e-03 -1.39174160e+02] [-5.28180543e-02 4.09003566e-03 9.98595777e-01 -5.71699258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.440714057 meters 0.03805202629998087 Centerline is valid? [True, True] Translation: X:867.58, Y:-139.18, Z:-57.17 [[ 9.96511434e-01 6.44043548e-02 5.30758146e-02 8.67584488e+02] [-6.40999000e-02 9.97915898e-01 -7.42044880e-03 -1.39176467e+02] [-5.34431084e-02 3.99240766e-03 9.98562915e-01 -5.71726451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.500714057 meters 0.038049140365410926 Centerline is valid? [True, True] Translation: X:867.64, Y:-139.18, Z:-57.18 [[ 9.96403509e-01 6.68471987e-02 5.20720666e-02 8.67643619e+02] [-6.65575283e-02 9.97756037e-01 -7.27916815e-03 -1.39184344e+02] [-5.24418108e-02 3.78720064e-03 9.98616800e-01 -5.71776715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.560714057 meters 0.040473123406190366 Centerline is valid? [True, True] Translation: X:867.70, Y:-139.20, Z:-57.18 [[ 9.96289006e-01 6.82241757e-02 5.24755042e-02 8.67700854e+02] [-6.79319221e-02 9.97662995e-01 -7.33500862e-03 -1.39195463e+02] [-5.28532936e-02 3.74302659e-03 9.98595273e-01 -5.71821583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.620714057 meters 0.03528966408499966 Centerline is valid? [True, True] Translation: X:867.76, Y:-139.19, Z:-57.19 [[ 9.96113596e-01 7.23575877e-02 5.02203436e-02 8.67761542e+02] [-7.20953286e-02 9.97373066e-01 -7.01652031e-03 -1.39194995e+02] [-5.05961165e-02 3.36859910e-03 9.98713515e-01 -5.71862506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.680714057 meters 0.03514918738017664 Centerline is valid? [True, True] Translation: X:867.82, Y:-139.20, Z:-57.19 [[ 9.95677517e-01 7.85231281e-02 4.96024218e-02 8.67820133e+02] [-7.82748798e-02 9.96907724e-01 -6.93060735e-03 -1.39200309e+02] [-4.99932504e-02 3.01802631e-03 9.98744996e-01 -5.71905188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.740714057 meters 0.03554784408944782 Centerline is valid? [True, True] Translation: X:867.88, Y:-139.21, Z:-57.19 [[ 9.95052041e-01 8.46598905e-02 5.20013290e-02 8.67878243e+02] [-8.43955034e-02 9.96405864e-01 -7.26315033e-03 -1.39207532e+02] [-5.24293267e-02 2.83853422e-03 9.98620603e-01 -5.71929855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.800714057 meters 0.03205086993689604 Centerline is valid? [True, True] Translation: X:867.94, Y:-139.21, Z:-57.19 [[ 9.94579586e-01 8.93131976e-02 5.32409633e-02 8.67938569e+02] [-8.90428345e-02 9.96000059e-01 -7.43346109e-03 -1.39208721e+02] [-5.36919088e-02 2.65244237e-03 9.98554026e-01 -5.71947280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.860714057 meters 0.03202435960313787 Centerline is valid? [True, True] Translation: X:868.00, Y:-139.22, Z:-57.20 [[ 9.94385089e-01 9.09014839e-02 5.41776188e-02 8.67996894e+02] [-9.06239022e-02 9.95856466e-01 -7.56351809e-03 -1.39215921e+02] [-5.46406671e-02 2.61126238e-03 9.98502668e-01 -5.71982241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.920714057 meters 0.03371063653302852 Centerline is valid? [True, True] Translation: X:868.05, Y:-139.23, Z:-57.20 [[ 9.94600390e-01 8.87429796e-02 5.38028568e-02 8.68054067e+02] [-8.84662918e-02 9.96050880e-01 -7.50730796e-03 -1.39227139e+02] [-5.42566037e-02 2.70703220e-03 9.98523356e-01 -5.72035979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.980714057 meters 0.029858415566756856 Centerline is valid? [True, True] Translation: X:868.11, Y:-139.23, Z:-57.21 [[ 9.94752842e-01 8.72534841e-02 5.34192168e-02 8.68113403e+02] [-8.69787249e-02 9.96182302e-01 -7.45130553e-03 -1.39229144e+02] [-5.38654308e-02 2.76587199e-03 9.98544373e-01 -5.72062542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0407140570001 meters 0.03407096855959016 Centerline is valid? [True, True] Translation: X:868.17, Y:-139.24, Z:-57.21 [[ 9.95123816e-01 8.27708876e-02 5.36430014e-02 8.68171228e+02] [-8.24875747e-02 9.96564037e-01 -7.47795275e-03 -1.39244265e+02] [-5.40776428e-02 3.01660779e-03 9.98532177e-01 -5.72109550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.100714057 meters 0.03627635846989655 Centerline is valid? [True, True] Translation: X:868.23, Y:-139.26, Z:-57.21 [[ 9.95430821e-01 7.84407506e-02 5.44474961e-02 8.68230541e+02] [-7.81424713e-02 9.96913317e-01 -7.58904540e-03 -1.39256516e+02] [-5.48747244e-02 3.29970779e-03 9.98487795e-01 -5.72149439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1607140570001 meters 0.03443067859628869 Centerline is valid? [True, True] Translation: X:868.29, Y:-139.26, Z:-57.22 [[ 9.95675353e-01 7.44325748e-02 5.55912240e-02 8.68290567e+02] [-7.41154296e-02 9.97219571e-01 -7.74787461e-03 -1.39261814e+02] [-5.60133508e-02 3.59420033e-03 9.98423551e-01 -5.72174086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.220714057 meters 0.03759380398248792 Centerline is valid? [True, True] Translation: X:868.35, Y:-139.27, Z:-57.22 [[ 9.95896116e-01 7.16075366e-02 5.53469624e-02 8.68348367e+02] [-7.12889218e-02 9.97425892e-01 -7.71226888e-03 -1.39274283e+02] [-5.57567499e-02 3.73499336e-03 9.98437397e-01 -5.72212941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2807140570001 meters 0.03695953554492373 Centerline is valid? [True, True] Translation: X:868.41, Y:-139.28, Z:-57.23 [[ 9.96208703e-01 6.73125417e-02 5.51111825e-02 8.68408716e+02] [-6.69901349e-02 9.97724089e-01 -7.67882357e-03 -1.39281181e+02] [-5.55026355e-02 3.95780532e-03 9.98450697e-01 -5.72255502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.340714057 meters 0.039159899832239886 Centerline is valid? [True, True] Translation: X:868.47, Y:-139.29, Z:-57.23 [[ 9.96540543e-01 6.32887147e-02 5.38654362e-02 8.68468238e+02] [-6.29748969e-02 9.97986891e-01 -7.50517790e-03 -1.39291082e+02] [-5.42319923e-02 4.08704376e-03 9.98519998e-01 -5.72300446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4007140570001 meters 0.041859316209342995 Centerline is valid? [True, True] Translation: X:868.53, Y:-139.30, Z:-57.23 [[ 9.96710853e-01 6.14095630e-02 5.28804513e-02 8.68525878e+02] [-6.11044741e-02 9.98104177e-01 -7.36848714e-03 -1.39302456e+02] [-5.32326950e-02 4.11301893e-03 9.98573664e-01 -5.72349552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.460714057 meters 0.03960737881695447 Centerline is valid? [True, True] Translation: X:868.59, Y:-139.30, Z:-57.24 [[ 9.96614102e-01 6.23735772e-02 5.35711560e-02 8.68585492e+02] [-6.20619896e-02 9.98044402e-01 -7.46195567e-03 -1.39304525e+02] [-5.39318212e-02 4.11195772e-03 9.98536154e-01 -5.72376609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5207140570001 meters 0.04081768229732402 Centerline is valid? [True, True] Translation: X:868.64, Y:-139.31, Z:-57.24 [[ 9.96502625e-01 6.39012577e-02 5.38437305e-02 8.68643953e+02] [-6.35888646e-02 9.97948021e-01 -7.49693932e-03 -1.39309814e+02] [-5.42123081e-02 4.04685803e-03 9.98521231e-01 -5.72402488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.580714057 meters 0.04233706185339113 Centerline is valid? [True, True] Translation: X:868.70, Y:-139.32, Z:-57.24 [[ 9.96486343e-01 6.37488734e-02 5.43235721e-02 8.68701405e+02] [-6.34307996e-02 9.97957596e-01 -7.56111861e-03 -1.39318033e+02] [-5.46946342e-02 4.08876382e-03 9.98494757e-01 -5.72438153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6407140570001 meters 0.044438639636391525 Centerline is valid? [True, True] Translation: X:868.76, Y:-139.33, Z:-57.25 [[ 9.96609880e-01 6.15336666e-02 5.46109385e-02 8.68760611e+02] [-6.12092148e-02 9.98096057e-01 -7.59557908e-03 -1.39327526e+02] [-5.49743462e-02 4.22713649e-03 9.98478819e-01 -5.72475632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.700714057 meters 0.04740426276205727 Centerline is valid? [True, True] Translation: X:868.82, Y:-139.34, Z:-57.25 [[ 9.96812197e-01 5.92325638e-02 5.34504220e-02 8.68818954e+02] [-5.89185355e-02 9.98235119e-01 -7.43325400e-03 -1.39338060e+02] [-5.37963790e-02 4.26033767e-03 9.98542838e-01 -5.72530680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7607140570001 meters 0.04283123440008409 Centerline is valid? [True, True] Translation: X:868.88, Y:-139.34, Z:-57.26 [[ 9.96851706e-01 5.84260936e-02 5.36010057e-02 8.68878985e+02] [-5.81091730e-02 9.98282410e-01 -7.45346553e-03 -1.39338055e+02] [-5.39444180e-02 4.31528972e-03 9.98534615e-01 -5.72560394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.820714057 meters 0.04310922667351374 Centerline is valid? [True, True] Translation: X:868.94, Y:-139.34, Z:-57.26 [[ 9.96847538e-01 5.81566000e-02 5.39703240e-02 8.68938591e+02] [-5.78350062e-02 9.98297961e-01 -7.50285761e-03 -1.39344780e+02] [-5.43148051e-02 4.35783111e-03 9.98514352e-01 -5.72599346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.880714057 meters 0.041064660652313026 Centerline is valid? [True, True] Translation: X:869.00, Y:-139.35, Z:-57.26 [[ 9.96891878e-01 5.80915719e-02 5.32161008e-02 8.68997709e+02] [-5.77789243e-02 9.98302005e-01 -7.39611580e-03 -1.39348673e+02] [-5.35553921e-02 4.29835872e-03 9.98555629e-01 -5.72634985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.940714057 meters 0.04327459652578038 Centerline is valid? [True, True] Translation: X:869.06, Y:-139.36, Z:-57.27 [[ 9.96918816e-01 5.77693828e-02 5.30619752e-02 8.69055329e+02] [-5.74581939e-02 9.98320689e-01 -7.37280289e-03 -1.39358436e+02] [-5.33987899e-02 4.30124066e-03 9.98564003e-01 -5.72679267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.000714057 meters 0.04497074268478287 Centerline is valid? [True, True] Translation: X:869.11, Y:-139.37, Z:-57.27 [[ 9.96983422e-01 5.76149400e-02 5.20055242e-02 8.69113838e+02] [-5.73159439e-02 9.98329956e-01 -7.22374414e-03 -1.39367710e+02] [-5.23348682e-02 4.22120745e-03 9.98620670e-01 -5.72732885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.060714057 meters 0.04683199952357305 Centerline is valid? [True, True] Translation: X:869.17, Y:-139.38, Z:-57.28 [[ 9.97065568e-01 5.80684640e-02 4.98829360e-02 8.69171139e+02] [-5.77940384e-02 9.98304492e-01 -6.92747345e-03 -1.39376977e+02] [-5.02006269e-02 4.02420892e-03 9.98731046e-01 -5.72795682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.120714057 meters 0.047501750998883735 Centerline is valid? [True, True] Translation: X:869.23, Y:-139.39, Z:-57.28 [[ 9.97020919e-01 5.84536798e-02 5.03234911e-02 8.69228982e+02] [-5.81749907e-02 9.98281956e-01 -6.98622099e-03 -1.39385006e+02] [-5.06454034e-02 4.03783984e-03 9.98708536e-01 -5.72835333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.180714057 meters 0.04804205314589011 Centerline is valid? [True, True] Translation: X:869.29, Y:-139.39, Z:-57.29 [[ 9.96846563e-01 6.00412352e-02 5.18842951e-02 8.69288499e+02] [-5.97473334e-02 9.98187576e-01 -7.19853855e-03 -1.39392584e+02] [-5.22224679e-02 4.07589014e-03 9.98627158e-01 -5.72859041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.240714057 meters 0.04133493282751336 Centerline is valid? [True, True] Translation: X:869.35, Y:-139.39, Z:-57.29 [[ 9.96746556e-01 6.07139102e-02 5.30106005e-02 8.69348069e+02] [-6.04080558e-02 9.98146672e-01 -7.35448909e-03 -1.39389556e+02] [-5.33588742e-02 4.12829437e-03 9.98566867e-01 -5.72871965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.300714057 meters 0.04343089575430421 Centerline is valid? [True, True] Translation: X:869.41, Y:-139.40, Z:-57.29 [[ 9.96810266e-01 5.92447651e-02 5.34729131e-02 8.69405967e+02] [-5.89316683e-02 9.98234483e-01 -7.41451135e-03 -1.39400802e+02] [-5.38177767e-02 4.23961306e-03 9.98541773e-01 -5.72913954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.360714057 meters 0.047695772364057844 Centerline is valid? [True, True] Translation: X:869.46, Y:-139.42, Z:-57.30 [[ 9.97066157e-01 5.58745274e-02 5.23174441e-02 8.69463752e+02] [-5.55703902e-02 9.98428441e-01 -7.25115384e-03 -1.39416011e+02] [-5.26403789e-02 4.32257931e-03 9.98604179e-01 -5.72973004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.420714057 meters 0.05002694523958839 Centerline is valid? [True, True] Translation: X:869.52, Y:-139.43, Z:-57.30 [[ 9.97233692e-01 5.31683329e-02 5.19431637e-02 8.69522405e+02] [-5.28649509e-02 9.98575727e-01 -7.19818496e-03 -1.39428057e+02] [-5.22518979e-02 4.43229977e-03 9.98624100e-01 -5.73027376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.480714057 meters 0.05175379172768793 Centerline is valid? [True, True] Translation: X:869.58, Y:-139.44, Z:-57.31 [[ 9.97409486e-01 5.03240652e-02 5.13985071e-02 8.69582042e+02] [-5.00233138e-02 9.98722657e-01 -7.12192781e-03 -1.39439308e+02] [-5.16912580e-02 4.53235471e-03 9.98652828e-01 -5.73066495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5407140570001 meters 0.04520147400014815 Centerline is valid? [True, True] Translation: X:869.64, Y:-139.44, Z:-57.31 [[ 9.97388949e-01 4.91818714e-02 5.28812640e-02 8.69642877e+02] [-4.88618732e-02 9.98778663e-01 -7.32795245e-03 -1.39439321e+02] [-5.31770806e-02 4.72494117e-03 9.98573920e-01 -5.73085281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.600714057 meters 0.04996906999856797 Centerline is valid? [True, True] Translation: X:869.70, Y:-139.46, Z:-57.31 [[ 9.97422026e-01 4.72048333e-02 5.40463358e-02 8.69701024e+02] [-4.68677268e-02 9.98873033e-01 -7.48861144e-03 -1.39455556e+02] [-5.43389261e-02 4.93627709e-03 9.98510348e-01 -5.73122243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6607140570001 meters 0.04933972784729509 Centerline is valid? [True, True] Translation: X:869.76, Y:-139.47, Z:-57.32 [[ 9.97461557e-01 4.45061824e-02 5.55845524e-02 8.69760439e+02] [-4.41451483e-02 9.98995400e-01 -7.70687274e-03 -1.39465991e+02] [-5.58717157e-02 5.23352097e-03 9.98424239e-01 -5.73159244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.720714057 meters 0.048521389728240126 Centerline is valid? [True, True] Translation: X:869.82, Y:-139.48, Z:-57.32 [[ 9.97527409e-01 4.24861039e-02 5.59821269e-02 8.69820654e+02] [-4.21167109e-02 9.99082544e-01 -7.76232004e-03 -1.39476672e+02] [-5.62605565e-02 5.38534395e-03 9.98401597e-01 -5.73197277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7807140570001 meters 0.05090506617067413 Centerline is valid? [True, True] Translation: X:869.88, Y:-139.49, Z:-57.33 [[ 9.97634610e-01 4.13228977e-02 5.49327093e-02 8.69880424e+02] [-4.09654514e-02 9.99131525e-01 -7.61764026e-03 -1.39492120e+02] [-5.51997846e-02 5.34927834e-03 9.98461000e-01 -5.73257364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.840714057 meters 0.050070800022265556 Centerline is valid? [True, True] Translation: X:869.94, Y:-139.50, Z:-57.33 [[ 9.97661307e-01 4.12726883e-02 5.44837815e-02 8.69941327e+02] [-4.09209410e-02 9.99133814e-01 -7.55635838e-03 -1.39501191e+02] [-5.47484597e-02 5.30915877e-03 9.98486064e-01 -5.73301929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9007140570001 meters 0.050330173384559564 Centerline is valid? [True, True] Translation: X:870.00, Y:-139.51, Z:-57.34 [[ 9.97703543e-01 4.18057828e-02 5.32908730e-02 8.70001783e+02] [-4.14697152e-02 9.99112380e-01 -7.39701362e-03 -1.39513739e+02] [-5.35528088e-02 5.17006937e-03 9.98551635e-01 -5.73359392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.960714057 meters 0.05202642395681213 Centerline is valid? [True, True] Translation: X:870.06, Y:-139.53, Z:-57.34 [[ 9.97644514e-01 4.31409925e-02 5.33317708e-02 8.70060875e+02] [-4.28054378e-02 9.99055883e-01 -7.41869607e-03 -1.39527779e+02] [-5.36014693e-02 5.11833164e-03 9.98549290e-01 -5.73406321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0207140570001 meters 0.048110312278237435 Centerline is valid? [True, True] Translation: X:870.12, Y:-139.53, Z:-57.34 [[ 9.97491682e-01 4.52863222e-02 5.44012271e-02 8.70121441e+02] [-4.49401963e-02 9.98961000e-01 -7.56963956e-03 -1.39532667e+02] [-5.46875054e-02 5.10585067e-03 9.98490464e-01 -5.73430718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.080714057 meters 0.04610947435278918 Centerline is valid? [True, True] Translation: X:870.18, Y:-139.54, Z:-57.34 [[ 9.97181682e-01 4.93990710e-02 5.64661486e-02 8.70181846e+02] [-4.90325979e-02 9.98766266e-01 -7.85811137e-03 -1.39540954e+02] [-5.67846678e-02 5.06728275e-03 9.98373590e-01 -5.73448071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1407140570001 meters 0.048812599723316294 Centerline is valid? [True, True] Translation: X:870.24, Y:-139.56, Z:-57.35 [[ 9.96895106e-01 5.36512191e-02 5.76341361e-02 8.70240276e+02] [-5.32764147e-02 9.98547587e-01 -8.02125748e-03 -1.39555137e+02] [-5.79807778e-02 4.92581219e-03 9.98305547e-01 -5.73490642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.200714057 meters 0.04146363040780944 Centerline is valid? [True, True] Translation: X:870.30, Y:-139.56, Z:-57.35 [[ 9.96777378e-01 5.64253566e-02 5.70178795e-02 8.70301624e+02] [-5.60630532e-02 9.98395696e-01 -7.93523054e-03 -1.39556454e+02] [-5.73741537e-02 4.71306187e-03 9.98341622e-01 -5.73534908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2607140570001 meters 0.04350147833040386 Centerline is valid? [True, True] Translation: X:870.36, Y:-139.57, Z:-57.36 [[ 9.96778821e-01 5.68246205e-02 5.65945644e-02 8.70361514e+02] [-5.64683287e-02 9.98373324e-01 -7.87621668e-03 -1.39571416e+02] [-5.69500664e-02 4.65504551e-03 9.98366176e-01 -5.73590152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.320714057 meters 0.04487884874591457 Centerline is valid? [True, True] Translation: X:870.42, Y:-139.59, Z:-57.36 [[ 9.96831684e-01 5.63181532e-02 5.61681282e-02 8.70422309e+02] [-5.59656808e-02 9.98401991e-01 -7.82992728e-03 -1.39585719e+02] [-5.65193381e-02 4.66163206e-03 9.98390622e-01 -5.73639263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.380714057 meters 0.047220757261473865 Centerline is valid? [True, True] Translation: X:870.48, Y:-139.60, Z:-57.37 [[ 9.96868950e-01 5.56463360e-02 5.61763468e-02 8.70482632e+02] [-5.52918942e-02 9.98439411e-01 -7.84533863e-03 -1.39600615e+02] [-5.65252430e-02 4.71467786e-03 9.98390038e-01 -5.73690513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.440714057 meters 0.0460217139551595 Centerline is valid? [True, True] Translation: X:870.54, Y:-139.61, Z:-57.37 [[ 9.96892701e-01 5.46642187e-02 5.67165365e-02 8.70543661e+02] [-5.43004797e-02 9.98493105e-01 -7.93584200e-03 -1.39611468e+02] [-5.70648773e-02 4.83144783e-03 9.98358782e-01 -5.73725271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.500714057 meters 0.04900178289973299 Centerline is valid? [True, True] Translation: X:870.60, Y:-139.63, Z:-57.38 [[ 9.96856914e-01 5.45105819e-02 5.74881640e-02 8.70603287e+02] [-5.41364253e-02 9.98501123e-01 -8.04700258e-03 -1.39627289e+02] [-5.78406432e-02 4.90950646e-03 9.98313757e-01 -5.73759581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.560714057 meters 0.04412256437646296 Centerline is valid? [True, True] Translation: X:870.67, Y:-139.63, Z:-57.38 [[ 9.96799943e-01 5.47164863e-02 5.82750295e-02 8.70665967e+02] [-5.43315692e-02 9.98489521e-01 -8.17044823e-03 -1.39632849e+02] [-5.86340645e-02 4.97812853e-03 9.98267131e-01 -5.73787882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.620714057 meters 0.04642758577365764 Centerline is valid? [True, True] Translation: X:870.73, Y:-139.65, Z:-57.38 [[ 9.96826562e-01 5.49963840e-02 5.75517425e-02 8.70726191e+02] [-5.46204649e-02 9.98474448e-01 -8.08583681e-03 -1.39647953e+02] [-5.79086361e-02 4.91667398e-03 9.98309780e-01 -5.73841227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.680714057 meters 0.047495639944148633 Centerline is valid? [True, True] Translation: X:870.79, Y:-139.66, Z:-57.39 [[ 9.96792797e-01 5.66344887e-02 5.65389724e-02 8.70786982e+02] [-5.62733770e-02 9.98383666e-01 -7.96002584e-03 -1.39659584e+02] [-5.68983986e-02 4.75285751e-03 9.98368661e-01 -5.73890279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.740714057 meters 0.041674976942113286 Centerline is valid? [True, True] Translation: X:870.85, Y:-139.66, Z:-57.39 [[ 9.96534754e-01 6.14427477e-02 5.60648981e-02 8.70847809e+02] [-6.10949503e-02 9.98100710e-01 -7.89814580e-03 -1.39660901e+02] [-5.64436983e-02 4.44549461e-03 9.98395887e-01 -5.73920894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.800714057 meters 0.042432073845395414 Centerline is valid? [True, True] Translation: X:870.91, Y:-139.67, Z:-57.40 [[ 9.96073217e-01 6.90140450e-02 5.54545664e-02 8.70907127e+02] [-6.86854484e-02 9.97607779e-01 -7.81202878e-03 -1.39669371e+02] [-5.58610466e-02 3.97243088e-03 9.98430650e-01 -5.73955377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.860714057 meters 0.03528913819283566 Centerline is valid? [True, True] Translation: X:870.97, Y:-139.67, Z:-57.40 [[ 9.95428891e-01 7.80910023e-02 5.49829015e-02 8.70969037e+02] [-7.77817211e-02 9.96940321e-01 -7.74598310e-03 -1.39666335e+02] [-5.54195630e-02 3.43391066e-03 9.98457250e-01 -5.73988105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.920714057 meters 0.03157352750125415 Centerline is valid? [True, True] Translation: X:871.03, Y:-139.67, Z:-57.40 [[ 9.94551076e-01 8.84161604e-02 5.52334990e-02 8.71029857e+02] [-8.81199166e-02 9.96079484e-01 -7.78088529e-03 -1.39666727e+02] [-5.57049112e-02 2.87131651e-03 9.98443147e-01 -5.74017795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.980714057 meters 0.031720997034229106 Centerline is valid? [True, True] Translation: X:871.09, Y:-139.67, Z:-57.41 [[ 9.93990523e-01 9.38720324e-02 5.63105824e-02 8.71088311e+02] [-9.35728362e-02 9.95580835e-01 -7.93250663e-03 -1.39674369e+02] [-5.68063772e-02 2.61569551e-03 9.98381788e-01 -5.74050119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0407140570001 meters 0.02777973641501384 Centerline is valid? [True, True] Translation: X:871.15, Y:-139.68, Z:-57.41 [[ 9.93669294e-01 9.78137634e-02 5.52612201e-02 8.71148566e+02] [-9.75317688e-02 9.95201975e-01 -7.78351744e-03 -1.39676021e+02] [-5.57574105e-02 2.34451773e-03 9.98441593e-01 -5.74078390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.100714057 meters 0.027346840526588943 Centerline is valid? [True, True] Translation: X:871.21, Y:-139.69, Z:-57.41 [[ 9.93771872e-01 9.74451529e-02 5.40546791e-02 8.71206264e+02] [-9.71748289e-02 9.95238209e-01 -7.61317520e-03 -1.39685516e+02] [-5.45391490e-02 2.31300518e-03 9.98508954e-01 -5.74119487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1607140570001 meters 0.02858713228715848 Centerline is valid? [True, True] Translation: X:871.26, Y:-139.70, Z:-57.42 [[ 9.94099231e-01 9.38572514e-02 5.43832195e-02 8.71263972e+02] [-9.35785019e-02 9.95582473e-01 -7.65526079e-03 -1.39699977e+02] [-5.48614819e-02 2.52098866e-03 9.98490792e-01 -5.74156037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.220714057 meters 0.029618194183120488 Centerline is valid? [True, True] Translation: X:871.32, Y:-139.71, Z:-57.42 [[ 9.94349935e-01 9.06116231e-02 5.52968336e-02 8.71322154e+02] [-9.03185735e-02 9.95882529e-01 -7.78099829e-03 -1.39712591e+02] [-5.57741994e-02 2.74270401e-03 9.98439641e-01 -5.74180603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2807140570001 meters 0.030770173271197496 Centerline is valid? [True, True] Translation: X:871.38, Y:-139.73, Z:-57.42 [[ 9.94580347e-01 8.77083642e-02 5.58316828e-02 8.71380168e+02] [-8.74053107e-02 9.96141889e-01 -7.85165999e-03 -1.39725927e+02] [-5.63049342e-02 2.92912113e-03 9.98409322e-01 -5.74206283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.340714057 meters 0.03231718349760934 Centerline is valid? [True, True] Translation: X:871.44, Y:-139.74, Z:-57.43 [[ 9.94788190e-01 8.62726831e-02 5.43459391e-02 8.71437124e+02] [-8.59835760e-02 9.96267261e-01 -7.64001501e-03 -1.39740573e+02] [-5.48022045e-02 2.92733852e-03 9.98492939e-01 -5.74255783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4007140570001 meters 0.0348220690563057 Centerline is valid? [True, True] Translation: X:871.49, Y:-139.76, Z:-57.43 [[ 9.95100908e-01 8.33513757e-02 5.31670175e-02 8.71494565e+02] [-8.30707566e-02 9.96515653e-01 -7.47014387e-03 -1.39755305e+02] [-5.36044119e-02 3.01692258e-03 9.98557693e-01 -5.74308668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.460714057 meters 0.03712796558917256 Centerline is valid? [True, True] Translation: X:871.55, Y:-139.77, Z:-57.44 [[ 9.95430584e-01 7.98408595e-02 5.23773795e-02 8.71552862e+02] [-7.95637884e-02 9.96802626e-01 -7.35718483e-03 -1.39769965e+02] [-5.27973134e-02 3.15622405e-03 9.98600261e-01 -5.74358932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5207140570001 meters 0.03864032784889618 Centerline is valid? [True, True] Translation: X:871.61, Y:-139.78, Z:-57.44 [[ 9.95740643e-01 7.59788397e-02 5.22282387e-02 8.71612071e+02] [-7.56981092e-02 9.97103801e-01 -7.33522709e-03 -1.39782485e+02] [-5.26342974e-02 3.35040481e-03 9.98608234e-01 -5.74398830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.580714057 meters 0.03773452960369886 Centerline is valid? [True, True] Translation: X:871.67, Y:-139.79, Z:-57.44 [[ 9.95874238e-01 7.39573309e-02 5.25815163e-02 8.71671357e+02] [-7.36699871e-02 9.97255333e-01 -7.38473225e-03 -1.39789290e+02] [-5.29833526e-02 3.48058498e-03 9.98589330e-01 -5.74424778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6407140570001 meters 0.03646691135828724 Centerline is valid? [True, True] Translation: X:871.73, Y:-139.80, Z:-57.44 [[ 9.96019326e-01 7.13964470e-02 5.33671190e-02 8.71730044e+02] [-7.10968782e-02 9.97441268e-01 -7.49334032e-03 -1.39795880e+02] [-5.37655647e-02 3.66927622e-03 9.98546844e-01 -5.74446844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.700714057 meters 0.03865754115836778 Centerline is valid? [True, True] Translation: X:871.79, Y:-139.81, Z:-57.45 [[ 9.96107574e-01 6.90777821e-02 5.47536369e-02 8.71788018e+02] [-6.87591509e-02 9.97603695e-01 -7.68423089e-03 -1.39807609e+02] [-5.51532401e-02 3.88950701e-03 9.98470326e-01 -5.74475106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7607140570001 meters 0.039847603219025265 Centerline is valid? [True, True] Translation: X:871.85, Y:-139.82, Z:-57.45 [[ 9.96230107e-01 6.72635432e-02 5.47831193e-02 8.71847632e+02] [-6.69417588e-02 9.97727251e-01 -7.68986018e-03 -1.39816424e+02] [-5.51758582e-02 3.99359187e-03 9.98468666e-01 -5.74510481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.820714057 meters 0.04088301907845791 Centerline is valid? [True, True] Translation: X:871.91, Y:-139.82, Z:-57.46 [[ 9.96374848e-01 6.57525750e-02 5.39792648e-02 8.71907613e+02] [-6.54379724e-02 9.97827871e-01 -7.57702381e-03 -1.39824438e+02] [-5.43602237e-02 4.01726231e-03 9.98513309e-01 -5.74550927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.880714057 meters 0.04254809336538589 Centerline is valid? [True, True] Translation: X:871.97, Y:-139.83, Z:-57.46 [[ 9.96518654e-01 6.48574946e-02 5.23839511e-02 8.71967535e+02] [-6.45600054e-02 9.97886736e-01 -7.35309096e-03 -1.39832082e+02] [-5.27501530e-02 3.94558415e-03 9.98599947e-01 -5.74600327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.940714057 meters 0.04263089225969334 Centerline is valid? [True, True] Translation: X:872.03, Y:-139.84, Z:-57.46 [[ 9.96442286e-01 6.63116434e-02 5.20147813e-02 8.72026986e+02] [-6.60202839e-02 9.97791565e-01 -7.30169264e-03 -1.39836940e+02] [-5.23840973e-02 3.84168467e-03 9.98619621e-01 -5.74632398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.000714057 meters 0.03848200248221366 Centerline is valid? [True, True] Translation: X:872.09, Y:-139.84, Z:-57.46 [[ 9.96174115e-01 7.00084603e-02 5.23062929e-02 8.72088395e+02] [-6.97190037e-02 9.97539663e-01 -7.34039807e-03 -1.39835341e+02] [-5.26914918e-02 3.66557192e-03 9.98604111e-01 -5.74646458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.060714057 meters 0.035891109349191486 Centerline is valid? [True, True] Translation: X:872.15, Y:-139.84, Z:-57.47 [[ 9.95813348e-01 7.49833181e-02 5.22807664e-02 8.72149371e+02] [-7.47009718e-02 9.97178990e-01 -7.33662987e-03 -1.39836251e+02] [-5.26834068e-02 3.40048989e-03 9.98605475e-01 -5.74677806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.120714057 meters 0.03446115336220025 Centerline is valid? [True, True] Translation: X:872.21, Y:-139.84, Z:-57.47 [[ 9.95521310e-01 7.89788991e-02 5.19582115e-02 8.72209867e+02] [-7.87054523e-02 9.96871250e-01 -7.29122395e-03 -1.39837929e+02] [-5.23715001e-02 3.16917428e-03 9.98622643e-01 -5.74705608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.180714057 meters 0.03379025443727005 Centerline is valid? [True, True] Translation: X:872.27, Y:-139.84, Z:-57.47 [[ 9.95336302e-01 8.11481487e-02 5.21595980e-02 8.72269755e+02] [-8.08755437e-02 9.96697332e-01 -7.31943390e-03 -1.39842936e+02] [-5.25812907e-02 3.06686242e-03 9.98611938e-01 -5.74738836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.240714057 meters 0.03193881663471942 Centerline is valid? [True, True] Translation: X:872.33, Y:-139.85, Z:-57.48 [[ 9.95076588e-01 8.38984195e-02 5.27602068e-02 8.72329547e+02] [-8.36233936e-02 9.96469933e-01 -7.40276247e-03 -1.39846899e+02] [-5.31950398e-02 2.95432808e-03 9.98579771e-01 -5.74771267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.300714057 meters 0.03143178095923141 Centerline is valid? [True, True] Translation: X:872.39, Y:-139.85, Z:-57.48 [[ 9.95061800e-01 8.45229088e-02 5.20374172e-02 8.72388344e+02] [-8.42562394e-02 9.96417373e-01 -7.30108228e-03 -1.39852331e+02] [-5.24680952e-02 2.88055100e-03 9.98618446e-01 -5.74806920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.360714057 meters 0.035986194540946904 Centerline is valid? [True, True] Translation: X:872.44, Y:-139.87, Z:-57.49 [[ 9.95214153e-01 8.33520358e-02 5.10022268e-02 8.72443884e+02] [-8.30945131e-02 9.96516002e-01 -7.15266689e-03 -1.39866588e+02] [-5.14207244e-02 2.88043012e-03 9.98672926e-01 -5.74865320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.420714057 meters 0.03160322525224667 Centerline is valid? [True, True] Translation: X:872.50, Y:-139.87, Z:-57.49 [[ 9.95381425e-01 8.10620482e-02 5.14272592e-02 8.72503279e+02] [-8.07974903e-02 9.96704489e-01 -7.20602711e-03 -1.39867993e+02] [-5.18419154e-02 3.01755205e-03 9.98650745e-01 -5.74886636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.480714057 meters 0.03323396533523435 Centerline is valid? [True, True] Translation: X:872.56, Y:-139.88, Z:-57.49 [[ 9.95541474e-01 7.90462555e-02 5.14671096e-02 8.72562215e+02] [-7.87787650e-02 9.96866061e-01 -7.20851778e-03 -1.39877983e+02] [-5.18756212e-02 3.12186308e-03 9.98648674e-01 -5.74923171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5407140570001 meters 0.034721471357535644 Centerline is valid? [True, True] Translation: X:872.62, Y:-139.89, Z:-57.50 [[ 9.95772521e-01 7.64006466e-02 5.09904760e-02 8.72621379e+02] [-7.61347460e-02 9.97071976e-01 -7.13968307e-03 -1.39886819e+02] [-5.13866511e-02 3.22735326e-03 9.98673619e-01 -5.74961278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.600714057 meters 0.03765403995472283 Centerline is valid? [True, True] Translation: X:872.68, Y:-139.90, Z:-57.50 [[ 9.95891392e-01 7.51338994e-02 5.05493073e-02 8.72679066e+02] [-7.48709823e-02 9.97168113e-01 -7.07748301e-03 -1.39897452e+02] [-5.09379162e-02 3.26372812e-03 9.98696489e-01 -5.75005597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6607140570001 meters 0.03321625523858025 Centerline is valid? [True, True] Translation: X:872.74, Y:-139.90, Z:-57.50 [[ 9.95704241e-01 7.78953690e-02 5.00537259e-02 8.72739715e+02] [-7.76412188e-02 9.96956755e-01 -7.00494193e-03 -1.39896528e+02] [-5.04470527e-02 3.08861811e-03 9.98721961e-01 -5.75028933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.720714057 meters 0.03162829323531672 Centerline is valid? [True, True] Translation: X:872.80, Y:-139.90, Z:-57.50 [[ 9.95084300e-01 8.48648626e-02 5.10410694e-02 8.72799811e+02] [-8.46097432e-02 9.96388568e-01 -7.14232410e-03 -1.39897916e+02] [-5.14628704e-02 2.78864281e-03 9.98671015e-01 -5.75045986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7807140570001 meters 0.02911882770836465 Centerline is valid? [True, True] Translation: X:872.86, Y:-139.90, Z:-57.51 [[ 9.94533135e-01 9.00943275e-02 5.27906696e-02 8.72860818e+02] [-8.98288443e-02 9.95929836e-01 -7.38514336e-03 -1.39898798e+02] [-5.32411625e-02 2.60264494e-03 9.98578292e-01 -5.75062045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.840714057 meters 0.02719612283441338 Centerline is valid? [True, True] Translation: X:872.92, Y:-139.90, Z:-57.51 [[ 9.93871811e-01 9.65208583e-02 5.38752876e-02 8.72921568e+02] [-9.62537619e-02 9.95328294e-01 -7.53667347e-03 -1.39900095e+02] [-5.43510443e-02 2.30478821e-03 9.98519230e-01 -5.75087124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9007140570001 meters 0.02710779931666009 Centerline is valid? [True, True] Translation: X:872.98, Y:-139.91, Z:-57.51 [[ 9.93674331e-01 9.84216567e-02 5.40786654e-02 8.72980118e+02] [-9.81552276e-02 9.95142345e-01 -7.56727517e-03 -1.39906626e+02] [-5.45607537e-02 2.21130337e-03 9.98508004e-01 -5.75134707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.960714057 meters 0.027089650552592107 Centerline is valid? [True, True] Translation: X:873.04, Y:-139.91, Z:-57.52 [[ 9.93932050e-01 9.70977352e-02 5.16827902e-02 8.73037731e+02] [-9.68533335e-02 9.95272488e-01 -7.21849964e-03 -1.39914905e+02] [-5.21393592e-02 2.16904762e-03 9.98637463e-01 -5.75195498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0207140570001 meters 0.028597834624153048 Centerline is valid? [True, True] Translation: X:873.10, Y:-139.93, Z:-57.52 [[ 9.94365741e-01 9.34935317e-02 4.99573009e-02 8.73096527e+02] [-9.32608662e-02 9.95617288e-01 -6.97327691e-03 -1.39927028e+02] [-5.03903088e-02 2.27492651e-03 9.98727011e-01 -5.75248955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.080714057 meters 0.02959326072481362 Centerline is valid? [True, True] Translation: X:873.15, Y:-139.94, Z:-57.53 [[ 9.94571374e-01 9.14505348e-02 4.96445521e-02 8.73154988e+02] [-9.12182783e-02 9.95806817e-01 -6.92880911e-03 -1.39936982e+02] [-5.00700268e-02 2.36270462e-03 9.98742915e-01 -5.75293606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1407140570001 meters 0.0310394885392691 Centerline is valid? [True, True] Translation: X:873.21, Y:-139.95, Z:-57.53 [[ 9.94682402e-01 8.98884037e-02 5.02692095e-02 8.73211410e+02] [-8.96483272e-02 9.95948778e-01 -7.01487806e-03 -1.39947984e+02] [-5.06961140e-02 2.47102522e-03 9.98711068e-01 -5.75326767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.200714057 meters 0.03216166100548633 Centerline is valid? [True, True] Translation: X:873.27, Y:-139.96, Z:-57.54 [[ 9.94603706e-01 8.98646787e-02 5.18440764e-02 8.73267893e+02] [-8.96095273e-02 9.95950733e-01 -7.22984658e-03 -1.39957607e+02] [-5.22838537e-02 2.54510902e-03 9.98629021e-01 -5.75356424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2607140570001 meters 0.032605429259105624 Centerline is valid? [True, True] Translation: X:873.33, Y:-139.97, Z:-57.54 [[ 9.94447874e-01 9.09898491e-02 5.28608865e-02 8.73326573e+02] [-9.07264386e-02 9.95848607e-01 -7.36651401e-03 -1.39965649e+02] [-5.33117182e-02 2.52973422e-03 9.98574715e-01 -5.75390796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.320714057 meters 0.033575167562395 Centerline is valid? [True, True] Translation: X:873.38, Y:-139.98, Z:-57.54 [[ 9.94452119e-01 9.12177179e-02 5.23861745e-02 8.73382922e+02] [-9.09594577e-02 9.95827854e-01 -7.29808521e-03 -1.39975448e+02] [-5.28333265e-02 2.49257827e-03 9.98600234e-01 -5.75443153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.380714057 meters 0.03112040866331197 Centerline is valid? [True, True] Translation: X:873.44, Y:-139.98, Z:-57.55 [[ 9.94421597e-01 9.18464875e-02 5.18643450e-02 8.73441819e+02] [-9.15944403e-02 9.95770213e-01 -7.22089201e-03 -1.39979649e+02] [-5.23081834e-02 2.43012532e-03 9.98628033e-01 -5.75474874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.440714057 meters 0.029909194577721947 Centerline is valid? [True, True] Translation: X:873.50, Y:-139.99, Z:-57.55 [[ 9.93897803e-01 9.67527215e-02 5.29723353e-02 8.73501762e+02] [-9.64969620e-02 9.95305988e-01 -7.37072475e-03 -1.39985498e+02] [-5.34368202e-02 2.21407770e-03 9.98568778e-01 -5.75502354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.500714057 meters 0.027140918163010522 Centerline is valid? [True, True] Translation: X:873.56, Y:-139.99, Z:-57.55 [[ 9.93247949e-01 1.02950778e-01 5.34756917e-02 8.73561877e+02] [-1.02699128e-01 9.94684641e-01 -7.44000923e-03 -1.39987856e+02] [-5.39574039e-02 1.89786701e-03 9.98541435e-01 -5.75530370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.560714057 meters 0.022962503769018355 Centerline is valid? [True, True] Translation: X:873.62, Y:-139.99, Z:-57.56 [[ 9.91761505e-01 1.15890749e-01 5.45751851e-02 8.73623218e+02] [-1.15648163e-01 9.93261219e-01 -7.59301533e-03 -1.39985789e+02] [-5.50873751e-02 1.21894039e-03 9.98480794e-01 -5.75550827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.620714057 meters 0.02172612803339102 Centerline is valid? [True, True] Translation: X:873.68, Y:-139.99, Z:-57.56 [[ 9.90721149e-01 1.24203997e-01 5.51812640e-02 8.73683049e+02] [-1.23968988e-01 9.92256411e-01 -7.67496435e-03 -1.39989864e+02] [-5.57072242e-02 7.62984070e-04 9.98446855e-01 -5.75590425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.680714057 meters 0.021350760346250264 Centerline is valid? [True, True] Translation: X:873.74, Y:-140.00, Z:-57.56 [[ 9.89869256e-01 1.30507084e-01 5.59174153e-02 8.73741471e+02] [-1.30275754e-01 9.91447290e-01 -7.77809867e-03 -1.39997641e+02] [-5.64542668e-02 4.14617278e-04 9.98405100e-01 -5.75631042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.740714057 meters 0.020956049609724827 Centerline is valid? [True, True] Translation: X:873.80, Y:-140.01, Z:-57.57 [[ 9.89153836e-01 1.35893083e-01 5.57472764e-02 8.73798613e+02] [-1.35672433e-01 9.90723504e-01 -7.74143517e-03 -1.40010304e+02] [-5.62821445e-02 9.41016490e-05 9.98414899e-01 -5.75687718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.800714057 meters 0.02101270678716663 Centerline is valid? [True, True] Translation: X:873.85, Y:-140.03, Z:-57.57 [[ 9.88636648e-01 1.39202664e-01 5.67467761e-02 8.73854747e+02] [-1.38980306e-01 9.90263907e-01 -7.86564462e-03 -1.40026044e+02] [-5.72892029e-02 -1.10419755e-04 9.98357619e-01 -5.75734947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.860714057 meters 0.020655135044906722 Centerline is valid? [True, True] Translation: X:873.91, Y:-140.05, Z:-57.58 [[ 9.88195646e-01 1.41163898e-01 5.95157122e-02 8.73910684e+02] [-1.40923932e-01 9.89986207e-01 -8.23137033e-03 -1.40045851e+02] [-6.00817065e-02 -2.52983882e-04 9.98193430e-01 -5.75767639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.920714057 meters 0.02040056470682805 Centerline is valid? [True, True] Translation: X:873.97, Y:-140.07, Z:-57.58 [[ 9.88196427e-01 1.40186985e-01 6.17691738e-02 8.73965457e+02] [-1.39927767e-01 9.90125023e-01 -8.52404105e-03 -1.40068108e+02] [-6.23541642e-02 -2.19795635e-04 9.98054062e-01 -5.75814033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.980714057 meters 0.02032058273509123 Centerline is valid? [True, True] Translation: X:874.02, Y:-140.09, Z:-57.59 [[ 9.88890061e-01 1.34967085e-01 6.22923178e-02 8.74019936e+02] [-1.34694260e-01 9.90850078e-01 -8.57780743e-03 -1.40093225e+02] [-6.28800696e-02 9.20908764e-05 9.98021086e-01 -5.75871210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0407140570001 meters 0.020740520501644325 Centerline is valid? [True, True] Translation: X:874.08, Y:-140.12, Z:-57.59 [[ 9.90025589e-01 1.26140566e-01 6.27526206e-02 8.74075210e+02] [-1.25847142e-01 9.92012172e-01 -8.62252115e-03 -1.40122321e+02] [-6.33390132e-02 6.39278619e-04 9.97991864e-01 -5.75931233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.100714057 meters 0.02171579014945827 Centerline is valid? [True, True] Translation: X:874.13, Y:-140.14, Z:-57.60 [[ 9.90895767e-01 1.18793925e-01 6.33528473e-02 8.74132190e+02] [-1.18480144e-01 9.92918305e-01 -8.70031101e-03 -1.40144634e+02] [-6.39377458e-02 1.11504688e-03 9.97953266e-01 -5.75984792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1607140570001 meters 0.025525731896966924 Centerline is valid? [True, True] Translation: X:874.19, Y:-140.18, Z:-57.60 [[ 9.92457654e-01 1.03803383e-01 6.52124497e-02 8.74188005e+02] [-1.03438686e-01 9.94595534e-01 -8.95328444e-03 -1.40179931e+02] [-6.57893925e-02 2.14026553e-03 9.97831236e-01 -5.76029232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.220714057 meters 0.028506682926770072 Centerline is valid? [True, True] Translation: X:874.24, Y:-140.20, Z:-57.61 [[ 9.93033425e-01 9.74284654e-02 6.62745158e-02 8.74244382e+02] [-9.70376403e-02 9.95239124e-01 -9.09852357e-03 -1.40201438e+02] [-6.68454462e-02 2.60401539e-03 9.97759944e-01 -5.76065005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2807140570001 meters 0.031365757867362724 Centerline is valid? [True, True] Translation: X:874.30, Y:-140.22, Z:-57.61 [[ 9.93765078e-01 8.93436026e-02 6.66984980e-02 8.74302184e+02] [-8.89296414e-02 9.95995828e-01 -9.15587976e-03 -1.40223294e+02] [-6.72494450e-02 3.16732006e-03 9.97731166e-01 -5.76121439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.340714057 meters 0.03193033680988496 Centerline is valid? [True, True] Translation: X:874.36, Y:-140.24, Z:-57.62 [[ 9.94167236e-01 8.38741898e-02 6.77984284e-02 8.74360924e+02] [-8.34337494e-02 9.96469863e-01 -9.30703549e-03 -1.40239413e+02] [-6.83397107e-02 3.59607267e-03 9.97655628e-01 -5.76167128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4007140570001 meters 0.033243388168793346 Centerline is valid? [True, True] Translation: X:874.42, Y:-140.25, Z:-57.62 [[ 9.94399370e-01 8.04189626e-02 6.85761133e-02 8.74420389e+02] [-7.99601351e-02 9.96753606e-01 -9.41410950e-03 -1.40253786e+02] [-6.91105612e-02 3.87802927e-03 9.97601469e-01 -5.76216417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.460714057 meters 0.03580890013704542 Centerline is valid? [True, True] Translation: X:874.48, Y:-140.27, Z:-57.63 [[ 9.94605038e-01 7.76643052e-02 6.87682580e-02 8.74479099e+02] [-7.71962547e-02 9.96971209e-01 -9.44174596e-03 -1.40268039e+02] [-6.92932600e-02 4.08215615e-03 9.97587981e-01 -5.76257405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5207140570001 meters 0.0362351391317649 Centerline is valid? [True, True] Translation: X:874.54, Y:-140.28, Z:-57.63 [[ 9.94774963e-01 7.46516211e-02 6.96412852e-02 8.74539442e+02] [-7.41641504e-02 9.97200196e-01 -9.56287949e-03 -1.40277117e+02] [-7.01601877e-02 4.34802634e-03 9.97526262e-01 -5.76307224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.580714057 meters 0.03702064063658536 Centerline is valid? [True, True] Translation: X:874.60, Y:-140.29, Z:-57.64 [[ 9.94918835e-01 7.17603459e-02 7.06184491e-02 8.74599768e+02] [-7.12517328e-02 9.97411215e-01 -9.69835556e-03 -1.40285710e+02] [-7.11315905e-02 4.61738974e-03 9.97456253e-01 -5.76350989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6407140570001 meters 0.0398614648007224 Centerline is valid? [True, True] Translation: X:874.66, Y:-140.29, Z:-57.64 [[ 9.95168078e-01 6.79711352e-02 7.08549362e-02 8.74659482e+02] [-6.74494658e-02 9.97675226e-01 -9.73203173e-03 -1.40294465e+02] [-7.13517118e-02 4.90587971e-03 9.97439154e-01 -5.76395831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.700714057 meters 0.04044403225980075 Centerline is valid? [True, True] Translation: X:874.72, Y:-140.30, Z:-57.64 [[ 9.95486126e-01 6.32242461e-02 7.07818275e-02 8.74719976e+02] [-6.26917090e-02 9.97985585e-01 -9.72226471e-03 -1.40299588e+02] [-7.12539263e-02 5.24094590e-03 9.97444440e-01 -5.76448026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7607140570001 meters 0.043890162193236104 Centerline is valid? [True, True] Translation: X:874.78, Y:-140.31, Z:-57.65 [[ 9.95933380e-01 5.68346442e-02 6.99036909e-02 8.74779308e+02] [-5.62996171e-02 9.98367746e-01 -9.60189262e-03 -1.40308550e+02] [-7.03353105e-02 5.62729434e-03 9.97507533e-01 -5.76504660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.820714057 meters 0.05046663346064166 Centerline is valid? [True, True] Translation: X:874.84, Y:-140.32, Z:-57.66 [[ 9.96396365e-01 4.90526642e-02 6.91962404e-02 8.74837607e+02] [-4.85098049e-02 9.98777481e-01 -9.50489645e-03 -1.40320861e+02] [-6.95778871e-02 6.11394815e-03 9.97557786e-01 -5.76559949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.880714057 meters 0.04629931731033616 Centerline is valid? [True, True] Translation: X:874.90, Y:-140.32, Z:-57.66 [[ 9.96634975e-01 4.33090320e-02 6.95920529e-02 8.74898815e+02] [-4.27460179e-02 9.99040233e-01 -9.55984045e-03 -1.40316969e+02] [-6.99392882e-02 6.55288821e-03 9.97529727e-01 -5.76601877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.940714057 meters 0.04840969477371825 Centerline is valid? [True, True] Translation: X:874.96, Y:-140.32, Z:-57.66 [[ 9.96583205e-01 4.36072862e-02 7.01449933e-02 8.74960601e+02] [-4.30359241e-02 9.99027047e-01 -9.63688504e-03 -1.40318997e+02] [-7.04969839e-02 6.58520317e-03 9.97490256e-01 -5.76630990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.000714057 meters 0.04867666641043666 Centerline is valid? [True, True] Translation: X:875.02, Y:-140.32, Z:-57.67 [[ 9.96443656e-01 4.56410924e-02 7.08303052e-02 8.75021495e+02] [-4.50628901e-02 9.98936663e-01 -9.74059816e-03 -1.40320773e+02] [-7.11995603e-02 6.51413898e-03 9.97440820e-01 -5.76670854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.060714057 meters 0.049030735321609564 Centerline is valid? [True, True] Translation: X:875.08, Y:-140.32, Z:-57.67 [[ 9.96357040e-01 4.81858544e-02 7.03617235e-02 8.75082892e+02] [-4.76214890e-02 9.98818573e-01 -9.67742746e-03 -1.40319845e+02] [-7.07449113e-02 6.29144294e-03 9.97474599e-01 -5.76716918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.120714057 meters 0.05043087255402509 Centerline is valid? [True, True] Translation: X:875.14, Y:-140.32, Z:-57.68 [[ 9.96485942e-01 4.91644928e-02 6.78131285e-02 8.75144340e+02] [-4.86424663e-02 9.98772688e-01 -9.32885377e-03 -1.40319893e+02] [-6.81885490e-02 5.99747382e-03 9.97654425e-01 -5.76783888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.180714057 meters 0.05304586003372322 Centerline is valid? [True, True] Translation: X:875.21, Y:-140.32, Z:-57.69 [[ 9.96653478e-01 4.79265097e-02 6.62185373e-02 8.75206415e+02] [-4.74251187e-02 9.98833125e-01 -9.12397064e-03 -1.40323149e+02] [-6.65785486e-02 5.95301508e-03 9.97763428e-01 -5.76852076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.240714057 meters 0.0465703573690348 Centerline is valid? [True, True] Translation: X:875.27, Y:-140.31, Z:-57.69 [[ 9.96786789e-01 4.60985889e-02 6.55058528e-02 8.75269433e+02] [-4.56037520e-02 9.98918792e-01 -9.03017312e-03 -1.40312802e+02] [-6.58513057e-02 6.01384460e-03 9.97811325e-01 -5.76890863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.300714057 meters 0.04711493535935677 Centerline is valid? [True, True] Translation: X:875.33, Y:-140.32, Z:-57.69 [[ 9.96795672e-01 4.50331168e-02 6.61090467e-02 8.75331862e+02] [-4.45266966e-02 9.98966614e-01 -9.11466520e-03 -1.40316747e+02] [-6.64511923e-02 6.14184136e-03 9.97770774e-01 -5.76922802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.360714057 meters 0.05023993794775075 Centerline is valid? [True, True] Translation: X:875.39, Y:-140.32, Z:-57.70 [[ 9.96938450e-01 4.09739287e-02 6.65947819e-02 8.75392845e+02] [-4.04507338e-02 9.99139303e-01 -9.18646705e-03 -1.40320654e+02] [-6.69138697e-02 6.46453442e-03 9.97737813e-01 -5.76962673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.420714057 meters 0.05063920509864077 Centerline is valid? [True, True] Translation: X:875.45, Y:-140.33, Z:-57.70 [[ 9.97032889e-01 3.85170666e-02 6.66472318e-02 8.75453519e+02] [-3.79874866e-02 9.99235904e-01 -9.19561689e-03 -1.40325788e+02] [-6.69504951e-02 6.63657165e-03 9.97734227e-01 -5.77004068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.480714057 meters 0.05398835259761859 Centerline is valid? [True, True] Translation: X:875.51, Y:-140.33, Z:-57.71 [[ 9.97234189e-01 3.50903059e-02 6.55182580e-02 8.75513975e+02] [-3.45711799e-02 9.99361345e-01 -9.04072898e-03 -1.40331033e+02] [-6.57936564e-02 6.75068056e-03 9.97810414e-01 -5.77052445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5407140570001 meters 0.05306115615134396 Centerline is valid? [True, True] Translation: X:875.58, Y:-140.33, Z:-57.71 [[ 9.97266641e-01 3.42650910e-02 6.54610590e-02 8.75576416e+02] [-3.37450818e-02 9.99389648e-01 -9.03335427e-03 -1.40334400e+02] [-6.57306334e-02 6.79967408e-03 9.97814235e-01 -5.77091471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.600714057 meters 0.05436002415921104 Centerline is valid? [True, True] Translation: X:875.64, Y:-140.34, Z:-57.71 [[ 9.97247319e-01 3.43647264e-02 6.57027485e-02 8.75637466e+02] [-3.38407379e-02 9.99386065e-01 -9.07182117e-03 -1.40343225e+02] [-6.59741620e-02 6.82341984e-03 9.97798001e-01 -5.77126661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6607140570001 meters 0.051576592326933804 Centerline is valid? [True, True] Translation: X:875.70, Y:-140.34, Z:-57.72 [[ 9.97226215e-01 3.46677395e-02 6.58636825e-02 8.75700671e+02] [-3.41407879e-02 9.99375515e-01 -9.10974424e-03 -1.40343512e+02] [-6.61383658e-02 6.83583775e-03 9.97787045e-01 -5.77175497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.720714057 meters 0.0535576702041355 Centerline is valid? [True, True] Translation: X:875.76, Y:-140.35, Z:-57.72 [[ 9.97219927e-01 3.56983816e-02 6.54067468e-02 8.75761482e+02] [-3.51796747e-02 9.99339886e-01 -9.06548680e-03 -1.40352611e+02] [-6.56871941e-02 6.73929602e-03 9.97817506e-01 -5.77222951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7807140570001 meters 0.05367355785635181 Centerline is valid? [True, True] Translation: X:875.82, Y:-140.36, Z:-57.73 [[ 9.97115396e-01 3.87099749e-02 6.52872431e-02 8.75820871e+02] [-3.81993172e-02 9.99229136e-01 -9.05241776e-03 -1.40357653e+02] [-6.55873343e-02 6.53237701e-03 9.97825451e-01 -5.77258882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.840714057 meters 0.05254666417443144 Centerline is valid? [True, True] Translation: X:875.88, Y:-140.36, Z:-57.73 [[ 9.96937256e-01 4.41686991e-02 6.45386295e-02 8.75881478e+02] [-4.36810969e-02 9.99005458e-01 -8.94748881e-03 -1.40362128e+02] [-6.48696420e-02 6.10096682e-03 9.97875096e-01 -5.77308055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9007140570001 meters 0.04834304384450605 Centerline is valid? [True, True] Translation: X:875.94, Y:-140.36, Z:-57.74 [[ 9.96843117e-01 4.86481544e-02 6.27467712e-02 8.75942136e+02] [-4.81960768e-02 9.98800011e-01 -8.69924821e-03 -1.40362336e+02] [-6.30946781e-02 5.64763750e-03 9.97991566e-01 -5.77360045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.960714057 meters 0.04617386391499879 Centerline is valid? [True, True] Translation: X:876.00, Y:-140.36, Z:-57.74 [[ 9.96486208e-01 5.75025439e-02 6.08990610e-02 8.76002057e+02] [-5.70930929e-02 9.98333152e-01 -8.44374633e-03 -1.40364981e+02] [-6.12830884e-02 4.93716101e-03 9.98108214e-01 -5.77419602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0207140570001 meters 0.04409471736239717 Centerline is valid? [True, True] Translation: X:876.06, Y:-140.37, Z:-57.75 [[ 9.96017733e-01 6.55810885e-02 6.03969953e-02 8.76061667e+02] [-6.51931485e-02 9.97837530e-01 -8.37358662e-03 -1.40365701e+02] [-6.08155376e-02 4.40277047e-03 9.98139312e-01 -5.77454543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.080714057 meters 0.045070449002696765 Centerline is valid? [True, True] Translation: X:876.12, Y:-140.37, Z:-57.75 [[ 9.95744766e-01 6.95982302e-02 6.04023786e-02 8.76120326e+02] [-6.92176369e-02 9.97566443e-01 -8.37316994e-03 -1.40373420e+02] [-6.08381438e-02 4.15663024e-03 9.98138990e-01 -5.77485391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1407140570001 meters 0.035314563570397535 Centerline is valid? [True, True] Translation: X:876.18, Y:-140.36, Z:-57.75 [[ 9.95396155e-01 7.29117250e-02 6.22123434e-02 8.76182400e+02] [-7.25144438e-02 9.97330085e-01 -8.62302173e-03 -1.40364681e+02] [-6.26749611e-02 4.07202919e-03 9.98025685e-01 -5.77501183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.200714057 meters 0.03459673114099822 Centerline is valid? [True, True] Translation: X:876.24, Y:-140.37, Z:-57.75 [[ 9.95244396e-01 7.42327700e-02 6.30720868e-02 8.76241231e+02] [-7.38271235e-02 9.97232746e-01 -8.74107982e-03 -1.40369340e+02] [-6.35464249e-02 4.04307997e-03 9.97970694e-01 -5.77530613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2607140570001 meters 0.038375117888479846 Centerline is valid? [True, True] Translation: X:876.30, Y:-140.38, Z:-57.76 [[ 9.95433093e-01 7.16365675e-02 6.30964280e-02 8.76299428e+02] [-7.12257169e-02 9.97421934e-01 -8.73976532e-03 -1.40380962e+02] [-6.35598480e-02 4.20576331e-03 9.97969167e-01 -5.77568410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.320714057 meters 0.04216159002025677 Centerline is valid? [True, True] Translation: X:876.36, Y:-140.39, Z:-57.76 [[ 9.95892622e-01 6.53475417e-02 6.26704422e-02 8.76358566e+02] [-6.49298345e-02 9.97852072e-01 -8.68091438e-03 -1.40392731e+02] [-6.31031070e-02 4.57607715e-03 9.97996522e-01 -5.77602288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.380714057 meters 0.04655950046125111 Centerline is valid? [True, True] Translation: X:876.42, Y:-140.41, Z:-57.77 [[ 9.96413472e-01 5.75609211e-02 6.20236595e-02 8.76416970e+02] [-5.71368769e-02 9.98329396e-01 -8.59036291e-03 -1.40406817e+02] [-6.24145117e-02 5.01571513e-03 9.98037710e-01 -5.77657892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.440714057 meters 0.04879823469027189 Centerline is valid? [True, True] Translation: X:876.48, Y:-140.42, Z:-57.77 [[ 9.96718903e-01 5.31191509e-02 6.10719632e-02 8.76476927e+02] [-5.26998223e-02 9.98574583e-01 -8.45764273e-03 -1.40417517e+02] [-6.14341730e-02 5.21141078e-03 9.98097532e-01 -5.77712459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.500714057 meters 0.048076797829322684 Centerline is valid? [True, True] Translation: X:876.54, Y:-140.42, Z:-57.78 [[ 9.97060379e-01 4.88127989e-02 5.90585432e-02 8.76537732e+02] [-4.84131205e-02 9.98793898e-01 -8.18038173e-03 -1.40421108e+02] [-5.93866199e-02 5.29712614e-03 9.98221003e-01 -5.77763290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.560714057 meters 0.04814492357580383 Centerline is valid? [True, True] Translation: X:876.60, Y:-140.43, Z:-57.78 [[ 9.97066222e-01 4.82489587e-02 5.94221063e-02 8.76599701e+02] [-4.78432629e-02 9.98820932e-01 -8.23209639e-03 -1.40428682e+02] [-5.97492337e-02 5.36499780e-03 9.98199001e-01 -5.77798239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.620714057 meters 0.04578794975843663 Centerline is valid? [True, True] Translation: X:876.66, Y:-140.43, Z:-57.78 [[ 9.97022648e-01 4.90874088e-02 5.94665171e-02 8.76661655e+02] [-4.86816850e-02 9.98780245e-01 -8.25324557e-03 -1.40432205e+02] [-5.97991130e-02 5.33374249e-03 9.98196182e-01 -5.77842947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.680714057 meters 0.04561496601464164 Centerline is valid? [True, True] Translation: X:876.72, Y:-140.44, Z:-57.79 [[ 9.97000032e-01 5.16509614e-02 5.76464691e-02 8.76722560e+02] [-5.12730549e-02 9.98652497e-01 -8.01652301e-03 -1.40437393e+02] [-5.79828514e-02 5.03676312e-03 9.98304873e-01 -5.77895800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.740714057 meters 0.04994409085610268 Centerline is valid? [True, True] Translation: X:876.78, Y:-140.45, Z:-57.80 [[ 9.96819405e-01 5.60232557e-02 5.66786453e-02 8.76781324e+02] [-5.56648932e-02 9.98418388e-01 -7.88309019e-03 -1.40447593e+02] [-5.70306380e-02 4.70300654e-03 9.98361352e-01 -5.77955641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.800714057 meters 0.04045731814909603 Centerline is valid? [True, True] Translation: X:876.84, Y:-140.44, Z:-57.80 [[ 9.96508136e-01 6.07081878e-02 5.73240809e-02 8.76843776e+02] [-6.03493013e-02 9.98145479e-01 -7.97279836e-03 -1.40438303e+02] [-5.77017863e-02 4.48549021e-03 9.98323787e-01 -5.77971930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.860714057 meters 0.03942835464221284 Centerline is valid? [True, True] Translation: X:876.90, Y:-140.44, Z:-57.80 [[ 9.96354990e-01 6.27218472e-02 5.78161158e-02 8.76903432e+02] [-6.23601219e-02 9.98021318e-01 -8.04139044e-03 -1.40442605e+02] [-5.82060870e-02 4.40665947e-03 9.98294863e-01 -5.78009251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.920714057 meters 0.0396308849005631 Centerline is valid? [True, True] Translation: X:876.96, Y:-140.45, Z:-57.81 [[ 9.96267530e-01 6.43652053e-02 5.75163432e-02 8.76962746e+02] [-6.40100700e-02 9.97917206e-01 -7.99757947e-03 -1.40448605e+02] [-5.79113143e-02 4.28610359e-03 9.98312531e-01 -5.78055819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.980714057 meters 0.043213905785126086 Centerline is valid? [True, True] Translation: X:877.02, Y:-140.46, Z:-57.81 [[ 9.96313478e-01 6.40607395e-02 5.70585242e-02 8.77019785e+02] [-6.37108588e-02 9.97936877e-01 -7.93197846e-03 -1.40459226e+02] [-5.74489339e-02 4.26748947e-03 9.98339325e-01 -5.78108429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0407140570001 meters 0.04508693829068327 Centerline is valid? [True, True] Translation: X:877.08, Y:-140.47, Z:-57.82 [[ 9.96417172e-01 6.33292692e-02 5.60555454e-02 8.77077281e+02] [-6.29906145e-02 9.97983720e-01 -7.78958997e-03 -1.40468398e+02] [-5.64358308e-02 4.23070795e-03 9.98397265e-01 -5.78169058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.100714057 meters 0.040107938255268594 Centerline is valid? [True, True] Translation: X:877.14, Y:-140.47, Z:-57.82 [[ 9.96564644e-01 6.16158034e-02 5.53389927e-02 8.77136731e+02] [-6.12832992e-02 9.98090810e-01 -7.68712826e-03 -1.40467882e+02] [-5.57069887e-02 4.26936419e-03 9.98438032e-01 -5.78214684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1607140570001 meters 0.04545649818126597 Centerline is valid? [True, True] Translation: X:877.19, Y:-140.48, Z:-57.83 [[ 9.96796738e-01 5.80698004e-02 5.49923833e-02 8.77194425e+02] [-5.77362896e-02 9.98302670e-01 -7.63545159e-03 -1.40484920e+02] [-5.53424322e-02 4.43593707e-03 9.98457579e-01 -5.78278639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.220714057 meters 0.049600096869941865 Centerline is valid? [True, True] Translation: X:877.25, Y:-140.51, Z:-57.84 [[ 9.97377167e-01 4.63165146e-02 5.56198414e-02 8.77250818e+02] [-4.59572774e-02 9.98913565e-01 -7.72126652e-03 -1.40513113e+02] [-5.59170362e-02 5.14487845e-03 9.98422163e-01 -5.78355293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2807140570001 meters 0.05036530746138779 Centerline is valid? [True, True] Translation: X:877.31, Y:-140.53, Z:-57.84 [[ 9.97444660e-01 4.39774322e-02 5.63039537e-02 8.77310335e+02] [-4.36056220e-02 9.99018249e-01 -7.81583744e-03 -1.40530901e+02] [-5.65923977e-02 5.34069640e-03 9.98383082e-01 -5.78378872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.340714057 meters 0.05244480946051959 Centerline is valid? [True, True] Translation: X:877.37, Y:-140.55, Z:-57.83 [[ 9.97261347e-01 4.23261915e-02 6.06489873e-02 8.77369816e+02] [-4.18915135e-02 9.99086674e-01 -8.42135699e-03 -1.40549844e+02] [-6.09500389e-02 5.85761595e-03 9.98123630e-01 -5.78343180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4007140570001 meters 0.0476411449631995 Centerline is valid? [True, True] Translation: X:877.43, Y:-140.57, Z:-57.85 [[ 9.97318781e-01 4.56422334e-02 5.72017152e-02 8.77427797e+02] [-4.52609130e-02 9.98943607e-01 -7.94484304e-03 -1.40570381e+02] [-5.75039080e-02 5.33453932e-03 9.98331029e-01 -5.78454218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.460714057 meters 0.04700644995831598 Centerline is valid? [True, True] Translation: X:877.49, Y:-140.58, Z:-57.85 [[ 9.97349578e-01 4.68364505e-02 5.56791301e-02 8.77488266e+02] [-4.64770533e-02 9.98889426e-01 -7.73297983e-03 -1.40582799e+02] [-5.59794796e-02 5.12468228e-03 9.98418768e-01 -5.78515577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5207140570001 meters 0.04626944190106793 Centerline is valid? [True, True] Translation: X:877.55, Y:-140.60, Z:-57.85 [[ 9.97169791e-01 5.23548966e-02 5.39571471e-02 8.77547640e+02] [-5.20252441e-02 9.98617628e-01 -7.49707898e-03 -1.40596166e+02] [-5.42750670e-02 4.66872693e-03 9.98515108e-01 -5.78540815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.580714057 meters 0.041756217357672404 Centerline is valid? [True, True] Translation: X:877.61, Y:-140.61, Z:-57.86 [[ 9.96727055e-01 5.88844143e-02 5.53877588e-02 8.77607408e+02] [-5.85469683e-02 9.98254983e-01 -7.69687572e-03 -1.40605585e+02] [-5.57443322e-02 4.42889891e-03 9.98435253e-01 -5.78563075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6407140570001 meters 0.04380166987373741 Centerline is valid? [True, True] Translation: X:877.67, Y:-140.62, Z:-57.86 [[ 9.96197300e-01 6.29691660e-02 6.02148191e-02 8.77665134e+02] [-6.25776239e-02 9.98005018e-01 -8.36810011e-03 -1.40623543e+02] [-6.06216239e-02 4.56817843e-03 9.98150365e-01 -5.78564012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.700714057 meters 0.03913506743281634 Centerline is valid? [True, True] Translation: X:877.73, Y:-140.63, Z:-57.86 [[ 9.95881609e-01 6.46754520e-02 6.35366619e-02 8.77726471e+02] [-6.42429724e-02 9.97895234e-01 -8.82845542e-03 -1.40628937e+02] [-6.39739165e-02 4.71031237e-03 9.97940455e-01 -5.78570934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7607140570001 meters 0.04419225221660562 Centerline is valid? [True, True] Translation: X:877.78, Y:-140.65, Z:-57.86 [[ 9.95916787e-01 6.31218509e-02 6.45397963e-02 8.77783751e+02] [-6.26721829e-02 9.97993853e-01 -8.97028267e-03 -1.40649834e+02] [-6.49765409e-02 4.88880518e-03 9.97874816e-01 -5.78617518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.820714057 meters 0.04895123693047001 Centerline is valid? [True, True] Translation: X:877.84, Y:-140.67, Z:-57.87 [[ 9.96241278e-01 5.63842197e-02 6.57581669e-02 8.77841200e+02] [-5.59024163e-02 9.98394351e-01 -9.14550580e-03 -1.40673410e+02] [-6.61682446e-02 5.43508996e-03 9.97793678e-01 -5.78670179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.880714057 meters 0.0496855123900501 Centerline is valid? [True, True] Translation: X:877.90, Y:-140.69, Z:-57.87 [[ 9.96776361e-01 4.78925298e-02 6.43676320e-02 8.77900422e+02] [-4.74133487e-02 9.98835237e-01 -8.95234311e-03 -1.40688565e+02] [-6.47214093e-02 5.87159900e-03 9.97886098e-01 -5.78723819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.940714057 meters 0.05154973542497946 Centerline is valid? [True, True] Translation: X:877.96, Y:-140.71, Z:-57.88 [[ 9.97206823e-01 4.01982883e-02 6.29495877e-02 8.77959019e+02] [-3.97248110e-02 9.99172297e-01 -8.75563265e-03 -1.40705480e+02] [-6.32494455e-02 6.23051614e-03 9.97978301e-01 -5.78785837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.000714057 meters 0.056878911776297135 Centerline is valid? [True, True] Translation: X:878.02, Y:-140.72, Z:-57.88 [[ 9.97327481e-01 3.52144626e-02 6.40143575e-02 8.78016229e+02] [-3.47146547e-02 9.99357603e-01 -8.90365653e-03 -1.40724566e+02] [-6.42867723e-02 6.65762502e-03 9.97909258e-01 -5.78818598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.060714057 meters 0.061249637484258136 Centerline is valid? [True, True] Translation: X:878.07, Y:-140.74, Z:-57.88 [[ 9.97329504e-01 3.30730908e-02 6.51155251e-02 8.78074579e+02] [-3.25512926e-02 9.99429016e-01 -9.05839415e-03 -1.40739363e+02] [-6.53779343e-02 6.91460923e-03 9.97836617e-01 -5.78849532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.120714057 meters 0.05783319426074099 Centerline is valid? [True, True] Translation: X:878.14, Y:-140.75, Z:-57.89 [[ 9.97442766e-01 3.00810419e-02 6.48310091e-02 8.78135082e+02] [-2.95575969e-02 9.99522396e-01 -9.01827399e-03 -1.40745544e+02] [-6.50713247e-02 7.07896331e-03 9.97855506e-01 -5.78899409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.180714057 meters 0.05702964155204893 Centerline is valid? [True, True] Translation: X:878.20, Y:-140.75, Z:-57.90 [[ 9.97763215e-01 2.64571982e-02 6.13887935e-02 8.78195270e+02] [-2.59811740e-02 9.99625956e-01 -8.53970867e-03 -1.40752215e+02] [-6.15917682e-02 6.92565425e-03 9.98077397e-01 -5.78964916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.240714057 meters 0.060609975006019036 Centerline is valid? [True, True] Translation: X:878.25, Y:-140.76, Z:-57.90 [[ 9.98039439e-01 2.52014522e-02 5.72901817e-02 8.78254656e+02] [-2.47848912e-02 9.99661036e-01 -7.97014239e-03 -1.40761753e+02] [-5.74716215e-02 6.53458552e-03 9.98325754e-01 -5.79025505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.300714057 meters 0.059740660444258326 Centerline is valid? [True, True] Translation: X:878.32, Y:-140.76, Z:-57.91 [[ 9.98129822e-01 2.73960182e-02 5.46472041e-02 8.78315787e+02] [-2.70202518e-02 9.99605970e-01 -7.60339407e-03 -1.40762082e+02] [-5.48339742e-02 6.11259315e-03 9.98476776e-01 -5.79059858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.360714057 meters 0.05394592812598412 Centerline is valid? [True, True] Translation: X:878.38, Y:-140.75, Z:-57.91 [[ 9.98045677e-01 3.44356926e-02 5.21441288e-02 8.78378005e+02] [-3.41030315e-02 9.99391980e-01 -7.25626933e-03 -1.40752062e+02] [-5.23622988e-02 5.46381537e-03 9.98613207e-01 -5.79086940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.420714057 meters 0.0519009397236274 Centerline is valid? [True, True] Translation: X:878.44, Y:-140.75, Z:-57.91 [[ 9.97916797e-01 4.05058726e-02 5.02129549e-02 8.78439599e+02] [-4.02050326e-02 9.99167019e-01 -6.98733316e-03 -1.40748487e+02] [-5.04541565e-02 4.95396364e-03 9.98714091e-01 -5.79118848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.480714057 meters 0.04965037491492313 Centerline is valid? [True, True] Translation: X:878.50, Y:-140.74, Z:-57.92 [[ 9.97611817e-01 4.94306781e-02 4.82417955e-02 8.78501267e+02] [-4.91633391e-02 9.98768190e-01 -6.71328437e-03 -1.40739263e+02] [-4.85142130e-02 4.32552406e-03 9.98813126e-01 -5.79150251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5407140570001 meters 0.048668435665079564 Centerline is valid? [True, True] Translation: X:878.56, Y:-140.73, Z:-57.92 [[ 9.97437813e-01 5.58956229e-02 4.46485127e-02 8.78561697e+02] [-5.56731010e-02 9.98429720e-01 -6.21286186e-03 -1.40732022e+02] [-4.49256739e-02 3.71122218e-03 9.98983439e-01 -5.79214060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.600714057 meters 0.04908195863405426 Centerline is valid? [True, True] Translation: X:878.62, Y:-140.73, Z:-57.93 [[ 9.97455258e-01 5.76951687e-02 4.18840691e-02 8.78622169e+02] [-5.75009828e-02 9.98328443e-01 -5.82728142e-03 -1.40726932e+02] [-4.21502635e-02 3.40407735e-03 9.99105484e-01 -5.79263897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6607140570001 meters 0.048043802876233783 Centerline is valid? [True, True] Translation: X:878.68, Y:-140.72, Z:-57.93 [[ 9.97726973e-01 5.36981374e-02 4.07111462e-02 8.78683590e+02] [-5.35114602e-02 9.98551183e-01 -5.66212048e-03 -1.40723157e+02] [-4.09562085e-02 3.47073745e-03 9.99154914e-01 -5.79286387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.720714057 meters 0.05018547452005306 Centerline is valid? [True, True] Translation: X:878.74, Y:-140.73, Z:-57.93 [[ 9.98089846e-01 4.60515554e-02 4.11814832e-02 8.78744494e+02] [-4.58540912e-02 9.98931730e-01 -5.72726033e-03 -1.40726334e+02] [-4.14012395e-02 3.82798089e-03 9.99135268e-01 -5.79302636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7807140570001 meters 0.05280810827689432 Centerline is valid? [True, True] Translation: X:878.80, Y:-140.73, Z:-57.93 [[ 9.98337118e-01 4.03536180e-02 4.11653323e-02 8.78804641e+02] [-4.01515370e-02 9.99177204e-01 -5.72436609e-03 -1.40733179e+02] [-4.13624605e-02 4.06199578e-03 9.99135950e-01 -5.79323919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.840714057 meters 0.0528490382747273 Centerline is valid? [True, True] Translation: X:878.87, Y:-140.74, Z:-57.93 [[ 9.98545908e-01 3.41950744e-02 4.16745361e-02 8.78865330e+02] [-3.39826439e-02 9.99405620e-01 -5.79537559e-03 -1.40735445e+02] [-4.18479389e-02 4.37073766e-03 9.99114431e-01 -5.79327150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9007140570001 meters 0.06000381849443307 Centerline is valid? [True, True] Translation: X:878.92, Y:-140.75, Z:-57.94 [[ 9.98580107e-01 3.21001201e-02 4.25129661e-02 8.78923546e+02] [-3.18771669e-02 9.99474309e-01 -5.91209208e-03 -1.40749755e+02] [-4.26803962e-02 4.54850462e-03 9.99078423e-01 -5.79367287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.960714057 meters 0.056918397151626915 Centerline is valid? [True, True] Translation: X:878.98, Y:-140.75, Z:-57.94 [[ 9.98472695e-01 3.55646102e-02 4.22780841e-02 8.78984171e+02] [-3.53471921e-02 9.99357799e-01 -5.87927409e-03 -1.40752268e+02] [-4.24600272e-02 4.37588308e-03 9.99088584e-01 -5.79396269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0207140570001 meters 0.05947068425694887 Centerline is valid? [True, True] Translation: X:879.04, Y:-140.76, Z:-57.94 [[ 9.98314258e-01 4.01187015e-02 4.19420127e-02 8.79043064e+02] [-3.99086974e-02 9.99186307e-01 -5.83270829e-03 -1.40762516e+02] [-4.21418854e-02 4.14902476e-03 9.99103021e-01 -5.79439912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.080714057 meters 0.05427657706876698 Centerline is valid? [True, True] Translation: X:879.10, Y:-140.77, Z:-57.95 [[ 9.98141730e-01 4.41340833e-02 4.20151036e-02 8.79103807e+02] [-4.39268417e-02 9.99017661e-01 -5.84349078e-03 -1.40765045e+02] [-4.22317276e-02 3.98704119e-03 9.99099887e-01 -5.79471893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1407140570001 meters 0.04796159552570962 Centerline is valid? [True, True] Translation: X:879.16, Y:-140.77, Z:-57.95 [[ 9.98045737e-01 4.69592927e-02 4.12253872e-02 8.79164594e+02] [-4.67621486e-02 9.98889595e-01 -5.73398780e-03 -1.40766278e+02] [-4.14488743e-02 3.79499440e-03 9.99133419e-01 -5.79495803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.200714057 meters 0.04847413704616914 Centerline is valid? [True, True] Translation: X:879.22, Y:-140.78, Z:-57.95 [[ 9.98015320e-01 4.86760644e-02 3.99507479e-02 8.79223479e+02] [-4.84922341e-02 9.98808094e-01 -5.55820916e-03 -1.40777070e+02] [-4.01736821e-02 3.60987687e-03 9.99186191e-01 -5.79534790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2607140570001 meters 0.049106612185584625 Centerline is valid? [True, True] Translation: X:879.28, Y:-140.79, Z:-57.96 [[ 9.97910674e-01 5.05082324e-02 4.02890172e-02 8.79282313e+02] [-5.03228339e-02 9.98717285e-01 -5.60330389e-03 -1.40790042e+02] [-4.05203508e-02 3.56413925e-03 9.99172357e-01 -5.79567993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.320714057 meters 0.049304804827364976 Centerline is valid? [True, True] Translation: X:879.34, Y:-140.80, Z:-57.96 [[ 9.97717659e-01 5.40465639e-02 4.04776690e-02 8.79340328e+02] [-5.38623389e-02 9.98532505e-01 -5.62888505e-03 -1.40801826e+02] [-4.07224901e-02 3.43581608e-03 9.99164588e-01 -5.79598319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.380714057 meters 0.049500596215326764 Centerline is valid? [True, True] Translation: X:879.40, Y:-140.81, Z:-57.96 [[ 9.97598100e-01 5.58701344e-02 4.09458176e-02 8.79399048e+02] [-5.56831674e-02 9.98432256e-01 -5.69343490e-03 -1.40811446e+02] [-4.11997180e-02 3.39976702e-03 9.99145147e-01 -5.79636710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.440714057 meters 0.04023221087932045 Centerline is valid? [True, True] Translation: X:879.46, Y:-140.81, Z:-57.96 [[ 9.97218309e-01 6.26948153e-02 4.03113482e-02 8.79460517e+02] [-6.25192198e-02 9.98028031e-01 -5.60319632e-03 -1.40809783e+02] [-4.05831469e-02 3.06737591e-03 9.99171457e-01 -5.79640248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.500714057 meters 0.039857994794447786 Centerline is valid? [True, True] Translation: X:879.52, Y:-140.82, Z:-57.97 [[ 9.96560579e-01 7.26154665e-02 3.99250045e-02 8.79518548e+02] [-7.24511257e-02 9.97356523e-01 -5.54973872e-03 -1.40819715e+02] [-4.02224605e-02 2.63803931e-03 9.99187267e-01 -5.79689508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.560714057 meters 0.036041634380039024 Centerline is valid? [True, True] Translation: X:879.58, Y:-140.82, Z:-57.97 [[ 9.95568262e-01 8.46402089e-02 4.09862171e-02 8.79577529e+02] [-8.44772076e-02 9.96409132e-01 -5.69582511e-03 -1.40822980e+02] [-4.13211369e-02 2.20818154e-03 9.99143477e-01 -5.79714983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.620714057 meters 0.02853740926197685 Centerline is valid? [True, True] Translation: X:879.64, Y:-140.82, Z:-57.97 [[ 9.94384832e-01 9.70789972e-02 4.21245184e-02 8.79638523e+02] [-9.69179761e-02 9.95275163e-01 -5.85287231e-03 -1.40820585e+02] [-4.24936779e-02 1.73738438e-03 9.99095225e-01 -5.79722141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.680714057 meters 0.02602501988899896 Centerline is valid? [True, True] Translation: X:879.70, Y:-140.83, Z:-57.98 [[ 9.93693040e-01 1.04155222e-01 4.15431341e-02 8.79698127e+02] [-1.04004779e-01 9.94560047e-01 -5.77227153e-03 -1.40825471e+02] [-4.19183536e-02 1.41518158e-03 9.99120037e-01 -5.79758917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.740714057 meters 0.02528278768068001 Centerline is valid? [True, True] Translation: X:879.76, Y:-140.83, Z:-57.98 [[ 9.92996650e-01 1.10698252e-01 4.12740814e-02 8.79756351e+02] [-1.10555423e-01 9.93853419e-01 -5.73413808e-03 -1.40833462e+02] [-4.16551460e-02 1.13090636e-03 9.99131408e-01 -5.79809481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.800714057 meters 0.024203960244605117 Centerline is valid? [True, True] Translation: X:879.81, Y:-140.84, Z:-57.98 [[ 9.92750771e-01 1.12401413e-01 4.25655771e-02 8.79814805e+02] [-1.12250946e-01 9.93662278e-01 -5.91629995e-03 -1.40842662e+02] [-4.29608088e-02 1.09538503e-03 9.99076158e-01 -5.79825141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.860714057 meters 0.0248615210914752 Centerline is valid? [True, True] Translation: X:879.87, Y:-140.86, Z:-57.99 [[ 9.92853899e-01 1.10958504e-01 4.39243104e-02 8.79870941e+02] [-1.10797476e-01 9.93824338e-01 -6.09128928e-03 -1.40855283e+02] [-4.43289291e-02 1.18105756e-03 9.99016292e-01 -5.79858494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.920714057 meters 0.02585894851201104 Centerline is valid? [True, True] Translation: X:879.93, Y:-140.87, Z:-57.99 [[ 9.93361839e-01 1.05179766e-01 4.65776166e-02 8.79928097e+02] [-1.04992577e-01 9.94452062e-01 -6.45409011e-03 -1.40874839e+02] [-4.69980466e-02 1.52094282e-03 9.98893823e-01 -5.79887424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.980714057 meters 0.026988455616684268 Centerline is valid? [True, True] Translation: X:879.99, Y:-140.89, Z:-57.99 [[ 9.93652228e-01 1.02158113e-01 4.71059516e-02 8.79985441e+02] [-1.01963382e-01 9.94766755e-01 -6.52471689e-03 -1.40889833e+02] [-4.75259874e-02 1.68021733e-03 9.98868589e-01 -5.79935458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0407140570001 meters 0.02794497212457135 Centerline is valid? [True, True] Translation: X:880.04, Y:-140.91, Z:-58.00 [[ 9.94141072e-01 9.80730313e-02 4.54445843e-02 8.80043513e+02] [-9.78876775e-02 9.95177581e-01 -6.29164880e-03 -1.40905128e+02] [-4.58424726e-02 1.80632167e-03 9.98947048e-01 -5.79987080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.100714057 meters 0.028034622387213097 Centerline is valid? [True, True] Translation: X:880.10, Y:-140.92, Z:-58.00 [[ 9.94480614e-01 9.45081248e-02 4.55688906e-02 8.80101003e+02] [-9.43180256e-02 9.95522129e-01 -6.30872595e-03 -1.40918958e+02] [-4.59610649e-02 1.97593786e-03 9.98941278e-01 -5.80029335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1607140570001 meters 0.03118099470074546 Centerline is valid? [True, True] Translation: X:880.16, Y:-140.94, Z:-58.01 [[ 9.94607519e-01 9.25174627e-02 4.68657892e-02 8.80157311e+02] [-9.23142723e-02 9.95708795e-01 -6.48622365e-03 -1.40935065e+02] [-4.72647674e-02 2.12486559e-03 9.98880136e-01 -5.80077292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.220714057 meters 0.029953089056979864 Centerline is valid? [True, True] Translation: X:880.22, Y:-140.94, Z:-58.01 [[ 9.94565582e-01 9.24231295e-02 4.79298371e-02 8.80215728e+02] [-9.22107185e-02 9.95717451e-01 -6.62877506e-03 -1.40941907e+02] [-4.83372274e-02 2.17310681e-03 9.98828709e-01 -5.80100612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2807140570001 meters 0.029682519000744093 Centerline is valid? [True, True] Translation: X:880.27, Y:-140.95, Z:-58.01 [[ 9.94548007e-01 9.17962499e-02 4.94743443e-02 8.80272796e+02] [-9.15692980e-02 9.95775220e-01 -6.83926462e-03 -1.40950069e+02] [-4.98931449e-02 2.27164602e-03 9.98751978e-01 -5.80128497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.340714057 meters 0.029940009627919227 Centerline is valid? [True, True] Translation: X:880.33, Y:-140.96, Z:-58.01 [[ 9.94619704e-01 8.98945185e-02 5.14841763e-02 8.80330647e+02] [-8.96465166e-02 9.95948260e-01 -7.11087566e-03 -1.40959554e+02] [-5.19148046e-02 2.45723997e-03 9.98648494e-01 -5.80149713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4007140570001 meters 0.031646279265908635 Centerline is valid? [True, True] Translation: X:880.39, Y:-140.97, Z:-58.02 [[ 9.94896194e-01 8.68344300e-02 5.13940275e-02 8.80389372e+02] [-8.65834400e-02 9.96219343e-01 -7.09428583e-03 -1.40969265e+02] [-5.18157526e-02 2.60820627e-03 9.98653256e-01 -5.80187684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.460714057 meters 0.03338864671637131 Centerline is valid? [True, True] Translation: X:880.45, Y:-140.98, Z:-58.02 [[ 9.95212132e-01 8.32962850e-02 5.11325847e-02 8.80448599e+02] [-8.30432945e-02 9.96520959e-01 -7.05615935e-03 -1.40980077e+02] [-5.15424442e-02 2.77615710e-03 9.98666946e-01 -5.80230059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5207140570001 meters 0.037010504373290495 Centerline is valid? [True, True] Translation: X:880.51, Y:-140.99, Z:-58.03 [[ 9.95539250e-01 7.96565859e-02 5.05611523e-02 8.80506151e+02] [-7.94045918e-02 9.96818058e-01 -6.97641318e-03 -1.40991697e+02] [-5.09559869e-02 2.93050548e-03 9.98696600e-01 -5.80279492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.580714057 meters 0.033959603007363816 Centerline is valid? [True, True] Translation: X:880.57, Y:-140.99, Z:-58.03 [[ 9.95625667e-01 7.86456483e-02 5.04419823e-02 8.80565435e+02] [-7.83935544e-02 9.96898195e-01 -6.95987488e-03 -1.40993371e+02] [-5.08328850e-02 2.97510379e-03 9.98702742e-01 -5.80313184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6407140570001 meters 0.03351041308487879 Centerline is valid? [True, True] Translation: X:880.62, Y:-141.00, Z:-58.04 [[ 9.95563183e-01 7.94478069e-02 5.04181903e-02 8.80624546e+02] [-7.91971594e-02 9.96834724e-01 -6.95297640e-03 -1.40996129e+02] [-5.08110015e-02 2.92914986e-03 9.98703991e-01 -5.80350346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.700714057 meters 0.033332249176966346 Centerline is valid? [True, True] Translation: X:880.68, Y:-141.00, Z:-58.04 [[ 9.95530058e-01 7.90495047e-02 5.16824950e-02 8.80682550e+02] [-7.87857575e-02 9.96866116e-01 -7.12394142e-03 -1.40998130e+02] [-5.20836721e-02 3.02025329e-03 9.98638157e-01 -5.80372823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7607140570001 meters 0.03623404981710621 Centerline is valid? [True, True] Translation: X:880.74, Y:-141.01, Z:-58.04 [[ 9.95735446e-01 7.54832590e-02 5.30395930e-02 8.80740878e+02] [-7.52007870e-02 9.97141660e-01 -7.30422245e-03 -1.41006769e+02] [-5.34393344e-02 3.28445407e-03 9.98565696e-01 -5.80414771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.820714057 meters 0.03772607940236139 Centerline is valid? [True, True] Translation: X:880.80, Y:-141.01, Z:-58.05 [[ 9.95966696e-01 7.23964240e-02 5.30009263e-02 8.80800543e+02] [-7.21101251e-02 9.97369985e-01 -7.29680276e-03 -1.41014243e+02] [-5.33897955e-02 3.44546911e-03 9.98567804e-01 -5.80453006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.880714057 meters 0.042254076247656404 Centerline is valid? [True, True] Translation: X:880.86, Y:-141.02, Z:-58.05 [[ 9.96357446e-01 6.66201397e-02 5.32315403e-02 8.80859175e+02] [-6.63231900e-02 9.97771287e-01 -7.32758018e-03 -1.41024991e+02] [-5.36010669e-02 3.77040351e-03 9.98555311e-01 -5.80502041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.940714057 meters 0.04604298509952989 Centerline is valid? [True, True] Translation: X:880.92, Y:-141.03, Z:-58.05 [[ 9.96699610e-01 6.16683481e-02 5.27911193e-02 8.80918457e+02] [-6.13694410e-02 9.98088672e-01 -7.26602606e-03 -1.41033996e+02] [-5.31383019e-02 4.00228386e-03 9.98579142e-01 -5.80549441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.000714057 meters 0.04796385313527341 Centerline is valid? [True, True] Translation: X:880.98, Y:-141.04, Z:-58.06 [[ 9.96906491e-01 5.78965807e-02 5.31548169e-02 8.80979100e+02] [-5.75882375e-02 9.98313617e-01 -7.31555662e-03 -1.41038710e+02] [-5.34887232e-02 4.23183366e-03 9.98559487e-01 -5.80578983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.060714057 meters 0.04984244763754277 Centerline is valid? [True, True] Translation: X:881.04, Y:-141.04, Z:-58.06 [[ 9.96943656e-01 5.63481619e-02 5.41131440e-02 8.81039691e+02] [-5.60263226e-02 9.98401516e-01 -7.44742220e-03 -1.41042339e+02] [-5.44462935e-02 4.39289985e-03 9.98507037e-01 -5.80615853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.120714057 meters 0.05207891283480541 Centerline is valid? [True, True] Translation: X:881.10, Y:-141.05, Z:-58.07 [[ 9.96939527e-01 5.60139897e-02 5.45345122e-02 8.81099073e+02] [-5.56866158e-02 9.98420087e-01 -7.50541378e-03 -1.41048628e+02] [-5.48687605e-02 4.44560123e-03 9.98483678e-01 -5.80656305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.180714057 meters 0.05516741281182517 Centerline is valid? [True, True] Translation: X:881.16, Y:-141.05, Z:-58.07 [[ 9.96983371e-01 5.48741605e-02 5.48906578e-02 8.81158719e+02] [-5.45407763e-02 9.98482966e-01 -7.55442899e-03 -1.41053692e+02] [-5.52219298e-02 4.53786099e-03 9.98463793e-01 -5.80698966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.240714057 meters 0.056178632341668804 Centerline is valid? [True, True] Translation: X:881.22, Y:-141.06, Z:-58.07 [[ 9.97079602e-01 5.32371160e-02 5.47546898e-02 8.81219456e+02] [-5.29029424e-02 9.98571226e-01 -7.53556305e-03 -1.41059186e+02] [-5.50776294e-02 4.61687200e-03 9.98471401e-01 -5.80737149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.300714057 meters 0.05881952374883458 Centerline is valid? [True, True] Translation: X:881.28, Y:-141.07, Z:-58.08 [[ 9.97174234e-01 5.16931476e-02 5.45102343e-02 8.81279502e+02] [-5.13596320e-02 9.98652042e-01 -7.50254889e-03 -1.41067459e+02] [-5.48245871e-02 4.68172287e-03 9.98485026e-01 -5.80788431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.360714057 meters 0.05696728655301018 Centerline is valid? [True, True] Translation: X:881.34, Y:-141.07, Z:-58.09 [[ 9.97117893e-01 5.49926228e-02 5.22658523e-02 8.81340180e+02] [-5.46903949e-02 9.98477428e-01 -7.19630960e-03 -1.41068433e+02] [-5.25820177e-02 4.31712896e-03 9.98607277e-01 -5.80861908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.420714057 meters 0.054957020637861016 Centerline is valid? [True, True] Translation: X:881.40, Y:-141.07, Z:-58.09 [[ 9.96734189e-01 6.08007202e-02 5.31434674e-02 8.81400585e+02] [-6.04964217e-02 9.98141592e-01 -7.31747277e-03 -1.41068317e+02] [-5.34896128e-02 4.07858567e-03 9.98560077e-01 -5.80888242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.480714057 meters 0.03689895696109712 Centerline is valid? [True, True] Translation: X:881.46, Y:-141.05, Z:-58.09 [[ 9.96402984e-01 6.57203143e-02 5.34970523e-02 8.81463963e+02] [-6.54190420e-02 9.97830698e-01 -7.36523668e-03 -1.41046662e+02] [-5.38650467e-02 3.83901790e-03 9.98540845e-01 -5.80894045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5407140570001 meters 0.040233422973638536 Centerline is valid? [True, True] Translation: X:881.52, Y:-141.06, Z:-58.10 [[ 9.96097266e-01 7.04779716e-02 5.31327712e-02 8.81522854e+02] [-7.01876153e-02 9.97506999e-01 -7.31334529e-03 -1.41056184e+02] [-5.35157409e-02 3.55554075e-03 9.98560676e-01 -5.80955422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.600714057 meters 0.03619869539433423 Centerline is valid? [True, True] Translation: X:881.58, Y:-141.06, Z:-58.10 [[ 9.95869367e-01 7.37907572e-02 5.29067943e-02 8.81583896e+02] [-7.35075191e-02 9.97268075e-01 -7.28223833e-03 -1.41055364e+02] [-5.32996188e-02 3.36311088e-03 9.98572902e-01 -5.80984126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6607140570001 meters 0.03398799766547685 Centerline is valid? [True, True] Translation: X:881.65, Y:-141.06, Z:-58.10 [[ 9.95465263e-01 7.84995697e-02 5.37282798e-02 8.81645209e+02] [-7.82143540e-02 9.96909145e-01 -7.39399266e-03 -1.41056594e+02] [-5.41426387e-02 3.15814015e-03 9.98528217e-01 -5.81013051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.720714057 meters 0.032618438173810355 Centerline is valid? [True, True] Translation: X:881.71, Y:-141.06, Z:-58.11 [[ 9.95167901e-01 8.29235448e-02 5.25788429e-02 8.81705761e+02] [-8.26565110e-02 9.96551820e-01 -7.23680744e-03 -1.41060324e+02] [-5.29976433e-02 2.85585477e-03 9.98590554e-01 -5.81070326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7807140570001 meters 0.032139846833749 Centerline is valid? [True, True] Translation: X:881.77, Y:-141.07, Z:-58.11 [[ 9.94868995e-01 8.61929503e-02 5.29760114e-02 8.81765537e+02] [-8.59264875e-02 9.96274799e-01 -7.29133571e-03 -1.41066553e+02] [-5.34071268e-02 2.70188125e-03 9.98569166e-01 -5.81112649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.840714057 meters 0.032948594920201205 Centerline is valid? [True, True] Translation: X:881.82, Y:-141.07, Z:-58.11 [[ 9.94812805e-01 8.67222859e-02 5.31669804e-02 8.81822399e+02] [-8.64546599e-02 9.96228913e-01 -7.31743349e-03 -1.41074374e+02] [-5.36010676e-02 2.68294333e-03 9.98558825e-01 -5.81140258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9007140570001 meters 0.03472694618181192 Centerline is valid? [True, True] Translation: X:881.88, Y:-141.09, Z:-58.12 [[ 9.94890576e-01 8.55248046e-02 5.36493257e-02 8.81880158e+02] [-8.52508238e-02 9.96332198e-01 -7.37894373e-03 -1.41085235e+02] [-5.40836333e-02 2.76759236e-03 9.98532574e-01 -5.81180377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.960714057 meters 0.03645290226363597 Centerline is valid? [True, True] Translation: X:881.94, Y:-141.10, Z:-58.12 [[ 9.95105501e-01 8.25215844e-02 5.43620218e-02 8.81938604e+02] [-8.22360245e-02 9.96584865e-01 -7.47289468e-03 -1.41098174e+02] [-5.47930433e-02 2.96580205e-03 9.98493328e-01 -5.81209123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0207140570001 meters 0.03523778676038202 Centerline is valid? [True, True] Translation: X:882.00, Y:-141.11, Z:-58.12 [[ 9.95431270e-01 7.80436054e-02 5.50071072e-02 8.81997944e+02] [-7.77445238e-02 9.96944654e-01 -7.55948014e-03 -1.41106817e+02] [-5.54290106e-02 3.24844156e-03 9.98457346e-01 -5.81224737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.080714057 meters 0.038241211117088704 Centerline is valid? [True, True] Translation: X:882.06, Y:-141.12, Z:-58.13 [[ 9.95783180e-01 7.38274348e-02 5.44551955e-02 8.82056385e+02] [-7.35280788e-02 9.97265072e-01 -7.48317944e-03 -1.41123645e+02] [-5.48587284e-02 3.44763831e-03 9.98488174e-01 -5.81278013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1407140570001 meters 0.037807726270734664 Centerline is valid? [True, True] Translation: X:882.12, Y:-141.13, Z:-58.13 [[ 9.96221901e-01 6.95025394e-02 5.20703440e-02 8.82115611e+02] [-6.92229863e-02 9.97575551e-01 -7.15530075e-03 -1.41133940e+02] [-5.24414137e-02 3.52380260e-03 9.98617785e-01 -5.81318626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.200714057 meters 0.03714379671180692 Centerline is valid? [True, True] Translation: X:882.18, Y:-141.14, Z:-58.14 [[ 9.96431770e-01 6.72725416e-02 5.09718887e-02 8.82175547e+02] [-6.70017702e-02 9.97728271e-01 -7.00433328e-03 -1.41142234e+02] [-5.13272937e-02 3.56413343e-03 9.98675526e-01 -5.81357847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2607140570001 meters 0.03756293383780585 Centerline is valid? [True, True] Translation: X:882.23, Y:-141.15, Z:-58.14 [[ 9.96384074e-01 6.64221746e-02 5.29799267e-02 8.82233219e+02] [-6.61283843e-02 9.97784557e-01 -7.28108087e-03 -1.41153038e+02] [-5.33461779e-02 3.75127606e-03 9.98569033e-01 -5.81371614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.320714057 meters 0.03799577058622895 Centerline is valid? [True, True] Translation: X:882.29, Y:-141.16, Z:-58.14 [[ 9.96285645e-01 6.67940531e-02 5.43458249e-02 8.82291707e+02] [-6.64856744e-02 9.97759457e-01 -7.46469609e-03 -1.41161454e+02] [-5.47226580e-02 3.82375074e-03 9.98494271e-01 -5.81394191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3807140570001 meters 0.04056356331184743 Centerline is valid? [True, True] Translation: X:882.35, Y:-141.17, Z:-58.14 [[ 9.96223322e-01 6.64031633e-02 5.59438332e-02 8.82348530e+02] [-6.60759747e-02 9.97785038e-01 -7.68012724e-03 -1.41172439e+02] [-5.63299045e-02 3.95457856e-03 9.98404379e-01 -5.81426358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.440714057 meters 0.03816090254884991 Centerline is valid? [True, True] Translation: X:882.41, Y:-141.18, Z:-58.15 [[ 9.96293315e-01 6.53701143e-02 5.59140252e-02 8.82406695e+02] [-6.50419462e-02 9.97853046e-01 -7.67091154e-03 -1.41177740e+02] [-5.62954288e-02 4.00572087e-03 9.98406119e-01 -5.81466307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.500714057 meters 0.0395534217948673 Centerline is valid? [True, True] Translation: X:882.47, Y:-141.19, Z:-58.15 [[ 9.96638522e-01 6.20531531e-02 5.34889127e-02 8.82465979e+02] [-6.17483571e-02 9.98064805e-01 -7.33379860e-03 -1.41187741e+02] [-5.38404865e-02 4.00629371e-03 9.98541512e-01 -5.81529825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.560714057 meters 0.040286475940684754 Centerline is valid? [True, True] Translation: X:882.53, Y:-141.20, Z:-58.16 [[ 9.96975747e-01 5.88866619e-02 5.07121324e-02 8.82525460e+02] [-5.86086675e-02 9.98256822e-01 -6.95281225e-03 -1.41196338e+02] [-5.10331600e-02 3.95961469e-03 9.98689110e-01 -5.81587368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.620714057 meters 0.04387688913091394 Centerline is valid? [True, True] Translation: X:882.58, Y:-141.21, Z:-58.16 [[ 9.97054271e-01 5.76894682e-02 5.05441021e-02 8.82582397e+02] [-5.74117490e-02 9.98326529e-01 -6.93052366e-03 -1.41207995e+02] [-5.08593362e-02 4.00828292e-03 9.98697783e-01 -5.81626722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.680714057 meters 0.04430363026183983 Centerline is valid? [True, True] Translation: X:882.64, Y:-141.21, Z:-58.16 [[ 9.96866238e-01 5.91325897e-02 5.25456015e-02 8.82641240e+02] [-5.88346369e-02 9.98241773e-01 -7.20056555e-03 -1.41214446e+02] [-5.28790025e-02 4.08649931e-03 9.98592565e-01 -5.81638438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.740714057 meters 0.04314570979359867 Centerline is valid? [True, True] Translation: X:882.70, Y:-141.22, Z:-58.17 [[ 9.96626821e-01 6.11943161e-02 5.46830537e-02 8.82701025e+02] [-6.08747929e-02 9.98117297e-01 -7.49142701e-03 -1.41217794e+02] [-5.50385345e-02 4.13733751e-03 9.98475659e-01 -5.81650600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.800714057 meters 0.04291697270830442 Centerline is valid? [True, True] Translation: X:882.76, Y:-141.22, Z:-58.17 [[ 9.96628816e-01 6.10526661e-02 5.48048786e-02 8.82759013e+02] [-6.07315920e-02 9.98125907e-01 -7.50650353e-03 -1.41223943e+02] [-5.51604613e-02 4.15281019e-03 9.98468867e-01 -5.81683567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.860714057 meters 0.04626690181575477 Centerline is valid? [True, True] Translation: X:882.82, Y:-141.24, Z:-58.18 [[ 9.96890605e-01 5.83540827e-02 5.29520727e-02 8.82817772e+02] [-5.80508186e-02 9.98287314e-01 -7.24853283e-03 -1.41236337e+02] [-5.32843639e-02 4.15208311e-03 9.98570747e-01 -5.81751712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.920714057 meters 0.04557687739581196 Centerline is valid? [True, True] Translation: X:882.88, Y:-141.24, Z:-58.18 [[ 9.97090743e-01 5.62686897e-02 5.14187288e-02 8.82876970e+02] [-5.59800433e-02 9.98407083e-01 -7.03781249e-03 -1.41243819e+02] [-5.17328315e-02 4.13891502e-03 9.98652384e-01 -5.81803020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.980714057 meters 0.051524694262020776 Centerline is valid? [True, True] Translation: X:882.93, Y:-141.26, Z:-58.19 [[ 9.97389581e-01 5.26111621e-02 4.94579655e-02 8.82934389e+02] [-5.23397209e-02 9.98606400e-01 -6.76839358e-03 -1.41259681e+02] [-4.97451339e-02 4.16210913e-03 9.98753272e-01 -5.81870824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0407140570001 meters 0.05575735397637942 Centerline is valid? [True, True] Translation: X:882.99, Y:-141.27, Z:-58.19 [[ 9.97614985e-01 4.89000919e-02 4.87147092e-02 8.82992480e+02] [-4.86324065e-02 9.98794501e-01 -6.66586020e-03 -1.41272700e+02] [-4.89819449e-02 4.28084848e-03 9.98790490e-01 -5.81910370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.100714057 meters 0.047392816161730585 Centerline is valid? [True, True] Translation: X:883.05, Y:-141.27, Z:-58.19 [[ 9.97679308e-01 4.57825038e-02 5.03980198e-02 8.83054033e+02] [-4.54920816e-02 9.98940902e-01 -6.89525260e-03 -1.41268739e+02] [-5.06603253e-02 4.58654001e-03 9.98705410e-01 -5.81909257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1607140570001 meters 0.052565127119657086 Centerline is valid? [True, True] Translation: X:883.11, Y:-141.28, Z:-58.19 [[ 9.97843603e-01 4.11448315e-02 5.11394830e-02 8.83111745e+02] [-4.08397645e-02 9.99141212e-01 -6.99653371e-03 -1.41284277e+02] [-5.13834362e-02 4.89292196e-03 9.98667013e-01 -5.81940432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.220714057 meters 0.0522594459391038 Centerline is valid? [True, True] Translation: X:883.17, Y:-141.29, Z:-58.20 [[ 9.97901993e-01 3.95832721e-02 5.12325754e-02 8.83172643e+02] [-3.92751876e-02 9.99203866e-01 -7.00668490e-03 -1.41292667e+02] [-5.14691350e-02 4.97981581e-03 9.98662170e-01 -5.81979591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2807140570001 meters 0.05545785645858307 Centerline is valid? [True, True] Translation: X:883.23, Y:-141.30, Z:-58.20 [[ 9.98229162e-01 3.45608587e-02 4.84157812e-02 8.83232159e+02] [-3.42798078e-02 9.99390326e-01 -6.62354420e-03 -1.41304913e+02] [-4.86151787e-02 4.95213130e-03 9.98805307e-01 -5.82036501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.340714057 meters 0.061027460825959376 Centerline is valid? [True, True] Translation: X:883.29, Y:-141.32, Z:-58.21 [[ 9.98472401e-01 3.15074905e-02 4.53887906e-02 8.83290401e+02] [-3.12574512e-02 9.99492086e-01 -6.20825097e-03 -1.41318673e+02] [-4.55613434e-02 4.78002934e-03 9.98950107e-01 -5.82103344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4007140570001 meters 0.06316953773357933 Centerline is valid? [True, True] Translation: X:883.35, Y:-141.33, Z:-58.22 [[ 9.98570734e-01 3.12510091e-02 4.33574058e-02 8.83351738e+02] [-3.10224736e-02 9.99501072e-01 -5.93400026e-03 -1.41328021e+02] [-4.35212171e-02 4.58046501e-03 9.99042003e-01 -5.82159074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.460714057 meters 0.05844861508065142 Centerline is valid? [True, True] Translation: X:883.41, Y:-141.33, Z:-58.22 [[ 9.98406382e-01 3.53357280e-02 4.40009453e-02 8.83413847e+02] [-3.51040884e-02 9.99365492e-01 -6.02626425e-03 -1.41325170e+02] [-4.41859688e-02 4.47204761e-03 9.99013314e-01 -5.82174046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5207140570001 meters 0.05370829597651806 Centerline is valid? [True, True] Translation: X:883.47, Y:-141.32, Z:-58.22 [[ 9.98261597e-01 3.87676176e-02 4.43943201e-02 8.83474748e+02] [-3.85351246e-02 9.99238742e-01 -6.08119279e-03 -1.41323411e+02] [-4.45962780e-02 4.35988057e-03 9.98995577e-01 -5.82199039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.580714057 meters 0.050888989630476146 Centerline is valid? [True, True] Translation: X:883.54, Y:-141.32, Z:-58.22 [[ 9.98034241e-01 4.44871288e-02 4.41423863e-02 8.83536149e+02] [-4.42628139e-02 9.99001623e-01 -6.04656943e-03 -1.41324075e+02] [-4.43673101e-02 4.08081710e-03 9.99006951e-01 -5.82239133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6407140570001 meters 0.04947019633069465 Centerline is valid? [True, True] Translation: X:883.60, Y:-141.33, Z:-58.23 [[ 9.97780180e-01 4.90583130e-02 4.50332629e-02 8.83597204e+02] [-4.88294612e-02 9.98788082e-01 -6.16854691e-03 -1.41327862e+02] [-4.52813048e-02 3.95590388e-03 9.98966443e-01 -5.82280282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.700714057 meters 0.050415569985935785 Centerline is valid? [True, True] Translation: X:883.66, Y:-141.33, Z:-58.23 [[ 9.97493748e-01 5.44310250e-02 4.52049373e-02 8.83656212e+02] [-5.42058402e-02 9.98510576e-01 -6.19329339e-03 -1.41333850e+02] [-4.54747152e-02 3.72739983e-03 9.98958536e-01 -5.82337770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7607140570001 meters 0.04507555778178793 Centerline is valid? [True, True] Translation: X:883.72, Y:-141.33, Z:-58.24 [[ 9.97093992e-01 6.16130803e-02 4.48040244e-02 8.83717749e+02] [-6.13991091e-02 9.98094424e-01 -6.13759782e-03 -1.41331779e+02] [-4.50968032e-02 3.36883473e-03 9.98976941e-01 -5.82384881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.820714057 meters 0.04182397639591206 Centerline is valid? [True, True] Translation: X:883.78, Y:-141.33, Z:-58.24 [[ 9.96803952e-01 6.63330433e-02 4.45175007e-02 8.83778838e+02] [-6.61265265e-02 9.97792616e-01 -6.09732886e-03 -1.41333895e+02] [-4.48236878e-02 3.13405382e-03 9.98989997e-01 -5.82423989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8807140570001 meters 0.04050616415080495 Centerline is valid? [True, True] Translation: X:883.84, Y:-141.34, Z:-58.25 [[ 9.96233822e-01 7.33110982e-02 4.62996253e-02 8.83837836e+02] [-7.30951332e-02 9.97304804e-01 -6.34273994e-03 -1.41340101e+02] [-4.66398320e-02 2.93457477e-03 9.98907460e-01 -5.82455454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.940714057 meters 0.039129875015657296 Centerline is valid? [True, True] Translation: X:883.90, Y:-141.35, Z:-58.25 [[ 9.95818221e-01 7.74864736e-02 4.83933689e-02 8.83897819e+02] [-7.72554858e-02 9.96989296e-01 -6.62827074e-03 -1.41347252e+02] [-4.87612721e-02 2.86189955e-03 9.98806362e-01 -5.82485335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.000714057 meters 0.03668785434886701 Centerline is valid? [True, True] Translation: X:883.96, Y:-141.35, Z:-58.25 [[ 9.95273444e-01 8.28735280e-02 5.06236173e-02 8.83957607e+02] [-8.26276676e-02 9.96556366e-01 -6.93388848e-03 -1.41351228e+02] [-5.10239239e-02 2.71820364e-03 9.98693732e-01 -5.82502077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.060714057 meters 0.03231384296993191 Centerline is valid? [True, True] Translation: X:884.02, Y:-141.35, Z:-58.25 [[ 9.94764098e-01 8.87619614e-02 5.06527740e-02 8.84018263e+02] [-8.85235040e-02 9.96049937e-01 -6.93629295e-03 -1.41350383e+02] [-5.10683714e-02 2.41601416e-03 9.98692237e-01 -5.82532550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.120714057 meters 0.03150964797011378 Centerline is valid? [True, True] Translation: X:884.08, Y:-141.36, Z:-58.26 [[ 9.94501890e-01 9.09676810e-02 5.18736068e-02 8.84077676e+02] [-9.07205524e-02 9.95851052e-01 -7.10380471e-03 -1.41358950e+02] [-5.23046026e-02 2.35874495e-03 9.98628392e-01 -5.82581199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.180714057 meters 0.03551841440694125 Centerline is valid? [True, True] Translation: X:884.13, Y:-141.38, Z:-58.26 [[ 9.94552351e-01 9.06665700e-02 5.14314527e-02 8.84133081e+02] [-9.04233433e-02 9.95878527e-01 -7.04124696e-03 -1.41375151e+02] [-5.18578850e-02 2.35228482e-03 9.98651704e-01 -5.82647296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.240714057 meters 0.03128582939693968 Centerline is valid? [True, True] Translation: X:884.19, Y:-141.38, Z:-58.27 [[ 9.94531223e-01 9.14085182e-02 5.05186048e-02 8.84191673e+02] [-9.11750380e-02 9.95810895e-01 -6.91183673e-03 -1.41377231e+02] [-5.09387778e-02 2.26800173e-03 9.98699203e-01 -5.82677048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.300714057 meters 0.02833789554936999 Centerline is valid? [True, True] Translation: X:884.25, Y:-141.38, Z:-58.27 [[ 9.94326204e-01 9.39603576e-02 4.98683332e-02 8.84250358e+02] [-9.37362253e-02 9.95573711e-01 -6.81949488e-03 -1.41380429e+02] [-5.02883638e-02 2.10633314e-03 9.98732519e-01 -5.82712457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.360714057 meters 0.029323784074481985 Centerline is valid? [True, True] Translation: X:884.31, Y:-141.39, Z:-58.28 [[ 9.94100552e-01 9.62841020e-02 4.99346073e-02 8.84307191e+02] [-9.60624679e-02 9.95351907e-01 -6.82517089e-03 -1.41388953e+02] [-5.03596621e-02 1.98806453e-03 9.98729169e-01 -5.82757841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.420714057 meters 0.028794335793291326 Centerline is valid? [True, True] Translation: X:884.37, Y:-141.40, Z:-58.28 [[ 9.93870264e-01 9.85308253e-02 5.01355683e-02 8.84365501e+02] [-9.83104934e-02 9.95132229e-01 -6.84790737e-03 -1.41395306e+02] [-5.05662498e-02 1.87707905e-03 9.98718945e-01 -5.82793165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.480714057 meters 0.02669132745430131 Centerline is valid? [True, True] Translation: X:884.42, Y:-141.40, Z:-58.28 [[ 9.93633816e-01 1.00981184e-01 4.99463662e-02 8.84424201e+02] [-1.00765771e-01 9.94886810e-01 -6.81871251e-03 -1.41401131e+02] [-5.03795426e-02 1.74241922e-03 9.98728625e-01 -5.82816561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5407140570001 meters 0.027587402681504718 Centerline is valid? [True, True] Translation: X:884.48, Y:-141.41, Z:-58.29 [[ 9.93649336e-01 1.00343126e-01 5.09141784e-02 8.84481075e+02] [-1.00118489e-01 9.94951249e-01 -6.94988986e-03 -1.41412659e+02] [-5.13544991e-02 1.80830282e-03 9.98678850e-01 -5.82853663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.600714057 meters 0.0289624348754939 Centerline is valid? [True, True] Translation: X:884.54, Y:-141.43, Z:-58.29 [[ 9.93807273e-01 9.85738012e-02 5.12865386e-02 8.84537662e+02] [-9.83443784e-02 9.95127935e-01 -6.98399048e-03 -1.41425144e+02] [-5.17251058e-02 1.89699777e-03 9.98659559e-01 -5.82890861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6607140570001 meters 0.029973686367821984 Centerline is valid? [True, True] Translation: X:884.60, Y:-141.44, Z:-58.29 [[ 9.94054429e-01 9.67264908e-02 4.99977828e-02 8.84595834e+02] [-9.65063770e-02 9.95309113e-01 -6.80362581e-03 -1.41438340e+02] [-5.04213397e-02 1.93806950e-03 9.98726155e-01 -5.82949682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.720714057 meters 0.02877020529092046 Centerline is valid? [True, True] Translation: X:884.65, Y:-141.45, Z:-58.30 [[ 9.94268700e-01 9.47542824e-02 4.95113872e-02 8.84653477e+02] [-9.45359222e-02 9.95498642e-01 -6.73887488e-03 -1.41446817e+02] [-4.99270560e-02 2.01964772e-03 9.98750825e-01 -5.82987324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7807140570001 meters 0.028776789250734784 Centerline is valid? [True, True] Translation: X:884.71, Y:-141.46, Z:-58.30 [[ 9.94550118e-01 9.20046951e-02 4.90428226e-02 8.84711612e+02] [-9.17878442e-02 9.95756311e-01 -6.66039287e-03 -1.41456748e+02] [-4.94474875e-02 2.12255956e-03 9.98774469e-01 -5.83015349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.840714057 meters 0.02983075795646411 Centerline is valid? [True, True] Translation: X:884.77, Y:-141.47, Z:-58.30 [[ 9.94683877e-01 9.03734688e-02 4.93621491e-02 8.84768790e+02] [-9.01518858e-02 9.95905480e-01 -6.70160662e-03 -1.41468456e+02] [-4.97656822e-02 2.21588922e-03 9.98758463e-01 -5.83048413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9007140570001 meters 0.029132466703311863 Centerline is valid? [True, True] Translation: X:884.83, Y:-141.48, Z:-58.31 [[ 9.94646898e-01 9.07955965e-02 4.93326287e-02 8.84827021e+02] [-9.05750250e-02 9.95867144e-01 -6.69300814e-03 -1.41475499e+02] [-4.97364397e-02 2.18887570e-03 9.98759979e-01 -5.83080619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.960714057 meters 0.029778096314973124 Centerline is valid? [True, True] Translation: X:884.88, Y:-141.48, Z:-58.31 [[ 9.94323525e-01 9.43138416e-02 4.92506546e-02 8.84884715e+02] [-9.40984956e-02 9.95540495e-01 -6.67809807e-03 -1.41483162e+02] [-4.96608581e-02 2.00577750e-03 9.98764124e-01 -5.83129558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0207140570001 meters 0.02705054562377738 Centerline is valid? [True, True] Translation: X:884.94, Y:-141.48, Z:-58.32 [[ 9.94009734e-01 9.73861105e-02 4.96043783e-02 8.84944722e+02] [-9.71716170e-02 9.95244932e-01 -6.72319354e-03 -1.41484332e+02] [-5.00232518e-02 1.86278218e-03 9.98746316e-01 -5.83151807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.080714057 meters 0.02756936219382879 Centerline is valid? [True, True] Translation: X:885.00, Y:-141.49, Z:-58.32 [[ 9.93877331e-01 9.86744152e-02 4.97112684e-02 8.85001435e+02] [-9.84606546e-02 9.95118142e-01 -6.73666418e-03 -1.41492655e+02] [-5.01333214e-02 1.80081379e-03 9.98740911e-01 -5.83195706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1407140570001 meters 0.027205323455945556 Centerline is valid? [True, True] Translation: X:885.06, Y:-141.50, Z:-58.32 [[ 9.93507168e-01 1.01776239e-01 5.08439265e-02 8.85059621e+02] [-1.01556931e-01 9.94805903e-01 -6.88508046e-03 -1.41499026e+02] [-5.12805758e-02 1.67682367e-03 9.98682878e-01 -5.83223044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.200714057 meters 0.0273520103600195 Centerline is valid? [True, True] Translation: X:885.12, Y:-141.51, Z:-58.33 [[ 9.93405763e-01 1.02433288e-01 5.15015680e-02 8.85117227e+02] [-1.02209165e-01 9.94738485e-01 -6.97377189e-03 -1.41507038e+02] [-5.19449381e-02 1.66385292e-03 9.98648564e-01 -5.83260246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2607140570001 meters 0.025759330973124824 Centerline is valid? [True, True] Translation: X:885.18, Y:-141.51, Z:-58.33 [[ 9.93478819e-01 1.02272177e-01 5.04007778e-02 8.85175407e+02] [-1.02058016e-01 9.94755129e-01 -6.81130066e-03 -1.41511480e+02] [-5.08330388e-02 1.62307952e-03 9.98705847e-01 -5.83285218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.320714057 meters 0.026606484392074903 Centerline is valid? [True, True] Translation: X:885.23, Y:-141.52, Z:-58.33 [[ 9.93624800e-01 1.01360657e-01 4.93535656e-02 8.85231820e+02] [-1.01154400e-01 9.94848410e-01 -6.66553818e-03 -1.41521999e+02] [-4.97749396e-02 1.63071371e-03 9.98759128e-01 -5.83343877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3807140570001 meters 0.026465465165739388 Centerline is valid? [True, True] Translation: X:885.29, Y:-141.53, Z:-58.34 [[ 9.93762282e-01 1.00450154e-01 4.84385486e-02 8.85290245e+02] [-1.00250477e-01 9.94940735e-01 -6.54038636e-03 -1.41529049e+02] [-4.88504680e-02 1.64360168e-03 9.98804751e-01 -5.83379607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.440714057 meters 0.026620014347827313 Centerline is valid? [True, True] Translation: X:885.35, Y:-141.54, Z:-58.34 [[ 9.93810882e-01 1.00067636e-01 4.82327680e-02 8.85347398e+02] [-9.98697565e-02 9.94979279e-01 -6.50125683e-03 -1.41537245e+02] [-4.86411701e-02 1.64402499e-03 9.98814965e-01 -5.83417373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.500714057 meters 0.026459289623987303 Centerline is valid? [True, True] Translation: X:885.41, Y:-141.54, Z:-58.34 [[ 9.93664663e-01 1.01024235e-01 4.92406482e-02 8.85405507e+02] [-1.00819893e-01 9.94882653e-01 -6.62244937e-03 -1.41543920e+02] [-4.96576945e-02 1.61605705e-03 9.98764988e-01 -5.83443827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.560714057 meters 0.02423756728211496 Centerline is valid? [True, True] Translation: X:885.47, Y:-141.54, Z:-58.34 [[ 9.93100765e-01 1.05213903e-01 5.17774534e-02 8.85465939e+02] [-1.04994456e-01 9.94448537e-01 -6.94776588e-03 -1.41543523e+02] [-5.22210144e-02 1.46348605e-03 9.98634480e-01 -5.83442798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.620714057 meters 0.023668143800521915 Centerline is valid? [True, True] Translation: X:885.52, Y:-141.55, Z:-58.35 [[ 9.92637826e-01 1.09272557e-01 5.22460996e-02 8.85523437e+02] [-1.09054795e-01 9.94011026e-01 -7.00936161e-03 -1.41547896e+02] [-5.26991299e-02 1.26006977e-03 9.98609640e-01 -5.83484412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.680714057 meters 0.02225287578091623 Centerline is valid? [True, True] Translation: X:885.58, Y:-141.55, Z:-58.35 [[ 9.92077579e-01 1.13933261e-01 5.29272176e-02 8.85582279e+02] [-1.13716664e-01 9.93487881e-01 -7.09581092e-03 -1.41548578e+02] [-5.33909981e-02 1.02088831e-03 9.98573162e-01 -5.83516143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.740714057 meters 0.021578541046510774 Centerline is valid? [True, True] Translation: X:885.64, Y:-141.55, Z:-58.36 [[ 9.91845035e-01 1.16226867e-01 5.22947659e-02 8.85640949e+02] [-1.16018686e-01 9.93222297e-01 -7.00946071e-03 -1.41552526e+02] [-5.27550152e-02 8.85128754e-04 9.98607092e-01 -5.83565180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.800714057 meters 0.023003399274736446 Centerline is valid? [True, True] Translation: X:885.70, Y:-141.56, Z:-58.36 [[ 9.91946303e-01 1.16112697e-01 5.06001281e-02 8.85696903e+02] [-1.15918356e-01 9.93235683e-01 -6.76855811e-03 -1.41563056e+02] [-5.10437683e-02 8.48562554e-04 9.98696057e-01 -5.83648229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.860714057 meters 0.021445332700232335 Centerline is valid? [True, True] Translation: X:885.75, Y:-141.57, Z:-58.36 [[ 9.92010816e-01 1.15448759e-01 5.08539566e-02 8.85754778e+02] [-1.15251738e-01 9.93313043e-01 -6.79962100e-03 -1.41568132e+02] [-5.12989062e-02 8.84290692e-04 9.98682953e-01 -5.83642750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.920714057 meters 0.020840018321043246 Centerline is valid? [True, True] Translation: X:885.81, Y:-141.57, Z:-58.37 [[ 9.91753758e-01 1.16941643e-01 5.24322040e-02 8.85813306e+02] [-1.16735114e-01 9.93138452e-01 -6.99482375e-03 -1.41574796e+02] [-5.28904241e-02 8.16463402e-04 9.98599988e-01 -5.83655487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.980714057 meters 0.02092632786545336 Centerline is valid? [True, True] Translation: X:885.87, Y:-141.58, Z:-58.37 [[ 9.91598450e-01 1.17794538e-01 5.34505476e-02 8.85870012e+02] [-1.17581954e-01 9.93037689e-01 -7.11559814e-03 -1.41582523e+02] [-5.39165868e-02 7.70996263e-04 9.98545145e-01 -5.83692127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0407140570001 meters 0.02091160722241303 Centerline is valid? [True, True] Translation: X:885.93, Y:-141.59, Z:-58.37 [[ 9.91709318e-01 1.16752581e-01 5.36792631e-02 8.85926741e+02] [-1.16536900e-01 9.93160688e-01 -7.14138427e-03 -1.41592832e+02] [-5.41459089e-02 8.26562433e-04 9.98532692e-01 -5.83729410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.100714057 meters 0.020821937917370047 Centerline is valid? [True, True] Translation: X:885.98, Y:-141.60, Z:-58.38 [[ 9.92022146e-01 1.14409713e-01 5.29384489e-02 8.85984343e+02] [-1.14196846e-01 9.93433209e-01 -7.03851286e-03 -1.41600862e+02] [-5.33960873e-02 9.36956753e-04 9.98572972e-01 -5.83761702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1607140570001 meters 0.021228264070744438 Centerline is valid? [True, True] Translation: X:886.04, Y:-141.61, Z:-58.38 [[ 9.92329075e-01 1.11935668e-01 5.24729704e-02 8.86040714e+02] [-1.11723324e-01 9.93714894e-01 -6.97192526e-03 -1.41611903e+02] [-5.29235794e-02 1.05598944e-03 9.98598007e-01 -5.83807811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.220714057 meters 0.0235455413792362 Centerline is valid? [True, True] Translation: X:886.10, Y:-141.63, Z:-58.39 [[ 9.92532475e-01 1.10283355e-01 5.21235809e-02 8.86096983e+02] [-1.10071799e-01 9.93899543e-01 -6.92087055e-03 -1.41625455e+02] [-5.25688600e-02 1.13185246e-03 9.98616660e-01 -5.83874945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2807140570001 meters 0.022072804934280984 Centerline is valid? [True, True] Translation: X:886.16, Y:-141.63, Z:-58.39 [[ 9.92630377e-01 1.09041579e-01 5.28665280e-02 8.86155637e+02] [-1.08822341e-01 9.94036451e-01 -7.01660513e-03 -1.41629441e+02] [-5.33163576e-02 1.21183608e-03 9.98576936e-01 -5.83879976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.340714057 meters 0.02185584233883585 Centerline is valid? [True, True] Translation: X:886.21, Y:-141.64, Z:-58.39 [[ 9.92647283e-01 1.08404185e-01 5.38507529e-02 8.86213153e+02] [-1.08176469e-01 9.94106108e-01 -7.13423766e-03 -1.41636385e+02] [-5.43067437e-02 1.25639731e-03 9.98523510e-01 -5.83906979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4007140570001 meters 0.021530431267733432 Centerline is valid? [True, True] Translation: X:886.27, Y:-141.64, Z:-58.39 [[ 9.92715792e-01 1.07159682e-01 5.50650475e-02 8.86271297e+02] [-1.06920559e-01 9.94240922e-01 -7.27890526e-03 -1.41642748e+02] [-5.55279288e-02 1.33829853e-03 9.98456237e-01 -5.83923601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.460714057 meters 0.02227572878493389 Centerline is valid? [True, True] Translation: X:886.33, Y:-141.65, Z:-58.40 [[ 9.92917288e-01 1.05507822e-01 5.46201265e-02 8.86327774e+02] [-1.05270886e-01 9.94417482e-01 -7.20504044e-03 -1.41651002e+02] [-5.50753968e-02 1.40410012e-03 9.98481211e-01 -5.83965178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5207140570001 meters 0.022647721834539912 Centerline is valid? [True, True] Translation: X:886.39, Y:-141.66, Z:-58.40 [[ 9.93179431e-01 1.03961110e-01 5.27892661e-02 8.86385888e+02] [-1.03737825e-01 9.94580326e-01 -6.95975339e-03 -1.41657502e+02] [-5.32267092e-02 1.43604024e-03 9.98581421e-01 -5.84019408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.580714057 meters 0.022892743499062514 Centerline is valid? [True, True] Translation: X:886.44, Y:-141.67, Z:-58.41 [[ 9.93517455e-01 1.01143205e-01 5.18952593e-02 8.86443440e+02] [-1.00924250e-01 9.94870674e-01 -6.82922710e-03 -1.41667725e+02] [-5.23198015e-02 1.54746621e-03 9.98629182e-01 -5.84057567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6407140570001 meters 0.023490098103051565 Centerline is valid? [True, True] Translation: X:886.50, Y:-141.68, Z:-58.41 [[ 9.93915368e-01 9.70722801e-02 5.20501024e-02 8.86501675e+02] [-9.68472446e-02 9.95275793e-01 -6.83429489e-03 -1.41679319e+02] [-5.24676275e-02 1.75180173e-03 9.98621089e-01 -5.84081384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.700714057 meters 0.024716036255225976 Centerline is valid? [True, True] Translation: X:886.56, Y:-141.69, Z:-58.41 [[ 9.94002493e-01 9.56000266e-02 5.31006522e-02 8.86558379e+02] [-9.53639292e-02 9.95418086e-01 -6.96812852e-03 -1.41690553e+02] [-5.35235029e-02 1.86245028e-03 9.98564853e-01 -5.84112151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7607140570001 meters 0.023824069766709685 Centerline is valid? [True, True] Translation: X:886.62, Y:-141.70, Z:-58.41 [[ 9.93782441e-01 9.71969788e-02 5.43066139e-02 8.86617214e+02] [-9.69525918e-02 9.95263512e-01 -7.12294984e-03 -1.41695314e+02] [-5.47417205e-02 1.81349550e-03 9.98498901e-01 -5.84135964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.820714057 meters 0.021628697017057653 Centerline is valid? [True, True] Translation: X:886.68, Y:-141.70, Z:-58.42 [[ 9.93108077e-01 1.03455626e-01 5.50752384e-02 8.86677295e+02] [-1.03214753e-01 9.94632979e-01 -7.20783034e-03 -1.41695945e+02] [-5.55253390e-02 1.47357743e-03 9.98456191e-01 -5.84166466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8807140570001 meters 0.020980373257267995 Centerline is valid? [True, True] Translation: X:886.74, Y:-141.70, Z:-58.42 [[ 9.92581479e-01 1.08126277e-01 5.55942093e-02 8.86736448e+02] [-1.07888171e-01 9.94136415e-01 -7.27537768e-03 -1.41699173e+02] [-5.60548874e-02 1.22344756e-03 9.98426939e-01 -5.84196405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.940714057 meters 0.0208915218903675 Centerline is valid? [True, True] Translation: X:886.79, Y:-141.71, Z:-58.42 [[ 9.92350608e-01 1.09879501e-01 5.62740226e-02 8.86794411e+02] [-1.09639098e-01 9.93944279e-01 -7.35108951e-03 -1.41706024e+02] [-5.67409768e-02 1.12502507e-03 9.98388299e-01 -5.84232475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.000714057 meters 0.020604908301874465 Centerline is valid? [True, True] Translation: X:886.85, Y:-141.71, Z:-58.43 [[ 9.92389216e-01 1.09992944e-01 5.53642152e-02 8.86851769e+02] [-1.09761188e-01 9.93931774e-01 -7.21878123e-03 -1.41713971e+02] [-5.58222677e-02 1.08699859e-03 9.98440130e-01 -5.84276384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.060714057 meters 0.02072956446817151 Centerline is valid? [True, True] Translation: X:886.91, Y:-141.72, Z:-58.43 [[ 9.92346920e-01 1.10527944e-01 5.50560108e-02 8.86909090e+02] [-1.10300583e-01 9.93872480e-01 -7.16068631e-03 -1.41723070e+02] [-5.55101100e-02 1.03317494e-03 9.98457591e-01 -5.84324331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.120714057 meters 0.020543780869047436 Centerline is valid? [True, True] Translation: X:886.97, Y:-141.73, Z:-58.44 [[ 9.92141292e-01 1.12212119e-01 5.53542846e-02 8.86967443e+02] [-1.11985101e-01 9.93683831e-01 -7.19592003e-03 -1.41729252e+02] [-5.58121270e-02 9.40514234e-04 9.98440846e-01 -5.84355798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.180714057 meters 0.02047677844756228 Centerline is valid? [True, True] Translation: X:887.03, Y:-141.74, Z:-58.44 [[ 9.92103529e-01 1.12489045e-01 5.54689376e-02 8.87025240e+02] [-1.12262303e-01 9.93652546e-01 -7.19680779e-03 -1.41736239e+02] [-5.59264131e-02 9.12907711e-04 9.98434476e-01 -5.84398301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.240714057 meters 0.021092538554384633 Centerline is valid? [True, True] Translation: X:887.08, Y:-141.75, Z:-58.44 [[ 9.92296696e-01 1.09869311e-01 5.72363647e-02 8.87083025e+02] [-1.09624450e-01 9.93945457e-01 -7.41001286e-03 -1.41745266e+02] [-5.77039577e-02 1.07842626e-03 9.98333156e-01 -5.84420669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.300714057 meters 0.021292525437670438 Centerline is valid? [True, True] Translation: X:887.14, Y:-141.75, Z:-58.44 [[ 9.92444718e-01 1.07617195e-01 5.89238668e-02 8.87141492e+02] [-1.07354602e-01 9.94191645e-01 -7.61335215e-03 -1.41753917e+02] [-5.94009436e-02 1.23008284e-03 9.98233447e-01 -5.84447275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.360714057 meters 0.02169497685883909 Centerline is valid? [True, True] Translation: X:887.20, Y:-141.76, Z:-58.45 [[ 9.92574987e-01 1.06559480e-01 5.86512779e-02 8.87199636e+02] [-1.06298352e-01 9.94305515e-01 -7.56323471e-03 -1.41763403e+02] [-5.91232234e-02 1.27254343e-03 9.98249881e-01 -5.84494863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.420714057 meters 0.02185999717568872 Centerline is valid? [True, True] Translation: X:887.26, Y:-141.77, Z:-58.45 [[ 9.92613025e-01 1.06009782e-01 5.90026204e-02 8.87256638e+02] [-1.05745431e-01 9.94364239e-01 -7.59362063e-03 -1.41771589e+02] [-5.94750938e-02 1.29826921e-03 9.98228946e-01 -5.84534786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.480714057 meters 0.022044639720419576 Centerline is valid? [True, True] Translation: X:887.31, Y:-141.78, Z:-58.46 [[ 9.92718599e-01 1.04873876e-01 5.92558272e-02 8.87314459e+02] [-1.04606264e-01 9.94484607e-01 -7.60889233e-03 -1.41779397e+02] [-5.97269821e-02 1.35495821e-03 9.98213831e-01 -5.84564281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5407140570001 meters 0.023094273412550412 Centerline is valid? [True, True] Translation: X:887.37, Y:-141.79, Z:-58.46 [[ 9.92880254e-01 1.03150864e-01 5.95709775e-02 8.87371418e+02] [-1.02878263e-01 9.94664665e-01 -7.63331063e-03 -1.41791010e+02] [-6.00405290e-02 1.45040472e-03 9.98194886e-01 -5.84608476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.600714057 meters 0.02223891684469267 Centerline is valid? [True, True] Translation: X:887.43, Y:-141.80, Z:-58.47 [[ 9.92960196e-01 1.02440618e-01 5.94640187e-02 8.87429282e+02] [-1.02168040e-01 9.94738012e-01 -7.61434799e-03 -1.41796856e+02] [-5.99311382e-02 1.48542224e-03 9.98201409e-01 -5.84652340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6607140570001 meters 0.02283017977577482 Centerline is valid? [True, True] Translation: X:887.49, Y:-141.81, Z:-58.47 [[ 9.93034570e-01 1.01194105e-01 6.03497770e-02 8.87486755e+02] [-1.00911378e-01 9.94865449e-01 -7.72218388e-03 -1.41806450e+02] [-6.08213475e-02 1.57841637e-03 9.98147420e-01 -5.84688015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.720714057 meters 0.023056222506392856 Centerline is valid? [True, True] Translation: X:887.54, Y:-141.81, Z:-58.47 [[ 9.93125817e-01 9.99878184e-02 6.08567801e-02 8.87544706e+02] [-9.96983577e-02 9.94987274e-01 -7.78210764e-03 -1.41814500e+02] [-6.13298377e-02 1.66129099e-03 9.98116171e-01 -5.84717271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7807140570001 meters 0.023633688346087277 Centerline is valid? [True, True] Translation: X:887.60, Y:-141.82, Z:-58.48 [[ 9.93304658e-01 9.81824778e-02 6.08774054e-02 8.87602611e+02] [-9.78903896e-02 9.95166876e-01 -7.76921742e-03 -1.41823299e+02] [-6.13459783e-02 1.75788692e-03 9.98115014e-01 -5.84758479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.840714057 meters 0.02461450079995302 Centerline is valid? [True, True] Translation: X:887.66, Y:-141.83, Z:-58.48 [[ 9.93605056e-01 9.59365755e-02 5.95412954e-02 8.87658597e+02] [-9.56540905e-02 9.95385750e-01 -7.58317771e-03 -1.41834346e+02] [-5.99940610e-02 1.83931526e-03 9.98197040e-01 -5.84821877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9007140570001 meters 0.025584766704132893 Centerline is valid? [True, True] Translation: X:887.72, Y:-141.84, Z:-58.49 [[ 9.94048026e-01 9.19841920e-02 5.83732080e-02 8.87716476e+02] [-9.17062727e-02 9.95758397e-01 -7.42793355e-03 -1.41844743e+02] [-5.88088644e-02 2.03053335e-03 9.98267196e-01 -5.84883652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.960714057 meters 0.028168578395098984 Centerline is valid? [True, True] Translation: X:887.77, Y:-141.86, Z:-58.49 [[ 9.94558455e-01 8.73982688e-02 5.67011587e-02 8.87774540e+02] [-8.71288064e-02 9.96170949e-01 -7.21193757e-03 -1.41858226e+02] [-5.71143579e-02 2.23238921e-03 9.98365147e-01 -5.84946579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0207140570001 meters 0.029285267105848136 Centerline is valid? [True, True] Translation: X:887.83, Y:-141.87, Z:-58.50 [[ 9.94798375e-01 8.49170391e-02 5.62609142e-02 8.87833261e+02] [-8.46478389e-02 9.96385241e-01 -7.15508986e-03 -1.41868165e+02] [-5.66651336e-02 2.35550696e-03 9.98390462e-01 -5.84996097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.080714057 meters 0.0297241931455462 Centerline is valid? [True, True] Translation: X:887.89, Y:-141.88, Z:-58.50 [[ 9.94539066e-01 8.71365246e-02 5.74392948e-02 8.87891158e+02] [-8.68597125e-02 9.96193784e-01 -7.30313324e-03 -1.41875148e+02] [-5.78570381e-02 2.27409067e-03 9.98322289e-01 -5.85030716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1407140570001 meters 0.029116015344795868 Centerline is valid? [True, True] Translation: X:887.95, Y:-141.88, Z:-58.51 [[ 9.94229001e-01 8.96633543e-02 5.88997155e-02 8.87949714e+02] [-8.93769389e-02 9.95969750e-01 -7.48465332e-03 -1.41880760e+02] [-5.93334340e-02 2.17718312e-03 9.98235846e-01 -5.85056559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.200714057 meters 0.02748873061385283 Centerline is valid? [True, True] Translation: X:888.01, Y:-141.89, Z:-58.51 [[ 9.93934801e-01 9.21617713e-02 5.99984953e-02 8.88008331e+02] [-9.18693456e-02 9.95741913e-01 -7.62016887e-03 -1.41885565e+02] [-6.04453047e-02 2.06192854e-03 9.98169381e-01 -5.85099936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2607140570001 meters 0.029126081739770524 Centerline is valid? [True, True] Translation: X:888.07, Y:-141.90, Z:-58.52 [[ 9.93800325e-01 9.42872489e-02 5.89137399e-02 8.88065322e+02] [-9.40092808e-02 9.95543233e-01 -7.47837224e-03 -1.41897270e+02] [-5.93562903e-02 1.89357044e-03 9.98235065e-01 -5.85176362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.320714057 meters 0.025712776773936595 Centerline is valid? [True, True] Translation: X:888.13, Y:-141.90, Z:-58.52 [[ 9.93415279e-01 9.90742025e-02 5.75359517e-02 8.88125785e+02] [-9.88173528e-02 9.95078817e-01 -7.29929719e-03 -1.41897426e+02] [-5.79759788e-02 1.56568291e-03 9.98316751e-01 -5.85220237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3807140570001 meters 0.02498861620799133 Centerline is valid? [True, True] Translation: X:888.19, Y:-141.90, Z:-58.53 [[ 9.92322406e-01 1.10132507e-01 5.62767638e-02 8.88185605e+02] [-1.09904580e-01 9.93916507e-01 -7.13865019e-03 -1.41895536e+02] [-5.67206020e-02 8.98768463e-04 9.98389686e-01 -5.85287234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.440714057 meters 0.024115111437682333 Centerline is valid? [True, True] Translation: X:888.24, Y:-141.90, Z:-58.53 [[ 9.91357468e-01 1.16085823e-01 6.11101662e-02 8.88244988e+02] [-1.15828376e-01 9.93239002e-01 -7.75061512e-03 -1.41897824e+02] [-6.15967371e-02 6.05338847e-04 9.98100935e-01 -5.85311063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.500714057 meters 0.023980558328850696 Centerline is valid? [True, True] Translation: X:888.30, Y:-141.90, Z:-58.53 [[ 9.90488531e-01 1.22677338e-01 6.23116389e-02 8.88304597e+02] [-1.22423579e-01 9.92446591e-01 -7.88866098e-03 -1.41896997e+02] [-6.28087336e-02 1.85214385e-04 9.98025565e-01 -5.85338956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.560714057 meters 0.02404923902576247 Centerline is valid? [True, True] Translation: X:888.36, Y:-141.90, Z:-58.54 [[ 9.89941378e-01 1.26086526e-01 6.41736448e-02 8.88361761e+02] [-1.25825570e-01 9.92019247e-01 -8.10804987e-03 -1.41901295e+02] [-6.46838066e-02 -4.81913467e-05 9.97905809e-01 -5.85374505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.620714057 meters 0.024160902385067785 Centerline is valid? [True, True] Translation: X:888.42, Y:-141.91, Z:-58.54 [[ 9.89386188e-01 1.29849385e-01 6.52235302e-02 8.88419930e+02] [-1.29588513e-01 9.91533682e-01 -8.23251972e-03 -1.41905823e+02] [-6.57403147e-02 -3.07079027e-04 9.97836719e-01 -5.85426413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.680714057 meters 0.02443895724267032 Centerline is valid? [True, True] Translation: X:888.48, Y:-141.91, Z:-58.55 [[ 9.88729497e-01 1.34227910e-01 6.63087467e-02 8.88478034e+02] [-1.33969211e-01 9.90950290e-01 -8.35297955e-03 -1.41909933e+02] [-6.68298748e-02 -6.24493239e-04 9.97764190e-01 -5.85471009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.740714057 meters 0.024833844274039507 Centerline is valid? [True, True] Translation: X:888.54, Y:-141.92, Z:-58.55 [[ 9.88565465e-01 1.36058264e-01 6.50113016e-02 8.88535441e+02] [-1.35814591e-01 9.90700554e-01 -8.17370531e-03 -1.41915424e+02] [-6.55188327e-02 -7.49240568e-04 9.97851052e-01 -5.85531013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.800714057 meters 0.025944654856970447 Centerline is valid? [True, True] Translation: X:888.59, Y:-141.92, Z:-58.56 [[ 9.87871496e-01 1.41012164e-01 6.50036764e-02 8.88593371e+02] [-1.40779625e-01 9.90007271e-01 -8.16705924e-03 -1.41916617e+02] [-6.55057670e-02 -1.08318815e-03 9.97851603e-01 -5.85580315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.860714057 meters 0.02555364812418863 Centerline is valid? [True, True] Translation: X:888.65, Y:-141.93, Z:-58.56 [[ 9.87558739e-01 1.42912164e-01 6.56037368e-02 8.88650936e+02] [-1.42679880e-01 9.89734616e-01 -8.23661914e-03 -1.41925760e+02] [-6.61074023e-02 -1.22618810e-03 9.97811760e-01 -5.85618241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.920714057 meters 0.026231508251714344 Centerline is valid? [True, True] Translation: X:888.71, Y:-141.93, Z:-58.56 [[ 9.86574943e-01 1.48388388e-01 6.81965463e-02 8.88710152e+02] [-1.48151559e-01 9.88927747e-01 -8.54556709e-03 -1.41928879e+02] [-6.87095198e-02 -1.67258231e-03 9.97635306e-01 -5.85633091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.980714057 meters 0.026238965249201454 Centerline is valid? [True, True] Translation: X:888.77, Y:-141.94, Z:-58.57 [[ 9.86357292e-01 1.49444191e-01 6.90342464e-02 8.88768410e+02] [-1.49204404e-01 9.88768574e-01 -8.64596401e-03 -1.41936036e+02] [-6.95509825e-02 -1.77220394e-03 9.97576824e-01 -5.85670918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0407140570001 meters 0.026736750521495854 Centerline is valid? [True, True] Translation: X:888.83, Y:-141.94, Z:-58.57 [[ 9.86143900e-01 1.51161108e-01 6.83412563e-02 8.88826448e+02] [-1.50931371e-01 9.88507332e-01 -8.54260771e-03 -1.41942228e+02] [-6.88471430e-02 -1.89059905e-03 9.97625429e-01 -5.85719410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.100714057 meters 0.02716795198487343 Centerline is valid? [True, True] Translation: X:888.88, Y:-141.95, Z:-58.58 [[ 9.85973949e-01 1.52509702e-01 6.77950019e-02 8.88884962e+02] [-1.52287918e-01 9.88299980e-01 -8.45808017e-03 -1.41947933e+02] [-6.82917384e-02 -1.98491298e-03 9.97663420e-01 -5.85768076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1607140570001 meters 0.02680657796764178 Centerline is valid? [True, True] Translation: X:888.94, Y:-141.96, Z:-58.58 [[ 9.85783177e-01 1.54154827e-01 6.68417379e-02 8.88942676e+02] [-1.53944080e-01 9.88044504e-01 -8.32332660e-03 -1.41955565e+02] [-6.73256928e-02 -2.08489453e-03 9.97728873e-01 -5.85828159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.220714057 meters 0.026309516987745005 Centerline is valid? [True, True] Translation: X:889.00, Y:-141.96, Z:-58.59 [[ 9.85898211e-01 1.53868341e-01 6.57970524e-02 8.89000322e+02] [-1.53664546e-01 9.88089235e-01 -8.17741944e-03 -1.41963193e+02] [-6.62716051e-02 -2.04857100e-03 9.97799518e-01 -5.85878457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2807140570001 meters 0.025935689265139675 Centerline is valid? [True, True] Translation: X:889.06, Y:-141.97, Z:-58.59 [[ 9.86467252e-01 1.50221951e-01 6.56941879e-02 8.89057672e+02] [-1.50011834e-01 9.88650627e-01 -8.14782535e-03 -1.41971393e+02] [-6.61725823e-02 -1.81734271e-03 9.97806538e-01 -5.85922213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.340714057 meters 0.024732323501036237 Centerline is valid? [True, True] Translation: X:889.12, Y:-141.98, Z:-58.60 [[ 9.87141024e-01 1.45909876e-01 6.52909427e-02 8.89116276e+02] [-1.45693203e-01 9.89296714e-01 -8.09335138e-03 -1.41980555e+02] [-6.57730149e-02 -1.52316742e-03 9.97833448e-01 -5.85955912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4007140570001 meters 0.02338764140429498 Centerline is valid? [True, True] Translation: X:889.17, Y:-141.99, Z:-58.60 [[ 9.87738155e-01 1.41768728e-01 6.53832111e-02 8.89173683e+02] [-1.41542847e-01 9.89899010e-01 -8.09769050e-03 -1.41991362e+02] [-6.58707752e-02 -1.25612794e-03 9.97827371e-01 -5.86008944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.460714057 meters 0.022578919213994277 Centerline is valid? [True, True] Translation: X:889.23, Y:-142.00, Z:-58.61 [[ 9.88620814e-01 1.35874858e-01 6.45515956e-02 8.89231243e+02] [-1.35642422e-01 9.90725638e-01 -7.99024426e-03 -1.42001708e+02] [-6.50385941e-02 -8.56613009e-04 9.97882382e-01 -5.86055526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5207140570001 meters 0.022174931071061152 Centerline is valid? [True, True] Translation: X:889.29, Y:-142.01, Z:-58.61 [[ 9.89395100e-01 1.30712199e-01 6.33376437e-02 8.89288231e+02] [-1.30478130e-01 9.91420223e-01 -7.83570779e-03 -1.42009905e+02] [-6.38184434e-02 -5.11566387e-04 9.97961394e-01 -5.86108357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.580714057 meters 0.0213132893739229 Centerline is valid? [True, True] Translation: X:889.35, Y:-142.02, Z:-58.62 [[ 9.90492852e-01 1.22825763e-01 6.19495056e-02 8.89345247e+02] [-1.22586728e-01 9.92428250e-01 -7.65912163e-03 -1.42023911e+02] [-6.24211769e-02 -7.88199236e-06 9.98049897e-01 -5.86173709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6407140570001 meters 0.021563958080855088 Centerline is valid? [True, True] Translation: X:889.40, Y:-142.03, Z:-58.62 [[ 9.91215825e-01 1.17221957e-01 6.12388890e-02 8.89403216e+02] [-1.16978493e-01 9.93105687e-01 -7.55823880e-03 -1.42034234e+02] [-6.17026804e-02 3.28212949e-04 9.98094520e-01 -5.86210806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.700714057 meters 0.02157749970523083 Centerline is valid? [True, True] Translation: X:889.46, Y:-142.04, Z:-58.63 [[ 9.91574705e-01 1.14698534e-01 6.01984336e-02 8.89460116e+02] [-1.14459540e-01 9.93400238e-01 -7.41492640e-03 -1.42043692e+02] [-6.06516195e-02 4.62168438e-04 9.98158889e-01 -5.86253807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7607140570001 meters 0.021327938117263075 Centerline is valid? [True, True] Translation: X:889.52, Y:-142.05, Z:-58.63 [[ 9.91514963e-01 1.16155506e-01 5.83607390e-02 8.89517912e+02] [-1.15933792e-01 9.93230976e-01 -7.18217227e-03 -1.42049849e+02] [-5.87999426e-02 3.55249498e-04 9.98269723e-01 -5.86294947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.820714057 meters 0.021024905472483656 Centerline is valid? [True, True] Translation: X:889.58, Y:-142.05, Z:-58.63 [[ 9.90894226e-01 1.21306022e-01 5.84250079e-02 8.89576867e+02] [-1.21093713e-01 9.92615156e-01 -7.17388928e-03 -1.42053902e+02] [-5.88637843e-02 3.36643202e-05 9.98266024e-01 -5.86322930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8807140570001 meters 0.02129425164802839 Centerline is valid? [True, True] Translation: X:889.64, Y:-142.05, Z:-58.63 [[ 9.89543677e-01 1.31611882e-01 5.90052899e-02 8.89635703e+02] [-1.31414483e-01 9.91301142e-01 -7.23049661e-03 -1.42054473e+02] [-5.94436305e-02 -5.99257467e-04 9.98231484e-01 -5.86336736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.940714057 meters 0.022782762981395067 Centerline is valid? [True, True] Translation: X:889.70, Y:-142.06, Z:-58.64 [[ 9.87929533e-01 1.42984504e-01 5.95874997e-02 8.89696235e+02] [-1.42804770e-01 9.89724059e-01 -7.28598957e-03 -1.42056863e+02] [-6.00169656e-02 -1.31133492e-03 9.98196496e-01 -5.86368762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.000714057 meters 0.02489074053876259 Centerline is valid? [True, True] Translation: X:889.76, Y:-142.06, Z:-58.64 [[ 9.86657459e-01 1.52337607e-01 5.74483382e-02 8.89756215e+02] [-1.52186355e-01 9.88326854e-01 -7.02448970e-03 -1.42059866e+02] [-5.78478293e-02 -1.81208805e-03 9.98323768e-01 -5.86416222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.060714057 meters 0.027762046536360836 Centerline is valid? [True, True] Translation: X:889.82, Y:-142.06, Z:-58.65 [[ 9.85438164e-01 1.60503596e-01 5.61268223e-02 8.89816582e+02] [-1.60372455e-01 9.87032717e-01 -6.86236777e-03 -1.42063077e+02] [-5.65004446e-02 -2.23875716e-03 9.98400064e-01 -5.86463098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.120714057 meters 0.030582924796662882 Centerline is valid? [True, True] Translation: X:889.88, Y:-142.07, Z:-58.65 [[ 9.84048405e-01 1.69061929e-01 5.53786950e-02 8.89876447e+02] [-1.68947772e-01 9.85601750e-01 -6.77061642e-03 -1.42066186e+02] [-5.57259922e-02 -2.69349285e-03 9.98442467e-01 -5.86502350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.180714057 meters 0.032544703199732405 Centerline is valid? [True, True] Translation: X:889.94, Y:-142.07, Z:-58.65 [[ 9.83463520e-01 1.72515534e-01 5.51170985e-02 8.89935928e+02] [-1.72407910e-01 9.85002597e-01 -6.73763945e-03 -1.42070861e+02] [-5.54528327e-02 -2.87640114e-03 9.98457165e-01 -5.86538494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.240714057 meters 0.03533333033635686 Centerline is valid? [True, True] Translation: X:889.99, Y:-142.08, Z:-58.66 [[ 9.82940238e-01 1.75801910e-01 5.40571633e-02 8.89994706e+02] [-1.75703371e-01 9.84420981e-01 -6.60735523e-03 -1.42075048e+02] [-5.43765914e-02 -3.00339051e-03 9.98515982e-01 -5.86576900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.300714057 meters 0.03328307002653492 Centerline is valid? [True, True] Translation: X:890.05, Y:-142.09, Z:-58.66 [[ 9.82666070e-01 1.76848052e-01 5.56072024e-02 8.90052254e+02] [-1.76745461e-01 9.84233127e-01 -6.79667974e-03 -1.42087007e+02] [-5.59324302e-02 -3.14945402e-03 9.98429589e-01 -5.86588219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.360714057 meters 0.03302717139263886 Centerline is valid? [True, True] Translation: X:890.11, Y:-142.10, Z:-58.66 [[ 9.82470527e-01 1.77500797e-01 5.69660498e-02 8.90110040e+02] [-1.77395017e-01 9.84115196e-01 -6.94896473e-03 -1.42096341e+02] [-5.72946020e-02 -3.27834035e-03 9.98351933e-01 -5.86613931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.420714057 meters 0.03376780584776982 Centerline is valid? [True, True] Translation: X:890.17, Y:-142.11, Z:-58.66 [[ 9.82501162e-01 1.76999087e-01 5.79895712e-02 8.90167849e+02] [-1.76889425e-01 9.84205411e-01 -7.05978318e-03 -1.42106933e+02] [-5.83232249e-02 -3.32149672e-03 9.98292226e-01 -5.86649333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.480714057 meters 0.03393337296687018 Centerline is valid? [True, True] Translation: X:890.23, Y:-142.12, Z:-58.67 [[ 9.83060491e-01 1.73780915e-01 5.82431577e-02 8.90225256e+02] [-1.73665546e-01 9.84779272e-01 -7.07561637e-03 -1.42119803e+02] [-5.85862615e-02 -3.15907087e-03 9.98277351e-01 -5.86691557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5407140570001 meters 0.03061150318095048 Centerline is valid? [True, True] Translation: X:890.28, Y:-142.14, Z:-58.67 [[ 9.84267582e-01 1.67079397e-01 5.74613105e-02 8.90282951e+02] [-1.66955765e-01 9.85939682e-01 -6.97965783e-03 -1.42140693e+02] [-5.78195433e-02 -2.72364612e-03 9.98323336e-01 -5.86741372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.600714057 meters 0.03157610217900892 Centerline is valid? [True, True] Translation: X:890.34, Y:-142.15, Z:-58.68 [[ 9.85145680e-01 1.62109136e-01 5.66446535e-02 8.90340693e+02] [-1.61980872e-01 9.86769920e-01 -6.87907509e-03 -1.42151988e+02] [-5.70104011e-02 -2.39845926e-03 9.98370704e-01 -5.86798725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6607140570001 meters 0.024474213492062597 Centerline is valid? [True, True] Translation: X:890.40, Y:-142.18, Z:-58.68 [[ 9.86863490e-01 1.51536382e-01 5.60105096e-02 8.90396964e+02] [-1.51394045e-01 9.88450098e-01 -6.80044510e-03 -1.42181751e+02] [-5.63941086e-02 -1.76854663e-03 9.98407020e-01 -5.86830970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.720714057 meters 0.02260219480159496 Centerline is valid? [True, True] Translation: X:890.46, Y:-142.20, Z:-58.69 [[ 9.88540775e-01 1.40087855e-01 5.62363625e-02 8.90455419e+02] [-1.39925959e-01 9.90138443e-01 -6.82573519e-03 -1.42202793e+02] [-5.66379870e-02 -1.12140940e-03 9.98394151e-01 -5.86876568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7807140570001 meters 0.021794237168635162 Centerline is valid? [True, True] Translation: X:890.51, Y:-142.22, Z:-58.69 [[ 9.89528985e-01 1.32730615e-01 5.67007300e-02 8.90513466e+02] [-1.32553915e-01 9.91151899e-01 -6.88280342e-03 -1.42218763e+02] [-5.71125949e-02 -7.05170273e-04 9.98367495e-01 -5.86906796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.840714057 meters 0.021257231638053577 Centerline is valid? [True, True] Translation: X:890.57, Y:-142.23, Z:-58.69 [[ 9.90358969e-01 1.25773803e-01 5.80522501e-02 8.90569505e+02] [-1.25576713e-01 9.92058896e-01 -7.04530679e-03 -1.42233605e+02] [-5.84773662e-02 -3.12628015e-04 9.98288686e-01 -5.86941957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9007140570001 meters 0.020723548645762774 Centerline is valid? [True, True] Translation: X:890.63, Y:-142.25, Z:-58.70 [[ 9.91260870e-01 1.18270335e-01 5.84295778e-02 8.90626718e+02] [-1.18058044e-01 9.92981426e-01 -7.08419894e-03 -1.42250310e+02] [-5.88573361e-02 1.24207549e-04 9.98266397e-01 -5.86983908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.960714057 meters 0.020768474530586875 Centerline is valid? [True, True] Translation: X:890.68, Y:-142.26, Z:-58.70 [[ 9.91517924e-01 1.16373345e-01 5.78744428e-02 8.90683404e+02] [-1.16162662e-01 9.93205515e-01 -7.00285464e-03 -1.42258710e+02] [-5.82961614e-02 2.20606531e-04 9.98299308e-01 -5.87028705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0207140570001 meters 0.02089235157563982 Centerline is valid? [True, True] Translation: X:890.74, Y:-142.26, Z:-58.71 [[ 9.91497547e-01 1.16840733e-01 5.72787654e-02 8.90739916e+02] [-1.16636169e-01 9.93150650e-01 -6.91309856e-03 -1.42263970e+02] [-5.76941746e-02 1.73544491e-04 9.98334289e-01 -5.87071563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.080714057 meters 0.02070463266383863 Centerline is valid? [True, True] Translation: X:890.80, Y:-142.27, Z:-58.71 [[ 9.91504684e-01 1.17078655e-01 5.66661286e-02 8.90797564e+02] [-1.16879168e-01 9.93122634e-01 -6.83334368e-03 -1.42269506e+02] [-5.70764535e-02 1.52202284e-04 9.98369799e-01 -5.87119559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1407140570001 meters 0.0208343590488927 Centerline is valid? [True, True] Translation: X:890.85, Y:-142.28, Z:-58.72 [[ 9.91590653e-01 1.16257041e-01 5.68531163e-02 8.90854834e+02] [-1.16055826e-01 9.93219143e-01 -6.83949452e-03 -1.42276818e+02] [-5.72627429e-02 1.83843467e-04 9.98359126e-01 -5.87164295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.200714057 meters 0.020984134692954567 Centerline is valid? [True, True] Translation: X:890.91, Y:-142.28, Z:-58.72 [[ 9.91641406e-01 1.15247861e-01 5.80107982e-02 8.90911331e+02] [-1.15037660e-01 9.93336739e-01 -6.96126110e-03 -1.42284498e+02] [-5.84265276e-02 2.29648283e-04 9.98291685e-01 -5.87196962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2607140570001 meters 0.021148279619067303 Centerline is valid? [True, True] Translation: X:890.97, Y:-142.29, Z:-58.72 [[ 9.91574311e-01 1.15306250e-01 5.90326512e-02 8.90968837e+02] [-1.15089395e-01 9.93329966e-01 -7.07177757e-03 -1.42292658e+02] [-5.94543216e-02 2.18160872e-04 9.98231003e-01 -5.87238971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.320714057 meters 0.021367811972297007 Centerline is valid? [True, True] Translation: X:891.03, Y:-142.30, Z:-58.73 [[ 9.91438077e-01 1.16479330e-01 5.90178431e-02 8.91026305e+02] [-1.16264904e-01 9.93193106e-01 -7.06589915e-03 -1.42299417e+02] [-5.94391460e-02 1.43697606e-04 9.98231921e-01 -5.87284119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3807140570001 meters 0.021625543024075735 Centerline is valid? [True, True] Translation: X:891.08, Y:-142.30, Z:-58.73 [[ 9.90960990e-01 1.20693495e-01 5.85610519e-02 8.91082777e+02] [-1.20490700e-01 9.92689813e-01 -6.99474887e-03 -1.42302227e+02] [-5.89771804e-02 -1.24538868e-04 9.98259323e-01 -5.87334470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.440714057 meters 0.021813194366582862 Centerline is valid? [True, True] Translation: X:891.14, Y:-142.30, Z:-58.74 [[ 9.90185536e-01 1.27157176e-01 5.79970412e-02 8.91141913e+02] [-1.26969935e-01 9.91882447e-01 -6.91720769e-03 -1.42303555e+02] [-5.84058197e-02 -5.14561558e-04 9.98292791e-01 -5.87375701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.500714057 meters 0.02296726458080055 Centerline is valid? [True, True] Translation: X:891.20, Y:-142.30, Z:-58.74 [[ 9.89595482e-01 1.31574192e-01 5.82152333e-02 8.91199783e+02] [-1.31394105e-01 9.91306008e-01 -6.92728570e-03 -1.42302213e+02] [-5.86205626e-02 -7.93927872e-04 9.98280021e-01 -5.87424879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.560714057 meters 0.022426867538455846 Centerline is valid? [True, True] Translation: X:891.26, Y:-142.30, Z:-58.74 [[ 9.88967513e-01 1.35533561e-01 5.97822019e-02 8.91258713e+02] [-1.35351153e-01 9.90772188e-01 -7.10895225e-03 -1.42303157e+02] [-6.01940446e-02 -1.06106714e-03 9.98186131e-01 -5.87443027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.620714057 meters 0.02246308732791205 Centerline is valid? [True, True] Translation: X:891.32, Y:-142.30, Z:-58.75 [[ 9.89068603e-01 1.34213516e-01 6.10739799e-02 8.91318141e+02] [-1.34021607e-01 9.90951914e-01 -7.24657020e-03 -1.42304148e+02] [-6.14939650e-02 -1.01787787e-03 9.98106936e-01 -5.87477766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.680714057 meters 0.02195856648379501 Centerline is valid? [True, True] Translation: X:891.38, Y:-142.31, Z:-58.75 [[ 9.89507799e-01 1.30706622e-01 6.15637505e-02 8.91376614e+02] [-1.30505335e-01 9.91420756e-01 -7.29667666e-03 -1.42308403e+02] [-6.19893040e-02 -8.14279419e-04 9.98076482e-01 -5.87514726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.740714057 meters 0.021496253521288422 Centerline is valid? [True, True] Translation: X:891.44, Y:-142.31, Z:-58.75 [[ 9.90495229e-01 1.22585037e-01 6.23867759e-02 8.91435300e+02] [-1.22363214e-01 9.92457960e-01 -7.37841490e-03 -1.42312179e+02] [-6.28207356e-02 -3.25561664e-04 9.98024774e-01 -5.87545891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.800714057 meters 0.021361020576050556 Centerline is valid? [True, True] Translation: X:891.49, Y:-142.32, Z:-58.76 [[ 9.91108991e-01 1.17522944e-01 6.23804898e-02 8.91494076e+02] [-1.17292119e-01 9.93070167e-01 -7.36217355e-03 -1.42316282e+02] [-6.28134277e-02 -2.00234240e-05 9.98025287e-01 -5.87578857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.860714057 meters 0.021469863039631613 Centerline is valid? [True, True] Translation: X:891.55, Y:-142.32, Z:-58.76 [[ 9.91672093e-01 1.12787455e-01 6.21727503e-02 8.91552750e+02] [-1.12549855e-01 9.93619102e-01 -7.32185459e-03 -1.42315453e+02] [-6.26018457e-02 2.63344829e-04 9.98038546e-01 -5.87616891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.920714057 meters 0.021278731682973413 Centerline is valid? [True, True] Translation: X:891.61, Y:-142.31, Z:-58.77 [[ 9.91898362e-01 1.11086473e-01 6.16233346e-02 8.91612184e+02] [-1.10850746e-01 9.93810682e-01 -7.24158292e-03 -1.42311215e+02] [-6.20463701e-02 3.51921621e-04 9.98073206e-01 -5.87655488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.980714057 meters 0.02125442609990938 Centerline is valid? [True, True] Translation: X:891.67, Y:-142.31, Z:-58.77 [[ 9.91925619e-01 1.10665681e-01 6.19408925e-02 8.91669602e+02] [-1.10427681e-01 9.93857623e-01 -7.26313527e-03 -1.42309250e+02] [-6.23642080e-02 3.64500842e-04 9.98053392e-01 -5.87686490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0407140570001 meters 0.02172086497094592 Centerline is valid? [True, True] Translation: X:891.73, Y:-142.31, Z:-58.77 [[ 9.92552144e-01 1.03588881e-01 6.41060428e-02 8.91728531e+02] [-1.03320007e-01 9.94619859e-01 -7.50418308e-03 -1.42312940e+02] [-6.45384931e-02 8.24856223e-04 9.97914877e-01 -5.87722272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.100714057 meters 0.02355242795817749 Centerline is valid? [True, True] Translation: X:891.79, Y:-142.33, Z:-58.78 [[ 9.93849553e-01 9.09031162e-02 6.32430946e-02 8.91786816e+02] [-9.06167631e-02 9.95858438e-01 -7.38745975e-03 -1.42327170e+02] [-6.36527125e-02 1.61113906e-03 9.97970809e-01 -5.87773880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1607140570001 meters 0.02541517526147643 Centerline is valid? [True, True] Translation: X:891.84, Y:-142.34, Z:-58.78 [[ 9.94303093e-01 8.79965593e-02 6.01495196e-02 8.91843570e+02] [-8.77323343e-02 9.96119315e-01 -7.02484311e-03 -1.42340874e+02] [-6.05342603e-02 1.70776546e-03 9.98164659e-01 -5.87842114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.220714057 meters 0.024503423314372486 Centerline is valid? [True, True] Translation: X:891.90, Y:-142.35, Z:-58.79 [[ 9.94641119e-01 8.55855665e-02 5.80013442e-02 8.91901828e+02] [-8.53360409e-02 9.96329227e-01 -6.76994963e-03 -1.42347326e+02] [-5.83678444e-02 1.78406519e-03 9.98293550e-01 -5.87897275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2807140570001 meters 0.024746598386291046 Centerline is valid? [True, True] Translation: X:891.96, Y:-142.35, Z:-58.79 [[ 9.94549367e-01 8.60176152e-02 5.89281530e-02 8.91960102e+02] [-8.57610568e-02 9.96292022e-01 -6.87377608e-03 -1.42353796e+02] [-5.93009146e-02 1.78256897e-03 9.98238561e-01 -5.87927278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.340714057 meters 0.0246106505588638 Centerline is valid? [True, True] Translation: X:892.02, Y:-142.36, Z:-58.80 [[ 9.94337136e-01 8.77113189e-02 6.00032116e-02 8.92018140e+02] [-8.74486494e-02 9.96144471e-01 -6.99472314e-03 -1.42359152e+02] [-6.03853839e-02 1.70791316e-03 9.98173677e-01 -5.87952612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4007140570001 meters 0.023696192053385048 Centerline is valid? [True, True] Translation: X:892.08, Y:-142.36, Z:-58.80 [[ 9.94094671e-01 8.99658130e-02 6.06789772e-02 8.92076929e+02] [-8.97016447e-02 9.95943594e-01 -7.06914067e-03 -1.42362786e+02] [-6.10688196e-02 1.58439101e-03 9.98132300e-01 -5.87978922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.460714057 meters 0.02437589917092938 Centerline is valid? [True, True] Translation: X:892.13, Y:-142.37, Z:-58.80 [[ 9.94055577e-01 9.00677914e-02 6.11661873e-02 8.92134098e+02] [-8.97998186e-02 9.95934373e-01 -7.12156343e-03 -1.42371178e+02] [-6.15589319e-02 1.58651732e-03 9.98102190e-01 -5.88013831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5207140570001 meters 0.025263817903258212 Centerline is valid? [True, True] Translation: X:892.19, Y:-142.38, Z:-58.80 [[ 9.94201255e-01 8.77272251e-02 6.21916348e-02 8.92191562e+02] [-8.74459559e-02 9.96142989e-01 -7.23539637e-03 -1.42381136e+02] [-6.25865022e-02 1.75503320e-03 9.98038000e-01 -5.88041328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.580714057 meters 0.02470529439574762 Centerline is valid? [True, True] Translation: X:892.25, Y:-142.39, Z:-58.81 [[ 9.94532559e-01 8.36545246e-02 6.25052736e-02 8.92250352e+02] [-8.33627222e-02 9.96492778e-01 -7.26639627e-03 -1.42389056e+02] [-6.28939206e-02 2.01605792e-03 9.98018181e-01 -5.88076544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6407140570001 meters 0.026751793705861816 Centerline is valid? [True, True] Translation: X:892.31, Y:-142.40, Z:-58.81 [[ 9.94864942e-01 8.00951832e-02 6.18749519e-02 8.92307209e+02] [-7.98024358e-02 9.96784753e-01 -7.19211498e-03 -1.42401192e+02] [-6.22520624e-02 2.21741118e-03 9.98057996e-01 -5.88121904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.700714057 meters 0.026685495551296495 Centerline is valid? [True, True] Translation: X:892.37, Y:-142.41, Z:-58.82 [[ 9.95125683e-01 7.81354904e-02 6.01641039e-02 8.92365361e+02] [-7.78554196e-02 9.96940163e-01 -6.98889963e-03 -1.42408289e+02] [-6.05260927e-02 2.27073196e-03 9.98164033e-01 -5.88168862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7607140570001 meters 0.027355263091490754 Centerline is valid? [True, True] Translation: X:892.42, Y:-142.42, Z:-58.82 [[ 9.95270744e-01 7.75838140e-02 5.84542369e-02 8.92423786e+02] [-7.73187487e-02 9.96983329e-01 -6.78617436e-03 -1.42415939e+02] [-5.88043970e-02 2.23447235e-03 9.98267023e-01 -5.88221161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.820714057 meters 0.029264224027573213 Centerline is valid? [True, True] Translation: X:892.48, Y:-142.42, Z:-58.83 [[ 9.95250742e-01 7.85071621e-02 5.75550670e-02 8.92480535e+02] [-7.82519670e-02 9.96911248e-01 -6.67785960e-03 -1.42424976e+02] [-5.79015534e-02 2.14234752e-03 9.98319999e-01 -5.88271198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8807140570001 meters 0.026847995454534365 Centerline is valid? [True, True] Translation: X:892.54, Y:-142.43, Z:-58.83 [[ 9.94988419e-01 8.08402781e-02 5.88463719e-02 8.92539930e+02] [-8.05778835e-02 9.96724968e-01 -6.82221677e-03 -1.42426241e+02] [-5.92051581e-02 2.04631057e-03 9.98243739e-01 -5.88287602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.940714057 meters 0.029024246423332598 Centerline is valid? [True, True] Translation: X:892.60, Y:-142.44, Z:-58.83 [[ 9.94845415e-01 8.20767664e-02 5.95483347e-02 8.92596852e+02] [-8.18104576e-02 9.96624017e-01 -6.90057795e-03 -1.42436947e+02] [-5.99136777e-02 1.99333182e-03 9.98201572e-01 -5.88325569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.000714057 meters 0.026918038048294925 Centerline is valid? [True, True] Translation: X:892.66, Y:-142.44, Z:-58.84 [[ 9.94820049e-01 8.29775897e-02 5.87178850e-02 8.92656006e+02] [-8.27205337e-02 9.96549589e-01 -6.79924925e-03 -1.42439426e+02] [-5.90794695e-02 1.90685468e-03 9.98251461e-01 -5.88364237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.060714057 meters 0.02754920029590971 Centerline is valid? [True, True] Translation: X:892.71, Y:-142.45, Z:-58.84 [[ 9.94929273e-01 8.29421393e-02 5.68888723e-02 8.92713806e+02] [-8.27010257e-02 9.96552656e-01 -6.58367623e-03 -1.42446603e+02] [-5.72388209e-02 1.84552412e-03 9.98358809e-01 -5.88414293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.120714057 meters 0.02724261349421284 Centerline is valid? [True, True] Translation: X:892.77, Y:-142.45, Z:-58.85 [[ 9.94967303e-01 8.26827696e-02 5.66005850e-02 8.92771837e+02] [-8.24438969e-02 9.96574206e-01 -6.54646460e-03 -1.42453277e+02] [-5.69479629e-02 1.84714543e-03 9.98375439e-01 -5.88455501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.180714057 meters 0.029072353547936695 Centerline is valid? [True, True] Translation: X:892.83, Y:-142.47, Z:-58.85 [[ 9.95067364e-01 8.15214320e-02 5.65260795e-02 8.92828677e+02] [-8.12815358e-02 9.96669764e-01 -6.53402525e-03 -1.42465027e+02] [-5.68704974e-02 1.90726872e-03 9.98379742e-01 -5.88513180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.240714057 meters 0.0276906739330854 Centerline is valid? [True, True] Translation: X:892.89, Y:-142.47, Z:-58.86 [[ 9.95298566e-01 7.94147047e-02 5.54442818e-02 8.92886750e+02] [-7.91809091e-02 9.96839690e-01 -6.40434411e-03 -1.42469573e+02] [-5.57776598e-02 1.98410588e-03 9.98441243e-01 -5.88551769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.300714057 meters 0.02898910544584931 Centerline is valid? [True, True] Translation: X:892.95, Y:-142.48, Z:-58.86 [[ 9.95656296e-01 7.62936335e-02 5.33649827e-02 8.92945228e+02] [-7.60728660e-02 9.97083239e-01 -6.15900527e-03 -1.42480148e+02] [-5.36792227e-02 2.07262519e-03 9.98556080e-01 -5.88602167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.360714057 meters 0.029615994814826258 Centerline is valid? [True, True] Translation: X:893.00, Y:-142.49, Z:-58.86 [[ 9.95913170e-01 7.35562776e-02 5.24064071e-02 8.93004122e+02] [-7.33396920e-02 9.97288689e-01 -6.04656035e-03 -1.42488315e+02] [-5.27090795e-02 2.17837933e-03 9.98607534e-01 -5.88632485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.420714057 meters 0.03293248102755663 Centerline is valid? [True, True] Translation: X:893.06, Y:-142.50, Z:-58.87 [[ 9.95982956e-01 7.27335200e-02 5.22282121e-02 8.93060310e+02] [-7.25173428e-02 9.97348955e-01 -6.02476495e-03 -1.42500960e+02] [-5.25279551e-02 2.21311205e-03 9.98617002e-01 -5.88684193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.480714057 meters 0.03317308369059434 Centerline is valid? [True, True] Translation: X:893.12, Y:-142.51, Z:-58.87 [[ 9.95937241e-01 7.28961793e-02 5.28692564e-02 8.93118353e+02] [-7.26751499e-02 9.97337049e-01 -6.09374995e-03 -1.42508807e+02] [-5.31726793e-02 2.22671138e-03 9.98582850e-01 -5.88711806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5407140570001 meters 0.030166284598791702 Centerline is valid? [True, True] Translation: X:893.18, Y:-142.51, Z:-58.87 [[ 9.95924635e-01 7.33920980e-02 5.24187215e-02 8.93177390e+02] [-7.31756875e-02 9.97300785e-01 -6.03843590e-03 -1.42509319e+02] [-5.27204056e-02 2.17805108e-03 9.98606937e-01 -5.88722776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.600714057 meters 0.030156810595109305 Centerline is valid? [True, True] Translation: X:893.24, Y:-142.52, Z:-58.88 [[ 9.95793502e-01 7.60696398e-02 5.10755512e-02 8.93236028e+02] [-7.58678950e-02 9.97100541e-01 -5.87996031e-03 -1.42515585e+02] [-5.13747462e-02 1.98023171e-03 9.98677483e-01 -5.88768757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6607140570001 meters 0.02913889411846293 Centerline is valid? [True, True] Translation: X:893.29, Y:-142.52, Z:-58.88 [[ 9.95664501e-01 7.76828412e-02 5.11622788e-02 8.93294450e+02] [-7.74826613e-02 9.96976316e-01 -5.88749474e-03 -1.42522159e+02] [-5.14649376e-02 1.89777999e-03 9.98672999e-01 -5.88809679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.720714057 meters 0.02823561778798042 Centerline is valid? [True, True] Translation: X:893.35, Y:-142.53, Z:-58.88 [[ 9.95409483e-01 8.16126202e-02 4.99934097e-02 8.93354178e+02] [-8.14266352e-02 9.96662757e-01 -5.74904181e-03 -1.42525905e+02] [-5.02957639e-02 1.65185560e-03 9.98733001e-01 -5.88845166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7807140570001 meters 0.0266486537986794 Centerline is valid? [True, True] Translation: X:893.41, Y:-142.52, Z:-58.89 [[ 9.94771946e-01 8.95504969e-02 4.90864937e-02 8.93414671e+02] [-8.93809455e-02 9.95981529e-01 -5.64276913e-03 -1.42524002e+02] [-4.93945538e-02 1.22587121e-03 9.98778592e-01 -5.88890191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.840714057 meters 0.025958052421633803 Centerline is valid? [True, True] Translation: X:893.47, Y:-142.53, Z:-58.89 [[ 9.94191049e-01 9.51472531e-02 5.03106217e-02 8.93474202e+02] [-9.49763204e-02 9.95462735e-01 -5.78281956e-03 -1.42525297e+02] [-5.06325685e-02 9.70909713e-04 9.98716877e-01 -5.88929485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9007140570001 meters 0.025350236847418828 Centerline is valid? [True, True] Translation: X:893.53, Y:-142.53, Z:-58.89 [[ 9.93626023e-01 9.92405813e-02 5.34661986e-02 8.93532917e+02] [-9.90535208e-02 9.95063140e-01 -6.14385484e-03 -1.42526949e+02] [-5.38119632e-02 8.08678829e-04 9.98550759e-01 -5.88942941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.960714057 meters 0.024687234154450344 Centerline is valid? [True, True] Translation: X:893.59, Y:-142.53, Z:-58.90 [[ 9.93103031e-01 1.04232579e-01 5.36836890e-02 8.93591466e+02] [-1.04051384e-01 9.94552804e-01 -6.16685025e-03 -1.42525456e+02] [-5.40340502e-02 5.38455537e-04 9.98538948e-01 -5.88982610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0207140570001 meters 0.02479993307104216 Centerline is valid? [True, True] Translation: X:893.65, Y:-142.53, Z:-58.90 [[ 9.93319045e-01 1.01380518e-01 5.51295419e-02 8.93649858e+02] [-1.01185817e-01 9.94847477e-01 -6.31881760e-03 -1.42534556e+02] [-5.54860907e-02 6.98274107e-04 9.98459216e-01 -5.89010430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.080714057 meters 0.025251993928763438 Centerline is valid? [True, True] Translation: X:893.71, Y:-142.54, Z:-58.91 [[ 9.93670379e-01 9.79280538e-02 5.50388521e-02 8.93706856e+02] [-9.77295330e-02 9.95193113e-01 -6.29341950e-03 -1.42542535e+02] [-5.53905889e-02 8.74663218e-04 9.98464380e-01 -5.89054028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1407140570001 meters 0.02559020502065735 Centerline is valid? [True, True] Translation: X:893.76, Y:-142.55, Z:-58.91 [[ 9.93938151e-01 9.48767835e-02 5.55459118e-02 8.93764812e+02] [-9.46700192e-02 9.95488469e-01 -6.34790283e-03 -1.42549493e+02] [-5.58975833e-02 1.05089026e-03 9.98435955e-01 -5.89088474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.200714057 meters 0.02664171948106268 Centerline is valid? [True, True] Translation: X:893.82, Y:-142.56, Z:-58.91 [[ 9.94400262e-01 9.00016188e-02 5.53879763e-02 8.93822364e+02] [-8.97893125e-02 9.95940763e-01 -6.31481886e-03 -1.42559964e+02] [-5.57314872e-02 1.30620922e-03 9.98444939e-01 -5.89147512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2607140570001 meters 0.027654581741801597 Centerline is valid? [True, True] Translation: X:893.88, Y:-142.57, Z:-58.92 [[ 9.94892704e-01 8.50257800e-02 5.43978265e-02 8.93880383e+02] [-8.48137220e-02 9.96377540e-01 -6.19922187e-03 -1.42571717e+02] [-5.47278662e-02 1.55387847e-03 9.98500098e-01 -5.89200919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.320714057 meters 0.029348925618430676 Centerline is valid? [True, True] Translation: X:893.94, Y:-142.58, Z:-58.92 [[ 9.95170149e-01 8.19985152e-02 5.39686759e-02 8.93938146e+02] [-8.17854880e-02 9.96630995e-01 -6.14774024e-03 -1.42582336e+02] [-5.42909607e-02 1.70419308e-03 9.98523704e-01 -5.89242090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3807140570001 meters 0.02843685880223592 Centerline is valid? [True, True] Translation: X:894.00, Y:-142.59, Z:-58.93 [[ 9.95371642e-01 7.97169986e-02 5.36702425e-02 8.93996668e+02] [-7.95032061e-02 9.96815884e-01 -6.11015899e-03 -1.42589034e+02] [-5.39864338e-02 1.81492264e-03 9.98540020e-01 -5.89269858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.440714057 meters 0.02748362463679435 Centerline is valid? [True, True] Translation: X:894.06, Y:-142.59, Z:-58.93 [[ 9.95260558e-01 8.12170128e-02 5.34810084e-02 8.94055279e+02] [-8.10070856e-02 9.96694951e-01 -6.08495264e-03 -1.42593536e+02] [-5.37984528e-02 1.72377273e-03 9.98550327e-01 -5.89301876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.500714057 meters 0.027246418559468164 Centerline is valid? [True, True] Translation: X:894.11, Y:-142.60, Z:-58.93 [[ 9.95073640e-01 8.33952063e-02 5.36068227e-02 8.94112697e+02] [-8.31876379e-02 9.96515258e-01 -6.09567728e-03 -1.42598522e+02] [-5.39283670e-02 1.60622282e-03 9.98543515e-01 -5.89337596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.560714057 meters 0.026005539340835448 Centerline is valid? [True, True] Translation: X:894.17, Y:-142.60, Z:-58.94 [[ 9.94823299e-01 8.64603067e-02 5.33968092e-02 8.94171539e+02] [-8.62590264e-02 9.96254270e-01 -6.06703959e-03 -1.42600758e+02] [-5.37213573e-02 1.42967557e-03 9.98554942e-01 -5.89371892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.620714057 meters 0.025516770256148347 Centerline is valid? [True, True] Translation: X:894.23, Y:-142.61, Z:-58.94 [[ 9.94649564e-01 8.84553528e-02 5.33656763e-02 8.94229942e+02] [-8.82573736e-02 9.96079271e-01 -6.05979708e-03 -1.42606414e+02] [-5.36924655e-02 1.31746010e-03 9.98556650e-01 -5.89409119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.680714057 meters 0.025126705129646633 Centerline is valid? [True, True] Translation: X:894.29, Y:-142.61, Z:-58.94 [[ 9.94512245e-01 8.98870519e-02 5.35323587e-02 8.94288681e+02] [-8.96901034e-02 9.95951193e-01 -6.07502718e-03 -1.42612259e+02] [-5.38616828e-02 1.24036613e-03 9.98547636e-01 -5.89446150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.740714057 meters 0.024869604966770684 Centerline is valid? [True, True] Translation: X:894.35, Y:-142.62, Z:-58.95 [[ 9.94272030e-01 9.16738369e-02 5.49457823e-02 8.94345979e+02] [-9.14692695e-02 9.95788400e-01 -6.23172888e-03 -1.42617330e+02] [-5.52856592e-02 1.17018315e-03 9.98469893e-01 -5.89474739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.800714057 meters 0.02393001590890833 Centerline is valid? [True, True] Translation: X:894.40, Y:-142.62, Z:-58.95 [[ 9.94129253e-01 9.31239661e-02 5.50904332e-02 8.94404988e+02] [-9.29208065e-02 9.95653928e-01 -6.24338447e-03 -1.42620903e+02] [-5.54324150e-02 1.08768365e-03 9.98461849e-01 -5.89494733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.860714057 meters 0.023655947181127856 Centerline is valid? [True, True] Translation: X:894.46, Y:-142.63, Z:-58.95 [[ 9.94092142e-01 9.34617158e-02 5.51880604e-02 8.94463558e+02] [-9.32585641e-02 9.95622303e-01 -6.25068114e-03 -1.42626419e+02] [-5.55306632e-02 1.06699372e-03 9.98456412e-01 -5.89530201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.920714057 meters 0.022971945628703052 Centerline is valid? [True, True] Translation: X:894.52, Y:-142.63, Z:-58.96 [[ 9.93988288e-01 9.45965945e-02 5.51250190e-02 8.94521543e+02] [-9.43958613e-02 9.95515187e-01 -6.23974259e-03 -1.42632313e+02] [-5.54680520e-02 9.98657409e-04 9.98459963e-01 -5.89562757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.980714057 meters 0.022258846022917923 Centerline is valid? [True, True] Translation: X:894.58, Y:-142.64, Z:-58.96 [[ 9.93687174e-01 9.67496102e-02 5.67918451e-02 8.94579878e+02] [-9.65402143e-02 9.95308344e-01 -6.42559793e-03 -1.42639767e+02] [-5.71470714e-02 9.02337352e-04 9.98365363e-01 -5.89595134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0407140570001 meters 0.021976727911070148 Centerline is valid? [True, True] Translation: X:894.64, Y:-142.64, Z:-58.96 [[ 9.93278864e-01 1.00634884e-01 5.71814492e-02 8.94637192e+02] [-1.00429907e-01 9.94923200e-01 -6.45448662e-03 -1.42643750e+02] [-5.75406969e-02 6.68377527e-04 9.98342938e-01 -5.89624243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.100714057 meters 0.020805832392125582 Centerline is valid? [True, True] Translation: X:894.70, Y:-142.64, Z:-58.96 [[ 9.92215791e-01 1.10483784e-01 5.74557064e-02 8.94696764e+02] [-1.10293538e-01 9.93877922e-01 -6.48158806e-03 -1.42642036e+02] [-5.78200685e-02 9.41409036e-05 9.98327016e-01 -5.89639002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1607140570001 meters 0.021062322417741808 Centerline is valid? [True, True] Translation: X:894.76, Y:-142.65, Z:-58.97 [[ 9.91339544e-01 1.17769126e-01 5.81062942e-02 8.94755670e+02] [-1.17587883e-01 9.93040941e-01 -6.54052390e-03 -1.42645420e+02] [-5.84722009e-02 -3.48716145e-04 9.98288976e-01 -5.89671953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.220714057 meters 0.022597648634514973 Centerline is valid? [True, True] Translation: X:894.81, Y:-142.65, Z:-58.97 [[ 9.89681927e-01 1.30071154e-01 6.00930778e-02 8.94814357e+02] [-1.29900908e-01 9.91504020e-01 -6.74772852e-03 -1.42646106e+02] [-6.04602131e-02 -1.12804039e-03 9.98169971e-01 -5.89710387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2807140570001 meters 0.024561051984682093 Centerline is valid? [True, True] Translation: X:894.87, Y:-142.65, Z:-58.97 [[ 9.87980757e-01 1.42489834e-01 5.99222097e-02 8.94874575e+02] [-1.42343521e-01 9.89794470e-01 -6.72521813e-03 -1.42648590e+02] [-6.02689470e-02 -1.88515220e-03 9.98180395e-01 -5.89742060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.340714057 meters 0.02821395605726931 Centerline is valid? [True, True] Translation: X:894.93, Y:-142.65, Z:-58.98 [[ 9.86734526e-01 1.51182336e-01 5.91513031e-02 8.94933788e+02] [-1.51055375e-01 9.88503016e-01 -6.63790934e-03 -1.42648021e+02] [-5.94747762e-02 -2.38526796e-03 9.98226959e-01 -5.89783350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4007140570001 meters 0.030578533309831606 Centerline is valid? [True, True] Translation: X:894.99, Y:-142.65, Z:-58.98 [[ 9.84992637e-01 1.62391647e-01 5.84675892e-02 8.94993425e+02] [-1.62287188e-01 9.86721746e-01 -6.56234516e-03 -1.42651698e+02] [-5.87569117e-02 -3.02467898e-03 9.98267738e-01 -5.89820289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.460714057 meters 0.03141702527794238 Centerline is valid? [True, True] Translation: X:895.05, Y:-142.66, Z:-58.99 [[ 9.84091062e-01 1.67658087e-01 5.87839140e-02 8.95053356e+02] [-1.67561880e-01 9.85839486e-01 -6.59728071e-03 -1.42658566e+02] [-5.90575911e-02 -3.35761819e-03 9.98248931e-01 -5.89858489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5207140570001 meters 0.03488609413776176 Centerline is valid? [True, True] Translation: X:895.11, Y:-142.66, Z:-58.99 [[ 9.83829376e-01 1.68991546e-01 5.93432044e-02 8.95111639e+02] [-1.68895972e-01 9.85611387e-01 -6.65911000e-03 -1.42660953e+02] [-5.96146713e-02 -3.47140014e-03 9.98215428e-01 -5.89888813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.580714057 meters 0.03283661433042045 Centerline is valid? [True, True] Translation: X:895.17, Y:-142.67, Z:-58.99 [[ 9.84339720e-01 1.65991061e-01 5.93488257e-02 8.95171121e+02] [-1.65890290e-01 9.86121755e-01 -6.65546897e-03 -1.42671440e+02] [-5.96299165e-02 -3.29415146e-03 9.98215118e-01 -5.89922760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6407140570001 meters 0.029191682362636202 Centerline is valid? [True, True] Translation: X:895.23, Y:-142.69, Z:-59.00 [[ 9.85600893e-01 1.58578563e-01 5.86832061e-02 8.95230161e+02] [-1.58466989e-01 9.87342352e-01 -6.57982944e-03 -1.42685244e+02] [-5.89838346e-02 -2.81426521e-03 9.98254971e-01 -5.89973587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.700714057 meters 0.025821979508128246 Centerline is valid? [True, True] Translation: X:895.29, Y:-142.70, Z:-59.00 [[ 9.87234776e-01 1.48135414e-01 5.85097921e-02 8.95288568e+02] [-1.48006212e-01 9.88964676e-01 -6.55979102e-03 -1.42698223e+02] [-5.88358549e-02 -2.18375884e-03 9.98265282e-01 -5.90019551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7607140570001 meters 0.02433085924831634 Centerline is valid? [True, True] Translation: X:895.35, Y:-142.71, Z:-59.01 [[ 9.88385604e-01 1.40298649e-01 5.83968147e-02 8.95347289e+02] [-1.40156364e-01 9.90107746e-01 -6.54566579e-03 -1.42705110e+02] [-5.87374866e-02 -1.71504341e-03 9.98271990e-01 -5.90057251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.820714057 meters 0.021151534814478744 Centerline is valid? [True, True] Translation: X:895.41, Y:-142.72, Z:-59.01 [[ 9.90236985e-01 1.26724305e-01 5.80660357e-02 8.95406446e+02] [-1.26560376e-01 9.91937564e-01 -6.50694927e-03 -1.42718054e+02] [-5.84224706e-02 -9.05437514e-04 9.98291538e-01 -5.90102803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8807140570001 meters 0.02014274820149791 Centerline is valid? [True, True] Translation: X:895.46, Y:-142.73, Z:-59.02 [[ 9.91937821e-01 1.13007408e-01 5.73470604e-02 8.95464631e+02] [-1.12824613e-01 9.93594141e-01 -6.42574030e-03 -1.42730486e+02] [-5.77058594e-02 -9.62250615e-05 9.98333624e-01 -5.90160737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.940714057 meters 0.020371124245355483 Centerline is valid? [True, True] Translation: X:895.52, Y:-142.74, Z:-59.02 [[ 9.92910972e-01 1.03774981e-01 5.79530491e-02 8.95522162e+02] [-1.03572615e-01 9.94600702e-01 -6.49290235e-03 -1.42741149e+02] [-5.83139441e-02 4.44525134e-04 9.98298195e-01 -5.90191691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.000714057 meters 0.021360715855652287 Centerline is valid? [True, True] Translation: X:895.58, Y:-142.75, Z:-59.02 [[ 9.93878102e-01 9.40507493e-02 5.79721988e-02 8.95580882e+02] [-9.38326035e-02 9.95566902e-01 -6.47971372e-03 -1.42750745e+02] [-5.83246243e-02 1.00036322e-03 9.98297169e-01 -5.90221884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.060714057 meters 0.022290559097294115 Centerline is valid? [True, True] Translation: X:895.64, Y:-142.76, Z:-59.03 [[ 9.94245599e-01 8.99350292e-02 5.82012019e-02 8.95637412e+02] [-8.97081968e-02 9.95946856e-01 -6.50381181e-03 -1.42760697e+02] [-5.85502246e-02 1.24526139e-03 9.98283687e-01 -5.90268273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.120714057 meters 0.022816088106569515 Centerline is valid? [True, True] Translation: X:895.70, Y:-142.77, Z:-59.03 [[ 9.94529506e-01 8.74331377e-02 5.71533694e-02 8.95695776e+02] [-8.72107361e-02 9.96169463e-01 -6.37882740e-03 -1.42769416e+02] [-5.74921621e-02 1.35954465e-03 9.98345032e-01 -5.90313704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.180714057 meters 0.02307569415292852 Centerline is valid? [True, True] Translation: X:895.75, Y:-142.78, Z:-59.04 [[ 9.94537228e-01 8.81390578e-02 5.59214579e-02 8.95753307e+02] [-8.79274721e-02 9.96107349e-01 -6.23765875e-03 -1.42776932e+02] [-5.62535565e-02 1.28655142e-03 9.98415686e-01 -5.90370372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.240714057 meters 0.02132145894201208 Centerline is valid? [True, True] Translation: X:895.81, Y:-142.78, Z:-59.04 [[ 9.94096640e-01 9.26965914e-02 5.63845096e-02 8.95812252e+02] [-9.24890863e-02 9.95693867e-01 -6.28430789e-03 -1.42777609e+02] [-5.67242443e-02 1.03225758e-03 9.98389350e-01 -5.90382342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.300714057 meters 0.021216978886250924 Centerline is valid? [True, True] Translation: X:895.87, Y:-142.78, Z:-59.04 [[ 9.93826229e-01 9.50090486e-02 5.72949093e-02 8.95870693e+02] [-9.47987912e-02 9.95475991e-01 -6.38279503e-03 -1.42782409e+02] [-5.76421299e-02 9.11900972e-04 9.98336894e-01 -5.90407337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.360714057 meters 0.02089133901517762 Centerline is valid? [True, True] Translation: X:895.93, Y:-142.79, Z:-59.04 [[ 9.93622483e-01 9.73753682e-02 5.68541947e-02 8.95929236e+02] [-9.71730143e-02 9.95247441e-01 -6.31957506e-03 -1.42787077e+02] [-5.71993627e-02 7.54578388e-04 9.98362491e-01 -5.90441712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.420714057 meters 0.02065616423221019 Centerline is valid? [True, True] Translation: X:895.99, Y:-142.79, Z:-59.05 [[ 9.93484942e-01 9.90092448e-02 5.64343780e-02 8.95986262e+02] [-9.88133760e-02 9.95086308e-01 -6.25758050e-03 -1.42793748e+02] [-5.67766351e-02 6.40340591e-04 9.98386701e-01 -5.90489430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.480714057 meters 0.02078501017812552 Centerline is valid? [True, True] Translation: X:896.04, Y:-142.80, Z:-59.05 [[ 9.93356435e-01 1.00085349e-01 5.67971423e-02 8.96043614e+02] [-9.98891697e-02 9.94978690e-01 -6.28975455e-03 -1.42799828e+02] [-5.71414585e-02 5.74548772e-04 9.98365927e-01 -5.90531029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5407140570001 meters 0.02032980856555335 Centerline is valid? [True, True] Translation: X:896.10, Y:-142.80, Z:-59.06 [[ 9.93100653e-01 1.02424667e-01 5.70988622e-02 8.96101900e+02] [-1.02230481e-01 9.94740667e-01 -6.31927507e-03 -1.42804847e+02] [-5.74458099e-02 4.38432027e-04 9.98348530e-01 -5.90561196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.600714057 meters 0.020133656669299897 Centerline is valid? [True, True] Translation: X:896.16, Y:-142.81, Z:-59.06 [[ 9.92571467e-01 1.06796713e-01 5.82781780e-02 8.96160106e+02] [-1.06602806e-01 9.94280862e-01 -6.43507091e-03 -1.42808231e+02] [-5.86321215e-02 1.74650455e-04 9.98279642e-01 -5.90586711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6607140570001 meters 0.020116127524612906 Centerline is valid? [True, True] Translation: X:896.22, Y:-142.81, Z:-59.06 [[ 9.92102915e-01 1.10821417e-01 5.87402672e-02 8.96218193e+02] [-1.10632322e-01 9.93840333e-01 -6.47162416e-03 -1.42812975e+02] [-5.90956412e-02 -7.80549311e-05 9.98252322e-01 -5.90620479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.720714057 meters 0.020539897276915506 Centerline is valid? [True, True] Translation: X:896.28, Y:-142.82, Z:-59.07 [[ 9.91895647e-01 1.12493110e-01 5.90620478e-02 8.96275754e+02] [-1.12305842e-01 9.93652486e-01 -6.49117204e-03 -1.42819002e+02] [-5.94173628e-02 -1.94447735e-04 9.98233209e-01 -5.90653406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7807140570001 meters 0.020971749001149766 Centerline is valid? [True, True] Translation: X:896.33, Y:-142.82, Z:-59.07 [[ 9.91398872e-01 1.16800862e-01 5.90409674e-02 8.96334475e+02] [-1.16622375e-01 9.93155244e-01 -6.47173362e-03 -1.42823388e+02] [-5.93927504e-02 -4.69428451e-04 9.98234582e-01 -5.90678920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.840714057 meters 0.022006098393543082 Centerline is valid? [True, True] Translation: X:896.39, Y:-142.82, Z:-59.07 [[ 9.90230430e-01 1.26325881e-01 5.90378453e-02 8.96393623e+02] [-1.26165261e-01 9.91988234e-01 -6.45530330e-03 -1.42822608e+02] [-5.93803197e-02 -1.05628738e-03 9.98234873e-01 -5.90712365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9007140570001 meters 0.022739752186562687 Centerline is valid? [True, True] Translation: X:896.45, Y:-142.83, Z:-59.08 [[ 9.89577216e-01 1.30600750e-01 6.06661107e-02 8.96451714e+02] [-1.30439357e-01 9.91434121e-01 -6.63012420e-03 -1.42827911e+02] [-6.10123513e-02 -1.35222863e-03 9.98136095e-01 -5.90752902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.960714057 meters 0.02368678140861256 Centerline is valid? [True, True] Translation: X:896.51, Y:-142.83, Z:-59.08 [[ 9.89141737e-01 1.33812801e-01 6.07680708e-02 8.96509793e+02] [-1.33657212e-01 9.91005402e-01 -6.63641914e-03 -1.42832429e+02] [-6.11095243e-02 -1.55773176e-03 9.98129851e-01 -5.90797848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0207140570001 meters 0.02314923015112816 Centerline is valid? [True, True] Translation: X:896.57, Y:-142.84, Z:-59.08 [[ 9.89718263e-01 1.30357621e-01 5.88612831e-02 8.96567686e+02] [-1.30206370e-01 9.91466166e-01 -6.41421057e-03 -1.42840504e+02] [-5.91951119e-02 -1.31585267e-03 9.98245565e-01 -5.90849760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.080714057 meters 0.02282348706861366 Centerline is valid? [True, True] Translation: X:896.63, Y:-142.85, Z:-59.09 [[ 9.90383600e-01 1.26319867e-01 5.64235452e-02 8.96625546e+02] [-1.26175097e-01 9.91989014e-01 -6.13526744e-03 -1.42849180e+02] [-5.67465432e-02 -1.04297802e-03 9.98388072e-01 -5.90921006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1407140570001 meters 0.02205136754989581 Centerline is valid? [True, True] Translation: X:896.68, Y:-142.86, Z:-59.10 [[ 9.91302883e-01 1.19781281e-01 5.45072377e-02 8.96683704e+02] [-1.19637010e-01 9.92800086e-01 -5.91395196e-03 -1.42859222e+02] [-5.48231711e-02 -6.58565311e-04 9.98495862e-01 -5.90967308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.200714057 meters 0.021953640486464046 Centerline is valid? [True, True] Translation: X:896.74, Y:-142.87, Z:-59.10 [[ 9.91680696e-01 1.16168630e-01 5.54458834e-02 8.96740890e+02] [-1.16014505e-01 9.93229388e-01 -6.00138282e-03 -1.42865620e+02] [-5.57676533e-02 -4.81071249e-04 9.98443658e-01 -5.91004781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2607140570001 meters 0.021458328090806566 Centerline is valid? [True, True] Translation: X:896.80, Y:-142.88, Z:-59.10 [[ 9.92549458e-01 1.07639778e-01 5.70898519e-02 8.96798729e+02] [-1.07462493e-01 9.94189961e-01 -6.17530330e-03 -1.42876004e+02] [-5.74228659e-02 -5.72386653e-06 9.98349946e-01 -5.91019846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.320714057 meters 0.021744437462341466 Centerline is valid? [True, True] Translation: X:896.86, Y:-142.89, Z:-59.11 [[ 9.93728757e-01 9.67234640e-02 5.61046271e-02 8.96856413e+02] [-9.65356189e-02 9.95311112e-01 -6.05507968e-03 -1.42887748e+02] [-5.64272271e-02 6.01011895e-04 9.98406534e-01 -5.91068254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3807140570001 meters 0.022538586725472386 Centerline is valid? [True, True] Translation: X:896.91, Y:-142.90, Z:-59.11 [[ 9.94347232e-01 9.06404534e-02 5.52981919e-02 8.96914612e+02] [-9.04493276e-02 9.95883258e-01 -5.95447054e-03 -1.42896553e+02] [-5.56102594e-02 9.19127020e-04 9.98452129e-01 -5.91120269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.440714057 meters 0.02370031074218852 Centerline is valid? [True, True] Translation: X:896.97, Y:-142.91, Z:-59.12 [[ 9.94900531e-01 8.46150566e-02 5.48928591e-02 8.96973313e+02] [-8.44184224e-02 9.96412955e-01 -5.89521595e-03 -1.42905136e+02] [-5.51947800e-02 1.23118491e-03 9.98474847e-01 -5.91171793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.500714057 meters 0.02510269969222702 Centerline is valid? [True, True] Translation: X:897.03, Y:-142.91, Z:-59.12 [[ 9.95354363e-01 7.93592087e-02 5.45142863e-02 8.97030465e+02] [-7.91574914e-02 9.96844940e-01 -5.85298316e-03 -1.42914816e+02] [-5.48067785e-02 1.51057818e-03 9.98495836e-01 -5.91211010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.560714057 meters 0.02551638774981935 Centerline is valid? [True, True] Translation: X:897.09, Y:-142.92, Z:-59.13 [[ 9.95619130e-01 7.64105995e-02 5.38884832e-02 8.97089888e+02] [-7.62093983e-02 9.97075072e-01 -5.78174081e-03 -1.42921823e+02] [-5.41726495e-02 1.64960288e-03 9.98530221e-01 -5.91250924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.620714057 meters 0.02596414245828736 Centerline is valid? [True, True] Translation: X:897.15, Y:-142.93, Z:-59.13 [[ 9.95870136e-01 7.41877541e-02 5.23340228e-02 8.97148291e+02] [-7.39950225e-02 9.97242812e-01 -5.61339324e-03 -1.42929305e+02] [-5.26061731e-02 1.71775349e-03 9.98613859e-01 -5.91293482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.680714057 meters 0.025703338034130344 Centerline is valid? [True, True] Translation: X:897.21, Y:-142.93, Z:-59.13 [[ 9.95822665e-01 7.44139168e-02 5.29130398e-02 8.97207243e+02] [-7.42173531e-02 9.97225954e-01 -5.67283370e-03 -1.42934243e+02] [-5.31883943e-02 1.72207062e-03 9.98583011e-01 -5.91327122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.740714057 meters 0.025150296106225677 Centerline is valid? [True, True] Translation: X:897.27, Y:-142.94, Z:-59.14 [[ 9.95751274e-01 7.52877554e-02 5.30203169e-02 8.97265734e+02] [-7.50918353e-02 9.97160443e-01 -5.68047941e-03 -1.42939639e+02] [-5.32974332e-02 1.67495171e-03 9.98577277e-01 -5.91366346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.800714057 meters 0.025166407435959562 Centerline is valid? [True, True] Translation: X:897.32, Y:-142.95, Z:-59.14 [[ 9.95724683e-01 7.58749547e-02 5.26815536e-02 8.97324587e+02] [-7.56825661e-02 9.97116010e-01 -5.64017174e-03 -1.42945889e+02] [-5.29575683e-02 1.62898306e-03 9.98595435e-01 -5.91404061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.860714057 meters 0.025684601230375453 Centerline is valid? [True, True] Translation: X:897.38, Y:-142.95, Z:-59.14 [[ 9.95762267e-01 7.54450890e-02 5.25884714e-02 8.97381947e+02] [-7.52529107e-02 9.97148599e-01 -5.62777068e-03 -1.42952871e+02] [-5.28631082e-02 1.64648615e-03 9.98600411e-01 -5.91439272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.920714057 meters 0.029214450575035755 Centerline is valid? [True, True] Translation: X:897.44, Y:-142.97, Z:-59.15 [[ 9.95759363e-01 7.55381173e-02 5.25098537e-02 8.97437801e+02] [-7.53468897e-02 9.97141575e-01 -5.61468684e-03 -1.42966634e+02] [-5.27838812e-02 1.63442283e-03 9.98604622e-01 -5.91511941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.980714057 meters 0.025414992008624022 Centerline is valid? [True, True] Translation: X:897.50, Y:-142.97, Z:-59.15 [[ 9.95794360e-01 7.53848490e-02 5.20645589e-02 8.97497263e+02] [-7.51968899e-02 9.97153192e-01 -5.56240029e-03 -1.42965948e+02] [-5.23356618e-02 1.62391394e-03 9.98628230e-01 -5.91529731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0407140570001 meters 0.025915023913133665 Centerline is valid? [True, True] Translation: X:897.56, Y:-142.97, Z:-59.16 [[ 9.95950635e-01 7.33010336e-02 5.20508461e-02 8.97555726e+02] [-7.31105265e-02 9.97308362e-01 -5.55722862e-03 -1.42974137e+02] [-5.23180947e-02 1.72926061e-03 9.98628974e-01 -5.91570111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.100714057 meters 0.026626675555290916 Centerline is valid? [True, True] Translation: X:897.61, Y:-142.98, Z:-59.16 [[ 9.96142704e-01 7.14728831e-02 5.09052195e-02 8.97614133e+02] [-7.12884761e-02 9.97440952e-01 -5.43137343e-03 -1.42982800e+02] [-5.11631465e-02 1.78146749e-03 9.98688720e-01 -5.91615106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1607140570001 meters 0.027069335228023954 Centerline is valid? [True, True] Translation: X:897.67, Y:-142.99, Z:-59.16 [[ 9.96176834e-01 7.07515506e-02 5.12438600e-02 8.97672526e+02] [-7.05639166e-02 9.97492296e-01 -5.46382652e-03 -1.42989986e+02] [-5.15019298e-02 1.82696994e-03 9.98671224e-01 -5.91646373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.220714057 meters 0.02787854451282553 Centerline is valid? [True, True] Translation: X:897.73, Y:-143.00, Z:-59.17 [[ 9.96212522e-01 7.01529357e-02 5.13729198e-02 8.97730839e+02] [-6.99637496e-02 9.97534516e-01 -5.47392121e-03 -1.42998213e+02] [-5.16302723e-02 1.85894676e-03 9.98664538e-01 -5.91683364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2807140570001 meters 0.028184164019614908 Centerline is valid? [True, True] Translation: X:897.79, Y:-143.01, Z:-59.17 [[ 9.96301675e-01 6.94910425e-02 5.05367993e-02 8.97788732e+02] [-6.93072959e-02 9.97580844e-01 -5.38138240e-03 -1.43005655e+02] [-5.07885007e-02 1.85891139e-03 9.98707701e-01 -5.91723147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.340714057 meters 0.029053850042881715 Centerline is valid? [True, True] Translation: X:897.85, Y:-143.01, Z:-59.18 [[ 9.96365995e-01 6.90831063e-02 4.98229826e-02 8.97846657e+02] [-6.89041803e-02 9.97609194e-01 -5.30196656e-03 -1.43013562e+02] [-5.00701418e-02 1.84968742e-03 9.98743991e-01 -5.91776028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4007140570001 meters 0.030370240385589206 Centerline is valid? [True, True] Translation: X:897.90, Y:-143.02, Z:-59.18 [[ 9.96531126e-01 6.78276990e-02 4.82194883e-02 8.97903102e+02] [-6.76587756e-02 9.97695338e-01 -5.12869936e-03 -1.43022588e+02] [-4.84562265e-02 1.84843701e-03 9.98823597e-01 -5.91820563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.460714057 meters 0.030447833483959443 Centerline is valid? [True, True] Translation: X:897.96, Y:-143.03, Z:-59.19 [[ 9.96544181e-01 6.77739056e-02 4.80249242e-02 8.97961638e+02] [-6.76065426e-02 9.97699012e-01 -5.10260255e-03 -1.43029083e+02] [-4.82602428e-02 1.83816980e-03 9.98833104e-01 -5.91856473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5207140570001 meters 0.031029425180154762 Centerline is valid? [True, True] Translation: X:898.02, Y:-143.04, Z:-59.19 [[ 9.96541091e-01 6.82077443e-02 4.74716458e-02 8.98019257e+02] [-6.80448470e-02 9.97669528e-01 -5.04094608e-03 -1.43036659e+02] [-4.77048460e-02 1.79330904e-03 9.98859866e-01 -5.91896041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.580714057 meters 0.03126448168813064 Centerline is valid? [True, True] Translation: X:898.08, Y:-143.04, Z:-59.19 [[ 9.96552592e-01 6.81360242e-02 4.73330011e-02 8.98077908e+02] [-6.79741962e-02 9.97674440e-01 -5.02204139e-03 -1.43043719e+02] [-4.75651073e-02 1.78730566e-03 9.98866541e-01 -5.91927613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6407140570001 meters 0.028806275370649042 Centerline is valid? [True, True] Translation: X:898.14, Y:-143.05, Z:-59.19 [[ 9.96550191e-01 6.89836032e-02 4.61408730e-02 8.98137227e+02] [-6.88308684e-02 9.97616345e-01 -4.89273441e-03 -1.43045629e+02] [-4.63684075e-02 1.69993905e-03 9.98922961e-01 -5.91943646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.700714057 meters 0.026469750587825205 Centerline is valid? [True, True] Translation: X:898.20, Y:-143.05, Z:-59.20 [[ 9.96512367e-01 7.06170198e-02 4.44560281e-02 8.98196629e+02] [-7.04770076e-02 9.97502280e-01 -4.71091606e-03 -1.43047419e+02] [-4.46776602e-02 1.56135829e-03 9.99000235e-01 -5.91967807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7607140570001 meters 0.027012634062303375 Centerline is valid? [True, True] Translation: X:898.25, Y:-143.05, Z:-59.20 [[ 9.96324574e-01 7.38591936e-02 4.33838975e-02 8.98254105e+02] [-7.37289929e-02 9.97267725e-01 -4.59577207e-03 -1.43052003e+02] [-4.36048007e-02 1.38022958e-03 9.99047905e-01 -5.92016828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.820714057 meters 0.026095427848729556 Centerline is valid? [True, True] Translation: X:898.31, Y:-143.06, Z:-59.20 [[ 9.96144499e-01 7.60868181e-02 4.36684521e-02 8.98312826e+02] [-7.59572285e-02 9.97100366e-01 -4.62161676e-03 -1.43055333e+02] [-4.38934736e-02 1.28686352e-03 9.99035388e-01 -5.92042944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8807140570001 meters 0.0246001234437549 Centerline is valid? [True, True] Translation: X:898.37, Y:-143.06, Z:-59.20 [[ 9.95844515e-01 7.90635697e-02 4.51957274e-02 8.98372551e+02] [-7.89278199e-02 9.96868859e-01 -4.78306130e-03 -1.43055860e+02] [-4.54323791e-02 1.19598513e-03 9.98966700e-01 -5.92037038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.940714057 meters 0.02438590225136699 Centerline is valid? [True, True] Translation: X:898.43, Y:-143.06, Z:-59.21 [[ 9.95734513e-01 8.04397659e-02 4.51909754e-02 8.98431237e+02] [-8.03059250e-02 9.96758839e-01 -4.77233575e-03 -1.43058895e+02] [-4.54283898e-02 1.12287633e-03 9.98966967e-01 -5.92061323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.000714057 meters 0.023916745929289537 Centerline is valid? [True, True] Translation: X:898.49, Y:-143.06, Z:-59.21 [[ 9.95686519e-01 8.11586574e-02 4.49625322e-02 8.98490206e+02] [-8.10273979e-02 9.96700617e-01 -4.73719260e-03 -1.43062589e+02] [-4.51986478e-02 1.07356182e-03 9.98977442e-01 -5.92099653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.060714057 meters 0.02430947553948012 Centerline is valid? [True, True] Translation: X:898.55, Y:-143.07, Z:-59.21 [[ 9.95757435e-01 8.03592159e-02 4.48277593e-02 8.98547484e+02] [-8.02285829e-02 9.96765370e-01 -4.70859441e-03 -1.43069365e+02] [-4.50611370e-02 1.09215030e-03 9.98983634e-01 -5.92141509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.120714057 meters 0.02446009665514772 Centerline is valid? [True, True] Translation: X:898.61, Y:-143.08, Z:-59.22 [[ 9.95848771e-01 7.90380939e-02 4.51464819e-02 8.98605794e+02] [-7.89042851e-02 9.96870923e-01 -4.74106124e-03 -1.43075921e+02] [-4.53799395e-02 1.15912913e-03 9.98969127e-01 -5.92168859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.180714057 meters 0.024847536463394087 Centerline is valid? [True, True] Translation: X:898.66, Y:-143.08, Z:-59.22 [[ 9.95964710e-01 7.71344410e-02 4.58756332e-02 8.98663613e+02] [-7.69949347e-02 9.97019916e-01 -4.80289788e-03 -1.43084235e+02] [-4.61093888e-02 1.25132541e-03 9.98935613e-01 -5.92205012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.240714057 meters 0.02445075531534845 Centerline is valid? [True, True] Translation: X:898.72, Y:-143.09, Z:-59.22 [[ 9.96144469e-01 7.47276560e-02 4.59562263e-02 8.98722264e+02] [-7.45852458e-02 9.97203050e-01 -4.80819204e-03 -1.43090546e+02] [-4.61869940e-02 1.36199747e-03 9.98931883e-01 -5.92220520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.300714057 meters 0.026395484529333327 Centerline is valid? [True, True] Translation: X:898.78, Y:-143.10, Z:-59.23 [[ 9.96165366e-01 7.37884059e-02 4.70088784e-02 8.98777959e+02] [-7.36384129e-02 9.97272885e-01 -4.91694218e-03 -1.43100129e+02] [-4.72434931e-02 1.43642832e-03 9.98882370e-01 -5.92271175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.360714057 meters 0.0252891431873668 Centerline is valid? [True, True] Translation: X:898.84, Y:-143.10, Z:-59.23 [[ 9.95991267e-01 7.54720489e-02 4.80142243e-02 8.98836792e+02] [-7.53180796e-02 9.97146971e-01 -5.01050245e-03 -1.43103317e+02] [-4.82553912e-02 1.37407751e-03 9.98834085e-01 -5.92295428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.420714057 meters 0.02362684087290855 Centerline is valid? [True, True] Translation: X:898.90, Y:-143.11, Z:-59.23 [[ 9.95853323e-01 7.73347377e-02 4.79113554e-02 8.98895945e+02] [-7.71837358e-02 9.97004366e-01 -4.99654750e-03 -1.43105434e+02] [-4.81542372e-02 1.27785103e-03 9.98839094e-01 -5.92319490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.480714057 meters 0.02316089169950765 Centerline is valid? [True, True] Translation: X:898.95, Y:-143.11, Z:-59.24 [[ 9.95650977e-01 7.94201605e-02 4.86987745e-02 8.98954305e+02] [-7.92668163e-02 9.96840516e-01 -5.07509261e-03 -1.43109387e+02] [-4.89479762e-02 1.19282410e-03 9.98800617e-01 -5.92357449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5407140570001 meters 0.023285635701055952 Centerline is valid? [True, True] Translation: X:899.01, Y:-143.12, Z:-59.24 [[ 9.95648402e-01 7.95802769e-02 4.84895793e-02 8.99011975e+02] [-7.94285791e-02 9.96827766e-01 -5.05039948e-03 -1.43116821e+02] [-4.87376712e-02 1.17696378e-03 9.98810920e-01 -5.92403464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.600714057 meters 0.02337359183436836 Centerline is valid? [True, True] Translation: X:899.07, Y:-143.12, Z:-59.24 [[ 9.95610169e-01 8.00582266e-02 4.84878471e-02 8.99069041e+02] [-7.99073682e-02 9.96789528e-01 -5.04484011e-03 -1.43124555e+02] [-4.87360592e-02 1.14815786e-03 9.98811032e-01 -5.92446749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6607140570001 meters 0.023597727561789114 Centerline is valid? [True, True] Translation: X:899.13, Y:-143.13, Z:-59.25 [[ 9.95494629e-01 8.09347445e-02 4.93964605e-02 8.99127649e+02] [-8.07794819e-02 9.96718772e-01 -5.13475462e-03 -1.43131388e+02] [-4.96499595e-02 1.12140015e-03 9.98766051e-01 -5.92482959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.720714057 meters 0.021977532315859912 Centerline is valid? [True, True] Translation: X:899.19, Y:-143.13, Z:-59.25 [[ 9.95369887e-01 8.22616913e-02 4.97172263e-02 8.99186829e+02] [-8.21061043e-02 9.96610199e-01 -5.16715809e-03 -1.43134613e+02] [-4.99737539e-02 1.06114580e-03 9.98749968e-01 -5.92492151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7807140570001 meters 0.022620887745576756 Centerline is valid? [True, True] Translation: X:899.24, Y:-143.14, Z:-59.25 [[ 9.95293026e-01 8.28177625e-02 5.03290220e-02 8.99243562e+02] [-8.26597093e-02 9.96564174e-01 -5.21732548e-03 -1.43143223e+02] [-5.05881874e-02 1.03258534e-03 9.98719064e-01 -5.92537089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.840714057 meters 0.021549560104591227 Centerline is valid? [True, True] Translation: X:899.30, Y:-143.15, Z:-59.26 [[ 9.95135768e-01 8.49981922e-02 4.98007129e-02 8.99302604e+02] [-8.48464250e-02 9.96380693e-01 -5.15746346e-03 -1.43146958e+02] [-5.00588438e-02 9.06963908e-04 9.98745858e-01 -5.92560328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9007140570001 meters 0.02083981624895758 Centerline is valid? [True, True] Translation: X:899.36, Y:-143.15, Z:-59.26 [[ 9.94734181e-01 8.99604494e-02 4.91022167e-02 8.99360656e+02] [-8.98194720e-02 9.95945135e-01 -5.07457923e-03 -1.43148995e+02] [-4.93596252e-02 6.37522243e-04 9.98780867e-01 -5.92601371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.960714057 meters 0.01970422368791499 Centerline is valid? [True, True] Translation: X:899.42, Y:-143.15, Z:-59.26 [[ 9.94311877e-01 9.45272659e-02 4.90763429e-02 8.99419086e+02] [-9.43925600e-02 9.95522193e-01 -5.06043428e-03 -1.43150451e+02] [-4.93349375e-02 3.99208268e-04 9.98782211e-01 -5.92623592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0207140570001 meters 0.019658968028350425 Centerline is valid? [True, True] Translation: X:899.48, Y:-143.15, Z:-59.26 [[ 9.93201739e-01 1.05304343e-01 4.96115113e-02 8.99477022e+02] [-1.05180800e-01 9.94440030e-01 -5.10166605e-03 -1.43148233e+02] [-4.98729004e-02 -1.51194849e-04 9.98755561e-01 -5.92648377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.080714057 meters 0.021208177838338782 Centerline is valid? [True, True] Translation: X:899.54, Y:-143.15, Z:-59.27 [[ 9.91700086e-01 1.17998788e-01 5.10610031e-02 8.99537308e+02] [-1.17885111e-01 9.93013401e-01 -5.24281058e-03 -1.43145182e+02] [-5.13229056e-02 -8.20036296e-04 9.98681775e-01 -5.92675300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1407140570001 meters 0.023413153153863067 Centerline is valid? [True, True] Translation: X:899.60, Y:-143.15, Z:-59.27 [[ 9.90750917e-01 1.25482772e-01 5.16400425e-02 8.99596133e+02] [-1.25376728e-01 9.92095045e-01 -5.30069741e-03 -1.43145951e+02] [-5.18969765e-02 -1.22278873e-03 9.98651695e-01 -5.92714211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.200714057 meters 0.02487251084271312 Centerline is valid? [True, True] Translation: X:899.66, Y:-143.15, Z:-59.27 [[ 9.89642061e-01 1.34436221e-01 5.03536790e-02 8.99656172e+02] [-1.34347108e-01 9.90920870e-01 -5.16561194e-03 -1.43151000e+02] [-5.05909568e-02 -1.65276432e-03 9.98718090e-01 -5.92732424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2607140570001 meters 0.025557227176057767 Centerline is valid? [True, True] Translation: X:899.72, Y:-143.16, Z:-59.28 [[ 9.88467741e-01 1.42791406e-01 5.04196341e-02 8.99716012e+02] [-1.42712914e-01 9.89750612e-01 -5.17198610e-03 -1.43157381e+02] [-5.06413789e-02 -2.08319151e-03 9.98714730e-01 -5.92754892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.320714057 meters 0.02632014720735202 Centerline is valid? [True, True] Translation: X:899.77, Y:-143.16, Z:-59.28 [[ 9.88208292e-01 1.44513748e-01 5.05979144e-02 8.99774379e+02] [-1.44436798e-01 9.89500400e-01 -5.19329261e-03 -1.43163304e+02] [-5.08171587e-02 -2.17614593e-03 9.98705603e-01 -5.92793895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3807140570001 meters 0.02627107315745589 Centerline is valid? [True, True] Translation: X:899.83, Y:-143.17, Z:-59.28 [[ 9.88052701e-01 1.45281548e-01 5.14308492e-02 8.99832569e+02] [-1.45203752e-01 9.89387761e-01 -5.26581316e-03 -1.43171736e+02] [-5.16500782e-02 -2.26505138e-03 9.98662675e-01 -5.92819794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.440714057 meters 0.026625186834764458 Centerline is valid? [True, True] Translation: X:899.89, Y:-143.18, Z:-59.29 [[ 9.88499798e-01 1.42321489e-01 5.11150097e-02 8.99891251e+02] [-1.42241491e-01 9.89818231e-01 -5.21802465e-03 -1.43178279e+02] [-5.13372056e-02 -2.11265890e-03 9.98679142e-01 -5.92860308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.500714057 meters 0.024479903541437704 Centerline is valid? [True, True] Translation: X:899.95, Y:-143.19, Z:-59.29 [[ 9.89831294e-01 1.32736267e-01 5.11379715e-02 8.99950306e+02] [-1.32643503e-01 9.91150073e-01 -5.21864544e-03 -1.43192166e+02] [-5.13781077e-02 -1.61754110e-03 9.98677963e-01 -5.92911130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.560714057 meters 0.02326070991829924 Centerline is valid? [True, True] Translation: X:900.01, Y:-143.20, Z:-59.30 [[ 9.90897033e-01 1.24063181e-01 5.22627686e-02 9.00008412e+02] [-1.23954350e-01 9.92273600e-01 -5.33116367e-03 -1.43203299e+02] [-5.25203667e-02 -1.19556327e-03 9.98619138e-01 -5.92953362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.620714057 meters 0.020662029754486833 Centerline is valid? [True, True] Translation: X:900.07, Y:-143.22, Z:-59.30 [[ 9.92337193e-01 1.11152337e-01 5.39634548e-02 9.00067753e+02] [-1.11017294e-01 9.93803239e-01 -5.50303731e-03 -1.43218651e+02] [-5.42407316e-02 -5.30008134e-04 9.98527747e-01 -5.92974292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.680714057 meters 0.0200733020015344 Centerline is valid? [True, True] Translation: X:900.13, Y:-143.23, Z:-59.30 [[ 9.93571054e-01 9.95385276e-02 5.39318219e-02 9.00125205e+02] [-9.93864228e-02 9.95033703e-01 -5.50170210e-03 -1.43230210e+02] [-5.42116118e-02 1.06241098e-04 9.98529464e-01 -5.93018640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.740714057 meters 0.020475043383733925 Centerline is valid? [True, True] Translation: X:900.18, Y:-143.24, Z:-59.31 [[ 9.94200443e-01 9.32172781e-02 5.36285265e-02 9.00183412e+02] [-9.30584100e-02 9.95645695e-01 -5.45734265e-03 -1.43238590e+02] [-5.39037302e-02 4.35107066e-04 9.98546042e-01 -5.93067832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.800714057 meters 0.020869782259648213 Centerline is valid? [True, True] Translation: X:900.24, Y:-143.24, Z:-59.31 [[ 9.94715842e-01 8.75473921e-02 5.36269398e-02 9.00240470e+02] [-8.73811172e-02 9.96160090e-01 -5.44197390e-03 -1.43244051e+02] [-5.38974478e-02 7.27235728e-04 9.98546211e-01 -5.93114834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.860714057 meters 0.02095062001769341 Centerline is valid? [True, True] Translation: X:900.30, Y:-143.25, Z:-59.32 [[ 9.94814751e-01 8.62803595e-02 5.38452587e-02 9.00299620e+02] [-8.61111412e-02 9.96270580e-01 -5.45917015e-03 -1.43246781e+02] [-5.41154663e-02 7.94186321e-04 9.98534369e-01 -5.93156591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.920714057 meters 0.02111622328284136 Centerline is valid? [True, True] Translation: X:900.36, Y:-143.25, Z:-59.32 [[ 9.94745217e-01 8.65607914e-02 5.46734194e-02 9.00357730e+02] [-8.63869628e-02 9.96246260e-01 -5.53919199e-03 -1.43249873e+02] [-5.49476664e-02 7.87014089e-04 9.98488926e-01 -5.93200110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.980714057 meters 0.0211235614736036 Centerline is valid? [True, True] Translation: X:900.42, Y:-143.25, Z:-59.32 [[ 9.94619569e-01 8.68513522e-02 5.64690720e-02 9.00416278e+02] [-8.66665267e-02 9.96220966e-01 -5.71843128e-03 -1.43253033e+02] [-5.67523269e-02 7.93685319e-04 9.98387972e-01 -5.93233863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0407140570001 meters 0.02089379925775233 Centerline is valid? [True, True] Translation: X:900.47, Y:-143.26, Z:-59.33 [[ 9.94571497e-01 8.74629992e-02 5.63716325e-02 9.00473883e+02] [-8.72805569e-02 9.96167491e-01 -5.69510440e-03 -1.43257414e+02] [-5.66536986e-02 7.44041033e-04 9.98393612e-01 -5.93266350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.100714057 meters 0.020627984000181263 Centerline is valid? [True, True] Translation: X:900.53, Y:-143.26, Z:-59.33 [[ 9.94217595e-01 9.08600393e-02 5.72348389e-02 9.00532422e+02] [-9.06785683e-02 9.95863525e-01 -5.76521025e-03 -1.43262398e+02] [-5.75219157e-02 5.41900218e-04 9.98344097e-01 -5.93299709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1607140570001 meters 0.0203631116272942 Centerline is valid? [True, True] Translation: X:900.59, Y:-143.27, Z:-59.33 [[ 9.93835555e-01 9.49501158e-02 5.72308104e-02 9.00590502e+02] [-9.47762674e-02 9.95481989e-01 -5.75050018e-03 -1.43266591e+02] [-5.75182516e-02 2.90928947e-04 9.98344413e-01 -5.93338492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.220714057 meters 0.02017055964704987 Centerline is valid? [True, True] Translation: X:900.65, Y:-143.27, Z:-59.34 [[ 9.92837032e-01 1.04411379e-01 5.80766085e-02 9.00648709e+02] [-1.04249359e-01 9.94534156e-01 -5.82091087e-03 -1.43268101e+02] [-5.83669402e-02 -2.75233311e-04 9.98295159e-01 -5.93366452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2807140570001 meters 0.020706599388788317 Centerline is valid? [True, True] Translation: X:900.71, Y:-143.27, Z:-59.34 [[ 9.91997098e-01 1.11509397e-01 5.92234127e-02 9.00707205e+02] [-1.11354575e-01 9.93763116e-01 -5.91844864e-03 -1.43270256e+02] [-5.95140058e-02 -7.23714051e-04 9.98227208e-01 -5.93394085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.340714057 meters 0.023034179798423534 Centerline is valid? [True, True] Translation: X:900.77, Y:-143.27, Z:-59.34 [[ 9.90614714e-01 1.22681827e-01 6.02632423e-02 9.00766978e+02] [-1.22543107e-01 9.92445016e-01 -6.00636113e-03 -1.43270948e+02] [-6.05448258e-02 -1.43485523e-03 9.98164448e-01 -5.93417239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4007140570001 meters 0.024008362199304526 Centerline is valid? [True, True] Translation: X:900.83, Y:-143.28, Z:-59.35 [[ 9.89448558e-01 1.31067103e-01 6.17492087e-02 9.00826949e+02] [-1.30937804e-01 9.91371488e-01 -6.15339667e-03 -1.43276804e+02] [-6.20229127e-02 -1.99683635e-03 9.98072728e-01 -5.93452196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.460714057 meters 0.024013462310269375 Centerline is valid? [True, True] Translation: X:900.88, Y:-143.28, Z:-59.35 [[ 9.89105430e-01 1.33288456e-01 6.24870842e-02 9.00884697e+02] [-1.33160558e-01 9.91074926e-01 -6.22554242e-03 -1.43284004e+02] [-6.27591753e-02 -2.16309717e-03 9.98026356e-01 -5.93488479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5207140570001 meters 0.023742122684893015 Centerline is valid? [True, True] Translation: X:900.94, Y:-143.29, Z:-59.35 [[ 9.89317505e-01 1.31432992e-01 6.30574570e-02 9.00943101e+02] [-1.31299521e-01 9.91322891e-01 -6.27395165e-03 -1.43292983e+02] [-6.33349048e-02 -2.07248368e-03 9.97990178e-01 -5.93534132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.580714057 meters 0.022613731506724202 Centerline is valid? [True, True] Translation: X:901.00, Y:-143.30, Z:-59.36 [[ 9.90241719e-01 1.24024448e-01 6.35552914e-02 9.01001738e+02] [-1.23874577e-01 9.92277830e-01 -6.30845604e-03 -1.43304662e+02] [-6.38469094e-02 -1.62598850e-03 9.97958380e-01 -5.93579126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6407140570001 meters 0.021253244362455893 Centerline is valid? [True, True] Translation: X:901.06, Y:-143.32, Z:-59.36 [[ 9.91475992e-01 1.13446738e-01 6.40717965e-02 9.01060162e+02] [-1.13272485e-01 9.93543621e-01 -6.35745242e-03 -1.43318742e+02] [-6.43793570e-02 -9.54310174e-04 9.97925041e-01 -5.93626200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.700714057 meters 0.020831398966621062 Centerline is valid? [True, True] Translation: X:901.12, Y:-143.33, Z:-59.37 [[ 9.92266638e-01 1.06285802e-01 6.41112118e-02 9.01118472e+02] [-1.06096464e-01 9.94335500e-01 -6.36027584e-03 -1.43328944e+02] [-6.44240609e-02 -4.90883343e-04 9.97922492e-01 -5.93673598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7607140570001 meters 0.020842605680448725 Centerline is valid? [True, True] Translation: X:901.18, Y:-143.34, Z:-59.37 [[ 9.93100765e-01 9.74961695e-02 6.51564820e-02 9.01176429e+02] [-9.72826907e-02 9.95235898e-01 -6.44867905e-03 -1.43339636e+02] [-6.54747914e-02 6.55902127e-05 9.97854222e-01 -5.93720653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.820714057 meters 0.020903250709486912 Centerline is valid? [True, True] Translation: X:901.23, Y:-143.35, Z:-59.38 [[ 9.93547875e-01 9.23313352e-02 6.58600400e-02 9.01234229e+02] [-9.21029504e-02 9.95728261e-01 -6.50210925e-03 -1.43346288e+02] [-6.61790515e-02 3.94252831e-04 9.97807686e-01 -5.93761129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8807140570001 meters 0.020613700176052976 Centerline is valid? [True, True] Translation: X:901.29, Y:-143.35, Z:-59.38 [[ 9.93776336e-01 9.00197168e-02 6.56128344e-02 9.01292835e+02] [-8.97883918e-02 9.95939837e-01 -6.47195052e-03 -1.43350474e+02] [-6.59290387e-02 5.40400397e-04 9.97824168e-01 -5.93810133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.940714057 meters 0.021245345522959244 Centerline is valid? [True, True] Translation: X:901.35, Y:-143.35, Z:-59.39 [[ 9.94152415e-01 8.67020070e-02 6.43718732e-02 9.01350156e+02] [-8.64727122e-02 9.96234015e-01 -6.34489760e-03 -1.43354507e+02] [-6.46795650e-02 7.41384814e-04 9.97905809e-01 -5.93880068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.000714057 meters 0.02129232124695568 Centerline is valid? [True, True] Translation: X:901.41, Y:-143.36, Z:-59.39 [[ 9.94476046e-01 8.34044349e-02 6.37267106e-02 9.01407992e+02] [-8.31733209e-02 9.96515336e-01 -6.27559783e-03 -1.43359905e+02] [-6.40280571e-02 9.40569570e-04 9.97947656e-01 -5.93940525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.060714057 meters 0.022686066270387394 Centerline is valid? [True, True] Translation: X:901.47, Y:-143.37, Z:-59.40 [[ 9.95078877e-01 7.63907731e-02 6.31068846e-02 9.01465402e+02] [-7.61504104e-02 9.97077011e-01 -6.20881334e-03 -1.43372042e+02] [-6.33967199e-02 1.37264384e-03 9.97987461e-01 -5.93988759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.120714057 meters 0.02307594813000425 Centerline is valid? [True, True] Translation: X:901.52, Y:-143.38, Z:-59.40 [[ 9.95325412e-01 7.40514551e-02 6.19976366e-02 9.01523627e+02] [-7.38151472e-02 9.97253306e-01 -6.09646994e-03 -1.43379218e+02] [-6.22788006e-02 1.49160678e-03 9.98057677e-01 -5.94033533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.180714057 meters 0.0229614564980937 Centerline is valid? [True, True] Translation: X:901.58, Y:-143.38, Z:-59.41 [[ 9.95245429e-01 7.48166835e-02 6.23618510e-02 9.01581853e+02] [-7.45793649e-02 9.97196253e-01 -6.12785527e-03 -1.43383461e+02] [-6.26454700e-02 1.44781270e-03 9.98034794e-01 -5.94070863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.240714057 meters 0.022385041334762604 Centerline is valid? [True, True] Translation: X:901.64, Y:-143.39, Z:-59.41 [[ 9.95034788e-01 7.65228652e-02 6.36397791e-02 9.01640302e+02] [-7.62794871e-02 9.97066895e-01 -6.24879959e-03 -1.43387730e+02] [-6.39312930e-02 1.36336326e-03 9.97953371e-01 -5.94104189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.300714057 meters 0.021908933774598183 Centerline is valid? [True, True] Translation: X:901.70, Y:-143.39, Z:-59.41 [[ 9.94768540e-01 7.90119770e-02 6.47507440e-02 9.01699313e+02] [-7.87655844e-02 9.96872920e-01 -6.35320639e-03 -1.43391466e+02] [-6.50502426e-02 1.21983966e-03 9.97881244e-01 -5.94142442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.360714057 meters 0.021811135808905285 Centerline is valid? [True, True] Translation: X:901.76, Y:-143.40, Z:-59.42 [[ 9.94560552e-01 8.11132723e-02 6.53448257e-02 9.01757890e+02] [-8.08670954e-02 9.96704295e-01 -6.40791277e-03 -1.43395963e+02] [-6.56492352e-02 1.08881101e-03 9.97842168e-01 -5.94177327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.420714057 meters 0.021765697962612265 Centerline is valid? [True, True] Translation: X:901.82, Y:-143.40, Z:-59.42 [[ 9.94546332e-01 8.15880665e-02 6.49690748e-02 9.01815375e+02] [-8.13460319e-02 9.96665587e-01 -6.36642138e-03 -1.43402595e+02] [-6.52718651e-02 1.04672460e-03 9.97866969e-01 -5.94220838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.480714057 meters 0.02162013021771937 Centerline is valid? [True, True] Translation: X:901.87, Y:-143.41, Z:-59.43 [[ 9.94562123e-01 8.25896766e-02 6.34439078e-02 9.01873939e+02] [-8.23612724e-02 9.96583182e-01 -6.21148351e-03 -1.43408816e+02] [-6.37401359e-02 9.52385254e-04 9.97966076e-01 -5.94281513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5407140570001 meters 0.02116347234432623 Centerline is valid? [True, True] Translation: X:901.93, Y:-143.41, Z:-59.43 [[ 9.94343706e-01 8.54234102e-02 6.31144631e-02 9.01932016e+02] [-8.52033550e-02 9.96344448e-01 -6.17482526e-03 -1.43413062e+02] [-6.34112196e-02 7.62334624e-04 9.97987192e-01 -5.94330186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.600714057 meters 0.02097596976386285 Centerline is valid? [True, True] Translation: X:901.99, Y:-143.42, Z:-59.44 [[ 9.93656793e-01 9.24457472e-02 6.40309469e-02 9.01990526e+02] [-9.22341078e-02 9.95717673e-01 -6.25973284e-03 -1.43415371e+02] [-6.43354311e-02 3.14188801e-04 9.97928281e-01 -5.94355725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6607140570001 meters 0.02074375459533663 Centerline is valid? [True, True] Translation: X:902.05, Y:-143.42, Z:-59.44 [[ 9.92729774e-01 1.00968823e-01 6.55201740e-02 9.02047769e+02] [-1.00766063e-01 9.94889559e-01 -6.40042651e-03 -1.43415718e+02] [-6.58315805e-02 -2.48316041e-04 9.97830718e-01 -5.94377710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.720714057 meters 0.021309384941935766 Centerline is valid? [True, True] Translation: X:902.11, Y:-143.42, Z:-59.44 [[ 9.91632154e-01 1.10232559e-01 6.71896929e-02 9.02106889e+02] [-1.10041106e-01 9.93905421e-01 -6.55516677e-03 -1.43419121e+02] [-6.75027928e-02 -8.93313954e-04 9.97718685e-01 -5.94412684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7807140570001 meters 0.02254773358394013 Centerline is valid? [True, True] Translation: X:902.17, Y:-143.42, Z:-59.45 [[ 9.90257032e-01 1.22018708e-01 6.71002602e-02 9.02166522e+02] [-1.21854979e-01 9.92526349e-01 -6.54294099e-03 -1.43421217e+02] [-6.73971375e-02 -1.69730746e-03 9.97724784e-01 -5.94451910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.840714057 meters 0.024109625726039034 Centerline is valid? [True, True] Translation: X:902.22, Y:-143.43, Z:-59.45 [[ 9.89600290e-01 1.27482484e-01 6.66294423e-02 9.02224621e+02] [-1.27333518e-01 9.91838690e-01 -6.49524193e-03 -1.43425409e+02] [-6.69136884e-02 -2.05646797e-03 9.97756648e-01 -5.94491993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9007140570001 meters 0.026346873446618718 Centerline is valid? [True, True] Translation: X:902.28, Y:-143.43, Z:-59.46 [[ 9.89181632e-01 1.31878252e-01 6.42481534e-02 9.02283010e+02] [-1.31749336e-01 9.91263312e-01 -6.25776364e-03 -1.43429780e+02] [-6.45121002e-02 -2.27458668e-03 9.97914333e-01 -5.94552288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.960714057 meters 0.025119564555459346 Centerline is valid? [True, True] Translation: X:902.34, Y:-143.44, Z:-59.46 [[ 9.89320523e-01 1.31070716e-01 6.37602564e-02 9.02340350e+02] [-1.30942280e-01 9.91370562e-01 -6.20706972e-03 -1.43440682e+02] [-6.40236063e-02 -2.20813192e-03 9.97945941e-01 -5.94597865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0207140570001 meters 0.0241687722037027 Centerline is valid? [True, True] Translation: X:902.40, Y:-143.45, Z:-59.46 [[ 9.90176257e-01 1.24023119e-01 6.45697026e-02 9.02398571e+02] [-1.23877484e-01 9.92277713e-01 -6.26971779e-03 -1.43453570e+02] [-6.48486668e-02 -1.79060658e-03 9.97893503e-01 -5.94641150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.080714057 meters 0.02225220109649548 Centerline is valid? [True, True] Translation: X:902.46, Y:-143.47, Z:-59.47 [[ 9.91610201e-01 1.11886134e-01 6.47356309e-02 9.02457771e+02] [-1.11714033e-01 9.93720530e-01 -6.28361802e-03 -1.43467028e+02] [-6.50321752e-02 -1.00097866e-03 9.97882666e-01 -5.94678741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1407140570001 meters 0.02137292125124236 Centerline is valid? [True, True] Translation: X:902.52, Y:-143.48, Z:-59.47 [[ 9.92547568e-01 1.03054160e-01 6.50320404e-02 9.02515174e+02] [-1.02861555e-01 9.94675656e-01 -6.31192382e-03 -1.43478979e+02] [-6.53362574e-02 -4.24412183e-04 9.97863214e-01 -5.94725134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.200714057 meters 0.021129447636958877 Centerline is valid? [True, True] Translation: X:902.57, Y:-143.49, Z:-59.48 [[ 9.93659793e-01 9.08957397e-02 6.61678167e-02 9.02572834e+02] [-9.06696971e-02 9.95860343e-01 -6.41747070e-03 -1.43491883e+02] [-6.64772253e-02 3.77366717e-04 9.97787871e-01 -5.94765179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2607140570001 meters 0.02145031053866944 Centerline is valid? [True, True] Translation: X:902.63, Y:-143.50, Z:-59.48 [[ 9.94306726e-01 8.41053676e-02 6.54249359e-02 9.02630799e+02] [-8.38699924e-02 9.96456531e-01 -6.34078396e-03 -1.43498738e+02] [-6.57263986e-02 8.17495266e-04 9.97837348e-01 -5.94808257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.320714057 meters 0.022215187152944117 Centerline is valid? [True, True] Translation: X:902.69, Y:-143.50, Z:-59.49 [[ 9.94460534e-01 8.28084745e-02 6.47379642e-02 9.02687938e+02] [-8.25755790e-02 9.96565084e-01 -6.26958149e-03 -1.43503706e+02] [-6.50347691e-02 8.89076478e-04 9.97882603e-01 -5.94872068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3807140570001 meters 0.02169916441765156 Centerline is valid? [True, True] Translation: X:902.75, Y:-143.50, Z:-59.49 [[ 9.94320690e-01 8.49816110e-02 6.40663076e-02 9.02746965e+02] [-8.47583970e-02 9.96382250e-01 -6.19890648e-03 -1.43500412e+02] [-6.43613248e-02 7.33543432e-04 9.97926391e-01 -5.94922125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.440714057 meters 0.021181944848300497 Centerline is valid? [True, True] Translation: X:902.81, Y:-143.50, Z:-59.50 [[ 9.94284585e-01 8.59412792e-02 6.33424077e-02 9.02805776e+02] [-8.57253196e-02 9.96299986e-01 -6.12435659e-03 -1.43502307e+02] [-6.36343749e-02 6.59305212e-04 9.97973062e-01 -5.94971156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.500714057 meters 0.021921042987030848 Centerline is valid? [True, True] Translation: X:902.86, Y:-143.51, Z:-59.50 [[ 9.94840265e-01 8.14106533e-02 6.05405112e-02 9.02862360e+02] [-8.12052526e-02 9.96680235e-01 -5.84953906e-03 -1.43512648e+02] [-6.08157457e-02 9.03149484e-04 9.98148601e-01 -5.95035922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.560714057 meters 0.02418603633415354 Centerline is valid? [True, True] Translation: X:902.92, Y:-143.53, Z:-59.52 [[ 9.95774840e-01 6.83842738e-02 6.12866940e-02 9.02920824e+02] [-6.81496398e-02 9.97657588e-01 -5.91307683e-03 -1.43531145e+02] [-6.15474968e-02 1.71142701e-03 9.98102688e-01 -5.95154746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.620714057 meters 0.024308773067439515 Centerline is valid? [True, True] Translation: X:902.98, Y:-143.54, Z:-59.52 [[ 9.95794273e-01 6.80949973e-02 6.12930528e-02 9.02978881e+02] [-6.78597638e-02 9.97677343e-01 -5.91375062e-03 -1.43536835e+02] [-6.15533869e-02 1.72954691e-03 9.98102294e-01 -5.95190950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.680714057 meters 0.02423120711741235 Centerline is valid? [True, True] Translation: X:903.04, Y:-143.54, Z:-59.52 [[ 9.95911754e-01 6.66209896e-02 6.10034672e-02 9.03037526e+02] [-6.63854823e-02 9.97776717e-01 -5.88147176e-03 -1.43542719e+02] [-6.12596687e-02 1.80768227e-03 9.98120226e-01 -5.95228217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.740714057 meters 0.024406179049858524 Centerline is valid? [True, True] Translation: X:903.10, Y:-143.55, Z:-59.53 [[ 9.95874712e-01 6.75277277e-02 6.06099267e-02 9.03095069e+02] [-6.72971925e-02 9.97715887e-01 -5.83921703e-03 -1.43548030e+02] [-6.08657959e-02 1.73625067e-03 9.98144449e-01 -5.95272115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.800714057 meters 0.024308443081944207 Centerline is valid? [True, True] Translation: X:903.15, Y:-143.55, Z:-59.53 [[ 9.95896108e-01 6.72888335e-02 6.05239985e-02 9.03153265e+02] [-6.70588589e-02 9.97732016e-01 -5.82524026e-03 -1.43554210e+02] [-6.07787047e-02 1.74266382e-03 9.98149744e-01 -5.95314487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.860714057 meters 0.02472338765898391 Centerline is valid? [True, True] Translation: X:903.21, Y:-143.56, Z:-59.53 [[ 9.95975341e-01 6.63496578e-02 6.02564793e-02 9.03211673e+02] [-6.61202588e-02 9.97794832e-01 -5.79520064e-03 -1.43560103e+02] [-6.05081132e-02 1.78770292e-03 9.98166105e-01 -5.95346770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.920714057 meters 0.024559221534494746 Centerline is valid? [True, True] Translation: X:903.27, Y:-143.57, Z:-59.54 [[ 9.95975417e-01 6.65009724e-02 6.00881869e-02 9.03270140e+02] [-6.62733876e-02 9.97784792e-01 -5.77474699e-03 -1.43565518e+02] [-6.03391054e-02 1.76925834e-03 9.98176368e-01 -5.95383704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.980714057 meters 0.024950697725882386 Centerline is valid? [True, True] Translation: X:903.33, Y:-143.57, Z:-59.54 [[ 9.96014132e-01 6.56146964e-02 6.04198728e-02 9.03328270e+02] [-6.53832252e-02 9.97843358e-01 -5.80227498e-03 -1.43571879e+02] [-6.06702833e-02 1.82870173e-03 9.98156187e-01 -5.95423538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0407140570001 meters 0.024740135284325192 Centerline is valid? [True, True] Translation: X:903.39, Y:-143.58, Z:-59.55 [[ 9.96008839e-01 6.53467663e-02 6.07963201e-02 9.03386526e+02] [-6.51121647e-02 9.97860897e-01 -5.83408951e-03 -1.43576825e+02] [-6.10475094e-02 1.85222471e-03 9.98133143e-01 -5.95457098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.100714057 meters 0.024986680069656375 Centerline is valid? [True, True] Translation: X:903.44, Y:-143.58, Z:-59.55 [[ 9.96007237e-01 6.52840349e-02 6.08898972e-02 9.03444595e+02] [-6.50488604e-02 9.97864999e-01 -5.83869770e-03 -1.43583129e+02] [-6.11410709e-02 1.85456674e-03 9.98127412e-01 -5.95492885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1607140570001 meters 0.02477698064041409 Centerline is valid? [True, True] Translation: X:903.50, Y:-143.59, Z:-59.55 [[ 9.95987769e-01 6.57726723e-02 6.06821188e-02 9.03503508e+02] [-6.55402690e-02 9.97832984e-01 -5.81448912e-03 -1.43587527e+02] [-6.09330542e-02 1.81403766e-03 9.98140207e-01 -5.95530911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.220714057 meters 0.02465567496953917 Centerline is valid? [True, True] Translation: X:903.56, Y:-143.59, Z:-59.56 [[ 9.96030598e-01 6.55746803e-02 6.01914412e-02 9.03562114e+02] [-6.53459228e-02 9.97846028e-01 -5.76320726e-03 -1.43593623e+02] [-6.04397110e-02 1.80706550e-03 9.98170214e-01 -5.95577014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2807140570001 meters 0.024870802250256955 Centerline is valid? [True, True] Translation: X:903.62, Y:-143.60, Z:-59.56 [[ 9.96058820e-01 6.53774305e-02 5.99384605e-02 9.03620141e+02] [-6.51504964e-02 9.97858971e-01 -5.73469714e-03 -1.43599633e+02] [-6.01850502e-02 1.80707521e-03 9.98185601e-01 -5.95619561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.340714057 meters 0.025691189699722165 Centerline is valid? [True, True] Translation: X:903.68, Y:-143.61, Z:-59.57 [[ 9.96338894e-01 6.16982709e-02 5.91788134e-02 9.03678690e+02] [-6.14708329e-02 9.98092844e-01 -5.65778485e-03 -1.43607775e+02] [-5.94150257e-02 1.99930015e-03 9.98231365e-01 -5.95664924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4007140570001 meters 0.027961628500359 Centerline is valid? [True, True] Translation: X:903.74, Y:-143.62, Z:-59.57 [[ 9.96544916e-01 6.03119555e-02 5.71025329e-02 9.03735684e+02] [-6.00981066e-02 9.98177562e-01 -5.45646652e-03 -1.43618949e+02] [-5.73275572e-02 2.00585985e-03 9.98353408e-01 -5.95728457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.460714057 meters 0.025995130835666014 Centerline is valid? [True, True] Translation: X:903.79, Y:-143.62, Z:-59.58 [[ 9.96567216e-01 6.00355314e-02 5.70045509e-02 9.03794855e+02] [-5.98221948e-02 9.98194208e-01 -5.44310305e-03 -1.43619829e+02] [-5.72283922e-02 2.01428070e-03 9.98359081e-01 -5.95755571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5207140570001 meters 0.026406213650990145 Centerline is valid? [True, True] Translation: X:903.85, Y:-143.63, Z:-59.58 [[ 9.96540862e-01 5.99913612e-02 5.75095463e-02 9.03853569e+02] [-5.97743914e-02 9.98196831e-01 -5.48714334e-03 -1.43625457e+02] [-5.77350281e-02 2.03056443e-03 9.98329877e-01 -5.95782818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.580714057 meters 0.025389140215318396 Centerline is valid? [True, True] Translation: X:903.91, Y:-143.63, Z:-59.58 [[ 9.96516316e-01 6.00591866e-02 5.78630035e-02 9.03912208e+02] [-5.98398911e-02 9.98192743e-01 -5.51676258e-03 -1.43628805e+02] [-5.80897624e-02 2.03502809e-03 9.98309290e-01 -5.95812856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6407140570001 meters 0.026168871015995784 Centerline is valid? [True, True] Translation: X:903.97, Y:-143.64, Z:-59.59 [[ 9.96361857e-01 6.17588472e-02 5.87272976e-02 9.03970693e+02] [-6.15361572e-02 9.98089175e-01 -5.59462324e-03 -1.43635484e+02] [-5.89605975e-02 1.96041698e-03 9.98258386e-01 -5.95855888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.700714057 meters 0.025385347747951117 Centerline is valid? [True, True] Translation: X:904.03, Y:-143.64, Z:-59.59 [[ 9.96171260e-01 6.27395436e-02 6.08816036e-02 9.04029686e+02] [-6.25021508e-02 9.98027989e-01 -5.79771428e-03 -1.43638648e+02] [-6.11252904e-02 1.97028517e-03 9.98128157e-01 -5.95877066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7607140570001 meters 0.02554753684688166 Centerline is valid? [True, True] Translation: X:904.09, Y:-143.64, Z:-59.59 [[ 9.96004435e-01 6.24488256e-02 6.38381544e-02 9.04088566e+02] [-6.21874897e-02 9.98045999e-01 -6.07450239e-03 -1.43643006e+02] [-6.40927602e-02 2.08029675e-03 9.97941777e-01 -5.95887007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.820714057 meters 0.0262702002233552 Centerline is valid? [True, True] Translation: X:904.15, Y:-143.65, Z:-59.59 [[ 9.96025478e-01 6.17054551e-02 6.42314858e-02 9.04146937e+02] [-6.14396386e-02 9.98092116e-01 -6.10732876e-03 -1.43650617e+02] [-6.44857951e-02 2.13669577e-03 9.97916338e-01 -5.95933066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8807140570001 meters 0.027232792442900642 Centerline is valid? [True, True] Translation: X:904.21, Y:-143.66, Z:-59.60 [[ 9.96070242e-01 6.04999239e-02 6.46825567e-02 9.04206246e+02] [-6.02279895e-02 9.98165716e-01 -6.14759071e-03 -1.43657897e+02] [-6.49358392e-02 2.22773183e-03 9.97886955e-01 -5.95979177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.940714057 meters 0.02755837876274035 Centerline is valid? [True, True] Translation: X:904.27, Y:-143.66, Z:-59.60 [[ 9.95997554e-01 6.01126318e-02 6.61463779e-02 9.04266409e+02] [-5.98275277e-02 9.98188946e-01 -6.28444565e-03 -1.43663993e+02] [-6.64043578e-02 2.30191824e-03 9.97790140e-01 -5.96009692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.000714057 meters 0.02812775367600402 Centerline is valid? [True, True] Translation: X:904.33, Y:-143.67, Z:-59.60 [[ 9.95852632e-01 6.00701836e-02 6.83308806e-02 9.04325843e+02] [-5.97658075e-02 9.98191316e-01 -6.49192470e-03 -1.43670482e+02] [-6.85972627e-02 2.38115004e-03 9.97641592e-01 -5.96047278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.060714057 meters 0.02683007670806812 Centerline is valid? [True, True] Translation: X:904.39, Y:-143.67, Z:-59.61 [[ 9.95693332e-01 5.89874867e-02 7.15210758e-02 9.04386028e+02] [-5.86512548e-02 9.98255414e-01 -6.79400728e-03 -1.43672699e+02] [-7.17970625e-02 2.56994692e-03 9.97415950e-01 -5.96080847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.120714057 meters 0.028866606089399633 Centerline is valid? [True, True] Translation: X:904.45, Y:-143.68, Z:-59.61 [[ 9.95475894e-01 5.74226370e-02 7.56993075e-02 9.04446246e+02] [-5.70411641e-02 9.98345911e-01 -7.19360625e-03 -1.43681113e+02] [-7.59871699e-02 2.84308499e-03 9.97104742e-01 -5.96110539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.180714057 meters 0.030242183073131673 Centerline is valid? [True, True] Translation: X:904.51, Y:-143.69, Z:-59.62 [[ 9.95502361e-01 5.48744231e-02 7.72259451e-02 9.04507574e+02] [-5.44688297e-02 9.98488418e-01 -7.35021579e-03 -1.43688874e+02] [-7.75125507e-02 3.11075032e-03 9.96986523e-01 -5.96163598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.240714057 meters 0.035093080665545145 Centerline is valid? [True, True] Translation: X:904.57, Y:-143.70, Z:-59.62 [[ 9.95660633e-01 5.07440697e-02 7.80060420e-02 9.04566396e+02] [-5.03163574e-02 9.98705617e-01 -7.44008018e-03 -1.43702253e+02] [-7.82826123e-02 3.48281505e-03 9.96925124e-01 -5.96225070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.300714057 meters 0.039494830344633636 Centerline is valid? [True, True] Translation: X:904.63, Y:-143.71, Z:-59.63 [[ 9.95696006e-01 4.79686887e-02 7.92998678e-02 9.04625590e+02] [-4.75178202e-02 9.98841750e-01 -7.56401299e-03 -1.43713297e+02] [-7.95708546e-02 3.76330066e-03 9.96822109e-01 -5.96277385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.360714057 meters 0.03665988351219003 Centerline is valid? [True, True] Translation: X:904.69, Y:-143.71, Z:-59.64 [[ 9.95431012e-01 4.82477123e-02 8.23969559e-02 9.04687980e+02] [-4.77611867e-02 9.98827805e-01 -7.86667619e-03 -1.43711678e+02] [-8.26799197e-02 3.89535705e-03 9.96568541e-01 -5.96353872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.420714057 meters 0.036190052701183265 Centerline is valid? [True, True] Translation: X:904.75, Y:-143.71, Z:-59.64 [[ 9.95154182e-01 4.97081688e-02 8.48366256e-02 9.04751310e+02] [-4.91955189e-02 9.98756127e-01 -8.12398858e-03 -1.43714770e+02] [-8.51349282e-02 3.91103939e-03 9.96361756e-01 -5.96411026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.480714057 meters 0.035316766283564734 Centerline is valid? [True, True] Translation: X:904.81, Y:-143.71, Z:-59.65 [[ 9.94751595e-01 5.03983414e-02 8.90464575e-02 9.04812063e+02] [-4.98339140e-02 9.98720905e-01 -8.55184689e-03 -1.43713812e+02] [-8.93635575e-02 4.06942983e-03 9.95990760e-01 -5.96494049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5407140570001 meters 0.03695972843380676 Centerline is valid? [True, True] Translation: X:904.87, Y:-143.72, Z:-59.65 [[ 9.94547043e-01 5.04781320e-02 9.12586255e-02 9.04874278e+02] [-4.98841017e-02 9.98716420e-01 -8.78002946e-03 -1.43718704e+02] [-9.15846873e-02 4.17979778e-03 9.95788519e-01 -5.96547931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.600714057 meters 0.04012897411228685 Centerline is valid? [True, True] Translation: X:904.93, Y:-143.72, Z:-59.66 [[ 9.94379449e-01 5.35443254e-02 9.13373794e-02 9.04934927e+02] [-5.29605685e-02 9.98557787e-01 -8.80474354e-03 -1.43721420e+02] [-9.16770955e-02 3.91797649e-03 9.95781080e-01 -5.96606964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6607140570001 meters 0.043423666292148666 Centerline is valid? [True, True] Translation: X:905.00, Y:-143.73, Z:-59.67 [[ 9.94001820e-01 5.70754681e-02 9.32886588e-02 9.04995631e+02] [-5.64810710e-02 9.98363090e-01 -9.00166574e-03 -1.43725961e+02] [-9.36497279e-02 3.67862876e-03 9.95598411e-01 -5.96667067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.720714057 meters 0.04518545648774663 Centerline is valid? [True, True] Translation: X:905.06, Y:-143.73, Z:-59.68 [[ 9.93700359e-01 6.16247300e-02 9.36054980e-02 9.05056960e+02] [-6.10448698e-02 9.98094010e-01 -9.04823882e-03 -1.43728925e+02] [-9.39846822e-02 3.27710272e-03 9.95568250e-01 -5.96751414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7807140570001 meters 0.04792784615739229 Centerline is valid? [True, True] Translation: X:905.12, Y:-143.73, Z:-59.68 [[ 9.93347040e-01 6.39090423e-02 9.57981875e-02 9.05119463e+02] [-6.33110011e-02 9.97950770e-01 -9.27243450e-03 -1.43734151e+02] [-9.61944674e-02 3.14566620e-03 9.95357589e-01 -5.96792461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.840714057 meters 0.05446494711713789 Centerline is valid? [True, True] Translation: X:905.18, Y:-143.74, Z:-59.68 [[ 9.92860657e-01 6.72714814e-02 9.85000736e-02 9.05182398e+02] [-6.66527829e-02 9.97730410e-01 -9.56219592e-03 -1.43736425e+02] [-9.89197819e-02 2.92862410e-03 9.95091101e-01 -5.96835763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9007140570001 meters 0.0626620935292935 Centerline is valid? [True, True] Translation: X:905.24, Y:-143.74, Z:-59.69 [[ 9.92201247e-01 7.15544609e-02 1.02061967e-01 9.05244440e+02] [-7.09097005e-02 9.97433249e-01 -9.93617200e-03 -1.43739228e+02] [-1.02510977e-01 2.62149874e-03 9.94728419e-01 -5.96889319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.960714057 meters 0.07120011221068856 Centerline is valid? [True, True] Translation: X:905.31, Y:-143.74, Z:-59.69 [[ 9.91393320e-01 7.65251765e-02 1.06222329e-01 9.05305401e+02] [-7.58526504e-02 9.97065186e-01 -1.03629672e-02 -1.43743889e+02] [-1.06703614e-01 2.21653134e-03 9.94288402e-01 -5.96925040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0207140570001 meters 0.08043840425094402 Centerline is valid? [True, True] Translation: X:905.37, Y:-143.75, Z:-59.70 [[ 9.90725561e-01 7.90577243e-02 1.10511265e-01 9.05366701e+02] [-7.83441357e-02 9.96867966e-01 -1.07914341e-02 -1.43746666e+02] [-1.11018286e-01 2.03344013e-03 9.93816284e-01 -5.96951286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.080714057 meters 0.08220146716950534 Centerline is valid? [True, True] Translation: X:905.43, Y:-143.75, Z:-59.70 [[ 9.90423703e-01 7.97806987e-02 1.12676208e-01 9.05428638e+02] [-7.90427615e-02 9.96810440e-01 -1.10086129e-02 -1.43750530e+02] [-1.13195095e-01 1.99695249e-03 9.93570774e-01 -5.97042272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1407140570001 meters 0.09330188353915589 Centerline is valid? [True, True] Translation: X:905.49, Y:-143.76, Z:-59.71 [[ 9.89753694e-01 7.88188586e-02 1.19059706e-01 9.05488301e+02] [-7.79869486e-02 9.96886453e-01 -1.16377068e-02 -1.43756764e+02] [-1.19606279e-01 2.23336009e-03 9.92818891e-01 -5.97101971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.200714057 meters 0.10383733005650385 Centerline is valid? [True, False] Translation: X:905.49, Y:-143.76, Z:-59.71 [[ 9.90178737e-01 7.59115200e-02 1.17403198e-01 9.05491906e+02] [-7.46146047e-02 9.97093386e-01 -1.54091156e-02 -1.43755234e+02] [-1.18231681e-01 6.49778543e-03 9.92964777e-01 -5.97121083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2607140570001 meters 0.1117725934489561 Centerline is valid? [False, False] Translation: X:905.49, Y:-143.75, Z:-59.71 [[ 9.90205875e-01 7.58337813e-02 1.17224411e-01 9.05492781e+02] [-7.44969389e-02 9.97096853e-01 -1.57502867e-02 -1.43753701e+02] [-1.18078495e-01 6.86316668e-03 9.92980547e-01 -5.97129513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.320714057 meters 0.1179472066530771 Centerline is valid? [False, False] Translation: X:905.49, Y:-143.75, Z:-59.71 [[ 9.90189580e-01 7.61924636e-02 1.17129432e-01 9.05493634e+02] [-7.49240008e-02 9.97073376e-01 -1.52012346e-02 -1.43754554e+02] [-1.17944857e-01 6.27629844e-03 9.93000312e-01 -5.97141482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3807140570001 meters 0.12376111345322015 Centerline is valid? [False, False] Translation: X:905.50, Y:-143.75, Z:-59.71 [[ 9.92411162e-01 7.30337910e-02 9.89249780e-02 9.05500238e+02] [-7.19031565e-02 9.97299549e-01 -1.49514479e-02 -1.43754230e+02] [-9.97497969e-02 7.72496562e-03 9.94982564e-01 -5.97072231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.440714057 meters 0.12986841716172431 Centerline is valid? [False, False] Translation: X:905.51, Y:-143.76, Z:-59.70 [[ 9.94236325e-01 6.97545356e-02 8.14152057e-02 9.05505996e+02] [-6.88373835e-02 9.97529353e-01 -1.40215772e-02 -1.43755437e+02] [-8.21921260e-02 8.33635160e-03 9.96581637e-01 -5.97008243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.500714057 meters 0.13694425480763495 Centerline is valid? [False, False] Translation: X:905.51, Y:-143.76, Z:-59.70 [[ 9.95608440e-01 6.45574763e-02 6.77950361e-02 9.05507221e+02] [-6.38661528e-02 9.97882450e-01 -1.23178911e-02 -1.43759173e+02] [-6.84466887e-02 7.93398816e-03 9.97623227e-01 -5.96962370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.560714057 meters 0.13680527905915682 Centerline is valid? [False, False] Translation: X:905.51, Y:-143.76, Z:-59.69 [[ 9.96813682e-01 5.95719372e-02 5.30440168e-02 9.05510612e+02] [-5.91393869e-02 9.98202717e-01 -9.68854943e-03 -1.43761421e+02] [-5.35258474e-02 6.52068799e-03 9.98545174e-01 -5.96907466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.620714057 meters 0.14039248175713995 Centerline is valid? [False, False] Translation: X:905.51, Y:-143.76, Z:-59.69 [[ 9.97759920e-01 5.54688966e-02 3.73944241e-02 9.05514752e+02] [-5.52246657e-02 9.98445533e-01 -7.53358151e-03 -1.43763721e+02] [-3.77541751e-02 5.45161112e-03 9.99272186e-01 -5.96860142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.680714057 meters 0.14620699226622583 Centerline is valid? [False, False] Translation: X:905.52, Y:-143.76, Z:-59.69 [[ 9.98018153e-01 5.11443286e-02 3.66609364e-02 9.05516332e+02] [-5.07136108e-02 9.98633947e-01 -1.25844742e-02 -1.43760753e+02] [-3.72544801e-02 1.07003252e-02 9.99248521e-01 -5.96865516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.740714057 meters 0.14943309997394633 Centerline is valid? [False, False] Translation: X:905.52, Y:-143.76, Z:-59.69 [[ 9.98248072e-01 4.70880676e-02 3.58259685e-02 9.05517599e+02] [-4.64844195e-02 9.98765707e-01 -1.75002953e-02 -1.43757245e+02] [-3.66058039e-02 1.58042867e-02 9.99204804e-01 -5.96862260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.800714057 meters 0.1488239721007806 Centerline is valid? [False, False] Translation: X:905.52, Y:-143.76, Z:-59.69 [[ 9.98268375e-01 4.68813857e-02 3.55300749e-02 9.05518014e+02] [-4.62659153e-02 9.98767844e-01 -1.79515644e-02 -1.43756262e+02] [-3.63278906e-02 1.62766476e-02 9.99207363e-01 -5.96858325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.860714057 meters 0.15872367499727602 Centerline is valid? [False, False] Translation: X:905.52, Y:-143.76, Z:-59.69 [[ 9.98282835e-01 4.68550000e-02 3.51566458e-02 9.05518839e+02] [-4.62342727e-02 9.98763600e-01 -1.82664650e-02 -1.43755301e+02] [-3.59690533e-02 1.66096565e-02 9.99214865e-01 -5.96857489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.920714057 meters 0.15365949808038337 Centerline is valid? [False, False] Translation: X:905.52, Y:-143.75, Z:-59.69 [[ 9.98287838e-01 4.71490017e-02 3.46174047e-02 9.05520267e+02] [-4.65397702e-02 9.98750639e-01 -1.81991990e-02 -1.43754872e+02] [-3.54322291e-02 1.65569529e-02 9.99234920e-01 -5.96860224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.980714057 meters 0.15772891758430388 Centerline is valid? [False, False] Translation: X:905.52, Y:-143.75, Z:-59.69 [[ 9.98294172e-01 4.72715017e-02 3.42658883e-02 9.05521419e+02] [-4.66651135e-02 9.98743208e-01 -1.82858342e-02 -1.43754657e+02] [-3.50872220e-02 1.66556201e-02 9.99245454e-01 -5.96864765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0407140570001 meters 0.1565652909804455 Centerline is valid? [False, False] Translation: X:905.52, Y:-143.75, Z:-59.69 [[ 9.98294153e-01 4.75522095e-02 3.38758367e-02 9.05522763e+02] [-4.69513033e-02 9.98729189e-01 -1.83189015e-02 -1.43754362e+02] [-3.47038912e-02 1.66971375e-02 9.99258148e-01 -5.96869904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.100714057 meters 0.1561108316168402 Centerline is valid? [False, False] Translation: X:905.53, Y:-143.75, Z:-59.69 [[ 9.98133284e-01 5.11790152e-02 3.33265061e-02 9.05526578e+02] [-5.06751257e-02 9.98590306e-01 -1.57933993e-02 -1.43749631e+02] [-3.40878165e-02 1.40750927e-02 9.99319725e-01 -5.96896066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1607140570001 meters 0.15699917838624305 Centerline is valid? [False, False] Translation: X:905.53, Y:-143.75, Z:-59.69 [[ 9.98145655e-01 5.15426832e-02 3.23821409e-02 9.05529571e+02] [-5.10251390e-02 9.98559217e-01 -1.66110261e-02 -1.43745276e+02] [-3.31916621e-02 1.49279203e-02 9.99337516e-01 -5.96905675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.220714057 meters 0.14484497282087241 Centerline is valid? [False, False] Translation: X:905.53, Y:-143.75, Z:-59.69 [[ 9.98144645e-01 5.16920780e-02 3.21744830e-02 9.05530519e+02] [-5.11763796e-02 9.98550811e-01 -1.66509951e-02 -1.43745144e+02] [-3.29885806e-02 1.49735280e-02 9.99343558e-01 -5.96911360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2807140570001 meters 0.14437556447507371 Centerline is valid? [False, False] Translation: X:905.53, Y:-143.74, Z:-59.69 [[ 9.98146757e-01 5.18060609e-02 3.19246651e-02 9.05530725e+02] [-5.12831855e-02 9.98539694e-01 -1.69857046e-02 -1.43743763e+02] [-3.27580078e-02 1.53170274e-02 9.99345937e-01 -5.96902833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.340714057 meters 0.14134502495844065 Centerline is valid? [False, False] Translation: X:905.54, Y:-143.74, Z:-59.69 [[ 9.98536576e-01 4.77059147e-02 2.54725837e-02 9.05540651e+02] [-4.74036155e-02 9.98799556e-01 -1.23427802e-02 -1.43744072e+02] [-2.60308289e-02 1.11172249e-02 9.99599321e-01 -5.96869622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4007140570001 meters 0.13301375962192746 Centerline is valid? [False, False] Translation: X:905.55, Y:-143.75, Z:-59.69 [[ 9.98856468e-01 4.18959839e-02 2.30322210e-02 9.05547352e+02] [-4.18394232e-02 9.99120045e-01 -2.93236424e-03 -1.43749888e+02] [-2.31348080e-02 1.96535614e-03 9.99730423e-01 -5.96856885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.460714057 meters 0.1316677700457472 Centerline is valid? [False, False] Translation: X:905.56, Y:-143.75, Z:-59.68 [[ 9.99295605e-01 3.34212015e-02 1.70680175e-02 9.05558674e+02] [-3.34157762e-02 9.99441355e-01 -6.03035671e-04 -1.43746301e+02] [-1.70786367e-02 3.22698418e-05 9.99854149e-01 -5.96834224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5207140570001 meters 0.1269775338912219 Centerline is valid? [False, False] Translation: X:905.57, Y:-143.74, Z:-59.68 [[ 9.99528637e-01 2.86384454e-02 1.10608631e-02 9.05570316e+02] [-2.86812994e-02 9.99581628e-01 3.73534991e-03 -1.43740848e+02] [-1.09492609e-02 -4.05082913e-03 9.99931850e-01 -5.96818194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.580714057 meters 0.12646494878725495 Centerline is valid? [False, False] Translation: X:905.58, Y:-143.74, Z:-59.68 [[ 9.99798609e-01 1.94789048e-02 4.82851887e-03 9.05581093e+02] [-1.95006883e-02 9.99799689e-01 4.50615165e-03 -1.43738029e+02] [-4.73977676e-03 -4.59940359e-03 9.99978190e-01 -5.96787194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6407140570001 meters 0.12007036244133969 Centerline is valid? [False, False] Translation: X:905.59, Y:-143.74, Z:-59.68 [[ 9.99976780e-01 6.60934585e-03 -1.66040662e-03 9.05592583e+02] [-6.60631559e-03 9.99976515e-01 1.82391214e-03 -1.43735286e+02] [ 1.67242249e-03 -1.81290061e-03 9.99996958e-01 -5.96763410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.700714057 meters 0.11536821433967581 Centerline is valid? [False, False] Translation: X:905.59, Y:-143.74, Z:-59.68 [[ 9.99996557e-01 2.02786257e-03 -1.66545696e-03 9.05592928e+02] [-2.03213148e-03 9.99994644e-01 -2.56552846e-03 -1.43735192e+02] [ 1.66024550e-03 2.56890405e-03 9.99995322e-01 -5.96770445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7607140570001 meters 0.1149947377842725 Centerline is valid? [False, False] Translation: X:905.59, Y:-143.74, Z:-59.68 [[ 9.99995446e-01 -2.17024399e-03 -2.09731510e-03 9.05594797e+02] [ 2.15806020e-03 9.99980885e-01 -5.79413852e-03 -1.43737249e+02] [ 2.10984971e-03 5.78958600e-03 9.99981014e-01 -5.96792603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.820714057 meters 0.10357289480390854 Centerline is valid? [False, False] Translation: X:905.60, Y:-143.74, Z:-59.68 [[ 9.99995387e-01 -2.29595066e-03 -1.98867270e-03 9.05595174e+02] [ 2.28559897e-03 9.99983909e-01 -5.19204789e-03 -1.43739369e+02] [ 2.00056139e-03 5.18747863e-03 9.99984544e-01 -5.96806138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8807140570001 meters 0.10358559285154559 Centerline is valid? [False, False] Translation: X:905.60, Y:-143.74, Z:-59.68 [[ 9.99995114e-01 -1.60341546e-03 -2.68345877e-03 9.05597620e+02] [ 1.59070797e-03 9.99987544e-01 -4.73094385e-03 -1.43738771e+02] [ 2.69101101e-03 4.72665213e-03 9.99985209e-01 -5.96824993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.940714057 meters 0.095030894313233 Centerline is valid? [False, True] Translation: X:905.60, Y:-143.74, Z:-59.68 [[ 9.99992645e-01 2.73888623e-03 -2.68471399e-03 9.05597943e+02] [-2.73975020e-03 9.99996196e-01 -3.18184046e-04 -1.43739130e+02] [ 2.68383231e-03 3.25537151e-04 9.99996346e-01 -5.96831424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.000714057 meters 0.09188680834503217 Centerline is valid? [True, True] Translation: X:905.66, Y:-143.74, Z:-59.69 [[ 9.99962907e-01 6.89002374e-03 -5.16840983e-03 9.05656581e+02] [-6.88993851e-03 9.99976264e-01 3.42960514e-05 -1.43736931e+02] [ 5.16852345e-03 1.31524670e-06 9.99986643e-01 -5.96851731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.060714057 meters 0.0906796099796538 Centerline is valid? [True, True] Translation: X:905.72, Y:-143.74, Z:-59.69 [[ 9.99863631e-01 1.18814939e-02 -1.14694625e-02 9.05715422e+02] [-1.18813221e-02 9.99929411e-01 8.31179821e-05 -1.43738054e+02] [ 1.14696404e-02 5.31657308e-05 9.99934220e-01 -5.96924720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.120714057 meters 0.08051901547408748 Centerline is valid? [True, True] Translation: X:905.77, Y:-143.74, Z:-59.69 [[ 9.99770088e-01 1.60168205e-02 -1.42559826e-02 9.05774457e+02] [-1.60169873e-02 9.99871715e-01 1.02483565e-04 -1.43736372e+02] [ 1.42557952e-02 1.25877889e-04 9.99898373e-01 -5.96922104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.180714057 meters 0.07420485231119589 Centerline is valid? [True, True] Translation: X:905.83, Y:-143.74, Z:-59.69 [[ 9.99612135e-01 1.88329862e-02 -2.05157952e-02 9.05834725e+02] [-1.88339096e-02 9.99822615e-01 1.48221318e-04 -1.43737987e+02] [ 2.05149475e-02 2.38228804e-04 9.99789518e-01 -5.96933115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.240714057 meters 0.07520569417615784 Centerline is valid? [True, True] Translation: X:905.89, Y:-143.74, Z:-59.70 [[ 9.99446956e-01 1.95916252e-02 -2.68691225e-02 9.05894334e+02] [-1.95935004e-02 9.99808010e-01 1.93511114e-04 -1.43742422e+02] [ 2.68677551e-02 3.33056068e-04 9.99638941e-01 -5.96993456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.300714057 meters 0.07058578389936283 Centerline is valid? [True, True] Translation: X:905.95, Y:-143.75, Z:-59.70 [[ 9.99422253e-01 1.83936942e-02 -2.85802654e-02 9.05953385e+02] [-1.83956105e-02 9.99830767e-01 1.95901841e-04 -1.43745686e+02] [ 2.85790320e-02 3.29962770e-04 9.99591482e-01 -5.96965981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.360714057 meters 0.06821654913158108 Centerline is valid? [True, True] Translation: X:906.01, Y:-143.75, Z:-59.70 [[ 9.99260142e-01 1.78557363e-02 -3.40637813e-02 9.06012873e+02] [-1.78580394e-02 9.99840504e-01 2.36656253e-04 -1.43747359e+02] [ 3.40625740e-02 3.71831187e-04 9.99419633e-01 -5.97005175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.420714057 meters 0.0639935817460024 Centerline is valid? [True, True] Translation: X:906.07, Y:-143.75, Z:-59.70 [[ 9.99196630e-01 1.67066511e-02 -3.64277648e-02 9.06072113e+02] [-1.67086017e-02 9.99860370e-01 2.50902346e-04 -1.43747106e+02] [ 3.64268701e-02 3.57956235e-04 9.99336257e-01 -5.97026027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.480714057 meters 0.06200410208679372 Centerline is valid? [True, True] Translation: X:906.13, Y:-143.76, Z:-59.71 [[ 9.99141182e-01 9.77972135e-03 -4.02648225e-02 9.06132577e+02] [-9.77645028e-03 9.99952171e-01 2.78145990e-04 -1.43756333e+02] [ 4.02656169e-02 1.15739922e-04 9.99189004e-01 -5.97057785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5407140570001 meters 0.05889953981249685 Centerline is valid? [True, True] Translation: X:906.19, Y:-143.76, Z:-59.71 [[ 9.99109530e-01 6.84526807e-03 -4.16327923e-02 9.06191236e+02] [-6.83975742e-03 9.99976571e-01 2.74804402e-04 -1.43758783e+02] [ 4.16336980e-02 1.01985026e-05 9.99132942e-01 -5.97066228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.600714057 meters 0.054829511668335405 Centerline is valid? [True, True] Translation: X:906.25, Y:-143.76, Z:-59.70 [[ 9.99079985e-01 4.86677310e-03 -4.26086735e-02 9.06249680e+02] [-4.85925991e-03 9.99988155e-01 2.79899311e-04 -1.43757857e+02] [ 4.26095310e-02 -7.25951804e-05 9.99091799e-01 -5.96981737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6607140570001 meters 0.051373458742556104 Centerline is valid? [True, True] Translation: X:906.31, Y:-143.76, Z:-59.70 [[ 9.99209147e-01 4.45800996e-04 -3.97603088e-02 9.06309706e+02] [-4.35750427e-04 9.99999871e-01 2.61444786e-04 -1.43761996e+02] [ 3.97604202e-02 -2.43912450e-04 9.99209212e-01 -5.96964145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.720714057 meters 0.05035836057315001 Centerline is valid? [True, True] Translation: X:906.37, Y:-143.77, Z:-59.70 [[ 9.99122173e-01 -5.04802547e-03 -4.15860681e-02 9.06368954e+02] [ 5.06367125e-03 9.99987143e-01 2.70899664e-04 -1.43767147e+02] [ 4.15841659e-02 -4.81240038e-04 9.99134889e-01 -5.96957936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7807140570001 meters 0.05053566189102212 Centerline is valid? [True, True] Translation: X:906.43, Y:-143.77, Z:-59.70 [[ 9.98953522e-01 -6.67572856e-03 -4.52470562e-02 9.06429375e+02] [ 6.69593516e-03 9.99977538e-01 2.95033412e-04 -1.43768564e+02] [ 4.52440703e-02 -5.97696020e-04 9.98975784e-01 -5.96960328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.840714057 meters 0.052382152845044855 Centerline is valid? [True, True] Translation: X:906.49, Y:-143.77, Z:-59.70 [[ 9.98797523e-01 -5.87337042e-03 -4.86724966e-02 9.06488325e+02] [ 5.89570967e-03 9.99982570e-01 3.15417752e-04 -1.43766863e+02] [ 4.86697957e-02 -6.01997378e-04 9.98814742e-01 -5.97006414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9007140570001 meters 0.04776379187949325 Centerline is valid? [True, True] Translation: X:906.55, Y:-143.77, Z:-59.69 [[ 9.99066102e-01 -8.07560614e-03 -4.24465306e-02 9.06548647e+02] [ 8.09450650e-03 9.99967202e-01 2.73421381e-04 -1.43765329e+02] [ 4.24429304e-02 -6.16749751e-04 9.99098702e-01 -5.96945339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.960714057 meters 0.04671998342403678 Centerline is valid? [True, True] Translation: X:906.61, Y:-143.77, Z:-59.69 [[ 9.99244381e-01 -1.27854046e-02 -3.67042382e-02 9.06608553e+02] [ 1.28027170e-02 9.99918014e-01 2.36666883e-04 -1.43772522e+02] [ 3.66982031e-02 -7.06402028e-04 9.99326144e-01 -5.96927042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0207140570001 meters 0.04416475529574562 Centerline is valid? [True, True] Translation: X:906.67, Y:-143.78, Z:-59.69 [[ 9.99078408e-01 -1.73869045e-02 -3.92432259e-02 9.06667532e+02] [ 1.74102464e-02 9.99848398e-01 2.53103778e-04 -1.43776790e+02] [ 3.92328758e-02 -9.36104752e-04 9.99229656e-01 -5.96921835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.080714057 meters 0.04663553284125441 Centerline is valid? [True, True] Translation: X:906.73, Y:-143.78, Z:-59.69 [[ 9.99074985e-01 -1.80389911e-02 -3.90354865e-02 9.06725212e+02] [ 1.80620415e-02 9.99836840e-01 2.37886907e-04 -1.43780630e+02] [ 3.90248263e-02 -9.42727436e-04 9.99237797e-01 -5.96943035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1407140570001 meters 0.04608824665820188 Centerline is valid? [True, True] Translation: X:906.78, Y:-143.78, Z:-59.69 [[ 9.98993427e-01 -2.20689867e-02 -3.90524257e-02 9.06784711e+02] [ 2.20952172e-02 9.99755842e-01 2.40147424e-04 -1.43784373e+02] [ 3.90375909e-02 -1.10277753e-03 9.99237134e-01 -5.96947933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.200714057 meters 0.044081532148243764 Centerline is valid? [True, True] Translation: X:906.84, Y:-143.79, Z:-59.69 [[ 9.98918669e-01 -2.48116364e-02 -3.93176182e-02 9.06844081e+02] [ 2.48402649e-02 9.99691404e-01 2.39708729e-04 -1.43785296e+02] [ 3.92995373e-02 -1.21610958e-03 9.99226735e-01 -5.96945338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2607140570001 meters 0.04295351825995434 Centerline is valid? [True, True] Translation: X:906.90, Y:-143.78, Z:-59.70 [[ 9.98844850e-01 -2.41504403e-02 -4.15418165e-02 9.06903108e+02] [ 2.41817539e-02 9.99707547e-01 2.51382328e-04 -1.43780973e+02] [ 4.15235964e-02 -1.25564593e-03 9.99136735e-01 -5.96950479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.320714057 meters 0.0427909094893257 Centerline is valid? [True, True] Translation: X:906.96, Y:-143.78, Z:-59.70 [[ 9.98837999e-01 -2.15647884e-02 -4.31000146e-02 9.06961927e+02] [ 2.15955849e-02 9.99766757e-01 2.49007681e-04 -1.43776030e+02] [ 4.30845920e-02 -1.17948836e-03 9.99070732e-01 -5.96970459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3807140570001 meters 0.04194119407023375 Centerline is valid? [True, True] Translation: X:907.02, Y:-143.77, Z:-59.70 [[ 9.98850624e-01 -2.07002497e-02 -4.32311204e-02 9.07020441e+02] [ 2.07300299e-02 9.99785081e-01 2.40624143e-04 -1.43772986e+02] [ 4.32168483e-02 -1.13653000e-03 9.99065069e-01 -5.96990827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.440714057 meters 0.04165262429162249 Centerline is valid? [True, True] Translation: X:907.08, Y:-143.77, Z:-59.70 [[ 9.98933833e-01 -1.94680265e-02 -4.18592037e-02 9.07080642e+02] [ 1.94949577e-02 9.99809928e-01 2.35233447e-04 -1.43772022e+02] [ 4.18466679e-02 -1.05102605e-03 9.99123492e-01 -5.96970955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.500714057 meters 0.0415460858933678 Centerline is valid? [True, True] Translation: X:907.14, Y:-143.77, Z:-59.69 [[ 9.99033496e-01 -2.02324101e-02 -3.90220864e-02 9.07139933e+02] [ 2.02563389e-02 9.99794796e-01 2.17895660e-04 -1.43771486e+02] [ 3.90096703e-02 -1.00812967e-03 9.99238325e-01 -5.96899184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.560714057 meters 0.04147253567266342 Centerline is valid? [True, True] Translation: X:907.20, Y:-143.77, Z:-59.69 [[ 9.99109488e-01 -2.24948488e-02 -3.56961251e-02 9.07199581e+02] [ 2.25162729e-02 9.99746457e-01 1.98244129e-04 -1.43772692e+02] [ 3.56826152e-02 -1.00181129e-03 9.99362671e-01 -5.96859482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.620714057 meters 0.04269483487996147 Centerline is valid? [True, True] Translation: X:907.26, Y:-143.78, Z:-59.68 [[ 9.99174149e-01 -2.56268253e-02 -3.15322962e-02 9.07258487e+02] [ 2.56450672e-02 9.99671096e-01 1.74157377e-04 -1.43776786e+02] [ 3.15174620e-02 -9.82661402e-04 9.99502718e-01 -5.96818669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.680714057 meters 0.0447978406900328 Centerline is valid? [True, True] Translation: X:907.32, Y:-143.78, Z:-59.69 [[ 9.99061203e-01 -2.83238022e-02 -3.27791870e-02 9.07317919e+02] [ 2.83449549e-02 9.99598185e-01 1.80707224e-04 -1.43780755e+02] [ 3.27608975e-02 -1.10966215e-03 9.99462602e-01 -5.96851426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.740714057 meters 0.04590571427237395 Centerline is valid? [True, True] Translation: X:907.38, Y:-143.79, Z:-59.68 [[ 9.98890443e-01 -3.39381120e-02 -3.26509862e-02 9.07377733e+02] [ 3.39620806e-02 9.99423106e-01 1.79608620e-04 -1.43787314e+02] [ 3.26260545e-02 -1.28830476e-03 9.99466798e-01 -5.96806912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.800714057 meters 0.047259362216756626 Centerline is valid? [True, True] Translation: X:907.44, Y:-143.80, Z:-59.68 [[ 9.98782095e-01 -3.84019784e-02 -3.09776570e-02 9.07436794e+02] [ 3.84256095e-02 9.99261449e-01 1.67676109e-04 -1.43796074e+02] [ 3.09483394e-02 -1.35780725e-03 9.99520063e-01 -5.96819607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.860714057 meters 0.05043404394952143 Centerline is valid? [True, True] Translation: X:907.50, Y:-143.80, Z:-59.68 [[ 9.98619968e-01 -4.20163150e-02 -3.15085555e-02 9.07497005e+02] [ 4.20425522e-02 9.99115806e-01 1.70355899e-04 -1.43802505e+02] [ 3.14735381e-02 -1.49482089e-03 9.99503468e-01 -5.96840666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.920714057 meters 0.05339731827457592 Centerline is valid? [True, True] Translation: X:907.56, Y:-143.81, Z:-59.69 [[ 9.98448331e-01 -4.58061453e-02 -3.16658790e-02 9.07555749e+02] [ 4.58345353e-02 9.98949031e-01 1.70870425e-04 -1.43813790e+02] [ 3.16247722e-02 -1.62199614e-03 9.99498496e-01 -5.96851070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.980714057 meters 0.05565999117314122 Centerline is valid? [True, True] Translation: X:907.62, Y:-143.82, Z:-59.69 [[ 9.98339936e-01 -4.85549033e-02 -3.09805358e-02 9.07616170e+02] [ 4.85834032e-02 9.98819115e-01 1.67397948e-04 -1.43823305e+02] [ 3.09358234e-02 -1.67225992e-03 9.99519974e-01 -5.96889871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0407140570001 meters 0.053353836496266765 Centerline is valid? [True, True] Translation: X:907.68, Y:-143.82, Z:-59.69 [[ 9.98309681e-01 -4.96661665e-02 -3.01836615e-02 9.07677734e+02] [ 4.96937642e-02 9.98764488e-01 1.64412553e-04 -1.43823106e+02] [ 3.01382035e-02 -1.66407440e-03 9.99544356e-01 -5.96870300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.100714057 meters 0.05652736521555557 Centerline is valid? [True, True] Translation: X:907.74, Y:-143.83, Z:-59.69 [[ 9.98505742e-01 -4.83842221e-02 -2.54017721e-02 9.07737693e+02] [ 4.84033409e-02 9.98827862e-01 1.37971790e-04 -1.43832621e+02] [ 2.53653221e-02 -1.36729626e-03 9.99677313e-01 -5.96887424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1607140570001 meters 0.05686010386276589 Centerline is valid? [True, True] Translation: X:907.80, Y:-143.84, Z:-59.69 [[ 9.98597477e-01 -4.73470290e-02 -2.36925837e-02 9.07797461e+02] [ 4.73633696e-02 9.98877718e-01 1.28696310e-04 -1.43835359e+02] [ 2.36599005e-02 -1.25067641e-03 9.99719283e-01 -5.96869774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.220714057 meters 0.05301378151874342 Centerline is valid? [True, True] Translation: X:907.86, Y:-143.83, Z:-59.68 [[ 9.98606496e-01 -4.91206793e-02 -1.92931399e-02 9.07858723e+02] [ 4.91318629e-02 9.98792295e-01 1.05811004e-04 -1.43832069e+02] [ 1.92646420e-02 -1.05357146e-03 9.99813864e-01 -5.96841257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2807140570001 meters 0.0621860754483472 Centerline is valid? [True, True] Translation: X:907.92, Y:-143.84, Z:-59.68 [[ 9.98178247e-01 -5.56553403e-02 -2.32952793e-02 9.07918381e+02] [ 5.56733977e-02 9.98449026e-01 1.26816388e-04 -1.43844316e+02] [ 2.32520909e-02 -1.42351271e-03 9.99728620e-01 -5.96835883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.340714057 meters 0.05803355785167147 Centerline is valid? [True, True] Translation: X:907.98, Y:-143.84, Z:-59.68 [[ 9.98262884e-01 -5.44611148e-02 -2.24766832e-02 9.07979662e+02] [ 5.44776516e-02 9.98514982e-01 1.23617882e-04 -1.43843350e+02] [ 2.24365725e-02 -1.34788006e-03 9.99747360e-01 -5.96809943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4007140570001 meters 0.06608985899442307 Centerline is valid? [True, True] Translation: X:908.04, Y:-143.86, Z:-59.69 [[ 9.98293603e-01 -5.40312759e-02 -2.21473028e-02 9.08040924e+02] [ 5.40472520e-02 9.98538372e-01 1.22981927e-04 -1.43856730e+02] [ 2.21082868e-02 -1.31977293e-03 9.99754711e-01 -5.96896243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.460714057 meters 0.0579277610383022 Centerline is valid? [True, True] Translation: X:908.10, Y:-143.85, Z:-59.68 [[ 9.98442891e-01 -5.29544887e-02 -1.75389647e-02 9.08101245e+02] [ 5.29643331e-02 9.98596400e-01 9.69358260e-05 -1.43850873e+02] [ 1.75092138e-02 -1.02572445e-03 9.99846176e-01 -5.96828406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5207140570001 meters 0.05932317741000832 Centerline is valid? [True, True] Translation: X:908.16, Y:-143.86, Z:-59.68 [[ 9.98533927e-01 -5.18646418e-02 -1.54937089e-02 9.08161941e+02] [ 5.18722059e-02 9.98653727e-01 8.64584232e-05 -1.43855012e+02] [ 1.54683660e-02 -8.90024529e-04 9.99879962e-01 -5.96826919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.580714057 meters 0.059056181637047026 Centerline is valid? [True, True] Translation: X:908.22, Y:-143.86, Z:-59.68 [[ 9.98644132e-01 -5.04612866e-02 -1.27888771e-02 9.08222922e+02] [ 5.04663257e-02 9.98725761e-01 7.14037765e-05 -1.43858643e+02] [ 1.27689779e-02 -7.16714602e-04 9.99918216e-01 -5.96822415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6407140570001 meters 0.05462567321284397 Centerline is valid? [True, True] Translation: X:908.28, Y:-143.85, Z:-59.68 [[ 9.98903730e-01 -4.58082489e-02 -9.64067179e-03 9.08283742e+02] [ 4.58108976e-02 9.98950128e-01 5.39768954e-05 -1.43854530e+02] [ 9.62807774e-03 -4.95565550e-04 9.99953526e-01 -5.96813674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.700714057 meters 0.06599711734826587 Centerline is valid? [True, True] Translation: X:908.34, Y:-143.86, Z:-59.70 [[ 9.99293400e-01 -2.82317165e-02 -2.48127123e-02 9.08343170e+02] [ 2.82438320e-02 9.99601054e-01 1.37884296e-04 -1.43856004e+02] [ 2.47989206e-02 -8.38592943e-04 9.99692108e-01 -5.96997141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7607140570001 meters 0.03805863537041134 Centerline is valid? [True, True] Translation: X:908.40, Y:-143.83, Z:-59.67 [[ 9.99307293e-01 -3.70679558e-02 -3.30178638e-03 9.08404124e+02] [ 3.70682184e-02 9.99312737e-01 1.83291215e-05 -1.43831263e+02] [ 3.29883776e-03 -1.40707763e-04 9.99994549e-01 -5.96703062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.820714057 meters 0.03676933928977788 Centerline is valid? [True, True] Translation: X:908.46, Y:-143.83, Z:-59.67 [[ 9.99520263e-01 -3.09708205e-02 -2.29746270e-04 9.08464011e+02] [ 3.09708215e-02 9.99520289e-01 1.02686092e-06 -1.43829436e+02] [ 2.29604255e-04 -8.14179901e-06 9.99999974e-01 -5.96703019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8807140570001 meters 0.03366499240433189 Centerline is valid? [True, True] Translation: X:908.52, Y:-143.82, Z:-59.67 [[ 9.99628993e-01 -2.70644423e-02 3.06457833e-03 9.08524634e+02] [ 2.70646214e-02 9.99633686e-01 -1.69977471e-05 -1.43823327e+02] [-3.06299570e-03 9.99330932e-05 9.99995304e-01 -5.96690313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.940714057 meters 0.03156533866342091 Centerline is valid? [True, True] Translation: X:908.58, Y:-143.82, Z:-59.67 [[ 9.99814274e-01 -1.84503448e-02 5.56789478e-03 9.08584911e+02] [ 1.84508026e-02 9.99829769e-01 -3.08646219e-05 -1.43819714e+02] [-5.56637749e-03 1.33591017e-04 9.99984499e-01 -5.96688405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.000714057 meters 0.03008493067840635 Centerline is valid? [True, True] Translation: X:908.65, Y:-143.82, Z:-59.67 [[ 9.99863514e-01 -1.40843375e-02 8.63620920e-03 9.08646663e+02] [ 1.40852726e-02 9.99900797e-01 -4.74533465e-05 -1.43817756e+02] [-8.63468410e-03 1.69090230e-04 9.99962706e-01 -5.96688524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.060714057 meters 0.03022990871493532 Centerline is valid? [True, True] Translation: X:908.71, Y:-143.82, Z:-59.67 [[ 9.99866052e-01 -1.36200500e-02 9.07596548e-03 9.08708806e+02] [ 1.36210702e-02 9.99907228e-01 -5.06060234e-05 -1.43819304e+02] [-9.07443423e-03 1.74223608e-04 9.99958811e-01 -5.96695522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.120714057 meters 0.03030264471652164 Centerline is valid? [True, True] Translation: X:908.77, Y:-143.82, Z:-59.67 [[ 9.99775465e-01 -1.72056317e-02 1.23687830e-02 9.08770491e+02] [ 1.72078138e-02 9.99851932e-01 -7.00138495e-05 -1.43824206e+02] [-1.23657470e-02 2.82837845e-04 9.99923501e-01 -5.96697123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.180714057 meters 0.03120939378902641 Centerline is valid? [True, True] Translation: X:908.83, Y:-143.83, Z:-59.67 [[ 9.99647437e-01 -2.24959300e-02 1.41044382e-02 9.08830829e+02] [ 2.24993231e-02 9.99746855e-01 -8.19164117e-05 -1.43833302e+02] [-1.40990249e-02 3.99227843e-04 9.99900524e-01 -5.96715896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.240714057 meters 0.03297606280411175 Centerline is valid? [True, True] Translation: X:908.89, Y:-143.84, Z:-59.67 [[ 9.99579222e-01 -2.63303308e-02 1.21692981e-02 9.08890586e+02] [ 2.63331431e-02 9.99653220e-01 -7.08958809e-05 -1.43838190e+02] [-1.21632113e-02 3.91321917e-04 9.99925949e-01 -5.96736390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.300714057 meters 0.034910633354433666 Centerline is valid? [True, True] Translation: X:908.95, Y:-143.84, Z:-59.68 [[ 9.99461347e-01 -3.10917629e-02 1.05032470e-02 9.08950820e+02] [ 3.10941197e-02 9.99516459e-01 -6.11153906e-05 -1.43844438e+02] [-1.04962681e-02 3.87671689e-04 9.99944838e-01 -5.96756129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.360714057 meters 0.03742123575466772 Centerline is valid? [True, True] Translation: X:909.01, Y:-143.85, Z:-59.67 [[ 9.99269010e-01 -3.55550509e-02 1.40458113e-02 9.09011115e+02] [ 3.55597099e-02 9.99367550e-01 -8.20163115e-05 -1.43850989e+02] [-1.40340120e-02 5.81421335e-04 9.99901349e-01 -5.96735148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.420714057 meters 0.039819320850148505 Centerline is valid? [True, True] Translation: X:909.07, Y:-143.85, Z:-59.67 [[ 9.99119297e-01 -3.81757292e-02 1.74138774e-02 9.09071390e+02] [ 3.81833013e-02 9.99270747e-01 -1.02430210e-04 -1.43854868e+02] [-1.73972679e-02 7.67259326e-04 9.99848362e-01 -5.96712938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.480714057 meters 0.0409722295141673 Centerline is valid? [True, True] Translation: X:909.13, Y:-143.86, Z:-59.67 [[ 9.99008858e-01 -4.01932148e-02 1.91260963e-02 9.09133343e+02] [ 4.02027390e-02 9.99191537e-01 -1.13576589e-04 -1.43856665e+02] [-1.91060685e-02 8.82385476e-04 9.99817073e-01 -5.96719587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5407140570001 meters 0.04303059537433357 Centerline is valid? [True, True] Translation: X:909.19, Y:-143.86, Z:-59.67 [[ 9.98905007e-01 -4.27960987e-02 1.89018513e-02 9.09194569e+02] [ 4.28059247e-02 9.99083400e-01 -1.15372431e-04 -1.43860785e+02] [-1.88795883e-02 9.24357321e-04 9.99821337e-01 -5.96743043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.600714057 meters 0.048352823635604454 Centerline is valid? [True, True] Translation: X:909.25, Y:-143.87, Z:-59.68 [[ 9.98638786e-01 -4.98071273e-02 1.54862633e-02 9.09254231e+02] [ 4.98145690e-02 9.98758479e-01 -9.49285998e-05 -1.43866823e+02] [-1.54623086e-02 8.66240912e-04 9.99880076e-01 -5.96778396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6607140570001 meters 0.041147457199940604 Centerline is valid? [True, True] Translation: X:909.32, Y:-143.85, Z:-59.68 [[ 9.98297672e-01 -5.68167559e-02 1.31762605e-02 9.09315324e+02] [ 5.68227608e-02 9.98384278e-01 -8.15154964e-05 -1.43852297e+02] [-1.31503399e-02 8.30088229e-04 9.99913186e-01 -5.96800820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.720714057 meters 0.04096611176336933 Centerline is valid? [True, True] Translation: X:909.38, Y:-143.85, Z:-59.68 [[ 9.98225013e-01 -5.81339920e-02 1.29329677e-02 9.09377493e+02] [ 5.81398900e-02 9.98308443e-01 -8.02138315e-05 -1.43851627e+02] [-1.29064277e-02 8.31992774e-04 9.99916362e-01 -5.96808337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7807140570001 meters 0.05814965450016003 Centerline is valid? [True, True] Translation: X:909.44, Y:-143.87, Z:-59.68 [[ 9.98115825e-01 -5.98761003e-02 1.34034353e-02 9.09437099e+02] [ 5.98826044e-02 9.98205423e-01 -8.40898686e-05 -1.43873090e+02] [-1.33743468e-02 8.86564040e-04 9.99910166e-01 -5.96818553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.840714057 meters 0.05828128516222425 Centerline is valid? [True, True] Translation: X:909.50, Y:-143.87, Z:-59.68 [[ 9.98146762e-01 -5.90285855e-02 1.47873827e-02 9.09499290e+02] [ 5.90364300e-02 9.98255824e-01 -9.41497250e-05 -1.43869322e+02] [-1.47560334e-02 9.66969527e-04 9.99890656e-01 -5.96809219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9007140570001 meters 0.05857097264000014 Centerline is valid? [True, True] Translation: X:909.56, Y:-143.86, Z:-59.68 [[ 9.98255225e-01 -5.69675039e-02 1.55309065e-02 9.09559119e+02] [ 5.69759589e-02 9.98375545e-01 -1.02109423e-04 -1.43864055e+02] [-1.54998603e-02 9.86819553e-04 9.99879383e-01 -5.96814565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.960714057 meters 0.04502218602257474 Centerline is valid? [True, True] Translation: X:909.62, Y:-143.84, Z:-59.68 [[ 9.98249060e-01 -5.72301367e-02 1.49507435e-02 9.09621575e+02] [ 5.72380005e-02 9.98360557e-01 -9.82626952e-05 -1.43838421e+02] [-1.49206090e-02 9.53841305e-04 9.99888227e-01 -5.96834879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0207140570001 meters 0.06172627728230077 Centerline is valid? [True, True] Translation: X:909.68, Y:-143.86, Z:-59.68 [[ 9.98192486e-01 -5.80467408e-02 1.55671382e-02 9.09682647e+02] [ 5.80554233e-02 9.98313356e-01 -1.06034704e-04 -1.43859775e+02] [-1.55347270e-02 1.00959984e-03 9.99878819e-01 -5.96836928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.080714057 meters 0.06432564538147613 Centerline is valid? [True, True] Translation: X:909.74, Y:-143.86, Z:-59.69 [[ 9.98097220e-01 -5.99283935e-02 1.45095676e-02 9.09743608e+02] [ 5.99361579e-02 9.98202207e-01 -1.00476985e-04 -1.43861981e+02] [-1.44774610e-02 9.69933533e-04 9.99894726e-01 -5.96867458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1407140570001 meters 0.06830375648525652 Centerline is valid? [True, True] Translation: X:909.80, Y:-143.86, Z:-59.69 [[ 9.97948137e-01 -6.26566110e-02 1.31782301e-02 9.09804469e+02] [ 6.26632548e-02 9.98034723e-01 -9.14363686e-05 -1.43864932e+02] [-1.31466022e-02 9.17039547e-04 9.99913159e-01 -5.96902667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.200714057 meters 0.045659237160787354 Centerline is valid? [True, True] Translation: X:909.87, Y:-143.83, Z:-59.69 [[ 9.97945447e-01 -6.28181164e-02 1.26003722e-02 9.09867331e+02] [ 6.28241966e-02 9.98024605e-01 -8.69170842e-05 -1.43829339e+02] [-1.25700215e-02 8.78346770e-04 9.99920608e-01 -5.96894975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2607140570001 meters 0.04886447546337603 Centerline is valid? [True, True] Translation: X:909.93, Y:-143.83, Z:-59.69 [[ 9.98191017e-01 -5.86986118e-02 1.30063796e-02 9.09927452e+02] [ 5.87047903e-02 9.98275382e-01 -9.34304292e-05 -1.43828318e+02] [-1.29784644e-02 8.56798204e-04 9.99915409e-01 -5.96889921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.320714057 meters 0.04593620292833082 Centerline is valid? [True, True] Translation: X:909.99, Y:-143.81, Z:-59.69 [[ 9.98642260e-01 -4.98902737e-02 1.49865663e-02 9.09987039e+02] [ 4.98974891e-02 9.98754339e-01 -1.07694975e-04 -1.43813407e+02] [-1.49625252e-02 8.55340781e-04 9.99887689e-01 -5.96873892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3807140570001 meters 0.040162015467585736 Centerline is valid? [True, True] Translation: X:910.05, Y:-143.80, Z:-59.69 [[ 9.99014512e-01 -4.13308069e-02 1.61793140e-02 9.10047648e+02] [ 4.13380930e-02 9.99145209e-01 -1.16013203e-04 -1.43796654e+02] [-1.61606892e-02 7.84720859e-04 9.99869100e-01 -5.96855133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.440714057 meters 0.039001940097274965 Centerline is valid? [True, True] Translation: X:910.11, Y:-143.78, Z:-59.69 [[ 9.99323574e-01 -3.28055188e-02 1.66190213e-02 9.10107090e+02] [ 3.28120315e-02 9.99461533e-01 -1.19285517e-04 -1.43784929e+02] [-1.66061593e-02 6.64508678e-04 9.99861887e-01 -5.96855693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.500714057 meters 0.031051167466332973 Centerline is valid? [True, True] Translation: X:910.17, Y:-143.76, Z:-59.69 [[ 9.99474451e-01 -2.70970303e-02 1.77925090e-02 9.10168298e+02] [ 2.71035879e-02 9.99632622e-01 -1.27477218e-04 -1.43764693e+02] [-1.77825182e-02 6.09651054e-04 9.99841693e-01 -5.96867641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.560714057 meters 0.031373206535615344 Centerline is valid? [True, True] Translation: X:910.23, Y:-143.76, Z:-59.69 [[ 9.99542723e-01 -2.44057578e-02 1.78522692e-02 9.10228420e+02] [ 2.44119362e-02 9.99701976e-01 -1.28211476e-04 -1.43763635e+02] [-1.78438197e-02 5.63961304e-04 9.99840627e-01 -5.96884338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.620714057 meters 0.030906886507820978 Centerline is valid? [True, True] Translation: X:910.29, Y:-143.76, Z:-59.69 [[ 9.99555071e-01 -2.47918371e-02 1.65838633e-02 9.10290722e+02] [ 2.47972314e-02 9.99692494e-01 -1.19691197e-04 -1.43764520e+02] [-1.65757963e-02 5.30871838e-04 9.99862471e-01 -5.96922458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.680714057 meters 0.03129382949129254 Centerline is valid? [True, True] Translation: X:910.35, Y:-143.77, Z:-59.69 [[ 9.99516084e-01 -2.66518671e-02 1.60397904e-02 9.10352932e+02] [ 2.66572114e-02 9.99644626e-01 -1.19436675e-04 -1.43767206e+02] [-1.60309071e-02 5.46954961e-04 9.99871347e-01 -5.96941244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.740714057 meters 0.03202061172344606 Centerline is valid? [True, True] Translation: X:910.41, Y:-143.77, Z:-59.70 [[ 9.99408376e-01 -3.12952535e-02 1.42655446e-02 9.10413754e+02] [ 3.12999982e-02 9.99510029e-01 -1.09398891e-04 -1.43772796e+02] [-1.42551313e-02 5.55845689e-04 9.99898236e-01 -5.96974278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.800714057 meters 0.03388687419214784 Centerline is valid? [True, True] Translation: X:910.48, Y:-143.78, Z:-59.70 [[ 9.99292025e-01 -3.40935353e-02 1.59084505e-02 9.10475103e+02] [ 3.40998044e-02 9.99418425e-01 -1.22905561e-04 -1.43781045e+02] [-1.58950082e-02 6.65293597e-04 9.99873445e-01 -5.96981221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.860714057 meters 0.03380834973755323 Centerline is valid? [True, True] Translation: X:910.54, Y:-143.78, Z:-59.70 [[ 9.99393394e-01 -3.04442441e-02 1.69112781e-02 9.10535661e+02] [ 3.04508688e-02 9.99536256e-01 -1.34310435e-04 -1.43782742e+02] [-1.68993466e-02 6.49192071e-04 9.99856985e-01 -5.96992771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.920714057 meters 0.03228443400861871 Centerline is valid? [True, True] Translation: X:910.60, Y:-143.78, Z:-59.70 [[ 9.99483798e-01 -2.76739511e-02 1.63183712e-02 9.10597362e+02] [ 2.76797597e-02 9.99616834e-01 -1.30160321e-04 -1.43781382e+02] [-1.63085164e-02 5.81781724e-04 9.99866838e-01 -5.97007438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.980714057 meters 0.031300090019410476 Centerline is valid? [True, True] Translation: X:910.66, Y:-143.78, Z:-59.71 [[ 9.99623638e-01 -2.37664289e-02 1.37017902e-02 9.10659063e+02] [ 2.37701652e-02 9.99717444e-01 -1.09872991e-04 -1.43779065e+02] [-1.36953074e-02 4.35525457e-04 9.99906120e-01 -5.97051667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0407140570001 meters 0.03117261391417088 Centerline is valid? [True, True] Translation: X:910.72, Y:-143.78, Z:-59.71 [[ 9.99677453e-01 -2.25997433e-02 1.15862871e-02 9.10721000e+02] [ 2.26023345e-02 9.99744530e-01 -9.27310365e-05 -1.43778764e+02] [-1.15812315e-02 3.54578263e-04 9.99932872e-01 -5.97083915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.100714057 meters 0.0318878261462344 Centerline is valid? [True, True] Translation: X:910.78, Y:-143.78, Z:-59.71 [[ 9.99603362e-01 -2.59970821e-02 1.08291907e-02 9.10782431e+02] [ 2.59995801e-02 9.99661950e-01 -8.99240726e-05 -1.43778571e+02] [-1.08231921e-02 3.71442816e-04 9.99941359e-01 -5.97085149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1607140570001 meters 0.03395563469242855 Centerline is valid? [True, True] Translation: X:910.84, Y:-143.78, Z:-59.71 [[ 9.99451925e-01 -3.11886520e-02 1.10958736e-02 9.10843147e+02] [ 3.11915991e-02 9.99513419e-01 -9.26027441e-05 -1.43782510e+02] [-1.10875864e-02 4.38650031e-04 9.99938435e-01 -5.97099368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.220714057 meters 0.03277369996655768 Centerline is valid? [True, True] Translation: X:910.90, Y:-143.78, Z:-59.71 [[ 9.99317087e-01 -3.47522335e-02 1.25555803e-02 9.10904689e+02] [ 3.47562903e-02 9.99395812e-01 -1.04986805e-04 -1.43781171e+02] [-1.25443458e-02 5.41300503e-04 9.99921170e-01 -5.97078156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2807140570001 meters 0.03425627393644017 Centerline is valid? [True, True] Translation: X:910.97, Y:-143.78, Z:-59.71 [[ 9.99257431e-01 -3.67020123e-02 1.17281137e-02 9.10965278e+02] [ 3.67056871e-02 9.99326114e-01 -9.81587118e-05 -1.43782834e+02] [-1.17166076e-02 5.28574292e-04 9.99931218e-01 -5.97097757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.340714057 meters 0.03203173465944795 Centerline is valid? [True, True] Translation: X:911.03, Y:-143.78, Z:-59.71 [[ 9.99391848e-01 -3.34437862e-02 9.87157828e-03 9.11027236e+02] [ 3.34462422e-02 9.99440514e-01 -8.37649151e-05 -1.43776731e+02] [-9.86325386e-03 4.13881171e-04 9.99951271e-01 -5.97118018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4007140570001 meters 0.03055317876934416 Centerline is valid? [True, True] Translation: X:911.09, Y:-143.77, Z:-59.71 [[ 9.99593555e-01 -2.68280556e-02 9.64260402e-03 9.11087957e+02] [ 2.68301021e-02 9.99640005e-01 -8.29094440e-05 -1.43769541e+02] [-9.63690843e-03 3.41587796e-04 9.99953506e-01 -5.97119949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.460714057 meters 0.028848302185121393 Centerline is valid? [True, True] Translation: X:911.15, Y:-143.77, Z:-59.71 [[ 9.99706245e-01 -1.98259729e-02 1.39410834e-02 9.11148384e+02] [ 1.98295723e-02 9.99803367e-01 -1.19992073e-04 -1.43766528e+02] [-1.39359632e-02 3.96402546e-04 9.99902811e-01 -5.97101776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5207140570001 meters 0.028574224337113038 Centerline is valid? [True, True] Translation: X:911.21, Y:-143.77, Z:-59.71 [[ 9.99684782e-01 -2.04303988e-02 1.45923178e-02 9.11210758e+02] [ 2.04344088e-02 9.99791188e-01 -1.25738279e-04 -1.43768043e+02] [-1.45867018e-02 4.23884031e-04 9.99893519e-01 -5.97112451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.580714057 meters 0.030401066819950653 Centerline is valid? [True, True] Translation: X:911.27, Y:-143.78, Z:-59.71 [[ 9.99582818e-01 -2.54610204e-02 1.36355171e-02 9.11270280e+02] [ 2.54650012e-02 9.99675707e-01 -1.18370397e-04 -1.43777573e+02] [-1.36280814e-02 4.65549474e-04 9.99907025e-01 -5.97133774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6407140570001 meters 0.03185571294377217 Centerline is valid? [True, True] Translation: X:911.33, Y:-143.79, Z:-59.72 [[ 9.99504407e-01 -2.99890099e-02 9.57074350e-03 9.11330976e+02] [ 2.99911852e-02 9.99550160e-01 -8.38203168e-05 -1.43786512e+02] [-9.56392450e-03 3.70816717e-04 9.99954196e-01 -5.97191574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.700714057 meters 0.03114394607101018 Centerline is valid? [True, True] Translation: X:911.39, Y:-143.79, Z:-59.72 [[ 9.99495049e-01 -3.03149330e-02 9.52108326e-03 9.11393135e+02] [ 3.03170901e-02 9.99540328e-01 -8.22837482e-05 -1.43787715e+02] [-9.51421226e-03 3.70893738e-04 9.99954670e-01 -5.97194418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7607140570001 meters 0.029026349173650157 Centerline is valid? [True, True] Translation: X:911.45, Y:-143.78, Z:-59.72 [[ 9.99606452e-01 -2.52199736e-02 1.22839157e-02 9.11454364e+02] [ 2.52232380e-02 9.99681837e-01 -1.10864711e-04 -1.43784832e+02] [-1.22772114e-02 4.20661210e-04 9.99924544e-01 -5.97161135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.820714057 meters 0.028700938905593304 Centerline is valid? [True, True] Translation: X:911.52, Y:-143.78, Z:-59.72 [[ 9.99638036e-01 -2.25032193e-02 1.47445593e-02 9.11516904e+02] [ 2.25076310e-02 9.99746662e-01 -1.33309504e-04 -1.43784501e+02] [-1.47378240e-02 4.65126350e-04 9.99891284e-01 -5.97159364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8807140570001 meters 0.029391711046956537 Centerline is valid? [True, True] Translation: X:911.58, Y:-143.79, Z:-59.72 [[ 9.99625255e-01 -2.36816803e-02 1.37305661e-02 9.11578765e+02] [ 2.36856596e-02 9.99719447e-01 -1.27240682e-04 -1.43789988e+02] [-1.37237007e-02 4.52410514e-04 9.99905723e-01 -5.97199640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.940714057 meters 0.03028529758925866 Centerline is valid? [True, True] Translation: X:911.64, Y:-143.79, Z:-59.72 [[ 9.99594583e-01 -2.47491619e-02 1.40765253e-02 9.11640419e+02] [ 2.47535002e-02 9.99693576e-01 -1.34022808e-04 -1.43792494e+02] [-1.40688949e-02 4.82411744e-04 9.99900912e-01 -5.97193295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.000714057 meters 0.030724063972401797 Centerline is valid? [True, True] Translation: X:911.70, Y:-143.79, Z:-59.72 [[ 9.99600236e-01 -2.41385841e-02 1.47206269e-02 9.11702876e+02] [ 2.41433139e-02 9.99708497e-01 -1.43650177e-04 -1.43794279e+02] [-1.47128683e-02 4.98997467e-04 9.99891635e-01 -5.97199025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.060714057 meters 0.0304005073655486 Centerline is valid? [True, True] Translation: X:911.77, Y:-143.79, Z:-59.72 [[ 9.99621564e-01 -2.41263041e-02 1.32155401e-02 9.11766214e+02] [ 2.41301508e-02 9.99708817e-01 -1.31675576e-04 -1.43793887e+02] [-1.32085151e-02 4.50518721e-04 9.99912662e-01 -5.97226557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.120714057 meters 0.030094334655769227 Centerline is valid? [True, True] Translation: X:911.83, Y:-143.79, Z:-59.72 [[ 9.99676242e-01 -2.07293504e-02 1.47548533e-02 9.11826849e+02] [ 2.07338453e-02 9.99785019e-01 -1.51718486e-04 -1.43792350e+02] [-1.47485362e-02 4.57594211e-04 9.99891130e-01 -5.97208062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.180714057 meters 0.029630680265312955 Centerline is valid? [True, True] Translation: X:911.89, Y:-143.79, Z:-59.72 [[ 9.99657880e-01 -2.02755192e-02 1.65235056e-02 9.11890352e+02] [ 2.02811059e-02 9.99794303e-01 -1.70594007e-04 -1.43792044e+02] [-1.65166478e-02 5.05650610e-04 9.99863463e-01 -5.97200808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.240714057 meters 0.030907648310142796 Centerline is valid? [True, True] Translation: X:911.95, Y:-143.80, Z:-59.72 [[ 9.99626123e-01 -2.33541109e-02 1.42196836e-02 9.11952237e+02] [ 2.33586075e-02 9.99727139e-01 -1.50202552e-04 -1.43797387e+02] [-1.42122958e-02 4.82298403e-04 9.99898884e-01 -5.97235015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.300714057 meters 0.03013108068545096 Centerline is valid? [True, True] Translation: X:912.01, Y:-143.80, Z:-59.73 [[ 9.99672639e-01 -2.18763114e-02 1.32680821e-02 9.12014283e+02] [ 2.18801319e-02 9.99760591e-01 -1.42835199e-04 -1.43798040e+02] [-1.32617809e-02 4.33095827e-04 9.99911965e-01 -5.97259727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.360714057 meters 0.029060233889611105 Centerline is valid? [True, True] Translation: X:912.08, Y:-143.80, Z:-59.72 [[ 9.99779144e-01 -1.49628090e-02 1.47572884e-02 9.12075146e+02] [ 1.49668432e-02 9.99887977e-01 -1.62962993e-04 -1.43795571e+02] [-1.47531969e-02 3.83797024e-04 9.99891092e-01 -5.97232434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.420714057 meters 0.028073372194984753 Centerline is valid? [True, True] Translation: X:912.13, Y:-143.80, Z:-59.72 [[ 9.99868158e-01 -7.44863537e-03 1.44286187e-02 9.12134486e+02] [ 7.45171374e-03 9.99972223e-01 -1.59600843e-04 -1.43795564e+02] [-1.44270291e-02 2.67097737e-04 9.99895889e-01 -5.97241357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.480714057 meters 0.02673643695893684 Centerline is valid? [True, True] Translation: X:912.20, Y:-143.79, Z:-59.72 [[ 9.99891646e-01 8.44554718e-04 1.46963795e-02 9.12196194e+02] [-8.42260751e-04 9.99999632e-01 -1.62279321e-04 -1.43792038e+02] [-1.46965111e-02 1.49883554e-04 9.99891989e-01 -5.97240918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5407140570001 meters 0.02679313617258717 Centerline is valid? [True, True] Translation: X:912.26, Y:-143.80, Z:-59.72 [[ 9.99838517e-01 4.23076540e-03 1.74654151e-02 9.12258355e+02] [-4.22802260e-03 9.99991043e-01 -1.93964120e-04 -1.43796004e+02] [-1.74660793e-02 1.20088628e-04 9.99847449e-01 -5.97219182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.600714057 meters 0.027153746434231713 Centerline is valid? [True, True] Translation: X:912.32, Y:-143.80, Z:-59.72 [[ 9.99876949e-01 1.71377300e-03 1.55932536e-02 9.12320066e+02] [-1.71126432e-03 9.99998521e-01 -1.74223938e-04 -1.43804489e+02] [-1.55935291e-02 1.47518321e-04 9.99878403e-01 -5.97233514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6607140570001 meters 0.028740430091787384 Centerline is valid? [True, True] Translation: X:912.38, Y:-143.82, Z:-59.73 [[ 9.99865695e-01 -9.22204204e-03 1.35479279e-02 9.12381034e+02] [ 9.22497944e-03 9.99957437e-01 -1.54337670e-04 -1.43819781e+02] [-1.35459279e-02 2.79296298e-04 9.99908211e-01 -5.97260165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.720714057 meters 0.030525165368314476 Centerline is valid? [True, True] Translation: X:912.44, Y:-143.83, Z:-59.73 [[ 9.99720396e-01 -2.01968636e-02 1.22970527e-02 9.12441120e+02] [ 2.02001159e-02 9.99795947e-01 -1.40320380e-04 -1.43833442e+02] [-1.22917094e-02 3.88683035e-04 9.99924379e-01 -5.97277484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7807140570001 meters 0.03641866883419485 Centerline is valid? [True, True] Translation: X:912.50, Y:-143.86, Z:-59.73 [[ 9.99370324e-01 -3.28478091e-02 1.34155160e-02 9.12500837e+02] [ 3.28528179e-02 9.99460189e-01 -1.53090391e-04 -1.43855480e+02] [-1.34032455e-02 5.93731497e-04 9.99909996e-01 -5.97282797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.840714057 meters 0.03468743334228648 Centerline is valid? [True, True] Translation: X:912.56, Y:-143.86, Z:-59.73 [[ 9.99203962e-01 -3.76224582e-02 1.32662430e-02 9.12562260e+02] [ 3.76277805e-02 9.99291813e-01 -1.51727124e-04 -1.43855593e+02] [-1.32511397e-02 6.50785622e-04 9.99911988e-01 -5.97276692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9007140570001 meters 0.033904880636617875 Centerline is valid? [True, True] Translation: X:912.62, Y:-143.86, Z:-59.73 [[ 9.99360127e-01 -3.40023673e-02 1.10984636e-02 9.12623288e+02] [ 3.40058735e-02 9.99421625e-01 -1.27304160e-04 -1.43858687e+02] [-1.10877158e-02 5.04635649e-04 9.99938402e-01 -5.97320253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.960714057 meters 0.03176292274852622 Centerline is valid? [True, True] Translation: X:912.68, Y:-143.85, Z:-59.73 [[ 9.99639314e-01 -2.45481527e-02 1.08917648e-02 9.12684401e+02] [ 2.45509713e-02 9.99698572e-01 -1.25137326e-04 -1.43853933e+02] [-1.08854098e-02 3.92495595e-04 9.99940675e-01 -5.97330279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0207140570001 meters 0.02842453947051538 Centerline is valid? [True, True] Translation: X:912.75, Y:-143.84, Z:-59.73 [[ 9.99889824e-01 -9.63578985e-03 1.12912397e-02 9.12745182e+02] [ 9.63787103e-03 9.99953546e-01 -1.29917912e-04 -1.43844151e+02] [-1.12894633e-02 2.38727110e-04 9.99936243e-01 -5.97329402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.080714057 meters 0.027022702099114688 Centerline is valid? [True, True] Translation: X:912.81, Y:-143.84, Z:-59.74 [[ 9.99961899e-01 -6.44669894e-04 8.70542856e-03 9.12806863e+02] [ 6.45565040e-04 9.99999787e-01 -1.00016540e-04 -1.43839645e+02] [-8.70536223e-03 1.05632650e-04 9.99962102e-01 -5.97359753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1407140570001 meters 0.02695055754197636 Centerline is valid? [True, True] Translation: X:912.87, Y:-143.84, Z:-59.74 [[ 9.99959845e-01 -5.18653478e-05 8.96139573e-03 9.12868771e+02] [ 5.27933809e-05 9.99999993e-01 -1.03322467e-04 -1.43841062e+02] [-8.96139031e-03 1.03791420e-04 9.99959841e-01 -5.97357515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.200714057 meters 0.027496645006118262 Centerline is valid? [True, True] Translation: X:912.93, Y:-143.85, Z:-59.74 [[ 9.99960353e-01 -3.72360438e-03 8.08867248e-03 9.12931182e+02] [ 3.72447447e-03 9.99993060e-01 -9.25077006e-05 -1.43846770e+02] [-8.08827188e-03 1.22630087e-04 9.99967282e-01 -5.97357803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2607140570001 meters 0.02859971053699058 Centerline is valid? [True, True] Translation: X:912.99, Y:-143.86, Z:-59.73 [[ 9.99887370e-01 -1.21194078e-02 8.85249649e-03 9.12992082e+02] [ 1.21208136e-02 9.99926535e-01 -1.05161908e-04 -1.43856127e+02] [-8.85057164e-03 2.12449523e-04 9.99960810e-01 -5.97347828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.320714057 meters 0.031513148232012796 Centerline is valid? [True, True] Translation: X:913.05, Y:-143.87, Z:-59.74 [[ 9.99765520e-01 -1.92129992e-02 9.98827517e-03 9.13051513e+02] [ 1.92151455e-02 9.99815365e-01 -1.18950407e-04 -1.43868265e+02] [-9.98414559e-03 3.10848676e-04 9.99950109e-01 -5.97364795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3807140570001 meters 0.03195254013133928 Centerline is valid? [True, True] Translation: X:913.11, Y:-143.87, Z:-59.73 [[ 9.99578584e-01 -2.68209219e-02 1.11037464e-02 9.13112031e+02] [ 2.68240430e-02 9.99640162e-01 -1.32221669e-04 -1.43870197e+02] [-1.10962045e-02 4.30013319e-04 9.99938343e-01 -5.97343024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.440714057 meters 0.03306366721704242 Centerline is valid? [True, True] Translation: X:913.17, Y:-143.88, Z:-59.74 [[ 9.99431357e-01 -3.19691293e-02 1.07208448e-02 9.13173035e+02] [ 3.19723332e-02 9.99488746e-01 -1.27553136e-04 -1.43875487e+02] [-1.07112859e-02 4.70251026e-04 9.99942522e-01 -5.97364146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.500714057 meters 0.03405585377750964 Centerline is valid? [True, True] Translation: X:913.23, Y:-143.88, Z:-59.74 [[ 9.99350839e-01 -3.48424544e-02 9.15987850e-03 9.13233999e+02] [ 3.48449169e-02 9.99392726e-01 -1.09337619e-04 -1.43876421e+02] [-9.15050635e-03 4.28441847e-04 9.99958041e-01 -5.97377395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.560714057 meters 0.03405387659099255 Centerline is valid? [True, True] Translation: X:913.30, Y:-143.87, Z:-59.74 [[ 9.99393599e-01 -3.35943752e-02 9.15712280e-03 9.13296072e+02] [ 3.35967826e-02 9.99435463e-01 -1.09152911e-04 -1.43873855e+02] [-9.14828634e-03 4.16736584e-04 9.99958067e-01 -5.97386775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.620714057 meters 0.03201054383787572 Centerline is valid? [True, True] Translation: X:913.36, Y:-143.86, Z:-59.74 [[ 9.99594561e-01 -2.70817294e-02 8.79162089e-03 9.13356330e+02] [ 2.70837057e-02 9.99633164e-01 -1.05798600e-04 -1.43863711e+02] [-8.78553060e-03 3.43865378e-04 9.99961347e-01 -5.97389294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.680714057 meters 0.030639489084230365 Centerline is valid? [True, True] Translation: X:913.42, Y:-143.85, Z:-59.74 [[ 9.99728610e-01 -2.21658492e-02 7.16809914e-03 9.13416865e+02] [ 2.21670370e-02 9.99754277e-01 -8.62948061e-05 -1.43852049e+02] [-7.16442498e-03 2.45166906e-04 9.99974305e-01 -5.97403232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.740714057 meters 0.030065416777327523 Centerline is valid? [True, True] Translation: X:913.48, Y:-143.85, Z:-59.74 [[ 9.99756134e-01 -2.10998530e-02 6.51677313e-03 9.13479589e+02] [ 2.11008072e-02 9.99777350e-01 -7.76957122e-05 -1.43845567e+02] [-6.51368280e-03 2.15185938e-04 9.99978763e-01 -5.97414678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.800714057 meters 0.031019247727123698 Centerline is valid? [True, True] Translation: X:913.54, Y:-143.84, Z:-59.74 [[ 9.99749015e-01 -2.16881456e-02 5.61521688e-03 9.13540717e+02] [ 2.16888670e-02 9.99764767e-01 -6.76015294e-05 -1.43841127e+02] [-5.61242984e-03 1.89372255e-04 9.99984232e-01 -5.97415773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.860714057 meters 0.03026380221153859 Centerline is valid? [True, True] Translation: X:913.60, Y:-143.84, Z:-59.74 [[ 9.99736749e-01 -2.18281422e-02 7.06857323e-03 9.13603409e+02] [ 2.18292919e-02 9.99761709e-01 -8.55234792e-05 -1.43835979e+02] [-7.06502204e-03 2.39802913e-04 9.99975014e-01 -5.97412826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.920714057 meters 0.030098659375064233 Centerline is valid? [True, True] Translation: X:913.67, Y:-143.83, Z:-59.74 [[ 9.99737414e-01 -2.11509195e-02 8.81710749e-03 9.13665992e+02] [ 2.11526898e-02 9.99776251e-01 -1.07570423e-04 -1.43829385e+02] [-8.81285946e-03 2.94047717e-04 9.99961123e-01 -5.97398603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.980714057 meters 0.03134002433529196 Centerline is valid? [True, True] Translation: X:913.73, Y:-143.83, Z:-59.74 [[ 9.99634297e-01 -2.58685047e-02 7.87990484e-03 9.13727028e+02] [ 2.58700715e-02 9.99665309e-01 -9.69589566e-05 -1.43827462e+02] [-7.87475933e-03 3.00777200e-04 9.99968948e-01 -5.97411659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0407140570001 meters 0.03749471968821859 Centerline is valid? [True, True] Translation: X:913.79, Y:-143.84, Z:-59.75 [[ 9.99424977e-01 -3.32911474e-02 6.43542226e-03 9.13786572e+02] [ 3.32923481e-02 9.99445653e-01 -7.95132585e-05 -1.43835717e+02] [-6.42920771e-03 2.93717854e-04 9.99979289e-01 -5.97459439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.100714057 meters 0.0349367241891025 Centerline is valid? [True, True] Translation: X:913.85, Y:-143.82, Z:-59.74 [[ 9.99331698e-01 -3.53740075e-02 9.21073786e-03 9.13848519e+02] [ 3.53765407e-02 9.99374048e-01 -1.12192753e-04 -1.43823271e+02] [-9.20100367e-03 4.37961816e-04 9.99957574e-01 -5.97394911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1607140570001 meters 0.035476408808597426 Centerline is valid? [True, True] Translation: X:913.91, Y:-143.82, Z:-59.74 [[ 9.99432711e-01 -3.24592587e-02 8.98064346e-03 9.13909215e+02] [ 3.24615774e-02 9.99472978e-01 -1.12502746e-04 -1.43823384e+02] [-8.97225870e-03 4.03964777e-04 9.99959667e-01 -5.97430878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.220714057 meters 0.03274543186539859 Centerline is valid? [True, True] Translation: X:913.97, Y:-143.81, Z:-59.75 [[ 9.99614411e-01 -2.70894857e-02 6.09823966e-03 9.13970269e+02] [ 2.70904563e-02 9.99632983e-01 -7.65926585e-05 -1.43813423e+02] [-6.09392665e-03 2.41767220e-04 9.99981403e-01 -5.97462764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2807140570001 meters 0.031031100109649344 Centerline is valid? [True, True] Translation: X:914.03, Y:-143.81, Z:-59.75 [[ 9.99728731e-01 -2.13225709e-02 9.37087706e-03 9.14030769e+02] [ 2.13246126e-02 9.99772598e-01 -1.18003098e-04 -1.43809839e+02] [-9.36622997e-03 3.17801410e-04 9.99956085e-01 -5.97457898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.340714057 meters 0.0306557735391669 Centerline is valid? [True, True] Translation: X:914.09, Y:-143.81, Z:-59.75 [[ 9.99751437e-01 -2.15045763e-02 5.88364279e-03 9.14093099e+02] [ 2.15053815e-02 9.99768730e-01 -7.36036362e-05 -1.43811728e+02] [-5.88069926e-03 2.00115324e-04 9.99982689e-01 -5.97496348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4007140570001 meters 0.03285383660636629 Centerline is valid? [True, True] Translation: X:914.15, Y:-143.82, Z:-59.75 [[ 9.99733958e-01 -2.25730786e-02 4.74011283e-03 9.14154418e+02] [ 2.25736064e-02 9.99745182e-01 -5.78678959e-05 -1.43816421e+02] [-4.73759871e-03 1.64853942e-04 9.99988764e-01 -5.97516105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.460714057 meters 0.02962332126775903 Centerline is valid? [True, True] Translation: X:914.22, Y:-143.81, Z:-59.75 [[ 9.99824080e-01 -1.69243429e-02 8.08546189e-03 9.14215312e+02] [ 1.69257384e-02 9.99856744e-01 -1.04194264e-04 -1.43808423e+02] [-8.08254018e-03 2.41028347e-04 9.99967307e-01 -5.97476292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5207140570001 meters 0.028494581840180687 Centerline is valid? [True, True] Translation: X:914.28, Y:-143.81, Z:-59.75 [[ 9.99841510e-01 -1.46037538e-02 1.01825755e-02 9.14277543e+02] [ 1.46058479e-02 9.99893320e-01 -1.31313383e-04 -1.43807264e+02] [-1.01795715e-02 2.80017720e-04 9.99948148e-01 -5.97473253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.580714057 meters 0.029482137008988205 Centerline is valid? [True, True] Translation: X:914.34, Y:-143.81, Z:-59.75 [[ 9.99823968e-01 -1.48710731e-02 1.14404217e-02 9.14339806e+02] [ 1.48737369e-02 9.99889369e-01 -1.47784588e-04 -1.43811985e+02] [-1.14369583e-02 3.17920395e-04 9.99934545e-01 -5.97475978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6407140570001 meters 0.030794894923217322 Centerline is valid? [True, True] Translation: X:914.40, Y:-143.82, Z:-59.75 [[ 9.99780502e-01 -1.70740526e-02 1.21418427e-02 9.14401078e+02] [ 1.70772580e-02 9.99854160e-01 -1.60355614e-04 -1.43816769e+02] [-1.21373340e-02 3.67669796e-04 9.99926272e-01 -5.97475763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.700714057 meters 0.03022378880390716 Centerline is valid? [True, True] Translation: X:914.46, Y:-143.82, Z:-59.75 [[ 9.99726113e-01 -2.11556386e-02 1.00068500e-02 9.14462553e+02] [ 2.11580451e-02 9.99776134e-01 -1.34668476e-04 -1.43818218e+02] [-1.00017608e-02 3.46356975e-04 9.99949921e-01 -5.97506669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7607140570001 meters 0.030743627285843247 Centerline is valid? [True, True] Translation: X:914.52, Y:-143.82, Z:-59.75 [[ 9.99690937e-01 -2.30980049e-02 9.19303677e-03 9.14524427e+02] [ 2.31001100e-02 9.99733149e-01 -1.22861629e-04 -1.43821860e+02] [-9.18774574e-03 3.35183818e-04 9.99957736e-01 -5.97533010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.820714057 meters 0.030841467203333285 Centerline is valid? [True, True] Translation: X:914.59, Y:-143.82, Z:-59.75 [[ 9.99665020e-01 -2.28552518e-02 1.21443175e-02 9.14586549e+02] [ 2.28589603e-02 9.99738686e-01 -1.66635589e-04 -1.43822360e+02] [-1.21373355e-02 4.44186240e-04 9.99926241e-01 -5.97506840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8807140570001 meters 0.03064580653538328 Centerline is valid? [True, True] Translation: X:914.65, Y:-143.82, Z:-59.75 [[ 9.99653560e-01 -2.37341124e-02 1.13776970e-02 9.14648836e+02] [ 2.37374327e-02 9.99718215e-01 -1.56848616e-04 -1.43823595e+02] [-1.13707683e-02 4.26871595e-04 9.99935260e-01 -5.97513855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.940714057 meters 0.03173861881016952 Centerline is valid? [True, True] Translation: X:914.71, Y:-143.83, Z:-59.75 [[ 9.99637619e-01 -2.47498250e-02 1.05866345e-02 9.14709447e+02] [ 2.47527611e-02 9.99693593e-01 -1.46386264e-04 -1.43826233e+02] [-1.05797677e-02 4.08381652e-04 9.99943949e-01 -5.97534253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.000714057 meters 0.03133951465061966 Centerline is valid? [True, True] Translation: X:914.77, Y:-143.83, Z:-59.75 [[ 9.99692215e-01 -2.20792715e-02 1.13128447e-02 9.14770713e+02] [ 2.20824744e-02 9.99756140e-01 -1.58270356e-04 -1.43825727e+02] [-1.13065914e-02 4.08037246e-04 9.99935995e-01 -5.97541390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.060714057 meters 0.030761091993384438 Centerline is valid? [True, True] Translation: X:914.83, Y:-143.83, Z:-59.76 [[ 9.99718523e-01 -2.19212360e-02 9.07386641e-03 9.14832704e+02] [ 2.19232899e-02 9.99759648e-01 -1.26941054e-04 -1.43826784e+02] [-9.06890278e-03 3.25834326e-04 9.99958824e-01 -5.97577240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.120714057 meters 0.03229514169403426 Centerline is valid? [True, True] Translation: X:914.89, Y:-143.83, Z:-59.76 [[ 9.99612408e-01 -2.61551214e-02 9.53646284e-03 9.14894024e+02] [ 2.61575913e-02 9.99657823e-01 -1.34334747e-04 -1.43830706e+02] [-9.52968614e-03 3.83733577e-04 9.99954518e-01 -5.97578725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.180714057 meters 0.032694464269039346 Centerline is valid? [True, True] Translation: X:914.95, Y:-143.83, Z:-59.76 [[ 9.99657564e-01 -2.40572676e-02 1.02957720e-02 9.14954941e+02] [ 2.40600302e-02 9.99710505e-01 -1.44530630e-04 -1.43832602e+02] [-1.02893144e-02 3.92197721e-04 9.99946987e-01 -5.97575683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.240714057 meters 0.032504223354185686 Centerline is valid? [True, True] Translation: X:915.02, Y:-143.83, Z:-59.76 [[ 9.99712519e-01 -2.13506373e-02 1.09100439e-02 9.15016694e+02] [ 2.13536151e-02 9.99771973e-01 -1.56509088e-04 -1.43830826e+02] [-1.09042146e-02 3.89432973e-04 9.99940471e-01 -5.97570243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.300714057 meters 0.03222553192548592 Centerline is valid? [True, True] Translation: X:915.08, Y:-143.83, Z:-59.76 [[ 9.99690407e-01 -2.26539786e-02 1.02901462e-02 9.15079202e+02] [ 2.26567005e-02 9.99743293e-01 -1.48002729e-04 -1.43832353e+02] [-1.02841518e-02 3.81097669e-04 9.99947044e-01 -5.97588500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.360714057 meters 0.03162290358099285 Centerline is valid? [True, True] Translation: X:915.14, Y:-143.83, Z:-59.76 [[ 9.99684069e-01 -2.32691683e-02 9.50308531e-03 9.15141120e+02] [ 2.32715227e-02 9.99729172e-01 -1.37241783e-04 -1.43833742e+02] [-9.49731811e-03 3.58349690e-04 9.99954835e-01 -5.97608934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.420714057 meters 0.03179946704960675 Centerline is valid? [True, True] Translation: X:915.20, Y:-143.83, Z:-59.76 [[ 9.99664402e-01 -2.25386448e-02 1.27708057e-02 9.15203934e+02] [ 2.25428531e-02 9.99745860e-01 -1.85654827e-04 -1.43834641e+02] [-1.27633757e-02 4.73482917e-04 9.99918433e-01 -5.97568466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.480714057 meters 0.031757457254785806 Centerline is valid? [True, True] Translation: X:915.27, Y:-143.84, Z:-59.76 [[ 9.99684238e-01 -2.17662903e-02 1.25559948e-02 9.15266128e+02] [ 2.17703111e-02 9.99762982e-01 -1.83627236e-04 -1.43835306e+02] [-1.25490219e-02 4.56917168e-04 9.99921154e-01 -5.97575062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5407140570001 meters 0.0308836056687696 Centerline is valid? [True, True] Translation: X:915.33, Y:-143.84, Z:-59.76 [[ 9.99755427e-01 -1.91725138e-02 1.10227763e-02 9.15327828e+02] [ 1.91754628e-02 9.99816121e-01 -1.61898228e-04 -1.43835787e+02] [-1.10176455e-02 3.73225469e-04 9.99939234e-01 -5.97622860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.600714057 meters 0.02938508969510185 Centerline is valid? [True, True] Translation: X:915.39, Y:-143.83, Z:-59.76 [[ 9.99843829e-01 -1.41301201e-02 1.06139917e-02 9.15388494e+02] [ 1.41325784e-02 9.99900118e-01 -1.56644588e-04 -1.43829680e+02] [-1.06107182e-02 3.06623195e-04 9.99943658e-01 -5.97610337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6607140570001 meters 0.028573275826234076 Centerline is valid? [True, True] Translation: X:915.45, Y:-143.83, Z:-59.76 [[ 9.99868095e-01 -1.12418392e-02 1.17223525e-02 9.15451292e+02] [ 1.12446344e-02 9.99936762e-01 -1.72562587e-04 -1.43828952e+02] [-1.17196713e-02 3.04353393e-04 9.99931276e-01 -5.97627333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.720714057 meters 0.02982453401232539 Centerline is valid? [True, True] Translation: X:915.51, Y:-143.84, Z:-59.76 [[ 9.99864788e-01 -1.16472054e-02 1.16080893e-02 9.15512566e+02] [ 1.16499873e-02 9.99932122e-01 -1.72059884e-04 -1.43835443e+02] [-1.16052973e-02 3.07270713e-04 9.99932609e-01 -5.97644230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7807140570001 meters 0.028364399681609205 Centerline is valid? [True, True] Translation: X:915.57, Y:-143.83, Z:-59.76 [[ 9.99849290e-01 -1.19108404e-02 1.26304919e-02 9.15574985e+02] [ 1.19141987e-02 9.99929005e-01 -1.90680712e-04 -1.43834223e+02] [-1.26273240e-02 3.41134165e-04 9.99920214e-01 -5.97638960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.840714057 meters 0.028677983413443787 Centerline is valid? [True, True] Translation: X:915.64, Y:-143.84, Z:-59.76 [[ 9.99808092e-01 -1.41332656e-02 1.35657615e-02 9.15637530e+02] [ 1.41373547e-02 9.99900041e-01 -2.05572687e-04 -1.43837612e+02] [-1.35615001e-02 3.97317218e-04 9.99907960e-01 -5.97642672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9007140570001 meters 0.032144287211972364 Centerline is valid? [True, True] Translation: X:915.70, Y:-143.85, Z:-59.77 [[ 9.99677806e-01 -2.35098863e-02 9.56923749e-03 9.15697355e+02] [ 2.35123729e-02 9.99723535e-01 -1.47427552e-04 -1.43849459e+02] [-9.56312592e-03 3.72375532e-04 9.99954203e-01 -5.97701113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.960714057 meters 0.03471843302566526 Centerline is valid? [True, True] Translation: X:915.76, Y:-143.86, Z:-59.77 [[ 9.99458196e-01 -3.21134585e-02 7.21395736e-03 9.15758598e+02] [ 3.21150970e-02 9.99484171e-01 -1.11372447e-04 -1.43857410e+02] [-7.20665964e-03 3.42989045e-04 9.99973973e-01 -5.97728251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0207140570001 meters 0.03584267941362814 Centerline is valid? [True, True] Translation: X:915.82, Y:-143.86, Z:-59.77 [[ 9.99398103e-01 -3.35693432e-02 8.74825032e-03 9.15820311e+02] [ 3.35718006e-02 9.99436299e-01 -1.34160735e-04 -1.43859505e+02] [-8.73881524e-03 4.27774500e-04 9.99961724e-01 -5.97723108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.080714057 meters 0.03487348445702864 Centerline is valid? [True, True] Translation: X:915.88, Y:-143.86, Z:-59.77 [[ 9.99477867e-01 -3.06271093e-02 1.02943353e-02 9.15882280e+02] [ 3.06303947e-02 9.99530766e-01 -1.61601790e-04 -1.43857206e+02] [-1.02845554e-02 4.76836966e-04 9.99946999e-01 -5.97716430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1407140570001 meters 0.032899534992890625 Centerline is valid? [True, True] Translation: X:915.94, Y:-143.85, Z:-59.77 [[ 9.99524710e-01 -2.82641800e-02 1.23081290e-02 9.15944327e+02] [ 2.82687076e-02 9.99600341e-01 -1.93998067e-04 -1.43853025e+02] [-1.22977268e-02 5.41840762e-04 9.99924233e-01 -5.97711815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.200714057 meters 0.03292547950786917 Centerline is valid? [True, True] Translation: X:916.01, Y:-143.86, Z:-59.77 [[ 9.99535143e-01 -2.81316140e-02 1.17520692e-02 9.16007019e+02] [ 2.81357304e-02 9.99604095e-01 -1.85053020e-04 -1.43856646e+02] [-1.17422107e-02 5.15620047e-04 9.99930925e-01 -5.97740239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2607140570001 meters 0.03458056267431833 Centerline is valid? [True, True] Translation: X:916.07, Y:-143.86, Z:-59.78 [[ 9.99562768e-01 -2.83518188e-02 8.39333327e-03 9.16068071e+02] [ 2.83539443e-02 9.99597937e-01 -1.34330492e-04 -1.43857989e+02] [-8.38615011e-03 3.72255862e-04 9.99964766e-01 -5.97770700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.320714057 meters 0.03261844851253438 Centerline is valid? [True, True] Translation: X:916.13, Y:-143.86, Z:-59.78 [[ 9.99631225e-01 -2.56346950e-02 8.95968448e-03 9.16129482e+02] [ 2.56370252e-02 9.99671307e-01 -1.45295100e-04 -1.43855728e+02] [-8.95301490e-03 3.74941176e-04 9.99959851e-01 -5.97785913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3807140570001 meters 0.03072201330558161 Centerline is valid? [True, True] Translation: X:916.19, Y:-143.85, Z:-59.78 [[ 9.99784190e-01 -1.73529426e-02 1.14213889e-02 9.16189983e+02] [ 1.73561973e-02 9.99849353e-01 -1.85897160e-04 -1.43851097e+02] [-1.14164425e-02 3.84088920e-04 9.99934757e-01 -5.97775420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.440714057 meters 0.02819374332107102 Centerline is valid? [True, True] Translation: X:916.25, Y:-143.84, Z:-59.78 [[ 9.99910403e-01 -4.25944527e-03 1.26902774e-02 9.16250947e+02] [ 4.26240925e-03 9.99990895e-01 -2.06525483e-04 -1.43839680e+02] [-1.26892822e-02 2.60598135e-04 9.99919454e-01 -5.97756235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.500714057 meters 0.02729270332296329 Centerline is valid? [True, True] Translation: X:916.31, Y:-143.84, Z:-59.78 [[ 9.99883852e-01 6.12654461e-03 1.39552133e-02 9.16312613e+02] [-6.12397065e-03 9.99981223e-01 -2.27169818e-04 -1.43837499e+02] [-1.39563430e-02 1.41682116e-04 9.99902595e-01 -5.97760972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.560714057 meters 0.026960953904417575 Centerline is valid? [True, True] Translation: X:916.37, Y:-143.84, Z:-59.77 [[ 9.99775267e-01 1.37119640e-02 1.61677669e-02 9.16374773e+02] [-1.37094846e-02 9.99905986e-01 -2.64179020e-04 -1.43835214e+02] [-1.61698693e-02 4.24678992e-05 9.99869258e-01 -5.97743934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.620714057 meters 0.02706581879698095 Centerline is valid? [True, True] Translation: X:916.44, Y:-143.85, Z:-59.78 [[ 9.99763913e-01 1.19030387e-02 1.81778773e-02 9.16435832e+02] [-1.18995818e-02 9.99929153e-01 -2.98324348e-04 -1.43845114e+02] [-1.81801405e-02 8.19447793e-05 9.99834724e-01 -5.97764169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.680714057 meters 0.028268006864599633 Centerline is valid? [True, True] Translation: X:916.50, Y:-143.86, Z:-59.78 [[ 9.99840794e-01 -1.58584375e-03 1.77727860e-02 9.16497052e+02] [ 1.59128977e-03 9.99998691e-01 -2.92286936e-04 -1.43861808e+02] [-1.77722993e-02 3.20522055e-04 9.99842009e-01 -5.97787536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.740714057 meters 0.030144432094807858 Centerline is valid? [True, True] Translation: X:916.56, Y:-143.88, Z:-59.78 [[ 9.99749203e-01 -1.31493726e-02 1.81280297e-02 9.16557696e+02] [ 1.31569482e-02 9.99913399e-01 -2.98682961e-04 -1.43876349e+02] [-1.81225323e-02 5.37117599e-04 9.99835629e-01 -5.97798379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.800714057 meters 0.03167747698635135 Centerline is valid? [True, True] Translation: X:916.62, Y:-143.89, Z:-59.78 [[ 9.99602850e-01 -2.17551469e-02 1.79124603e-02 9.16617718e+02] [ 2.17639245e-02 9.99763094e-01 -2.95213441e-04 -1.43887725e+02] [-1.79017943e-02 6.84941630e-04 9.99839515e-01 -5.97824841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.860714057 meters 0.031455247147342574 Centerline is valid? [True, True] Translation: X:916.68, Y:-143.89, Z:-59.79 [[ 9.99695926e-01 -1.89584160e-02 1.57681490e-02 9.16678774e+02] [ 1.89648711e-02 9.99820117e-01 -2.59938035e-04 -1.43888310e+02] [-1.57603846e-02 5.58899909e-04 9.99875641e-01 -5.97854200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.920714057 meters 0.030314219811456006 Centerline is valid? [True, True] Translation: X:916.74, Y:-143.89, Z:-59.79 [[ 9.99760411e-01 -1.65449034e-02 1.43313335e-02 9.16741523e+02] [ 1.65499939e-02 9.99863011e-01 -2.36667248e-04 -1.43887707e+02] [-1.43254546e-02 4.73794027e-04 9.99897273e-01 -5.97879080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.980714057 meters 0.02964019924286115 Centerline is valid? [True, True] Translation: X:916.80, Y:-143.88, Z:-59.79 [[ 9.99836837e-01 -1.13031158e-02 1.40903558e-02 9.16803572e+02] [ 1.13075343e-02 9.99936040e-01 -2.33953591e-04 -1.43884415e+02] [-1.40868102e-02 3.93242600e-04 9.99900699e-01 -5.97892626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0407140570001 meters 0.028649177931041554 Centerline is valid? [True, True] Translation: X:916.86, Y:-143.88, Z:-59.79 [[ 9.99920883e-01 -3.67530574e-03 1.20299451e-02 9.16864908e+02] [ 3.67798223e-03 9.99993216e-01 -2.00369370e-04 -1.43878090e+02] [-1.20291270e-02 2.44599441e-04 9.99927618e-01 -5.97900074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.100714057 meters 0.027967721733154767 Centerline is valid? [True, True] Translation: X:916.93, Y:-143.87, Z:-59.79 [[ 9.99894160e-01 6.47196049e-03 1.30300312e-02 9.16925813e+02] [-6.46967896e-03 9.99979048e-01 -2.17242795e-04 -1.43874107e+02] [-1.30311642e-02 1.32919683e-04 9.99915082e-01 -5.97897863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1607140570001 meters 0.02784179281118875 Centerline is valid? [True, True] Translation: X:916.99, Y:-143.87, Z:-59.79 [[ 9.99855244e-01 9.89044139e-03 1.38444988e-02 9.16987745e+02] [-9.88818702e-03 9.99951084e-01 -2.31278877e-04 -1.43871805e+02] [-1.38461090e-02 9.43484047e-05 9.99904134e-01 -5.97904305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.220714057 meters 0.02813324945234314 Centerline is valid? [True, True] Translation: X:917.05, Y:-143.88, Z:-59.79 [[ 9.99892416e-01 4.33999721e-03 1.40114199e-02 9.17049828e+02] [-4.33713212e-03 9.99990567e-01 -2.34862541e-04 -1.43879743e+02] [-1.40123071e-02 1.74067894e-04 9.99901808e-01 -5.97921176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2807140570001 meters 0.030106431326756427 Centerline is valid? [True, True] Translation: X:917.11, Y:-143.89, Z:-59.79 [[ 9.99826365e-01 -1.11901787e-02 1.49003210e-02 9.17110357e+02] [ 1.11952000e-02 9.99937300e-01 -2.53624853e-04 -1.43891810e+02] [-1.48965487e-02 4.20392889e-04 9.99888952e-01 -5.97929543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.340714057 meters 0.031808838295218876 Centerline is valid? [True, True] Translation: X:917.17, Y:-143.90, Z:-59.79 [[ 9.99709154e-01 -1.98649761e-02 1.36744489e-02 9.17170943e+02] [ 1.98700161e-02 9.99802545e-01 -2.32793520e-04 -1.43899919e+02] [-1.36671244e-02 5.04437333e-04 9.99906473e-01 -5.97947159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4007140570001 meters 0.0334070121442074 Centerline is valid? [True, True] Translation: X:917.23, Y:-143.90, Z:-59.80 [[ 9.99525472e-01 -2.78051274e-02 1.32554165e-02 9.17231762e+02] [ 2.78105606e-02 9.99613186e-01 -2.25703694e-04 -1.43903594e+02] [-1.32440134e-02 5.94237155e-04 9.99912118e-01 -5.97953510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.460714057 meters 0.03532122115289373 Centerline is valid? [True, True] Translation: X:917.29, Y:-143.91, Z:-59.80 [[ 9.99362269e-01 -3.29290901e-02 1.38105098e-02 9.17292114e+02] [ 3.29354762e-02 9.99457452e-01 -2.35164888e-04 -1.43907051e+02] [-1.37952732e-02 6.89870633e-04 9.99904603e-01 -5.97964339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7361.45 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%| | 0/31150 [00:00